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Assembly Code |
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The two flow charts below illustrate the overall operation of the program used to implement the stabilization controller. Click on the images for a larger view. The actual Assembly Language code used to control this self balancing robot can be downloaded from the following link. CODE.pdf The actual Machine Language (.S19) code that is uploaded to the EEPROM and run by the Motorola HC11 can be viewed here. s19_code.htm
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