| 0,0 → 1,1625 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 30-IV-06 21:17 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\3Orbis\main.lst |
| |
| ROM used: 1154 words (28%) |
| Largest free fragment is 2048 |
| RAM used: 32 (18%) at main() level |
| 35 (20%) worst case |
| Stack: 5 worst case (3 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 26C |
| 0003: NOP |
| 0004: MOVWF 7F |
| 0005: SWAPF 03,W |
| 0006: CLRF 03 |
| 0007: MOVWF 21 |
| 0008: MOVF 7F,W |
| 0009: MOVWF 20 |
| 000A: MOVF 0A,W |
| 000B: MOVWF 28 |
| 000C: CLRF 0A |
| 000D: SWAPF 20,F |
| 000E: MOVF 04,W |
| 000F: MOVWF 22 |
| 0010: MOVF 77,W |
| 0011: MOVWF 23 |
| 0012: MOVF 78,W |
| 0013: MOVWF 24 |
| 0014: MOVF 79,W |
| 0015: MOVWF 25 |
| 0016: MOVF 7A,W |
| 0017: MOVWF 26 |
| 0018: MOVF 7B,W |
| 0019: MOVWF 27 |
| 001A: BCF 03.7 |
| 001B: BCF 03.5 |
| 001C: MOVLW 8C |
| 001D: MOVWF 04 |
| 001E: BTFSS 00.1 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.1 |
| 0021: GOTO 035 |
| 0022: MOVF 22,W |
| 0023: MOVWF 04 |
| 0024: MOVF 23,W |
| 0025: MOVWF 77 |
| 0026: MOVF 24,W |
| 0027: MOVWF 78 |
| 0028: MOVF 25,W |
| 0029: MOVWF 79 |
| 002A: MOVF 26,W |
| 002B: MOVWF 7A |
| 002C: MOVF 27,W |
| 002D: MOVWF 7B |
| 002E: MOVF 28,W |
| 002F: MOVWF 0A |
| 0030: SWAPF 21,W |
| 0031: MOVWF 03 |
| 0032: SWAPF 7F,F |
| 0033: SWAPF 7F,W |
| 0034: RETFIE |
| 0035: BCF 0A.3 |
| 0036: GOTO 047 |
| .................... #include ".\main.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... |
| .................... #FUSES NOWDT //No Watch Dog Timer |
| .................... #FUSES INTRC_IO |
| .................... #FUSES NOPUT //No Power Up Timer |
| .................... #FUSES MCLR //Master Clear pin enabled |
| .................... #FUSES NOBROWNOUT //Reset when brownout detected |
| .................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18) |
| .................... #FUSES NOCPD //No EE protection |
| .................... #FUSES NOWRT //Program memory not write protected |
| .................... #FUSES NODEBUG //No Debug mode for ICD |
| .................... #FUSES NOPROTECT //Code not protected from reading |
| .................... #FUSES NOFCMEN //Fail-safe clock monitor enabled |
| .................... #FUSES NOIESO //Internal External Switch Over mode enabled |
| .................... |
| .................... #use delay(clock=8000000,RESTART_WDT) |
| 0037: MOVLW 08 |
| 0038: SUBWF 3D,F |
| 0039: BTFSS 03.0 |
| 003A: GOTO 046 |
| 003B: MOVLW 3D |
| 003C: MOVWF 04 |
| 003D: BCF 03.0 |
| 003E: RRF 00,F |
| 003F: MOVF 00,W |
| 0040: BTFSC 03.2 |
| 0041: GOTO 046 |
| 0042: GOTO 044 |
| 0043: CLRWDT |
| 0044: DECFSZ 00,F |
| 0045: GOTO 043 |
| 0046: RETLW 00 |
| * |
| 0065: MOVLW 3A |
| 0066: MOVWF 04 |
| 0067: MOVF 00,W |
| 0068: BTFSC 03.2 |
| 0069: GOTO 07C |
| 006A: MOVLW 02 |
| 006B: MOVWF 78 |
| 006C: MOVLW BF |
| 006D: MOVWF 77 |
| 006E: CLRWDT |
| 006F: DECFSZ 77,F |
| 0070: GOTO 06E |
| 0071: DECFSZ 78,F |
| 0072: GOTO 06C |
| 0073: MOVLW 96 |
| 0074: MOVWF 77 |
| 0075: DECFSZ 77,F |
| 0076: GOTO 075 |
| 0077: NOP |
| 0078: NOP |
| 0079: CLRWDT |
| 007A: DECFSZ 00,F |
| 007B: GOTO 06A |
| 007C: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #define KOLMO1 225 // predni kolecko sroubem dopredu |
| .................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu |
| .................... #define STRED 128 // sredni poloha zataceciho kolecka |
| .................... #define BEAR1 10//10 // 3 stupne zataceni |
| .................... #define BEAR2 25//25 |
| .................... #define BEAR3 45//45 |
| .................... #define R 100 // Rozumna rychlost |
| .................... #define R17 200 // X nasobek rozumne rychlosti |
| .................... #define PRED_CIHLOU 100 // rychlost pri dalkove detekci cihly |
| .................... //#define L1 1 // cara vlevo |
| .................... #define L2 2 // cara vlevo |
| .................... #define L3 3 // cara vlevo |
| .................... #define S 0 // cara mezi sensory |
| .................... //#define R1 -1 // cara vpravo |
| .................... #define R2 -2 // cara vpravo |
| .................... #define R3 -3 // cara vpravo |
| .................... |
| .................... // servo |
| .................... #define SERVO PIN_B5 |
| .................... |
| .................... // kroutitka |
| .................... #define CERVENA 4 // AN4 |
| .................... //#define CERNA 5 // AN5 |
| .................... //#define ZELENA 6 // AN6 |
| .................... #define MODRA 2 // AN2 |
| .................... |
| .................... // IR |
| .................... #define IRTX PIN_B2 |
| .................... #define CIHLA PIN_A3 |
| .................... |
| .................... //motory |
| .................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred |
| .................... #define FL output_low(PIN_A1); output_high(PIN_A0) |
| .................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad |
| .................... #define BL output_low(PIN_A0); output_high(PIN_A1) |
| .................... #define STOPR output_low(PIN_A6);output_low(PIN_A7) |
| .................... #define STOPL output_low(PIN_A0);output_low(PIN_A1) |
| .................... |
| .................... //HID |
| .................... #define LED1 PIN_B1 //oranzova |
| .................... #define LED2 PIN_B2 //zluta |
| .................... |
| .................... #define STROBE PIN_B0 |
| .................... //#define SW1 PIN_A2 // Motory On/off |
| .................... |
| .................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| .................... signed int8 line = S; // na ktere strane byla detekovana cara |
| * |
| 0279: BCF 03.5 |
| 027A: CLRF 2B |
| .................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
| .................... unsigned int8 uhel; // urcuje aktualni uhel zataceni |
| .................... unsigned int8 speed; // maximalni povolena rychlost |
| .................... unsigned int8 turn; // rychlost toceni |
| .................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky |
| .................... |
| .................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem |
| .................... signed int16 Rmotor; // a pravem motoru |
| .................... |
| .................... // makro pro PWM pro motory |
| .................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| .................... {direction##motor;} else {stop##motor;} |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #int_TIMER2 |
| .................... TIMER2_isr() // ovladani serva |
| .................... { |
| .................... unsigned int8 n; |
| .................... |
| .................... output_high(SERVO); |
| * |
| 0047: BSF 03.5 |
| 0048: BCF 06.5 |
| 0049: BCF 03.5 |
| 004A: BSF 06.5 |
| .................... delay_us(1000); |
| 004B: CLRWDT |
| 004C: MOVLW 09 |
| 004D: MOVWF 3C |
| 004E: MOVLW 6D |
| 004F: MOVWF 3D |
| 0050: CALL 037 |
| 0051: DECFSZ 3C,F |
| 0052: GOTO 04E |
| .................... for(n=uhel; n>0; n--) Delay_us(2); |
| 0053: MOVF 2C,W |
| 0054: MOVWF 3B |
| 0055: MOVF 3B,F |
| 0056: BTFSC 03.2 |
| 0057: GOTO 05E |
| 0058: CLRWDT |
| 0059: NOP |
| 005A: NOP |
| 005B: NOP |
| 005C: DECF 3B,F |
| 005D: GOTO 055 |
| .................... output_low(SERVO); |
| 005E: BSF 03.5 |
| 005F: BCF 06.5 |
| 0060: BCF 03.5 |
| 0061: BCF 06.5 |
| .................... } |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| 0062: BCF 0C.1 |
| 0063: BCF 0A.3 |
| 0064: GOTO 022 |
| .................... int8 IRcheck() // potvrdi detekci cihly |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... delay_ms(10); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... if(bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| .................... { |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... delay_ms(10); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... if(!bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... delay_ms(10); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... |
| .................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla |
| .................... } |
| .................... }; |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... return 0; // vrat 0, kdyz je detekovano ruseni |
| .................... } |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #include ".\objizdka_centrovani_R.c" |
| .................... #define DOLEVA 0 |
| .................... #define DOPRAVA 1 |
| .................... |
| .................... void cikcak() |
| .................... { |
| .................... unsigned int8 i=0; |
| * |
| 007D: CLRF 39 |
| .................... |
| .................... uhel=KOLMO1; // aby se dalo tocit na miste |
| 007E: MOVLW E1 |
| 007F: MOVWF 2C |
| .................... Delay_ms(100); |
| 0080: MOVLW 64 |
| 0081: MOVWF 3A |
| 0082: CALL 065 |
| .................... |
| .................... if (line==L2) line=L3; // poznamenej, kde byla cara pred brzdenim |
| 0083: MOVF 2B,W |
| 0084: SUBLW 02 |
| 0085: BTFSS 03.2 |
| 0086: GOTO 089 |
| 0087: MOVLW 03 |
| 0088: MOVWF 2B |
| .................... if (line==S) line=L3; |
| 0089: MOVF 2B,F |
| 008A: BTFSS 03.2 |
| 008B: GOTO 08E |
| 008C: MOVLW 03 |
| 008D: MOVWF 2B |
| .................... if (line==R2) line=R3; |
| 008E: MOVF 2B,W |
| 008F: SUBLW FE |
| 0090: BTFSS 03.2 |
| 0091: GOTO 094 |
| 0092: MOVLW FD |
| 0093: MOVWF 2B |
| .................... |
| .................... Delay_ms(3); // prodleva na cteni senzoru pred prenosem |
| 0094: MOVLW 03 |
| 0095: MOVWF 3A |
| 0096: CALL 065 |
| .................... |
| .................... output_low(STROBE); // zapni zobrazovani na posuvnem registru |
| 0097: BSF 03.5 |
| 0098: BCF 06.0 |
| 0099: BCF 03.5 |
| 009A: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 009B: MOVF 13,W |
| 009C: CLRF 13 |
| 009D: BSF 03.5 |
| 009E: BTFSC 14.0 |
| 009F: GOTO 0A2 |
| 00A0: BCF 03.5 |
| 00A1: GOTO 09D |
| 00A2: BCF 03.5 |
| 00A3: MOVF 13,W |
| 00A4: MOVWF 2A |
| .................... sensors=~sensors; |
| 00A5: COMF 2A,F |
| .................... output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| 00A6: BSF 03.5 |
| 00A7: BCF 06.0 |
| 00A8: BCF 03.5 |
| 00A9: BSF 06.0 |
| .................... |
| .................... while(true) |
| .................... { |
| .................... Delay_ms(3); |
| 00AA: MOVLW 03 |
| 00AB: MOVWF 3A |
| 00AC: CALL 065 |
| .................... |
| .................... if (line==L3) |
| 00AD: MOVF 2B,W |
| 00AE: SUBLW 03 |
| 00AF: BTFSS 03.2 |
| 00B0: GOTO 0DB |
| .................... { |
| .................... GO(L,B,160);GO(R,F,160); |
| 00B1: MOVF 01,W |
| 00B2: SUBLW A0 |
| 00B3: BTFSS 03.0 |
| 00B4: GOTO 0BE |
| 00B5: BSF 03.5 |
| 00B6: BCF 05.0 |
| 00B7: BCF 03.5 |
| 00B8: BCF 05.0 |
| 00B9: BSF 03.5 |
| 00BA: BCF 05.1 |
| 00BB: BCF 03.5 |
| 00BC: BSF 05.1 |
| 00BD: GOTO 0C6 |
| 00BE: BSF 03.5 |
| 00BF: BCF 05.0 |
| 00C0: BCF 03.5 |
| 00C1: BCF 05.0 |
| 00C2: BSF 03.5 |
| 00C3: BCF 05.1 |
| 00C4: BCF 03.5 |
| 00C5: BCF 05.1 |
| 00C6: MOVF 01,W |
| 00C7: SUBLW A0 |
| 00C8: BTFSS 03.0 |
| 00C9: GOTO 0D3 |
| 00CA: BSF 03.5 |
| 00CB: BCF 05.7 |
| 00CC: BCF 03.5 |
| 00CD: BCF 05.7 |
| 00CE: BSF 03.5 |
| 00CF: BCF 05.6 |
| 00D0: BCF 03.5 |
| 00D1: BSF 05.6 |
| 00D2: GOTO 0DB |
| 00D3: BSF 03.5 |
| 00D4: BCF 05.6 |
| 00D5: BCF 03.5 |
| 00D6: BCF 05.6 |
| 00D7: BSF 03.5 |
| 00D8: BCF 05.7 |
| 00D9: BCF 03.5 |
| 00DA: BCF 05.7 |
| .................... }; |
| .................... if (line==R3) |
| 00DB: MOVF 2B,W |
| 00DC: SUBLW FD |
| 00DD: BTFSS 03.2 |
| 00DE: GOTO 109 |
| .................... { |
| .................... GO(R,B,160);GO(L,F,160); |
| 00DF: MOVF 01,W |
| 00E0: SUBLW A0 |
| 00E1: BTFSS 03.0 |
| 00E2: GOTO 0EC |
| 00E3: BSF 03.5 |
| 00E4: BCF 05.6 |
| 00E5: BCF 03.5 |
| 00E6: BCF 05.6 |
| 00E7: BSF 03.5 |
| 00E8: BCF 05.7 |
| 00E9: BCF 03.5 |
| 00EA: BSF 05.7 |
| 00EB: GOTO 0F4 |
| 00EC: BSF 03.5 |
| 00ED: BCF 05.6 |
| 00EE: BCF 03.5 |
| 00EF: BCF 05.6 |
| 00F0: BSF 03.5 |
| 00F1: BCF 05.7 |
| 00F2: BCF 03.5 |
| 00F3: BCF 05.7 |
| 00F4: MOVF 01,W |
| 00F5: SUBLW A0 |
| 00F6: BTFSS 03.0 |
| 00F7: GOTO 101 |
| 00F8: BSF 03.5 |
| 00F9: BCF 05.1 |
| 00FA: BCF 03.5 |
| 00FB: BCF 05.1 |
| 00FC: BSF 03.5 |
| 00FD: BCF 05.0 |
| 00FE: BCF 03.5 |
| 00FF: BSF 05.0 |
| 0100: GOTO 109 |
| 0101: BSF 03.5 |
| 0102: BCF 05.0 |
| 0103: BCF 03.5 |
| 0104: BCF 05.0 |
| 0105: BSF 03.5 |
| 0106: BCF 05.1 |
| 0107: BCF 03.5 |
| 0108: BCF 05.1 |
| .................... }; |
| .................... if (line==S) {STOPL;STOPR; i++;} else i=0; |
| 0109: MOVF 2B,F |
| 010A: BTFSS 03.2 |
| 010B: GOTO 11E |
| 010C: BSF 03.5 |
| 010D: BCF 05.0 |
| 010E: BCF 03.5 |
| 010F: BCF 05.0 |
| 0110: BSF 03.5 |
| 0111: BCF 05.1 |
| 0112: BCF 03.5 |
| 0113: BCF 05.1 |
| 0114: BSF 03.5 |
| 0115: BCF 05.6 |
| 0116: BCF 03.5 |
| 0117: BCF 05.6 |
| 0118: BSF 03.5 |
| 0119: BCF 05.7 |
| 011A: BCF 03.5 |
| 011B: BCF 05.7 |
| 011C: INCF 39,F |
| 011D: GOTO 11F |
| 011E: CLRF 39 |
| .................... |
| .................... if (i>=100) break; // pokud je dostatecne dlouho cara vprostred, vypadni |
| 011F: MOVF 39,W |
| 0120: SUBLW 63 |
| 0121: BTFSS 03.0 |
| 0122: GOTO 159 |
| .................... |
| .................... output_low(STROBE); // zapni zobrazovani na posuvnem registru |
| 0123: BSF 03.5 |
| 0124: BCF 06.0 |
| 0125: BCF 03.5 |
| 0126: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0127: MOVF 13,W |
| 0128: CLRF 13 |
| 0129: BSF 03.5 |
| 012A: BTFSC 14.0 |
| 012B: GOTO 12E |
| 012C: BCF 03.5 |
| 012D: GOTO 129 |
| 012E: BCF 03.5 |
| 012F: MOVF 13,W |
| 0130: MOVWF 2A |
| .................... sensors=~sensors; |
| 0131: COMF 2A,F |
| .................... output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| 0132: BSF 03.5 |
| 0133: BCF 06.0 |
| 0134: BCF 03.5 |
| 0135: BSF 06.0 |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 0136: BTFSS 2A.3 |
| 0137: GOTO 13A |
| .................... { |
| .................... line=S; |
| 0138: CLRF 2B |
| .................... continue; |
| 0139: GOTO 0AA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 013A: BTFSS 2A.0 |
| 013B: GOTO 13F |
| .................... { |
| .................... line=L3; |
| 013C: MOVLW 03 |
| 013D: MOVWF 2B |
| .................... continue; |
| 013E: GOTO 0AA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 013F: BTFSS 2A.6 |
| 0140: GOTO 144 |
| .................... { |
| .................... line=R3; |
| 0141: MOVLW FD |
| 0142: MOVWF 2B |
| .................... continue; |
| 0143: GOTO 0AA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 0144: BTFSS 2A.1 |
| 0145: GOTO 149 |
| .................... { |
| .................... line=L3; |
| 0146: MOVLW 03 |
| 0147: MOVWF 2B |
| .................... continue; |
| 0148: GOTO 0AA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 0149: BTFSS 2A.5 |
| 014A: GOTO 14E |
| .................... { |
| .................... line=R3; |
| 014B: MOVLW FD |
| 014C: MOVWF 2B |
| .................... continue; |
| 014D: GOTO 0AA |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 014E: BTFSS 2A.2 |
| 014F: GOTO 153 |
| .................... { |
| .................... line=L3; |
| 0150: MOVLW 03 |
| 0151: MOVWF 2B |
| .................... continue; |
| 0152: GOTO 0AA |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 0153: BTFSS 2A.4 |
| 0154: GOTO 158 |
| .................... { |
| .................... line=R3; |
| 0155: MOVLW FD |
| 0156: MOVWF 2B |
| .................... continue; |
| 0157: GOTO 0AA |
| .................... } |
| .................... } |
| 0158: GOTO 0AA |
| .................... } |
| 0159: RETLW 00 |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void objizdka() |
| .................... { |
| .................... FL;BR; // doprava 90 |
| 015A: BSF 03.5 |
| 015B: BCF 05.1 |
| 015C: BCF 03.5 |
| 015D: BCF 05.1 |
| 015E: BSF 03.5 |
| 015F: BCF 05.0 |
| 0160: BCF 03.5 |
| 0161: BSF 05.0 |
| 0162: BSF 03.5 |
| 0163: BCF 05.6 |
| 0164: BCF 03.5 |
| 0165: BCF 05.6 |
| 0166: BSF 03.5 |
| 0167: BCF 05.7 |
| 0168: BCF 03.5 |
| 0169: BSF 05.7 |
| .................... Delay_ms(300); |
| 016A: MOVLW 02 |
| 016B: MOVWF 39 |
| 016C: MOVLW 96 |
| 016D: MOVWF 3A |
| 016E: CALL 065 |
| 016F: DECFSZ 39,F |
| 0170: GOTO 16C |
| .................... BL;FR; // brzdi z toceni |
| 0171: BSF 03.5 |
| 0172: BCF 05.0 |
| 0173: BCF 03.5 |
| 0174: BCF 05.0 |
| 0175: BSF 03.5 |
| 0176: BCF 05.1 |
| 0177: BCF 03.5 |
| 0178: BSF 05.1 |
| 0179: BSF 03.5 |
| 017A: BCF 05.7 |
| 017B: BCF 03.5 |
| 017C: BCF 05.7 |
| 017D: BSF 03.5 |
| 017E: BCF 05.6 |
| 017F: BCF 03.5 |
| 0180: BSF 05.6 |
| .................... Delay_ms(100); |
| 0181: MOVLW 64 |
| 0182: MOVWF 3A |
| 0183: CALL 065 |
| .................... STOPL;STOPR; |
| 0184: BSF 03.5 |
| 0185: BCF 05.0 |
| 0186: BCF 03.5 |
| 0187: BCF 05.0 |
| 0188: BSF 03.5 |
| 0189: BCF 05.1 |
| 018A: BCF 03.5 |
| 018B: BCF 05.1 |
| 018C: BSF 03.5 |
| 018D: BCF 05.6 |
| 018E: BCF 03.5 |
| 018F: BCF 05.6 |
| 0190: BSF 03.5 |
| 0191: BCF 05.7 |
| 0192: BCF 03.5 |
| 0193: BCF 05.7 |
| .................... |
| .................... uhel=STRED; |
| 0194: MOVLW 80 |
| 0195: MOVWF 2C |
| .................... FL;FR; |
| 0196: BSF 03.5 |
| 0197: BCF 05.1 |
| 0198: BCF 03.5 |
| 0199: BCF 05.1 |
| 019A: BSF 03.5 |
| 019B: BCF 05.0 |
| 019C: BCF 03.5 |
| 019D: BSF 05.0 |
| 019E: BSF 03.5 |
| 019F: BCF 05.7 |
| 01A0: BCF 03.5 |
| 01A1: BCF 05.7 |
| 01A2: BSF 03.5 |
| 01A3: BCF 05.6 |
| 01A4: BCF 03.5 |
| 01A5: BSF 05.6 |
| .................... Delay_ms(380); // rovne |
| 01A6: MOVLW 02 |
| 01A7: MOVWF 39 |
| 01A8: MOVLW BE |
| 01A9: MOVWF 3A |
| 01AA: CALL 065 |
| 01AB: DECFSZ 39,F |
| 01AC: GOTO 1A8 |
| .................... |
| .................... uhel=STRED-55; |
| 01AD: MOVLW 49 |
| 01AE: MOVWF 2C |
| .................... STOPL;FR; |
| 01AF: BSF 03.5 |
| 01B0: BCF 05.0 |
| 01B1: BCF 03.5 |
| 01B2: BCF 05.0 |
| 01B3: BSF 03.5 |
| 01B4: BCF 05.1 |
| 01B5: BCF 03.5 |
| 01B6: BCF 05.1 |
| 01B7: BSF 03.5 |
| 01B8: BCF 05.7 |
| 01B9: BCF 03.5 |
| 01BA: BCF 05.7 |
| 01BB: BSF 03.5 |
| 01BC: BCF 05.6 |
| 01BD: BCF 03.5 |
| 01BE: BSF 05.6 |
| .................... Delay_ms(190); // doleva |
| 01BF: MOVLW BE |
| 01C0: MOVWF 3A |
| 01C1: CALL 065 |
| .................... |
| .................... uhel=STRED; |
| 01C2: MOVLW 80 |
| 01C3: MOVWF 2C |
| .................... FR;FL; |
| 01C4: BSF 03.5 |
| 01C5: BCF 05.7 |
| 01C6: BCF 03.5 |
| 01C7: BCF 05.7 |
| 01C8: BSF 03.5 |
| 01C9: BCF 05.6 |
| 01CA: BCF 03.5 |
| 01CB: BSF 05.6 |
| 01CC: BSF 03.5 |
| 01CD: BCF 05.1 |
| 01CE: BCF 03.5 |
| 01CF: BCF 05.1 |
| 01D0: BSF 03.5 |
| 01D1: BCF 05.0 |
| 01D2: BCF 03.5 |
| 01D3: BSF 05.0 |
| .................... Delay_ms(300); // rovne |
| 01D4: MOVLW 02 |
| 01D5: MOVWF 39 |
| 01D6: MOVLW 96 |
| 01D7: MOVWF 3A |
| 01D8: CALL 065 |
| 01D9: DECFSZ 39,F |
| 01DA: GOTO 1D6 |
| .................... |
| .................... uhel=STRED-55; |
| 01DB: MOVLW 49 |
| 01DC: MOVWF 2C |
| .................... FR;STOPL; |
| 01DD: BSF 03.5 |
| 01DE: BCF 05.7 |
| 01DF: BCF 03.5 |
| 01E0: BCF 05.7 |
| 01E1: BSF 03.5 |
| 01E2: BCF 05.6 |
| 01E3: BCF 03.5 |
| 01E4: BSF 05.6 |
| 01E5: BSF 03.5 |
| 01E6: BCF 05.0 |
| 01E7: BCF 03.5 |
| 01E8: BCF 05.0 |
| 01E9: BSF 03.5 |
| 01EA: BCF 05.1 |
| 01EB: BCF 03.5 |
| 01EC: BCF 05.1 |
| .................... Delay_ms(190); // doleva |
| 01ED: MOVLW BE |
| 01EE: MOVWF 3A |
| 01EF: CALL 065 |
| .................... |
| .................... uhel=STRED; |
| 01F0: MOVLW 80 |
| 01F1: MOVWF 2C |
| .................... FR;FL; |
| 01F2: BSF 03.5 |
| 01F3: BCF 05.7 |
| 01F4: BCF 03.5 |
| 01F5: BCF 05.7 |
| 01F6: BSF 03.5 |
| 01F7: BCF 05.6 |
| 01F8: BCF 03.5 |
| 01F9: BSF 05.6 |
| 01FA: BSF 03.5 |
| 01FB: BCF 05.1 |
| 01FC: BCF 03.5 |
| 01FD: BCF 05.1 |
| 01FE: BSF 03.5 |
| 01FF: BCF 05.0 |
| 0200: BCF 03.5 |
| 0201: BSF 05.0 |
| .................... Delay_ms(100); // rovne |
| 0202: MOVLW 64 |
| 0203: MOVWF 3A |
| 0204: CALL 065 |
| .................... |
| .................... While((sensors & 0b11111110)!=0) //dokud neni cara |
| .................... { |
| 0205: MOVF 2A,W |
| 0206: ANDLW FE |
| 0207: BTFSC 03.2 |
| 0208: GOTO 218 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0209: MOVF 13,W |
| 020A: CLRF 13 |
| 020B: BSF 03.5 |
| 020C: BTFSC 14.0 |
| 020D: GOTO 210 |
| 020E: BCF 03.5 |
| 020F: GOTO 20B |
| 0210: BCF 03.5 |
| 0211: MOVF 13,W |
| 0212: MOVWF 2A |
| .................... sensors=~sensors; |
| 0213: COMF 2A,F |
| .................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel |
| 0214: MOVLW 03 |
| 0215: MOVWF 3A |
| 0216: CALL 065 |
| .................... } |
| 0217: GOTO 205 |
| .................... BL;BR; // zabrzdi |
| 0218: BSF 03.5 |
| 0219: BCF 05.0 |
| 021A: BCF 03.5 |
| 021B: BCF 05.0 |
| 021C: BSF 03.5 |
| 021D: BCF 05.1 |
| 021E: BCF 03.5 |
| 021F: BSF 05.1 |
| 0220: BSF 03.5 |
| 0221: BCF 05.6 |
| 0222: BCF 03.5 |
| 0223: BCF 05.6 |
| 0224: BSF 03.5 |
| 0225: BCF 05.7 |
| 0226: BCF 03.5 |
| 0227: BSF 05.7 |
| .................... Delay_ms(250); |
| 0228: MOVLW FA |
| 0229: MOVWF 3A |
| 022A: CALL 065 |
| .................... |
| .................... uhel=KOLMO1; |
| 022B: MOVLW E1 |
| 022C: MOVWF 2C |
| .................... FL;BR; // doprava |
| 022D: BSF 03.5 |
| 022E: BCF 05.1 |
| 022F: BCF 03.5 |
| 0230: BCF 05.1 |
| 0231: BSF 03.5 |
| 0232: BCF 05.0 |
| 0233: BCF 03.5 |
| 0234: BSF 05.0 |
| 0235: BSF 03.5 |
| 0236: BCF 05.6 |
| 0237: BCF 03.5 |
| 0238: BCF 05.6 |
| 0239: BSF 03.5 |
| 023A: BCF 05.7 |
| 023B: BCF 03.5 |
| 023C: BSF 05.7 |
| .................... While((sensors & 0b11111110)!=0) //dokud neni cara |
| .................... { |
| 023D: MOVF 2A,W |
| 023E: ANDLW FE |
| 023F: BTFSC 03.2 |
| 0240: GOTO 250 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0241: MOVF 13,W |
| 0242: CLRF 13 |
| 0243: BSF 03.5 |
| 0244: BTFSC 14.0 |
| 0245: GOTO 248 |
| 0246: BCF 03.5 |
| 0247: GOTO 243 |
| 0248: BCF 03.5 |
| 0249: MOVF 13,W |
| 024A: MOVWF 2A |
| .................... sensors=~sensors; |
| 024B: COMF 2A,F |
| .................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel |
| 024C: MOVLW 03 |
| 024D: MOVWF 3A |
| 024E: CALL 065 |
| .................... } |
| 024F: GOTO 23D |
| .................... STOPL;STOPR; // zabrzdi |
| 0250: BSF 03.5 |
| 0251: BCF 05.0 |
| 0252: BCF 03.5 |
| 0253: BCF 05.0 |
| 0254: BSF 03.5 |
| 0255: BCF 05.1 |
| 0256: BCF 03.5 |
| 0257: BCF 05.1 |
| 0258: BSF 03.5 |
| 0259: BCF 05.6 |
| 025A: BCF 03.5 |
| 025B: BCF 05.6 |
| 025C: BSF 03.5 |
| 025D: BCF 05.7 |
| 025E: BCF 03.5 |
| 025F: BCF 05.7 |
| .................... Delay_ms(300); |
| 0260: MOVLW 02 |
| 0261: MOVWF 39 |
| 0262: MOVLW 96 |
| 0263: MOVWF 3A |
| 0264: CALL 065 |
| 0265: DECFSZ 39,F |
| 0266: GOTO 262 |
| .................... // delay_ms(250); |
| .................... |
| .................... line=R3; |
| 0267: MOVLW FD |
| 0268: MOVWF 2B |
| .................... cikcak(); |
| 0269: CALL 07D |
| .................... } |
| 026A: BCF 0A.3 |
| 026B: GOTO 3CF (RETURN) |
| .................... |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 026C: CLRF 04 |
| 026D: MOVLW 1F |
| 026E: ANDWF 03,F |
| 026F: MOVLW 70 |
| 0270: BSF 03.5 |
| 0271: MOVWF 0F |
| 0272: BCF 1F.4 |
| 0273: BCF 1F.5 |
| 0274: MOVF 1B,W |
| 0275: ANDLW 80 |
| 0276: MOVWF 1B |
| 0277: MOVLW 07 |
| 0278: MOVWF 1C |
| .................... |
| .................... unsigned int8 n; |
| .................... unsigned int8 i,j; |
| .................... unsigned int8 last_sensors; |
| .................... unsigned int8 RozumnaRychlost; |
| .................... |
| .................... setup_adc_ports(sAN5|sAN2|sAN4|sAN6|VSS_VDD); // AD pro kroutitka |
| * |
| 027B: BSF 03.5 |
| 027C: BCF 1F.4 |
| 027D: BCF 1F.5 |
| 027E: MOVF 1B,W |
| 027F: ANDLW 80 |
| 0280: IORLW 74 |
| 0281: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 0282: BCF 1F.6 |
| 0283: BCF 03.5 |
| 0284: BSF 1F.6 |
| 0285: BSF 1F.7 |
| 0286: BSF 03.5 |
| 0287: BCF 1F.7 |
| 0288: BCF 03.5 |
| 0289: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
| 028A: BCF 14.5 |
| 028B: BSF 03.5 |
| 028C: BCF 06.2 |
| 028D: BSF 06.1 |
| 028E: BCF 06.4 |
| 028F: MOVLW 31 |
| 0290: BCF 03.5 |
| 0291: MOVWF 14 |
| 0292: MOVLW 00 |
| 0293: BSF 03.5 |
| 0294: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 0295: MOVF 01,W |
| 0296: ANDLW C7 |
| 0297: IORLW 08 |
| 0298: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8); |
| 0299: MOVLW 30 |
| 029A: BCF 03.5 |
| 029B: MOVWF 10 |
| .................... setup_timer_2(T2_DIV_BY_16,140,16); |
| 029C: MOVLW 78 |
| 029D: MOVWF 78 |
| 029E: IORLW 06 |
| 029F: MOVWF 12 |
| 02A0: MOVLW 8C |
| 02A1: BSF 03.5 |
| 02A2: MOVWF 12 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 02A3: MOVLW 72 |
| 02A4: MOVWF 0F |
| .................... |
| .................... STOPR; STOPL; // zastav motory |
| 02A5: BCF 05.6 |
| 02A6: BCF 03.5 |
| 02A7: BCF 05.6 |
| 02A8: BSF 03.5 |
| 02A9: BCF 05.7 |
| 02AA: BCF 03.5 |
| 02AB: BCF 05.7 |
| 02AC: BSF 03.5 |
| 02AD: BCF 05.0 |
| 02AE: BCF 03.5 |
| 02AF: BCF 05.0 |
| 02B0: BSF 03.5 |
| 02B1: BCF 05.1 |
| 02B2: BCF 03.5 |
| 02B3: BCF 05.1 |
| .................... Lmotor=0;Rmotor=0; |
| 02B4: CLRF 31 |
| 02B5: CLRF 30 |
| 02B6: CLRF 33 |
| 02B7: CLRF 32 |
| .................... |
| .................... uhel = STRED; // nastav zadni kolecko na stred |
| 02B8: MOVLW 80 |
| 02B9: MOVWF 2C |
| .................... rovinka = 0; |
| 02BA: CLRF 2F |
| .................... |
| .................... enable_interrupts(INT_TIMER2); |
| 02BB: BSF 03.5 |
| 02BC: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 02BD: MOVLW C0 |
| 02BE: BCF 03.5 |
| 02BF: IORWF 0B,F |
| .................... |
| .................... output_low(IRTX); // zapni IR vysilac |
| 02C0: BSF 03.5 |
| 02C1: BCF 06.2 |
| 02C2: BCF 03.5 |
| 02C3: BCF 06.2 |
| .................... |
| .................... delay_ms(2000); // musime pockat na diagnostiku slave CPU |
| 02C4: MOVLW 08 |
| 02C5: MOVWF 39 |
| 02C6: MOVLW FA |
| 02C7: MOVWF 3A |
| 02C8: CALL 065 |
| 02C9: DECFSZ 39,F |
| 02CA: GOTO 2C6 |
| .................... |
| .................... //nastaveni rychlosti |
| .................... set_adc_channel(CERVENA); |
| 02CB: MOVLW 20 |
| 02CC: MOVWF 78 |
| 02CD: MOVF 1F,W |
| 02CE: ANDLW C7 |
| 02CF: IORWF 78,W |
| 02D0: MOVWF 1F |
| .................... |
| .................... Delay_ms(1); |
| 02D1: MOVLW 01 |
| 02D2: MOVWF 3A |
| 02D3: CALL 065 |
| .................... RozumnaRychlost=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63 |
| 02D4: BSF 1F.2 |
| 02D5: BTFSC 1F.2 |
| 02D6: GOTO 2D5 |
| 02D7: MOVF 1E,W |
| 02D8: MOVWF 77 |
| 02D9: RRF 77,F |
| 02DA: RRF 77,F |
| 02DB: MOVLW 3F |
| 02DC: ANDWF 77,F |
| 02DD: MOVF 77,W |
| 02DE: ADDLW 64 |
| 02DF: MOVWF 38 |
| .................... set_adc_channel(MODRA); |
| 02E0: MOVLW 10 |
| 02E1: MOVWF 78 |
| 02E2: MOVF 1F,W |
| 02E3: ANDLW C7 |
| 02E4: IORWF 78,W |
| 02E5: MOVWF 1F |
| .................... Delay_ms(1); |
| 02E6: MOVLW 01 |
| 02E7: MOVWF 3A |
| 02E8: CALL 065 |
| .................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63 |
| 02E9: MOVLW 20 |
| 02EA: SUBWF 2D,W |
| 02EB: MOVWF 39 |
| 02EC: BSF 1F.2 |
| 02ED: BTFSC 1F.2 |
| 02EE: GOTO 2ED |
| 02EF: MOVF 1E,W |
| 02F0: MOVWF 77 |
| 02F1: RRF 77,F |
| 02F2: RRF 77,F |
| 02F3: MOVLW 3F |
| 02F4: ANDWF 77,F |
| 02F5: MOVF 77,W |
| 02F6: ADDWF 39,W |
| 02F7: MOVWF 2E |
| .................... |
| .................... speed=R17; |
| 02F8: MOVLW C8 |
| 02F9: MOVWF 2D |
| .................... |
| .................... while(true) |
| .................... { |
| .................... |
| .................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
| 02FA: MOVF 01,W |
| 02FB: BTFSS 00.7 |
| 02FC: GOTO 300 |
| 02FD: BTFSS 31.7 |
| 02FE: GOTO 308 |
| 02FF: GOTO 302 |
| 0300: BTFSC 31.7 |
| 0301: GOTO 311 |
| 0302: MOVF 31,F |
| 0303: BTFSS 03.2 |
| 0304: GOTO 308 |
| 0305: SUBWF 30,W |
| 0306: BTFSS 03.0 |
| 0307: GOTO 311 |
| 0308: BSF 03.5 |
| 0309: BCF 05.1 |
| 030A: BCF 03.5 |
| 030B: BCF 05.1 |
| 030C: BSF 03.5 |
| 030D: BCF 05.0 |
| 030E: BCF 03.5 |
| 030F: BSF 05.0 |
| 0310: GOTO 319 |
| 0311: BSF 03.5 |
| 0312: BCF 05.0 |
| 0313: BCF 03.5 |
| 0314: BCF 05.0 |
| 0315: BSF 03.5 |
| 0316: BCF 05.1 |
| 0317: BCF 03.5 |
| 0318: BCF 05.1 |
| 0319: MOVF 01,W |
| 031A: BTFSS 00.7 |
| 031B: GOTO 31F |
| 031C: BTFSS 33.7 |
| 031D: GOTO 327 |
| 031E: GOTO 321 |
| 031F: BTFSC 33.7 |
| 0320: GOTO 330 |
| 0321: MOVF 33,F |
| 0322: BTFSS 03.2 |
| 0323: GOTO 327 |
| 0324: SUBWF 32,W |
| 0325: BTFSS 03.0 |
| 0326: GOTO 330 |
| 0327: BSF 03.5 |
| 0328: BCF 05.7 |
| 0329: BCF 03.5 |
| 032A: BCF 05.7 |
| 032B: BSF 03.5 |
| 032C: BCF 05.6 |
| 032D: BCF 03.5 |
| 032E: BSF 05.6 |
| 032F: GOTO 338 |
| 0330: BSF 03.5 |
| 0331: BCF 05.6 |
| 0332: BCF 03.5 |
| 0333: BCF 05.6 |
| 0334: BSF 03.5 |
| 0335: BCF 05.7 |
| 0336: BCF 03.5 |
| 0337: BCF 05.7 |
| .................... |
| .................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel |
| 0338: CLRWDT |
| 0339: MOVLW 01 |
| 033A: MOVWF 3A |
| 033B: CALL 065 |
| 033C: MOVLW 09 |
| 033D: MOVWF 39 |
| 033E: CLRF 29 |
| 033F: BTFSC 0B.7 |
| 0340: BSF 29.7 |
| 0341: BCF 0B.7 |
| 0342: MOVLW 6D |
| 0343: MOVWF 3D |
| 0344: CALL 037 |
| 0345: BTFSC 29.7 |
| 0346: BSF 0B.7 |
| 0347: DECFSZ 39,F |
| 0348: GOTO 33E |
| .................... |
| .................... last_sensors=sensors; |
| 0349: MOVF 2A,W |
| 034A: MOVWF 37 |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 034B: BSF 03.5 |
| 034C: BCF 06.0 |
| 034D: BCF 03.5 |
| 034E: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 034F: MOVF 13,W |
| 0350: CLRF 13 |
| 0351: BSF 03.5 |
| 0352: BTFSC 14.0 |
| 0353: GOTO 356 |
| 0354: BCF 03.5 |
| 0355: GOTO 351 |
| 0356: BCF 03.5 |
| 0357: MOVF 13,W |
| 0358: MOVWF 2A |
| .................... sensors=~sensors; // neguj prijata data |
| 0359: COMF 2A,F |
| .................... output_high(STROBE); // zobraz data na posuvnem registru |
| 035A: BSF 03.5 |
| 035B: BCF 06.0 |
| 035C: BCF 03.5 |
| 035D: BSF 06.0 |
| .................... |
| .................... i=0; // havarijni kod |
| 035E: CLRF 35 |
| .................... for (n=0; n<=6; n++) |
| 035F: CLRF 34 |
| 0360: MOVF 34,W |
| 0361: SUBLW 06 |
| 0362: BTFSS 03.0 |
| 0363: GOTO 372 |
| .................... { |
| .................... if(bit_test(sensors,n)) i++; |
| 0364: MOVF 2A,W |
| 0365: MOVWF 77 |
| 0366: MOVF 34,W |
| 0367: MOVWF 78 |
| 0368: BTFSC 03.2 |
| 0369: GOTO 36E |
| 036A: BCF 03.0 |
| 036B: RRF 77,F |
| 036C: DECFSZ 78,F |
| 036D: GOTO 36A |
| 036E: BTFSC 77.0 |
| 036F: INCF 35,F |
| .................... } |
| 0370: INCF 34,F |
| 0371: GOTO 360 |
| .................... if (i>4) // zastavi, kdyz je cerno pod vice nez tremi cidly |
| 0372: MOVF 35,W |
| 0373: SUBLW 04 |
| 0374: BTFSC 03.0 |
| 0375: GOTO 39E |
| .................... { |
| .................... BL; BR; |
| 0376: BSF 03.5 |
| 0377: BCF 05.0 |
| 0378: BCF 03.5 |
| 0379: BCF 05.0 |
| 037A: BSF 03.5 |
| 037B: BCF 05.1 |
| 037C: BCF 03.5 |
| 037D: BSF 05.1 |
| 037E: BSF 03.5 |
| 037F: BCF 05.6 |
| 0380: BCF 03.5 |
| 0381: BCF 05.6 |
| 0382: BSF 03.5 |
| 0383: BCF 05.7 |
| 0384: BCF 03.5 |
| 0385: BSF 05.7 |
| .................... delay_ms(300); |
| 0386: MOVLW 02 |
| 0387: MOVWF 39 |
| 0388: MOVLW 96 |
| 0389: MOVWF 3A |
| 038A: CALL 065 |
| 038B: DECFSZ 39,F |
| 038C: GOTO 388 |
| .................... STOPR; STOPL; |
| 038D: BSF 03.5 |
| 038E: BCF 05.6 |
| 038F: BCF 03.5 |
| 0390: BCF 05.6 |
| 0391: BSF 03.5 |
| 0392: BCF 05.7 |
| 0393: BCF 03.5 |
| 0394: BCF 05.7 |
| 0395: BSF 03.5 |
| 0396: BCF 05.0 |
| 0397: BCF 03.5 |
| 0398: BCF 05.0 |
| 0399: BSF 03.5 |
| 039A: BCF 05.1 |
| 039B: BCF 03.5 |
| 039C: BCF 05.1 |
| .................... While(true); |
| 039D: GOTO 39D |
| .................... }; |
| .................... |
| .................... /* |
| .................... if (!input(CIHLA)) // dalkova detekce cihly |
| .................... { |
| .................... speed=PRED_CIHLOU; |
| .................... } |
| .................... else |
| .................... { |
| .................... speed=RozumnaRychlost; |
| .................... } |
| .................... */ |
| .................... if (bit_test(sensors,7)) // detekce cihly |
| 039E: BTFSS 2A.7 |
| 039F: GOTO 3CF |
| .................... { |
| .................... BR;BL; |
| 03A0: BSF 03.5 |
| 03A1: BCF 05.6 |
| 03A2: BCF 03.5 |
| 03A3: BCF 05.6 |
| 03A4: BSF 03.5 |
| 03A5: BCF 05.7 |
| 03A6: BCF 03.5 |
| 03A7: BSF 05.7 |
| 03A8: BSF 03.5 |
| 03A9: BCF 05.0 |
| 03AA: BCF 03.5 |
| 03AB: BCF 05.0 |
| 03AC: BSF 03.5 |
| 03AD: BCF 05.1 |
| 03AE: BCF 03.5 |
| 03AF: BSF 05.1 |
| .................... Delay_ms(400); |
| 03B0: MOVLW 02 |
| 03B1: MOVWF 39 |
| 03B2: MOVLW C8 |
| 03B3: MOVWF 3A |
| 03B4: CALL 065 |
| 03B5: DECFSZ 39,F |
| 03B6: GOTO 3B2 |
| .................... STOPR;STOPL; |
| 03B7: BSF 03.5 |
| 03B8: BCF 05.6 |
| 03B9: BCF 03.5 |
| 03BA: BCF 05.6 |
| 03BB: BSF 03.5 |
| 03BC: BCF 05.7 |
| 03BD: BCF 03.5 |
| 03BE: BCF 05.7 |
| 03BF: BSF 03.5 |
| 03C0: BCF 05.0 |
| 03C1: BCF 03.5 |
| 03C2: BCF 05.0 |
| 03C3: BSF 03.5 |
| 03C4: BCF 05.1 |
| 03C5: BCF 03.5 |
| 03C6: BCF 05.1 |
| .................... // if (1==IRcheck()) // kontrola, jestli nebylo rusene cidlo |
| .................... { |
| .................... Delay_ms(100); |
| 03C7: MOVLW 64 |
| 03C8: MOVWF 3A |
| 03C9: CALL 065 |
| .................... cikcak(); |
| 03CA: CALL 07D |
| .................... delay_ms(100); |
| 03CB: MOVLW 64 |
| 03CC: MOVWF 3A |
| 03CD: CALL 065 |
| .................... objizdka(); // objede cihlu |
| 03CE: GOTO 15A |
| .................... } |
| .................... } |
| .................... |
| .................... if (speed > RozumnaRychlost) speed--; // postupne zpomaleni na Roz. Rychl. |
| 03CF: MOVF 2D,W |
| 03D0: SUBWF 38,W |
| 03D1: BTFSS 03.0 |
| 03D2: DECF 2D,F |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 03D3: BTFSS 2A.3 |
| 03D4: GOTO 3E7 |
| .................... { |
| .................... uhel=STRED; |
| 03D5: MOVLW 80 |
| 03D6: MOVWF 2C |
| .................... Lmotor=speed; |
| 03D7: CLRF 7A |
| 03D8: MOVF 2D,W |
| 03D9: MOVWF 30 |
| 03DA: MOVF 7A,W |
| 03DB: MOVWF 31 |
| .................... Rmotor=speed; |
| 03DC: CLRF 7A |
| 03DD: MOVF 2D,W |
| 03DE: MOVWF 32 |
| 03DF: MOVF 7A,W |
| 03E0: MOVWF 33 |
| .................... line=S; |
| 03E1: CLRF 2B |
| .................... if (rovinka < 255) rovinka++; |
| 03E2: INCFSZ 2F,W |
| 03E3: GOTO 3E5 |
| 03E4: GOTO 3E6 |
| 03E5: INCF 2F,F |
| .................... continue; |
| 03E6: GOTO 2FA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 03E7: BTFSS 2A.0 |
| 03E8: GOTO 3F5 |
| .................... { |
| .................... uhel=STRED - BEAR3; |
| 03E9: MOVLW 53 |
| 03EA: MOVWF 2C |
| .................... Lmotor=0; |
| 03EB: CLRF 31 |
| 03EC: CLRF 30 |
| .................... Rmotor=turn; |
| 03ED: CLRF 7A |
| 03EE: MOVF 2E,W |
| 03EF: MOVWF 32 |
| 03F0: MOVF 7A,W |
| 03F1: MOVWF 33 |
| .................... line=L3; |
| 03F2: MOVLW 03 |
| 03F3: MOVWF 2B |
| .................... continue; |
| 03F4: GOTO 2FA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 03F5: BTFSS 2A.6 |
| 03F6: GOTO 403 |
| .................... { |
| .................... uhel=STRED + BEAR3; |
| 03F7: MOVLW AD |
| 03F8: MOVWF 2C |
| .................... Rmotor=0; |
| 03F9: CLRF 33 |
| 03FA: CLRF 32 |
| .................... Lmotor=turn; |
| 03FB: CLRF 7A |
| 03FC: MOVF 2E,W |
| 03FD: MOVWF 30 |
| 03FE: MOVF 7A,W |
| 03FF: MOVWF 31 |
| .................... line=R3; |
| 0400: MOVLW FD |
| 0401: MOVWF 2B |
| .................... continue; |
| 0402: GOTO 2FA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 0403: BTFSS 2A.1 |
| 0404: GOTO 415 |
| .................... { |
| .................... uhel=STRED - BEAR2; |
| 0405: MOVLW 67 |
| 0406: MOVWF 2C |
| .................... Lmotor=speed-70; |
| 0407: MOVLW 46 |
| 0408: SUBWF 2D,W |
| 0409: CLRF 7A |
| 040A: MOVWF 30 |
| 040B: MOVF 7A,W |
| 040C: MOVWF 31 |
| .................... Rmotor=speed; |
| 040D: CLRF 7A |
| 040E: MOVF 2D,W |
| 040F: MOVWF 32 |
| 0410: MOVF 7A,W |
| 0411: MOVWF 33 |
| .................... line=L2; |
| 0412: MOVLW 02 |
| 0413: MOVWF 2B |
| .................... continue; |
| 0414: GOTO 2FA |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 0415: BTFSS 2A.5 |
| 0416: GOTO 427 |
| .................... { |
| .................... uhel=STRED + BEAR2; |
| 0417: MOVLW 99 |
| 0418: MOVWF 2C |
| .................... Rmotor=speed-70; |
| 0419: MOVLW 46 |
| 041A: SUBWF 2D,W |
| 041B: CLRF 7A |
| 041C: MOVWF 32 |
| 041D: MOVF 7A,W |
| 041E: MOVWF 33 |
| .................... Lmotor=speed; |
| 041F: CLRF 7A |
| 0420: MOVF 2D,W |
| 0421: MOVWF 30 |
| 0422: MOVF 7A,W |
| 0423: MOVWF 31 |
| .................... line=R2; |
| 0424: MOVLW FE |
| 0425: MOVWF 2B |
| .................... continue; |
| 0426: GOTO 2FA |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 0427: BTFSS 2A.2 |
| 0428: GOTO 43D |
| .................... { |
| .................... uhel=STRED - BEAR1; |
| 0429: MOVLW 76 |
| 042A: MOVWF 2C |
| .................... Lmotor=speed-20; |
| 042B: MOVLW 14 |
| 042C: SUBWF 2D,W |
| 042D: CLRF 7A |
| 042E: MOVWF 30 |
| 042F: MOVF 7A,W |
| 0430: MOVWF 31 |
| .................... Rmotor=speed; |
| 0431: CLRF 7A |
| 0432: MOVF 2D,W |
| 0433: MOVWF 32 |
| 0434: MOVF 7A,W |
| 0435: MOVWF 33 |
| .................... line=L2; |
| 0436: MOVLW 02 |
| 0437: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 0438: INCFSZ 2F,W |
| 0439: GOTO 43B |
| 043A: GOTO 43C |
| 043B: INCF 2F,F |
| .................... continue; |
| 043C: GOTO 2FA |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 043D: BTFSS 2A.4 |
| 043E: GOTO 453 |
| .................... { |
| .................... uhel=STRED + BEAR1; |
| 043F: MOVLW 8A |
| 0440: MOVWF 2C |
| .................... Rmotor=speed-20; |
| 0441: MOVLW 14 |
| 0442: SUBWF 2D,W |
| 0443: CLRF 7A |
| 0444: MOVWF 32 |
| 0445: MOVF 7A,W |
| 0446: MOVWF 33 |
| .................... Lmotor=speed; |
| 0447: CLRF 7A |
| 0448: MOVF 2D,W |
| 0449: MOVWF 30 |
| 044A: MOVF 7A,W |
| 044B: MOVWF 31 |
| .................... line=L2; |
| 044C: MOVLW 02 |
| 044D: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 044E: INCFSZ 2F,W |
| 044F: GOTO 451 |
| 0450: GOTO 452 |
| 0451: INCF 2F,F |
| .................... continue; |
| 0452: GOTO 2FA |
| .................... } |
| .................... |
| .................... |
| .................... if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate |
| 0453: MOVF 2B,W |
| 0454: SUBLW 03 |
| 0455: BTFSC 03.2 |
| 0456: GOTO 45B |
| 0457: MOVF 2B,W |
| 0458: SUBLW FD |
| 0459: BTFSS 03.2 |
| 045A: GOTO 480 |
| .................... { |
| .................... if (rovinka>50) |
| 045B: MOVF 2F,W |
| 045C: SUBLW 32 |
| 045D: BTFSC 03.0 |
| 045E: GOTO 47D |
| .................... { |
| .................... BL; BR; |
| 045F: BSF 03.5 |
| 0460: BCF 05.0 |
| 0461: BCF 03.5 |
| 0462: BCF 05.0 |
| 0463: BSF 03.5 |
| 0464: BCF 05.1 |
| 0465: BCF 03.5 |
| 0466: BSF 05.1 |
| 0467: BSF 03.5 |
| 0468: BCF 05.6 |
| 0469: BCF 03.5 |
| 046A: BCF 05.6 |
| 046B: BSF 03.5 |
| 046C: BCF 05.7 |
| 046D: BCF 03.5 |
| 046E: BSF 05.7 |
| .................... Delay_ms(100); |
| 046F: MOVLW 64 |
| 0470: MOVWF 3A |
| 0471: CALL 065 |
| .................... if (rovinka > 250 || speed > 170) delay_ms(50); |
| 0472: MOVF 2F,W |
| 0473: SUBLW FA |
| 0474: BTFSS 03.0 |
| 0475: GOTO 47A |
| 0476: MOVF 2D,W |
| 0477: SUBLW AA |
| 0478: BTFSC 03.0 |
| 0479: GOTO 47D |
| 047A: MOVLW 32 |
| 047B: MOVWF 3A |
| 047C: CALL 065 |
| .................... }; |
| .................... rovinka=0; |
| 047D: CLRF 2F |
| .................... speed=R17; |
| 047E: MOVLW C8 |
| 047F: MOVWF 2D |
| .................... }; |
| .................... } |
| 0480: GOTO 2FA |
| .................... } |
| 0481: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |