Pengendali motor stepper dengan keypad

Rangkaian ;

Code List :

$regfile = "m16def.dat"
$crystal = 1000000

Config Kbd = Portb
Config Lcd = 16 * 2
Config Lcdpin = Pin , Db4 = Portc.4 , Db5 = Portc.5 , Db6 = Portc.6 , Db7 = Portc.7 ,Rs = Portc.0 , E = Portc.1
Config Portd = Output
Config Porta = Input

Dim A As Byte , B As Byte , Key As Byte , C As Byte , D As Byte , E As Byte

Cls
Cursor Off

B = 0
D = 1

Q:
Locate 1 , 1
Lcd "Putaran :"
Locate 2 , 1
Lcd "Kecept  :"
Do
'************Read Keyboard
A = Getkbd()
If A > 15 Then
   Goto Q
Else
   Key = Lookup(a , Dta)
     If Key <= 9 Then
           B = B * 10
           B = B + Key
'*************Direction
          If D = 0 Then Lcd B
                   Waitms 270
               Elseif Key = 10 Then
                   Locate 1 , 11
                   Lcd "Kiri"
                   C = 1
                   D = 0
                   B = 0

               Elseif Key = 11 Then
                  Locate 1 , 11
                  Lcd "Kanan"
                  C = 2
                  D = 0
                  B = 0
'****************reset
               Elseif Key = 13 Then
                  Cls
                  D = 1
                  B = 0
                  Portd.0 = 0
                  Portd.1 = 0
                  Waitms 50
                  Goto Q
'****************Enter key
               Elseif Key = 14 Then
                   If D = 0 Then
                       Select Case C
                          Case 1 : Gosub R
                          Case 2 : Gosub T
                       End Select

                   End If
         End If

End If

Wait 1

Loop

End

Dta:
Data 7 , 8 , 9 , 10 , 4 , 5 , 6 , 11 , 1 , 2 , 3 , 12 , 13 , 0 , 14 , 15

R:
Do
Portd = &B00000001 : Waitms B
Portd = &B00000011 : Waitms B
Portd = &B00000010 : Waitms B
Portd = &B00000110 : Waitms B
Portd = &B00000100 : Waitms B
Portd = &B00001100 : Waitms B
Portd = &B00001000 : Waitms B
Portd = &B00001001 : Waitms B
  If Pina.0 = 1 Then
      Locate 2 , 1
      Lcd "Kecept:"
      B = 0
      Lcd B ; "          "
      Return
  End If

Loop

T:
Do
Portd = &B00001001 : Waitms B
Portd = &B00001000 : Waitms B
Portd = &B00001100 : Waitms B
Portd = &B00000100 : Waitms B
Portd = &B00000110 : Waitms B
Portd = &B00000010 : Waitms B
Portd = &B00000011 : Waitms B
Portd = &B00000001 : Waitms B
   If Pina.0 = 1 Then
       Locate 2 , 1
       Lcd "Kecept:"
       B = 0
       Lcd B ; "          "
       Return
   End If

Loop