Problem with comparison.
/Designs/ROBOTS/Merkur/SW/MerkurU/AX25.c
0,0 → 1,135
#nolist
//#define PTT PIN_A2 // PTT control
//#define TXo PIN_C0 // To the transmitter modulator
#define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500
#define TAILH delay_us(78)
#define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500
#define TAILL delay_us(345)
#byte STATUS = 3 // CPUs status register
 
byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60,
'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61,
0x03, 0xF0};
 
boolean bit;
int fcslo, fcshi; // variabloes for calculating FCS (CRC)
int stuff; // stuff counter for extra 0
int flag_flag; // if it is sending flag (7E)
int fcs_flag; // if it is sending Frame Check Sequence
int i; // for for
 
void flipout() //flips the state of output pin a_1
{
stuff = 0; //since this is a 0, reset the stuff counter
if (bit)
{
bit=FALSE; //if the state of the pin was low, make it high.
}
else
{
bit=TRUE; //if the state of the pin was high make it low
}
}
 
void fcsbit(byte tbyte)
{
#asm
BCF STATUS,0
RRF fcshi,F // rotates the entire 16 bits
RRF fcslo,F // to the right
#endasm
if (((STATUS & 0x01)^(tbyte)) ==0x01)
{
fcshi = fcshi^0x84;
fcslo = fcslo^0x08;
}
}
 
void SendBit ()
{
if (bit)
{
output_high(TXo);
PERIODAH;
output_low(TXo);
PERIODAH;
output_high(TXo);
PERIODAH;
output_low(TXo);
TAILH;
}
else
{
output_high(TXo);
PERIODAL;
output_low(TXo);
TAILL;
};
}
 
void SendByte (byte inbyte)
{
int k, bt;
 
for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte
{
bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte)
if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this
//is not a flag or fcs byte
if (bt == 0)
{
flipout();
} // if this bit is a zero, flip the output state
else
{ //otherwise if it is a 1, do the following:
if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's
if ((flag_flag == FALSE) & (stuff == 5))
{ //stuff an extra 0, if 5 1's in a row
SendBit();
flipout(); //flip the output state to stuff a 0
}//end of if
}//end of else
// delay_us(850); //introduces a delay that creates 1200 baud
SendBit();
inbyte = inbyte>>1; //go to the next bit in the byte
}//end of for
}//end of SendByte
 
void SendPacket(char *data)
{
bit=FALSE;
 
fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF
stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5
// it is time to stuff a 0.
 
// output_low(PTT); // Blinking LED
// delay_ms(1000);
// output_high(PTT);
 
flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise.
fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise.
 
for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay
//each flag takes approx 6.7 ms
flag_flag = FALSE; //done sending flags
 
for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes
 
for(i=0; 0 != *data; i++)
{
SendByte(*data); //send the packet bytes
data++;
};
 
fcs_flag = TRUE; //about to send the FCS bytes
fcslo =fcslo^0xff; //must XOR them with FF before sending
fcshi = fcshi^0xff;
SendByte(fcslo); //send the low byte of fcs
SendByte(fcshi); //send the high byte of fcs
fcs_flag = FALSE; //done sending FCS
flag_flag = TRUE; //about to send flags
SendByte(0x7e); // Send a flag to end packet
}
 
#list
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.BAK
0,0 → 1,268
// Program pro predvadeni schopnosti robota Merkur
//------------------------------------------------
 
#include "tank.h"
 
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru
unsigned int8 line; // na ktere strane byla detekovana cara
unsigned int8 speed; // rychlost zataceni
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku
int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus
int1 BW; // urcuje, jestli je cara cerno/bila nebo
// bilo/cerna (true = bila cara, cerny podklad)
 
// Konstanty pro dynamiku pohybu
#define T_DIRA 120 // po jakem case zataceni se detekuje dira
#define FW_POMALU 170 // trochu mimo caru vnitrni pas
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni
#define FW_STREDNE 190 // trochu mimo caru vnejsi pas
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry
#define MAX_ROVINKA (255-FW_STREDNE)
#define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd
#define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku
 
//motory //Napred vypnout potom zapnout!
#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred
#define FL output_low(PIN_B7); output_high(PIN_B6)
#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad
#define BL output_low(PIN_B6); output_high(PIN_B7)
#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav
#define STOPL output_low(PIN_B6);output_low(PIN_B7)
 
#define L 0b10 // left
#define R 0b01 // right
#define S 0b11 // straight
 
//cidla
#define RSENSOR (BW != C2OUT) // Senzory na caru
#define LSENSOR (BW != C1OUT)
#define BUMPER sAN2 // Senzor na cihlu
 
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod
#define BARVY PIN_B1 // Propojka pro nastaveni barvy cary
 
#define SPEAKER PIN_B0 // vystup pro pipak
 
#define LED1 PIN_A4 // LEDky
#define LED2 PIN_A3
#define LED3 PIN_A7
#define LED4 PIN_A6
 
// makro pro PWM
#define GO(motor, direction, power) if(get_timer0()<=power) \
{direction##motor;} else {stop##motor;}
 
#int_TIMER2
void TIMER2_isr() // obsluha zrychlovani
{
if (speed<255) speed++;
if (rovinka<MAX_ROVINKA) rovinka++;
}
 
// Primitivni Pipani
void beep(unsigned int16 period, unsigned int16 length)
{
unsigned int16 nn;
 
for(nn=length; nn>0; nn--)
{
output_high(SPEAKER);
delay_us(period);
output_low(SPEAKER);
delay_us(period);
}
}
/******************************************************************************/
void diagnostika()
{
unsigned int16 n;
 
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
{
for (n=500; n<800; n+=100)
{
beep(n,n); //beep UP
};
Delay_ms(1000);
//zastav vse
STOPL; STOPR;
//pravy pas
FR; Delay_ms(1000); STOPR; Delay_ms(1000);
BR; Delay_ms(1000); STOPR; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//levy pas
FL; Delay_ms(1000); STOPL; Delay_ms(1000);
BL; Delay_ms(1000); STOPL; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//oba pasy
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
};
while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
{
if (RSENSOR) beep(1000,200);
Delay_ms(300);
if (LSENSOR) beep(2000,300);
Delay_ms(300);
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400);
Delay_ms(300);
};
}
///////////////////////////////////////////////////////////////////////////////
void OtocSe() // otoci se zpet, kdyz je prekazka
{
unsigned int16 n;
 
BL; BR; // cukni zpatky
Delay_ms(200);
STOPR;STOPL;
beep(800,400);
beep(2000,1000);
output_low(LED4);
beep(900,400);
output_low(LED1);
 
BR; FL; Delay_ms(100); // otoc se 30° do prava
STOPL; STOPR;
beep(1000,1000);
output_low(LED3);
 
BR; FL;
for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) break;
}
STOPR; STOPL;
output_high(LED1); output_high(LED3); output_high(LED4);
 
line=L; // caru jsme prejeli, tak je vlevo
cirkus=0;
}
 
 
void main()
{
unsigned int16 n; // pro FOR
unsigned int16 i;
 
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
 
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
 
port_b_pullups(TRUE); // pullups pro piano na diagnostiku
setup_spi(FALSE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
 
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
// preruseni kazdych 10ms
setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
setup_adc(ADC_CLOCK_INTERNAL);
set_adc_channel(2);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
setup_ccp1(CCP_COMPARE_RESET_TIMER);
CCP_1=(2^10)-1; // prevod kazdou 1ms
 
output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4);
 
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
 
Beep(1000,200); //double beep
Delay_ms(50);
Beep(1000,200);
Delay_ms(1000); // 1s
 
// povoleni rizeni rychlosti zataceni pres preruseni
enable_interrupts(INT_TIMER2);
enable_interrupts(GLOBAL);
 
/*---------------------------------------------------------------------------*/
sensors=S;
line=S;
last=S;
cirkus=0;
// movement=S;
speed=FW_POMALU;
 
BW=input(BARVY); // Jaka ma byt barva cary?
diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku
Delay_ms(500);
 
output_high(LED1); Beep(1000,200); Delay_ms(500);
output_high(LED2); Beep(1000,200); Delay_ms(500);
output_high(LED3); Beep(1000,200); Delay_ms(500);
output_high(LED4); Beep(1000,200); Delay_ms(500);
 
while(true) // hlavni smycka (jizda podle cary)
{
sensors = RSENSOR; // cteni senzoru na caru
sensors |= LSENSOR << 1;
 
if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();
 
switch (sensors) // zatacej podle toho, kde vidis caru
{
case S: // rovne
GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);
continue;
case L: // trochu vlevo
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
line=L;
continue;
case R: // trochu vpravo
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
line=R;
continue;
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
};
rovinka=0;
 
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu,
// tak zabrzdi
{
output_bit(LED1, !input(LED1));
last=line;
speed=FW_ZATACKA;
cirkus++;
if (cirkus>8)
{
STOPL; STOPR;
cirkus=0;
disable_interrupts(GLOBAL);
beep(1000,400);
for(n=3000; n>3950; n--) beep(n,10);
output_low(LED1);
beep(2000,200);
beep(900,400);
for(n=2950; n<3000; n++) beep(n,10);
output_low(LED2);
output_high(LED1);
beep(4000,400);
beep(1000,100);
output_low(LED3);
beep(3000,400);
Delay_ms(1000);
output_high(LED1); output_high(LED2);
output_high(LED3); output_high(LED4);
enable_interrupts(GLOBAL);
}
};
 
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
{
STOPL;
GO(R, F, speed);
}
else
{
STOPR;
GO(L, F, speed);
}
 
} // while(true)
}
 
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.HEX
0,0 → 1,184
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:10096000AC00C830AB00AE0A2E08083C0318602D5E
:1009700083160613831206138316861383128613B7
:1009800083160612831206128316861283128612AB
:10099000AE010B138B138B1BCA2C0330B700E8304E
:1009A000B6000130B9009030B80055200B30B100CE
:1009B000B830B00031080E3C0318F22CFF3A031D8A
:1009C000E52C30086E3C0318F22C3108B7003008D3
:1009D000B600B9010A30B800552030080319B10338
:1009E000B003DA2C83160512831205120730B70004
:1009F000D030B600B901C830B80055200330B70078
:100A00008430B6000130B9009030B80055200B306A
:100A1000B1008630B00031080B3C031C212D031DB2
:100A2000152D3008B73C031C212D3108B7003008C4
:100A3000B600B9010A30B8005520B00A0319B10A4E
:100A40000B2D8316851183128511831605128312CF
:100A500005160F30B700A030B6000130B900903055
:100A6000B80055200330B700E830B600B901643053
:100A7000B800552083168513831285130B30B700F9
:100A8000B830B6000130B9009030B80055200430BD
:100A9000B400FA30B7007320B40B492D8316051249
:100AA0008312051683168511831285158316851307
:100AB000831285178316051383120517C0308B0424
:100AC0002A08023C031D822D831606138312061387
:100AD000831686138312861301082B02031C792DBB
:100AE0008316861283128612831606128312061646
:100AF000812D831606128312061283168612831224
:100B000086129F2D831606128312061283168612F2
:100B10008312861201082B02031C972D831686135D
:100B20008312861383160613831206179F2D8316CE
:100B30000613831206138316861383128613CB2B98
:020B4000630050
:04400E00383FFC3FFC
:00000001FF
;PIC16F88
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.LST
0,0 → 1,1740
CCS PCM C Compiler, Version 3.221, 27853 18-VI-05 13:30
 
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST
 
ROM used: 1441 words (35%)
Largest free fragment is 2048
RAM used: 27 (15%) at main() level
34 (19%) worst case
Stack: 4 worst case (3 in main + 1 for interrupts)
 
*
0000: MOVLW 00
0001: MOVWF 0A
0002: GOTO 2D1
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 037
.................... // Program pro predvadeni schopnosti robota Merkur
.................... //------------------------------------------------
....................
.................... #include "tank.h"
.................... #include <16F88.h>
.................... //////// Standard Header file for the PIC16F88 device ////////////////
.................... #device PIC16F88
.................... #list
....................
.................... #device adc=8
.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO
.................... #use delay(clock=4000000)
*
0042: MOVLW 12
0043: SUBWF 3C,F
0044: BTFSS 03.0
0045: GOTO 054
0046: MOVLW 3C
0047: MOVWF 04
0048: MOVLW FC
0049: ANDWF 00,F
004A: BCF 03.0
004B: RRF 00,F
004C: RRF 00,F
004D: MOVF 00,W
004E: BTFSC 03.2
004F: GOTO 054
0050: GOTO 052
0051: NOP
0052: DECFSZ 00,F
0053: GOTO 051
0054: RETLW 00
*
0073: MOVLW 37
0074: MOVWF 04
0075: MOVF 00,W
0076: BTFSC 03.2
0077: GOTO 087
0078: MOVLW 01
0079: MOVWF 78
007A: CLRF 77
007B: DECFSZ 77,F
007C: GOTO 07B
007D: DECFSZ 78,F
007E: GOTO 07A
007F: MOVLW 4A
0080: MOVWF 77
0081: DECFSZ 77,F
0082: GOTO 081
0083: NOP
0084: NOP
0085: DECFSZ 00,F
0086: GOTO 078
0087: RETLW 00
....................
....................
....................
.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru
.................... unsigned int8 line; // na ktere strane byla detekovana cara
.................... unsigned int8 speed; // rychlost zataceni
.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo
.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku
.................... int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus
.................... int1 BW; // urcuje, jestli je cara cerno/bila nebo
.................... // bilo/cerna (true = bila cara, cerny podklad)
....................
.................... // Konstanty pro dynamiku pohybu
.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira
.................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas
.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni
.................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas
.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry
.................... #define MAX_ROVINKA (255-FW_STREDNE)
.................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd
.................... #define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku
....................
.................... //motory //Napred vypnout potom zapnout!
.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred
.................... #define FL output_low(PIN_B7); output_high(PIN_B6)
.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad
.................... #define BL output_low(PIN_B6); output_high(PIN_B7)
.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav
.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)
....................
.................... #define L 0b10 // left
.................... #define R 0b01 // right
.................... #define S 0b11 // straight
....................
.................... //cidla
.................... #define RSENSOR (BW != C2OUT) // Senzory na caru
.................... #define LSENSOR (BW != C1OUT)
.................... #define BUMPER sAN2 // Senzor na cihlu
....................
.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod
.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod
.................... #define BARVY PIN_B1 // Propojka pro nastaveni barvy cary
....................
.................... #define SPEAKER PIN_B0 // vystup pro pipak
....................
.................... #define LED1 PIN_A4 // LEDky
.................... #define LED2 PIN_A3
.................... #define LED3 PIN_A7
.................... #define LED4 PIN_A6
....................
.................... // makro pro PWM
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \
.................... {direction##motor;} else {stop##motor;}
....................
.................... #int_TIMER2
.................... void TIMER2_isr() // obsluha zrychlovani
.................... {
.................... if (speed<255) speed++;
*
0037: INCFSZ 2B,W
0038: GOTO 03A
0039: GOTO 03B
003A: INCF 2B,F
.................... if (rovinka<MAX_ROVINKA) rovinka++;
003B: MOVF 2D,W
003C: SUBLW 40
003D: BTFSC 03.0
003E: INCF 2D,F
.................... }
....................
.................... // Primitivni Pipani
003F: BCF 0C.1
0040: BCF 0A.3
0041: GOTO 022
.................... void beep(unsigned int16 period, unsigned int16 length)
.................... {
.................... unsigned int16 nn;
....................
.................... for(nn=length; nn>0; nn--)
*
0055: MOVF 39,W
0056: MOVWF 3B
0057: MOVF 38,W
0058: MOVWF 3A
0059: MOVF 3A,F
005A: BTFSS 03.2
005B: GOTO 05F
005C: MOVF 3B,F
005D: BTFSC 03.2
005E: GOTO 072
.................... {
.................... output_high(SPEAKER);
005F: BSF 03.5
0060: BCF 06.0
0061: BCF 03.5
0062: BSF 06.0
.................... delay_us(period);
0063: MOVF 36,W
0064: MOVWF 3C
0065: CALL 042
.................... output_low(SPEAKER);
0066: BSF 03.5
0067: BCF 06.0
0068: BCF 03.5
0069: BCF 06.0
.................... delay_us(period);
006A: MOVF 36,W
006B: MOVWF 3C
006C: CALL 042
.................... }
006D: MOVF 3A,W
006E: BTFSC 03.2
006F: DECF 3B,F
0070: DECF 3A,F
0071: GOTO 059
.................... }
0072: RETLW 00
.................... /******************************************************************************/
.................... void diagnostika()
.................... {
.................... unsigned int16 n;
....................
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
.................... {
*
0088: BSF 03.5
0089: BSF 06.3
008A: BCF 03.5
008B: BTFSS 06.3
008C: GOTO 1B3
.................... for (n=500; n<800; n+=100)
008D: MOVLW 01
008E: MOVWF 35
008F: MOVLW F4
0090: MOVWF 34
0091: MOVF 35,W
0092: SUBLW 03
0093: BTFSS 03.0
0094: GOTO 0A9
0095: BTFSS 03.2
0096: GOTO 09B
0097: MOVF 34,W
0098: SUBLW 1F
0099: BTFSS 03.0
009A: GOTO 0A9
.................... {
.................... beep(n,n); //beep UP
009B: MOVF 35,W
009C: MOVWF 37
009D: MOVF 34,W
009E: MOVWF 36
009F: MOVF 35,W
00A0: MOVWF 39
00A1: MOVF 34,W
00A2: MOVWF 38
00A3: CALL 055
.................... };
00A4: MOVLW 64
00A5: ADDWF 34,F
00A6: BTFSC 03.0
00A7: INCF 35,F
00A8: GOTO 091
.................... Delay_ms(1000);
00A9: MOVLW 04
00AA: MOVWF 36
00AB: MOVLW FA
00AC: MOVWF 37
00AD: CALL 073
00AE: DECFSZ 36,F
00AF: GOTO 0AB
.................... //zastav vse
.................... STOPL; STOPR;
00B0: BSF 03.5
00B1: BCF 06.6
00B2: BCF 03.5
00B3: BCF 06.6
00B4: BSF 03.5
00B5: BCF 06.7
00B6: BCF 03.5
00B7: BCF 06.7
00B8: BSF 03.5
00B9: BCF 06.4
00BA: BCF 03.5
00BB: BCF 06.4
00BC: BSF 03.5
00BD: BCF 06.5
00BE: BCF 03.5
00BF: BCF 06.5
.................... //pravy pas
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);
00C0: BSF 03.5
00C1: BCF 06.5
00C2: BCF 03.5
00C3: BCF 06.5
00C4: BSF 03.5
00C5: BCF 06.4
00C6: BCF 03.5
00C7: BSF 06.4
00C8: MOVLW 04
00C9: MOVWF 36
00CA: MOVLW FA
00CB: MOVWF 37
00CC: CALL 073
00CD: DECFSZ 36,F
00CE: GOTO 0CA
00CF: BSF 03.5
00D0: BCF 06.4
00D1: BCF 03.5
00D2: BCF 06.4
00D3: BSF 03.5
00D4: BCF 06.5
00D5: BCF 03.5
00D6: BCF 06.5
00D7: MOVLW 04
00D8: MOVWF 36
00D9: MOVLW FA
00DA: MOVWF 37
00DB: CALL 073
00DC: DECFSZ 36,F
00DD: GOTO 0D9
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);
00DE: BSF 03.5
00DF: BCF 06.4
00E0: BCF 03.5
00E1: BCF 06.4
00E2: BSF 03.5
00E3: BCF 06.5
00E4: BCF 03.5
00E5: BSF 06.5
00E6: MOVLW 04
00E7: MOVWF 36
00E8: MOVLW FA
00E9: MOVWF 37
00EA: CALL 073
00EB: DECFSZ 36,F
00EC: GOTO 0E8
00ED: BSF 03.5
00EE: BCF 06.4
00EF: BCF 03.5
00F0: BCF 06.4
00F1: BSF 03.5
00F2: BCF 06.5
00F3: BCF 03.5
00F4: BCF 06.5
00F5: MOVLW 04
00F6: MOVWF 36
00F7: MOVLW FA
00F8: MOVWF 37
00F9: CALL 073
00FA: DECFSZ 36,F
00FB: GOTO 0F7
.................... Beep(880,100); Delay_ms(1000);
00FC: MOVLW 03
00FD: MOVWF 37
00FE: MOVLW 70
00FF: MOVWF 36
0100: CLRF 39
0101: MOVLW 64
0102: MOVWF 38
0103: CALL 055
0104: MOVLW 04
0105: MOVWF 36
0106: MOVLW FA
0107: MOVWF 37
0108: CALL 073
0109: DECFSZ 36,F
010A: GOTO 106
.................... //levy pas
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);
010B: BSF 03.5
010C: BCF 06.7
010D: BCF 03.5
010E: BCF 06.7
010F: BSF 03.5
0110: BCF 06.6
0111: BCF 03.5
0112: BSF 06.6
0113: MOVLW 04
0114: MOVWF 36
0115: MOVLW FA
0116: MOVWF 37
0117: CALL 073
0118: DECFSZ 36,F
0119: GOTO 115
011A: BSF 03.5
011B: BCF 06.6
011C: BCF 03.5
011D: BCF 06.6
011E: BSF 03.5
011F: BCF 06.7
0120: BCF 03.5
0121: BCF 06.7
0122: MOVLW 04
0123: MOVWF 36
0124: MOVLW FA
0125: MOVWF 37
0126: CALL 073
0127: DECFSZ 36,F
0128: GOTO 124
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);
0129: BSF 03.5
012A: BCF 06.6
012B: BCF 03.5
012C: BCF 06.6
012D: BSF 03.5
012E: BCF 06.7
012F: BCF 03.5
0130: BSF 06.7
0131: MOVLW 04
0132: MOVWF 36
0133: MOVLW FA
0134: MOVWF 37
0135: CALL 073
0136: DECFSZ 36,F
0137: GOTO 133
0138: BSF 03.5
0139: BCF 06.6
013A: BCF 03.5
013B: BCF 06.6
013C: BSF 03.5
013D: BCF 06.7
013E: BCF 03.5
013F: BCF 06.7
0140: MOVLW 04
0141: MOVWF 36
0142: MOVLW FA
0143: MOVWF 37
0144: CALL 073
0145: DECFSZ 36,F
0146: GOTO 142
.................... Beep(880,100); Delay_ms(1000);
0147: MOVLW 03
0148: MOVWF 37
0149: MOVLW 70
014A: MOVWF 36
014B: CLRF 39
014C: MOVLW 64
014D: MOVWF 38
014E: CALL 055
014F: MOVLW 04
0150: MOVWF 36
0151: MOVLW FA
0152: MOVWF 37
0153: CALL 073
0154: DECFSZ 36,F
0155: GOTO 151
.................... //oba pasy
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
0156: BSF 03.5
0157: BCF 06.7
0158: BCF 03.5
0159: BCF 06.7
015A: BSF 03.5
015B: BCF 06.6
015C: BCF 03.5
015D: BSF 06.6
015E: BSF 03.5
015F: BCF 06.5
0160: BCF 03.5
0161: BCF 06.5
0162: BSF 03.5
0163: BCF 06.4
0164: BCF 03.5
0165: BSF 06.4
0166: MOVLW 04
0167: MOVWF 36
0168: MOVLW FA
0169: MOVWF 37
016A: CALL 073
016B: DECFSZ 36,F
016C: GOTO 168
016D: BSF 03.5
016E: BCF 06.6
016F: BCF 03.5
0170: BCF 06.6
0171: BSF 03.5
0172: BCF 06.7
0173: BCF 03.5
0174: BCF 06.7
0175: BSF 03.5
0176: BCF 06.4
0177: BCF 03.5
0178: BCF 06.4
0179: BSF 03.5
017A: BCF 06.5
017B: BCF 03.5
017C: BCF 06.5
017D: MOVLW 04
017E: MOVWF 36
017F: MOVLW FA
0180: MOVWF 37
0181: CALL 073
0182: DECFSZ 36,F
0183: GOTO 17F
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
0184: BSF 03.5
0185: BCF 06.6
0186: BCF 03.5
0187: BCF 06.6
0188: BSF 03.5
0189: BCF 06.7
018A: BCF 03.5
018B: BSF 06.7
018C: BSF 03.5
018D: BCF 06.4
018E: BCF 03.5
018F: BCF 06.4
0190: BSF 03.5
0191: BCF 06.5
0192: BCF 03.5
0193: BSF 06.5
0194: MOVLW 04
0195: MOVWF 36
0196: MOVLW FA
0197: MOVWF 37
0198: CALL 073
0199: DECFSZ 36,F
019A: GOTO 196
019B: BSF 03.5
019C: BCF 06.6
019D: BCF 03.5
019E: BCF 06.6
019F: BSF 03.5
01A0: BCF 06.7
01A1: BCF 03.5
01A2: BCF 06.7
01A3: BSF 03.5
01A4: BCF 06.4
01A5: BCF 03.5
01A6: BCF 06.4
01A7: BSF 03.5
01A8: BCF 06.5
01A9: BCF 03.5
01AA: BCF 06.5
01AB: MOVLW 04
01AC: MOVWF 36
01AD: MOVLW FA
01AE: MOVWF 37
01AF: CALL 073
01B0: DECFSZ 36,F
01B1: GOTO 1AD
.................... };
01B2: GOTO 088
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
.................... {
01B3: BSF 03.5
01B4: BSF 06.2
01B5: BCF 03.5
01B6: BTFSS 06.2
01B7: GOTO 1F6
.................... if (RSENSOR) beep(1000,200);
01B8: CLRF 77
01B9: BSF 03.5
01BA: BTFSC 1C.7
01BB: BSF 77.0
01BC: BCF 03.5
01BD: MOVF 2F,W
01BE: XORWF 77,W
01BF: ANDLW 01
01C0: BTFSC 03.2
01C1: GOTO 1CA
01C2: MOVLW 03
01C3: MOVWF 37
01C4: MOVLW E8
01C5: MOVWF 36
01C6: CLRF 39
01C7: MOVLW C8
01C8: MOVWF 38
01C9: CALL 055
.................... Delay_ms(200);
01CA: MOVLW C8
01CB: MOVWF 37
01CC: CALL 073
.................... if (LSENSOR) beep(2000,300);
01CD: CLRF 77
01CE: BSF 03.5
01CF: BTFSC 1C.6
01D0: BSF 77.0
01D1: BCF 03.5
01D2: MOVF 2F,W
01D3: XORWF 77,W
01D4: ANDLW 01
01D5: BTFSC 03.2
01D6: GOTO 1E0
01D7: MOVLW 07
01D8: MOVWF 37
01D9: MOVLW D0
01DA: MOVWF 36
01DB: MOVLW 01
01DC: MOVWF 39
01DD: MOVLW 2C
01DE: MOVWF 38
01DF: CALL 055
.................... Delay_ms(200);
01E0: MOVLW C8
01E1: MOVWF 37
01E2: CALL 073
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400);
01E3: BTFSC 1F.2
01E4: GOTO 1E3
01E5: MOVF 1E,W
01E6: SUBLW 7F
01E7: BTFSS 03.0
01E8: GOTO 1F2
01E9: MOVLW 0B
01EA: MOVWF 37
01EB: MOVLW B8
01EC: MOVWF 36
01ED: MOVLW 01
01EE: MOVWF 39
01EF: MOVLW 90
01F0: MOVWF 38
01F1: CALL 055
.................... Delay_ms(200);
01F2: MOVLW C8
01F3: MOVWF 37
01F4: CALL 073
.................... };
01F5: GOTO 1B3
.................... }
01F6: BCF 0A.3
01F7: GOTO 378 (RETURN)
.................... ///////////////////////////////////////////////////////////////////////////////
.................... void OtocSe() // otoci se zpet, kdyz je prekazka
.................... {
.................... unsigned int16 n;
....................
.................... BL; BR; // cukni zpatky
01F8: BSF 03.5
01F9: BCF 06.6
01FA: BCF 03.5
01FB: BCF 06.6
01FC: BSF 03.5
01FD: BCF 06.7
01FE: BCF 03.5
01FF: BSF 06.7
0200: BSF 03.5
0201: BCF 06.4
0202: BCF 03.5
0203: BCF 06.4
0204: BSF 03.5
0205: BCF 06.5
0206: BCF 03.5
0207: BSF 06.5
.................... Delay_ms(200);
0208: MOVLW C8
0209: MOVWF 37
020A: CALL 073
.................... STOPR;STOPL;
020B: BSF 03.5
020C: BCF 06.4
020D: BCF 03.5
020E: BCF 06.4
020F: BSF 03.5
0210: BCF 06.5
0211: BCF 03.5
0212: BCF 06.5
0213: BSF 03.5
0214: BCF 06.6
0215: BCF 03.5
0216: BCF 06.6
0217: BSF 03.5
0218: BCF 06.7
0219: BCF 03.5
021A: BCF 06.7
.................... beep(800,400);
021B: MOVLW 03
021C: MOVWF 37
021D: MOVLW 20
021E: MOVWF 36
021F: MOVLW 01
0220: MOVWF 39
0221: MOVLW 90
0222: MOVWF 38
0223: CALL 055
.................... beep(2000,1000);
0224: MOVLW 07
0225: MOVWF 37
0226: MOVLW D0
0227: MOVWF 36
0228: MOVLW 03
0229: MOVWF 39
022A: MOVLW E8
022B: MOVWF 38
022C: CALL 055
.................... output_low(LED4);
022D: BSF 03.5
022E: BCF 05.6
022F: BCF 03.5
0230: BCF 05.6
.................... beep(900,400);
0231: MOVLW 03
0232: MOVWF 37
0233: MOVLW 84
0234: MOVWF 36
0235: MOVLW 01
0236: MOVWF 39
0237: MOVLW 90
0238: MOVWF 38
0239: CALL 055
.................... output_low(LED1);
023A: BSF 03.5
023B: BCF 05.4
023C: BCF 03.5
023D: BCF 05.4
....................
.................... BR; FL; Delay_ms(100); // otoc se 30° do prava
023E: BSF 03.5
023F: BCF 06.4
0240: BCF 03.5
0241: BCF 06.4
0242: BSF 03.5
0243: BCF 06.5
0244: BCF 03.5
0245: BSF 06.5
0246: BSF 03.5
0247: BCF 06.7
0248: BCF 03.5
0249: BCF 06.7
024A: BSF 03.5
024B: BCF 06.6
024C: BCF 03.5
024D: BSF 06.6
024E: MOVLW 64
024F: MOVWF 37
0250: CALL 073
.................... STOPL; STOPR;
0251: BSF 03.5
0252: BCF 06.6
0253: BCF 03.5
0254: BCF 06.6
0255: BSF 03.5
0256: BCF 06.7
0257: BCF 03.5
0258: BCF 06.7
0259: BSF 03.5
025A: BCF 06.4
025B: BCF 03.5
025C: BCF 06.4
025D: BSF 03.5
025E: BCF 06.5
025F: BCF 03.5
0260: BCF 06.5
.................... beep(1000,1000);
0261: MOVLW 03
0262: MOVWF 37
0263: MOVLW E8
0264: MOVWF 36
0265: MOVLW 03
0266: MOVWF 39
0267: MOVLW E8
0268: MOVWF 38
0269: CALL 055
.................... output_low(LED3);
026A: BSF 03.5
026B: BCF 05.7
026C: BCF 03.5
026D: BCF 05.7
....................
.................... BR; FL;
026E: BSF 03.5
026F: BCF 06.4
0270: BCF 03.5
0271: BCF 06.4
0272: BSF 03.5
0273: BCF 06.5
0274: BCF 03.5
0275: BSF 06.5
0276: BSF 03.5
0277: BCF 06.7
0278: BCF 03.5
0279: BCF 06.7
027A: BSF 03.5
027B: BCF 06.6
027C: BCF 03.5
027D: BSF 06.6
.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru
027E: MOVLW 9C
027F: MOVWF 35
0280: MOVLW 40
0281: MOVWF 34
0282: MOVF 34,F
0283: BTFSS 03.2
0284: GOTO 288
0285: MOVF 35,F
0286: BTFSC 03.2
0287: GOTO 2B0
.................... {
.................... line = RSENSOR; // cteni senzoru na caru
0288: CLRF 77
0289: BSF 03.5
028A: BTFSC 1C.7
028B: BSF 77.0
028C: BCF 03.5
028D: MOVF 2F,W
028E: XORWF 77,W
028F: ANDLW 01
0290: BTFSS 03.2
0291: GOTO 294
0292: MOVLW 00
0293: GOTO 295
0294: MOVLW 01
0295: MOVWF 2A
.................... line |= LSENSOR << 1;
0296: CLRF 77
0297: BSF 03.5
0298: BTFSC 1C.6
0299: BSF 77.0
029A: BCF 03.5
029B: MOVF 2F,W
029C: XORWF 77,W
029D: ANDLW 01
029E: BTFSS 03.2
029F: GOTO 2A2
02A0: MOVLW 00
02A1: GOTO 2A3
02A2: MOVLW 01
02A3: MOVWF 77
02A4: BCF 03.0
02A5: RLF 77,F
02A6: MOVF 77,W
02A7: IORWF 2A,F
.................... if (line!=0) break;
02A8: MOVF 2A,F
02A9: BTFSS 03.2
02AA: GOTO 2B0
.................... }
02AB: MOVF 34,W
02AC: BTFSC 03.2
02AD: DECF 35,F
02AE: DECF 34,F
02AF: GOTO 282
.................... STOPR; STOPL;
02B0: BSF 03.5
02B1: BCF 06.4
02B2: BCF 03.5
02B3: BCF 06.4
02B4: BSF 03.5
02B5: BCF 06.5
02B6: BCF 03.5
02B7: BCF 06.5
02B8: BSF 03.5
02B9: BCF 06.6
02BA: BCF 03.5
02BB: BCF 06.6
02BC: BSF 03.5
02BD: BCF 06.7
02BE: BCF 03.5
02BF: BCF 06.7
.................... output_high(LED1); output_high(LED3); output_high(LED4);
02C0: BSF 03.5
02C1: BCF 05.4
02C2: BCF 03.5
02C3: BSF 05.4
02C4: BSF 03.5
02C5: BCF 05.7
02C6: BCF 03.5
02C7: BSF 05.7
02C8: BSF 03.5
02C9: BCF 05.6
02CA: BCF 03.5
02CB: BSF 05.6
....................
.................... line=L; // caru jsme prejeli, tak je vlevo
02CC: MOVLW 02
02CD: MOVWF 2A
.................... cirkus=0;
02CE: CLRF 2E
.................... }
02CF: BCF 0A.3
02D0: GOTO 3F1 (RETURN)
....................
....................
.................... void main()
.................... {
02D1: CLRF 04
02D2: MOVLW 1F
02D3: ANDWF 03,F
02D4: BSF 03.5
02D5: BCF 1F.4
02D6: BCF 1F.5
02D7: MOVF 1B,W
02D8: ANDLW 80
02D9: MOVWF 1B
02DA: MOVLW 07
02DB: MOVWF 1C
02DC: MOVF 1C,W
02DD: BCF 03.5
02DE: BCF 0D.6
02DF: MOVLW 60
02E0: BSF 03.5
02E1: MOVWF 0F
.................... unsigned int16 n; // pro FOR
.................... unsigned int16 i;
....................
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
02E2: BCF 06.6
02E3: BCF 03.5
02E4: BCF 06.6
02E5: BSF 03.5
02E6: BCF 06.7
02E7: BCF 03.5
02E8: BCF 06.7
02E9: BSF 03.5
02EA: BCF 06.4
02EB: BCF 03.5
02EC: BCF 06.4
02ED: BSF 03.5
02EE: BCF 06.5
02EF: BCF 03.5
02F0: BCF 06.5
....................
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
02F1: MOVLW 62
02F2: BSF 03.5
02F3: MOVWF 0F
....................
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku
02F4: BCF 01.7
.................... setup_spi(FALSE);
02F5: BCF 03.5
02F6: BCF 14.5
02F7: BSF 03.5
02F8: BCF 06.2
02F9: BSF 06.1
02FA: BCF 06.4
02FB: MOVLW 00
02FC: BCF 03.5
02FD: MOVWF 14
02FE: BSF 03.5
02FF: MOVWF 14
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
0300: MOVF 01,W
0301: ANDLW C7
0302: IORLW 08
0303: MOVWF 01
....................
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
0304: MOVLW 48
0305: MOVWF 78
0306: IORLW 05
0307: BCF 03.5
0308: MOVWF 12
0309: MOVLW FF
030A: BSF 03.5
030B: MOVWF 12
.................... // preruseni kazdych 10ms
.................... setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
030C: BCF 1F.4
030D: BCF 1F.5
030E: MOVF 1B,W
030F: ANDLW 80
0310: IORLW 04
0311: MOVWF 1B
.................... setup_adc(ADC_CLOCK_INTERNAL);
0312: BCF 1F.6
0313: BCF 03.5
0314: BSF 1F.6
0315: BSF 1F.7
0316: BSF 03.5
0317: BCF 1F.7
0318: BCF 03.5
0319: BSF 1F.0
.................... set_adc_channel(2);
031A: MOVLW 10
031B: MOVWF 78
031C: MOVF 1F,W
031D: ANDLW C7
031E: IORWF 78,W
031F: MOVWF 1F
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
0320: MOVLW 85
0321: MOVWF 10
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);
0322: BSF 03.5
0323: BSF 06.3
0324: MOVLW 0B
0325: BCF 03.5
0326: MOVWF 17
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms
0327: CLRF 16
0328: MOVLW 07
0329: MOVWF 15
....................
.................... output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4);
032A: BSF 03.5
032B: BCF 05.4
032C: BCF 03.5
032D: BCF 05.4
032E: BSF 03.5
032F: BCF 05.3
0330: BCF 03.5
0331: BCF 05.3
0332: BSF 03.5
0333: BCF 05.7
0334: BCF 03.5
0335: BCF 05.7
0336: BSF 03.5
0337: BCF 05.6
0338: BCF 03.5
0339: BCF 05.6
....................
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
033A: MOVLW 02
033B: BSF 03.5
033C: MOVWF 1C
033D: MOVF 05,W
033E: IORLW 03
033F: MOVWF 05
0340: MOVLW 03
0341: MOVWF 77
0342: DECFSZ 77,F
0343: GOTO 342
0344: MOVF 1C,W
0345: BCF 03.5
0346: BCF 0D.6
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
0347: MOVLW 8F
0348: BSF 03.5
0349: MOVWF 1D
....................
.................... Beep(1000,200); //double beep
034A: MOVLW 03
034B: BCF 03.5
034C: MOVWF 37
034D: MOVLW E8
034E: MOVWF 36
034F: CLRF 39
0350: MOVLW C8
0351: MOVWF 38
0352: CALL 055
.................... Delay_ms(50);
0353: MOVLW 32
0354: MOVWF 37
0355: CALL 073
.................... Beep(1000,200);
0356: MOVLW 03
0357: MOVWF 37
0358: MOVLW E8
0359: MOVWF 36
035A: CLRF 39
035B: MOVLW C8
035C: MOVWF 38
035D: CALL 055
.................... Delay_ms(1000); // 1s
035E: MOVLW 04
035F: MOVWF 34
0360: MOVLW FA
0361: MOVWF 37
0362: CALL 073
0363: DECFSZ 34,F
0364: GOTO 360
....................
.................... // povoleni rizeni rychlosti zataceni pres preruseni
.................... enable_interrupts(INT_TIMER2);
0365: BSF 03.5
0366: BSF 0C.1
.................... enable_interrupts(GLOBAL);
0367: MOVLW C0
0368: BCF 03.5
0369: IORWF 0B,F
....................
.................... /*---------------------------------------------------------------------------*/
.................... sensors=S;
036A: MOVLW 03
036B: MOVWF 29
.................... line=S;
036C: MOVWF 2A
.................... last=S;
036D: MOVWF 2C
.................... cirkus=0;
036E: CLRF 2E
.................... // movement=S;
.................... speed=FW_POMALU;
036F: MOVLW AA
0370: MOVWF 2B
....................
.................... BW=input(BARVY); // Jaka ma byt barva cary?
0371: BSF 03.5
0372: BSF 06.1
0373: BCF 03.5
0374: BCF 2F.0
0375: BTFSC 06.1
0376: BSF 2F.0
.................... diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku
0377: GOTO 088
.................... Delay_ms(500);
0378: MOVLW 02
0379: MOVWF 34
037A: MOVLW FA
037B: MOVWF 37
037C: CALL 073
037D: DECFSZ 34,F
037E: GOTO 37A
....................
.................... output_high(LED1); Beep(1000,200); Delay_ms(500);
037F: BSF 03.5
0380: BCF 05.4
0381: BCF 03.5
0382: BSF 05.4
0383: MOVLW 03
0384: MOVWF 37
0385: MOVLW E8
0386: MOVWF 36
0387: CLRF 39
0388: MOVLW C8
0389: MOVWF 38
038A: CALL 055
038B: MOVLW 02
038C: MOVWF 34
038D: MOVLW FA
038E: MOVWF 37
038F: CALL 073
0390: DECFSZ 34,F
0391: GOTO 38D
.................... output_high(LED2); Beep(1000,200); Delay_ms(500);
0392: BSF 03.5
0393: BCF 05.3
0394: BCF 03.5
0395: BSF 05.3
0396: MOVLW 03
0397: MOVWF 37
0398: MOVLW E8
0399: MOVWF 36
039A: CLRF 39
039B: MOVLW C8
039C: MOVWF 38
039D: CALL 055
039E: MOVLW 02
039F: MOVWF 34
03A0: MOVLW FA
03A1: MOVWF 37
03A2: CALL 073
03A3: DECFSZ 34,F
03A4: GOTO 3A0
.................... output_high(LED3); Beep(1000,200); Delay_ms(500);
03A5: BSF 03.5
03A6: BCF 05.7
03A7: BCF 03.5
03A8: BSF 05.7
03A9: MOVLW 03
03AA: MOVWF 37
03AB: MOVLW E8
03AC: MOVWF 36
03AD: CLRF 39
03AE: MOVLW C8
03AF: MOVWF 38
03B0: CALL 055
03B1: MOVLW 02
03B2: MOVWF 34
03B3: MOVLW FA
03B4: MOVWF 37
03B5: CALL 073
03B6: DECFSZ 34,F
03B7: GOTO 3B3
.................... output_high(LED4); Beep(1000,200); Delay_ms(500);
03B8: BSF 03.5
03B9: BCF 05.6
03BA: BCF 03.5
03BB: BSF 05.6
03BC: MOVLW 03
03BD: MOVWF 37
03BE: MOVLW E8
03BF: MOVWF 36
03C0: CLRF 39
03C1: MOVLW C8
03C2: MOVWF 38
03C3: CALL 055
03C4: MOVLW 02
03C5: MOVWF 34
03C6: MOVLW FA
03C7: MOVWF 37
03C8: CALL 073
03C9: DECFSZ 34,F
03CA: GOTO 3C6
....................
.................... while(true) // hlavni smycka (jizda podle cary)
.................... {
.................... sensors = RSENSOR; // cteni senzoru na caru
03CB: CLRF 77
03CC: BSF 03.5
03CD: BTFSC 1C.7
03CE: BSF 77.0
03CF: BCF 03.5
03D0: MOVF 2F,W
03D1: XORWF 77,W
03D2: ANDLW 01
03D3: BTFSS 03.2
03D4: GOTO 3D7
03D5: MOVLW 00
03D6: GOTO 3D8
03D7: MOVLW 01
03D8: MOVWF 29
.................... sensors |= LSENSOR << 1;
03D9: CLRF 77
03DA: BSF 03.5
03DB: BTFSC 1C.6
03DC: BSF 77.0
03DD: BCF 03.5
03DE: MOVF 2F,W
03DF: XORWF 77,W
03E0: ANDLW 01
03E1: BTFSS 03.2
03E2: GOTO 3E5
03E3: MOVLW 00
03E4: GOTO 3E6
03E5: MOVLW 01
03E6: MOVWF 77
03E7: BCF 03.0
03E8: RLF 77,F
03E9: MOVF 77,W
03EA: IORWF 29,F
....................
.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();
03EB: BTFSC 1F.2
03EC: GOTO 3EB
03ED: MOVF 1E,W
03EE: SUBLW 7F
03EF: BTFSC 03.0
03F0: GOTO 1F8
....................
.................... switch (sensors) // zatacej podle toho, kde vidis caru
.................... {
03F1: MOVF 29,W
03F2: XORLW 03
03F3: BTFSC 03.2
03F4: GOTO 3FC
03F5: XORLW 01
03F6: BTFSC 03.2
03F7: GOTO 431
03F8: XORLW 03
03F9: BTFSC 03.2
03FA: GOTO 468
03FB: GOTO 49F
.................... case S: // rovne
.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);
03FC: MOVF 01,W
03FD: MOVWF 34
03FE: MOVLW BE
03FF: ADDWF 2D,W
0400: SUBWF 34,W
0401: BTFSC 03.2
0402: GOTO 405
0403: BTFSC 03.0
0404: GOTO 40E
0405: BSF 03.5
0406: BCF 06.7
0407: BCF 03.5
0408: BCF 06.7
0409: BSF 03.5
040A: BCF 06.6
040B: BCF 03.5
040C: BSF 06.6
040D: GOTO 416
040E: BSF 03.5
040F: BCF 06.6
0410: BCF 03.5
0411: BCF 06.6
0412: BSF 03.5
0413: BCF 06.7
0414: BCF 03.5
0415: BCF 06.7
0416: MOVF 01,W
0417: MOVWF 34
0418: MOVLW BE
0419: ADDWF 2D,W
041A: SUBWF 34,W
041B: BTFSC 03.2
041C: GOTO 41F
041D: BTFSC 03.0
041E: GOTO 428
041F: BSF 03.5
0420: BCF 06.5
0421: BCF 03.5
0422: BCF 06.5
0423: BSF 03.5
0424: BCF 06.4
0425: BCF 03.5
0426: BSF 06.4
0427: GOTO 430
0428: BSF 03.5
0429: BCF 06.4
042A: BCF 03.5
042B: BCF 06.4
042C: BSF 03.5
042D: BCF 06.5
042E: BCF 03.5
042F: BCF 06.5
.................... continue;
0430: GOTO 3CB
.................... case L: // trochu vlevo
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
0431: MOVF 01,W
0432: MOVWF 34
0433: MOVLW AA
0434: ADDWF 2D,W
0435: SUBWF 34,W
0436: BTFSC 03.2
0437: GOTO 43A
0438: BTFSC 03.0
0439: GOTO 443
043A: BSF 03.5
043B: BCF 06.7
043C: BCF 03.5
043D: BCF 06.7
043E: BSF 03.5
043F: BCF 06.6
0440: BCF 03.5
0441: BSF 06.6
0442: GOTO 44B
0443: BSF 03.5
0444: BCF 06.6
0445: BCF 03.5
0446: BCF 06.6
0447: BSF 03.5
0448: BCF 06.7
0449: BCF 03.5
044A: BCF 06.7
044B: MOVF 01,W
044C: MOVWF 34
044D: MOVLW BE
044E: ADDWF 2D,W
044F: SUBWF 34,W
0450: BTFSC 03.2
0451: GOTO 454
0452: BTFSC 03.0
0453: GOTO 45D
0454: BSF 03.5
0455: BCF 06.5
0456: BCF 03.5
0457: BCF 06.5
0458: BSF 03.5
0459: BCF 06.4
045A: BCF 03.5
045B: BSF 06.4
045C: GOTO 465
045D: BSF 03.5
045E: BCF 06.4
045F: BCF 03.5
0460: BCF 06.4
0461: BSF 03.5
0462: BCF 06.5
0463: BCF 03.5
0464: BCF 06.5
.................... line=L;
0465: MOVLW 02
0466: MOVWF 2A
.................... continue;
0467: GOTO 3CB
.................... case R: // trochu vpravo
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
0468: MOVF 01,W
0469: MOVWF 34
046A: MOVLW AA
046B: ADDWF 2D,W
046C: SUBWF 34,W
046D: BTFSC 03.2
046E: GOTO 471
046F: BTFSC 03.0
0470: GOTO 47A
0471: BSF 03.5
0472: BCF 06.5
0473: BCF 03.5
0474: BCF 06.5
0475: BSF 03.5
0476: BCF 06.4
0477: BCF 03.5
0478: BSF 06.4
0479: GOTO 482
047A: BSF 03.5
047B: BCF 06.4
047C: BCF 03.5
047D: BCF 06.4
047E: BSF 03.5
047F: BCF 06.5
0480: BCF 03.5
0481: BCF 06.5
0482: MOVF 01,W
0483: MOVWF 34
0484: MOVLW BE
0485: ADDWF 2D,W
0486: SUBWF 34,W
0487: BTFSC 03.2
0488: GOTO 48B
0489: BTFSC 03.0
048A: GOTO 494
048B: BSF 03.5
048C: BCF 06.7
048D: BCF 03.5
048E: BCF 06.7
048F: BSF 03.5
0490: BCF 06.6
0491: BCF 03.5
0492: BSF 06.6
0493: GOTO 49C
0494: BSF 03.5
0495: BCF 06.6
0496: BCF 03.5
0497: BCF 06.6
0498: BSF 03.5
0499: BCF 06.7
049A: BCF 03.5
049B: BCF 06.7
.................... line=R;
049C: MOVLW 01
049D: MOVWF 2A
.................... continue;
049E: GOTO 3CB
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
.................... };
.................... rovinka=0;
049F: CLRF 2D
....................
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu,
04A0: MOVF 2A,W
04A1: SUBWF 2C,W
04A2: BTFSC 03.2
04A3: GOTO 560
.................... // tak zabrzdi
.................... {
.................... output_bit(LED1, !input(LED1));
04A4: BSF 03.5
04A5: BSF 05.4
04A6: BCF 03.5
04A7: BTFSS 05.4
04A8: GOTO 4AB
04A9: BCF 05.4
04AA: GOTO 4AC
04AB: BSF 05.4
04AC: BSF 03.5
04AD: BCF 05.4
.................... last=line;
04AE: BCF 03.5
04AF: MOVF 2A,W
04B0: MOVWF 2C
.................... speed=FW_ZATACKA;
04B1: MOVLW C8
04B2: MOVWF 2B
.................... cirkus++;
04B3: INCF 2E,F
.................... if (cirkus>8)
04B4: MOVF 2E,W
04B5: SUBLW 08
04B6: BTFSC 03.0
04B7: GOTO 560
.................... {
.................... STOPL; STOPR;
04B8: BSF 03.5
04B9: BCF 06.6
04BA: BCF 03.5
04BB: BCF 06.6
04BC: BSF 03.5
04BD: BCF 06.7
04BE: BCF 03.5
04BF: BCF 06.7
04C0: BSF 03.5
04C1: BCF 06.4
04C2: BCF 03.5
04C3: BCF 06.4
04C4: BSF 03.5
04C5: BCF 06.5
04C6: BCF 03.5
04C7: BCF 06.5
.................... cirkus=0;
04C8: CLRF 2E
.................... disable_interrupts(GLOBAL);
04C9: BCF 0B.6
04CA: BCF 0B.7
04CB: BTFSC 0B.7
04CC: GOTO 4CA
.................... beep(1000,400);
04CD: MOVLW 03
04CE: MOVWF 37
04CF: MOVLW E8
04D0: MOVWF 36
04D1: MOVLW 01
04D2: MOVWF 39
04D3: MOVLW 90
04D4: MOVWF 38
04D5: CALL 055
.................... for(n=3000; n>3950; n--) beep(n,10);
04D6: MOVLW 0B
04D7: MOVWF 31
04D8: MOVLW B8
04D9: MOVWF 30
04DA: MOVF 31,W
04DB: SUBLW 0E
04DC: BTFSC 03.0
04DD: GOTO 4F2
04DE: XORLW FF
04DF: BTFSS 03.2
04E0: GOTO 4E5
04E1: MOVF 30,W
04E2: SUBLW 6E
04E3: BTFSC 03.0
04E4: GOTO 4F2
04E5: MOVF 31,W
04E6: MOVWF 37
04E7: MOVF 30,W
04E8: MOVWF 36
04E9: CLRF 39
04EA: MOVLW 0A
04EB: MOVWF 38
04EC: CALL 055
04ED: MOVF 30,W
04EE: BTFSC 03.2
04EF: DECF 31,F
04F0: DECF 30,F
04F1: GOTO 4DA
.................... output_low(LED1);
04F2: BSF 03.5
04F3: BCF 05.4
04F4: BCF 03.5
04F5: BCF 05.4
.................... beep(2000,200);
04F6: MOVLW 07
04F7: MOVWF 37
04F8: MOVLW D0
04F9: MOVWF 36
04FA: CLRF 39
04FB: MOVLW C8
04FC: MOVWF 38
04FD: CALL 055
.................... beep(900,400);
04FE: MOVLW 03
04FF: MOVWF 37
0500: MOVLW 84
0501: MOVWF 36
0502: MOVLW 01
0503: MOVWF 39
0504: MOVLW 90
0505: MOVWF 38
0506: CALL 055
.................... for(n=2950; n<3000; n++) beep(n,10);
0507: MOVLW 0B
0508: MOVWF 31
0509: MOVLW 86
050A: MOVWF 30
050B: MOVF 31,W
050C: SUBLW 0B
050D: BTFSS 03.0
050E: GOTO 521
050F: BTFSS 03.2
0510: GOTO 515
0511: MOVF 30,W
0512: SUBLW B7
0513: BTFSS 03.0
0514: GOTO 521
0515: MOVF 31,W
0516: MOVWF 37
0517: MOVF 30,W
0518: MOVWF 36
0519: CLRF 39
051A: MOVLW 0A
051B: MOVWF 38
051C: CALL 055
051D: INCF 30,F
051E: BTFSC 03.2
051F: INCF 31,F
0520: GOTO 50B
.................... output_low(LED2);
0521: BSF 03.5
0522: BCF 05.3
0523: BCF 03.5
0524: BCF 05.3
.................... output_high(LED1);
0525: BSF 03.5
0526: BCF 05.4
0527: BCF 03.5
0528: BSF 05.4
.................... beep(4000,400);
0529: MOVLW 0F
052A: MOVWF 37
052B: MOVLW A0
052C: MOVWF 36
052D: MOVLW 01
052E: MOVWF 39
052F: MOVLW 90
0530: MOVWF 38
0531: CALL 055
.................... beep(1000,100);
0532: MOVLW 03
0533: MOVWF 37
0534: MOVLW E8
0535: MOVWF 36
0536: CLRF 39
0537: MOVLW 64
0538: MOVWF 38
0539: CALL 055
.................... output_low(LED3);
053A: BSF 03.5
053B: BCF 05.7
053C: BCF 03.5
053D: BCF 05.7
.................... beep(3000,400);
053E: MOVLW 0B
053F: MOVWF 37
0540: MOVLW B8
0541: MOVWF 36
0542: MOVLW 01
0543: MOVWF 39
0544: MOVLW 90
0545: MOVWF 38
0546: CALL 055
.................... Delay_ms(1000);
0547: MOVLW 04
0548: MOVWF 34
0549: MOVLW FA
054A: MOVWF 37
054B: CALL 073
054C: DECFSZ 34,F
054D: GOTO 549
.................... output_high(LED1); output_high(LED2);
054E: BSF 03.5
054F: BCF 05.4
0550: BCF 03.5
0551: BSF 05.4
0552: BSF 03.5
0553: BCF 05.3
0554: BCF 03.5
0555: BSF 05.3
.................... output_high(LED3); output_high(LED4);
0556: BSF 03.5
0557: BCF 05.7
0558: BCF 03.5
0559: BSF 05.7
055A: BSF 03.5
055B: BCF 05.6
055C: BCF 03.5
055D: BSF 05.6
.................... enable_interrupts(GLOBAL);
055E: MOVLW C0
055F: IORWF 0B,F
.................... }
.................... };
....................
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
0560: MOVF 2A,W
0561: SUBLW 02
0562: BTFSS 03.2
0563: GOTO 582
.................... {
.................... STOPL;
0564: BSF 03.5
0565: BCF 06.6
0566: BCF 03.5
0567: BCF 06.6
0568: BSF 03.5
0569: BCF 06.7
056A: BCF 03.5
056B: BCF 06.7
.................... GO(R, F, speed);
056C: MOVF 01,W
056D: SUBWF 2B,W
056E: BTFSS 03.0
056F: GOTO 579
0570: BSF 03.5
0571: BCF 06.5
0572: BCF 03.5
0573: BCF 06.5
0574: BSF 03.5
0575: BCF 06.4
0576: BCF 03.5
0577: BSF 06.4
0578: GOTO 581
0579: BSF 03.5
057A: BCF 06.4
057B: BCF 03.5
057C: BCF 06.4
057D: BSF 03.5
057E: BCF 06.5
057F: BCF 03.5
0580: BCF 06.5
.................... }
.................... else
0581: GOTO 59F
.................... {
.................... STOPR;
0582: BSF 03.5
0583: BCF 06.4
0584: BCF 03.5
0585: BCF 06.4
0586: BSF 03.5
0587: BCF 06.5
0588: BCF 03.5
0589: BCF 06.5
.................... GO(L, F, speed);
058A: MOVF 01,W
058B: SUBWF 2B,W
058C: BTFSS 03.0
058D: GOTO 597
058E: BSF 03.5
058F: BCF 06.7
0590: BCF 03.5
0591: BCF 06.7
0592: BSF 03.5
0593: BCF 06.6
0594: BCF 03.5
0595: BSF 06.6
0596: GOTO 59F
0597: BSF 03.5
0598: BCF 06.6
0599: BCF 03.5
059A: BCF 06.6
059B: BSF 03.5
059C: BCF 06.7
059D: BCF 03.5
059E: BCF 06.7
.................... }
....................
.................... } // while(true)
059F: GOTO 3CB
.................... }
....................
....................
05A0: SLEEP
 
Configuration Fuses:
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
Word 2: 3FFC NOFCMEN NOIESO
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.PJT
0,0 → 1,40
[PROJECT]
Target=tank.HEX
Development_Mode=
Processor=0x688F
ToolSuite=CCS
 
[Directories]
Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\drivers\;C:\library\CCS;
Library=
LinkerScript=
 
[Target Data]
FileList=tank.c;
BuildTool=C-COMPILER
OptionString=+FM
AdditionalOptionString=
BuildRequired=1
 
[tank.c]
Type=4
Path=
FileList=
BuildTool=
OptionString=
AdditionalOptionString=
 
[mru-list]
1=tank.c
 
[Windows]
0=0000 tank.c 0 0 796 451 3 0
 
[Opened Files]
1=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c
2=C:\Program Files\PICC\devices\16F88.h
3=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h
4=
5=
6=
7=
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.SYM
0,0 → 1,71
015-016 CCP_1
015 CCP_1_LOW
016 CCP_1_HIGH
020 @INTERRUPT_AREA
021 @INTERRUPT_AREA
022 @INTERRUPT_AREA
023 @INTERRUPT_AREA
024 @INTERRUPT_AREA
025 @INTERRUPT_AREA
026 @INTERRUPT_AREA
027 @INTERRUPT_AREA
028 @INTERRUPT_AREA
029 sensors
02A line
02B speed
02C last
02D rovinka
02E cirkus
02F.0 BW
030-031 main.n
032-033 main.i
034-035 diagnostika.n
034-035 OtocSe.n
034 main.@SCRATCH
035 main.@SCRATCH
036-037 beep.period
036 diagnostika.@SCRATCH
036 OtocSe.@SCRATCH
037 @delay_ms1.P1
037 OtocSe.@SCRATCH
038-039 beep.length
03A-03B beep.nn
03C @delay_us1.P1
077 @SCRATCH
078 @SCRATCH
078 _RETURN_
079 @SCRATCH
07A @SCRATCH
07B @SCRATCH
09C.6 C1OUT
09C.7 C2OUT
 
0073 @delay_ms1
0042 @delay_us1
0037 TIMER2_isr
0055 beep
0088 diagnostika
01F8 OtocSe
02D1 main
02D1 @cinit
 
Project Files:
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h
C:\Program Files\PICC\devices\16F88.h
 
Compiler Settings:
Processor: PIC16F88
Pointer Size: 8
ADC Range: 0-255
Opt Level: 9
Short,Int,Long: 1,8,16
 
Output Files:
Errors: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.err
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.HEX
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.SYM
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.cof
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.tre
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.sta
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.c
0,0 → 1,268
// Program pro predvadeni schopnosti robota Merkur
//------------------------------------------------
 
#include "tank.h"
 
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru
unsigned int8 line; // na ktere strane byla detekovana cara
unsigned int8 speed; // rychlost zataceni
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku
int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus
int1 BW; // urcuje, jestli je cara cerno/bila nebo
// bilo/cerna (true = bila cara, cerny podklad)
 
// Konstanty pro dynamiku pohybu
#define T_DIRA 120 // po jakem case zataceni se detekuje dira
#define FW_POMALU 170 // trochu mimo caru vnitrni pas
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni
#define FW_STREDNE 190 // trochu mimo caru vnejsi pas
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry
#define MAX_ROVINKA (255-FW_STREDNE)
#define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd
#define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku
 
//motory //Napred vypnout potom zapnout!
#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred
#define FL output_low(PIN_B7); output_high(PIN_B6)
#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad
#define BL output_low(PIN_B6); output_high(PIN_B7)
#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav
#define STOPL output_low(PIN_B6);output_low(PIN_B7)
 
#define L 0b10 // left
#define R 0b01 // right
#define S 0b11 // straight
 
//cidla
#define RSENSOR (BW != C2OUT) // Senzory na caru
#define LSENSOR (BW != C1OUT)
#define BUMPER sAN2 // Senzor na cihlu
 
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod
#define BARVY PIN_B1 // Propojka pro nastaveni barvy cary
 
#define SPEAKER PIN_B0 // vystup pro pipak
 
#define LED1 PIN_A4 // LEDky
#define LED2 PIN_A3
#define LED3 PIN_A7
#define LED4 PIN_A6
 
// makro pro PWM
#define GO(motor, direction, power) if(get_timer0()<=power) \
{direction##motor;} else {stop##motor;}
 
#int_TIMER2
void TIMER2_isr() // obsluha zrychlovani
{
if (speed<255) speed++;
if (rovinka<MAX_ROVINKA) rovinka++;
}
 
// Primitivni Pipani
void beep(unsigned int16 period, unsigned int16 length)
{
unsigned int16 nn;
 
for(nn=length; nn>0; nn--)
{
output_high(SPEAKER);
delay_us(period);
output_low(SPEAKER);
delay_us(period);
}
}
/******************************************************************************/
void diagnostika()
{
unsigned int16 n;
 
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
{
for (n=500; n<800; n+=100)
{
beep(n,n); //beep UP
};
Delay_ms(1000);
//zastav vse
STOPL; STOPR;
//pravy pas
FR; Delay_ms(1000); STOPR; Delay_ms(1000);
BR; Delay_ms(1000); STOPR; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//levy pas
FL; Delay_ms(1000); STOPL; Delay_ms(1000);
BL; Delay_ms(1000); STOPL; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//oba pasy
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
};
while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
{
if (RSENSOR) beep(1000,200);
Delay_ms(200);
if (LSENSOR) beep(2000,300);
Delay_ms(200);
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400);
Delay_ms(200);
};
}
///////////////////////////////////////////////////////////////////////////////
void OtocSe() // otoci se zpet, kdyz je prekazka
{
unsigned int16 n;
 
BL; BR; // cukni zpatky
Delay_ms(200);
STOPR;STOPL;
beep(800,400);
beep(2000,1000);
output_low(LED4);
beep(900,400);
output_low(LED1);
 
BR; FL; Delay_ms(100); // otoc se 30° do prava
STOPL; STOPR;
beep(1000,1000);
output_low(LED3);
 
BR; FL;
for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) break;
}
STOPR; STOPL;
output_high(LED1); output_high(LED3); output_high(LED4);
 
line=L; // caru jsme prejeli, tak je vlevo
cirkus=0;
}
 
 
void main()
{
unsigned int16 n; // pro FOR
unsigned int16 i;
 
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
 
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
 
port_b_pullups(TRUE); // pullups pro piano na diagnostiku
setup_spi(FALSE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
 
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
// preruseni kazdych 10ms
setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
setup_adc(ADC_CLOCK_INTERNAL);
set_adc_channel(2);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
setup_ccp1(CCP_COMPARE_RESET_TIMER);
CCP_1=(2^10)-1; // prevod kazdou 1ms
 
output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4);
 
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
 
Beep(1000,200); //double beep
Delay_ms(50);
Beep(1000,200);
Delay_ms(1000); // 1s
 
// povoleni rizeni rychlosti zataceni pres preruseni
enable_interrupts(INT_TIMER2);
enable_interrupts(GLOBAL);
 
/*---------------------------------------------------------------------------*/
sensors=S;
line=S;
last=S;
cirkus=0;
// movement=S;
speed=FW_POMALU;
 
BW=input(BARVY); // Jaka ma byt barva cary?
diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku
Delay_ms(500);
 
output_high(LED1); Beep(1000,200); Delay_ms(500);
output_high(LED2); Beep(1000,200); Delay_ms(500);
output_high(LED3); Beep(1000,200); Delay_ms(500);
output_high(LED4); Beep(1000,200); Delay_ms(500);
 
while(true) // hlavni smycka (jizda podle cary)
{
sensors = RSENSOR; // cteni senzoru na caru
sensors |= LSENSOR << 1;
 
if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();
 
switch (sensors) // zatacej podle toho, kde vidis caru
{
case S: // rovne
GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);
continue;
case L: // trochu vlevo
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
line=L;
continue;
case R: // trochu vpravo
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
line=R;
continue;
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
};
rovinka=0;
 
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu,
// tak zabrzdi
{
output_bit(LED1, !input(LED1));
last=line;
speed=FW_ZATACKA;
cirkus++;
if (cirkus>8)
{
STOPL; STOPR;
cirkus=0;
disable_interrupts(GLOBAL);
beep(1000,400);
for(n=3000; n>3950; n--) beep(n,10);
output_low(LED1);
beep(2000,200);
beep(900,400);
for(n=2950; n<3000; n++) beep(n,10);
output_low(LED2);
output_high(LED1);
beep(4000,400);
beep(1000,100);
output_low(LED3);
beep(3000,400);
Delay_ms(1000);
output_high(LED1); output_high(LED2);
output_high(LED3); output_high(LED4);
enable_interrupts(GLOBAL);
}
};
 
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
{
STOPL;
GO(R, F, speed);
}
else
{
STOPR;
GO(L, F, speed);
}
 
} // while(true)
}
 
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.cof
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.err
0,0 → 1,0
No Errors
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.h
0,0 → 1,5
#include <16F88.h>
#device adc=8
#fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO
#use delay(clock=4000000)
 
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.sta
0,0 → 1,35
 
ROM used: 1441 (35%)
1441 (35%) including unused fragments
 
3 Average locations per line
5 Average locations per statement
 
RAM used: 27 (15%) at main() level
34 (19%) worst case
 
Lines Stmts % Files
----- ----- --- -----
269 293 100 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h
275 0 0 C:\Program Files\PICC\devices\16F88.h
----- -----
1100 586 Total
 
Page ROM % RAM Functions:
---- --- --- --- ----------
0 21 1 1 @delay_ms1
0 19 1 1 @delay_us1
0 11 1 0 TIMER2_isr
0 30 2 6 beep
0 368 26 3 diagnostika
0 217 15 4 OtocSe
0 720 50 6 main
 
Segment Used Free
--------- ---- ----
00000-00003 4 0
00004-00036 51 0
00037-007FF 1386 607
00800-00FFF 0 2048
 
/Designs/ROBOTS/Merkur/SW/MerkurU/tank.tre
0,0 → 1,106
ÀÄtank
ÃÄmain 0/720 Ram=6
³ ÃÄ??0??
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄdiagnostika 0/368 Ram=3
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_ms1 0/21 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄ@delay_ms1 0/21 Ram=1
³ ÃÄOtocSe 0/217 Ram=4
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄbeep 0/30 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÃÄ@delay_ms1 0/21 Ram=1
³ ³ ÀÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/30 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÀÄ@delay_ms1 0/21 Ram=1
ÀÄTIMER2_isr 0/11 Ram=0