LDA MOT_PW+1 GET MOTOR WORKING PULSE WIDTH BEQ DR4 DONT MESS WITH JOB IF LOCKED OUT CMPA T2HOC COMPARE TO WHEEL TIMER MSB BHI DR5 IF MSB LOWER THAN PW, MOTOR OFF DR4 LDA 0,X GET NEXT STATUS BLE DRAW CONTINUE IF $FF OR $00 RTS DR5 LDD #$0EFF FOLLOWING TURNS MOTOR OFF JSR PSG+2 WITH OUT WRECKING X LDB REQ6 GET CURRENT SETTING ANDB #.NOT.PLUG SELECT INPUT LDA #ENABLE ADDRESS OF ENABLE BITS JSR OUTPUT WRITE TO PSG CLR MOT_PW+1 LOCK-OUT DR5 ONCE BRA DR4 CHECK NEXT VECTOR STATUS FOR END ************** ** ** CKMOTOR ** ** CHECK THE MOTOR TIMER AND SEE IF TIME TO FINIS ** ************** CKMOTOR LDA MOT_PW+1 BNE CKMOT2 RTS CKMOT2 CMPA T2HOC BHI CKMOT4 RTS CKMOT4 LDD #$0EFF JSR PSG+2 LDB REQ6 GET CURRENT SETTING ANDB #.NOT.PLUG SELECT INPUT LDA #ENABLE ADDRESS OF ENABLE BITS JSR OUTPUT WRITE TO PSG CLR MOT_PW+1 RTS *********************** ** MOTOR *********************** * (C) JOHN ROSS 1983 MOTOR CLR SR BEAM OFF LDA IFR GET INTERRUPT FLAGS FROM PIA BITA #$20 CHECK T2 TIME-OUT FLAG BNE MOT_2 TIMER OVER SO MOTOR IS SLOW LDA MOT_PW+2 MOTOR IS FAST SO MINIMUM POWER STA MOT_PW+1 IS USED IN THE NEXT ROTATION DEC SMPLCN ONE 'MOTOR OFF' ROTATION BGT MOT_66 CHECK FRAME TIME ALLOWANCE BRA MOT_3 IF SMPLCN=0=DONE, CHECK STATISTICS MOT_2 LDA MOT_PW POWER PULSE WIDTH IN RELATION TO A * DECREMENTING T2 TIMER STA MOT_PW+1 PULSE WIDTH FOR NEXT ROTATION INC ONROTS ONE 'MOTOR ON' ROTATION DEC SMPLCN ONE ROTATION. MOT_66 BGT MOT_65 CHECK FRAME TIME ALLOWANCE MOT_3 LDB #$08 1/4 STATISTIC SAMPLE TOTAL COUNT STB SMPLCN RESET SAMPLE COUNTER LDB ONROTS NUMBER OF ON ROTATIONS JUST NOW ADDB ONROTS+1 ON ROTATIONS FROM LAST 1/2 SAMPLE TFR B,A SETUP TO CHANGE ON PWR BY ROT ERROR SUBA #$0D OPTIMUM NO. OF ONROTS SET HERE----. NEGA A HAS -ONROTS ERROR FROM OPTIMUM | CMPB #$0D OPTIMUM NO. OF ONROT3 SET HERE TOO| BEQ MOT_6 NO ADJUSTMENT TO ON PW BPL MOT_53 GROW ON PW IF TOO MANY ON ROTATIONS ADDA MOT_PW SHRINK ON PW IF TOO FEW ONROTS BCS MOT_6 UNTILL IT WOULD ROLL OVER STA MOT_PW SAVE IF NOT ROLLED OVER BRA MOT_6 THEN ADJUST OFF POWER PULSE WIDTH MOT_53 ADDA MOT_PW GROW ON POWER PW IF TOO MUCH ONROT BCC MOT_6 UNTILL IT WOULD ROLL OVER STA MOT_PW SAVE IF NOT ROLLED OVER MOT_6 ADDB ONROTS+2 ADD T-2 ONROTS TO T-1 AND T-0 ADDB ONROTS+3 ADD T-3 ONROTS TO T-0, 1, AND 2 SUBB #$18 SET OPTMM NO_ OF ONROTS IN $20 HERE BEQ MOT_64 PROPAGATE ONROTS IF OPTIMUM TFR B,A A HAS ERROR MSB CLRB SETUP B FOR DIVIDE SHIFTING. A MSB, NEGA WHICH IS USED IN NEGATIVE FEEDBACK ASRA AT A RATIO OF 1/2 (OR 1/4 OK TOO) RORB DOUBLE PRECISION FOR NOW, MAKE LSB. TSTA RECOVER SIGN OF ERROR BMI MOT_62 GROW OFF ROT PWR IF TOO MANY ONROTS ADDD MOT_PW+2 SHRINK OFF PWR IF TOO FEW ONROTS BCS MOT_64 UNTILL IT ROLLS OVER STD MOT_PW+2 SAVE NEW SMALLER IF NOT ROLLED OVER BRA MOT_64 PROPAGATE ONROTS COUNTERS MOT_62 ADDD MOT_PW+2 GROW OFF ROT PWR IF TOO FEW OFFROTS BCC MOT_64 UNTILL IT ROLLS OVER,THEN PROPAGATE STD MOT_PW+2 SAVE NEW LARGER IF NOT ROLLED OVER MOT_64 LDA MOT_PW+2 GET OFF ROTATION POWER SUBA #$1A SET ON/OFF POWER DISTANCE HERE SUBA MOT_PW DISTANCE FROM ROTATION POWER BHI MOT_61 OFF PWR OK IF >THAT LDA MOT_PW GET ON PWR ADDA #$1A OFFSET BY ON/OFF DISTANCE STA MOT_PW+2 SAVE AS NEW OFF POWER MOT_61 LDD ONROTS+1 GET T-1, T-2 STD ONROTS+2 SAVE AS T-2, T-3 LDA ONROTS GET T-0 STA ONROTS+1 SAVE AS T-1 CLR ONROTS CLR T-0 FOR NEXT ON ROTATION COUNT MOT_65 NOP XMSEC (WHEEL ROT TIME) NOT ADJUSTED * IN THIS VERSION--- MOT_9 LDD #$0EFF FOLLOWING TURNS THE MOTOR OFF JSR PSGX BUT MAKES THE PORT IN OUTPUT MODE LDB REQ6 FIND OUT CURRENT SETTING ORB #PLUG SELECT OUTPUT LDA #ENABLE ADDRESS FOR ENABLES JSR OUTPUT SEND IT OUT TO PSG JSR ZEROIT ZERO THE BEAM POSITION LDS #STACK CLEAN-UP THE STACK JMP SCENE