;Final Project
		area project, code, readonly	;Red LED P5.4, Blue LED P5.5, OD (Hand) P5.6, OD (Trash) P5.7, Stepper Motor P4.0-3
		export __main					

		
__main 	proc
		;init
		ldr r0, =0x40004C21 ;port 4
		ldr r1, =0x40004C40 ;port 5
		
		mov r2, #0x0F
		strb r2, [r0, #0x04] ;set as output pins 0, 1, 2, 3 of port 4 // stepper motor
		
		mov r3, #0x00 
		strb r3, [r0, #0x0A] ;P4.SEL0 = 0
		strb r3, [r0, #0x0C] ;P4.SEL1 = 0
		
		mov r2, #0x30 
		strb r2, [r1, #0x04] ;set as input pins for 6, 7 and output for 4, 5 of port 5
		
		mov r2, #0xC0
		strb r2, [r1, #0x06] ;set inputs pins 0, 1 as resistor enabled for port 5	
		strb r2, [r1, #0x02] ;set inputs pins 0, 1 as pull up 
		
		mov r3, #0x00 
		strb r3, [r1, #0x0A] ;P5.SEL0 = 0
		strb r3, [r1, #0x0C] ;P5.SEL1 = 0
		;-----------------------------------------
		
		mov r12, #0x00 ; 0 - closed, 1 - open (register tracks if trash can lid is closed or open)
		
		b readinput
		endp
			
readinput ;p5.6 turns lid and p5.7 is garbage level (OD = obstacle det.)
		ldrb r2, [r1, #0x00] ;get input from port 5 input pins 6, 7
		
		mov r8, #110 ;110 cycles - ~90 degrees
		
		mov r7, #110 ;110 cycles - ~90 degrees

		tst r2, #0x40 ;testing if OD of p5.6 is on or off
		bne ccwcycle 
		beq cwcycle
			
ccwcycle ;closing

		tst r12, #0x01 ;r12 initally says lid is closed
		beq trashdet
		mov r12, #0x00 ;it would then be closed after execution ccwcycle
	
ccwloop	mov r6, #0x08
		strb r6, [r0, #0x02] ;send outpins
		push {lr}
		bl delay
		pop {lr}
		
		mov r6, #0x04
		strb r6, [r0, #0x02]
		push {lr}
		bl delay
		pop {lr}
		
		mov r6, #0x02
		strb r6, [r0, #0x02]
		push {lr}
		bl delay
		pop {lr}
		
		mov r6, #0x01
		strb r6, [r0, #0x02]
		push {lr}
		bl delay
		pop {lr}
		
		subs r7, #1
		cmp r7, #0
		
		bne ccwloop
		
		b trashdet

cwcycle ;opening
		tst r12, #0x01 ;r12 initally says lid is closed
		bne trashdet
		mov r12, #0x01 ;it would then be open after execution cwcycle
		
cwloop	mov r6, #0x01
		strb r6, [r0, #0x02]
		push {lr}
		bl delay
		pop {lr}
		
		mov r6, #0x02
		strb r6, [r0, #0x02]
		push {lr}
		bl delay
		pop {lr}

		mov r6, #0x04
		strb r6, [r0, #0x02]
		push {lr}
		bl delay
		pop {lr}

		mov r6, #0x08
		strb r6, [r0, #0x02] ;send outpins
		push {lr}
		bl delay
		pop {lr}
		
		subs r8, #1
		cmp r8, #0
		
		bne cwloop
		
		bl delay2
	
		b trashdet

trashdet ;blue not full, red full
		tst r2, #0x80 ;this detects something and then for p5.1 this will turn on one of with the leds
		beq redled ;this is when z is 1 and the register has a 0 
		bne blueled ;this is when z is 0 and the register has a 1
blueled
		mov r10, #0x20 ;p5 pin 5
		strb r10, [r1, #0x02]
		b readinput
redled
		mov r10, #0x10 ;p5 pin 4
		strb r10, [r1, #0x02]
		b readinput
			
delay function
		mov r4, #50
outer	mov r5, #255
inner	subs r5, #1
		bne inner 
		subs r4, #1
		bne outer
		bx lr
		endp
			
delay2 function
		mov r4, #1000
outer2	mov r5, #2550
inner2	subs r5, #1
		bne inner2
		subs r4, #1
		bne outer2
		bx lr
		endp	
		end