Problem with comparison.
/Designs/ROBOTS/Merkur/SW/vystava/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/vystava/tank.BAK
0,0 → 1,236
#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;
 
// 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
 
//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++;
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(SOUND_HI);output_low(SOUND_LO);
delay_us(period);
output_high(SOUND_LO);output_low(SOUND_HI);
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(1000,1000);
if (LSENSOR) beep(2000,2000);
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000);
};
}
///////////////////////////////////////////////////////////////////////////////
void OtocSe() // otoci se zpet, kdyz je prekazka
{
unsigned int16 n;
 
STOPR;STOPL;
beep(800,400);
beep(2000,1000);
beep(900,400);
 
BR; FL; Delay_ms(100); // otoc se 30° do prava
STOPL; STOPR;
beep(1000,1000);
 
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;
 
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(sAN2|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
 
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;
 
diagnostika();
Delay_ms(500);
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
{
last=line;
speed=FW_ZATACKA;
cirkus++;
if (cirkus>10)
{
STOPL; STOPR;
cirkus=0;
disable_interrupts(GLOBAL);
beep(1000,400);
for(n=3000; n>3950; n--) beep(n,10);
beep(2000,200);
beep(900,400);
for(n=2950; n<3000; n++) beep(n,10);
beep(4000,400);
beep(1000,100);
beep(3000,400);
Delay_ms(1000);
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/vystava/tank.HEX
0,0 → 1,157
:1000000000308A008E2A0000FF00030E8301A10049
:100010007F08A0000A08A8008A01A00E0408A20018
:100020007708A3007808A4007908A5007A08A6003C
:100030007B08A700831383128C308400801C222845
:100040008C183528220884002308F7002408F800BB
:100050002508F9002608FA002708FB0028088A006E
:10006000210E8300FF0E7F0E09008A1137282B0F07
:100070003A283B28AB0A2D08403C0318AD0A8C10E7
:100080008A1122281230E302031C542863308400B2
:10009000FC3080050310800C800C000803195428E4
:1000A00052280000800B512800346008E2005F08ED
:1000B000E100E108031D5F28E20803197A2883168E
:1000C00005138312051783168513831285135D08A4
:1000D000E3004220831685138312851783160513C8
:1000E000831205135D08E300422061080319E2034F
:1000F000E103592800345E308400000803198F287A
:100100000130F800F701F70B8328F80B82284A30FA
:10011000F700F70B892800000000800B80280034CE
:10012000831686158312861DBB290130DC00F4304E
:10013000DB005C08033C031CB128031DA3285B08FB
:100140001F3C031CB1285C08DE005B08DD005C0876
:10015000E0005B08DF0055206430DB070318DC0A91
:1001600099280430DD00FA30DE007B20DD0BB32857
:1001700083160613831206138316861383128613BF
:1001800083160612831206128316861283128612B3
:10019000831686128312861283160612831206169F
:1001A0000430DD00FA30DE007B20DD0BD228831620
:1001B00006128312061283168612831286120430E8
:1001C000DD00FA30DE007B20DD0BE128831606120D
:1001D0008312061283168612831286160430DD00FF
:1001E000FA30DE007B20DD0BF02883160612831226
:1001F000061283168612831286120430DD00FA304E
:10020000DE007B20DD0BFF280330DE007030DD00D8
:10021000E0016430DF0055200430DD00FA30DE00FC
:100220007B20DD0B0E29831686138312861383161B
:100230000613831206170430DD00FA30DE007B203F
:10024000DD0B1D29831606138312061383168613EE
:10025000831286130430DD00FA30DE007B20DD0BD4
:100260002C29831606138312061383168613831212
:1002700086170430DD00FA30DE007B20DD0B3B29E1
:1002800083160613831206138316861383128613AE
:100290000430DD00FA30DE007B20DD0B4A2903301C
:1002A000DE007030DD00E0016430DF0055200430F6
:1002B000DD00FA30DE007B20DD0B59298316861322
:1002C000831286138316061383120617831686126B
:1002D0008312861283160612831206160430DD007E
:1002E000FA30DE007B20DD0B7029831606138312A3
:1002F000061383168613831286138316061283123F
:10030000061283168612831286120430DD00FA303C
:10031000DE007B20DD0B872983160613831206136C
:10032000831686138312861783160612831206120B
:1003300083168612831286160430DD00FA30DE0042
:100340007B20DD0B9E29831606138312061383166A
:1003500086138312861383160612831206128316DF
:100360008612831286120430DD00FA30DE007B2014
:10037000DD0BB5299028831606158312061DEE297C
:1003800083169C1BCE2903308312DE00E830DD008B
:100390000330E000E830DF00552083161C1BDB290A
:1003A00007308312DE00D030DD000730E000D030AF
:1003B000DF005520831683121F1DE0298316DB29D9
:1003C0001E087F3C031CED290B30DE00B830DD0039
:1003D0000B30E000B830DF005520BB298A111F2BFD
:1003E000831606128312061283168612831286164D
:1003F0008316061383120613831686138312861739
:100400000330DE002030DD000130E0009030DF00FE
:1004100055200730DE00D030DD000330E000E8304A
:10042000DF0055200330DE008430DD000130E000C5
:100430009030DF00552083160612831206128316B1
:1004400086128312861683168613831286138316EA
:100450000613831206173230DE007B208316061344
:1004600083120613831686138312861383160612CD
:100470008312061283168612831286120330DE0060
:10048000E830DD000330E000E830DF00552083165F
:10049000061283120612831686128312861683169C
:1004A00086138312861383160613831206179C3055
:1004B000DC004030DB00DB08031D612ADC08031987
:1004C000792AAA0183169C1B682A8312AA0A83161A
:1004D00000301C1F0130F7000310F70D770883125E
:1004E000AA04AA08031D792A5B080319DC03DB03AD
:1004F0005B2A831606128312061283168612831253
:10050000861283160613831206138316861383122C
:1005100086130230AA00AE018A114B2B84011F30D2
:10052000830583161F129F121B0880399B0007301A
:100530009C001C0883120D13603083168F00061375
:1005400083120613831686138312861383160612EC
:100550008312061283168612831286126230831665
:100560008F008113831294128316061186140612CB
:10057000003083129400831694000108C7390838AC
:1005800081004830F800053883129200FF3083164E
:1005900092001F129F121B08803904389B001F1302
:1005A00083121F179F1783169F1383121F14103077
:1005B000F8001F08C73978049F0085309000831623
:1005C00086150B3083129700960107309500023094
:1005D00083169C000508033885000330F700F70BED
:1005E000EF2A1C0883120D138F3083169D000330F1
:1005F0008312DE00E830DD00E001C830DF00552066
:100600003230DE007B200330DE00E830DD00E00128
:10061000C830DF0055200430DB00FA30DE007B20DC
:10062000DB0B0D2B83168C14C03083128B0403302C
:10063000A900AA00AC00AE01AA30AB00902802309D
:10064000DB00FA30DE007B20DB0B212B0330DE00E9
:10065000E830DD00E001C830DF0055200230DB006B
:10066000FA30DE007B20DB0B302BA90183169C1BAC
:100670003C2B8312A90A831600301C1F0130F7009F
:100680000310F70D77088312A9041F19452B1E08C4
:100690007F3C0318F0292908033A0319562B013A25
:1006A00003198B2B033A0319C22BF92B0108DB002A
:1006B000BE302D075B0203195F2B0318682B8316CE
:1006C0008613831286138316061383120617702B64
:1006D000831606138312061383168613831286135A
:1006E0000108DB00BE302D075B020319792B0318CC
:1006F000822B8316861283128612831606128312A9
:1007000006168A2B83160612831206128316861289
:1007100083128612352B0108DB00AA302D075B02FD
:100720000319942B03189D2B8316861383128613AB
:100730008316061383120617A52B8316061383123E
:10074000061383168613831286130108DB00BE305E
:100750002D075B020319AE2B0318B72B83168612E5
:10076000831286128316061283120616BF2B831677
:100770000612831206128316861283128612023024
:10078000AA00352B0108DB00AA302D075B020319F4
:10079000CB2B0318D42B8316861283128612831652
:1007A000061283120616DC2B83160612831206121B
:1007B00083168612831286120108DB00BE302D07D5
:1007C0005B020319E52B0318EE2B831686138312A5
:1007D00086138316061383120617F62B8316061349
:1007E0008312061383168613831286130130AA0020
:1007F000352BAD012A082C0203198F2C2A08AC00D6
:10080000C830AB00AE0A2E080A3C03188F2C8316A2
:100810000613831206138316861383128613831618
:100820000612831206128316861283128612AE01F6
:100830000B138B138B1B192C0330DE00E830DD000B
:100840000130E0009030DF0055200B30D800B83088
:10085000D70058080E3C0318412CFF3A031D342CD6
:1008600057086E3C0318412C5808DE005708DD007D
:10087000E0010A30DF00552057080319D803D703D9
:10088000292C0730DE00D030DD00E001C830DF0069
:1008900055200330DE008430DD000130E000903070
:1008A000DF0055200B30D8008630D70058080B3CAD
:1008B000031C6C2C031D602C5708B73C031C6C2CCC
:1008C0005808DE005708DD00E0010A30DF0055203F
:1008D000D70A0319D80A562C0F30DE00A030DD00ED
:1008E0000130E0009030DF0055200330DE00E830BA
:1008F000DD00E0016430DF0055200B30DE00B83051
:10090000DD000130E0009030DF0055200430DB00D6
:10091000FA30DE007B20DB0B882CC0308B042A08E9
:10092000023C031DB12C8316061383120613831693
:1009300086138312861301082B02031CA82C83162E
:100940008612831286128316061283120616B02CA4
:1009500083160612831206128316861283128612DB
:10096000CE2C831606128312061283168612831269
:10097000861201082B02031CC62C831686138312D1
:1009800086138316061383120617CE2C83160613BE
:10099000831206138316861383128613352B630086
:04400E00383FFC3FFC
:00000001FF
;PIC16F88
/Designs/ROBOTS/Merkur/SW/vystava/tank.LST
0,0 → 1,1497
CCS PCM C Compiler, Version 3.221, 27853 20-V-05 13:52
 
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.LST
 
ROM used: 1232 words (30%)
Largest free fragment is 2048
RAM used: 65 (37%) at main() level
73 (42%) worst case
Stack: 4 worst case (3 in main + 1 for interrupts)
 
*
0000: MOVLW 00
0001: MOVWF 0A
0002: GOTO 28E
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)
*
0042: MOVLW 12
0043: SUBWF 63,F
0044: BTFSS 03.0
0045: GOTO 054
0046: MOVLW 63
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
*
007B: MOVLW 5E
007C: MOVWF 04
007D: MOVF 00,W
007E: BTFSC 03.2
007F: GOTO 08F
0080: MOVLW 01
0081: MOVWF 78
0082: CLRF 77
0083: DECFSZ 77,F
0084: GOTO 083
0085: DECFSZ 78,F
0086: GOTO 082
0087: MOVLW 4A
0088: MOVWF 77
0089: DECFSZ 77,F
008A: GOTO 089
008B: NOP
008C: NOP
008D: DECFSZ 00,F
008E: GOTO 080
008F: 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;
....................
.................... // 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
....................
.................... //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++;
*
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 60,W
0056: MOVWF 62
0057: MOVF 5F,W
0058: MOVWF 61
0059: MOVF 61,F
005A: BTFSS 03.2
005B: GOTO 05F
005C: MOVF 62,F
005D: BTFSC 03.2
005E: GOTO 07A
.................... {
.................... output_high(SOUND_HI);output_low(SOUND_LO);
005F: BSF 03.5
0060: BCF 05.6
0061: BCF 03.5
0062: BSF 05.6
0063: BSF 03.5
0064: BCF 05.7
0065: BCF 03.5
0066: BCF 05.7
.................... delay_us(period);
0067: MOVF 5D,W
0068: MOVWF 63
0069: CALL 042
.................... output_high(SOUND_LO);output_low(SOUND_HI);
006A: BSF 03.5
006B: BCF 05.7
006C: BCF 03.5
006D: BSF 05.7
006E: BSF 03.5
006F: BCF 05.6
0070: BCF 03.5
0071: BCF 05.6
.................... delay_us(period);
0072: MOVF 5D,W
0073: MOVWF 63
0074: CALL 042
.................... }
0075: MOVF 61,W
0076: BTFSC 03.2
0077: DECF 62,F
0078: DECF 61,F
0079: GOTO 059
.................... }
007A: RETLW 00
.................... /******************************************************************************/
.................... void diagnostika()
.................... {
.................... unsigned int16 n;
....................
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
.................... {
*
0090: BSF 03.5
0091: BSF 06.3
0092: BCF 03.5
0093: BTFSS 06.3
0094: GOTO 1BB
.................... for (n=500; n<800; n+=100)
0095: MOVLW 01
0096: MOVWF 5C
0097: MOVLW F4
0098: MOVWF 5B
0099: MOVF 5C,W
009A: SUBLW 03
009B: BTFSS 03.0
009C: GOTO 0B1
009D: BTFSS 03.2
009E: GOTO 0A3
009F: MOVF 5B,W
00A0: SUBLW 1F
00A1: BTFSS 03.0
00A2: GOTO 0B1
.................... {
.................... beep(n,n); //beep UP
00A3: MOVF 5C,W
00A4: MOVWF 5E
00A5: MOVF 5B,W
00A6: MOVWF 5D
00A7: MOVF 5C,W
00A8: MOVWF 60
00A9: MOVF 5B,W
00AA: MOVWF 5F
00AB: CALL 055
.................... };
00AC: MOVLW 64
00AD: ADDWF 5B,F
00AE: BTFSC 03.0
00AF: INCF 5C,F
00B0: GOTO 099
.................... Delay_ms(1000);
00B1: MOVLW 04
00B2: MOVWF 5D
00B3: MOVLW FA
00B4: MOVWF 5E
00B5: CALL 07B
00B6: DECFSZ 5D,F
00B7: GOTO 0B3
.................... //zastav vse
.................... STOPL; STOPR;
00B8: BSF 03.5
00B9: BCF 06.6
00BA: BCF 03.5
00BB: BCF 06.6
00BC: BSF 03.5
00BD: BCF 06.7
00BE: BCF 03.5
00BF: BCF 06.7
00C0: BSF 03.5
00C1: BCF 06.4
00C2: BCF 03.5
00C3: BCF 06.4
00C4: BSF 03.5
00C5: BCF 06.5
00C6: BCF 03.5
00C7: BCF 06.5
.................... //pravy pas
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);
00C8: BSF 03.5
00C9: BCF 06.5
00CA: BCF 03.5
00CB: BCF 06.5
00CC: BSF 03.5
00CD: BCF 06.4
00CE: BCF 03.5
00CF: BSF 06.4
00D0: MOVLW 04
00D1: MOVWF 5D
00D2: MOVLW FA
00D3: MOVWF 5E
00D4: CALL 07B
00D5: DECFSZ 5D,F
00D6: GOTO 0D2
00D7: BSF 03.5
00D8: BCF 06.4
00D9: BCF 03.5
00DA: BCF 06.4
00DB: BSF 03.5
00DC: BCF 06.5
00DD: BCF 03.5
00DE: BCF 06.5
00DF: MOVLW 04
00E0: MOVWF 5D
00E1: MOVLW FA
00E2: MOVWF 5E
00E3: CALL 07B
00E4: DECFSZ 5D,F
00E5: GOTO 0E1
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);
00E6: BSF 03.5
00E7: BCF 06.4
00E8: BCF 03.5
00E9: BCF 06.4
00EA: BSF 03.5
00EB: BCF 06.5
00EC: BCF 03.5
00ED: BSF 06.5
00EE: MOVLW 04
00EF: MOVWF 5D
00F0: MOVLW FA
00F1: MOVWF 5E
00F2: CALL 07B
00F3: DECFSZ 5D,F
00F4: GOTO 0F0
00F5: BSF 03.5
00F6: BCF 06.4
00F7: BCF 03.5
00F8: BCF 06.4
00F9: BSF 03.5
00FA: BCF 06.5
00FB: BCF 03.5
00FC: BCF 06.5
00FD: MOVLW 04
00FE: MOVWF 5D
00FF: MOVLW FA
0100: MOVWF 5E
0101: CALL 07B
0102: DECFSZ 5D,F
0103: GOTO 0FF
.................... Beep(880,100); Delay_ms(1000);
0104: MOVLW 03
0105: MOVWF 5E
0106: MOVLW 70
0107: MOVWF 5D
0108: CLRF 60
0109: MOVLW 64
010A: MOVWF 5F
010B: CALL 055
010C: MOVLW 04
010D: MOVWF 5D
010E: MOVLW FA
010F: MOVWF 5E
0110: CALL 07B
0111: DECFSZ 5D,F
0112: GOTO 10E
.................... //levy pas
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);
0113: BSF 03.5
0114: BCF 06.7
0115: BCF 03.5
0116: BCF 06.7
0117: BSF 03.5
0118: BCF 06.6
0119: BCF 03.5
011A: BSF 06.6
011B: MOVLW 04
011C: MOVWF 5D
011D: MOVLW FA
011E: MOVWF 5E
011F: CALL 07B
0120: DECFSZ 5D,F
0121: GOTO 11D
0122: BSF 03.5
0123: BCF 06.6
0124: BCF 03.5
0125: BCF 06.6
0126: BSF 03.5
0127: BCF 06.7
0128: BCF 03.5
0129: BCF 06.7
012A: MOVLW 04
012B: MOVWF 5D
012C: MOVLW FA
012D: MOVWF 5E
012E: CALL 07B
012F: DECFSZ 5D,F
0130: GOTO 12C
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);
0131: BSF 03.5
0132: BCF 06.6
0133: BCF 03.5
0134: BCF 06.6
0135: BSF 03.5
0136: BCF 06.7
0137: BCF 03.5
0138: BSF 06.7
0139: MOVLW 04
013A: MOVWF 5D
013B: MOVLW FA
013C: MOVWF 5E
013D: CALL 07B
013E: DECFSZ 5D,F
013F: GOTO 13B
0140: BSF 03.5
0141: BCF 06.6
0142: BCF 03.5
0143: BCF 06.6
0144: BSF 03.5
0145: BCF 06.7
0146: BCF 03.5
0147: BCF 06.7
0148: MOVLW 04
0149: MOVWF 5D
014A: MOVLW FA
014B: MOVWF 5E
014C: CALL 07B
014D: DECFSZ 5D,F
014E: GOTO 14A
.................... Beep(880,100); Delay_ms(1000);
014F: MOVLW 03
0150: MOVWF 5E
0151: MOVLW 70
0152: MOVWF 5D
0153: CLRF 60
0154: MOVLW 64
0155: MOVWF 5F
0156: CALL 055
0157: MOVLW 04
0158: MOVWF 5D
0159: MOVLW FA
015A: MOVWF 5E
015B: CALL 07B
015C: DECFSZ 5D,F
015D: GOTO 159
.................... //oba pasy
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
015E: BSF 03.5
015F: BCF 06.7
0160: BCF 03.5
0161: BCF 06.7
0162: BSF 03.5
0163: BCF 06.6
0164: BCF 03.5
0165: BSF 06.6
0166: BSF 03.5
0167: BCF 06.5
0168: BCF 03.5
0169: BCF 06.5
016A: BSF 03.5
016B: BCF 06.4
016C: BCF 03.5
016D: BSF 06.4
016E: MOVLW 04
016F: MOVWF 5D
0170: MOVLW FA
0171: MOVWF 5E
0172: CALL 07B
0173: DECFSZ 5D,F
0174: GOTO 170
0175: BSF 03.5
0176: BCF 06.6
0177: BCF 03.5
0178: BCF 06.6
0179: BSF 03.5
017A: BCF 06.7
017B: BCF 03.5
017C: BCF 06.7
017D: BSF 03.5
017E: BCF 06.4
017F: BCF 03.5
0180: BCF 06.4
0181: BSF 03.5
0182: BCF 06.5
0183: BCF 03.5
0184: BCF 06.5
0185: MOVLW 04
0186: MOVWF 5D
0187: MOVLW FA
0188: MOVWF 5E
0189: CALL 07B
018A: DECFSZ 5D,F
018B: GOTO 187
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
018C: BSF 03.5
018D: BCF 06.6
018E: BCF 03.5
018F: BCF 06.6
0190: BSF 03.5
0191: BCF 06.7
0192: BCF 03.5
0193: BSF 06.7
0194: BSF 03.5
0195: BCF 06.4
0196: BCF 03.5
0197: BCF 06.4
0198: BSF 03.5
0199: BCF 06.5
019A: BCF 03.5
019B: BSF 06.5
019C: MOVLW 04
019D: MOVWF 5D
019E: MOVLW FA
019F: MOVWF 5E
01A0: CALL 07B
01A1: DECFSZ 5D,F
01A2: GOTO 19E
01A3: BSF 03.5
01A4: BCF 06.6
01A5: BCF 03.5
01A6: BCF 06.6
01A7: BSF 03.5
01A8: BCF 06.7
01A9: BCF 03.5
01AA: BCF 06.7
01AB: BSF 03.5
01AC: BCF 06.4
01AD: BCF 03.5
01AE: BCF 06.4
01AF: BSF 03.5
01B0: BCF 06.5
01B1: BCF 03.5
01B2: BCF 06.5
01B3: MOVLW 04
01B4: MOVWF 5D
01B5: MOVLW FA
01B6: MOVWF 5E
01B7: CALL 07B
01B8: DECFSZ 5D,F
01B9: GOTO 1B5
.................... };
01BA: GOTO 090
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
.................... {
01BB: BSF 03.5
01BC: BSF 06.2
01BD: BCF 03.5
01BE: BTFSS 06.2
01BF: GOTO 1EE
.................... if (RSENSOR) beep(1000,1000);
01C0: BSF 03.5
01C1: BTFSC 1C.7
01C2: GOTO 1CE
01C3: MOVLW 03
01C4: BCF 03.5
01C5: MOVWF 5E
01C6: MOVLW E8
01C7: MOVWF 5D
01C8: MOVLW 03
01C9: MOVWF 60
01CA: MOVLW E8
01CB: MOVWF 5F
01CC: CALL 055
01CD: BSF 03.5
.................... if (LSENSOR) beep(2000,2000);
01CE: BTFSC 1C.6
01CF: GOTO 1DB
01D0: MOVLW 07
01D1: BCF 03.5
01D2: MOVWF 5E
01D3: MOVLW D0
01D4: MOVWF 5D
01D5: MOVLW 07
01D6: MOVWF 60
01D7: MOVLW D0
01D8: MOVWF 5F
01D9: CALL 055
01DA: BSF 03.5
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000);
01DB: BCF 03.5
01DC: BTFSS 1F.2
01DD: GOTO 1E0
01DE: BSF 03.5
01DF: GOTO 1DB
01E0: MOVF 1E,W
01E1: SUBLW 7F
01E2: BTFSS 03.0
01E3: GOTO 1ED
01E4: MOVLW 0B
01E5: MOVWF 5E
01E6: MOVLW B8
01E7: MOVWF 5D
01E8: MOVLW 0B
01E9: MOVWF 60
01EA: MOVLW B8
01EB: MOVWF 5F
01EC: CALL 055
.................... };
01ED: GOTO 1BB
.................... }
01EE: BCF 0A.3
01EF: GOTO 31F (RETURN)
.................... ///////////////////////////////////////////////////////////////////////////////
.................... void OtocSe() // otoci se zpet, kdyz je prekazka
.................... {
.................... unsigned int16 n;
....................
.................... BR;BL;
01F0: BSF 03.5
01F1: BCF 06.4
01F2: BCF 03.5
01F3: BCF 06.4
01F4: BSF 03.5
01F5: BCF 06.5
01F6: BCF 03.5
01F7: BSF 06.5
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
.................... beep(800,400);
0200: MOVLW 03
0201: MOVWF 5E
0202: MOVLW 20
0203: MOVWF 5D
0204: MOVLW 01
0205: MOVWF 60
0206: MOVLW 90
0207: MOVWF 5F
0208: CALL 055
.................... beep(2000,1000);
0209: MOVLW 07
020A: MOVWF 5E
020B: MOVLW D0
020C: MOVWF 5D
020D: MOVLW 03
020E: MOVWF 60
020F: MOVLW E8
0210: MOVWF 5F
0211: CALL 055
.................... beep(900,400);
0212: MOVLW 03
0213: MOVWF 5E
0214: MOVLW 84
0215: MOVWF 5D
0216: MOVLW 01
0217: MOVWF 60
0218: MOVLW 90
0219: MOVWF 5F
021A: CALL 055
....................
.................... BR; FL; Delay_ms(50); // otoc se 30° do prava
021B: BSF 03.5
021C: BCF 06.4
021D: BCF 03.5
021E: BCF 06.4
021F: BSF 03.5
0220: BCF 06.5
0221: BCF 03.5
0222: BSF 06.5
0223: BSF 03.5
0224: BCF 06.7
0225: BCF 03.5
0226: BCF 06.7
0227: BSF 03.5
0228: BCF 06.6
0229: BCF 03.5
022A: BSF 06.6
022B: MOVLW 32
022C: MOVWF 5E
022D: CALL 07B
.................... STOPL; STOPR;
022E: BSF 03.5
022F: BCF 06.6
0230: BCF 03.5
0231: BCF 06.6
0232: BSF 03.5
0233: BCF 06.7
0234: BCF 03.5
0235: BCF 06.7
0236: BSF 03.5
0237: BCF 06.4
0238: BCF 03.5
0239: BCF 06.4
023A: BSF 03.5
023B: BCF 06.5
023C: BCF 03.5
023D: BCF 06.5
.................... beep(1000,1000);
023E: MOVLW 03
023F: MOVWF 5E
0240: MOVLW E8
0241: MOVWF 5D
0242: MOVLW 03
0243: MOVWF 60
0244: MOVLW E8
0245: MOVWF 5F
0246: CALL 055
....................
.................... BR; FL;
0247: BSF 03.5
0248: BCF 06.4
0249: BCF 03.5
024A: BCF 06.4
024B: BSF 03.5
024C: BCF 06.5
024D: BCF 03.5
024E: BSF 06.5
024F: BSF 03.5
0250: BCF 06.7
0251: BCF 03.5
0252: BCF 06.7
0253: BSF 03.5
0254: BCF 06.6
0255: BCF 03.5
0256: BSF 06.6
.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru
0257: MOVLW 9C
0258: MOVWF 5C
0259: MOVLW 40
025A: MOVWF 5B
025B: MOVF 5B,F
025C: BTFSS 03.2
025D: GOTO 261
025E: MOVF 5C,F
025F: BTFSC 03.2
0260: GOTO 279
.................... {
.................... line = RSENSOR; // cteni senzoru na caru
0261: CLRF 2A
0262: BSF 03.5
0263: BTFSC 1C.7
0264: GOTO 268
0265: BCF 03.5
0266: INCF 2A,F
0267: BSF 03.5
.................... line |= LSENSOR << 1;
0268: MOVLW 00
0269: BTFSS 1C.6
026A: MOVLW 01
026B: MOVWF 77
026C: BCF 03.0
026D: RLF 77,F
026E: MOVF 77,W
026F: BCF 03.5
0270: IORWF 2A,F
.................... if (line!=0) break;
0271: MOVF 2A,F
0272: BTFSS 03.2
0273: GOTO 279
.................... }
0274: MOVF 5B,W
0275: BTFSC 03.2
0276: DECF 5C,F
0277: DECF 5B,F
0278: GOTO 25B
.................... STOPR; STOPL;
0279: BSF 03.5
027A: BCF 06.4
027B: BCF 03.5
027C: BCF 06.4
027D: BSF 03.5
027E: BCF 06.5
027F: BCF 03.5
0280: BCF 06.5
0281: BSF 03.5
0282: BCF 06.6
0283: BCF 03.5
0284: BCF 06.6
0285: BSF 03.5
0286: BCF 06.7
0287: BCF 03.5
0288: BCF 06.7
....................
.................... line=L; // caru jsme prejeli, tak je vlevo
0289: MOVLW 02
028A: MOVWF 2A
.................... cirkus=0;
028B: CLRF 2E
.................... }
028C: BCF 0A.3
028D: GOTO 34B (RETURN)
....................
....................
.................... void main()
.................... {
028E: CLRF 04
028F: MOVLW 1F
0290: ANDWF 03,F
0291: BSF 03.5
0292: BCF 1F.4
0293: BCF 1F.5
0294: MOVF 1B,W
0295: ANDLW 80
0296: MOVWF 1B
0297: MOVLW 07
0298: MOVWF 1C
0299: MOVF 1C,W
029A: BCF 03.5
029B: BCF 0D.6
029C: MOVLW 60
029D: BSF 03.5
029E: MOVWF 0F
.................... unsigned int16 n; // pro FOR
.................... unsigned int16 i;
....................
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
029F: BCF 06.6
02A0: BCF 03.5
02A1: BCF 06.6
02A2: BSF 03.5
02A3: BCF 06.7
02A4: BCF 03.5
02A5: BCF 06.7
02A6: BSF 03.5
02A7: BCF 06.4
02A8: BCF 03.5
02A9: BCF 06.4
02AA: BSF 03.5
02AB: BCF 06.5
02AC: BCF 03.5
02AD: BCF 06.5
....................
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
02AE: MOVLW 62
02AF: BSF 03.5
02B0: MOVWF 0F
....................
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku
02B1: BCF 01.7
.................... setup_spi(FALSE);
02B2: BCF 03.5
02B3: BCF 14.5
02B4: BSF 03.5
02B5: BCF 06.2
02B6: BSF 06.1
02B7: BCF 06.4
02B8: MOVLW 00
02B9: BCF 03.5
02BA: MOVWF 14
02BB: BSF 03.5
02BC: MOVWF 14
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
02BD: MOVF 01,W
02BE: ANDLW C7
02BF: IORLW 08
02C0: MOVWF 01
....................
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
02C1: MOVLW 48
02C2: MOVWF 78
02C3: IORLW 05
02C4: BCF 03.5
02C5: MOVWF 12
02C6: MOVLW FF
02C7: BSF 03.5
02C8: MOVWF 12
.................... // preruseni kazdych 10ms
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
02C9: BCF 1F.4
02CA: BCF 1F.5
02CB: MOVF 1B,W
02CC: ANDLW 80
02CD: IORLW 04
02CE: MOVWF 1B
.................... setup_adc(ADC_CLOCK_INTERNAL);
02CF: BCF 1F.6
02D0: BCF 03.5
02D1: BSF 1F.6
02D2: BSF 1F.7
02D3: BSF 03.5
02D4: BCF 1F.7
02D5: BCF 03.5
02D6: BSF 1F.0
.................... set_adc_channel(2);
02D7: MOVLW 10
02D8: MOVWF 78
02D9: MOVF 1F,W
02DA: ANDLW C7
02DB: IORWF 78,W
02DC: MOVWF 1F
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
02DD: MOVLW 85
02DE: MOVWF 10
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);
02DF: BSF 03.5
02E0: BSF 06.3
02E1: MOVLW 0B
02E2: BCF 03.5
02E3: MOVWF 17
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms
02E4: CLRF 16
02E5: MOVLW 07
02E6: MOVWF 15
....................
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
02E7: MOVLW 02
02E8: BSF 03.5
02E9: MOVWF 1C
02EA: MOVF 05,W
02EB: IORLW 03
02EC: MOVWF 05
02ED: MOVLW 03
02EE: MOVWF 77
02EF: DECFSZ 77,F
02F0: GOTO 2EF
02F1: MOVF 1C,W
02F2: BCF 03.5
02F3: BCF 0D.6
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
02F4: MOVLW 8F
02F5: BSF 03.5
02F6: MOVWF 1D
....................
.................... Beep(1000,200); //double beep
02F7: MOVLW 03
02F8: BCF 03.5
02F9: MOVWF 5E
02FA: MOVLW E8
02FB: MOVWF 5D
02FC: CLRF 60
02FD: MOVLW C8
02FE: MOVWF 5F
02FF: CALL 055
.................... Delay_ms(50);
0300: MOVLW 32
0301: MOVWF 5E
0302: CALL 07B
.................... Beep(1000,200);
0303: MOVLW 03
0304: MOVWF 5E
0305: MOVLW E8
0306: MOVWF 5D
0307: CLRF 60
0308: MOVLW C8
0309: MOVWF 5F
030A: CALL 055
.................... Delay_ms(1000); // 1s
030B: MOVLW 04
030C: MOVWF 5B
030D: MOVLW FA
030E: MOVWF 5E
030F: CALL 07B
0310: DECFSZ 5B,F
0311: GOTO 30D
....................
.................... // povoleni rizeni rychlosti zataceni pres preruseni
.................... enable_interrupts(INT_TIMER2);
0312: BSF 03.5
0313: BSF 0C.1
.................... enable_interrupts(GLOBAL);
0314: MOVLW C0
0315: BCF 03.5
0316: IORWF 0B,F
....................
.................... /*---------------------------------------------------------------------------*/
.................... sensors=S;
0317: MOVLW 03
0318: MOVWF 29
.................... line=S;
0319: MOVWF 2A
.................... last=S;
031A: MOVWF 2C
.................... cirkus=0;
031B: CLRF 2E
.................... // movement=S;
.................... speed=FW_POMALU;
031C: MOVLW AA
031D: MOVWF 2B
....................
.................... diagnostika();
031E: GOTO 090
.................... Delay_ms(500);
031F: MOVLW 02
0320: MOVWF 5B
0321: MOVLW FA
0322: MOVWF 5E
0323: CALL 07B
0324: DECFSZ 5B,F
0325: GOTO 321
.................... Beep(1000,200);
0326: MOVLW 03
0327: MOVWF 5E
0328: MOVLW E8
0329: MOVWF 5D
032A: CLRF 60
032B: MOVLW C8
032C: MOVWF 5F
032D: CALL 055
.................... Delay_ms(500);
032E: MOVLW 02
032F: MOVWF 5B
0330: MOVLW FA
0331: MOVWF 5E
0332: CALL 07B
0333: DECFSZ 5B,F
0334: GOTO 330
....................
.................... while(true) // hlavni smycka (jizda podle cary)
.................... {
.................... sensors = RSENSOR; // cteni senzoru na caru
0335: CLRF 29
0336: BSF 03.5
0337: BTFSC 1C.7
0338: GOTO 33C
0339: BCF 03.5
033A: INCF 29,F
033B: BSF 03.5
.................... sensors |= LSENSOR << 1;
033C: MOVLW 00
033D: BTFSS 1C.6
033E: MOVLW 01
033F: MOVWF 77
0340: BCF 03.0
0341: RLF 77,F
0342: MOVF 77,W
0343: BCF 03.5
0344: IORWF 29,F
....................
.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();
0345: BTFSC 1F.2
0346: GOTO 345
0347: MOVF 1E,W
0348: SUBLW 7F
0349: BTFSC 03.0
034A: GOTO 1F0
....................
.................... switch (sensors) // zatacej podle toho, kde vidis caru
.................... {
034B: MOVF 29,W
034C: XORLW 03
034D: BTFSC 03.2
034E: GOTO 356
034F: XORLW 01
0350: BTFSC 03.2
0351: GOTO 38B
0352: XORLW 03
0353: BTFSC 03.2
0354: GOTO 3C2
0355: GOTO 3F9
.................... case S: // rovne
.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);
0356: MOVF 01,W
0357: MOVWF 5B
0358: MOVLW BE
0359: ADDWF 2D,W
035A: SUBWF 5B,W
035B: BTFSC 03.2
035C: GOTO 35F
035D: BTFSC 03.0
035E: GOTO 368
035F: BSF 03.5
0360: BCF 06.7
0361: BCF 03.5
0362: BCF 06.7
0363: BSF 03.5
0364: BCF 06.6
0365: BCF 03.5
0366: BSF 06.6
0367: GOTO 370
0368: BSF 03.5
0369: BCF 06.6
036A: BCF 03.5
036B: BCF 06.6
036C: BSF 03.5
036D: BCF 06.7
036E: BCF 03.5
036F: BCF 06.7
0370: MOVF 01,W
0371: MOVWF 5B
0372: MOVLW BE
0373: ADDWF 2D,W
0374: SUBWF 5B,W
0375: BTFSC 03.2
0376: GOTO 379
0377: BTFSC 03.0
0378: GOTO 382
0379: BSF 03.5
037A: BCF 06.5
037B: BCF 03.5
037C: BCF 06.5
037D: BSF 03.5
037E: BCF 06.4
037F: BCF 03.5
0380: BSF 06.4
0381: GOTO 38A
0382: BSF 03.5
0383: BCF 06.4
0384: BCF 03.5
0385: BCF 06.4
0386: BSF 03.5
0387: BCF 06.5
0388: BCF 03.5
0389: BCF 06.5
.................... continue;
038A: GOTO 335
.................... case L: // trochu vlevo
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
038B: MOVF 01,W
038C: MOVWF 5B
038D: MOVLW AA
038E: ADDWF 2D,W
038F: SUBWF 5B,W
0390: BTFSC 03.2
0391: GOTO 394
0392: BTFSC 03.0
0393: GOTO 39D
0394: BSF 03.5
0395: BCF 06.7
0396: BCF 03.5
0397: BCF 06.7
0398: BSF 03.5
0399: BCF 06.6
039A: BCF 03.5
039B: BSF 06.6
039C: GOTO 3A5
039D: BSF 03.5
039E: BCF 06.6
039F: BCF 03.5
03A0: BCF 06.6
03A1: BSF 03.5
03A2: BCF 06.7
03A3: BCF 03.5
03A4: BCF 06.7
03A5: MOVF 01,W
03A6: MOVWF 5B
03A7: MOVLW BE
03A8: ADDWF 2D,W
03A9: SUBWF 5B,W
03AA: BTFSC 03.2
03AB: GOTO 3AE
03AC: BTFSC 03.0
03AD: GOTO 3B7
03AE: BSF 03.5
03AF: BCF 06.5
03B0: BCF 03.5
03B1: BCF 06.5
03B2: BSF 03.5
03B3: BCF 06.4
03B4: BCF 03.5
03B5: BSF 06.4
03B6: GOTO 3BF
03B7: BSF 03.5
03B8: BCF 06.4
03B9: BCF 03.5
03BA: BCF 06.4
03BB: BSF 03.5
03BC: BCF 06.5
03BD: BCF 03.5
03BE: BCF 06.5
.................... line=L;
03BF: MOVLW 02
03C0: MOVWF 2A
.................... continue;
03C1: GOTO 335
.................... case R: // trochu vpravo
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
03C2: MOVF 01,W
03C3: MOVWF 5B
03C4: MOVLW AA
03C5: ADDWF 2D,W
03C6: SUBWF 5B,W
03C7: BTFSC 03.2
03C8: GOTO 3CB
03C9: BTFSC 03.0
03CA: GOTO 3D4
03CB: BSF 03.5
03CC: BCF 06.5
03CD: BCF 03.5
03CE: BCF 06.5
03CF: BSF 03.5
03D0: BCF 06.4
03D1: BCF 03.5
03D2: BSF 06.4
03D3: GOTO 3DC
03D4: BSF 03.5
03D5: BCF 06.4
03D6: BCF 03.5
03D7: BCF 06.4
03D8: BSF 03.5
03D9: BCF 06.5
03DA: BCF 03.5
03DB: BCF 06.5
03DC: MOVF 01,W
03DD: MOVWF 5B
03DE: MOVLW BE
03DF: ADDWF 2D,W
03E0: SUBWF 5B,W
03E1: BTFSC 03.2
03E2: GOTO 3E5
03E3: BTFSC 03.0
03E4: GOTO 3EE
03E5: BSF 03.5
03E6: BCF 06.7
03E7: BCF 03.5
03E8: BCF 06.7
03E9: BSF 03.5
03EA: BCF 06.6
03EB: BCF 03.5
03EC: BSF 06.6
03ED: GOTO 3F6
03EE: BSF 03.5
03EF: BCF 06.6
03F0: BCF 03.5
03F1: BCF 06.6
03F2: BSF 03.5
03F3: BCF 06.7
03F4: BCF 03.5
03F5: BCF 06.7
.................... line=R;
03F6: MOVLW 01
03F7: MOVWF 2A
.................... continue;
03F8: GOTO 335
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
.................... };
.................... rovinka=0;
03F9: CLRF 2D
....................
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi
03FA: MOVF 2A,W
03FB: SUBWF 2C,W
03FC: BTFSC 03.2
03FD: GOTO 48F
.................... {
.................... last=line;
03FE: MOVF 2A,W
03FF: MOVWF 2C
.................... speed=FW_ZATACKA;
0400: MOVLW C8
0401: MOVWF 2B
.................... cirkus++;
0402: INCF 2E,F
.................... if (cirkus>10)
0403: MOVF 2E,W
0404: SUBLW 0A
0405: BTFSC 03.0
0406: GOTO 48F
.................... {
.................... STOPL; STOPR;
0407: BSF 03.5
0408: BCF 06.6
0409: BCF 03.5
040A: BCF 06.6
040B: BSF 03.5
040C: BCF 06.7
040D: BCF 03.5
040E: BCF 06.7
040F: BSF 03.5
0410: BCF 06.4
0411: BCF 03.5
0412: BCF 06.4
0413: BSF 03.5
0414: BCF 06.5
0415: BCF 03.5
0416: BCF 06.5
.................... cirkus=0;
0417: CLRF 2E
.................... disable_interrupts(GLOBAL);
0418: BCF 0B.6
0419: BCF 0B.7
041A: BTFSC 0B.7
041B: GOTO 419
.................... beep(1000,400);
041C: MOVLW 03
041D: MOVWF 5E
041E: MOVLW E8
041F: MOVWF 5D
0420: MOVLW 01
0421: MOVWF 60
0422: MOVLW 90
0423: MOVWF 5F
0424: CALL 055
.................... for(n=3000; n>3950; n--) beep(n,10);
0425: MOVLW 0B
0426: MOVWF 58
0427: MOVLW B8
0428: MOVWF 57
0429: MOVF 58,W
042A: SUBLW 0E
042B: BTFSC 03.0
042C: GOTO 441
042D: XORLW FF
042E: BTFSS 03.2
042F: GOTO 434
0430: MOVF 57,W
0431: SUBLW 6E
0432: BTFSC 03.0
0433: GOTO 441
0434: MOVF 58,W
0435: MOVWF 5E
0436: MOVF 57,W
0437: MOVWF 5D
0438: CLRF 60
0439: MOVLW 0A
043A: MOVWF 5F
043B: CALL 055
043C: MOVF 57,W
043D: BTFSC 03.2
043E: DECF 58,F
043F: DECF 57,F
0440: GOTO 429
.................... beep(2000,200);
0441: MOVLW 07
0442: MOVWF 5E
0443: MOVLW D0
0444: MOVWF 5D
0445: CLRF 60
0446: MOVLW C8
0447: MOVWF 5F
0448: CALL 055
.................... beep(900,400);
0449: MOVLW 03
044A: MOVWF 5E
044B: MOVLW 84
044C: MOVWF 5D
044D: MOVLW 01
044E: MOVWF 60
044F: MOVLW 90
0450: MOVWF 5F
0451: CALL 055
.................... for(n=2950; n<3000; n++) beep(n,10);
0452: MOVLW 0B
0453: MOVWF 58
0454: MOVLW 86
0455: MOVWF 57
0456: MOVF 58,W
0457: SUBLW 0B
0458: BTFSS 03.0
0459: GOTO 46C
045A: BTFSS 03.2
045B: GOTO 460
045C: MOVF 57,W
045D: SUBLW B7
045E: BTFSS 03.0
045F: GOTO 46C
0460: MOVF 58,W
0461: MOVWF 5E
0462: MOVF 57,W
0463: MOVWF 5D
0464: CLRF 60
0465: MOVLW 0A
0466: MOVWF 5F
0467: CALL 055
0468: INCF 57,F
0469: BTFSC 03.2
046A: INCF 58,F
046B: GOTO 456
.................... beep(4000,400);
046C: MOVLW 0F
046D: MOVWF 5E
046E: MOVLW A0
046F: MOVWF 5D
0470: MOVLW 01
0471: MOVWF 60
0472: MOVLW 90
0473: MOVWF 5F
0474: CALL 055
.................... beep(1000,100);
0475: MOVLW 03
0476: MOVWF 5E
0477: MOVLW E8
0478: MOVWF 5D
0479: CLRF 60
047A: MOVLW 64
047B: MOVWF 5F
047C: CALL 055
.................... beep(3000,400);
047D: MOVLW 0B
047E: MOVWF 5E
047F: MOVLW B8
0480: MOVWF 5D
0481: MOVLW 01
0482: MOVWF 60
0483: MOVLW 90
0484: MOVWF 5F
0485: CALL 055
.................... Delay_ms(1000);
0486: MOVLW 04
0487: MOVWF 5B
0488: MOVLW FA
0489: MOVWF 5E
048A: CALL 07B
048B: DECFSZ 5B,F
048C: GOTO 488
.................... enable_interrupts(GLOBAL);
048D: MOVLW C0
048E: IORWF 0B,F
.................... }
.................... };
....................
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
048F: MOVF 2A,W
0490: SUBLW 02
0491: BTFSS 03.2
0492: GOTO 4B1
.................... {
.................... STOPL;
0493: BSF 03.5
0494: BCF 06.6
0495: BCF 03.5
0496: BCF 06.6
0497: BSF 03.5
0498: BCF 06.7
0499: BCF 03.5
049A: BCF 06.7
.................... GO(R, F, speed);
049B: MOVF 01,W
049C: SUBWF 2B,W
049D: BTFSS 03.0
049E: GOTO 4A8
049F: BSF 03.5
04A0: BCF 06.5
04A1: BCF 03.5
04A2: BCF 06.5
04A3: BSF 03.5
04A4: BCF 06.4
04A5: BCF 03.5
04A6: BSF 06.4
04A7: GOTO 4B0
04A8: BSF 03.5
04A9: BCF 06.4
04AA: BCF 03.5
04AB: BCF 06.4
04AC: BSF 03.5
04AD: BCF 06.5
04AE: BCF 03.5
04AF: BCF 06.5
.................... }
.................... else
04B0: GOTO 4CE
.................... {
.................... STOPR;
04B1: BSF 03.5
04B2: BCF 06.4
04B3: BCF 03.5
04B4: BCF 06.4
04B5: BSF 03.5
04B6: BCF 06.5
04B7: BCF 03.5
04B8: BCF 06.5
.................... GO(L, F, speed);
04B9: MOVF 01,W
04BA: SUBWF 2B,W
04BB: BTFSS 03.0
04BC: GOTO 4C6
04BD: BSF 03.5
04BE: BCF 06.7
04BF: BCF 03.5
04C0: BCF 06.7
04C1: BSF 03.5
04C2: BCF 06.6
04C3: BCF 03.5
04C4: BSF 06.6
04C5: GOTO 4CE
04C6: BSF 03.5
04C7: BCF 06.6
04C8: BCF 03.5
04C9: BCF 06.6
04CA: BSF 03.5
04CB: BCF 06.7
04CC: BCF 03.5
04CD: BCF 06.7
.................... }
.................... } // while(true)
04CE: GOTO 335
.................... }
....................
04CF: 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/vystava/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\vystava\tank.c
2=D:\KAKL\PIC\MerkurI\tank.c
3=D:\KAKL\PIC\MerkurV\tank.c
4=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c
5=
6=
7=
/Designs/ROBOTS/Merkur/SW/vystava/tank.SYM
0,0 → 1,69
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-056 AXstring
057-058 main.n
059-05A main.i
05B-05C diagnostika.n
05B-05C OtocSe.n
05B main.@SCRATCH
05D-05E beep.period
05D diagnostika.@SCRATCH
05D OtocSe.@SCRATCH
05E @delay_ms1.P1
05F-060 beep.length
061-062 beep.nn
063 @delay_us1.P1
077 @SCRATCH
078 @SCRATCH
078 _RETURN_
079 @SCRATCH
07A @SCRATCH
07B @SCRATCH
09C.6 C1OUT
09C.7 C2OUT
 
007B @delay_ms1
0042 @delay_us1
0037 TIMER2_isr
0055 beep
0090 diagnostika
01F0 OtocSe
028E main
028E @cinit
 
Project Files:
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.c
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\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\vystava\tank.err
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.HEX
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.SYM
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.LST
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.cof
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.tre
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.sta
/Designs/ROBOTS/Merkur/SW/vystava/tank.c
0,0 → 1,234
#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;
 
// 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
 
//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++;
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(SOUND_HI);output_low(SOUND_LO);
delay_us(period);
output_high(SOUND_LO);output_low(SOUND_HI);
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(1000,1000);
if (LSENSOR) beep(2000,2000);
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000);
};
}
///////////////////////////////////////////////////////////////////////////////
void OtocSe() // otoci se zpet, kdyz je prekazka
{
unsigned int16 n;
 
BR;BL;
beep(800,400);
beep(2000,1000);
beep(900,400);
 
BR; FL; Delay_ms(50); // otoc se 30° do prava
STOPL; STOPR;
beep(1000,1000);
 
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;
 
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(sAN2|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
 
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;
 
diagnostika();
Delay_ms(500);
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
{
last=line;
speed=FW_ZATACKA;
cirkus++;
if (cirkus>10)
{
STOPL; STOPR;
cirkus=0;
disable_interrupts(GLOBAL);
beep(1000,400);
for(n=3000; n>3950; n--) beep(n,10);
beep(2000,200);
beep(900,400);
for(n=2950; n<3000; n++) beep(n,10);
beep(4000,400);
beep(1000,100);
beep(3000,400);
Delay_ms(1000);
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/vystava/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/vystava/tank.err
0,0 → 1,0
No Errors
/Designs/ROBOTS/Merkur/SW/vystava/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/vystava/tank.sta
0,0 → 1,35
 
ROM used: 1232 (30%)
1232 (30%) including unused fragments
 
2 Average locations per line
5 Average locations per statement
 
RAM used: 65 (37%) at main() level
73 (42%) worst case
 
Lines Stmts % Files
----- ----- --- -----
235 257 100 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.c
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.h
275 0 0 C:\Program Files\PICC\devices\16F88.h
----- -----
1032 514 Total
 
Page ROM % RAM Functions:
---- --- --- --- ----------
0 21 2 1 @delay_ms1
0 19 2 1 @delay_us1
0 11 1 0 TIMER2_isr
0 38 3 6 beep
0 352 29 3 diagnostika
0 158 13 3 OtocSe
0 578 47 5 main
 
Segment Used Free
--------- ---- ----
00000-00003 4 0
00004-00036 51 0
00037-007FF 1177 816
00800-00FFF 0 2048
 
/Designs/ROBOTS/Merkur/SW/vystava/tank.tre
0,0 → 1,90
ÀÄtank
ÃÄmain 0/578 Ram=5
³ ÃÄ??0??
³ ÃÄbeep 0/38 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 0/38 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 0/352 Ram=3
³ ³ ÃÄbeep 0/38 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 0/38 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 0/38 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 0/38 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 0/38 Ram=6
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄbeep 0/38 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 0/38 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 0/158 Ram=3
³ ³ ÃÄbeep 0/38 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 0/38 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 0/38 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 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 Ram=6
³ ³ ÃÄ@delay_us1 0/19 Ram=1
³ ³ ÀÄ@delay_us1 0/19 Ram=1
³ ÃÄbeep 0/38 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