第三屆全國(guó)大學(xué)生“飛思卡爾”杯智能汽車(chē)競(jìng)賽技術(shù)報(bào)告（下）源程序

第三屆全國(guó)大學(xué)生“飛思卡爾”杯

智能汽車(chē)競(jìng)賽

技術(shù)報(bào)告

（下）

學(xué)校：XX大學(xué)

隊(duì)伍名稱(chēng)：XX大X火

參賽隊(duì)員：XXX、XXX、XXX

帶隊(duì)教師:XXX

第一節(jié)全國(guó)大學(xué)生智能汽車(chē)邀請(qǐng)賽技術(shù)報(bào)告

關(guān)于技術(shù)報(bào)告和研究論文使用授權(quán)的說(shuō)明

本人完全了解第二屆全國(guó)大學(xué)生“飛思卡爾”杯智能汽車(chē)競(jìng)賽關(guān)保留、使

用技術(shù)報(bào)告和研究論文的規(guī)定，即：參賽作品著作權(quán)歸參賽者本人，比賽組委會(huì)

和飛思卡爾半導(dǎo)體公司可以在相關(guān)主頁(yè)上收錄并公開(kāi)參賽作品的設(shè)計(jì)方案、技術(shù)

報(bào)告以及參賽模型車(chē)的視頻、圖像資料，并將相關(guān)內(nèi)容編纂收錄在組委會(huì)出版論

文集中。

參賽隊(duì)員簽名：

帶隊(duì)教師簽名：

日期：

2

目錄

第一章引言...................................................1

1.1概述........................................................................I

1.2技術(shù)報(bào)告內(nèi)容安排...........................................................1

第二章設(shè)計(jì)思路以及方案論證.................................2

2.1主要設(shè)計(jì)思路...............................................................2

2.2硬件設(shè)計(jì)方案論證...........................................................2

2.2.1單片機(jī)模塊............................................................2

2.2.2電源模塊方案..........................................................3

2.2.3方向傳感器模塊方案....................................................3

2.2.4速度傳感器模塊方案....................................................5

2.2.5電機(jī)驅(qū)動(dòng)模塊方案.....................................................6

2.3控制算法方案概述............................................................7

2.3.1總體方案.............................................................7

2.3.2方向控制算法選擇.....................................................7

2.3.3速度控制算法選擇.....................................................8

第三章智能車(chē)機(jī)械結(jié)構(gòu)介紹與調(diào)整...........................10

3.1前輪調(diào)整和舵機(jī)安裝.....................................................10

3.1.1前輪調(diào)整.............................................................10

3.1.2舵機(jī)安裝............................................................11

3.2車(chē)體重心調(diào)整............................................................12

3.3傳感器安裝...............................................................12

3.4主控電路板安裝結(jié)構(gòu)......................................................13

第四章系統(tǒng)硬件電路設(shè)計(jì)....................................15

4.1單片機(jī)模塊...............................................................15

4.2電源管理模塊............................................................16

4.3傳感器模塊..............................................................16

4.4電機(jī)驅(qū)動(dòng)模塊.............................................................17

4.5車(chē)速及里程計(jì)數(shù)模塊......................................................18

4.6主控板模塊...............................................................18

第五章系統(tǒng)軟件設(shè)計(jì).........................................20

5.1模塊設(shè)計(jì).................................................................20

5.1.1系統(tǒng)時(shí)鐘模塊.........................................................20

第一節(jié)全國(guó)大學(xué)生智能汽車(chē)邀請(qǐng)賽技術(shù)報(bào)告

5.1.2普通I/O模塊.........................................................21

5.1.3中斷模塊............................................................21

5.1.4AD模塊..............................................................22

5.1.5PWM模塊..............................................................23

5.1.6ECT模塊..............................................................24

5.2位置傳感器信號(hào)采集及黑線位置提取.....................................25

5.3起跑線識(shí)別與停車(chē).........................................................25

5.4方向控制............................................................-26

5.4.1方向控制整體結(jié)構(gòu)....................................................26

5.4.2賽道信息有效性判斷...................................................27

5.4.3彎道直道判斷.........................................................27

5.4.4轉(zhuǎn)向控制.............................................................28

5.4.5PID控制在方向控制中的實(shí)現(xiàn).......................................28

5.5速度控制...............................................................29

5.5.1速度控制整體結(jié)構(gòu)....................................................29

5.5.2PID控制在速度控制中的實(shí)現(xiàn).........................................29

第六章系統(tǒng)開(kāi)發(fā)與調(diào)試......................................31

6.1調(diào)試....................................................................31

6.2模型車(chē)技術(shù)參數(shù)統(tǒng)計(jì).......................................................33

第七章總結(jié)..................................................34

參考文獻(xiàn).....................................................35

附錄A:源程序..............................................36

附錄B:原理圖..............................................160

4

附錄A程序代碼

附錄A：程序代碼

，*?*************..*.*************....*****************.......

;*Thisstationeryservesastheframeworkfora*

;*userapplication(singlefile,absoluteassemblyapplication)*

;*Foramorecomprehensiveprogramthat*

;*demonstratesthemoreadvancedfunctionalityofthis*

;*processor,pleaseseethedemonstrationapplications*

;*locatedintheexamplessubdirectoryofthe*

;*FreescaleCodeWarriorfortheHC12Programdirectory*

,****************************************

;exportsymbols

XDEFEntry;export'Entry1symbol

ABSENTRYEntry;forabsoluteassembly:markthisasapplicationentry

point

;includederivativespecificmacros

INCLUDE,mc9sl2dg128.inc,

Key_numbOEQUO

Key_numblEQU1

Key_numb2EQU2

Key_numb3EQU3

KeyModeEQU2

KeyOKEQU3

第一節(jié)全國(guó)大學(xué)生智能汽車(chē)邀請(qǐng)賽技術(shù)報(bào)告

KeyADDEQUO

KeySUBEQU1

Non_keyEQU$FF

TurnLeftEQU$FF

TumRightEQU$00

LeftoverEQU$F0

RightOverEQU$0F

CenterEQU$0

Resistance1_AddressEQU$50

Resistance2_AddressEQU$51

Resistance3_AddressEQU$52

Resistance4_AddressEQU$53

ROMStartEQU$4000;absoluteaddresstoplacemycode/constantdata

SENSOR1_MAX」NITEQU$400

SENSORl.MINJNITEQU$401

SENSOR2_MAXJNITEQU$402

SENSOR2_MIN_INITEQU$403

SENSOR3_MAX_INITEQU$404

SENSOR3_MINJNITEQU$405

SENSOR4_MAX」NITEQU$406

6

附錄A程序代碼

SENSOR4_MIN_INITEQU$407

SENSOR5_MAX_INITEQU$408

SENSOR5_MIN_INITEQU$409

SENSOR6_MAX_INITEQU$40A

SENSOR6_MIN」NITEQU$40B

SENSOR7_MAX_INITEQU$40C

SENSOR7_MIN_INITEQU$40D

SENSOR8_MAXJNITEQU$40E

SENSOR8_MIN_INITEQU$40F

SENSOR9_MAX」NITEQU$410

SENSOR9_MIN_INITEQU$411

SENSOR10_MAXJNITEQU$412

SENSOR10_MIN_INITEQU$413

SENSOR11_MAXJNITEQU$414

SENSOR11_MINJNITEQU$415

SENSOR12_MAX_INITEQU$416

SENSOR12_MIN_INITEQU$417

SENSOR13_MAX_INITEQU$418

SENSOR13_MINJNITEQU$419

SENSOR14_MAX_INITEQU$41A

SENSOR14.MINJNITEQU$41B

SENSOR1EQU$2000

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SENSOR2EQU$2002

SENSOR3EQU$2004

SENSOR4EQU$2006

SENSOR5EQU$2008

SENSOR6EQU$200A

SENSOR7EQU$200C

SENSOR8EQU$200E

SENSOR9EQU$2010

SENSOR10EQU$2012

SENSOR11EQU$2014

SENSOR12EQU$2016

SENSOR13EQU$2018

SENSOR14EQU$201A

SENSOR1_MAXEQU$20IC

SENSOR1_MINEQU$20ID

SENSOR2_MAXEQU$20IE

SENSOR2_MINEQU$20IF

SENSOR3_MAXEQU$2020

SENSOR3_MINEQU$2021

SENSOR4_MAXEQU$2022

SENSOR4.MINEQU$2023

SENSOR5_MAXEQU$2024

SENSOR5_MINEQU$2025

SENSOR6.MAXEQU$2026

SENSOR6_MINEQU$2027

SENSOR7_MAXEQU$2028

8

附錄A程序代碼

SENSOR7_MINEQU$2029

SENSOR8_MAXEQU$202A

SENSOR8_MINEQU$202B

SENSOR9.MAXEQU$202C

SENSOR9_MINEQU$202D

SENSOR10_MAXEQU$202E

SENSOR10_MINEQU$202F

SENSOR11_MAXEQU$2030

SENSOR11_MINEQU$2031

SENSOR12_MAXEQU$2032

SENSOR12.MINEQU$2033

SENSOR13_MAXEQU$2034

SENSOR13_MINEQU$2035

SENSOR14_MAXEQU$2036

SENSOR14_MINEQU$2037

SPEED_NOWEQU$2038

ADDR_NUMB_BUF1EQU$2039

ADDR_NUMB_BUF2EQU$203A

ADDR.NUMB1EQU$203B

ADDR_NUMB2EQU$203C

ABSOLUTE_ADDR1EQU$203D

ABSOLUTE_ADDRLLEQU$203E

ABSOLUTE_ADDR2EQU$203F

ABSOLUTE_ADDR2_LEQU$2040

第一節(jié)全國(guó)大學(xué)生智能汽車(chē)邀請(qǐng)賽技術(shù)報(bào)告

LOCATION_1EQU$203E

LOCATION_2EQU$2040

VALUE_BUFEQU$2041

DIVISOREQU$2042

Key_numbEQU$2043

KEYCODEEQU$2043

FLAG_NEWEQU$2044;新采樣值標(biāo)志位

FLAG_AD_LOOPEQU$2045

FLAG_AD_NUMBEQU$2046

.********WYDDEFINE****************

TimerCounterEQU$2100

TimerCGQ_ONEQU$2101

TimerADEQU$2102

DispBufEQU$2103；0-7

TimerOverEQU$2104

LeftLimitl_lEQU$2105

RightLimitl_lEQU$2106

LeftLimit2_lEQU$2107

RightLimit2_lEQU$2108

LeftLimitl_2EQU$2109

RightLimitl_2EQU$210A

LeftLimit2__2EQU$21OB

RightLimit2_2EQU$210C

LeftLimitMaxEQU$210D

10

附錄A程序代碼

RightLimitMaxEQU$210E

Speed_PEQU$21OF

AngleLimit.LeftEQU$2110

AngleLimit_RightEQU$2111

FLAG_FIND_STARTEQU$2112

FLAG_START_DELAYEQU$2113

START_DELAYEQU$2114

LOOP_NUMBEQU$2115

*********WYDDEFINE****************

ORG$2200

PID_PDS.W1

PIDJDS.W1

PID_DDS.W1

BACKUP_Detect_D_HDS.W1

SUM_GDS.W1

CONTROL_NEWDS.W1

Detect_D_HDS.B1

Detect_DDS.B1

Difference_DDS.B1

D_OUTDS.B1

T_ignoreDS.B1

MaxLimitDS.B1

CONTROL.PDS.B1

MaxjeftDS.B1

Min_rightDS.B1

Flag_ODS.B1

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DJimitDS.B1

TURN_FLAGDS.B1

LOCATION_DIFDS.B1

LOCATION_LIMITDS.B1

BACKUP_Difference_DDS.B1

*********zfDEFINE****************

BACK_KEYSTATEDS.B1

KEYSTATEDS.B1

KeylntFlagDS.B1

JncStateDS.B1；角度增量狀態(tài)

LOCATION_SEG1DS.B1

LOCATION.SEG2DS.B1

CONTROL_ANGLEDS.W1

CHANGE_ANG_MAXDS.W1

BUF_1DS.B1

BUF_2DS.B1

LOCATION_ANGLEDS.B1

FLAG_LOCATION_RIGHTDS.B1

LOCATION_ANGLE_MAXDS.B1

ANGLE_DELAYDS.B1

StartFlagDS.B1

LOCATION_CENTERDS.B1

StopCounterDS.B1

;LED1.POINTDS.B1

;LED2_POINTDS.B1

SPEED_FLAGDS.B1

12

附錄A程序代碼

Speed_P2DS.B1

STOP_1DS.B1

STOP_2DS.B1

FLAG_STARTDS.B1

BLACK_TOTAL_BUFDS.B1

FLAG_FIND_MAXDS.B1

DEVICE_ADDRESSDS.B1

COMMANDDS.B1

RD_DATADS.B1

WR_DATADS.B1

IIC_NUMB_BUFDS.B1

FLAGJNCDECDS.B1

NUMB_BUFDS.W1

ADDRESS_BUFDS.B1

PLOT.NUMBDS.B1

FLAG_ADJUST_PLUSDS.B1

RIGHT_2EQUO

RIGHT_1EQU1

CENTEREQU2

LEFT_1EQU3

LEFT_2EQU4

StartENEQU$FF

,********

zfDEFINE****************

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ORGROMStart

Entry:

MOVB#$20,INITRM

NOP

LDS#RAMEnd;initializethestackpointer

CALLInitCPU

CALLInitPara

CALLROM_TO_WCR

;CALLCESHI_PARA

;JMPCOMPUTE_ABSOLUTE_ADDR_PROCESS

;JMPHAND2

；鍵控管理：開(kāi)機(jī)時(shí)允許進(jìn)行各種參數(shù)修改

CALLTumON_RED

KeyControlMain:

LDAAStartFlag

CMPA#StartEN

BEQMain

CALLTest_key_numb

LDAAKey_numb

CMPA#Non_key

BEQKeyControlMain

CALLKEYDEAL

BRAKeyControlMain

14

附錄A程序代碼

Main:

CALLInit_pwmout

Main_Wait:CALLTest_key_numb

LDAAKey_numb

CMPA#Non_key

BEQMain_Wait

CALLSPEED_CHANGE

CALLStart_speed

;CLI

Main_LPl:

;LDAATimerOver

;CMPA#$FF

;BNEMain_LPl

;MOVB#0,TimerOver

CALLREAD_AD

;CALLTurnOFF_CGQ

CALLUnify_sensor_value

;CALLFind_Start

CALLTranslate_location

LDAAFLAG_FIND_START

CMPA#$FF

BEQMain_LP2

CALLFind_black

BRAMain_LP3

Main_LP2:CALLFind_blackl

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Main_LP3:

CALLCOMPUTE_ABSOLUTE_ADDR

CALLCOMPUTE_ABSOLUTE_ADDR_PROCESS

LDABLOCATION.1

CALLResult_display

CALLDELAY_ls

CALLDELAY_ls

CALLDELAY.ls

;CALLHAND

CALLHAND2

CALLFOOT

BRAMain_LPl

;CALLTest__key_numb

;LDAAKey_numb

;CMPA#Non_key

;BEQMain_LPl

;MOVB#O,StartFlag

;JMPKeyControlMain

HAND2:

;CALLTESTJNITPARA

CALLLOCATION_D;Detect_D=角度(-66-0-66)

CALLLOCATION_GENERATE_ANGLE

MOVB#-12,Max_left

MOVB#+12,Min_right

16

附錄A程序代碼

LDABLOCATION_ANGLE

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BEQHAND2_LP2

;LDAATimerCounter

;CMPAANGLE_DELAY

;BNEHAND2_LP3

;MOVB#0,TimerCounter

LDABDifference_D

SUBBBACKUP_Difference_D

MOVB#-16,MaxJeft

MOVB#+16,Min_right

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BNEHAND2_LP3

CALLTURN_ANGLE

MOVBDifference_D,BACKUP_Difference_D

CALLInitRoundLimitPara

CALLTURN_SUBF2

CALLCONTROL_PID

BRAHAND2_LP3

HAND2_LP2:

CALLTURN__SUBF;OUTPUT:D_OUT

CALLInitLineLimitPara

CALLTURN.SUBF

HAND2_LP3:

CALLCHANGE_ang

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MOVBDifference_D,BACKUP_Difference_D

;CALLTURN_SUBF

LDABCONTROL_NEW

ADDBLOCATION.ANGLE

ADDBD.OUT

BVCHAND2_LP4

LDABD_OUT

CMPB#0

BGEHAND2_LP5

LDAB#-66

BRAHAND2.LP8

HAND2_LP5:LDAB#66

BRAHAND2_LP8

HAND2_LP4:

ADDBCONTROL_P

BVCHAND2_LP8

LDABD_OUT

CMPB#0

BGEHAND2_LP7

LDAB#-66

BRAHAND2_LP8

HAND2_LP7:LDAB#66

BRAHAND2.LP8

HAND2_LP8:

CALLGet_ang;INPUT:B輸出轉(zhuǎn)彎角度

18

附錄A程序代碼

;JMPHAND2_LP2

RTC

；執(zhí)行轉(zhuǎn)向控制

;INPUT:LOCATION」,LOCATION_2,CONTROL_P=(正值右轉(zhuǎn))

HAND:

;CALLTEST_INITPARA

CALLLOCATION.D;Detect_D=角度(-66-0-66)

CALLLOCATION_GENERATE_ANGLE

MOVB#-12,Max_left

MOVB#+12,Min_right

LDABLOCATION_ANGLE

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BNEHAND_LP2

；直線處理：依據(jù)黑線位置進(jìn)行調(diào)整，將黑線調(diào)整到中心

;MOVB#0,D_OUT

CALLInitLineLimitPara

;CALLInitRoundLimitPara

;CALLCHANGE_ang

BRAHAND_LP2_LP2

HAND_LP2:;彎道處理

CALLInitRoundLimitPara

BRAHANDLP3

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HAND_LP2_LP2:MOVB#-30,MaxJeft

MOVB#+3O,Min_right

LDABDetect_D

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BNEHAND_LP2_LP3

；直線處理：依據(jù)黑線位置進(jìn)行調(diào)整，將黑線調(diào)整到中心

;MOVB#0,D_OUT

;CALLInitLineLimitPara

;CALLInitRoundLimitPara

;CALLCHANGE_ang

BRAHAND.LP3

HAND_LP2_LP3:CALLInitRoundLimitPara

HAND.LP3:CALLCHANGE_ang

CALLTURN_SUBF;OUTPUT:D_OUT

;CALLTURN_ANGLE

LDABD_OUT

ADDBLOCATION_ANGLE

ADDBCONTROL.P

CALLGet_ang;INPUT:B輸出轉(zhuǎn)彎角度

RTC

TEST_INITPARA:

MOVB#105+20,LOCATION.1

20

附錄A程序代碼

MOVB#105+0,LOCATION_2

MOVB#0,D_OUT

MOVB#0,CONTROL_P

MOVB#O,Speed_P

MOVB#O,Detect_D

RTC

；執(zhí)行速度控制

FOOT:

LDAASPEED_FLAG

CMPA#0

BEQFOOT_LP1

CALLControlSpeed1

BRAFOOT_LP2

FOOT_LP1:

CALLControlSpeed

FOOT_LP2:CALLSPEED_CHANGE

CALLStopCarControl

RTC

;停車(chē)控制：如果第一、二排數(shù)據(jù)均無(wú)效，停車(chē)。

StopCarControl:

LDX#SENSOR1

INX

MOVB#14,FLAG_AD_NUMB

StopCarControl_loop:

LDAB,X

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CMPB#$FF

BNEStopCarControl_LP1

INX

INX

DECFLAG_AD_NUMB

BNEStopCarControl_loop

INCStopCounter

LDAAStopCounter

CMPA#200

BLSStopCarControl_RET

MOVB#0,PWMDTY7

StopCarControl_WAIT:CALLTest_key_numb;按任意鍵

退出

LDAAKey_numb

CMPA#Non_key

BEQStopCarControl_WAIT

CALLSPEED_CHANGE

StopCarControl_LP1:MOVB#0,StopCounter

StopCai-Control_RET:

RTC

，一-一-一-一一一--***********???***

，*****************51s**************'**************55s**************

;*位置轉(zhuǎn)換成控制角度*

產(chǎn)入口參數(shù)：LOCATION_1,LOCATION_2

；*出口參數(shù)：CONTROL_ANGLE產(chǎn)生的控制角度16位輸出

22

附錄A程序代碼

LOCATION_TO_CONTROL:LDAALOCATION.1

CMPARightLimitl_2

BHSLOCATION_TO_CONTROL_LP1

MOVB#RIGHT_2,LOCATION_SEG1

BRA

LOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP1:CMPARightLimitl_l

BHSLOCATION_TO_CONTROL_LP2

MOVB#RIGHT_1,LOCATION_SEG1

BRALOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP2:CMPALeftLimitl_l

BHSLOCATION_TO_CONTROL_LP3

MOVB#CENTER,LOCATION_SEG1

BRALOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP3:CMPALeftLimitl_2

BHSLOCATION_TO_CONTROL_LP4

MOVB

#LEFT_1,LOCATION_SEG1

BRA

LOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP4:MOVB#LEFT_2,LOCATION_SEG1

LOCATION_TO_CONTROL_SECOND_ROW:LDAALOCATION_2

CMPARightLimit2_2

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BHSLOCATION_TO_CONTROL_LP1_2

MOVB#RIGHT_2,LOCATION_SEG2

BRA

LOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP1_2CMPARightLimit2_l

BHSLOCATION_TO_CONTROL_LP2_2

MOVB#RIGHT_1,LOCATION_SEG2

BRALOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP2_2:CMPALeftLimit2_l

BHSLOCATION_TO_CONTROL_LP3_2

MOVB#CENTER,LOCATION_SEG2

BRALOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP3_2:CMPALeftLimit2_2

BHSLOCATION_TO_CONTROL_LP4_2

MOVB

#LEFT_1,LOCATION_SEG2

BRA

LOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP4_2:MOVB#LEFT_2,LOCATION_SEG2

LOCATION_TO_CONTROL_NEXT:LDX#TAB_CONTROL_ANGLE

LDABLOCATION_SEG1

LDAA#10

MUL

STABLOCATION_SEG1

24

附錄A程序代碼

XGDX

ADDBLOCATION_SEG1

BCCLOCATION_TO_CONTROL_NEXT_LP1

INCA

LOCATION_TO_CONTROL_NEXT_LP1:XGDX

LDABLOCATION_SEG2

LSLB

LDDB,X

STDCONTROL.ANGLE

RTC

,**********************************************

；角度調(diào)整控制參數(shù)表

TAB_CONTROL_ANGLEEQU*

;FDB

80,85,90,95,100,30,40,50,60,70,-10,-10,0,10,10,-70,-60,-50,-40,-30,-100,-95,-90,-85,-80

FDB

80,85,90,95,100,60,70,75,75,75,-10,-10,0,10,10,-75,-75,-75,-70,-60,-100,-95,-90,-85,-80

;7.3FDB

80,85,90,95』00,60,70,80,90,100,-10,-10,0,10,10,-100,-90,-80,-70,-60,-100,-95,-90,-85,-80

；角度調(diào)整：通過(guò)黑線位置確定調(diào)整角度

;OUTPUT:CONTROL.P

CHANGE_ang:

CALLLOCATIONTOCONTROL

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LDDCONTROL-ANGLE

LDYCHANGE_ANG_MAX

EMULS

LDX#100

EDIVS

XGDY

STABCONTROL_P

RTC

；初始化直線限制參數(shù)

InitLineLimitPara:

MOVB#105+40,LeftLimitl_l

MOVB#105-40,RightLimitl.l

MOVB#105+60,LeftLimitl_2

MOVB#105-60,RightLimitl_2

MOVB#105+10,LeftLimit2_l

MOVB#105-10,RightLimit2_l

MOVB#105+30,LeftLimit2_2

MOVB#105-30,RightLimit2_2

MOVW#10,CHANGE_ANG_MAX

RTC

;初始化彎道限制參數(shù)

InitRoundLimitPara:

MOVB#105+30,LeftLimitl.l

MOVB#105-30,RightLim