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mips2.asm
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.eqv HEADING 0xffff8010 # Integer: An angle between 0 and 359
# 0 : North (up)
# 90: East (right)
# 180: South (down)
# 270: West (left)
.eqv MOVING 0xffff8050 # Boolean: whether or not to move
.eqv LEAVETRACK 0xffff8020 # Boolean (0 or non-0):
# whether or not to leave a track
.eqv WHEREX 0xffff8030 # Integer: Current x-location of MarsBot
.eqv WHEREY 0xffff8040 # Integer: Current y-location of MarsBot
.text
main:
jal TRACK # draw track line
nop
addi $a0, $zero, 180 # Marsbot rotates 180* and start running
jal ROTATE
nop
jal GO
nop
sleep1:
addi $v0,$zero,32 # Keep running by sleeping in 2000 ms
li $a0,2000
syscall
jal UNTRACK # keep old track
nop
jal TRACK # and draw new track line
nop
goUpRight:
addi $a0, $zero, 30 # Marsbot rotates 30*
jal ROTATE
nop
sleep2:
addi $v0,$zero,32 # Keep running by sleeping in 2000 ms
li $a0,2000
syscall
jal UNTRACK # keep old track
nop
jal TRACK # and draw new track line
nop
goDownRight:
addi $a0, $zero, 150 # Marsbot rotates 150*
jal ROTATE
nop
sleep3:
addi $v0,$zero,32 # Keep running by sleeping in 2000 ms
li $a0,2000
syscall
jal UNTRACK # keep old track
nop
jal TRACK # and draw new track line
nop
goLeft:
addi $a0, $zero, 270 # Marsbot rotates 120*
jal ROTATE
nop
sleep4:
addi $v0,$zero,32 # Keep running by sleeping in 2000 ms
li $a0,4000
syscall
jal UNTRACK # keep old track
nop
jal TRACK # and draw new track line
nop
j STOP
end_main:
#-----------------------------------------------------------
# GO procedure, to start running# param[in] none
#-----------------------------------------------------------
GO:
li $at, MOVING # change MOVING port
addi $k0, $zero,1 # to logic 1,
sb $k0, 0($at) # to start running
nop
jr $ra
nop
#-----------------------------------------------------------
# STOP procedure, to stop running
# param[in] none#-----------------------------------------------------------
STOP:
li $at, MOVING # change MOVING port to 0
sb $zero, 0($at) # to stop
nop
jr $ra
nop
#-----------------------------------------------------------
# TRACK procedure, to start drawing line
# param[in] none
#-----------------------------------------------------------
TRACK:
li $at, LEAVETRACK # change LEAVETRACK port
addi $k0, $zero,1 # to logic 1,
sb $k0, 0($at) # to start tracking
nop
jr $ra
nop
#-----------------------------------------------------------
# UNTRACK procedure, to stop drawing line
# param[in] none#-----------------------------------------------------------
UNTRACK:
li $at, LEAVETRACK # change LEAVETRACK port to 0
sb $zero, 0($at) # to stop drawing tail
nop
jr $ra
nop
#-----------------------------------------------------------
# ROTATE procedure, to rotate the robot
# param[in] $a0, An angle between 0 and 359
# 0 : North (up)
# 90: East (right)
# 180: South (down)
# 270: West (left)
#-----------------------------------------------------------
ROTATE:
li $at, HEADING # change HEADING port
sw $a0, 0($at) # to rotate robot
nop
jr $ra
nop