StellarisASM

Description

This project was developed as part of the architecture module in our Computer Science and Application engineering program at ESIEE. Stellaris_ASM is an assembly (.s) program that enables control of a robot through two selectable movement modes using switches:

• Classic
• Labyrinth Solver

The following tools were used for the development of this program:

• Stellaris Cortex M3 Robot
• ARM Cortex M3 Assembly
• Keil uVision4

Classic Mode

• Pressing both bumpers: Turn on both LEDs and perform a U-turn.
• Pressing the right bumper: Turn on the left LED and turn left.
• Pressing the left bumper: Turn on the right LED and turn right.

Labyrinth Solver Mode

Labyrinth escape method based on the Pledge algorithm:

• If the counter is 0, move straight ahead until reaching the wall in front.
• From this wall, turn in the preferred direction (always the same, let's say left).
• Then, follow the wall by adding 1 to the counter when turning right and subtracting 1 when turning left.
• If the counter is 0, detach from the wall and move straight ahead.

Videos

https://www.youtube.com/embed/83kjO3r_M6c

https://www.youtube.com/embed/YOWi1U9MCvc

Register Usage

• R0 => RK_MOTORS

• R1 => RK_MOTORS

• R2 => LED STATE

  • Possible values:
    • 0x00 => LEDs OFF
    • 0x10 => LEFT LED
    • 0x20 => RIGHT LED
    • 0x30 => BOTH LEDs

• R3 => SWITCH STATES

  • Possible values:
    • 0x00 => SWITCHES PRESSED
    • 0x40 => SWITCH 2
    • 0x80 => SWITCH 1
    • 0xC0 => SWITCHES NOT PRESSED

• R4 => BUMPER STATES

  • Possible values:
    • 0x00 => BUMPERS PRESSED
    • 0x01 => LEFT BUMPER
    • 0x02 => RIGHT BUMPER
    • 0x03 => BUMPERS NOT PRESSED

• R5 => @ LED MEMORY

• R6 => @ RK_MOTORS MEMORY

• R7 => @ SWITCH MEMORY

• R8 => @ BUMPER MEMORY

• R9 => LOOP COUNT FOR WAIT FUNCTION

• R10 => VALUE CORRESPONDING TO THE SELECTED GAME MODE

• R11 => NUMBER OF LOOPS FOR 90° ROTATION

• R12 => DISTANCE TRAVELED FORWARD BEFORE IMPACT (DISTANCE TO TRAVEL IN REVERSE)