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Mips Assembly Language
Background
For this homework, you wish to write a robotic arm controller. The controller has one arm and one motor
for each of the five fingers (we will refer to the pinky as finger 0 and the thumb as finger 4, with others in
order). Our hardware uses a scheme called memory-mapped I/O, whereby the hardware interprets accesses
to particular memory locations as signals to the hardware device. In this case, the following I/O operations
(and more) are supported:
Initialize: write a 0 to memory location 0xABCD1230. This will also close all fingers completely.
Ready: Every initialization operation must be followed by this (once) to ensure that the arm is ready
to receive commands. The arm sets bit 5 of memory location 0xABCD1234 after it has initialized all
its motors and it is ready to receive instructions. In other words, the program must wait for this bit
to become 1.
Open finger k by .01 radians: set bit k (0 <= k <= 4) of memory location 0xABCD1234. You may assume
that the upper 16 bits (i.e.,k>=16) do not map to any I/O devices (and may thus be corrupted as you
wish).
Due to mechanical issues, successive openings of the same finger must be separated by at least 4 ms., to
avoid motor slippage.
As mentioned in class, the only branch-related instructions you can use this semester are beq, bne, j, slt,
and slti.
Assignment
Draw a CFG and write a MIPS program to open the thumb and middle and index fingers completely (i.e.,3.14
radians). To ensure smooth motion, the program will open each arm by .01 radians at a time instead of
opening one finger completely and then the next. Since we dont have a way to implement time delays, you
can simply write delay 4 to indicate a delay of 4 ms.
Submissions without a CFG will not be graded.
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