(Nios 2/Altera DE2 using Assembly) Why doesn't my lego controller motor receive the values from the sensor for self balancing robot? -

(Nios 2/Altera DE2 using Assembly) Why doesn't my lego controller motor receive the values from the sensor for self balancing robot? -

i computer science pupil , working on lab school. have been trying create work, no avail. far, happens motor runs forwards without stopping. connected sensor led's on de2 board see if able receive , store values correctly, , seems case. however, motor not running in correspondence sensor. have been tinkering around code hours no luck. assembly programming noob , shall appreciate help this.

i have attached code here:

.equ addr, 0x10000070 .equ ledr, 0x10000000 .equ ledg, 0x10000010

.global main

main:

movia r22, ledr movia r23, ledg movia r8, addr movia r9, 0x07f557ff stwio r9, 4(r8)

sensor1:

movia r9, 0xfffffbff stwio r9, 0(r8)

loop1:

ldwio r5, 0(r8) srli r5, r5, 11 andi r5, r5, 0x1 bne r5, r0, loop1 ldwio r10, 0(r8) srli r10, r10, 27 andi r10, r10, 0x0f stwio r10, 0(r22)

sensor2:

movia r9, 0xffffefff stwio r9, 0(r8)

loop2:

ldwio r6, 0(r8) srli r6, r6, 13 andi r6, r6, 0x1 bne r6, r0, loop2 ldwio r11, 0(r8) srli r11, r11, 27 andi r11, r11, 0x0f stwio r11, 0(r23)

motor:

/*beq r10, r11, motoroff*/ blt r10, r11, motorr movia r15, 0xfffffffc stwio r15, 0(r8) br sensor1

motorr:

movia r15, 0xfffffffe stwio r15, 0(r8) br sensor1

.end

and here link lego controller manual:

http://www-ug.eecg.toronto.edu/msl/nios_devices/dev_newlegocontroller2.html

i trying create work now, , later have utilize pulse width modulation create more accurate... might have utilize nios2 timer?

i lost , shall appreciate help.

thanks lot guys, appreciate it.

manik

thanks lot, think have been spending much time on , needs fresh pair of eyes help me.

assembly robot altera lego nios