| 0,0 → 1,2051 |
|---|
| CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 21:32 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LST |
| |
| ROM used: 1705 words (42%) |
| Largest free fragment is 2048 |
| RAM used: 87 (50%) at main() level |
| 98 (56%) worst case |
| Stack: 4 worst case (3 in main + 1 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 4E8 |
| 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 |
| .................... #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) |
| * |
| 0047: MOVLW 12 |
| 0048: BSF 03.5 |
| 0049: SUBWF 22,F |
| 004A: BTFSS 03.0 |
| 004B: GOTO 05A |
| 004C: MOVLW A2 |
| 004D: MOVWF 04 |
| 004E: MOVLW FC |
| 004F: ANDWF 00,F |
| 0050: BCF 03.0 |
| 0051: RRF 00,F |
| 0052: RRF 00,F |
| 0053: MOVF 00,W |
| 0054: BTFSC 03.2 |
| 0055: GOTO 05A |
| 0056: GOTO 058 |
| 0057: NOP |
| 0058: DECFSZ 00,F |
| 0059: GOTO 057 |
| 005A: BCF 03.5 |
| 005B: RETLW 00 |
| * |
| 0088: MOVLW 75 |
| 0089: MOVWF 04 |
| 008A: MOVF 00,W |
| 008B: BTFSC 03.2 |
| 008C: GOTO 09C |
| 008D: MOVLW 01 |
| 008E: MOVWF 78 |
| 008F: CLRF 77 |
| 0090: DECFSZ 77,F |
| 0091: GOTO 090 |
| 0092: DECFSZ 78,F |
| 0093: GOTO 08F |
| 0094: MOVLW 4A |
| 0095: MOVWF 77 |
| 0096: DECFSZ 77,F |
| 0097: GOTO 096 |
| 0098: NOP |
| 0099: NOP |
| 009A: DECFSZ 00,F |
| 009B: GOTO 08D |
| 009C: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... #define DEBUG |
| .................... |
| .................... #define TXo PIN_A3 // To the transmitter modulator |
| .................... #include "AX25.c" // podprogram pro prenos telemetrie |
| .................... #list |
| .................... |
| .................... |
| .................... 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 rovinka; // pocitadlo pro zjisteni rovneho useku |
| .................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
| .................... unsigned int8 movement; // obsahuje aktualni smer zataceni |
| .................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
| .................... |
| .................... // Konstanty pro dynamiku pohybu |
| .................... #define T_DIRA 87 // po jakem case zataceni se detekuje dira |
| .................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
| .................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas |
| .................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
| .................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
| .................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry |
| .................... #define PRES_DIRU 250 |
| .................... #define MAX_ROVINKA (255-FW_STREDNE) |
| .................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
| .................... #define BUMPER_TRESHOLD 128 |
| .................... #define CIK_CAK 30000 |
| .................... #define T_CIHLA 50 // perioda detekce cihly |
| .................... |
| .................... //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 C2OUT // Senzory na caru |
| .................... #define LSENSOR C1OUT |
| .................... #define BUMPER PIN_A4 // Senzor na cihlu |
| .................... |
| .................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
| .................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
| .................... |
| .................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
| .................... #DEFINE SOUND_LO PIN_A7 |
| .................... |
| .................... char AXstring[40]; // Buffer pro prenos telemetrie |
| .................... |
| .................... // makro pro PWM |
| .................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| .................... {direction##motor;} else {stop##motor;} |
| .................... |
| .................... #int_TIMER2 |
| .................... void TIMER2_isr() |
| .................... { |
| .................... if (speed<255) speed+=INC_SPEED; |
| * |
| 0037: INCFSZ 42,W |
| 0038: GOTO 03A |
| 0039: GOTO 03C |
| 003A: MOVLW 01 |
| 003B: ADDWF 42,F |
| .................... if (rovinka<MAX_ROVINKA) rovinka++; |
| 003C: MOVF 43,W |
| 003D: SUBLW 0E |
| 003E: BTFSC 03.0 |
| 003F: INCF 43,F |
| .................... if (dira<=T_DIRA) dira++; |
| 0040: MOVF 46,W |
| 0041: SUBLW 57 |
| 0042: BTFSC 03.0 |
| 0043: INCF 46,F |
| .................... } |
| .................... // Primitivni Pipani |
| 0044: BCF 0C.1 |
| 0045: BCF 0A.3 |
| 0046: GOTO 022 |
| .................... void beep(unsigned int16 period, unsigned int16 length) |
| .................... { |
| .................... unsigned int16 nn; |
| .................... |
| .................... for(nn=length; nn>0; nn--) |
| * |
| 005C: MOVF 7D,W |
| 005D: BSF 03.5 |
| 005E: MOVWF 21 |
| 005F: MOVF 7C,W |
| 0060: MOVWF 20 |
| 0061: MOVF 20,F |
| 0062: BTFSS 03.2 |
| 0063: GOTO 067 |
| 0064: MOVF 21,F |
| 0065: BTFSC 03.2 |
| 0066: GOTO 086 |
| .................... { |
| .................... output_high(SOUND_HI);output_low(SOUND_LO); |
| 0067: BCF 05.6 |
| 0068: BCF 03.5 |
| 0069: BSF 05.6 |
| 006A: BSF 03.5 |
| 006B: BCF 05.7 |
| 006C: BCF 03.5 |
| 006D: BCF 05.7 |
| .................... delay_us(period); |
| 006E: MOVF 74,W |
| 006F: BSF 03.5 |
| 0070: MOVWF 22 |
| 0071: BCF 03.5 |
| 0072: CALL 047 |
| .................... output_high(SOUND_LO);output_low(SOUND_HI); |
| 0073: BSF 03.5 |
| 0074: BCF 05.7 |
| 0075: BCF 03.5 |
| 0076: BSF 05.7 |
| 0077: BSF 03.5 |
| 0078: BCF 05.6 |
| 0079: BCF 03.5 |
| 007A: BCF 05.6 |
| .................... delay_us(period); |
| 007B: MOVF 74,W |
| 007C: BSF 03.5 |
| 007D: MOVWF 22 |
| 007E: BCF 03.5 |
| 007F: CALL 047 |
| .................... } |
| 0080: BSF 03.5 |
| 0081: MOVF 20,W |
| 0082: BTFSC 03.2 |
| 0083: DECF 21,F |
| 0084: DECF 20,F |
| 0085: GOTO 061 |
| .................... } |
| 0086: BCF 03.5 |
| 0087: RETLW 00 |
| .................... /******************************************************************************/ |
| .................... void diagnostika() |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
| .................... { |
| * |
| 009D: BSF 03.5 |
| 009E: BSF 06.3 |
| 009F: BCF 03.5 |
| 00A0: BTFSS 06.3 |
| 00A1: GOTO 1C8 |
| .................... for (n=500; n<800; n+=100) |
| 00A2: MOVLW 01 |
| 00A3: MOVWF 72 |
| 00A4: MOVLW F4 |
| 00A5: MOVWF 71 |
| 00A6: MOVF 72,W |
| 00A7: SUBLW 03 |
| 00A8: BTFSS 03.0 |
| 00A9: GOTO 0BE |
| 00AA: BTFSS 03.2 |
| 00AB: GOTO 0B0 |
| 00AC: MOVF 71,W |
| 00AD: SUBLW 1F |
| 00AE: BTFSS 03.0 |
| 00AF: GOTO 0BE |
| .................... { |
| .................... beep(n,n); //beep UP |
| 00B0: MOVF 72,W |
| 00B1: MOVWF 75 |
| 00B2: MOVF 71,W |
| 00B3: MOVWF 74 |
| 00B4: MOVF 72,W |
| 00B5: MOVWF 7D |
| 00B6: MOVF 71,W |
| 00B7: MOVWF 7C |
| 00B8: CALL 05C |
| .................... }; |
| 00B9: MOVLW 64 |
| 00BA: ADDWF 71,F |
| 00BB: BTFSC 03.0 |
| 00BC: INCF 72,F |
| 00BD: GOTO 0A6 |
| .................... Delay_ms(1000); |
| 00BE: MOVLW 04 |
| 00BF: MOVWF 73 |
| 00C0: MOVLW FA |
| 00C1: MOVWF 75 |
| 00C2: CALL 088 |
| 00C3: DECFSZ 73,F |
| 00C4: GOTO 0C0 |
| .................... //zastav vse |
| .................... STOPL; STOPR; |
| 00C5: BSF 03.5 |
| 00C6: BCF 06.6 |
| 00C7: BCF 03.5 |
| 00C8: BCF 06.6 |
| 00C9: BSF 03.5 |
| 00CA: BCF 06.7 |
| 00CB: BCF 03.5 |
| 00CC: BCF 06.7 |
| 00CD: BSF 03.5 |
| 00CE: BCF 06.4 |
| 00CF: BCF 03.5 |
| 00D0: BCF 06.4 |
| 00D1: BSF 03.5 |
| 00D2: BCF 06.5 |
| 00D3: BCF 03.5 |
| 00D4: BCF 06.5 |
| .................... //pravy pas |
| .................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 00D5: BSF 03.5 |
| 00D6: BCF 06.5 |
| 00D7: BCF 03.5 |
| 00D8: BCF 06.5 |
| 00D9: BSF 03.5 |
| 00DA: BCF 06.4 |
| 00DB: BCF 03.5 |
| 00DC: BSF 06.4 |
| 00DD: MOVLW 04 |
| 00DE: MOVWF 73 |
| 00DF: MOVLW FA |
| 00E0: MOVWF 75 |
| 00E1: CALL 088 |
| 00E2: DECFSZ 73,F |
| 00E3: GOTO 0DF |
| 00E4: BSF 03.5 |
| 00E5: BCF 06.4 |
| 00E6: BCF 03.5 |
| 00E7: BCF 06.4 |
| 00E8: BSF 03.5 |
| 00E9: BCF 06.5 |
| 00EA: BCF 03.5 |
| 00EB: BCF 06.5 |
| 00EC: MOVLW 04 |
| 00ED: MOVWF 73 |
| 00EE: MOVLW FA |
| 00EF: MOVWF 75 |
| 00F0: CALL 088 |
| 00F1: DECFSZ 73,F |
| 00F2: GOTO 0EE |
| .................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 00F3: BSF 03.5 |
| 00F4: BCF 06.4 |
| 00F5: BCF 03.5 |
| 00F6: BCF 06.4 |
| 00F7: BSF 03.5 |
| 00F8: BCF 06.5 |
| 00F9: BCF 03.5 |
| 00FA: BSF 06.5 |
| 00FB: MOVLW 04 |
| 00FC: MOVWF 73 |
| 00FD: MOVLW FA |
| 00FE: MOVWF 75 |
| 00FF: CALL 088 |
| 0100: DECFSZ 73,F |
| 0101: GOTO 0FD |
| 0102: BSF 03.5 |
| 0103: BCF 06.4 |
| 0104: BCF 03.5 |
| 0105: BCF 06.4 |
| 0106: BSF 03.5 |
| 0107: BCF 06.5 |
| 0108: BCF 03.5 |
| 0109: BCF 06.5 |
| 010A: MOVLW 04 |
| 010B: MOVWF 73 |
| 010C: MOVLW FA |
| 010D: MOVWF 75 |
| 010E: CALL 088 |
| 010F: DECFSZ 73,F |
| 0110: GOTO 10C |
| .................... Beep(880,100); Delay_ms(1000); |
| 0111: MOVLW 03 |
| 0112: MOVWF 75 |
| 0113: MOVLW 70 |
| 0114: MOVWF 74 |
| 0115: CLRF 7D |
| 0116: MOVLW 64 |
| 0117: MOVWF 7C |
| 0118: CALL 05C |
| 0119: MOVLW 04 |
| 011A: MOVWF 73 |
| 011B: MOVLW FA |
| 011C: MOVWF 75 |
| 011D: CALL 088 |
| 011E: DECFSZ 73,F |
| 011F: GOTO 11B |
| .................... //levy pas |
| .................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 0120: BSF 03.5 |
| 0121: BCF 06.7 |
| 0122: BCF 03.5 |
| 0123: BCF 06.7 |
| 0124: BSF 03.5 |
| 0125: BCF 06.6 |
| 0126: BCF 03.5 |
| 0127: BSF 06.6 |
| 0128: MOVLW 04 |
| 0129: MOVWF 73 |
| 012A: MOVLW FA |
| 012B: MOVWF 75 |
| 012C: CALL 088 |
| 012D: DECFSZ 73,F |
| 012E: GOTO 12A |
| 012F: BSF 03.5 |
| 0130: BCF 06.6 |
| 0131: BCF 03.5 |
| 0132: BCF 06.6 |
| 0133: BSF 03.5 |
| 0134: BCF 06.7 |
| 0135: BCF 03.5 |
| 0136: BCF 06.7 |
| 0137: MOVLW 04 |
| 0138: MOVWF 73 |
| 0139: MOVLW FA |
| 013A: MOVWF 75 |
| 013B: CALL 088 |
| 013C: DECFSZ 73,F |
| 013D: GOTO 139 |
| .................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 013E: BSF 03.5 |
| 013F: BCF 06.6 |
| 0140: BCF 03.5 |
| 0141: BCF 06.6 |
| 0142: BSF 03.5 |
| 0143: BCF 06.7 |
| 0144: BCF 03.5 |
| 0145: BSF 06.7 |
| 0146: MOVLW 04 |
| 0147: MOVWF 73 |
| 0148: MOVLW FA |
| 0149: MOVWF 75 |
| 014A: CALL 088 |
| 014B: DECFSZ 73,F |
| 014C: GOTO 148 |
| 014D: BSF 03.5 |
| 014E: BCF 06.6 |
| 014F: BCF 03.5 |
| 0150: BCF 06.6 |
| 0151: BSF 03.5 |
| 0152: BCF 06.7 |
| 0153: BCF 03.5 |
| 0154: BCF 06.7 |
| 0155: MOVLW 04 |
| 0156: MOVWF 73 |
| 0157: MOVLW FA |
| 0158: MOVWF 75 |
| 0159: CALL 088 |
| 015A: DECFSZ 73,F |
| 015B: GOTO 157 |
| .................... Beep(880,100); Delay_ms(1000); |
| 015C: MOVLW 03 |
| 015D: MOVWF 75 |
| 015E: MOVLW 70 |
| 015F: MOVWF 74 |
| 0160: CLRF 7D |
| 0161: MOVLW 64 |
| 0162: MOVWF 7C |
| 0163: CALL 05C |
| 0164: MOVLW 04 |
| 0165: MOVWF 73 |
| 0166: MOVLW FA |
| 0167: MOVWF 75 |
| 0168: CALL 088 |
| 0169: DECFSZ 73,F |
| 016A: GOTO 166 |
| .................... //oba pasy |
| .................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 016B: BSF 03.5 |
| 016C: BCF 06.7 |
| 016D: BCF 03.5 |
| 016E: BCF 06.7 |
| 016F: BSF 03.5 |
| 0170: BCF 06.6 |
| 0171: BCF 03.5 |
| 0172: BSF 06.6 |
| 0173: BSF 03.5 |
| 0174: BCF 06.5 |
| 0175: BCF 03.5 |
| 0176: BCF 06.5 |
| 0177: BSF 03.5 |
| 0178: BCF 06.4 |
| 0179: BCF 03.5 |
| 017A: BSF 06.4 |
| 017B: MOVLW 04 |
| 017C: MOVWF 73 |
| 017D: MOVLW FA |
| 017E: MOVWF 75 |
| 017F: CALL 088 |
| 0180: DECFSZ 73,F |
| 0181: GOTO 17D |
| 0182: BSF 03.5 |
| 0183: BCF 06.6 |
| 0184: BCF 03.5 |
| 0185: BCF 06.6 |
| 0186: BSF 03.5 |
| 0187: BCF 06.7 |
| 0188: BCF 03.5 |
| 0189: BCF 06.7 |
| 018A: BSF 03.5 |
| 018B: BCF 06.4 |
| 018C: BCF 03.5 |
| 018D: BCF 06.4 |
| 018E: BSF 03.5 |
| 018F: BCF 06.5 |
| 0190: BCF 03.5 |
| 0191: BCF 06.5 |
| 0192: MOVLW 04 |
| 0193: MOVWF 73 |
| 0194: MOVLW FA |
| 0195: MOVWF 75 |
| 0196: CALL 088 |
| 0197: DECFSZ 73,F |
| 0198: GOTO 194 |
| .................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 0199: BSF 03.5 |
| 019A: BCF 06.6 |
| 019B: BCF 03.5 |
| 019C: BCF 06.6 |
| 019D: BSF 03.5 |
| 019E: BCF 06.7 |
| 019F: BCF 03.5 |
| 01A0: BSF 06.7 |
| 01A1: BSF 03.5 |
| 01A2: BCF 06.4 |
| 01A3: BCF 03.5 |
| 01A4: BCF 06.4 |
| 01A5: BSF 03.5 |
| 01A6: BCF 06.5 |
| 01A7: BCF 03.5 |
| 01A8: BSF 06.5 |
| 01A9: MOVLW 04 |
| 01AA: MOVWF 73 |
| 01AB: MOVLW FA |
| 01AC: MOVWF 75 |
| 01AD: CALL 088 |
| 01AE: DECFSZ 73,F |
| 01AF: GOTO 1AB |
| 01B0: BSF 03.5 |
| 01B1: BCF 06.6 |
| 01B2: BCF 03.5 |
| 01B3: BCF 06.6 |
| 01B4: BSF 03.5 |
| 01B5: BCF 06.7 |
| 01B6: BCF 03.5 |
| 01B7: BCF 06.7 |
| 01B8: BSF 03.5 |
| 01B9: BCF 06.4 |
| 01BA: BCF 03.5 |
| 01BB: BCF 06.4 |
| 01BC: BSF 03.5 |
| 01BD: BCF 06.5 |
| 01BE: BCF 03.5 |
| 01BF: BCF 06.5 |
| 01C0: MOVLW 04 |
| 01C1: MOVWF 73 |
| 01C2: MOVLW FA |
| 01C3: MOVWF 75 |
| 01C4: CALL 088 |
| 01C5: DECFSZ 73,F |
| 01C6: GOTO 1C2 |
| .................... }; |
| 01C7: GOTO 09D |
| .................... while (input(DIAG_SENSORS)) |
| .................... { |
| 01C8: BSF 03.5 |
| 01C9: BSF 06.2 |
| 01CA: BCF 03.5 |
| 01CB: BTFSS 06.2 |
| 01CC: GOTO 1FB |
| .................... if (RSENSOR) beep(900,500); |
| 01CD: BSF 03.5 |
| 01CE: BTFSS 1C.7 |
| 01CF: GOTO 1DB |
| 01D0: MOVLW 03 |
| 01D1: MOVWF 75 |
| 01D2: MOVLW 84 |
| 01D3: MOVWF 74 |
| 01D4: MOVLW 01 |
| 01D5: MOVWF 7D |
| 01D6: MOVLW F4 |
| 01D7: MOVWF 7C |
| 01D8: BCF 03.5 |
| 01D9: CALL 05C |
| 01DA: BSF 03.5 |
| .................... if (LSENSOR) beep(800,500); |
| 01DB: BTFSS 1C.6 |
| 01DC: GOTO 1E8 |
| 01DD: MOVLW 03 |
| 01DE: MOVWF 75 |
| 01DF: MOVLW 20 |
| 01E0: MOVWF 74 |
| 01E1: MOVLW 01 |
| 01E2: MOVWF 7D |
| 01E3: MOVLW F4 |
| 01E4: MOVWF 7C |
| 01E5: BCF 03.5 |
| 01E6: CALL 05C |
| 01E7: BSF 03.5 |
| .................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
| 01E8: BCF 03.5 |
| 01E9: BTFSS 1F.2 |
| 01EA: GOTO 1ED |
| 01EB: BSF 03.5 |
| 01EC: GOTO 1E8 |
| 01ED: MOVF 1E,W |
| 01EE: SUBLW 7F |
| 01EF: BTFSS 03.0 |
| 01F0: GOTO 1FA |
| 01F1: MOVLW 03 |
| 01F2: MOVWF 75 |
| 01F3: MOVLW E8 |
| 01F4: MOVWF 74 |
| 01F5: MOVLW 01 |
| 01F6: MOVWF 7D |
| 01F7: MOVLW F4 |
| 01F8: MOVWF 7C |
| 01F9: CALL 05C |
| .................... }; |
| 01FA: GOTO 1C8 |
| .................... } |
| 01FB: BCF 0A.3 |
| 01FC: GOTO 596 (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void cikcak() |
| .................... { |
| .................... unsigned int16 n; |
| .................... sem1: |
| .................... n=CIK_CAK; |
| 01FD: MOVLW 75 |
| 01FE: MOVWF 75 |
| 01FF: MOVLW 30 |
| 0200: MOVWF 74 |
| .................... while (0==RSENSOR||LSENSOR) // zkontroluj caru |
| .................... { |
| 0201: MOVLW 00 |
| 0202: BSF 03.5 |
| 0203: BTFSC 1C.7 |
| 0204: MOVLW 01 |
| 0205: XORLW 00 |
| 0206: BTFSC 03.2 |
| 0207: GOTO 20A |
| 0208: BTFSS 1C.6 |
| 0209: GOTO 264 |
| .................... if (n==CIK_CAK) // zmen smer zataceni |
| 020A: MOVF 74,W |
| 020B: SUBLW 30 |
| 020C: BTFSS 03.2 |
| 020D: GOTO 25E |
| 020E: MOVF 75,W |
| 020F: SUBLW 75 |
| 0210: BTFSS 03.2 |
| 0211: GOTO 25E |
| .................... { |
| .................... n=0; |
| 0212: CLRF 75 |
| 0213: CLRF 74 |
| .................... switch(movement) |
| .................... { |
| 0214: BCF 03.5 |
| 0215: MOVF 45,W |
| 0216: XORLW 02 |
| 0217: BTFSC 03.2 |
| 0218: GOTO 220 |
| 0219: XORLW 03 |
| 021A: BTFSC 03.2 |
| 021B: GOTO 233 |
| 021C: XORLW 02 |
| 021D: BTFSC 03.2 |
| 021E: GOTO 246 |
| 021F: GOTO 25D |
| .................... case L: |
| .................... FL;BR; |
| 0220: BSF 03.5 |
| 0221: BCF 06.7 |
| 0222: BCF 03.5 |
| 0223: BCF 06.7 |
| 0224: BSF 03.5 |
| 0225: BCF 06.6 |
| 0226: BCF 03.5 |
| 0227: BSF 06.6 |
| 0228: BSF 03.5 |
| 0229: BCF 06.4 |
| 022A: BCF 03.5 |
| 022B: BCF 06.4 |
| 022C: BSF 03.5 |
| 022D: BCF 06.5 |
| 022E: BCF 03.5 |
| 022F: BSF 06.5 |
| .................... movement=R; |
| 0230: MOVLW 01 |
| 0231: MOVWF 45 |
| .................... break; |
| 0232: GOTO 25D |
| .................... case R: |
| .................... FR;BL; |
| 0233: BSF 03.5 |
| 0234: BCF 06.5 |
| 0235: BCF 03.5 |
| 0236: BCF 06.5 |
| 0237: BSF 03.5 |
| 0238: BCF 06.4 |
| 0239: BCF 03.5 |
| 023A: BSF 06.4 |
| 023B: BSF 03.5 |
| 023C: BCF 06.6 |
| 023D: BCF 03.5 |
| 023E: BCF 06.6 |
| 023F: BSF 03.5 |
| 0240: BCF 06.7 |
| 0241: BCF 03.5 |
| 0242: BSF 06.7 |
| .................... movement=L; |
| 0243: MOVLW 02 |
| 0244: MOVWF 45 |
| .................... break; |
| 0245: GOTO 25D |
| .................... case S: |
| .................... FL;BR; |
| 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: BSF 03.5 |
| 024F: BCF 06.4 |
| 0250: BCF 03.5 |
| 0251: BCF 06.4 |
| 0252: BSF 03.5 |
| 0253: BCF 06.5 |
| 0254: BCF 03.5 |
| 0255: BSF 06.5 |
| .................... movement=R; |
| 0256: MOVLW 01 |
| 0257: MOVWF 45 |
| .................... n=CIK_CAK/2; |
| 0258: MOVLW 3A |
| 0259: MOVWF 75 |
| 025A: MOVLW 98 |
| 025B: MOVWF 74 |
| .................... break; |
| 025C: GOTO 25D |
| 025D: BSF 03.5 |
| .................... } |
| .................... } |
| .................... n++; |
| 025E: INCF 74,F |
| 025F: BTFSC 03.2 |
| 0260: INCF 75,F |
| .................... } |
| 0261: BCF 03.5 |
| 0262: GOTO 201 |
| 0263: BSF 03.5 |
| .................... STOPL;STOPR; |
| 0264: BCF 06.6 |
| 0265: BCF 03.5 |
| 0266: BCF 06.6 |
| 0267: BSF 03.5 |
| 0268: BCF 06.7 |
| 0269: BCF 03.5 |
| 026A: BCF 06.7 |
| 026B: BSF 03.5 |
| 026C: BCF 06.4 |
| 026D: BCF 03.5 |
| 026E: BCF 06.4 |
| 026F: BSF 03.5 |
| 0270: BCF 06.5 |
| 0271: BCF 03.5 |
| 0272: BCF 06.5 |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 0273: CLRF 41 |
| 0274: BSF 03.5 |
| 0275: BTFSS 1C.7 |
| 0276: GOTO 27A |
| 0277: BCF 03.5 |
| 0278: INCF 41,F |
| 0279: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 027A: MOVLW 00 |
| 027B: BTFSC 1C.6 |
| 027C: MOVLW 01 |
| 027D: MOVWF 77 |
| 027E: BCF 03.0 |
| 027F: RLF 77,F |
| 0280: MOVF 77,W |
| 0281: BCF 03.5 |
| 0282: IORWF 41,F |
| .................... if (line==0) goto sem1; |
| 0283: MOVF 41,F |
| 0284: BTFSC 03.2 |
| 0285: GOTO 1FD |
| .................... // nasli jsme caru |
| .................... line=S; |
| 0286: MOVLW 03 |
| 0287: MOVWF 41 |
| .................... } |
| 0288: RETLW 00 |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void objizdka() // objede cihlu |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... BL;BR;Delay_ms(200); |
| 0289: BSF 03.5 |
| 028A: BCF 06.6 |
| 028B: BCF 03.5 |
| 028C: BCF 06.6 |
| 028D: BSF 03.5 |
| 028E: BCF 06.7 |
| 028F: BCF 03.5 |
| 0290: BSF 06.7 |
| 0291: BSF 03.5 |
| 0292: BCF 06.4 |
| 0293: BCF 03.5 |
| 0294: BCF 06.4 |
| 0295: BSF 03.5 |
| 0296: BCF 06.5 |
| 0297: BCF 03.5 |
| 0298: BSF 06.5 |
| 0299: MOVLW C8 |
| 029A: MOVWF 75 |
| 029B: CALL 088 |
| .................... STOPR;STOPL; |
| 029C: BSF 03.5 |
| 029D: BCF 06.4 |
| 029E: BCF 03.5 |
| 029F: BCF 06.4 |
| 02A0: BSF 03.5 |
| 02A1: BCF 06.5 |
| 02A2: BCF 03.5 |
| 02A3: BCF 06.5 |
| 02A4: BSF 03.5 |
| 02A5: BCF 06.6 |
| 02A6: BCF 03.5 |
| 02A7: BCF 06.6 |
| 02A8: BSF 03.5 |
| 02A9: BCF 06.7 |
| 02AA: BCF 03.5 |
| 02AB: BCF 06.7 |
| .................... beep(900,1000); |
| 02AC: MOVLW 03 |
| 02AD: MOVWF 75 |
| 02AE: MOVLW 84 |
| 02AF: MOVWF 74 |
| 02B0: MOVLW 03 |
| 02B1: MOVWF 7D |
| 02B2: MOVLW E8 |
| 02B3: MOVWF 7C |
| 02B4: CALL 05C |
| .................... // movement=S; |
| .................... //cikcak(); |
| .................... |
| .................... BL; FR; Delay_ms(215); // otoc se 70° do leva |
| 02B5: BSF 03.5 |
| 02B6: BCF 06.6 |
| 02B7: BCF 03.5 |
| 02B8: BCF 06.6 |
| 02B9: BSF 03.5 |
| 02BA: BCF 06.7 |
| 02BB: BCF 03.5 |
| 02BC: BSF 06.7 |
| 02BD: BSF 03.5 |
| 02BE: BCF 06.5 |
| 02BF: BCF 03.5 |
| 02C0: BCF 06.5 |
| 02C1: BSF 03.5 |
| 02C2: BCF 06.4 |
| 02C3: BCF 03.5 |
| 02C4: BSF 06.4 |
| 02C5: MOVLW D7 |
| 02C6: MOVWF 75 |
| 02C7: CALL 088 |
| .................... |
| .................... FR; FL; Delay_ms(600); // popojed rovne |
| 02C8: BSF 03.5 |
| 02C9: BCF 06.5 |
| 02CA: BCF 03.5 |
| 02CB: BCF 06.5 |
| 02CC: BSF 03.5 |
| 02CD: BCF 06.4 |
| 02CE: BCF 03.5 |
| 02CF: BSF 06.4 |
| 02D0: BSF 03.5 |
| 02D1: BCF 06.7 |
| 02D2: BCF 03.5 |
| 02D3: BCF 06.7 |
| 02D4: BSF 03.5 |
| 02D5: BCF 06.6 |
| 02D6: BCF 03.5 |
| 02D7: BSF 06.6 |
| 02D8: MOVLW 03 |
| 02D9: MOVWF 73 |
| 02DA: MOVLW C8 |
| 02DB: MOVWF 75 |
| 02DC: CALL 088 |
| 02DD: DECFSZ 73,F |
| 02DE: GOTO 2DA |
| .................... |
| .................... BR; Delay_ms(50); // otoc se 90° do prava |
| 02DF: BSF 03.5 |
| 02E0: BCF 06.4 |
| 02E1: BCF 03.5 |
| 02E2: BCF 06.4 |
| 02E3: BSF 03.5 |
| 02E4: BCF 06.5 |
| 02E5: BCF 03.5 |
| 02E6: BSF 06.5 |
| 02E7: MOVLW 32 |
| 02E8: MOVWF 75 |
| 02E9: CALL 088 |
| .................... STOPR; FL; Delay_ms(600); |
| 02EA: BSF 03.5 |
| 02EB: BCF 06.4 |
| 02EC: BCF 03.5 |
| 02ED: BCF 06.4 |
| 02EE: BSF 03.5 |
| 02EF: BCF 06.5 |
| 02F0: BCF 03.5 |
| 02F1: BCF 06.5 |
| 02F2: BSF 03.5 |
| 02F3: BCF 06.7 |
| 02F4: BCF 03.5 |
| 02F5: BCF 06.7 |
| 02F6: BSF 03.5 |
| 02F7: BCF 06.6 |
| 02F8: BCF 03.5 |
| 02F9: BSF 06.6 |
| 02FA: MOVLW 03 |
| 02FB: MOVWF 73 |
| 02FC: MOVLW C8 |
| 02FD: MOVWF 75 |
| 02FE: CALL 088 |
| 02FF: DECFSZ 73,F |
| 0300: GOTO 2FC |
| .................... |
| .................... FR; FL; Delay_ms(100); // popojed rovne na slepo |
| 0301: BSF 03.5 |
| 0302: BCF 06.5 |
| 0303: BCF 03.5 |
| 0304: BCF 06.5 |
| 0305: BSF 03.5 |
| 0306: BCF 06.4 |
| 0307: BCF 03.5 |
| 0308: BSF 06.4 |
| 0309: BSF 03.5 |
| 030A: BCF 06.7 |
| 030B: BCF 03.5 |
| 030C: BCF 06.7 |
| 030D: BSF 03.5 |
| 030E: BCF 06.6 |
| 030F: BCF 03.5 |
| 0310: BSF 06.6 |
| 0311: MOVLW 64 |
| 0312: MOVWF 75 |
| 0313: CALL 088 |
| .................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
| 0314: MOVLW 02 |
| 0315: MOVWF 72 |
| 0316: MOVLW 58 |
| 0317: MOVWF 71 |
| 0318: MOVF 71,F |
| 0319: BTFSS 03.2 |
| 031A: GOTO 31E |
| 031B: MOVF 72,F |
| 031C: BTFSC 03.2 |
| 031D: GOTO 33D |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 031E: CLRF 41 |
| 031F: BSF 03.5 |
| 0320: BTFSS 1C.7 |
| 0321: GOTO 325 |
| 0322: BCF 03.5 |
| 0323: INCF 41,F |
| 0324: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0325: MOVLW 00 |
| 0326: BTFSC 1C.6 |
| 0327: MOVLW 01 |
| 0328: MOVWF 77 |
| 0329: BCF 03.0 |
| 032A: RLF 77,F |
| 032B: MOVF 77,W |
| 032C: BCF 03.5 |
| 032D: IORWF 41,F |
| .................... if (line!=0) {Delay_ms(50); break;} // kdyz narazis na caru, za chvili zastav |
| 032E: MOVF 41,F |
| 032F: BTFSC 03.2 |
| 0330: GOTO 335 |
| 0331: MOVLW 32 |
| 0332: MOVWF 75 |
| 0333: CALL 088 |
| 0334: GOTO 33D |
| .................... Delay_ms(1); |
| 0335: MOVLW 01 |
| 0336: MOVWF 75 |
| 0337: CALL 088 |
| .................... } |
| 0338: MOVF 71,W |
| 0339: BTFSC 03.2 |
| 033A: DECF 72,F |
| 033B: DECF 71,F |
| 033C: GOTO 318 |
| .................... |
| .................... BL; // otoc se 60° do leva |
| 033D: BSF 03.5 |
| 033E: BCF 06.6 |
| 033F: BCF 03.5 |
| 0340: BCF 06.6 |
| 0341: BSF 03.5 |
| 0342: BCF 06.7 |
| 0343: BCF 03.5 |
| 0344: BSF 06.7 |
| .................... for(n=600;n>0;n--) |
| 0345: MOVLW 02 |
| 0346: MOVWF 72 |
| 0347: MOVLW 58 |
| 0348: MOVWF 71 |
| 0349: MOVF 71,F |
| 034A: BTFSS 03.2 |
| 034B: GOTO 34F |
| 034C: MOVF 72,F |
| 034D: BTFSC 03.2 |
| 034E: GOTO 36A |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 034F: CLRF 41 |
| 0350: BSF 03.5 |
| 0351: BTFSS 1C.7 |
| 0352: GOTO 356 |
| 0353: BCF 03.5 |
| 0354: INCF 41,F |
| 0355: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0356: MOVLW 00 |
| 0357: BTFSC 1C.6 |
| 0358: MOVLW 01 |
| 0359: MOVWF 77 |
| 035A: BCF 03.0 |
| 035B: RLF 77,F |
| 035C: MOVF 77,W |
| 035D: BCF 03.5 |
| 035E: IORWF 41,F |
| .................... if (line!=0) break; |
| 035F: MOVF 41,F |
| 0360: BTFSS 03.2 |
| 0361: GOTO 36A |
| .................... Delay_ms(1); |
| 0362: MOVLW 01 |
| 0363: MOVWF 75 |
| 0364: CALL 088 |
| .................... } |
| 0365: MOVF 71,W |
| 0366: BTFSC 03.2 |
| 0367: DECF 72,F |
| 0368: DECF 71,F |
| 0369: GOTO 349 |
| .................... STOPR; STOPL; |
| 036A: BSF 03.5 |
| 036B: BCF 06.4 |
| 036C: BCF 03.5 |
| 036D: BCF 06.4 |
| 036E: BSF 03.5 |
| 036F: BCF 06.5 |
| 0370: BCF 03.5 |
| 0371: BCF 06.5 |
| 0372: BSF 03.5 |
| 0373: BCF 06.6 |
| 0374: BCF 03.5 |
| 0375: BCF 06.6 |
| 0376: BSF 03.5 |
| 0377: BCF 06.7 |
| 0378: BCF 03.5 |
| 0379: BCF 06.7 |
| .................... |
| .................... movement=R; |
| 037A: MOVLW 01 |
| 037B: MOVWF 45 |
| .................... cikcak(); |
| 037C: CALL 1FD |
| .................... dira=0; |
| 037D: CLRF 46 |
| .................... } |
| 037E: BCF 0A.3 |
| 037F: GOTO 5C6 (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void prejeddiru() // vyresi diru |
| .................... { |
| .................... unsigned int16 n; |
| .................... unsigned int8 speed_dira; |
| .................... |
| .................... STOPL;STOPR; |
| 0380: BSF 03.5 |
| 0381: BCF 06.6 |
| 0382: BCF 03.5 |
| 0383: BCF 06.6 |
| 0384: BSF 03.5 |
| 0385: BCF 06.7 |
| 0386: BCF 03.5 |
| 0387: BCF 06.7 |
| 0388: BSF 03.5 |
| 0389: BCF 06.4 |
| 038A: BCF 03.5 |
| 038B: BCF 06.4 |
| 038C: BSF 03.5 |
| 038D: BCF 06.5 |
| 038E: BCF 03.5 |
| 038F: BCF 06.5 |
| .................... speed_dira=speed; |
| 0390: MOVF 42,W |
| 0391: MOVWF 73 |
| .................... beep(1000,500); |
| 0392: MOVLW 03 |
| 0393: MOVWF 75 |
| 0394: MOVLW E8 |
| 0395: MOVWF 74 |
| 0396: MOVLW 01 |
| 0397: MOVWF 7D |
| 0398: MOVLW F4 |
| 0399: MOVWF 7C |
| 039A: CALL 05C |
| .................... switch (movement) //vrat se zpet na caru |
| .................... { |
| 039B: MOVF 45,W |
| 039C: XORLW 02 |
| 039D: BTFSC 03.2 |
| 039E: GOTO 3A6 |
| 039F: XORLW 03 |
| 03A0: BTFSC 03.2 |
| 03A1: GOTO 3DE |
| 03A2: XORLW 02 |
| 03A3: BTFSC 03.2 |
| 03A4: GOTO 416 |
| 03A5: GOTO 418 |
| .................... case L: |
| .................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
| 03A6: MOVLW 02 |
| 03A7: MOVWF 72 |
| 03A8: MOVLW 58 |
| 03A9: MOVWF 71 |
| 03AA: MOVF 71,F |
| 03AB: BTFSS 03.2 |
| 03AC: GOTO 3B0 |
| 03AD: MOVF 72,F |
| 03AE: BTFSC 03.2 |
| 03AF: GOTO 3CD |
| 03B0: MOVF 01,W |
| 03B1: SUBWF 73,W |
| 03B2: BTFSS 03.0 |
| 03B3: GOTO 3BD |
| 03B4: BSF 03.5 |
| 03B5: BCF 06.4 |
| 03B6: BCF 03.5 |
| 03B7: BCF 06.4 |
| 03B8: BSF 03.5 |
| 03B9: BCF 06.5 |
| 03BA: BCF 03.5 |
| 03BB: BSF 06.5 |
| 03BC: GOTO 3C5 |
| 03BD: BSF 03.5 |
| 03BE: BCF 06.4 |
| 03BF: BCF 03.5 |
| 03C0: BCF 06.4 |
| 03C1: BSF 03.5 |
| 03C2: BCF 06.5 |
| 03C3: BCF 03.5 |
| 03C4: BCF 06.5 |
| 03C5: MOVLW 01 |
| 03C6: MOVWF 75 |
| 03C7: CALL 088 |
| 03C8: MOVF 71,W |
| 03C9: BTFSC 03.2 |
| 03CA: DECF 72,F |
| 03CB: DECF 71,F |
| 03CC: GOTO 3AA |
| .................... STOPL;STOPR; |
| 03CD: BSF 03.5 |
| 03CE: BCF 06.6 |
| 03CF: BCF 03.5 |
| 03D0: BCF 06.6 |
| 03D1: BSF 03.5 |
| 03D2: BCF 06.7 |
| 03D3: BCF 03.5 |
| 03D4: BCF 06.7 |
| 03D5: BSF 03.5 |
| 03D6: BCF 06.4 |
| 03D7: BCF 03.5 |
| 03D8: BCF 06.4 |
| 03D9: BSF 03.5 |
| 03DA: BCF 06.5 |
| 03DB: BCF 03.5 |
| 03DC: BCF 06.5 |
| .................... break; |
| 03DD: GOTO 418 |
| .................... case R: |
| .................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
| 03DE: MOVLW 02 |
| 03DF: MOVWF 72 |
| 03E0: MOVLW 58 |
| 03E1: MOVWF 71 |
| 03E2: MOVF 71,F |
| 03E3: BTFSS 03.2 |
| 03E4: GOTO 3E8 |
| 03E5: MOVF 72,F |
| 03E6: BTFSC 03.2 |
| 03E7: GOTO 405 |
| 03E8: MOVF 01,W |
| 03E9: SUBWF 73,W |
| 03EA: BTFSS 03.0 |
| 03EB: GOTO 3F5 |
| 03EC: BSF 03.5 |
| 03ED: BCF 06.6 |
| 03EE: BCF 03.5 |
| 03EF: BCF 06.6 |
| 03F0: BSF 03.5 |
| 03F1: BCF 06.7 |
| 03F2: BCF 03.5 |
| 03F3: BSF 06.7 |
| 03F4: GOTO 3FD |
| 03F5: BSF 03.5 |
| 03F6: BCF 06.6 |
| 03F7: BCF 03.5 |
| 03F8: BCF 06.6 |
| 03F9: BSF 03.5 |
| 03FA: BCF 06.7 |
| 03FB: BCF 03.5 |
| 03FC: BCF 06.7 |
| 03FD: MOVLW 01 |
| 03FE: MOVWF 75 |
| 03FF: CALL 088 |
| 0400: MOVF 71,W |
| 0401: BTFSC 03.2 |
| 0402: DECF 72,F |
| 0403: DECF 71,F |
| 0404: GOTO 3E2 |
| .................... STOPL;STOPR; |
| 0405: BSF 03.5 |
| 0406: BCF 06.6 |
| 0407: BCF 03.5 |
| 0408: BCF 06.6 |
| 0409: BSF 03.5 |
| 040A: BCF 06.7 |
| 040B: BCF 03.5 |
| 040C: BCF 06.7 |
| 040D: BSF 03.5 |
| 040E: BCF 06.4 |
| 040F: BCF 03.5 |
| 0410: BCF 06.4 |
| 0411: BSF 03.5 |
| 0412: BCF 06.5 |
| 0413: BCF 03.5 |
| 0414: BCF 06.5 |
| .................... break; |
| 0415: GOTO 418 |
| .................... case S: |
| .................... goto sem; |
| 0416: GOTO 4D2 |
| .................... break; |
| 0417: GOTO 418 |
| .................... } |
| .................... beep(800,500); |
| 0418: MOVLW 03 |
| 0419: MOVWF 75 |
| 041A: MOVLW 20 |
| 041B: MOVWF 74 |
| 041C: MOVLW 01 |
| 041D: MOVWF 7D |
| 041E: MOVLW F4 |
| 041F: MOVWF 7C |
| 0420: CALL 05C |
| .................... |
| .................... line=0; |
| 0421: CLRF 41 |
| .................... FR; BL; Delay_ms(300); // otoc se na caru |
| 0422: BSF 03.5 |
| 0423: BCF 06.5 |
| 0424: BCF 03.5 |
| 0425: BCF 06.5 |
| 0426: BSF 03.5 |
| 0427: BCF 06.4 |
| 0428: BCF 03.5 |
| 0429: BSF 06.4 |
| 042A: BSF 03.5 |
| 042B: BCF 06.6 |
| 042C: BCF 03.5 |
| 042D: BCF 06.6 |
| 042E: BSF 03.5 |
| 042F: BCF 06.7 |
| 0430: BCF 03.5 |
| 0431: BSF 06.7 |
| 0432: MOVLW 02 |
| 0433: MOVWF 74 |
| 0434: MOVLW 96 |
| 0435: MOVWF 75 |
| 0436: CALL 088 |
| 0437: DECFSZ 74,F |
| 0438: GOTO 434 |
| .................... while(line==0) |
| .................... { |
| 0439: MOVF 41,F |
| 043A: BTFSS 03.2 |
| 043B: GOTO 44D |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 043C: CLRF 41 |
| 043D: BSF 03.5 |
| 043E: BTFSS 1C.7 |
| 043F: GOTO 443 |
| 0440: BCF 03.5 |
| 0441: INCF 41,F |
| 0442: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0443: MOVLW 00 |
| 0444: BTFSC 1C.6 |
| 0445: MOVLW 01 |
| 0446: MOVWF 77 |
| 0447: BCF 03.0 |
| 0448: RLF 77,F |
| 0449: MOVF 77,W |
| 044A: BCF 03.5 |
| 044B: IORWF 41,F |
| .................... } |
| 044C: GOTO 439 |
| .................... FL;BR; Delay_ms(60); |
| 044D: BSF 03.5 |
| 044E: BCF 06.7 |
| 044F: BCF 03.5 |
| 0450: BCF 06.7 |
| 0451: BSF 03.5 |
| 0452: BCF 06.6 |
| 0453: BCF 03.5 |
| 0454: BSF 06.6 |
| 0455: BSF 03.5 |
| 0456: BCF 06.4 |
| 0457: BCF 03.5 |
| 0458: BCF 06.4 |
| 0459: BSF 03.5 |
| 045A: BCF 06.5 |
| 045B: BCF 03.5 |
| 045C: BSF 06.5 |
| 045D: MOVLW 3C |
| 045E: MOVWF 75 |
| 045F: CALL 088 |
| .................... STOPL; STOPR; |
| 0460: BSF 03.5 |
| 0461: BCF 06.6 |
| 0462: BCF 03.5 |
| 0463: BCF 06.6 |
| 0464: BSF 03.5 |
| 0465: BCF 06.7 |
| 0466: BCF 03.5 |
| 0467: BCF 06.7 |
| 0468: BSF 03.5 |
| 0469: BCF 06.4 |
| 046A: BCF 03.5 |
| 046B: BCF 06.4 |
| 046C: BSF 03.5 |
| 046D: BCF 06.5 |
| 046E: BCF 03.5 |
| 046F: BCF 06.5 |
| .................... |
| .................... FL; BR; Delay_ms(500); |
| 0470: BSF 03.5 |
| 0471: BCF 06.7 |
| 0472: BCF 03.5 |
| 0473: BCF 06.7 |
| 0474: BSF 03.5 |
| 0475: BCF 06.6 |
| 0476: BCF 03.5 |
| 0477: BSF 06.6 |
| 0478: BSF 03.5 |
| 0479: BCF 06.4 |
| 047A: BCF 03.5 |
| 047B: BCF 06.4 |
| 047C: BSF 03.5 |
| 047D: BCF 06.5 |
| 047E: BCF 03.5 |
| 047F: BSF 06.5 |
| 0480: MOVLW 02 |
| 0481: MOVWF 74 |
| 0482: MOVLW FA |
| 0483: MOVWF 75 |
| 0484: CALL 088 |
| 0485: DECFSZ 74,F |
| 0486: GOTO 482 |
| .................... STOPL; STOPR; |
| 0487: BSF 03.5 |
| 0488: BCF 06.6 |
| 0489: BCF 03.5 |
| 048A: BCF 06.6 |
| 048B: BSF 03.5 |
| 048C: BCF 06.7 |
| 048D: BCF 03.5 |
| 048E: BCF 06.7 |
| 048F: BSF 03.5 |
| 0490: BCF 06.4 |
| 0491: BCF 03.5 |
| 0492: BCF 06.4 |
| 0493: BSF 03.5 |
| 0494: BCF 06.5 |
| 0495: BCF 03.5 |
| 0496: BCF 06.5 |
| .................... |
| .................... Delay_ms(1000); |
| 0497: MOVLW 04 |
| 0498: MOVWF 74 |
| 0499: MOVLW FA |
| 049A: MOVWF 75 |
| 049B: CALL 088 |
| 049C: DECFSZ 74,F |
| 049D: GOTO 499 |
| .................... |
| .................... FR;FL; //popojed rovne |
| 049E: BSF 03.5 |
| 049F: BCF 06.5 |
| 04A0: BCF 03.5 |
| 04A1: BCF 06.5 |
| 04A2: BSF 03.5 |
| 04A3: BCF 06.4 |
| 04A4: BCF 03.5 |
| 04A5: BSF 06.4 |
| 04A6: BSF 03.5 |
| 04A7: BCF 06.7 |
| 04A8: BCF 03.5 |
| 04A9: BCF 06.7 |
| 04AA: BSF 03.5 |
| 04AB: BCF 06.6 |
| 04AC: BCF 03.5 |
| 04AD: BSF 06.6 |
| .................... for(n=PRES_DIRU;n>0;n--) |
| 04AE: CLRF 72 |
| 04AF: MOVLW FA |
| 04B0: MOVWF 71 |
| 04B1: MOVF 71,F |
| 04B2: BTFSS 03.2 |
| 04B3: GOTO 4B7 |
| 04B4: MOVF 72,F |
| 04B5: BTFSC 03.2 |
| 04B6: GOTO 4D2 |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 04B7: CLRF 41 |
| 04B8: BSF 03.5 |
| 04B9: BTFSS 1C.7 |
| 04BA: GOTO 4BE |
| 04BB: BCF 03.5 |
| 04BC: INCF 41,F |
| 04BD: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 04BE: MOVLW 00 |
| 04BF: BTFSC 1C.6 |
| 04C0: MOVLW 01 |
| 04C1: MOVWF 77 |
| 04C2: BCF 03.0 |
| 04C3: RLF 77,F |
| 04C4: MOVF 77,W |
| 04C5: BCF 03.5 |
| 04C6: IORWF 41,F |
| .................... if (line!=0) break; |
| 04C7: MOVF 41,F |
| 04C8: BTFSS 03.2 |
| 04C9: GOTO 4D2 |
| .................... Delay_ms(1); |
| 04CA: MOVLW 01 |
| 04CB: MOVWF 75 |
| 04CC: CALL 088 |
| .................... } |
| 04CD: MOVF 71,W |
| 04CE: BTFSC 03.2 |
| 04CF: DECF 72,F |
| 04D0: DECF 71,F |
| 04D1: GOTO 4B1 |
| .................... sem: |
| .................... STOPL; STOPR; |
| 04D2: BSF 03.5 |
| 04D3: BCF 06.6 |
| 04D4: BCF 03.5 |
| 04D5: BCF 06.6 |
| 04D6: BSF 03.5 |
| 04D7: BCF 06.7 |
| 04D8: BCF 03.5 |
| 04D9: BCF 06.7 |
| 04DA: BSF 03.5 |
| 04DB: BCF 06.4 |
| 04DC: BCF 03.5 |
| 04DD: BCF 06.4 |
| 04DE: BSF 03.5 |
| 04DF: BCF 06.5 |
| 04E0: BCF 03.5 |
| 04E1: BCF 06.5 |
| .................... movement=S; |
| 04E2: MOVLW 03 |
| 04E3: MOVWF 45 |
| .................... cikcak(); // najdi caru |
| 04E4: CALL 1FD |
| .................... dira=0; |
| 04E5: CLRF 46 |
| .................... } |
| 04E6: BCF 0A.3 |
| 04E7: GOTO 65C (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 04E8: CLRF 04 |
| 04E9: MOVLW 1F |
| 04EA: ANDWF 03,F |
| 04EB: BSF 03.5 |
| 04EC: BCF 1F.4 |
| 04ED: BCF 1F.5 |
| 04EE: MOVF 1B,W |
| 04EF: ANDLW 80 |
| 04F0: MOVWF 1B |
| 04F1: MOVLW 07 |
| 04F2: MOVWF 1C |
| 04F3: MOVF 1C,W |
| 04F4: BCF 03.5 |
| 04F5: BCF 0D.6 |
| 04F6: MOVLW 60 |
| 04F7: BSF 03.5 |
| 04F8: MOVWF 0F |
| .................... unsigned int16 n; // pro FOR |
| .................... |
| .................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
| * |
| 0515: BSF 03.5 |
| 0516: BCF 06.6 |
| 0517: BCF 03.5 |
| 0518: BCF 06.6 |
| 0519: BSF 03.5 |
| 051A: BCF 06.7 |
| 051B: BCF 03.5 |
| 051C: BCF 06.7 |
| 051D: BSF 03.5 |
| 051E: BCF 06.4 |
| 051F: BCF 03.5 |
| 0520: BCF 06.4 |
| 0521: BSF 03.5 |
| 0522: BCF 06.5 |
| 0523: BCF 03.5 |
| 0524: BCF 06.5 |
| .................... |
| .................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
| 0525: MOVLW 62 |
| 0526: BSF 03.5 |
| 0527: MOVWF 0F |
| .................... |
| .................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
| 0528: BCF 01.7 |
| .................... setup_spi(FALSE); |
| 0529: BCF 03.5 |
| 052A: BCF 14.5 |
| 052B: BSF 03.5 |
| 052C: BCF 06.2 |
| 052D: BSF 06.1 |
| 052E: BCF 06.4 |
| 052F: MOVLW 00 |
| 0530: BCF 03.5 |
| 0531: MOVWF 14 |
| 0532: BSF 03.5 |
| 0533: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
| 0534: MOVF 01,W |
| 0535: ANDLW C7 |
| 0536: IORLW 08 |
| 0537: MOVWF 01 |
| .................... |
| .................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| 0538: MOVLW 48 |
| 0539: MOVWF 78 |
| 053A: IORLW 05 |
| 053B: BCF 03.5 |
| 053C: MOVWF 12 |
| 053D: MOVLW FF |
| 053E: BSF 03.5 |
| 053F: MOVWF 12 |
| .................... // preruseni kazdych 10ms |
| .................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
| 0540: BCF 1F.4 |
| 0541: BCF 1F.5 |
| 0542: MOVF 1B,W |
| 0543: ANDLW 80 |
| 0544: IORLW 04 |
| 0545: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 0546: BCF 1F.6 |
| 0547: BCF 03.5 |
| 0548: BSF 1F.6 |
| 0549: BSF 1F.7 |
| 054A: BSF 03.5 |
| 054B: BCF 1F.7 |
| 054C: BCF 03.5 |
| 054D: BSF 1F.0 |
| .................... set_adc_channel(2); |
| 054E: MOVLW 10 |
| 054F: MOVWF 78 |
| 0550: MOVF 1F,W |
| 0551: ANDLW C7 |
| 0552: IORWF 78,W |
| 0553: MOVWF 1F |
| .................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
| 0554: MOVLW 85 |
| 0555: MOVWF 10 |
| .................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
| 0556: BSF 03.5 |
| 0557: BSF 06.3 |
| 0558: MOVLW 0B |
| 0559: BCF 03.5 |
| 055A: MOVWF 17 |
| .................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
| 055B: CLRF 16 |
| 055C: MOVLW 07 |
| 055D: MOVWF 15 |
| .................... |
| .................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
| 055E: MOVLW 02 |
| 055F: BSF 03.5 |
| 0560: MOVWF 1C |
| 0561: MOVF 05,W |
| 0562: IORLW 03 |
| 0563: MOVWF 05 |
| 0564: MOVLW 03 |
| 0565: MOVWF 77 |
| 0566: DECFSZ 77,F |
| 0567: GOTO 566 |
| 0568: MOVF 1C,W |
| 0569: BCF 03.5 |
| 056A: BCF 0D.6 |
| .................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
| 056B: MOVLW 8A |
| 056C: BSF 03.5 |
| 056D: MOVWF 1D |
| .................... |
| .................... Beep(1000,200); //double beep |
| 056E: MOVLW 03 |
| 056F: MOVWF 75 |
| 0570: MOVLW E8 |
| 0571: MOVWF 74 |
| 0572: CLRF 7D |
| 0573: MOVLW C8 |
| 0574: MOVWF 7C |
| 0575: BCF 03.5 |
| 0576: CALL 05C |
| .................... Delay_ms(50); |
| 0577: MOVLW 32 |
| 0578: MOVWF 75 |
| 0579: CALL 088 |
| .................... Beep(1000,200); |
| 057A: MOVLW 03 |
| 057B: MOVWF 75 |
| 057C: MOVLW E8 |
| 057D: MOVWF 74 |
| 057E: CLRF 7D |
| 057F: MOVLW C8 |
| 0580: MOVWF 7C |
| 0581: CALL 05C |
| .................... Delay_ms(1000); // 1s |
| 0582: MOVLW 04 |
| 0583: MOVWF 71 |
| 0584: MOVLW FA |
| 0585: MOVWF 75 |
| 0586: CALL 088 |
| 0587: DECFSZ 71,F |
| 0588: GOTO 584 |
| .................... |
| .................... // povoleni rizeni rychlosti zataceni pres preruseni |
| .................... enable_interrupts(INT_TIMER2); |
| 0589: BSF 03.5 |
| 058A: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 058B: MOVLW C0 |
| 058C: BCF 03.5 |
| 058D: IORWF 0B,F |
| .................... |
| .................... /*---------------------------------------------------------------------------*/ |
| .................... sensors=S; |
| 058E: MOVLW 03 |
| 058F: MOVWF 40 |
| .................... line=S; |
| 0590: MOVWF 41 |
| .................... last=S; |
| 0591: MOVWF 44 |
| .................... movement=S; |
| 0592: MOVWF 45 |
| .................... speed=FW_POMALU; |
| 0593: MOVLW E6 |
| 0594: MOVWF 42 |
| .................... |
| .................... diagnostika(); |
| 0595: GOTO 09D |
| .................... // cikcak(); // toc se, abys nasel caru |
| .................... Delay_ms(500); |
| 0596: MOVLW 02 |
| 0597: MOVWF 71 |
| 0598: MOVLW FA |
| 0599: MOVWF 75 |
| 059A: CALL 088 |
| 059B: DECFSZ 71,F |
| 059C: GOTO 598 |
| .................... Beep(1000,200); |
| 059D: MOVLW 03 |
| 059E: MOVWF 75 |
| 059F: MOVLW E8 |
| 05A0: MOVWF 74 |
| 05A1: CLRF 7D |
| 05A2: MOVLW C8 |
| 05A3: MOVWF 7C |
| 05A4: CALL 05C |
| .................... Delay_ms(500); |
| 05A5: MOVLW 02 |
| 05A6: MOVWF 71 |
| 05A7: MOVLW FA |
| 05A8: MOVWF 75 |
| 05A9: CALL 088 |
| 05AA: DECFSZ 71,F |
| 05AB: GOTO 5A7 |
| .................... |
| .................... while(true) // hlavni smycka (jizda podle cary) |
| .................... { |
| .................... sensors = RSENSOR; // cteni senzoru na caru |
| 05AC: CLRF 40 |
| 05AD: BSF 03.5 |
| 05AE: BTFSS 1C.7 |
| 05AF: GOTO 5B3 |
| 05B0: BCF 03.5 |
| 05B1: INCF 40,F |
| 05B2: BSF 03.5 |
| .................... sensors |= LSENSOR << 1; |
| 05B3: MOVLW 00 |
| 05B4: BTFSC 1C.6 |
| 05B5: MOVLW 01 |
| 05B6: MOVWF 77 |
| 05B7: BCF 03.0 |
| 05B8: RLF 77,F |
| 05B9: MOVF 77,W |
| 05BA: BCF 03.5 |
| 05BB: IORWF 40,F |
| .................... |
| .................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka(); |
| 05BC: BTFSC 1F.2 |
| 05BD: GOTO 5BC |
| 05BE: MOVF 1E,W |
| 05BF: SUBLW 7F |
| 05C0: BTFSS 03.0 |
| 05C1: GOTO 5C6 |
| 05C2: MOVF 46,W |
| 05C3: SUBLW 32 |
| 05C4: BTFSC 03.0 |
| 05C5: GOTO 289 |
| .................... |
| .................... switch (sensors) // zatacej podle toho, kde vidis caru |
| .................... { |
| 05C6: MOVF 40,W |
| 05C7: XORLW 03 |
| 05C8: BTFSC 03.2 |
| 05C9: GOTO 5D1 |
| 05CA: XORLW 01 |
| 05CB: BTFSC 03.2 |
| 05CC: GOTO 5E5 |
| 05CD: XORLW 03 |
| 05CE: BTFSC 03.2 |
| 05CF: GOTO 61E |
| 05D0: GOTO 657 |
| .................... case S: // rovne |
| .................... FL; FR; // pokud se jede dlouho rovne, tak pridej |
| 05D1: BSF 03.5 |
| 05D2: BCF 06.7 |
| 05D3: BCF 03.5 |
| 05D4: BCF 06.7 |
| 05D5: BSF 03.5 |
| 05D6: BCF 06.6 |
| 05D7: BCF 03.5 |
| 05D8: BSF 06.6 |
| 05D9: BSF 03.5 |
| 05DA: BCF 06.5 |
| 05DB: BCF 03.5 |
| 05DC: BCF 06.5 |
| 05DD: BSF 03.5 |
| 05DE: BCF 06.4 |
| 05DF: BCF 03.5 |
| 05E0: BSF 06.4 |
| .................... dira=0; |
| 05E1: CLRF 46 |
| .................... movement=S; |
| 05E2: MOVLW 03 |
| 05E3: MOVWF 45 |
| .................... continue; |
| 05E4: GOTO 5AC |
| .................... case L: // trochu vlevo |
| .................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| 05E5: MOVF 01,W |
| 05E6: MOVWF 71 |
| 05E7: MOVLW E6 |
| 05E8: ADDWF 43,W |
| 05E9: SUBWF 71,W |
| 05EA: BTFSC 03.2 |
| 05EB: GOTO 5EE |
| 05EC: BTFSC 03.0 |
| 05ED: GOTO 5F7 |
| 05EE: BSF 03.5 |
| 05EF: BCF 06.7 |
| 05F0: BCF 03.5 |
| 05F1: BCF 06.7 |
| 05F2: BSF 03.5 |
| 05F3: BCF 06.6 |
| 05F4: BCF 03.5 |
| 05F5: BSF 06.6 |
| 05F6: GOTO 5FF |
| 05F7: BSF 03.5 |
| 05F8: BCF 06.6 |
| 05F9: BCF 03.5 |
| 05FA: BCF 06.6 |
| 05FB: BSF 03.5 |
| 05FC: BCF 06.7 |
| 05FD: BCF 03.5 |
| 05FE: BCF 06.7 |
| 05FF: MOVF 01,W |
| 0600: MOVWF 71 |
| 0601: MOVLW F0 |
| 0602: ADDWF 43,W |
| 0603: SUBWF 71,W |
| 0604: BTFSC 03.2 |
| 0605: GOTO 608 |
| 0606: BTFSC 03.0 |
| 0607: GOTO 611 |
| 0608: BSF 03.5 |
| 0609: BCF 06.5 |
| 060A: BCF 03.5 |
| 060B: BCF 06.5 |
| 060C: BSF 03.5 |
| 060D: BCF 06.4 |
| 060E: BCF 03.5 |
| 060F: BSF 06.4 |
| 0610: GOTO 619 |
| 0611: BSF 03.5 |
| 0612: BCF 06.4 |
| 0613: BCF 03.5 |
| 0614: BCF 06.4 |
| 0615: BSF 03.5 |
| 0616: BCF 06.5 |
| 0617: BCF 03.5 |
| 0618: BCF 06.5 |
| .................... line=L; |
| 0619: MOVLW 02 |
| 061A: MOVWF 41 |
| .................... dira=0; |
| 061B: CLRF 46 |
| .................... movement=L; |
| 061C: MOVWF 45 |
| .................... continue; |
| 061D: GOTO 5AC |
| .................... case R: // trochu vpravo |
| .................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| 061E: MOVF 01,W |
| 061F: MOVWF 71 |
| 0620: MOVLW E6 |
| 0621: ADDWF 43,W |
| 0622: SUBWF 71,W |
| 0623: BTFSC 03.2 |
| 0624: GOTO 627 |
| 0625: BTFSC 03.0 |
| 0626: GOTO 630 |
| 0627: BSF 03.5 |
| 0628: BCF 06.5 |
| 0629: BCF 03.5 |
| 062A: BCF 06.5 |
| 062B: BSF 03.5 |
| 062C: BCF 06.4 |
| 062D: BCF 03.5 |
| 062E: BSF 06.4 |
| 062F: GOTO 638 |
| 0630: BSF 03.5 |
| 0631: BCF 06.4 |
| 0632: BCF 03.5 |
| 0633: BCF 06.4 |
| 0634: BSF 03.5 |
| 0635: BCF 06.5 |
| 0636: BCF 03.5 |
| 0637: BCF 06.5 |
| 0638: MOVF 01,W |
| 0639: MOVWF 71 |
| 063A: MOVLW F0 |
| 063B: ADDWF 43,W |
| 063C: SUBWF 71,W |
| 063D: BTFSC 03.2 |
| 063E: GOTO 641 |
| 063F: BTFSC 03.0 |
| 0640: GOTO 64A |
| 0641: BSF 03.5 |
| 0642: BCF 06.7 |
| 0643: BCF 03.5 |
| 0644: BCF 06.7 |
| 0645: BSF 03.5 |
| 0646: BCF 06.6 |
| 0647: BCF 03.5 |
| 0648: BSF 06.6 |
| 0649: GOTO 652 |
| 064A: BSF 03.5 |
| 064B: BCF 06.6 |
| 064C: BCF 03.5 |
| 064D: BCF 06.6 |
| 064E: BSF 03.5 |
| 064F: BCF 06.7 |
| 0650: BCF 03.5 |
| 0651: BCF 06.7 |
| .................... line=R; |
| 0652: MOVLW 01 |
| 0653: MOVWF 41 |
| .................... dira=0; |
| 0654: CLRF 46 |
| .................... movement=R; |
| 0655: MOVWF 45 |
| .................... continue; |
| 0656: GOTO 5AC |
| .................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| .................... } |
| .................... rovinka=0; |
| 0657: CLRF 43 |
| .................... if (dira>=T_DIRA) prejeddiru(); |
| 0658: MOVF 46,W |
| 0659: SUBLW 56 |
| 065A: BTFSS 03.0 |
| 065B: GOTO 380 |
| .................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| 065C: MOVF 41,W |
| 065D: SUBWF 44,W |
| 065E: BTFSC 03.2 |
| 065F: GOTO 664 |
| .................... { |
| .................... last=line; |
| 0660: MOVF 41,W |
| 0661: MOVWF 44 |
| .................... speed=FW_ZATACKA; |
| 0662: MOVLW C8 |
| 0663: MOVWF 42 |
| .................... } |
| .................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| 0664: MOVF 41,W |
| 0665: SUBLW 02 |
| 0666: BTFSS 03.2 |
| 0667: GOTO 688 |
| .................... { |
| .................... STOPL; |
| 0668: BSF 03.5 |
| 0669: BCF 06.6 |
| 066A: BCF 03.5 |
| 066B: BCF 06.6 |
| 066C: BSF 03.5 |
| 066D: BCF 06.7 |
| 066E: BCF 03.5 |
| 066F: BCF 06.7 |
| .................... GO(R, F, speed); |
| 0670: MOVF 01,W |
| 0671: SUBWF 42,W |
| 0672: BTFSS 03.0 |
| 0673: GOTO 67D |
| 0674: BSF 03.5 |
| 0675: BCF 06.5 |
| 0676: BCF 03.5 |
| 0677: BCF 06.5 |
| 0678: BSF 03.5 |
| 0679: BCF 06.4 |
| 067A: BCF 03.5 |
| 067B: BSF 06.4 |
| 067C: GOTO 685 |
| 067D: BSF 03.5 |
| 067E: BCF 06.4 |
| 067F: BCF 03.5 |
| 0680: BCF 06.4 |
| 0681: BSF 03.5 |
| 0682: BCF 06.5 |
| 0683: BCF 03.5 |
| 0684: BCF 06.5 |
| .................... movement=L; |
| 0685: MOVLW 02 |
| 0686: MOVWF 45 |
| .................... } |
| .................... else |
| 0687: GOTO 6A7 |
| .................... { |
| .................... STOPR; |
| 0688: BSF 03.5 |
| 0689: BCF 06.4 |
| 068A: BCF 03.5 |
| 068B: BCF 06.4 |
| 068C: BSF 03.5 |
| 068D: BCF 06.5 |
| 068E: BCF 03.5 |
| 068F: BCF 06.5 |
| .................... GO(L, F, speed); |
| 0690: MOVF 01,W |
| 0691: SUBWF 42,W |
| 0692: BTFSS 03.0 |
| 0693: GOTO 69D |
| 0694: BSF 03.5 |
| 0695: BCF 06.7 |
| 0696: BCF 03.5 |
| 0697: BCF 06.7 |
| 0698: BSF 03.5 |
| 0699: BCF 06.6 |
| 069A: BCF 03.5 |
| 069B: BSF 06.6 |
| 069C: GOTO 6A5 |
| 069D: BSF 03.5 |
| 069E: BCF 06.6 |
| 069F: BCF 03.5 |
| 06A0: BCF 06.6 |
| 06A1: BSF 03.5 |
| 06A2: BCF 06.7 |
| 06A3: BCF 03.5 |
| 06A4: BCF 06.7 |
| .................... movement=R; |
| 06A5: MOVLW 01 |
| 06A6: MOVWF 45 |
| .................... } |
| .................... } // while(true) |
| 06A7: GOTO 5AC |
| .................... } |
| .................... |
| .................... |
| 06A8: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |