Problem with comparison.
| /Designs/ROBOTS/Merkur/Merkur_Small.jpg |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /Designs/ROBOTS/Merkur/PrjInfo.txt |
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| 0,0 → 1,19 |
| // |
| // Toto je popisný soubor pro popis obsahu adresáře (příklad) |
| // |
| [InfoShortDescription.en] |
| Robot Merkur |
| [InfoShortDescription.cs] |
| Robot Merkur |
| [InfoLongDescription.en] |
| Robot Mercur was built for ISTROBOT 2005 competition. |
| The robot is clasical line follower. |
| [InfoLongDescription.cs] |
| Čárový robot Merkur byl postaven jako soutěžní robot na soutěž |
| ISTROBOT 2005. |
| [End] |
| /Designs/ROBOTS/Merkur/SW/MerkurU/AX25.c |
|---|
| 0,0 → 1,135 |
| #nolist |
| //#define PTT PIN_A2 // PTT control |
| //#define TXo PIN_C0 // To the transmitter modulator |
| #define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500 |
| #define TAILH delay_us(78) |
| #define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500 |
| #define TAILL delay_us(345) |
| #byte STATUS = 3 // CPUs status register |
| byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60, |
| 'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61, |
| 0x03, 0xF0}; |
| boolean bit; |
| int fcslo, fcshi; // variabloes for calculating FCS (CRC) |
| int stuff; // stuff counter for extra 0 |
| int flag_flag; // if it is sending flag (7E) |
| int fcs_flag; // if it is sending Frame Check Sequence |
| int i; // for for |
| void flipout() //flips the state of output pin a_1 |
| { |
| stuff = 0; //since this is a 0, reset the stuff counter |
| if (bit) |
| { |
| bit=FALSE; //if the state of the pin was low, make it high. |
| } |
| else |
| { |
| bit=TRUE; //if the state of the pin was high make it low |
| } |
| } |
| void fcsbit(byte tbyte) |
| { |
| #asm |
| BCF STATUS,0 |
| RRF fcshi,F // rotates the entire 16 bits |
| RRF fcslo,F // to the right |
| #endasm |
| if (((STATUS & 0x01)^(tbyte)) ==0x01) |
| { |
| fcshi = fcshi^0x84; |
| fcslo = fcslo^0x08; |
| } |
| } |
| void SendBit () |
| { |
| if (bit) |
| { |
| output_high(TXo); |
| PERIODAH; |
| output_low(TXo); |
| PERIODAH; |
| output_high(TXo); |
| PERIODAH; |
| output_low(TXo); |
| TAILH; |
| } |
| else |
| { |
| output_high(TXo); |
| PERIODAL; |
| output_low(TXo); |
| TAILL; |
| }; |
| } |
| void SendByte (byte inbyte) |
| { |
| int k, bt; |
| for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte |
| { |
| bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte) |
| if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this |
| //is not a flag or fcs byte |
| if (bt == 0) |
| { |
| flipout(); |
| } // if this bit is a zero, flip the output state |
| else |
| { //otherwise if it is a 1, do the following: |
| if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's |
| if ((flag_flag == FALSE) & (stuff == 5)) |
| { //stuff an extra 0, if 5 1's in a row |
| SendBit(); |
| flipout(); //flip the output state to stuff a 0 |
| }//end of if |
| }//end of else |
| // delay_us(850); //introduces a delay that creates 1200 baud |
| SendBit(); |
| inbyte = inbyte>>1; //go to the next bit in the byte |
| }//end of for |
| }//end of SendByte |
| void SendPacket(char *data) |
| { |
| bit=FALSE; |
| fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF |
| stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5 |
| // it is time to stuff a 0. |
| // output_low(PTT); // Blinking LED |
| // delay_ms(1000); |
| // output_high(PTT); |
| flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise. |
| fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. |
| for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay |
| //each flag takes approx 6.7 ms |
| flag_flag = FALSE; //done sending flags |
| for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes |
| for(i=0; 0 != *data; i++) |
| { |
| SendByte(*data); //send the packet bytes |
| data++; |
| }; |
| fcs_flag = TRUE; //about to send the FCS bytes |
| fcslo =fcslo^0xff; //must XOR them with FF before sending |
| fcshi = fcshi^0xff; |
| SendByte(fcslo); //send the low byte of fcs |
| SendByte(fcshi); //send the high byte of fcs |
| fcs_flag = FALSE; //done sending FCS |
| flag_flag = TRUE; //about to send flags |
| SendByte(0x7e); // Send a flag to end packet |
| } |
| #list |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.BAK |
|---|
| 0,0 → 1,268 |
| // Program pro predvadeni schopnosti robota Merkur |
| //------------------------------------------------ |
| #include "tank.h" |
| unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| unsigned int8 line; // na ktere strane byla detekovana cara |
| unsigned int8 speed; // rychlost zataceni |
| unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
| unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
| int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus |
| int1 BW; // urcuje, jestli je cara cerno/bila nebo |
| // bilo/cerna (true = bila cara, cerny podklad) |
| // Konstanty pro dynamiku pohybu |
| #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
| #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
| #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
| #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
| #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
| #define MAX_ROVINKA (255-FW_STREDNE) |
| #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
| #define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku |
| //motory //Napred vypnout potom zapnout! |
| #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
| #define FL output_low(PIN_B7); output_high(PIN_B6) |
| #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
| #define BL output_low(PIN_B6); output_high(PIN_B7) |
| #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav |
| #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
| #define L 0b10 // left |
| #define R 0b01 // right |
| #define S 0b11 // straight |
| //cidla |
| #define RSENSOR (BW != C2OUT) // Senzory na caru |
| #define LSENSOR (BW != C1OUT) |
| #define BUMPER sAN2 // Senzor na cihlu |
| #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
| #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
| #define BARVY PIN_B1 // Propojka pro nastaveni barvy cary |
| #define SPEAKER PIN_B0 // vystup pro pipak |
| #define LED1 PIN_A4 // LEDky |
| #define LED2 PIN_A3 |
| #define LED3 PIN_A7 |
| #define LED4 PIN_A6 |
| // makro pro PWM |
| #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| {direction##motor;} else {stop##motor;} |
| #int_TIMER2 |
| void TIMER2_isr() // obsluha zrychlovani |
| { |
| if (speed<255) speed++; |
| if (rovinka<MAX_ROVINKA) rovinka++; |
| } |
| // Primitivni Pipani |
| void beep(unsigned int16 period, unsigned int16 length) |
| { |
| unsigned int16 nn; |
| for(nn=length; nn>0; nn--) |
| { |
| output_high(SPEAKER); |
| delay_us(period); |
| output_low(SPEAKER); |
| delay_us(period); |
| } |
| } |
| /******************************************************************************/ |
| void diagnostika() |
| { |
| unsigned int16 n; |
| while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
| { |
| for (n=500; n<800; n+=100) |
| { |
| beep(n,n); //beep UP |
| }; |
| Delay_ms(1000); |
| //zastav vse |
| STOPL; STOPR; |
| //pravy pas |
| FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| Beep(880,100); Delay_ms(1000); |
| //levy pas |
| FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| Beep(880,100); Delay_ms(1000); |
| //oba pasy |
| FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| }; |
| while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
| { |
| if (RSENSOR) beep(1000,200); |
| Delay_ms(300); |
| if (LSENSOR) beep(2000,300); |
| Delay_ms(300); |
| if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400); |
| Delay_ms(300); |
| }; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void OtocSe() // otoci se zpet, kdyz je prekazka |
| { |
| unsigned int16 n; |
| BL; BR; // cukni zpatky |
| Delay_ms(200); |
| STOPR;STOPL; |
| beep(800,400); |
| beep(2000,1000); |
| output_low(LED4); |
| beep(900,400); |
| output_low(LED1); |
| BR; FL; Delay_ms(100); // otoc se 30° do prava |
| STOPL; STOPR; |
| beep(1000,1000); |
| output_low(LED3); |
| BR; FL; |
| for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| } |
| STOPR; STOPL; |
| output_high(LED1); output_high(LED3); output_high(LED4); |
| line=L; // caru jsme prejeli, tak je vlevo |
| cirkus=0; |
| } |
| void main() |
| { |
| unsigned int16 n; // pro FOR |
| unsigned int16 i; |
| STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
| port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
| setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| // preruseni kazdych 10ms |
| setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
| setup_adc(ADC_CLOCK_INTERNAL); |
| set_adc_channel(2); |
| setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
| setup_ccp1(CCP_COMPARE_RESET_TIMER); |
| CCP_1=(2^10)-1; // prevod kazdou 1ms |
| output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4); |
| setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
| setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
| Beep(1000,200); //double beep |
| Delay_ms(50); |
| Beep(1000,200); |
| Delay_ms(1000); // 1s |
| // povoleni rizeni rychlosti zataceni pres preruseni |
| enable_interrupts(INT_TIMER2); |
| enable_interrupts(GLOBAL); |
| /*---------------------------------------------------------------------------*/ |
| sensors=S; |
| line=S; |
| last=S; |
| cirkus=0; |
| // movement=S; |
| speed=FW_POMALU; |
| BW=input(BARVY); // Jaka ma byt barva cary? |
| diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku |
| Delay_ms(500); |
| output_high(LED1); Beep(1000,200); Delay_ms(500); |
| output_high(LED2); Beep(1000,200); Delay_ms(500); |
| output_high(LED3); Beep(1000,200); Delay_ms(500); |
| output_high(LED4); Beep(1000,200); Delay_ms(500); |
| while(true) // hlavni smycka (jizda podle cary) |
| { |
| sensors = RSENSOR; // cteni senzoru na caru |
| sensors |= LSENSOR << 1; |
| if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
| switch (sensors) // zatacej podle toho, kde vidis caru |
| { |
| case S: // rovne |
| GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| continue; |
| case L: // trochu vlevo |
| GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| line=L; |
| continue; |
| case R: // trochu vpravo |
| GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| line=R; |
| continue; |
| default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| }; |
| rovinka=0; |
| if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, |
| // tak zabrzdi |
| { |
| output_bit(LED1, !input(LED1)); |
| last=line; |
| speed=FW_ZATACKA; |
| cirkus++; |
| if (cirkus>8) |
| { |
| STOPL; STOPR; |
| cirkus=0; |
| disable_interrupts(GLOBAL); |
| beep(1000,400); |
| for(n=3000; n>3950; n--) beep(n,10); |
| output_low(LED1); |
| beep(2000,200); |
| beep(900,400); |
| for(n=2950; n<3000; n++) beep(n,10); |
| output_low(LED2); |
| output_high(LED1); |
| beep(4000,400); |
| beep(1000,100); |
| output_low(LED3); |
| beep(3000,400); |
| Delay_ms(1000); |
| output_high(LED1); output_high(LED2); |
| output_high(LED3); output_high(LED4); |
| enable_interrupts(GLOBAL); |
| } |
| }; |
| if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| { |
| STOPL; |
| GO(R, F, speed); |
| } |
| else |
| { |
| STOPR; |
| GO(L, F, speed); |
| } |
| } // while(true) |
| } |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.HEX |
|---|
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| :100AE0008316861283128612831606128312061646 |
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| :100B10008312861201082B02031C972D831686135D |
| :100B20008312861383160613831206179F2D8316CE |
| :100B30000613831206138316861383128613CB2B98 |
| :020B4000630050 |
| :04400E00383FFC3FFC |
| :00000001FF |
| ;PIC16F88 |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.LST |
|---|
| 0,0 → 1,1740 |
| CCS PCM C Compiler, Version 3.221, 27853 18-VI-05 13:30 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST |
| ROM used: 1441 words (35%) |
| Largest free fragment is 2048 |
| RAM used: 27 (15%) at main() level |
| 34 (19%) worst case |
| Stack: 4 worst case (3 in main + 1 for interrupts) |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 2D1 |
| 0003: NOP |
| 0004: MOVWF 7F |
| 0005: SWAPF 03,W |
| 0006: CLRF 03 |
| 0007: MOVWF 21 |
| 0008: MOVF 7F,W |
| 0009: MOVWF 20 |
| 000A: MOVF 0A,W |
| 000B: MOVWF 28 |
| 000C: CLRF 0A |
| 000D: SWAPF 20,F |
| 000E: MOVF 04,W |
| 000F: MOVWF 22 |
| 0010: MOVF 77,W |
| 0011: MOVWF 23 |
| 0012: MOVF 78,W |
| 0013: MOVWF 24 |
| 0014: MOVF 79,W |
| 0015: MOVWF 25 |
| 0016: MOVF 7A,W |
| 0017: MOVWF 26 |
| 0018: MOVF 7B,W |
| 0019: MOVWF 27 |
| 001A: BCF 03.7 |
| 001B: BCF 03.5 |
| 001C: MOVLW 8C |
| 001D: MOVWF 04 |
| 001E: BTFSS 00.1 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.1 |
| 0021: GOTO 035 |
| 0022: MOVF 22,W |
| 0023: MOVWF 04 |
| 0024: MOVF 23,W |
| 0025: MOVWF 77 |
| 0026: MOVF 24,W |
| 0027: MOVWF 78 |
| 0028: MOVF 25,W |
| 0029: MOVWF 79 |
| 002A: MOVF 26,W |
| 002B: MOVWF 7A |
| 002C: MOVF 27,W |
| 002D: MOVWF 7B |
| 002E: MOVF 28,W |
| 002F: MOVWF 0A |
| 0030: SWAPF 21,W |
| 0031: MOVWF 03 |
| 0032: SWAPF 7F,F |
| 0033: SWAPF 7F,W |
| 0034: RETFIE |
| 0035: BCF 0A.3 |
| 0036: GOTO 037 |
| .................... // Program pro predvadeni schopnosti robota Merkur |
| .................... //------------------------------------------------ |
| .................... |
| .................... #include "tank.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| .................... #use delay(clock=4000000) |
| * |
| 0042: MOVLW 12 |
| 0043: SUBWF 3C,F |
| 0044: BTFSS 03.0 |
| 0045: GOTO 054 |
| 0046: MOVLW 3C |
| 0047: MOVWF 04 |
| 0048: MOVLW FC |
| 0049: ANDWF 00,F |
| 004A: BCF 03.0 |
| 004B: RRF 00,F |
| 004C: RRF 00,F |
| 004D: MOVF 00,W |
| 004E: BTFSC 03.2 |
| 004F: GOTO 054 |
| 0050: GOTO 052 |
| 0051: NOP |
| 0052: DECFSZ 00,F |
| 0053: GOTO 051 |
| 0054: RETLW 00 |
| * |
| 0073: MOVLW 37 |
| 0074: MOVWF 04 |
| 0075: MOVF 00,W |
| 0076: BTFSC 03.2 |
| 0077: GOTO 087 |
| 0078: MOVLW 01 |
| 0079: MOVWF 78 |
| 007A: CLRF 77 |
| 007B: DECFSZ 77,F |
| 007C: GOTO 07B |
| 007D: DECFSZ 78,F |
| 007E: GOTO 07A |
| 007F: MOVLW 4A |
| 0080: MOVWF 77 |
| 0081: DECFSZ 77,F |
| 0082: GOTO 081 |
| 0083: NOP |
| 0084: NOP |
| 0085: DECFSZ 00,F |
| 0086: GOTO 078 |
| 0087: RETLW 00 |
| .................... |
| .................... |
| .................... |
| .................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| .................... unsigned int8 line; // na ktere strane byla detekovana cara |
| .................... unsigned int8 speed; // rychlost zataceni |
| .................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
| .................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
| .................... int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus |
| .................... int1 BW; // urcuje, jestli je cara cerno/bila nebo |
| .................... // bilo/cerna (true = bila cara, cerny podklad) |
| .................... |
| .................... // Konstanty pro dynamiku pohybu |
| .................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
| .................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
| .................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
| .................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
| .................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
| .................... #define MAX_ROVINKA (255-FW_STREDNE) |
| .................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
| .................... #define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku |
| .................... |
| .................... //motory //Napred vypnout potom zapnout! |
| .................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
| .................... #define FL output_low(PIN_B7); output_high(PIN_B6) |
| .................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
| .................... #define BL output_low(PIN_B6); output_high(PIN_B7) |
| .................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav |
| .................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
| .................... |
| .................... #define L 0b10 // left |
| .................... #define R 0b01 // right |
| .................... #define S 0b11 // straight |
| .................... |
| .................... //cidla |
| .................... #define RSENSOR (BW != C2OUT) // Senzory na caru |
| .................... #define LSENSOR (BW != C1OUT) |
| .................... #define BUMPER sAN2 // Senzor na cihlu |
| .................... |
| .................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
| .................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
| .................... #define BARVY PIN_B1 // Propojka pro nastaveni barvy cary |
| .................... |
| .................... #define SPEAKER PIN_B0 // vystup pro pipak |
| .................... |
| .................... #define LED1 PIN_A4 // LEDky |
| .................... #define LED2 PIN_A3 |
| .................... #define LED3 PIN_A7 |
| .................... #define LED4 PIN_A6 |
| .................... |
| .................... // makro pro PWM |
| .................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| .................... {direction##motor;} else {stop##motor;} |
| .................... |
| .................... #int_TIMER2 |
| .................... void TIMER2_isr() // obsluha zrychlovani |
| .................... { |
| .................... if (speed<255) speed++; |
| * |
| 0037: INCFSZ 2B,W |
| 0038: GOTO 03A |
| 0039: GOTO 03B |
| 003A: INCF 2B,F |
| .................... if (rovinka<MAX_ROVINKA) rovinka++; |
| 003B: MOVF 2D,W |
| 003C: SUBLW 40 |
| 003D: BTFSC 03.0 |
| 003E: INCF 2D,F |
| .................... } |
| .................... |
| .................... // Primitivni Pipani |
| 003F: BCF 0C.1 |
| 0040: BCF 0A.3 |
| 0041: GOTO 022 |
| .................... void beep(unsigned int16 period, unsigned int16 length) |
| .................... { |
| .................... unsigned int16 nn; |
| .................... |
| .................... for(nn=length; nn>0; nn--) |
| * |
| 0055: MOVF 39,W |
| 0056: MOVWF 3B |
| 0057: MOVF 38,W |
| 0058: MOVWF 3A |
| 0059: MOVF 3A,F |
| 005A: BTFSS 03.2 |
| 005B: GOTO 05F |
| 005C: MOVF 3B,F |
| 005D: BTFSC 03.2 |
| 005E: GOTO 072 |
| .................... { |
| .................... output_high(SPEAKER); |
| 005F: BSF 03.5 |
| 0060: BCF 06.0 |
| 0061: BCF 03.5 |
| 0062: BSF 06.0 |
| .................... delay_us(period); |
| 0063: MOVF 36,W |
| 0064: MOVWF 3C |
| 0065: CALL 042 |
| .................... output_low(SPEAKER); |
| 0066: BSF 03.5 |
| 0067: BCF 06.0 |
| 0068: BCF 03.5 |
| 0069: BCF 06.0 |
| .................... delay_us(period); |
| 006A: MOVF 36,W |
| 006B: MOVWF 3C |
| 006C: CALL 042 |
| .................... } |
| 006D: MOVF 3A,W |
| 006E: BTFSC 03.2 |
| 006F: DECF 3B,F |
| 0070: DECF 3A,F |
| 0071: GOTO 059 |
| .................... } |
| 0072: RETLW 00 |
| .................... /******************************************************************************/ |
| .................... void diagnostika() |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
| .................... { |
| * |
| 0088: BSF 03.5 |
| 0089: BSF 06.3 |
| 008A: BCF 03.5 |
| 008B: BTFSS 06.3 |
| 008C: GOTO 1B3 |
| .................... for (n=500; n<800; n+=100) |
| 008D: MOVLW 01 |
| 008E: MOVWF 35 |
| 008F: MOVLW F4 |
| 0090: MOVWF 34 |
| 0091: MOVF 35,W |
| 0092: SUBLW 03 |
| 0093: BTFSS 03.0 |
| 0094: GOTO 0A9 |
| 0095: BTFSS 03.2 |
| 0096: GOTO 09B |
| 0097: MOVF 34,W |
| 0098: SUBLW 1F |
| 0099: BTFSS 03.0 |
| 009A: GOTO 0A9 |
| .................... { |
| .................... beep(n,n); //beep UP |
| 009B: MOVF 35,W |
| 009C: MOVWF 37 |
| 009D: MOVF 34,W |
| 009E: MOVWF 36 |
| 009F: MOVF 35,W |
| 00A0: MOVWF 39 |
| 00A1: MOVF 34,W |
| 00A2: MOVWF 38 |
| 00A3: CALL 055 |
| .................... }; |
| 00A4: MOVLW 64 |
| 00A5: ADDWF 34,F |
| 00A6: BTFSC 03.0 |
| 00A7: INCF 35,F |
| 00A8: GOTO 091 |
| .................... Delay_ms(1000); |
| 00A9: MOVLW 04 |
| 00AA: MOVWF 36 |
| 00AB: MOVLW FA |
| 00AC: MOVWF 37 |
| 00AD: CALL 073 |
| 00AE: DECFSZ 36,F |
| 00AF: GOTO 0AB |
| .................... //zastav vse |
| .................... STOPL; STOPR; |
| 00B0: BSF 03.5 |
| 00B1: BCF 06.6 |
| 00B2: BCF 03.5 |
| 00B3: BCF 06.6 |
| 00B4: BSF 03.5 |
| 00B5: BCF 06.7 |
| 00B6: BCF 03.5 |
| 00B7: BCF 06.7 |
| 00B8: BSF 03.5 |
| 00B9: BCF 06.4 |
| 00BA: BCF 03.5 |
| 00BB: BCF 06.4 |
| 00BC: BSF 03.5 |
| 00BD: BCF 06.5 |
| 00BE: BCF 03.5 |
| 00BF: BCF 06.5 |
| .................... //pravy pas |
| .................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 00C0: BSF 03.5 |
| 00C1: BCF 06.5 |
| 00C2: BCF 03.5 |
| 00C3: BCF 06.5 |
| 00C4: BSF 03.5 |
| 00C5: BCF 06.4 |
| 00C6: BCF 03.5 |
| 00C7: BSF 06.4 |
| 00C8: MOVLW 04 |
| 00C9: MOVWF 36 |
| 00CA: MOVLW FA |
| 00CB: MOVWF 37 |
| 00CC: CALL 073 |
| 00CD: DECFSZ 36,F |
| 00CE: GOTO 0CA |
| 00CF: BSF 03.5 |
| 00D0: BCF 06.4 |
| 00D1: BCF 03.5 |
| 00D2: BCF 06.4 |
| 00D3: BSF 03.5 |
| 00D4: BCF 06.5 |
| 00D5: BCF 03.5 |
| 00D6: BCF 06.5 |
| 00D7: MOVLW 04 |
| 00D8: MOVWF 36 |
| 00D9: MOVLW FA |
| 00DA: MOVWF 37 |
| 00DB: CALL 073 |
| 00DC: DECFSZ 36,F |
| 00DD: GOTO 0D9 |
| .................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 00DE: BSF 03.5 |
| 00DF: BCF 06.4 |
| 00E0: BCF 03.5 |
| 00E1: BCF 06.4 |
| 00E2: BSF 03.5 |
| 00E3: BCF 06.5 |
| 00E4: BCF 03.5 |
| 00E5: BSF 06.5 |
| 00E6: MOVLW 04 |
| 00E7: MOVWF 36 |
| 00E8: MOVLW FA |
| 00E9: MOVWF 37 |
| 00EA: CALL 073 |
| 00EB: DECFSZ 36,F |
| 00EC: GOTO 0E8 |
| 00ED: BSF 03.5 |
| 00EE: BCF 06.4 |
| 00EF: BCF 03.5 |
| 00F0: BCF 06.4 |
| 00F1: BSF 03.5 |
| 00F2: BCF 06.5 |
| 00F3: BCF 03.5 |
| 00F4: BCF 06.5 |
| 00F5: MOVLW 04 |
| 00F6: MOVWF 36 |
| 00F7: MOVLW FA |
| 00F8: MOVWF 37 |
| 00F9: CALL 073 |
| 00FA: DECFSZ 36,F |
| 00FB: GOTO 0F7 |
| .................... Beep(880,100); Delay_ms(1000); |
| 00FC: MOVLW 03 |
| 00FD: MOVWF 37 |
| 00FE: MOVLW 70 |
| 00FF: MOVWF 36 |
| 0100: CLRF 39 |
| 0101: MOVLW 64 |
| 0102: MOVWF 38 |
| 0103: CALL 055 |
| 0104: MOVLW 04 |
| 0105: MOVWF 36 |
| 0106: MOVLW FA |
| 0107: MOVWF 37 |
| 0108: CALL 073 |
| 0109: DECFSZ 36,F |
| 010A: GOTO 106 |
| .................... //levy pas |
| .................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 010B: BSF 03.5 |
| 010C: BCF 06.7 |
| 010D: BCF 03.5 |
| 010E: BCF 06.7 |
| 010F: BSF 03.5 |
| 0110: BCF 06.6 |
| 0111: BCF 03.5 |
| 0112: BSF 06.6 |
| 0113: MOVLW 04 |
| 0114: MOVWF 36 |
| 0115: MOVLW FA |
| 0116: MOVWF 37 |
| 0117: CALL 073 |
| 0118: DECFSZ 36,F |
| 0119: GOTO 115 |
| 011A: BSF 03.5 |
| 011B: BCF 06.6 |
| 011C: BCF 03.5 |
| 011D: BCF 06.6 |
| 011E: BSF 03.5 |
| 011F: BCF 06.7 |
| 0120: BCF 03.5 |
| 0121: BCF 06.7 |
| 0122: MOVLW 04 |
| 0123: MOVWF 36 |
| 0124: MOVLW FA |
| 0125: MOVWF 37 |
| 0126: CALL 073 |
| 0127: DECFSZ 36,F |
| 0128: GOTO 124 |
| .................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 0129: BSF 03.5 |
| 012A: BCF 06.6 |
| 012B: BCF 03.5 |
| 012C: BCF 06.6 |
| 012D: BSF 03.5 |
| 012E: BCF 06.7 |
| 012F: BCF 03.5 |
| 0130: BSF 06.7 |
| 0131: MOVLW 04 |
| 0132: MOVWF 36 |
| 0133: MOVLW FA |
| 0134: MOVWF 37 |
| 0135: CALL 073 |
| 0136: DECFSZ 36,F |
| 0137: GOTO 133 |
| 0138: BSF 03.5 |
| 0139: BCF 06.6 |
| 013A: BCF 03.5 |
| 013B: BCF 06.6 |
| 013C: BSF 03.5 |
| 013D: BCF 06.7 |
| 013E: BCF 03.5 |
| 013F: BCF 06.7 |
| 0140: MOVLW 04 |
| 0141: MOVWF 36 |
| 0142: MOVLW FA |
| 0143: MOVWF 37 |
| 0144: CALL 073 |
| 0145: DECFSZ 36,F |
| 0146: GOTO 142 |
| .................... Beep(880,100); Delay_ms(1000); |
| 0147: MOVLW 03 |
| 0148: MOVWF 37 |
| 0149: MOVLW 70 |
| 014A: MOVWF 36 |
| 014B: CLRF 39 |
| 014C: MOVLW 64 |
| 014D: MOVWF 38 |
| 014E: CALL 055 |
| 014F: MOVLW 04 |
| 0150: MOVWF 36 |
| 0151: MOVLW FA |
| 0152: MOVWF 37 |
| 0153: CALL 073 |
| 0154: DECFSZ 36,F |
| 0155: GOTO 151 |
| .................... //oba pasy |
| .................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 0156: BSF 03.5 |
| 0157: BCF 06.7 |
| 0158: BCF 03.5 |
| 0159: BCF 06.7 |
| 015A: BSF 03.5 |
| 015B: BCF 06.6 |
| 015C: BCF 03.5 |
| 015D: BSF 06.6 |
| 015E: BSF 03.5 |
| 015F: BCF 06.5 |
| 0160: BCF 03.5 |
| 0161: BCF 06.5 |
| 0162: BSF 03.5 |
| 0163: BCF 06.4 |
| 0164: BCF 03.5 |
| 0165: BSF 06.4 |
| 0166: MOVLW 04 |
| 0167: MOVWF 36 |
| 0168: MOVLW FA |
| 0169: MOVWF 37 |
| 016A: CALL 073 |
| 016B: DECFSZ 36,F |
| 016C: GOTO 168 |
| 016D: BSF 03.5 |
| 016E: BCF 06.6 |
| 016F: BCF 03.5 |
| 0170: BCF 06.6 |
| 0171: BSF 03.5 |
| 0172: BCF 06.7 |
| 0173: BCF 03.5 |
| 0174: BCF 06.7 |
| 0175: BSF 03.5 |
| 0176: BCF 06.4 |
| 0177: BCF 03.5 |
| 0178: BCF 06.4 |
| 0179: BSF 03.5 |
| 017A: BCF 06.5 |
| 017B: BCF 03.5 |
| 017C: BCF 06.5 |
| 017D: MOVLW 04 |
| 017E: MOVWF 36 |
| 017F: MOVLW FA |
| 0180: MOVWF 37 |
| 0181: CALL 073 |
| 0182: DECFSZ 36,F |
| 0183: GOTO 17F |
| .................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 0184: BSF 03.5 |
| 0185: BCF 06.6 |
| 0186: BCF 03.5 |
| 0187: BCF 06.6 |
| 0188: BSF 03.5 |
| 0189: BCF 06.7 |
| 018A: BCF 03.5 |
| 018B: BSF 06.7 |
| 018C: BSF 03.5 |
| 018D: BCF 06.4 |
| 018E: BCF 03.5 |
| 018F: BCF 06.4 |
| 0190: BSF 03.5 |
| 0191: BCF 06.5 |
| 0192: BCF 03.5 |
| 0193: BSF 06.5 |
| 0194: MOVLW 04 |
| 0195: MOVWF 36 |
| 0196: MOVLW FA |
| 0197: MOVWF 37 |
| 0198: CALL 073 |
| 0199: DECFSZ 36,F |
| 019A: GOTO 196 |
| 019B: BSF 03.5 |
| 019C: BCF 06.6 |
| 019D: BCF 03.5 |
| 019E: BCF 06.6 |
| 019F: BSF 03.5 |
| 01A0: BCF 06.7 |
| 01A1: BCF 03.5 |
| 01A2: BCF 06.7 |
| 01A3: BSF 03.5 |
| 01A4: BCF 06.4 |
| 01A5: BCF 03.5 |
| 01A6: BCF 06.4 |
| 01A7: BSF 03.5 |
| 01A8: BCF 06.5 |
| 01A9: BCF 03.5 |
| 01AA: BCF 06.5 |
| 01AB: MOVLW 04 |
| 01AC: MOVWF 36 |
| 01AD: MOVLW FA |
| 01AE: MOVWF 37 |
| 01AF: CALL 073 |
| 01B0: DECFSZ 36,F |
| 01B1: GOTO 1AD |
| .................... }; |
| 01B2: GOTO 088 |
| .................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
| .................... { |
| 01B3: BSF 03.5 |
| 01B4: BSF 06.2 |
| 01B5: BCF 03.5 |
| 01B6: BTFSS 06.2 |
| 01B7: GOTO 1F6 |
| .................... if (RSENSOR) beep(1000,200); |
| 01B8: CLRF 77 |
| 01B9: BSF 03.5 |
| 01BA: BTFSC 1C.7 |
| 01BB: BSF 77.0 |
| 01BC: BCF 03.5 |
| 01BD: MOVF 2F,W |
| 01BE: XORWF 77,W |
| 01BF: ANDLW 01 |
| 01C0: BTFSC 03.2 |
| 01C1: GOTO 1CA |
| 01C2: MOVLW 03 |
| 01C3: MOVWF 37 |
| 01C4: MOVLW E8 |
| 01C5: MOVWF 36 |
| 01C6: CLRF 39 |
| 01C7: MOVLW C8 |
| 01C8: MOVWF 38 |
| 01C9: CALL 055 |
| .................... Delay_ms(200); |
| 01CA: MOVLW C8 |
| 01CB: MOVWF 37 |
| 01CC: CALL 073 |
| .................... if (LSENSOR) beep(2000,300); |
| 01CD: CLRF 77 |
| 01CE: BSF 03.5 |
| 01CF: BTFSC 1C.6 |
| 01D0: BSF 77.0 |
| 01D1: BCF 03.5 |
| 01D2: MOVF 2F,W |
| 01D3: XORWF 77,W |
| 01D4: ANDLW 01 |
| 01D5: BTFSC 03.2 |
| 01D6: GOTO 1E0 |
| 01D7: MOVLW 07 |
| 01D8: MOVWF 37 |
| 01D9: MOVLW D0 |
| 01DA: MOVWF 36 |
| 01DB: MOVLW 01 |
| 01DC: MOVWF 39 |
| 01DD: MOVLW 2C |
| 01DE: MOVWF 38 |
| 01DF: CALL 055 |
| .................... Delay_ms(200); |
| 01E0: MOVLW C8 |
| 01E1: MOVWF 37 |
| 01E2: CALL 073 |
| .................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400); |
| 01E3: BTFSC 1F.2 |
| 01E4: GOTO 1E3 |
| 01E5: MOVF 1E,W |
| 01E6: SUBLW 7F |
| 01E7: BTFSS 03.0 |
| 01E8: GOTO 1F2 |
| 01E9: MOVLW 0B |
| 01EA: MOVWF 37 |
| 01EB: MOVLW B8 |
| 01EC: MOVWF 36 |
| 01ED: MOVLW 01 |
| 01EE: MOVWF 39 |
| 01EF: MOVLW 90 |
| 01F0: MOVWF 38 |
| 01F1: CALL 055 |
| .................... Delay_ms(200); |
| 01F2: MOVLW C8 |
| 01F3: MOVWF 37 |
| 01F4: CALL 073 |
| .................... }; |
| 01F5: GOTO 1B3 |
| .................... } |
| 01F6: BCF 0A.3 |
| 01F7: GOTO 378 (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void OtocSe() // otoci se zpet, kdyz je prekazka |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... BL; BR; // cukni zpatky |
| 01F8: BSF 03.5 |
| 01F9: BCF 06.6 |
| 01FA: BCF 03.5 |
| 01FB: BCF 06.6 |
| 01FC: BSF 03.5 |
| 01FD: BCF 06.7 |
| 01FE: BCF 03.5 |
| 01FF: BSF 06.7 |
| 0200: BSF 03.5 |
| 0201: BCF 06.4 |
| 0202: BCF 03.5 |
| 0203: BCF 06.4 |
| 0204: BSF 03.5 |
| 0205: BCF 06.5 |
| 0206: BCF 03.5 |
| 0207: BSF 06.5 |
| .................... Delay_ms(200); |
| 0208: MOVLW C8 |
| 0209: MOVWF 37 |
| 020A: CALL 073 |
| .................... STOPR;STOPL; |
| 020B: BSF 03.5 |
| 020C: BCF 06.4 |
| 020D: BCF 03.5 |
| 020E: BCF 06.4 |
| 020F: BSF 03.5 |
| 0210: BCF 06.5 |
| 0211: BCF 03.5 |
| 0212: BCF 06.5 |
| 0213: BSF 03.5 |
| 0214: BCF 06.6 |
| 0215: BCF 03.5 |
| 0216: BCF 06.6 |
| 0217: BSF 03.5 |
| 0218: BCF 06.7 |
| 0219: BCF 03.5 |
| 021A: BCF 06.7 |
| .................... beep(800,400); |
| 021B: MOVLW 03 |
| 021C: MOVWF 37 |
| 021D: MOVLW 20 |
| 021E: MOVWF 36 |
| 021F: MOVLW 01 |
| 0220: MOVWF 39 |
| 0221: MOVLW 90 |
| 0222: MOVWF 38 |
| 0223: CALL 055 |
| .................... beep(2000,1000); |
| 0224: MOVLW 07 |
| 0225: MOVWF 37 |
| 0226: MOVLW D0 |
| 0227: MOVWF 36 |
| 0228: MOVLW 03 |
| 0229: MOVWF 39 |
| 022A: MOVLW E8 |
| 022B: MOVWF 38 |
| 022C: CALL 055 |
| .................... output_low(LED4); |
| 022D: BSF 03.5 |
| 022E: BCF 05.6 |
| 022F: BCF 03.5 |
| 0230: BCF 05.6 |
| .................... beep(900,400); |
| 0231: MOVLW 03 |
| 0232: MOVWF 37 |
| 0233: MOVLW 84 |
| 0234: MOVWF 36 |
| 0235: MOVLW 01 |
| 0236: MOVWF 39 |
| 0237: MOVLW 90 |
| 0238: MOVWF 38 |
| 0239: CALL 055 |
| .................... output_low(LED1); |
| 023A: BSF 03.5 |
| 023B: BCF 05.4 |
| 023C: BCF 03.5 |
| 023D: BCF 05.4 |
| .................... |
| .................... BR; FL; Delay_ms(100); // otoc se 30° do prava |
| 023E: BSF 03.5 |
| 023F: BCF 06.4 |
| 0240: BCF 03.5 |
| 0241: BCF 06.4 |
| 0242: BSF 03.5 |
| 0243: BCF 06.5 |
| 0244: BCF 03.5 |
| 0245: BSF 06.5 |
| 0246: BSF 03.5 |
| 0247: BCF 06.7 |
| 0248: BCF 03.5 |
| 0249: BCF 06.7 |
| 024A: BSF 03.5 |
| 024B: BCF 06.6 |
| 024C: BCF 03.5 |
| 024D: BSF 06.6 |
| 024E: MOVLW 64 |
| 024F: MOVWF 37 |
| 0250: CALL 073 |
| .................... STOPL; STOPR; |
| 0251: BSF 03.5 |
| 0252: BCF 06.6 |
| 0253: BCF 03.5 |
| 0254: BCF 06.6 |
| 0255: BSF 03.5 |
| 0256: BCF 06.7 |
| 0257: BCF 03.5 |
| 0258: BCF 06.7 |
| 0259: BSF 03.5 |
| 025A: BCF 06.4 |
| 025B: BCF 03.5 |
| 025C: BCF 06.4 |
| 025D: BSF 03.5 |
| 025E: BCF 06.5 |
| 025F: BCF 03.5 |
| 0260: BCF 06.5 |
| .................... beep(1000,1000); |
| 0261: MOVLW 03 |
| 0262: MOVWF 37 |
| 0263: MOVLW E8 |
| 0264: MOVWF 36 |
| 0265: MOVLW 03 |
| 0266: MOVWF 39 |
| 0267: MOVLW E8 |
| 0268: MOVWF 38 |
| 0269: CALL 055 |
| .................... output_low(LED3); |
| 026A: BSF 03.5 |
| 026B: BCF 05.7 |
| 026C: BCF 03.5 |
| 026D: BCF 05.7 |
| .................... |
| .................... BR; FL; |
| 026E: BSF 03.5 |
| 026F: BCF 06.4 |
| 0270: BCF 03.5 |
| 0271: BCF 06.4 |
| 0272: BSF 03.5 |
| 0273: BCF 06.5 |
| 0274: BCF 03.5 |
| 0275: BSF 06.5 |
| 0276: BSF 03.5 |
| 0277: BCF 06.7 |
| 0278: BCF 03.5 |
| 0279: BCF 06.7 |
| 027A: BSF 03.5 |
| 027B: BCF 06.6 |
| 027C: BCF 03.5 |
| 027D: BSF 06.6 |
| .................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
| 027E: MOVLW 9C |
| 027F: MOVWF 35 |
| 0280: MOVLW 40 |
| 0281: MOVWF 34 |
| 0282: MOVF 34,F |
| 0283: BTFSS 03.2 |
| 0284: GOTO 288 |
| 0285: MOVF 35,F |
| 0286: BTFSC 03.2 |
| 0287: GOTO 2B0 |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 0288: CLRF 77 |
| 0289: BSF 03.5 |
| 028A: BTFSC 1C.7 |
| 028B: BSF 77.0 |
| 028C: BCF 03.5 |
| 028D: MOVF 2F,W |
| 028E: XORWF 77,W |
| 028F: ANDLW 01 |
| 0290: BTFSS 03.2 |
| 0291: GOTO 294 |
| 0292: MOVLW 00 |
| 0293: GOTO 295 |
| 0294: MOVLW 01 |
| 0295: MOVWF 2A |
| .................... line |= LSENSOR << 1; |
| 0296: CLRF 77 |
| 0297: BSF 03.5 |
| 0298: BTFSC 1C.6 |
| 0299: BSF 77.0 |
| 029A: BCF 03.5 |
| 029B: MOVF 2F,W |
| 029C: XORWF 77,W |
| 029D: ANDLW 01 |
| 029E: BTFSS 03.2 |
| 029F: GOTO 2A2 |
| 02A0: MOVLW 00 |
| 02A1: GOTO 2A3 |
| 02A2: MOVLW 01 |
| 02A3: MOVWF 77 |
| 02A4: BCF 03.0 |
| 02A5: RLF 77,F |
| 02A6: MOVF 77,W |
| 02A7: IORWF 2A,F |
| .................... if (line!=0) break; |
| 02A8: MOVF 2A,F |
| 02A9: BTFSS 03.2 |
| 02AA: GOTO 2B0 |
| .................... } |
| 02AB: MOVF 34,W |
| 02AC: BTFSC 03.2 |
| 02AD: DECF 35,F |
| 02AE: DECF 34,F |
| 02AF: GOTO 282 |
| .................... STOPR; STOPL; |
| 02B0: BSF 03.5 |
| 02B1: BCF 06.4 |
| 02B2: BCF 03.5 |
| 02B3: BCF 06.4 |
| 02B4: BSF 03.5 |
| 02B5: BCF 06.5 |
| 02B6: BCF 03.5 |
| 02B7: BCF 06.5 |
| 02B8: BSF 03.5 |
| 02B9: BCF 06.6 |
| 02BA: BCF 03.5 |
| 02BB: BCF 06.6 |
| 02BC: BSF 03.5 |
| 02BD: BCF 06.7 |
| 02BE: BCF 03.5 |
| 02BF: BCF 06.7 |
| .................... output_high(LED1); output_high(LED3); output_high(LED4); |
| 02C0: BSF 03.5 |
| 02C1: BCF 05.4 |
| 02C2: BCF 03.5 |
| 02C3: BSF 05.4 |
| 02C4: BSF 03.5 |
| 02C5: BCF 05.7 |
| 02C6: BCF 03.5 |
| 02C7: BSF 05.7 |
| 02C8: BSF 03.5 |
| 02C9: BCF 05.6 |
| 02CA: BCF 03.5 |
| 02CB: BSF 05.6 |
| .................... |
| .................... line=L; // caru jsme prejeli, tak je vlevo |
| 02CC: MOVLW 02 |
| 02CD: MOVWF 2A |
| .................... cirkus=0; |
| 02CE: CLRF 2E |
| .................... } |
| 02CF: BCF 0A.3 |
| 02D0: GOTO 3F1 (RETURN) |
| .................... |
| .................... |
| .................... void main() |
| .................... { |
| 02D1: CLRF 04 |
| 02D2: MOVLW 1F |
| 02D3: ANDWF 03,F |
| 02D4: BSF 03.5 |
| 02D5: BCF 1F.4 |
| 02D6: BCF 1F.5 |
| 02D7: MOVF 1B,W |
| 02D8: ANDLW 80 |
| 02D9: MOVWF 1B |
| 02DA: MOVLW 07 |
| 02DB: MOVWF 1C |
| 02DC: MOVF 1C,W |
| 02DD: BCF 03.5 |
| 02DE: BCF 0D.6 |
| 02DF: MOVLW 60 |
| 02E0: BSF 03.5 |
| 02E1: MOVWF 0F |
| .................... unsigned int16 n; // pro FOR |
| .................... unsigned int16 i; |
| .................... |
| .................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
| 02E2: BCF 06.6 |
| 02E3: BCF 03.5 |
| 02E4: BCF 06.6 |
| 02E5: BSF 03.5 |
| 02E6: BCF 06.7 |
| 02E7: BCF 03.5 |
| 02E8: BCF 06.7 |
| 02E9: BSF 03.5 |
| 02EA: BCF 06.4 |
| 02EB: BCF 03.5 |
| 02EC: BCF 06.4 |
| 02ED: BSF 03.5 |
| 02EE: BCF 06.5 |
| 02EF: BCF 03.5 |
| 02F0: BCF 06.5 |
| .................... |
| .................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
| 02F1: MOVLW 62 |
| 02F2: BSF 03.5 |
| 02F3: MOVWF 0F |
| .................... |
| .................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
| 02F4: BCF 01.7 |
| .................... setup_spi(FALSE); |
| 02F5: BCF 03.5 |
| 02F6: BCF 14.5 |
| 02F7: BSF 03.5 |
| 02F8: BCF 06.2 |
| 02F9: BSF 06.1 |
| 02FA: BCF 06.4 |
| 02FB: MOVLW 00 |
| 02FC: BCF 03.5 |
| 02FD: MOVWF 14 |
| 02FE: BSF 03.5 |
| 02FF: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
| 0300: MOVF 01,W |
| 0301: ANDLW C7 |
| 0302: IORLW 08 |
| 0303: MOVWF 01 |
| .................... |
| .................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| 0304: MOVLW 48 |
| 0305: MOVWF 78 |
| 0306: IORLW 05 |
| 0307: BCF 03.5 |
| 0308: MOVWF 12 |
| 0309: MOVLW FF |
| 030A: BSF 03.5 |
| 030B: MOVWF 12 |
| .................... // preruseni kazdych 10ms |
| .................... setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
| 030C: BCF 1F.4 |
| 030D: BCF 1F.5 |
| 030E: MOVF 1B,W |
| 030F: ANDLW 80 |
| 0310: IORLW 04 |
| 0311: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 0312: BCF 1F.6 |
| 0313: BCF 03.5 |
| 0314: BSF 1F.6 |
| 0315: BSF 1F.7 |
| 0316: BSF 03.5 |
| 0317: BCF 1F.7 |
| 0318: BCF 03.5 |
| 0319: BSF 1F.0 |
| .................... set_adc_channel(2); |
| 031A: MOVLW 10 |
| 031B: MOVWF 78 |
| 031C: MOVF 1F,W |
| 031D: ANDLW C7 |
| 031E: IORWF 78,W |
| 031F: MOVWF 1F |
| .................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
| 0320: MOVLW 85 |
| 0321: MOVWF 10 |
| .................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
| 0322: BSF 03.5 |
| 0323: BSF 06.3 |
| 0324: MOVLW 0B |
| 0325: BCF 03.5 |
| 0326: MOVWF 17 |
| .................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
| 0327: CLRF 16 |
| 0328: MOVLW 07 |
| 0329: MOVWF 15 |
| .................... |
| .................... output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4); |
| 032A: BSF 03.5 |
| 032B: BCF 05.4 |
| 032C: BCF 03.5 |
| 032D: BCF 05.4 |
| 032E: BSF 03.5 |
| 032F: BCF 05.3 |
| 0330: BCF 03.5 |
| 0331: BCF 05.3 |
| 0332: BSF 03.5 |
| 0333: BCF 05.7 |
| 0334: BCF 03.5 |
| 0335: BCF 05.7 |
| 0336: BSF 03.5 |
| 0337: BCF 05.6 |
| 0338: BCF 03.5 |
| 0339: BCF 05.6 |
| .................... |
| .................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
| 033A: MOVLW 02 |
| 033B: BSF 03.5 |
| 033C: MOVWF 1C |
| 033D: MOVF 05,W |
| 033E: IORLW 03 |
| 033F: MOVWF 05 |
| 0340: MOVLW 03 |
| 0341: MOVWF 77 |
| 0342: DECFSZ 77,F |
| 0343: GOTO 342 |
| 0344: MOVF 1C,W |
| 0345: BCF 03.5 |
| 0346: BCF 0D.6 |
| .................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
| 0347: MOVLW 8F |
| 0348: BSF 03.5 |
| 0349: MOVWF 1D |
| .................... |
| .................... Beep(1000,200); //double beep |
| 034A: MOVLW 03 |
| 034B: BCF 03.5 |
| 034C: MOVWF 37 |
| 034D: MOVLW E8 |
| 034E: MOVWF 36 |
| 034F: CLRF 39 |
| 0350: MOVLW C8 |
| 0351: MOVWF 38 |
| 0352: CALL 055 |
| .................... Delay_ms(50); |
| 0353: MOVLW 32 |
| 0354: MOVWF 37 |
| 0355: CALL 073 |
| .................... Beep(1000,200); |
| 0356: MOVLW 03 |
| 0357: MOVWF 37 |
| 0358: MOVLW E8 |
| 0359: MOVWF 36 |
| 035A: CLRF 39 |
| 035B: MOVLW C8 |
| 035C: MOVWF 38 |
| 035D: CALL 055 |
| .................... Delay_ms(1000); // 1s |
| 035E: MOVLW 04 |
| 035F: MOVWF 34 |
| 0360: MOVLW FA |
| 0361: MOVWF 37 |
| 0362: CALL 073 |
| 0363: DECFSZ 34,F |
| 0364: GOTO 360 |
| .................... |
| .................... // povoleni rizeni rychlosti zataceni pres preruseni |
| .................... enable_interrupts(INT_TIMER2); |
| 0365: BSF 03.5 |
| 0366: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 0367: MOVLW C0 |
| 0368: BCF 03.5 |
| 0369: IORWF 0B,F |
| .................... |
| .................... /*---------------------------------------------------------------------------*/ |
| .................... sensors=S; |
| 036A: MOVLW 03 |
| 036B: MOVWF 29 |
| .................... line=S; |
| 036C: MOVWF 2A |
| .................... last=S; |
| 036D: MOVWF 2C |
| .................... cirkus=0; |
| 036E: CLRF 2E |
| .................... // movement=S; |
| .................... speed=FW_POMALU; |
| 036F: MOVLW AA |
| 0370: MOVWF 2B |
| .................... |
| .................... BW=input(BARVY); // Jaka ma byt barva cary? |
| 0371: BSF 03.5 |
| 0372: BSF 06.1 |
| 0373: BCF 03.5 |
| 0374: BCF 2F.0 |
| 0375: BTFSC 06.1 |
| 0376: BSF 2F.0 |
| .................... diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku |
| 0377: GOTO 088 |
| .................... Delay_ms(500); |
| 0378: MOVLW 02 |
| 0379: MOVWF 34 |
| 037A: MOVLW FA |
| 037B: MOVWF 37 |
| 037C: CALL 073 |
| 037D: DECFSZ 34,F |
| 037E: GOTO 37A |
| .................... |
| .................... output_high(LED1); Beep(1000,200); Delay_ms(500); |
| 037F: BSF 03.5 |
| 0380: BCF 05.4 |
| 0381: BCF 03.5 |
| 0382: BSF 05.4 |
| 0383: MOVLW 03 |
| 0384: MOVWF 37 |
| 0385: MOVLW E8 |
| 0386: MOVWF 36 |
| 0387: CLRF 39 |
| 0388: MOVLW C8 |
| 0389: MOVWF 38 |
| 038A: CALL 055 |
| 038B: MOVLW 02 |
| 038C: MOVWF 34 |
| 038D: MOVLW FA |
| 038E: MOVWF 37 |
| 038F: CALL 073 |
| 0390: DECFSZ 34,F |
| 0391: GOTO 38D |
| .................... output_high(LED2); Beep(1000,200); Delay_ms(500); |
| 0392: BSF 03.5 |
| 0393: BCF 05.3 |
| 0394: BCF 03.5 |
| 0395: BSF 05.3 |
| 0396: MOVLW 03 |
| 0397: MOVWF 37 |
| 0398: MOVLW E8 |
| 0399: MOVWF 36 |
| 039A: CLRF 39 |
| 039B: MOVLW C8 |
| 039C: MOVWF 38 |
| 039D: CALL 055 |
| 039E: MOVLW 02 |
| 039F: MOVWF 34 |
| 03A0: MOVLW FA |
| 03A1: MOVWF 37 |
| 03A2: CALL 073 |
| 03A3: DECFSZ 34,F |
| 03A4: GOTO 3A0 |
| .................... output_high(LED3); Beep(1000,200); Delay_ms(500); |
| 03A5: BSF 03.5 |
| 03A6: BCF 05.7 |
| 03A7: BCF 03.5 |
| 03A8: BSF 05.7 |
| 03A9: MOVLW 03 |
| 03AA: MOVWF 37 |
| 03AB: MOVLW E8 |
| 03AC: MOVWF 36 |
| 03AD: CLRF 39 |
| 03AE: MOVLW C8 |
| 03AF: MOVWF 38 |
| 03B0: CALL 055 |
| 03B1: MOVLW 02 |
| 03B2: MOVWF 34 |
| 03B3: MOVLW FA |
| 03B4: MOVWF 37 |
| 03B5: CALL 073 |
| 03B6: DECFSZ 34,F |
| 03B7: GOTO 3B3 |
| .................... output_high(LED4); Beep(1000,200); Delay_ms(500); |
| 03B8: BSF 03.5 |
| 03B9: BCF 05.6 |
| 03BA: BCF 03.5 |
| 03BB: BSF 05.6 |
| 03BC: MOVLW 03 |
| 03BD: MOVWF 37 |
| 03BE: MOVLW E8 |
| 03BF: MOVWF 36 |
| 03C0: CLRF 39 |
| 03C1: MOVLW C8 |
| 03C2: MOVWF 38 |
| 03C3: CALL 055 |
| 03C4: MOVLW 02 |
| 03C5: MOVWF 34 |
| 03C6: MOVLW FA |
| 03C7: MOVWF 37 |
| 03C8: CALL 073 |
| 03C9: DECFSZ 34,F |
| 03CA: GOTO 3C6 |
| .................... |
| .................... while(true) // hlavni smycka (jizda podle cary) |
| .................... { |
| .................... sensors = RSENSOR; // cteni senzoru na caru |
| 03CB: CLRF 77 |
| 03CC: BSF 03.5 |
| 03CD: BTFSC 1C.7 |
| 03CE: BSF 77.0 |
| 03CF: BCF 03.5 |
| 03D0: MOVF 2F,W |
| 03D1: XORWF 77,W |
| 03D2: ANDLW 01 |
| 03D3: BTFSS 03.2 |
| 03D4: GOTO 3D7 |
| 03D5: MOVLW 00 |
| 03D6: GOTO 3D8 |
| 03D7: MOVLW 01 |
| 03D8: MOVWF 29 |
| .................... sensors |= LSENSOR << 1; |
| 03D9: CLRF 77 |
| 03DA: BSF 03.5 |
| 03DB: BTFSC 1C.6 |
| 03DC: BSF 77.0 |
| 03DD: BCF 03.5 |
| 03DE: MOVF 2F,W |
| 03DF: XORWF 77,W |
| 03E0: ANDLW 01 |
| 03E1: BTFSS 03.2 |
| 03E2: GOTO 3E5 |
| 03E3: MOVLW 00 |
| 03E4: GOTO 3E6 |
| 03E5: MOVLW 01 |
| 03E6: MOVWF 77 |
| 03E7: BCF 03.0 |
| 03E8: RLF 77,F |
| 03E9: MOVF 77,W |
| 03EA: IORWF 29,F |
| .................... |
| .................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
| 03EB: BTFSC 1F.2 |
| 03EC: GOTO 3EB |
| 03ED: MOVF 1E,W |
| 03EE: SUBLW 7F |
| 03EF: BTFSC 03.0 |
| 03F0: GOTO 1F8 |
| .................... |
| .................... switch (sensors) // zatacej podle toho, kde vidis caru |
| .................... { |
| 03F1: MOVF 29,W |
| 03F2: XORLW 03 |
| 03F3: BTFSC 03.2 |
| 03F4: GOTO 3FC |
| 03F5: XORLW 01 |
| 03F6: BTFSC 03.2 |
| 03F7: GOTO 431 |
| 03F8: XORLW 03 |
| 03F9: BTFSC 03.2 |
| 03FA: GOTO 468 |
| 03FB: GOTO 49F |
| .................... case S: // rovne |
| .................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| 03FC: MOVF 01,W |
| 03FD: MOVWF 34 |
| 03FE: MOVLW BE |
| 03FF: ADDWF 2D,W |
| 0400: SUBWF 34,W |
| 0401: BTFSC 03.2 |
| 0402: GOTO 405 |
| 0403: BTFSC 03.0 |
| 0404: GOTO 40E |
| 0405: BSF 03.5 |
| 0406: BCF 06.7 |
| 0407: BCF 03.5 |
| 0408: BCF 06.7 |
| 0409: BSF 03.5 |
| 040A: BCF 06.6 |
| 040B: BCF 03.5 |
| 040C: BSF 06.6 |
| 040D: GOTO 416 |
| 040E: BSF 03.5 |
| 040F: BCF 06.6 |
| 0410: BCF 03.5 |
| 0411: BCF 06.6 |
| 0412: BSF 03.5 |
| 0413: BCF 06.7 |
| 0414: BCF 03.5 |
| 0415: BCF 06.7 |
| 0416: MOVF 01,W |
| 0417: MOVWF 34 |
| 0418: MOVLW BE |
| 0419: ADDWF 2D,W |
| 041A: SUBWF 34,W |
| 041B: BTFSC 03.2 |
| 041C: GOTO 41F |
| 041D: BTFSC 03.0 |
| 041E: GOTO 428 |
| 041F: BSF 03.5 |
| 0420: BCF 06.5 |
| 0421: BCF 03.5 |
| 0422: BCF 06.5 |
| 0423: BSF 03.5 |
| 0424: BCF 06.4 |
| 0425: BCF 03.5 |
| 0426: BSF 06.4 |
| 0427: GOTO 430 |
| 0428: BSF 03.5 |
| 0429: BCF 06.4 |
| 042A: BCF 03.5 |
| 042B: BCF 06.4 |
| 042C: BSF 03.5 |
| 042D: BCF 06.5 |
| 042E: BCF 03.5 |
| 042F: BCF 06.5 |
| .................... continue; |
| 0430: GOTO 3CB |
| .................... case L: // trochu vlevo |
| .................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| 0431: MOVF 01,W |
| 0432: MOVWF 34 |
| 0433: MOVLW AA |
| 0434: ADDWF 2D,W |
| 0435: SUBWF 34,W |
| 0436: BTFSC 03.2 |
| 0437: GOTO 43A |
| 0438: BTFSC 03.0 |
| 0439: GOTO 443 |
| 043A: BSF 03.5 |
| 043B: BCF 06.7 |
| 043C: BCF 03.5 |
| 043D: BCF 06.7 |
| 043E: BSF 03.5 |
| 043F: BCF 06.6 |
| 0440: BCF 03.5 |
| 0441: BSF 06.6 |
| 0442: GOTO 44B |
| 0443: BSF 03.5 |
| 0444: BCF 06.6 |
| 0445: BCF 03.5 |
| 0446: BCF 06.6 |
| 0447: BSF 03.5 |
| 0448: BCF 06.7 |
| 0449: BCF 03.5 |
| 044A: BCF 06.7 |
| 044B: MOVF 01,W |
| 044C: MOVWF 34 |
| 044D: MOVLW BE |
| 044E: ADDWF 2D,W |
| 044F: SUBWF 34,W |
| 0450: BTFSC 03.2 |
| 0451: GOTO 454 |
| 0452: BTFSC 03.0 |
| 0453: GOTO 45D |
| 0454: BSF 03.5 |
| 0455: BCF 06.5 |
| 0456: BCF 03.5 |
| 0457: BCF 06.5 |
| 0458: BSF 03.5 |
| 0459: BCF 06.4 |
| 045A: BCF 03.5 |
| 045B: BSF 06.4 |
| 045C: GOTO 465 |
| 045D: BSF 03.5 |
| 045E: BCF 06.4 |
| 045F: BCF 03.5 |
| 0460: BCF 06.4 |
| 0461: BSF 03.5 |
| 0462: BCF 06.5 |
| 0463: BCF 03.5 |
| 0464: BCF 06.5 |
| .................... line=L; |
| 0465: MOVLW 02 |
| 0466: MOVWF 2A |
| .................... continue; |
| 0467: GOTO 3CB |
| .................... case R: // trochu vpravo |
| .................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| 0468: MOVF 01,W |
| 0469: MOVWF 34 |
| 046A: MOVLW AA |
| 046B: ADDWF 2D,W |
| 046C: SUBWF 34,W |
| 046D: BTFSC 03.2 |
| 046E: GOTO 471 |
| 046F: BTFSC 03.0 |
| 0470: GOTO 47A |
| 0471: BSF 03.5 |
| 0472: BCF 06.5 |
| 0473: BCF 03.5 |
| 0474: BCF 06.5 |
| 0475: BSF 03.5 |
| 0476: BCF 06.4 |
| 0477: BCF 03.5 |
| 0478: BSF 06.4 |
| 0479: GOTO 482 |
| 047A: BSF 03.5 |
| 047B: BCF 06.4 |
| 047C: BCF 03.5 |
| 047D: BCF 06.4 |
| 047E: BSF 03.5 |
| 047F: BCF 06.5 |
| 0480: BCF 03.5 |
| 0481: BCF 06.5 |
| 0482: MOVF 01,W |
| 0483: MOVWF 34 |
| 0484: MOVLW BE |
| 0485: ADDWF 2D,W |
| 0486: SUBWF 34,W |
| 0487: BTFSC 03.2 |
| 0488: GOTO 48B |
| 0489: BTFSC 03.0 |
| 048A: GOTO 494 |
| 048B: BSF 03.5 |
| 048C: BCF 06.7 |
| 048D: BCF 03.5 |
| 048E: BCF 06.7 |
| 048F: BSF 03.5 |
| 0490: BCF 06.6 |
| 0491: BCF 03.5 |
| 0492: BSF 06.6 |
| 0493: GOTO 49C |
| 0494: BSF 03.5 |
| 0495: BCF 06.6 |
| 0496: BCF 03.5 |
| 0497: BCF 06.6 |
| 0498: BSF 03.5 |
| 0499: BCF 06.7 |
| 049A: BCF 03.5 |
| 049B: BCF 06.7 |
| .................... line=R; |
| 049C: MOVLW 01 |
| 049D: MOVWF 2A |
| .................... continue; |
| 049E: GOTO 3CB |
| .................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| .................... }; |
| .................... rovinka=0; |
| 049F: CLRF 2D |
| .................... |
| .................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, |
| 04A0: MOVF 2A,W |
| 04A1: SUBWF 2C,W |
| 04A2: BTFSC 03.2 |
| 04A3: GOTO 560 |
| .................... // tak zabrzdi |
| .................... { |
| .................... output_bit(LED1, !input(LED1)); |
| 04A4: BSF 03.5 |
| 04A5: BSF 05.4 |
| 04A6: BCF 03.5 |
| 04A7: BTFSS 05.4 |
| 04A8: GOTO 4AB |
| 04A9: BCF 05.4 |
| 04AA: GOTO 4AC |
| 04AB: BSF 05.4 |
| 04AC: BSF 03.5 |
| 04AD: BCF 05.4 |
| .................... last=line; |
| 04AE: BCF 03.5 |
| 04AF: MOVF 2A,W |
| 04B0: MOVWF 2C |
| .................... speed=FW_ZATACKA; |
| 04B1: MOVLW C8 |
| 04B2: MOVWF 2B |
| .................... cirkus++; |
| 04B3: INCF 2E,F |
| .................... if (cirkus>8) |
| 04B4: MOVF 2E,W |
| 04B5: SUBLW 08 |
| 04B6: BTFSC 03.0 |
| 04B7: GOTO 560 |
| .................... { |
| .................... STOPL; STOPR; |
| 04B8: BSF 03.5 |
| 04B9: BCF 06.6 |
| 04BA: BCF 03.5 |
| 04BB: BCF 06.6 |
| 04BC: BSF 03.5 |
| 04BD: BCF 06.7 |
| 04BE: BCF 03.5 |
| 04BF: BCF 06.7 |
| 04C0: BSF 03.5 |
| 04C1: BCF 06.4 |
| 04C2: BCF 03.5 |
| 04C3: BCF 06.4 |
| 04C4: BSF 03.5 |
| 04C5: BCF 06.5 |
| 04C6: BCF 03.5 |
| 04C7: BCF 06.5 |
| .................... cirkus=0; |
| 04C8: CLRF 2E |
| .................... disable_interrupts(GLOBAL); |
| 04C9: BCF 0B.6 |
| 04CA: BCF 0B.7 |
| 04CB: BTFSC 0B.7 |
| 04CC: GOTO 4CA |
| .................... beep(1000,400); |
| 04CD: MOVLW 03 |
| 04CE: MOVWF 37 |
| 04CF: MOVLW E8 |
| 04D0: MOVWF 36 |
| 04D1: MOVLW 01 |
| 04D2: MOVWF 39 |
| 04D3: MOVLW 90 |
| 04D4: MOVWF 38 |
| 04D5: CALL 055 |
| .................... for(n=3000; n>3950; n--) beep(n,10); |
| 04D6: MOVLW 0B |
| 04D7: MOVWF 31 |
| 04D8: MOVLW B8 |
| 04D9: MOVWF 30 |
| 04DA: MOVF 31,W |
| 04DB: SUBLW 0E |
| 04DC: BTFSC 03.0 |
| 04DD: GOTO 4F2 |
| 04DE: XORLW FF |
| 04DF: BTFSS 03.2 |
| 04E0: GOTO 4E5 |
| 04E1: MOVF 30,W |
| 04E2: SUBLW 6E |
| 04E3: BTFSC 03.0 |
| 04E4: GOTO 4F2 |
| 04E5: MOVF 31,W |
| 04E6: MOVWF 37 |
| 04E7: MOVF 30,W |
| 04E8: MOVWF 36 |
| 04E9: CLRF 39 |
| 04EA: MOVLW 0A |
| 04EB: MOVWF 38 |
| 04EC: CALL 055 |
| 04ED: MOVF 30,W |
| 04EE: BTFSC 03.2 |
| 04EF: DECF 31,F |
| 04F0: DECF 30,F |
| 04F1: GOTO 4DA |
| .................... output_low(LED1); |
| 04F2: BSF 03.5 |
| 04F3: BCF 05.4 |
| 04F4: BCF 03.5 |
| 04F5: BCF 05.4 |
| .................... beep(2000,200); |
| 04F6: MOVLW 07 |
| 04F7: MOVWF 37 |
| 04F8: MOVLW D0 |
| 04F9: MOVWF 36 |
| 04FA: CLRF 39 |
| 04FB: MOVLW C8 |
| 04FC: MOVWF 38 |
| 04FD: CALL 055 |
| .................... beep(900,400); |
| 04FE: MOVLW 03 |
| 04FF: MOVWF 37 |
| 0500: MOVLW 84 |
| 0501: MOVWF 36 |
| 0502: MOVLW 01 |
| 0503: MOVWF 39 |
| 0504: MOVLW 90 |
| 0505: MOVWF 38 |
| 0506: CALL 055 |
| .................... for(n=2950; n<3000; n++) beep(n,10); |
| 0507: MOVLW 0B |
| 0508: MOVWF 31 |
| 0509: MOVLW 86 |
| 050A: MOVWF 30 |
| 050B: MOVF 31,W |
| 050C: SUBLW 0B |
| 050D: BTFSS 03.0 |
| 050E: GOTO 521 |
| 050F: BTFSS 03.2 |
| 0510: GOTO 515 |
| 0511: MOVF 30,W |
| 0512: SUBLW B7 |
| 0513: BTFSS 03.0 |
| 0514: GOTO 521 |
| 0515: MOVF 31,W |
| 0516: MOVWF 37 |
| 0517: MOVF 30,W |
| 0518: MOVWF 36 |
| 0519: CLRF 39 |
| 051A: MOVLW 0A |
| 051B: MOVWF 38 |
| 051C: CALL 055 |
| 051D: INCF 30,F |
| 051E: BTFSC 03.2 |
| 051F: INCF 31,F |
| 0520: GOTO 50B |
| .................... output_low(LED2); |
| 0521: BSF 03.5 |
| 0522: BCF 05.3 |
| 0523: BCF 03.5 |
| 0524: BCF 05.3 |
| .................... output_high(LED1); |
| 0525: BSF 03.5 |
| 0526: BCF 05.4 |
| 0527: BCF 03.5 |
| 0528: BSF 05.4 |
| .................... beep(4000,400); |
| 0529: MOVLW 0F |
| 052A: MOVWF 37 |
| 052B: MOVLW A0 |
| 052C: MOVWF 36 |
| 052D: MOVLW 01 |
| 052E: MOVWF 39 |
| 052F: MOVLW 90 |
| 0530: MOVWF 38 |
| 0531: CALL 055 |
| .................... beep(1000,100); |
| 0532: MOVLW 03 |
| 0533: MOVWF 37 |
| 0534: MOVLW E8 |
| 0535: MOVWF 36 |
| 0536: CLRF 39 |
| 0537: MOVLW 64 |
| 0538: MOVWF 38 |
| 0539: CALL 055 |
| .................... output_low(LED3); |
| 053A: BSF 03.5 |
| 053B: BCF 05.7 |
| 053C: BCF 03.5 |
| 053D: BCF 05.7 |
| .................... beep(3000,400); |
| 053E: MOVLW 0B |
| 053F: MOVWF 37 |
| 0540: MOVLW B8 |
| 0541: MOVWF 36 |
| 0542: MOVLW 01 |
| 0543: MOVWF 39 |
| 0544: MOVLW 90 |
| 0545: MOVWF 38 |
| 0546: CALL 055 |
| .................... Delay_ms(1000); |
| 0547: MOVLW 04 |
| 0548: MOVWF 34 |
| 0549: MOVLW FA |
| 054A: MOVWF 37 |
| 054B: CALL 073 |
| 054C: DECFSZ 34,F |
| 054D: GOTO 549 |
| .................... output_high(LED1); output_high(LED2); |
| 054E: BSF 03.5 |
| 054F: BCF 05.4 |
| 0550: BCF 03.5 |
| 0551: BSF 05.4 |
| 0552: BSF 03.5 |
| 0553: BCF 05.3 |
| 0554: BCF 03.5 |
| 0555: BSF 05.3 |
| .................... output_high(LED3); output_high(LED4); |
| 0556: BSF 03.5 |
| 0557: BCF 05.7 |
| 0558: BCF 03.5 |
| 0559: BSF 05.7 |
| 055A: BSF 03.5 |
| 055B: BCF 05.6 |
| 055C: BCF 03.5 |
| 055D: BSF 05.6 |
| .................... enable_interrupts(GLOBAL); |
| 055E: MOVLW C0 |
| 055F: IORWF 0B,F |
| .................... } |
| .................... }; |
| .................... |
| .................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| 0560: MOVF 2A,W |
| 0561: SUBLW 02 |
| 0562: BTFSS 03.2 |
| 0563: GOTO 582 |
| .................... { |
| .................... STOPL; |
| 0564: BSF 03.5 |
| 0565: BCF 06.6 |
| 0566: BCF 03.5 |
| 0567: BCF 06.6 |
| 0568: BSF 03.5 |
| 0569: BCF 06.7 |
| 056A: BCF 03.5 |
| 056B: BCF 06.7 |
| .................... GO(R, F, speed); |
| 056C: MOVF 01,W |
| 056D: SUBWF 2B,W |
| 056E: BTFSS 03.0 |
| 056F: GOTO 579 |
| 0570: BSF 03.5 |
| 0571: BCF 06.5 |
| 0572: BCF 03.5 |
| 0573: BCF 06.5 |
| 0574: BSF 03.5 |
| 0575: BCF 06.4 |
| 0576: BCF 03.5 |
| 0577: BSF 06.4 |
| 0578: GOTO 581 |
| 0579: BSF 03.5 |
| 057A: BCF 06.4 |
| 057B: BCF 03.5 |
| 057C: BCF 06.4 |
| 057D: BSF 03.5 |
| 057E: BCF 06.5 |
| 057F: BCF 03.5 |
| 0580: BCF 06.5 |
| .................... } |
| .................... else |
| 0581: GOTO 59F |
| .................... { |
| .................... STOPR; |
| 0582: BSF 03.5 |
| 0583: BCF 06.4 |
| 0584: BCF 03.5 |
| 0585: BCF 06.4 |
| 0586: BSF 03.5 |
| 0587: BCF 06.5 |
| 0588: BCF 03.5 |
| 0589: BCF 06.5 |
| .................... GO(L, F, speed); |
| 058A: MOVF 01,W |
| 058B: SUBWF 2B,W |
| 058C: BTFSS 03.0 |
| 058D: GOTO 597 |
| 058E: BSF 03.5 |
| 058F: BCF 06.7 |
| 0590: BCF 03.5 |
| 0591: BCF 06.7 |
| 0592: BSF 03.5 |
| 0593: BCF 06.6 |
| 0594: BCF 03.5 |
| 0595: BSF 06.6 |
| 0596: GOTO 59F |
| 0597: BSF 03.5 |
| 0598: BCF 06.6 |
| 0599: BCF 03.5 |
| 059A: BCF 06.6 |
| 059B: BSF 03.5 |
| 059C: BCF 06.7 |
| 059D: BCF 03.5 |
| 059E: BCF 06.7 |
| .................... } |
| .................... |
| .................... } // while(true) |
| 059F: GOTO 3CB |
| .................... } |
| .................... |
| .................... |
| 05A0: SLEEP |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.PJT |
|---|
| 0,0 → 1,40 |
| [PROJECT] |
| Target=tank.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\drivers\;C:\library\CCS; |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=tank.c; |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [tank.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=tank.c |
| [Windows] |
| 0=0000 tank.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h |
| 4= |
| 5= |
| 6= |
| 7= |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.SYM |
|---|
| 0,0 → 1,71 |
| 015-016 CCP_1 |
| 015 CCP_1_LOW |
| 016 CCP_1_HIGH |
| 020 @INTERRUPT_AREA |
| 021 @INTERRUPT_AREA |
| 022 @INTERRUPT_AREA |
| 023 @INTERRUPT_AREA |
| 024 @INTERRUPT_AREA |
| 025 @INTERRUPT_AREA |
| 026 @INTERRUPT_AREA |
| 027 @INTERRUPT_AREA |
| 028 @INTERRUPT_AREA |
| 029 sensors |
| 02A line |
| 02B speed |
| 02C last |
| 02D rovinka |
| 02E cirkus |
| 02F.0 BW |
| 030-031 main.n |
| 032-033 main.i |
| 034-035 diagnostika.n |
| 034-035 OtocSe.n |
| 034 main.@SCRATCH |
| 035 main.@SCRATCH |
| 036-037 beep.period |
| 036 diagnostika.@SCRATCH |
| 036 OtocSe.@SCRATCH |
| 037 @delay_ms1.P1 |
| 037 OtocSe.@SCRATCH |
| 038-039 beep.length |
| 03A-03B beep.nn |
| 03C @delay_us1.P1 |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0073 @delay_ms1 |
| 0042 @delay_us1 |
| 0037 TIMER2_isr |
| 0055 beep |
| 0088 diagnostika |
| 01F8 OtocSe |
| 02D1 main |
| 02D1 @cinit |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h |
| C:\Program Files\PICC\devices\16F88.h |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.HEX |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.SYM |
| List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.sta |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.c |
|---|
| 0,0 → 1,268 |
| // Program pro predvadeni schopnosti robota Merkur |
| //------------------------------------------------ |
| #include "tank.h" |
| unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| unsigned int8 line; // na ktere strane byla detekovana cara |
| unsigned int8 speed; // rychlost zataceni |
| unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
| unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
| int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus |
| int1 BW; // urcuje, jestli je cara cerno/bila nebo |
| // bilo/cerna (true = bila cara, cerny podklad) |
| // Konstanty pro dynamiku pohybu |
| #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
| #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
| #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
| #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
| #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
| #define MAX_ROVINKA (255-FW_STREDNE) |
| #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
| #define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku |
| //motory //Napred vypnout potom zapnout! |
| #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
| #define FL output_low(PIN_B7); output_high(PIN_B6) |
| #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
| #define BL output_low(PIN_B6); output_high(PIN_B7) |
| #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav |
| #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
| #define L 0b10 // left |
| #define R 0b01 // right |
| #define S 0b11 // straight |
| //cidla |
| #define RSENSOR (BW != C2OUT) // Senzory na caru |
| #define LSENSOR (BW != C1OUT) |
| #define BUMPER sAN2 // Senzor na cihlu |
| #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
| #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
| #define BARVY PIN_B1 // Propojka pro nastaveni barvy cary |
| #define SPEAKER PIN_B0 // vystup pro pipak |
| #define LED1 PIN_A4 // LEDky |
| #define LED2 PIN_A3 |
| #define LED3 PIN_A7 |
| #define LED4 PIN_A6 |
| // makro pro PWM |
| #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| {direction##motor;} else {stop##motor;} |
| #int_TIMER2 |
| void TIMER2_isr() // obsluha zrychlovani |
| { |
| if (speed<255) speed++; |
| if (rovinka<MAX_ROVINKA) rovinka++; |
| } |
| // Primitivni Pipani |
| void beep(unsigned int16 period, unsigned int16 length) |
| { |
| unsigned int16 nn; |
| for(nn=length; nn>0; nn--) |
| { |
| output_high(SPEAKER); |
| delay_us(period); |
| output_low(SPEAKER); |
| delay_us(period); |
| } |
| } |
| /******************************************************************************/ |
| void diagnostika() |
| { |
| unsigned int16 n; |
| while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
| { |
| for (n=500; n<800; n+=100) |
| { |
| beep(n,n); //beep UP |
| }; |
| Delay_ms(1000); |
| //zastav vse |
| STOPL; STOPR; |
| //pravy pas |
| FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| Beep(880,100); Delay_ms(1000); |
| //levy pas |
| FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| Beep(880,100); Delay_ms(1000); |
| //oba pasy |
| FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| }; |
| while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
| { |
| if (RSENSOR) beep(1000,200); |
| Delay_ms(200); |
| if (LSENSOR) beep(2000,300); |
| Delay_ms(200); |
| if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400); |
| Delay_ms(200); |
| }; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void OtocSe() // otoci se zpet, kdyz je prekazka |
| { |
| unsigned int16 n; |
| BL; BR; // cukni zpatky |
| Delay_ms(200); |
| STOPR;STOPL; |
| beep(800,400); |
| beep(2000,1000); |
| output_low(LED4); |
| beep(900,400); |
| output_low(LED1); |
| BR; FL; Delay_ms(100); // otoc se 30° do prava |
| STOPL; STOPR; |
| beep(1000,1000); |
| output_low(LED3); |
| BR; FL; |
| for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| } |
| STOPR; STOPL; |
| output_high(LED1); output_high(LED3); output_high(LED4); |
| line=L; // caru jsme prejeli, tak je vlevo |
| cirkus=0; |
| } |
| void main() |
| { |
| unsigned int16 n; // pro FOR |
| unsigned int16 i; |
| STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
| setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
| port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
| setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| // preruseni kazdych 10ms |
| setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
| setup_adc(ADC_CLOCK_INTERNAL); |
| set_adc_channel(2); |
| setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
| setup_ccp1(CCP_COMPARE_RESET_TIMER); |
| CCP_1=(2^10)-1; // prevod kazdou 1ms |
| output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4); |
| setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
| setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
| Beep(1000,200); //double beep |
| Delay_ms(50); |
| Beep(1000,200); |
| Delay_ms(1000); // 1s |
| // povoleni rizeni rychlosti zataceni pres preruseni |
| enable_interrupts(INT_TIMER2); |
| enable_interrupts(GLOBAL); |
| /*---------------------------------------------------------------------------*/ |
| sensors=S; |
| line=S; |
| last=S; |
| cirkus=0; |
| // movement=S; |
| speed=FW_POMALU; |
| BW=input(BARVY); // Jaka ma byt barva cary? |
| diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku |
| Delay_ms(500); |
| output_high(LED1); Beep(1000,200); Delay_ms(500); |
| output_high(LED2); Beep(1000,200); Delay_ms(500); |
| output_high(LED3); Beep(1000,200); Delay_ms(500); |
| output_high(LED4); Beep(1000,200); Delay_ms(500); |
| while(true) // hlavni smycka (jizda podle cary) |
| { |
| sensors = RSENSOR; // cteni senzoru na caru |
| sensors |= LSENSOR << 1; |
| if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
| switch (sensors) // zatacej podle toho, kde vidis caru |
| { |
| case S: // rovne |
| GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| continue; |
| case L: // trochu vlevo |
| GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| line=L; |
| continue; |
| case R: // trochu vpravo |
| GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| line=R; |
| continue; |
| default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| }; |
| rovinka=0; |
| if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, |
| // tak zabrzdi |
| { |
| output_bit(LED1, !input(LED1)); |
| last=line; |
| speed=FW_ZATACKA; |
| cirkus++; |
| if (cirkus>8) |
| { |
| STOPL; STOPR; |
| cirkus=0; |
| disable_interrupts(GLOBAL); |
| beep(1000,400); |
| for(n=3000; n>3950; n--) beep(n,10); |
| output_low(LED1); |
| beep(2000,200); |
| beep(900,400); |
| for(n=2950; n<3000; n++) beep(n,10); |
| output_low(LED2); |
| output_high(LED1); |
| beep(4000,400); |
| beep(1000,100); |
| output_low(LED3); |
| beep(3000,400); |
| Delay_ms(1000); |
| output_high(LED1); output_high(LED2); |
| output_high(LED3); output_high(LED4); |
| enable_interrupts(GLOBAL); |
| } |
| }; |
| if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| { |
| STOPL; |
| GO(R, F, speed); |
| } |
| else |
| { |
| STOPR; |
| GO(L, F, speed); |
| } |
| } // while(true) |
| } |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.err |
|---|
| 0,0 → 1,0 |
| No Errors |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.h |
|---|
| 0,0 → 1,5 |
| #include <16F88.h> |
| #device adc=8 |
| #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| #use delay(clock=4000000) |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.sta |
|---|
| 0,0 → 1,35 |
| ROM used: 1441 (35%) |
| 1441 (35%) including unused fragments |
| 3 Average locations per line |
| 5 Average locations per statement |
| RAM used: 27 (15%) at main() level |
| 34 (19%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 269 293 100 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c |
| 6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h |
| 275 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 1100 586 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 21 1 1 @delay_ms1 |
| 0 19 1 1 @delay_us1 |
| 0 11 1 0 TIMER2_isr |
| 0 30 2 6 beep |
| 0 368 26 3 diagnostika |
| 0 217 15 4 OtocSe |
| 0 720 50 6 main |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-00036 51 0 |
| 00037-007FF 1386 607 |
| 00800-00FFF 0 2048 |
| /Designs/ROBOTS/Merkur/SW/MerkurU/tank.tre |
|---|
| 0,0 → 1,106 |
| ÀÄtank |
| ÃÄmain 0/720 Ram=6 |
| ³ ÃÄ??0?? |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄdiagnostika 0/368 Ram=3 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄOtocSe 0/217 Ram=4 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÀÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÃÄbeep 0/30 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
| ³ ÀÄ@delay_ms1 0/21 Ram=1 |
| ÀÄTIMER2_isr 0/11 Ram=0 |
| /Designs/ROBOTS/Merkur/SW/README.txt |
|---|
| 0,0 → 1,6 |
| Složka MerkurU obsahuje zdrojáky pro jízdu po neuzavřené křivce |
| Složka turn_L obsahuje zdroják pro objíždění cihly vlevo |
| Složka turn_R obsahuje zdroják pro objíždění cihly vpravo |
| A složka vystava je verze firmware pro výstavně ježdění, zařazena rutina pro usporný režim a šetření motorů. |
| /Designs/ROBOTS/Merkur/SW/turn_L/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/turn_L/tank.BAK |
|---|
| 0,0 → 1,340 |
| #include "tank.h" |
| #define DEBUG |
| #define TXo PIN_A3 // To the transmitter modulator |
| #include "AX25.c" // podprogram pro prenos telemetrie |
| 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; |
| if (rovinka<MAX_ROVINKA) rovinka++; |
| if (dira<=T_DIRA) dira++; |
| } |
| // 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)) |
| { |
| if (RSENSOR) beep(900,500); |
| if (LSENSOR) beep(800,500); |
| if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
| }; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void cikcak() |
| { |
| unsigned int16 n; |
| sem1: |
| n=CIK_CAK; |
| while (0==RSENSOR||LSENSOR) // zkontroluj caru |
| { |
| if (n==CIK_CAK) // zmen smer zataceni |
| { |
| n=0; |
| switch(movement) |
| { |
| case L: |
| FL;BR; |
| movement=R; |
| break; |
| case R: |
| FR;BL; |
| movement=L; |
| break; |
| case S: |
| FL;BR; |
| movement=R; |
| n=CIK_CAK/2; |
| break; |
| } |
| } |
| n++; |
| } |
| STOPL;STOPR; |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line==0) goto sem1; |
| // nasli jsme caru |
| line=S; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void objizdka() // objede cihlu |
| { |
| unsigned int16 n; |
| BL;BR;Delay_ms(200); |
| STOPR;STOPL; |
| beep(900,1000); |
| // movement=S; |
| //cikcak(); |
| BL; FR; Delay_ms(215); // otoc se 70° do leva |
| FR; FL; Delay_ms(600); // popojed rovne |
| BR; Delay_ms(50); // otoc se 90° do prava |
| STOPR; FL; Delay_ms(700); |
| FR; FL; Delay_ms(100); // popojed rovne na slepo |
| for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) {Delay_ms(50); break;} // kdyz narazis na caru, za chvili zastav |
| Delay_ms(1); |
| } |
| BL; // otoc se 60° do leva |
| for(n=600;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| Delay_ms(1); |
| } |
| STOPR; STOPL; |
| movement=R; |
| cikcak(); |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void prejeddiru() // vyresi diru |
| { |
| unsigned int16 n; |
| unsigned int8 speed_dira; |
| STOPL;STOPR; |
| speed_dira=speed; |
| beep(1000,500); |
| switch (movement) //vrat se zpet na caru |
| { |
| case L: |
| for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case R: |
| for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case S: |
| goto sem; |
| break; |
| } |
| beep(800,500); |
| line=0; |
| FR; BL; Delay_ms(300); // otoc se na caru |
| while(line==0) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| } |
| FL;BR; Delay_ms(60); |
| STOPL; STOPR; |
| FL; BR; Delay_ms(500); |
| STOPL; STOPR; |
| Delay_ms(1000); |
| FR;FL; //popojed rovne |
| for(n=PRES_DIRU;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| Delay_ms(1); |
| } |
| sem: |
| STOPL; STOPR; |
| movement=S; |
| cikcak(); // najdi caru |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| unsigned int16 n; // pro FOR |
| 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; |
| movement=S; |
| speed=FW_POMALU; |
| diagnostika(); |
| // cikcak(); // toc se, abys nasel caru |
| 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) && (dira<=T_CIHLA)) objizdka(); |
| switch (sensors) // zatacej podle toho, kde vidis caru |
| { |
| case S: // rovne |
| FL; FR; // pokud se jede dlouho rovne, tak pridej |
| dira=0; |
| movement=S; |
| continue; |
| case L: // trochu vlevo |
| GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| line=L; |
| dira=0; |
| movement=L; |
| continue; |
| case R: // trochu vpravo |
| GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| line=R; |
| dira=0; |
| movement=R; |
| continue; |
| default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| } |
| rovinka=0; |
| if (dira>=T_DIRA) prejeddiru(); |
| if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| { |
| last=line; |
| speed=FW_ZATACKA; |
| } |
| if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| { |
| STOPL; |
| GO(R, F, speed); |
| movement=L; |
| } |
| else |
| { |
| STOPR; |
| GO(L, F, speed); |
| movement=R; |
| } |
| } // while(true) |
| } |
| /Designs/ROBOTS/Merkur/SW/turn_L/tank.HEX |
|---|
| 0,0 → 1,217 |
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| :100D4000061383168613831286130130C500AC2D5B |
| :020D500063003E |
| :04400E00383FFC3FFC |
| :00000001FF |
| ;PIC16F88 |
| /Designs/ROBOTS/Merkur/SW/turn_L/tank.LST |
|---|
| 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 |
| /Designs/ROBOTS/Merkur/SW/turn_L/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\turn_L\tank.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3= |
| 4=C:\Program Files\PICC\devices\16F88.h |
| 5= |
| 6= |
| 7= |
| /Designs/ROBOTS/Merkur/SW/turn_L/tank.SYM |
|---|
| 0,0 → 1,88 |
| 003 STATUS |
| 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 |
| 029-038 SendData |
| 039.0 bit |
| 03A fcslo |
| 03B fcshi |
| 03C stuff |
| 03D flag_flag |
| 03E fcs_flag |
| 03F i |
| 040 sensors |
| 041 line |
| 042 speed |
| 043 rovinka |
| 044 last |
| 045 movement |
| 046 dira |
| 047-06E AXstring |
| 06F-070 main.n |
| 071-072 objizdka.n |
| 071-072 diagnostika.n |
| 071-072 prejeddiru.n |
| 071 main.@SCRATCH |
| 073 prejeddiru.speed_dira |
| 073 diagnostika.@SCRATCH |
| 073 objizdka.@SCRATCH |
| 074-075 beep.period |
| 074-075 cikcak.n |
| 074 prejeddiru.@SCRATCH |
| 075 @delay_ms1.P1 |
| 076 cikcak.@SCRATCH |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 07C-07D beep.length |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0A0-0A1 beep.nn |
| 0A2 @delay_us1.P1 |
| 0088 @delay_ms1 |
| 0047 @delay_us1 |
| 0037 TIMER2_isr |
| 005C beep |
| 009D diagnostika |
| 01FD cikcak |
| 0289 objizdka |
| 0380 prejeddiru |
| 04E8 main |
| 04E8 @cinit |
| 01FD sem1 |
| 04D2 sem |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.c |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.h |
| C:\Program Files\PICC\devices\16F88.h |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\AX25.c |
| 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\turn_L\tank.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.HEX |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.SYM |
| List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LST |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.sta |
| /Designs/ROBOTS/Merkur/SW/turn_L/tank.c |
|---|
| 0,0 → 1,340 |
| #include "tank.h" |
| #define DEBUG |
| #define TXo PIN_A3 // To the transmitter modulator |
| #include "AX25.c" // podprogram pro prenos telemetrie |
| 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; |
| if (rovinka<MAX_ROVINKA) rovinka++; |
| if (dira<=T_DIRA) dira++; |
| } |
| // 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)) |
| { |
| if (RSENSOR) beep(900,500); |
| if (LSENSOR) beep(800,500); |
| if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
| }; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void cikcak() |
| { |
| unsigned int16 n; |
| sem1: |
| n=CIK_CAK; |
| while (0==RSENSOR||LSENSOR) // zkontroluj caru |
| { |
| if (n==CIK_CAK) // zmen smer zataceni |
| { |
| n=0; |
| switch(movement) |
| { |
| case L: |
| FL;BR; |
| movement=R; |
| break; |
| case R: |
| FR;BL; |
| movement=L; |
| break; |
| case S: |
| FL;BR; |
| movement=R; |
| n=CIK_CAK/2; |
| break; |
| } |
| } |
| n++; |
| } |
| STOPL;STOPR; |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line==0) goto sem1; |
| // nasli jsme caru |
| line=S; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void objizdka() // objede cihlu |
| { |
| unsigned int16 n; |
| BL;BR;Delay_ms(200); |
| STOPR;STOPL; |
| beep(900,1000); |
| // movement=S; |
| //cikcak(); |
| BL; FR; Delay_ms(215); // otoc se 70° do leva |
| FR; FL; Delay_ms(600); // popojed rovne |
| BR; Delay_ms(50); // otoc se 90° do prava |
| STOPR; FL; Delay_ms(600); |
| FR; FL; Delay_ms(100); // popojed rovne na slepo |
| for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) {Delay_ms(50); break;} // kdyz narazis na caru, za chvili zastav |
| Delay_ms(1); |
| } |
| BL; // otoc se 60° do leva |
| for(n=600;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| Delay_ms(1); |
| } |
| STOPR; STOPL; |
| movement=R; |
| cikcak(); |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void prejeddiru() // vyresi diru |
| { |
| unsigned int16 n; |
| unsigned int8 speed_dira; |
| STOPL;STOPR; |
| speed_dira=speed; |
| beep(1000,500); |
| switch (movement) //vrat se zpet na caru |
| { |
| case L: |
| for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case R: |
| for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case S: |
| goto sem; |
| break; |
| } |
| beep(800,500); |
| line=0; |
| FR; BL; Delay_ms(300); // otoc se na caru |
| while(line==0) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| } |
| FL;BR; Delay_ms(60); |
| STOPL; STOPR; |
| FL; BR; Delay_ms(500); |
| STOPL; STOPR; |
| Delay_ms(1000); |
| FR;FL; //popojed rovne |
| for(n=PRES_DIRU;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| Delay_ms(1); |
| } |
| sem: |
| STOPL; STOPR; |
| movement=S; |
| cikcak(); // najdi caru |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| unsigned int16 n; // pro FOR |
| 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; |
| movement=S; |
| speed=FW_POMALU; |
| diagnostika(); |
| // cikcak(); // toc se, abys nasel caru |
| 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) && (dira<=T_CIHLA)) objizdka(); |
| switch (sensors) // zatacej podle toho, kde vidis caru |
| { |
| case S: // rovne |
| FL; FR; // pokud se jede dlouho rovne, tak pridej |
| dira=0; |
| movement=S; |
| continue; |
| case L: // trochu vlevo |
| GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| line=L; |
| dira=0; |
| movement=L; |
| continue; |
| case R: // trochu vpravo |
| GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| line=R; |
| dira=0; |
| movement=R; |
| continue; |
| default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| } |
| rovinka=0; |
| if (dira>=T_DIRA) prejeddiru(); |
| if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| { |
| last=line; |
| speed=FW_ZATACKA; |
| } |
| if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| { |
| STOPL; |
| GO(R, F, speed); |
| movement=L; |
| } |
| else |
| { |
| STOPR; |
| GO(L, F, speed); |
| movement=R; |
| } |
| } // while(true) |
| } |
| /Designs/ROBOTS/Merkur/SW/turn_L/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/turn_L/tank.err |
|---|
| 0,0 → 1,0 |
| No Errors |
| /Designs/ROBOTS/Merkur/SW/turn_L/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/turn_L/tank.sta |
|---|
| 0,0 → 1,38 |
| ROM used: 1705 (42%) |
| 1705 (42%) including unused fragments |
| 2 Average locations per line |
| 4 Average locations per statement |
| RAM used: 87 (50%) at main() level |
| 98 (56%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 341 386 85 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.c |
| 6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.h |
| 275 0 0 C:\Program Files\PICC\devices\16F88.h |
| 136 67 8 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\AX25.c |
| ----- ----- |
| 1516 906 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 21 1 1 @delay_ms1 |
| 0 21 1 1 @delay_us1 |
| 0 16 1 0 TIMER2_isr |
| 0 44 3 6 beep |
| 0 352 21 3 diagnostika |
| 0 140 8 3 cikcak |
| 0 247 14 3 objizdka |
| 0 360 21 4 prejeddiru |
| 0 449 26 3 main |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-00036 51 0 |
| 00037-007FF 1650 343 |
| 00800-00FFF 0 2048 |
| /Designs/ROBOTS/Merkur/SW/turn_L/tank.tre |
|---|
| 0,0 → 1,80 |
| ÀÄtank |
| ÃÄmain 0/449 Ram=3 |
| ³ ÃÄ??0?? |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄdiagnostika 0/352 Ram=3 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄobjizdka 0/247 Ram=3 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 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 ÀÄcikcak 0/140 Ram=3 |
| ³ ÀÄprejeddiru 0/360 Ram=4 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÀÄcikcak 0/140 Ram=3 |
| ÀÄTIMER2_isr 0/16 Ram=0 |
| /Designs/ROBOTS/Merkur/SW/turn_R/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/turn_R/tank.BAK |
|---|
| 0,0 → 1,339 |
| #include "tank.h" |
| #define DEBUG |
| #define TXo PIN_A3 // To the transmitter modulator |
| #include "AX25.c" // podprogram pro prenos telemetrie |
| 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 120 // 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 240 // rychlost vnejsiho kola pri zataceni |
| #define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
| #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
| #define PRES_DIRU 300 |
| #define MAX_ROVINKA (255-FW_STREDNE) |
| #define TRESHOLD 6 // 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; |
| if (rovinka<MAX_ROVINKA) rovinka++; |
| if (dira<=T_DIRA) dira++; |
| } |
| // 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(900,500); |
| if (LSENSOR) beep(800,500); |
| if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
| }; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void cikcak() |
| { |
| unsigned int16 n; |
| sem1: |
| n=CIK_CAK; |
| while (0==RSENSOR||LSENSOR) // zkontroluj caru |
| { |
| if (n==CIK_CAK) // zmen smer zataceni |
| { |
| n=0; |
| switch(movement) |
| { |
| case L: |
| FL;BR; |
| movement=R; |
| break; |
| case R: |
| FR;BL; |
| movement=L; |
| break; |
| case S: |
| FL;BR; |
| movement=R; |
| n=CIK_CAK/2; |
| break; |
| } |
| } |
| n++; |
| } |
| STOPL;STOPR; |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line==0) goto sem1; |
| // nasli jsme caru |
| line=S; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void objizdka() // objede cihlu |
| { |
| unsigned int16 n; |
| BL;BR;Delay_ms(150); |
| STOPR;STOPL; |
| beep(900,1000); |
| // movement=S; |
| // cikcak(); |
| BR; FL; Delay_ms(270); // otoc se 70° do prava |
| FR; FL; Delay_ms(700); // popojed rovne |
| BL; Delay_ms(30); // otoc se 90° do leva |
| STOPL; FR; Delay_ms(500); |
| FR; FL; Delay_ms(100); // popojed rovne na slepo |
| for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) {Delay_ms(150); break;} |
| // Delay_ms(1); |
| } |
| BR; FL; // otoc se 60° do prava |
| for(n=40000;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| // Delay_ms(1); |
| } |
| STOPR; STOPL; |
| movement=L; //R; |
| cikcak(); |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void prejeddiru() // vyresi diru |
| { |
| unsigned int16 n; |
| unsigned int8 speed_dira; |
| STOPL;STOPR; |
| speed_dira=speed; |
| beep(1000,500); |
| switch (movement) //vrat se zpet na caru |
| { |
| case L: |
| for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case R: |
| for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case S: |
| goto sem; |
| break; |
| } |
| beep(1000,500); |
| /*line=0; |
| FR; BL; Delay_ms(400); // otoc se na caru |
| beep(1000,500); |
| while(line==0) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| } |
| FL;BR; Delay_ms(60); // zabrzdi |
| STOPL; STOPR; |
| FL; BR; Delay_ms(700); // otacka 180 deg |
| STOPL; STOPR;*/ |
| FR;FL; //popojed rovne |
| for(n=PRES_DIRU;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| Delay_ms(1); |
| } |
| sem: |
| STOPL; STOPR; |
| movement=S; |
| cikcak(); // najdi caru |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| unsigned int16 n; // pro FOR |
| 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; |
| movement=S; |
| speed=FW_POMALU; |
| diagnostika(); |
| //cikcak(); // toc se, abys nasel caru |
| 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) && (dira<=T_CIHLA)) objizdka(); |
| switch (sensors) // zatacej podle toho, kde vidis caru |
| { |
| case S: // rovne |
| FL; FR; // pokud se jede dlouho rovne, tak pridej |
| dira=0; |
| movement=S; |
| continue; |
| case L: // trochu vlevo |
| GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| line=L; |
| dira=0; |
| movement=L; |
| continue; |
| case R: // trochu vpravo |
| GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| line=R; |
| dira=0; |
| movement=R; |
| continue; |
| default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| } |
| rovinka=0; |
| if (dira>=T_DIRA) prejeddiru(); |
| if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| { |
| last=line; |
| speed=FW_ZATACKA; |
| } |
| if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| { |
| STOPL; |
| GO(R, F, speed); |
| movement=L; |
| } |
| else |
| { |
| STOPR; |
| GO(L, F, speed); |
| movement=R; |
| } |
| } // while(true) |
| } |
| /Designs/ROBOTS/Merkur/SW/turn_R/tank.HEX |
|---|
| 0,0 → 1,202 |
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| :100A20008820F10B0E2D83168C14C03083128B049A |
| :100A30000330C000C100C400C500E630C2009D28DC |
| :100A40000230F100FA30F4008820F10B222D03303F |
| :100A5000F500E830F400FD01C830FC005C200230F5 |
| :100A6000F100FA30F4008820F10B312DC00183161B |
| :100A70009C1F3D2D8312C00A831600301C1B0130C1 |
| :100A8000F7000310F70D77088312C0041F19462DD5 |
| :100A90001E087F3C031C502D4608323C0318892A4F |
| :100AA0004008033A03195B2D013A03196F2D033AED |
| :100AB0000319A82DE12D831686138312861383163E |
| :100AC0000613831206178316861283128612831664 |
| :100AD000061283120616C6010330C500362D010822 |
| :100AE000F100E630430771020319782D0318812DB8 |
| :100AF0008316861383128613831606138312061732 |
| :100B0000892D831606138312061383168613831208 |
| :100B100086130108F100F030430771020319922D8A |
| :100B200003189B2D831686128312861283160612D3 |
| :100B300083120616A32D831606128312061283163D |
| :100B40008612831286120230C100C601C500362DFE |
| :100B50000108F100E630430771020319B12D0318B3 |
| :100B6000BA2D8316861283128612831606128312FA |
| :100B70000616C22D831606128312061283168612DB |
| :100B8000831286120108F100F03043077102031945 |
| :100B9000CB2D0318D42D8316861383128613831648 |
| :100BA000061383120617DC2D831606138312061311 |
| :100BB00083168613831286130130C100C601C50057 |
| :100BC000362DC3014608773C031C862B410844029E |
| :100BD0000319EE2D4108C400F030C2004108023C68 |
| :100BE000031D122E83160613831206138316861313 |
| :100BF0008312861301084202031C072E83168612F5 |
| :100C00008312861283160612831206160F2E83167F |
| :100C1000061283120612831686128312861202307F |
| :100C2000C500312E83160612831206128316861211 |
| :100C30008312861201084202031C272E8316861394 |
| :100C40008312861383160613831206172F2E83161C |
| :100C5000061383120613831686138312861301303C |
| :060C6000C500362D630003 |
| :04400E00383FFC3FFC |
| :00000001FF |
| ;PIC16F88 |
| /Designs/ROBOTS/Merkur/SW/turn_R/tank.LST |
|---|
| 0,0 → 1,1932 |
| CCS PCM C Compiler, Version 3.221, 27853 27-IV-05 14:16 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.LST |
| ROM used: 1587 words (39%) |
| 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 472 |
| 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 74 |
| 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 120 // 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 240 // rychlost vnejsiho kola pri zataceni |
| .................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
| .................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
| .................... #define PRES_DIRU 300 |
| .................... #define MAX_ROVINKA (255-FW_STREDNE) |
| .................... #define TRESHOLD 6 // 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 78 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 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 74 |
| 01C4: CALL 088 |
| 01C5: DECFSZ 73,F |
| 01C6: GOTO 1C2 |
| .................... }; |
| 01C7: GOTO 09D |
| .................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
| .................... { |
| 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 520 (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(150); |
| 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 96 |
| 029A: MOVWF 74 |
| 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(); |
| .................... |
| .................... BR; FL; Delay_ms(270); // otoc se 70° do prava |
| 02B5: BSF 03.5 |
| 02B6: BCF 06.4 |
| 02B7: BCF 03.5 |
| 02B8: BCF 06.4 |
| 02B9: BSF 03.5 |
| 02BA: BCF 06.5 |
| 02BB: BCF 03.5 |
| 02BC: BSF 06.5 |
| 02BD: BSF 03.5 |
| 02BE: BCF 06.7 |
| 02BF: BCF 03.5 |
| 02C0: BCF 06.7 |
| 02C1: BSF 03.5 |
| 02C2: BCF 06.6 |
| 02C3: BCF 03.5 |
| 02C4: BSF 06.6 |
| 02C5: MOVLW 02 |
| 02C6: MOVWF 73 |
| 02C7: MOVLW 87 |
| 02C8: MOVWF 74 |
| 02C9: CALL 088 |
| 02CA: DECFSZ 73,F |
| 02CB: GOTO 2C7 |
| .................... |
| .................... FR; FL; Delay_ms(500); // popojed rovne |
| 02CC: BSF 03.5 |
| 02CD: BCF 06.5 |
| 02CE: BCF 03.5 |
| 02CF: BCF 06.5 |
| 02D0: BSF 03.5 |
| 02D1: BCF 06.4 |
| 02D2: BCF 03.5 |
| 02D3: BSF 06.4 |
| 02D4: BSF 03.5 |
| 02D5: BCF 06.7 |
| 02D6: BCF 03.5 |
| 02D7: BCF 06.7 |
| 02D8: BSF 03.5 |
| 02D9: BCF 06.6 |
| 02DA: BCF 03.5 |
| 02DB: BSF 06.6 |
| 02DC: MOVLW 02 |
| 02DD: MOVWF 73 |
| 02DE: MOVLW FA |
| 02DF: MOVWF 74 |
| 02E0: CALL 088 |
| 02E1: DECFSZ 73,F |
| 02E2: GOTO 2DE |
| .................... |
| .................... BL; Delay_ms(30); // otoc se 90° do leva |
| 02E3: BSF 03.5 |
| 02E4: BCF 06.6 |
| 02E5: BCF 03.5 |
| 02E6: BCF 06.6 |
| 02E7: BSF 03.5 |
| 02E8: BCF 06.7 |
| 02E9: BCF 03.5 |
| 02EA: BSF 06.7 |
| 02EB: MOVLW 1E |
| 02EC: MOVWF 74 |
| 02ED: CALL 088 |
| .................... STOPL; FR; Delay_ms(500); |
| 02EE: BSF 03.5 |
| 02EF: BCF 06.6 |
| 02F0: BCF 03.5 |
| 02F1: BCF 06.6 |
| 02F2: BSF 03.5 |
| 02F3: BCF 06.7 |
| 02F4: BCF 03.5 |
| 02F5: BCF 06.7 |
| 02F6: BSF 03.5 |
| 02F7: BCF 06.5 |
| 02F8: BCF 03.5 |
| 02F9: BCF 06.5 |
| 02FA: BSF 03.5 |
| 02FB: BCF 06.4 |
| 02FC: BCF 03.5 |
| 02FD: BSF 06.4 |
| 02FE: MOVLW 02 |
| 02FF: MOVWF 73 |
| 0300: MOVLW FA |
| 0301: MOVWF 74 |
| 0302: CALL 088 |
| 0303: DECFSZ 73,F |
| 0304: GOTO 300 |
| .................... |
| .................... FR; FL; Delay_ms(100); // popojed rovne na slepo |
| 0305: BSF 03.5 |
| 0306: BCF 06.5 |
| 0307: BCF 03.5 |
| 0308: BCF 06.5 |
| 0309: BSF 03.5 |
| 030A: BCF 06.4 |
| 030B: BCF 03.5 |
| 030C: BSF 06.4 |
| 030D: BSF 03.5 |
| 030E: BCF 06.7 |
| 030F: BCF 03.5 |
| 0310: BCF 06.7 |
| 0311: BSF 03.5 |
| 0312: BCF 06.6 |
| 0313: BCF 03.5 |
| 0314: BSF 06.6 |
| 0315: MOVLW 64 |
| 0316: MOVWF 74 |
| 0317: CALL 088 |
| .................... for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru |
| 0318: MOVLW 9C |
| 0319: MOVWF 72 |
| 031A: MOVLW 40 |
| 031B: MOVWF 71 |
| 031C: MOVF 71,F |
| 031D: BTFSS 03.2 |
| 031E: GOTO 322 |
| 031F: MOVF 72,F |
| 0320: BTFSC 03.2 |
| 0321: GOTO 33E |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 0322: CLRF 41 |
| 0323: BSF 03.5 |
| 0324: BTFSS 1C.7 |
| 0325: GOTO 329 |
| 0326: BCF 03.5 |
| 0327: INCF 41,F |
| 0328: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0329: MOVLW 00 |
| 032A: BTFSC 1C.6 |
| 032B: MOVLW 01 |
| 032C: MOVWF 77 |
| 032D: BCF 03.0 |
| 032E: RLF 77,F |
| 032F: MOVF 77,W |
| 0330: BCF 03.5 |
| 0331: IORWF 41,F |
| .................... if (line!=0) {Delay_ms(150); break;} |
| 0332: MOVF 41,F |
| 0333: BTFSC 03.2 |
| 0334: GOTO 339 |
| 0335: MOVLW 96 |
| 0336: MOVWF 74 |
| 0337: CALL 088 |
| 0338: GOTO 33E |
| .................... // Delay_ms(1); |
| .................... } |
| 0339: MOVF 71,W |
| 033A: BTFSC 03.2 |
| 033B: DECF 72,F |
| 033C: DECF 71,F |
| 033D: GOTO 31C |
| .................... |
| .................... BR; FL; // otoc se 60° do prava |
| 033E: BSF 03.5 |
| 033F: BCF 06.4 |
| 0340: BCF 03.5 |
| 0341: BCF 06.4 |
| 0342: BSF 03.5 |
| 0343: BCF 06.5 |
| 0344: BCF 03.5 |
| 0345: BSF 06.5 |
| 0346: BSF 03.5 |
| 0347: BCF 06.7 |
| 0348: BCF 03.5 |
| 0349: BCF 06.7 |
| 034A: BSF 03.5 |
| 034B: BCF 06.6 |
| 034C: BCF 03.5 |
| 034D: BSF 06.6 |
| .................... for(n=40000;n>0;n--) |
| 034E: MOVLW 9C |
| 034F: MOVWF 72 |
| 0350: MOVLW 40 |
| 0351: MOVWF 71 |
| 0352: MOVF 71,F |
| 0353: BTFSS 03.2 |
| 0354: GOTO 358 |
| 0355: MOVF 72,F |
| 0356: BTFSC 03.2 |
| 0357: GOTO 370 |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 0358: CLRF 41 |
| 0359: BSF 03.5 |
| 035A: BTFSS 1C.7 |
| 035B: GOTO 35F |
| 035C: BCF 03.5 |
| 035D: INCF 41,F |
| 035E: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 035F: MOVLW 00 |
| 0360: BTFSC 1C.6 |
| 0361: MOVLW 01 |
| 0362: MOVWF 77 |
| 0363: BCF 03.0 |
| 0364: RLF 77,F |
| 0365: MOVF 77,W |
| 0366: BCF 03.5 |
| 0367: IORWF 41,F |
| .................... if (line!=0) break; |
| 0368: MOVF 41,F |
| 0369: BTFSS 03.2 |
| 036A: GOTO 370 |
| .................... // Delay_ms(1); |
| .................... } |
| 036B: MOVF 71,W |
| 036C: BTFSC 03.2 |
| 036D: DECF 72,F |
| 036E: DECF 71,F |
| 036F: GOTO 352 |
| .................... STOPR; STOPL; |
| 0370: BSF 03.5 |
| 0371: BCF 06.4 |
| 0372: BCF 03.5 |
| 0373: BCF 06.4 |
| 0374: BSF 03.5 |
| 0375: BCF 06.5 |
| 0376: BCF 03.5 |
| 0377: BCF 06.5 |
| 0378: BSF 03.5 |
| 0379: BCF 06.6 |
| 037A: BCF 03.5 |
| 037B: BCF 06.6 |
| 037C: BSF 03.5 |
| 037D: BCF 06.7 |
| 037E: BCF 03.5 |
| 037F: BCF 06.7 |
| .................... |
| .................... movement=L; //R; |
| 0380: MOVLW 02 |
| 0381: MOVWF 45 |
| .................... cikcak(); |
| 0382: CALL 1FD |
| .................... dira=0; |
| 0383: CLRF 46 |
| .................... } |
| 0384: BCF 0A.3 |
| 0385: GOTO 550 (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void prejeddiru() // vyresi diru |
| .................... { |
| .................... unsigned int16 n; |
| .................... unsigned int8 speed_dira; |
| .................... |
| .................... STOPL;STOPR; |
| 0386: BSF 03.5 |
| 0387: BCF 06.6 |
| 0388: BCF 03.5 |
| 0389: BCF 06.6 |
| 038A: BSF 03.5 |
| 038B: BCF 06.7 |
| 038C: BCF 03.5 |
| 038D: BCF 06.7 |
| 038E: BSF 03.5 |
| 038F: BCF 06.4 |
| 0390: BCF 03.5 |
| 0391: BCF 06.4 |
| 0392: BSF 03.5 |
| 0393: BCF 06.5 |
| 0394: BCF 03.5 |
| 0395: BCF 06.5 |
| .................... speed_dira=speed; |
| 0396: MOVF 42,W |
| 0397: MOVWF 73 |
| .................... beep(1000,500); |
| 0398: MOVLW 03 |
| 0399: MOVWF 75 |
| 039A: MOVLW E8 |
| 039B: MOVWF 74 |
| 039C: MOVLW 01 |
| 039D: MOVWF 7D |
| 039E: MOVLW F4 |
| 039F: MOVWF 7C |
| 03A0: CALL 05C |
| .................... switch (movement) //vrat se zpet na caru |
| .................... { |
| 03A1: MOVF 45,W |
| 03A2: XORLW 02 |
| 03A3: BTFSC 03.2 |
| 03A4: GOTO 3AC |
| 03A5: XORLW 03 |
| 03A6: BTFSC 03.2 |
| 03A7: GOTO 3E4 |
| 03A8: XORLW 02 |
| 03A9: BTFSC 03.2 |
| 03AA: GOTO 41C |
| 03AB: GOTO 41E |
| .................... case L: |
| .................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
| 03AC: MOVLW 02 |
| 03AD: MOVWF 72 |
| 03AE: MOVLW EE |
| 03AF: MOVWF 71 |
| 03B0: MOVF 71,F |
| 03B1: BTFSS 03.2 |
| 03B2: GOTO 3B6 |
| 03B3: MOVF 72,F |
| 03B4: BTFSC 03.2 |
| 03B5: GOTO 3D3 |
| 03B6: MOVF 01,W |
| 03B7: SUBWF 73,W |
| 03B8: BTFSS 03.0 |
| 03B9: GOTO 3C3 |
| 03BA: BSF 03.5 |
| 03BB: BCF 06.4 |
| 03BC: BCF 03.5 |
| 03BD: BCF 06.4 |
| 03BE: BSF 03.5 |
| 03BF: BCF 06.5 |
| 03C0: BCF 03.5 |
| 03C1: BSF 06.5 |
| 03C2: GOTO 3CB |
| 03C3: BSF 03.5 |
| 03C4: BCF 06.4 |
| 03C5: BCF 03.5 |
| 03C6: BCF 06.4 |
| 03C7: BSF 03.5 |
| 03C8: BCF 06.5 |
| 03C9: BCF 03.5 |
| 03CA: BCF 06.5 |
| 03CB: MOVLW 01 |
| 03CC: MOVWF 74 |
| 03CD: CALL 088 |
| 03CE: MOVF 71,W |
| 03CF: BTFSC 03.2 |
| 03D0: DECF 72,F |
| 03D1: DECF 71,F |
| 03D2: GOTO 3B0 |
| .................... STOPL;STOPR; |
| 03D3: BSF 03.5 |
| 03D4: BCF 06.6 |
| 03D5: BCF 03.5 |
| 03D6: BCF 06.6 |
| 03D7: BSF 03.5 |
| 03D8: BCF 06.7 |
| 03D9: BCF 03.5 |
| 03DA: BCF 06.7 |
| 03DB: BSF 03.5 |
| 03DC: BCF 06.4 |
| 03DD: BCF 03.5 |
| 03DE: BCF 06.4 |
| 03DF: BSF 03.5 |
| 03E0: BCF 06.5 |
| 03E1: BCF 03.5 |
| 03E2: BCF 06.5 |
| .................... break; |
| 03E3: GOTO 41E |
| .................... case R: |
| .................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
| 03E4: MOVLW 02 |
| 03E5: MOVWF 72 |
| 03E6: MOVLW EE |
| 03E7: MOVWF 71 |
| 03E8: MOVF 71,F |
| 03E9: BTFSS 03.2 |
| 03EA: GOTO 3EE |
| 03EB: MOVF 72,F |
| 03EC: BTFSC 03.2 |
| 03ED: GOTO 40B |
| 03EE: MOVF 01,W |
| 03EF: SUBWF 73,W |
| 03F0: BTFSS 03.0 |
| 03F1: GOTO 3FB |
| 03F2: BSF 03.5 |
| 03F3: BCF 06.6 |
| 03F4: BCF 03.5 |
| 03F5: BCF 06.6 |
| 03F6: BSF 03.5 |
| 03F7: BCF 06.7 |
| 03F8: BCF 03.5 |
| 03F9: BSF 06.7 |
| 03FA: GOTO 403 |
| 03FB: BSF 03.5 |
| 03FC: BCF 06.6 |
| 03FD: BCF 03.5 |
| 03FE: BCF 06.6 |
| 03FF: BSF 03.5 |
| 0400: BCF 06.7 |
| 0401: BCF 03.5 |
| 0402: BCF 06.7 |
| 0403: MOVLW 01 |
| 0404: MOVWF 74 |
| 0405: CALL 088 |
| 0406: MOVF 71,W |
| 0407: BTFSC 03.2 |
| 0408: DECF 72,F |
| 0409: DECF 71,F |
| 040A: GOTO 3E8 |
| .................... STOPL;STOPR; |
| 040B: BSF 03.5 |
| 040C: BCF 06.6 |
| 040D: BCF 03.5 |
| 040E: BCF 06.6 |
| 040F: BSF 03.5 |
| 0410: BCF 06.7 |
| 0411: BCF 03.5 |
| 0412: BCF 06.7 |
| 0413: BSF 03.5 |
| 0414: BCF 06.4 |
| 0415: BCF 03.5 |
| 0416: BCF 06.4 |
| 0417: BSF 03.5 |
| 0418: BCF 06.5 |
| 0419: BCF 03.5 |
| 041A: BCF 06.5 |
| .................... break; |
| 041B: GOTO 41E |
| .................... case S: |
| .................... goto sem; |
| 041C: GOTO 45C |
| .................... break; |
| 041D: GOTO 41E |
| .................... } |
| .................... beep(1000,500); |
| 041E: MOVLW 03 |
| 041F: MOVWF 75 |
| 0420: MOVLW E8 |
| 0421: MOVWF 74 |
| 0422: MOVLW 01 |
| 0423: MOVWF 7D |
| 0424: MOVLW F4 |
| 0425: MOVWF 7C |
| 0426: CALL 05C |
| .................... |
| .................... /*line=0; |
| .................... FR; BL; Delay_ms(400); // otoc se na caru |
| .................... beep(1000,500); |
| .................... while(line==0) |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| .................... line |= LSENSOR << 1; |
| .................... } |
| .................... FL;BR; Delay_ms(60); // zabrzdi |
| .................... STOPL; STOPR; |
| .................... |
| .................... FL; BR; Delay_ms(700); // otacka 180 deg |
| .................... STOPL; STOPR;*/ |
| .................... |
| .................... FR;FL; //popojed rovne |
| 0427: BSF 03.5 |
| 0428: BCF 06.5 |
| 0429: BCF 03.5 |
| 042A: BCF 06.5 |
| 042B: BSF 03.5 |
| 042C: BCF 06.4 |
| 042D: BCF 03.5 |
| 042E: BSF 06.4 |
| 042F: BSF 03.5 |
| 0430: BCF 06.7 |
| 0431: BCF 03.5 |
| 0432: BCF 06.7 |
| 0433: BSF 03.5 |
| 0434: BCF 06.6 |
| 0435: BCF 03.5 |
| 0436: BSF 06.6 |
| .................... for(n=PRES_DIRU;n>0;n--) |
| 0437: MOVLW 01 |
| 0438: MOVWF 72 |
| 0439: MOVLW 2C |
| 043A: MOVWF 71 |
| 043B: MOVF 71,F |
| 043C: BTFSS 03.2 |
| 043D: GOTO 441 |
| 043E: MOVF 72,F |
| 043F: BTFSC 03.2 |
| 0440: GOTO 45C |
| .................... { |
| .................... line = RSENSOR; // cteni senzoru na caru |
| 0441: CLRF 41 |
| 0442: BSF 03.5 |
| 0443: BTFSS 1C.7 |
| 0444: GOTO 448 |
| 0445: BCF 03.5 |
| 0446: INCF 41,F |
| 0447: BSF 03.5 |
| .................... line |= LSENSOR << 1; |
| 0448: MOVLW 00 |
| 0449: BTFSC 1C.6 |
| 044A: MOVLW 01 |
| 044B: MOVWF 77 |
| 044C: BCF 03.0 |
| 044D: RLF 77,F |
| 044E: MOVF 77,W |
| 044F: BCF 03.5 |
| 0450: IORWF 41,F |
| .................... if (line!=0) break; |
| 0451: MOVF 41,F |
| 0452: BTFSS 03.2 |
| 0453: GOTO 45C |
| .................... Delay_ms(1); |
| 0454: MOVLW 01 |
| 0455: MOVWF 74 |
| 0456: CALL 088 |
| .................... } |
| 0457: MOVF 71,W |
| 0458: BTFSC 03.2 |
| 0459: DECF 72,F |
| 045A: DECF 71,F |
| 045B: GOTO 43B |
| .................... sem: |
| .................... STOPL; STOPR; |
| 045C: BSF 03.5 |
| 045D: BCF 06.6 |
| 045E: BCF 03.5 |
| 045F: BCF 06.6 |
| 0460: BSF 03.5 |
| 0461: BCF 06.7 |
| 0462: BCF 03.5 |
| 0463: BCF 06.7 |
| 0464: BSF 03.5 |
| 0465: BCF 06.4 |
| 0466: BCF 03.5 |
| 0467: BCF 06.4 |
| 0468: BSF 03.5 |
| 0469: BCF 06.5 |
| 046A: BCF 03.5 |
| 046B: BCF 06.5 |
| .................... movement=S; |
| 046C: MOVLW 03 |
| 046D: MOVWF 45 |
| .................... cikcak(); // najdi caru |
| 046E: CALL 1FD |
| .................... dira=0; |
| 046F: CLRF 46 |
| .................... } |
| 0470: BCF 0A.3 |
| 0471: GOTO 5E6 (RETURN) |
| .................... /////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 0472: CLRF 04 |
| 0473: MOVLW 1F |
| 0474: ANDWF 03,F |
| 0475: BSF 03.5 |
| 0476: BCF 1F.4 |
| 0477: BCF 1F.5 |
| 0478: MOVF 1B,W |
| 0479: ANDLW 80 |
| 047A: MOVWF 1B |
| 047B: MOVLW 07 |
| 047C: MOVWF 1C |
| 047D: MOVF 1C,W |
| 047E: BCF 03.5 |
| 047F: BCF 0D.6 |
| 0480: MOVLW 60 |
| 0481: BSF 03.5 |
| 0482: MOVWF 0F |
| .................... unsigned int16 n; // pro FOR |
| .................... |
| .................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
| * |
| 049F: BSF 03.5 |
| 04A0: BCF 06.6 |
| 04A1: BCF 03.5 |
| 04A2: BCF 06.6 |
| 04A3: BSF 03.5 |
| 04A4: BCF 06.7 |
| 04A5: BCF 03.5 |
| 04A6: BCF 06.7 |
| 04A7: BSF 03.5 |
| 04A8: BCF 06.4 |
| 04A9: BCF 03.5 |
| 04AA: BCF 06.4 |
| 04AB: BSF 03.5 |
| 04AC: BCF 06.5 |
| 04AD: BCF 03.5 |
| 04AE: BCF 06.5 |
| .................... |
| .................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
| 04AF: MOVLW 62 |
| 04B0: BSF 03.5 |
| 04B1: MOVWF 0F |
| .................... |
| .................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
| 04B2: BCF 01.7 |
| .................... setup_spi(FALSE); |
| 04B3: BCF 03.5 |
| 04B4: BCF 14.5 |
| 04B5: BSF 03.5 |
| 04B6: BCF 06.2 |
| 04B7: BSF 06.1 |
| 04B8: BCF 06.4 |
| 04B9: MOVLW 00 |
| 04BA: BCF 03.5 |
| 04BB: MOVWF 14 |
| 04BC: BSF 03.5 |
| 04BD: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
| 04BE: MOVF 01,W |
| 04BF: ANDLW C7 |
| 04C0: IORLW 08 |
| 04C1: MOVWF 01 |
| .................... |
| .................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
| 04C2: MOVLW 48 |
| 04C3: MOVWF 78 |
| 04C4: IORLW 05 |
| 04C5: BCF 03.5 |
| 04C6: MOVWF 12 |
| 04C7: MOVLW FF |
| 04C8: BSF 03.5 |
| 04C9: MOVWF 12 |
| .................... // preruseni kazdych 10ms |
| .................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
| 04CA: BCF 1F.4 |
| 04CB: BCF 1F.5 |
| 04CC: MOVF 1B,W |
| 04CD: ANDLW 80 |
| 04CE: IORLW 04 |
| 04CF: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 04D0: BCF 1F.6 |
| 04D1: BCF 03.5 |
| 04D2: BSF 1F.6 |
| 04D3: BSF 1F.7 |
| 04D4: BSF 03.5 |
| 04D5: BCF 1F.7 |
| 04D6: BCF 03.5 |
| 04D7: BSF 1F.0 |
| .................... set_adc_channel(2); |
| 04D8: MOVLW 10 |
| 04D9: MOVWF 78 |
| 04DA: MOVF 1F,W |
| 04DB: ANDLW C7 |
| 04DC: IORWF 78,W |
| 04DD: MOVWF 1F |
| .................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
| 04DE: MOVLW 85 |
| 04DF: MOVWF 10 |
| .................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
| 04E0: BSF 03.5 |
| 04E1: BSF 06.3 |
| 04E2: MOVLW 0B |
| 04E3: BCF 03.5 |
| 04E4: MOVWF 17 |
| .................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
| 04E5: CLRF 16 |
| 04E6: MOVLW 07 |
| 04E7: MOVWF 15 |
| .................... |
| .................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
| 04E8: MOVLW 02 |
| 04E9: BSF 03.5 |
| 04EA: MOVWF 1C |
| 04EB: MOVF 05,W |
| 04EC: IORLW 03 |
| 04ED: MOVWF 05 |
| 04EE: MOVLW 03 |
| 04EF: MOVWF 77 |
| 04F0: DECFSZ 77,F |
| 04F1: GOTO 4F0 |
| 04F2: MOVF 1C,W |
| 04F3: BCF 03.5 |
| 04F4: BCF 0D.6 |
| .................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
| 04F5: MOVLW 86 |
| 04F6: BSF 03.5 |
| 04F7: MOVWF 1D |
| .................... |
| .................... Beep(1000,200); //double beep |
| 04F8: MOVLW 03 |
| 04F9: MOVWF 75 |
| 04FA: MOVLW E8 |
| 04FB: MOVWF 74 |
| 04FC: CLRF 7D |
| 04FD: MOVLW C8 |
| 04FE: MOVWF 7C |
| 04FF: BCF 03.5 |
| 0500: CALL 05C |
| .................... Delay_ms(50); |
| 0501: MOVLW 32 |
| 0502: MOVWF 74 |
| 0503: CALL 088 |
| .................... Beep(1000,200); |
| 0504: MOVLW 03 |
| 0505: MOVWF 75 |
| 0506: MOVLW E8 |
| 0507: MOVWF 74 |
| 0508: CLRF 7D |
| 0509: MOVLW C8 |
| 050A: MOVWF 7C |
| 050B: CALL 05C |
| .................... Delay_ms(1000); // 1s |
| 050C: MOVLW 04 |
| 050D: MOVWF 71 |
| 050E: MOVLW FA |
| 050F: MOVWF 74 |
| 0510: CALL 088 |
| 0511: DECFSZ 71,F |
| 0512: GOTO 50E |
| .................... |
| .................... // povoleni rizeni rychlosti zataceni pres preruseni |
| .................... enable_interrupts(INT_TIMER2); |
| 0513: BSF 03.5 |
| 0514: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 0515: MOVLW C0 |
| 0516: BCF 03.5 |
| 0517: IORWF 0B,F |
| .................... |
| .................... /*---------------------------------------------------------------------------*/ |
| .................... sensors=S; |
| 0518: MOVLW 03 |
| 0519: MOVWF 40 |
| .................... line=S; |
| 051A: MOVWF 41 |
| .................... last=S; |
| 051B: MOVWF 44 |
| .................... movement=S; |
| 051C: MOVWF 45 |
| .................... speed=FW_POMALU; |
| 051D: MOVLW E6 |
| 051E: MOVWF 42 |
| .................... |
| .................... diagnostika(); |
| 051F: GOTO 09D |
| .................... //cikcak(); // toc se, abys nasel caru |
| .................... Delay_ms(500); |
| 0520: MOVLW 02 |
| 0521: MOVWF 71 |
| 0522: MOVLW FA |
| 0523: MOVWF 74 |
| 0524: CALL 088 |
| 0525: DECFSZ 71,F |
| 0526: GOTO 522 |
| .................... Beep(1000,200); |
| 0527: MOVLW 03 |
| 0528: MOVWF 75 |
| 0529: MOVLW E8 |
| 052A: MOVWF 74 |
| 052B: CLRF 7D |
| 052C: MOVLW C8 |
| 052D: MOVWF 7C |
| 052E: CALL 05C |
| .................... Delay_ms(500); |
| 052F: MOVLW 02 |
| 0530: MOVWF 71 |
| 0531: MOVLW FA |
| 0532: MOVWF 74 |
| 0533: CALL 088 |
| 0534: DECFSZ 71,F |
| 0535: GOTO 531 |
| .................... |
| .................... while(true) // hlavni smycka (jizda podle cary) |
| .................... { |
| .................... sensors = RSENSOR; // cteni senzoru na caru |
| 0536: CLRF 40 |
| 0537: BSF 03.5 |
| 0538: BTFSS 1C.7 |
| 0539: GOTO 53D |
| 053A: BCF 03.5 |
| 053B: INCF 40,F |
| 053C: BSF 03.5 |
| .................... sensors |= LSENSOR << 1; |
| 053D: MOVLW 00 |
| 053E: BTFSC 1C.6 |
| 053F: MOVLW 01 |
| 0540: MOVWF 77 |
| 0541: BCF 03.0 |
| 0542: RLF 77,F |
| 0543: MOVF 77,W |
| 0544: BCF 03.5 |
| 0545: IORWF 40,F |
| .................... |
| .................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka(); |
| 0546: BTFSC 1F.2 |
| 0547: GOTO 546 |
| 0548: MOVF 1E,W |
| 0549: SUBLW 7F |
| 054A: BTFSS 03.0 |
| 054B: GOTO 550 |
| 054C: MOVF 46,W |
| 054D: SUBLW 32 |
| 054E: BTFSC 03.0 |
| 054F: GOTO 289 |
| .................... |
| .................... switch (sensors) // zatacej podle toho, kde vidis caru |
| .................... { |
| 0550: MOVF 40,W |
| 0551: XORLW 03 |
| 0552: BTFSC 03.2 |
| 0553: GOTO 55B |
| 0554: XORLW 01 |
| 0555: BTFSC 03.2 |
| 0556: GOTO 56F |
| 0557: XORLW 03 |
| 0558: BTFSC 03.2 |
| 0559: GOTO 5A8 |
| 055A: GOTO 5E1 |
| .................... case S: // rovne |
| .................... FL; FR; // pokud se jede dlouho rovne, tak pridej |
| 055B: BSF 03.5 |
| 055C: BCF 06.7 |
| 055D: BCF 03.5 |
| 055E: BCF 06.7 |
| 055F: BSF 03.5 |
| 0560: BCF 06.6 |
| 0561: BCF 03.5 |
| 0562: BSF 06.6 |
| 0563: BSF 03.5 |
| 0564: BCF 06.5 |
| 0565: BCF 03.5 |
| 0566: BCF 06.5 |
| 0567: BSF 03.5 |
| 0568: BCF 06.4 |
| 0569: BCF 03.5 |
| 056A: BSF 06.4 |
| .................... dira=0; |
| 056B: CLRF 46 |
| .................... movement=S; |
| 056C: MOVLW 03 |
| 056D: MOVWF 45 |
| .................... continue; |
| 056E: GOTO 536 |
| .................... case L: // trochu vlevo |
| .................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| 056F: MOVF 01,W |
| 0570: MOVWF 71 |
| 0571: MOVLW E6 |
| 0572: ADDWF 43,W |
| 0573: SUBWF 71,W |
| 0574: BTFSC 03.2 |
| 0575: GOTO 578 |
| 0576: BTFSC 03.0 |
| 0577: GOTO 581 |
| 0578: BSF 03.5 |
| 0579: BCF 06.7 |
| 057A: BCF 03.5 |
| 057B: BCF 06.7 |
| 057C: BSF 03.5 |
| 057D: BCF 06.6 |
| 057E: BCF 03.5 |
| 057F: BSF 06.6 |
| 0580: GOTO 589 |
| 0581: BSF 03.5 |
| 0582: BCF 06.6 |
| 0583: BCF 03.5 |
| 0584: BCF 06.6 |
| 0585: BSF 03.5 |
| 0586: BCF 06.7 |
| 0587: BCF 03.5 |
| 0588: BCF 06.7 |
| 0589: MOVF 01,W |
| 058A: MOVWF 71 |
| 058B: MOVLW F0 |
| 058C: ADDWF 43,W |
| 058D: SUBWF 71,W |
| 058E: BTFSC 03.2 |
| 058F: GOTO 592 |
| 0590: BTFSC 03.0 |
| 0591: GOTO 59B |
| 0592: BSF 03.5 |
| 0593: BCF 06.5 |
| 0594: BCF 03.5 |
| 0595: BCF 06.5 |
| 0596: BSF 03.5 |
| 0597: BCF 06.4 |
| 0598: BCF 03.5 |
| 0599: BSF 06.4 |
| 059A: GOTO 5A3 |
| 059B: BSF 03.5 |
| 059C: BCF 06.4 |
| 059D: BCF 03.5 |
| 059E: BCF 06.4 |
| 059F: BSF 03.5 |
| 05A0: BCF 06.5 |
| 05A1: BCF 03.5 |
| 05A2: BCF 06.5 |
| .................... line=L; |
| 05A3: MOVLW 02 |
| 05A4: MOVWF 41 |
| .................... dira=0; |
| 05A5: CLRF 46 |
| .................... movement=L; |
| 05A6: MOVWF 45 |
| .................... continue; |
| 05A7: GOTO 536 |
| .................... case R: // trochu vpravo |
| .................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| 05A8: MOVF 01,W |
| 05A9: MOVWF 71 |
| 05AA: MOVLW E6 |
| 05AB: ADDWF 43,W |
| 05AC: SUBWF 71,W |
| 05AD: BTFSC 03.2 |
| 05AE: GOTO 5B1 |
| 05AF: BTFSC 03.0 |
| 05B0: GOTO 5BA |
| 05B1: BSF 03.5 |
| 05B2: BCF 06.5 |
| 05B3: BCF 03.5 |
| 05B4: BCF 06.5 |
| 05B5: BSF 03.5 |
| 05B6: BCF 06.4 |
| 05B7: BCF 03.5 |
| 05B8: BSF 06.4 |
| 05B9: GOTO 5C2 |
| 05BA: BSF 03.5 |
| 05BB: BCF 06.4 |
| 05BC: BCF 03.5 |
| 05BD: BCF 06.4 |
| 05BE: BSF 03.5 |
| 05BF: BCF 06.5 |
| 05C0: BCF 03.5 |
| 05C1: BCF 06.5 |
| 05C2: MOVF 01,W |
| 05C3: MOVWF 71 |
| 05C4: MOVLW F0 |
| 05C5: ADDWF 43,W |
| 05C6: SUBWF 71,W |
| 05C7: BTFSC 03.2 |
| 05C8: GOTO 5CB |
| 05C9: BTFSC 03.0 |
| 05CA: GOTO 5D4 |
| 05CB: BSF 03.5 |
| 05CC: BCF 06.7 |
| 05CD: BCF 03.5 |
| 05CE: BCF 06.7 |
| 05CF: BSF 03.5 |
| 05D0: BCF 06.6 |
| 05D1: BCF 03.5 |
| 05D2: BSF 06.6 |
| 05D3: GOTO 5DC |
| 05D4: BSF 03.5 |
| 05D5: BCF 06.6 |
| 05D6: BCF 03.5 |
| 05D7: BCF 06.6 |
| 05D8: BSF 03.5 |
| 05D9: BCF 06.7 |
| 05DA: BCF 03.5 |
| 05DB: BCF 06.7 |
| .................... line=R; |
| 05DC: MOVLW 01 |
| 05DD: MOVWF 41 |
| .................... dira=0; |
| 05DE: CLRF 46 |
| .................... movement=R; |
| 05DF: MOVWF 45 |
| .................... continue; |
| 05E0: GOTO 536 |
| .................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| .................... } |
| .................... rovinka=0; |
| 05E1: CLRF 43 |
| .................... if (dira>=T_DIRA) prejeddiru(); |
| 05E2: MOVF 46,W |
| 05E3: SUBLW 77 |
| 05E4: BTFSS 03.0 |
| 05E5: GOTO 386 |
| .................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| 05E6: MOVF 41,W |
| 05E7: SUBWF 44,W |
| 05E8: BTFSC 03.2 |
| 05E9: GOTO 5EE |
| .................... { |
| .................... last=line; |
| 05EA: MOVF 41,W |
| 05EB: MOVWF 44 |
| .................... speed=FW_ZATACKA; |
| 05EC: MOVLW F0 |
| 05ED: MOVWF 42 |
| .................... } |
| .................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| 05EE: MOVF 41,W |
| 05EF: SUBLW 02 |
| 05F0: BTFSS 03.2 |
| 05F1: GOTO 612 |
| .................... { |
| .................... STOPL; |
| 05F2: BSF 03.5 |
| 05F3: BCF 06.6 |
| 05F4: BCF 03.5 |
| 05F5: BCF 06.6 |
| 05F6: BSF 03.5 |
| 05F7: BCF 06.7 |
| 05F8: BCF 03.5 |
| 05F9: BCF 06.7 |
| .................... GO(R, F, speed); |
| 05FA: MOVF 01,W |
| 05FB: SUBWF 42,W |
| 05FC: BTFSS 03.0 |
| 05FD: GOTO 607 |
| 05FE: BSF 03.5 |
| 05FF: BCF 06.5 |
| 0600: BCF 03.5 |
| 0601: BCF 06.5 |
| 0602: BSF 03.5 |
| 0603: BCF 06.4 |
| 0604: BCF 03.5 |
| 0605: BSF 06.4 |
| 0606: GOTO 60F |
| 0607: BSF 03.5 |
| 0608: BCF 06.4 |
| 0609: BCF 03.5 |
| 060A: BCF 06.4 |
| 060B: BSF 03.5 |
| 060C: BCF 06.5 |
| 060D: BCF 03.5 |
| 060E: BCF 06.5 |
| .................... movement=L; |
| 060F: MOVLW 02 |
| 0610: MOVWF 45 |
| .................... } |
| .................... else |
| 0611: GOTO 631 |
| .................... { |
| .................... STOPR; |
| 0612: BSF 03.5 |
| 0613: BCF 06.4 |
| 0614: BCF 03.5 |
| 0615: BCF 06.4 |
| 0616: BSF 03.5 |
| 0617: BCF 06.5 |
| 0618: BCF 03.5 |
| 0619: BCF 06.5 |
| .................... GO(L, F, speed); |
| 061A: MOVF 01,W |
| 061B: SUBWF 42,W |
| 061C: BTFSS 03.0 |
| 061D: GOTO 627 |
| 061E: BSF 03.5 |
| 061F: BCF 06.7 |
| 0620: BCF 03.5 |
| 0621: BCF 06.7 |
| 0622: BSF 03.5 |
| 0623: BCF 06.6 |
| 0624: BCF 03.5 |
| 0625: BSF 06.6 |
| 0626: GOTO 62F |
| 0627: BSF 03.5 |
| 0628: BCF 06.6 |
| 0629: BCF 03.5 |
| 062A: BCF 06.6 |
| 062B: BSF 03.5 |
| 062C: BCF 06.7 |
| 062D: BCF 03.5 |
| 062E: BCF 06.7 |
| .................... movement=R; |
| 062F: MOVLW 01 |
| 0630: MOVWF 45 |
| .................... } |
| .................... } // while(true) |
| 0631: GOTO 536 |
| .................... } |
| .................... |
| .................... |
| 0632: 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/turn_R/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\turn_R\tank.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3= |
| 4=C:\Program Files\PICC\devices\16F88.h |
| 5= |
| 6= |
| 7= |
| /Designs/ROBOTS/Merkur/SW/turn_R/tank.SYM |
|---|
| 0,0 → 1,88 |
| 003 STATUS |
| 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 |
| 029-038 SendData |
| 039.0 bit |
| 03A fcslo |
| 03B fcshi |
| 03C stuff |
| 03D flag_flag |
| 03E fcs_flag |
| 03F i |
| 040 sensors |
| 041 line |
| 042 speed |
| 043 rovinka |
| 044 last |
| 045 movement |
| 046 dira |
| 047-06E AXstring |
| 06F-070 main.n |
| 071-072 objizdka.n |
| 071-072 diagnostika.n |
| 071-072 prejeddiru.n |
| 071 main.@SCRATCH |
| 073 prejeddiru.speed_dira |
| 073 diagnostika.@SCRATCH |
| 073 objizdka.@SCRATCH |
| 074-075 beep.period |
| 074 @delay_ms1.P1 |
| 074-075 cikcak.n |
| 074 prejeddiru.@SCRATCH |
| 076 cikcak.@SCRATCH |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 07C-07D beep.length |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0A0-0A1 beep.nn |
| 0A2 @delay_us1.P1 |
| 0088 @delay_ms1 |
| 0047 @delay_us1 |
| 0037 TIMER2_isr |
| 005C beep |
| 009D diagnostika |
| 01FD cikcak |
| 0289 objizdka |
| 0386 prejeddiru |
| 0472 main |
| 0472 @cinit |
| 01FD sem1 |
| 045C sem |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.h |
| C:\Program Files\PICC\devices\16F88.h |
| D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\AX25.c |
| 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\turn_R\tank.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.HEX |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.SYM |
| List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.LST |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.sta |
| /Designs/ROBOTS/Merkur/SW/turn_R/tank.c |
|---|
| 0,0 → 1,339 |
| #include "tank.h" |
| #define DEBUG |
| #define TXo PIN_A3 // To the transmitter modulator |
| #include "AX25.c" // podprogram pro prenos telemetrie |
| 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 120 // 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 240 // rychlost vnejsiho kola pri zataceni |
| #define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
| #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
| #define PRES_DIRU 300 |
| #define MAX_ROVINKA (255-FW_STREDNE) |
| #define TRESHOLD 6 // 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; |
| if (rovinka<MAX_ROVINKA) rovinka++; |
| if (dira<=T_DIRA) dira++; |
| } |
| // 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(900,500); |
| if (LSENSOR) beep(800,500); |
| if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
| }; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void cikcak() |
| { |
| unsigned int16 n; |
| sem1: |
| n=CIK_CAK; |
| while (0==RSENSOR||LSENSOR) // zkontroluj caru |
| { |
| if (n==CIK_CAK) // zmen smer zataceni |
| { |
| n=0; |
| switch(movement) |
| { |
| case L: |
| FL;BR; |
| movement=R; |
| break; |
| case R: |
| FR;BL; |
| movement=L; |
| break; |
| case S: |
| FL;BR; |
| movement=R; |
| n=CIK_CAK/2; |
| break; |
| } |
| } |
| n++; |
| } |
| STOPL;STOPR; |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line==0) goto sem1; |
| // nasli jsme caru |
| line=S; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void objizdka() // objede cihlu |
| { |
| unsigned int16 n; |
| BL;BR;Delay_ms(150); |
| STOPR;STOPL; |
| beep(900,1000); |
| // movement=S; |
| // cikcak(); |
| BR; FL; Delay_ms(270); // otoc se 70° do prava |
| FR; FL; Delay_ms(500); // popojed rovne |
| BL; Delay_ms(30); // otoc se 90° do leva |
| STOPL; FR; Delay_ms(500); |
| FR; FL; Delay_ms(100); // popojed rovne na slepo |
| for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) {Delay_ms(150); break;} |
| // Delay_ms(1); |
| } |
| BR; FL; // otoc se 60° do prava |
| for(n=40000;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| // Delay_ms(1); |
| } |
| STOPR; STOPL; |
| movement=L; //R; |
| cikcak(); |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void prejeddiru() // vyresi diru |
| { |
| unsigned int16 n; |
| unsigned int8 speed_dira; |
| STOPL;STOPR; |
| speed_dira=speed; |
| beep(1000,500); |
| switch (movement) //vrat se zpet na caru |
| { |
| case L: |
| for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case R: |
| for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
| STOPL;STOPR; |
| break; |
| case S: |
| goto sem; |
| break; |
| } |
| beep(1000,500); |
| /*line=0; |
| FR; BL; Delay_ms(400); // otoc se na caru |
| beep(1000,500); |
| while(line==0) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| } |
| FL;BR; Delay_ms(60); // zabrzdi |
| STOPL; STOPR; |
| FL; BR; Delay_ms(700); // otacka 180 deg |
| STOPL; STOPR;*/ |
| FR;FL; //popojed rovne |
| for(n=PRES_DIRU;n>0;n--) |
| { |
| line = RSENSOR; // cteni senzoru na caru |
| line |= LSENSOR << 1; |
| if (line!=0) break; |
| Delay_ms(1); |
| } |
| sem: |
| STOPL; STOPR; |
| movement=S; |
| cikcak(); // najdi caru |
| dira=0; |
| } |
| /////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| unsigned int16 n; // pro FOR |
| 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; |
| movement=S; |
| speed=FW_POMALU; |
| diagnostika(); |
| //cikcak(); // toc se, abys nasel caru |
| 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) && (dira<=T_CIHLA)) objizdka(); |
| switch (sensors) // zatacej podle toho, kde vidis caru |
| { |
| case S: // rovne |
| FL; FR; // pokud se jede dlouho rovne, tak pridej |
| dira=0; |
| movement=S; |
| continue; |
| case L: // trochu vlevo |
| GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
| line=L; |
| dira=0; |
| movement=L; |
| continue; |
| case R: // trochu vpravo |
| GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
| line=R; |
| dira=0; |
| movement=R; |
| continue; |
| default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
| } |
| rovinka=0; |
| if (dira>=T_DIRA) prejeddiru(); |
| if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
| { |
| last=line; |
| speed=FW_ZATACKA; |
| } |
| if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
| { |
| STOPL; |
| GO(R, F, speed); |
| movement=L; |
| } |
| else |
| { |
| STOPR; |
| GO(L, F, speed); |
| movement=R; |
| } |
| } // while(true) |
| } |
| /Designs/ROBOTS/Merkur/SW/turn_R/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/turn_R/tank.err |
|---|
| 0,0 → 1,0 |
| No Errors |
| /Designs/ROBOTS/Merkur/SW/turn_R/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/turn_R/tank.sta |
|---|
| 0,0 → 1,38 |
| ROM used: 1587 (39%) |
| 1587 (39%) including unused fragments |
| 2 Average locations per line |
| 4 Average locations per statement |
| RAM used: 87 (50%) at main() level |
| 98 (56%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 340 357 84 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c |
| 6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.h |
| 275 0 0 C:\Program Files\PICC\devices\16F88.h |
| 136 67 9 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\AX25.c |
| ----- ----- |
| 1514 848 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 21 1 1 @delay_ms1 |
| 0 21 1 1 @delay_us1 |
| 0 16 1 0 TIMER2_isr |
| 0 44 3 6 beep |
| 0 352 22 3 diagnostika |
| 0 140 9 3 cikcak |
| 0 253 16 3 objizdka |
| 0 236 15 4 prejeddiru |
| 0 449 28 3 main |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-00036 51 0 |
| 00037-007FF 1532 461 |
| 00800-00FFF 0 2048 |
| /Designs/ROBOTS/Merkur/SW/turn_R/tank.tre |
|---|
| 0,0 → 1,74 |
| ÀÄtank |
| ÃÄmain 0/449 Ram=3 |
| ³ ÃÄ??0?? |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄdiagnostika 0/352 Ram=3 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄobjizdka 0/253 Ram=3 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ³ ÀÄ@delay_us1 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 ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ³ ÀÄcikcak 0/140 Ram=3 |
| ³ ÀÄprejeddiru 0/236 Ram=4 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÃÄbeep 0/44 Ram=6 |
| ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
| ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
| ³ ÃÄ@delay_ms1 0/21 Ram=1 |
| ³ ÀÄcikcak 0/140 Ram=3 |
| ÀÄTIMER2_isr 0/16 Ram=0 |
| /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 |
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| :1009500083160612831206128316861283128612DB |
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| :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 |
| /Designs/ROBOTS/Merkur/DOC/HTML/Merkur.cs.html |
|---|
| 0,0 → 1,446 |
| <!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> |
| <html> |
| <head> |
| <meta http-equiv="Content-Type" content="text/html; charset=utf-8"> |
| <title> Robot Merkur </title> |
| <meta name="keywords" content="Robot Merkur, robot na čáru"> |
| <meta name="description" content="Robot Merkur na čáru čára sledování čáry"> |
| <!-- AUTOINCLUDE START "Page/Head.cs.ihtml" DO NOT REMOVE --> |
| <link rel="StyleSheet" href="../../../../../Web/CSS/MLAB.css" type="text/css" title="MLAB základní styl"> |
| <link rel="StyleSheet" href="../../../../../Web/CSS/MLAB_Print.css" type="text/css" media="print"> |
| <link rel="shortcut icon" type="image/x-icon" href="../../../../../Web/PIC/MLAB.ico"> |
| <script type="text/javascript" src="../../../../../Web/JS/MLAB_Menu.js"></script> |
| <!-- AUTOINCLUDE END --> |
| <style type="text/css"> |
| img.Pic1 {position:absolute;margin-left:23px;margin-top:223px;} |
| img.Pic2 {position:absolute;margin-left:276px;margin-top:137px;} |
| img.Pic3 {position:absolute;margin-left:465px;margin-top:235px;} |
| img.Pic4 {position:absolute;margin-left:308px;margin-top:187px;} |
| img.Pic5 {position:absolute;margin-left:250px;margin-top:7px;} |
| img.Pic6 {position:absolute;margin-left:328px;margin-top:9px;} |
| img.Pic7 {position:absolute;margin-left:452px;margin-top:82px;} |
| img.Pic8 {position:absolute;margin-left:35px;margin-top:10px;} |
| </style> |
| </head> |
| <body lang="cs"> |
| <!-- AUTOINCLUDE START "Page/Header.cs.ihtml" DO NOT REMOVE --> |
| <!-- ============== HLAVICKA ============== --> |
| <div class="Header"> |
| <script type="text/javascript"> |
| <!-- |
| SetRelativePath("../../../../../"); |
| DrawHeader(); |
| // --> |
| </script> |
| <noscript> |
| <p><b> Pro zobrazení (vložení) hlavičky je potřeba JavaScript </b></p> |
| </noscript> |
| </div> |
| <!-- AUTOINCLUDE END --> |
| <!-- AUTOINCLUDE START "Page/Menu.cs.ihtml" DO NOT REMOVE --> |
| <!-- ============== MENU ============== --> |
| <div class="Menu"> |
| <script type="text/javascript"> |
| <!-- |
| SetRelativePath("../../../../../"); |
| DrawMenu(); |
| // --> |
| </script> |
| <noscript> |
| <p><b> Pro zobrazení (vložení) menu je potřeba JavaScript </b></p> |
| </noscript> |
| </div> |
| <!-- AUTOINCLUDE END --> |
| <!-- ============== TEXT ============== --> |
| <div class="Text"> |
| <p class="Title"> |
| Robot Merkur |
| </p> |
| <p class=Autor> |
| Jakub Kákona |
| </p> |
| <p class="Subtitle"> |
| Robot Merkur byl postaven jako soutěžní robot na soutěž ISTROBOT 2005. |
| Název robota vnikl ze jména nejrychlejší planety Sluneční soustavy |
| Merkura. V římské mytologii byl Merkur považován za ochránce |
| cestovatelů, obchodníků, ale i zlodějů. |
| </p> |
| <p class="Subtitle"> |
| <img width="605" height="454" src="Pictures/Merkur.jpg" |
| alt="Robot Merkur"> |
| </p> |
| <p> |
| <a href="../Merkur.cs.pdf"><img class="NoBorder" |
| src="../../../../../Web/PIC/FileIco_PDF.ico" |
| alt="Acrobat"> PDF verze</a> |
| </p> |
| <h1> Robot Merkur </h1> |
| <p> |
| Obrázek ukazuje robot Merkur s popiskami. |
| </p> |
| <p> |
| <img class="Pic1" width="147" height="129" src="Pictures/image002.gif" |
| alt="Čárový popisek: Baterie"> |
| <img class="Pic2" width="125" height="267" src="Pictures/image003.gif" |
| alt="Čárový popisek: Pípák"> |
| <img class="Pic3" width="126" height="202" src="Pictures/image004.gif" |
| alt="Čárový popisek: Čidla na čáru"> |
| <img class="Pic4" width="164" height="177" src="Pictures/image005.gif" |
| alt="Čárový popisek: Přepínač programů"> |
| <img class="Pic5" width="127" height="117" src="Pictures/image006.gif" |
| alt="Čárový popisek: Stabilizátor napětí"> |
| <img class="Pic6" width="241" height="108" src="Pictures/image007.gif" |
| alt="Čárový popisek: Deska s procesorem"> |
| <img class="Pic7" width="129" height="89" src="Pictures/image008.gif" |
| alt="Čárový popisek: Čidlo na překážku"> |
| <img class="Pic8" width="139" height="72" src="Pictures/image009.gif" |
| alt="Čárový popisek: H-můstky"> |
| <img width="605" height="454" src="Pictures/Merkur.jpg" |
| alt="Robot Merkur"> |
| </p> |
| <h2> |
| Řídící elektronika |
| </h2> |
| <p> |
| Pro snímání černé čáry jsou použita UV čidla z inkoustových |
| tiskáren (původně určená pro měření kvality papíru), čidlo na překážku |
| (předpokládá se cihla) je průmyslový LED senzor určený na počítání |
| výrobků na běžícím pásu. |
| </p> |
| <p> |
| Čidla jsou přímo připojena na mikroprocesor PIC16F88, ten řídí pohyb |
| robota pomocí H můstkového regulátoru napojeného na stejnosměrné motory |
| a převodovku, jeho zapojení je převzato z konstrukce čínských |
| autíček na dálkové ovládání. |
| </p> |
| <h2> |
| Mechanická konstrukce |
| </h2> |
| <p> |
| Kostra robota je postavena z několika dílů stavebnice |
| MERKUR, ke kostře je připevněna řídící elektronika ze stavebnice MLAB, |
| dobrá elektrická vodivost kovové kostry je využita k rozvodu |
| záporného pólu napájecí baterie, k pohonu jsou i přes velké potíže |
| se spolehlivostí použity originální merkurácké motory (během vývoje |
| bylo třeba každý motor několikrát rozebrat a přilepit utržený pastorek |
| zpět na motor). |
| </p> |
| <p> |
| Pro správnou dynamičnost pohybu robota bylo třeba zjistit správnou |
| vzdálenost mezi senzory na snímání čáry a osou kol, tato vzdálenost |
| odpovídá dvojnásobku předpokládaného středního rádiusu zatáčky na |
| trati. Důležitý je také rozchod kol, tady platí že čím je větší, tím |
| méně musí robot v zatáčce zpomalovat, zároveň je ale třeba brát |
| v úvahu rozměry tunelu umístěného na trati. |
| </p> |
| <p> |
| <img width="444" height="216" src="Pictures/image011.gif" |
| alt="Trajektorie"> |
| </p> |
| <h2> |
| Popis programu |
| </h2> |
| <p> |
| Program pracuje na následujícím principu. Pokud robot vidí čáru, |
| zaznamená si, pod kterým čidlem ji vidí a jede rovně. Pokud čáru |
| nevidí, tak jede tam, kde ji viděl naposled. Pokud zatáčí již příliš |
| dlouho, znamená to, že čáru ztratil. Potom zacouvá, popojede rovně |
| vpřed a snaží se čáru nalézt pomocí velmi mazané rutiny „cikcak“. |
| </p> |
| <p> |
| Objetí překážky je založeno na předpokladu, že čára za překážkou |
| pokračuje ve stejném směru jako před ní. Robot po nárazu na překážku |
| couvne a vycentruje se na čáru. Potom překážku slepě objede. Po |
| znovunalezení čáry se přepokládá, že čáru přejel a otočí se ve směru |
| objíždění, aby se znovu vycentroval na čáru. |
| </p> |
| <h1 lang="SK"> |
| Propozície kategórie Stopár |
| </h1> |
| <p> |
| <img width="600" height="44" src="Pictures/image012.gif" |
| alt="Logo soutěže"> |
| </p> |
| <h2 lang="SK"> |
| Súťažná úloha |
| </h2> |
| <p lang="SK" > |
| Zostrojiť elektronicky riadeného autonómneho mobilného robota, ktorý |
| prejde po určenej dráhe a v časovom limite do cieľa. Smer |
| a trasa je daná namaľovaným tmavým pruhom, na dráhe sú umiestnené |
| rozličné prekážky. |
| </p> |
| <p lang="SK"> |
| Toto zadanie prestavuje reálnu úlohu napríklad pre automatické skladové |
| manipulátory a podobne. |
| </p> |
| <h2 lang="SK"> |
| Dráha |
| </h2> |
| <p lang="SK"> |
| Podklad dráhy bude svetlý (biely) s tmavou (čiernou) vodiacou |
| čiarou šírky 15+/-1 mm. Celková dĺžka dráhy nepresiahne 20 m. |
| Materiál bude papier, drevo, linoleum alebo podobné materiály. |
| </p> |
| <p lang="SK"> |
| Najmenší polomer oblúkov na trati bude 10 cm. Celkové prevýšenie |
| nepresiahne 3 cm, maximálne stúpanie a klesanie je 5%. Na |
| dráhe, podobne ako v reálnom svete, sa môžu vyskytovať náhodné |
| prekážky (prerušená vodiaca čiara, prekážka na vodiacej čiare, zmena |
| osvetlenia čiary a iné). |
| </p> |
| <p lang="SK"> |
| Úlohou robota nie je nájsť správnu cestu (nebudú žiadne križovatky a |
| odbočky), ale výhradne sledovať namaľovanú čiaru. Na dráhe sa môže |
| vyskytnúť aj tunel s minimálnym prierezom 25x25 cm. Dráha sa |
| počas súťaže nemení, takže robot sa môže učiť a napr. rovné úseky pri |
| ďalšej jazde prechádzať rýchlejšie. |
| </p> |
| <p lang="SK"> |
| Robot vyštartuje z pomysleného kruhu o polomere 30 cm |
| (štart), za ktorým nasleduje asi 50 cm dlhý priamy úsek, na ktorom |
| musí nájsť stopu a nastaviť sa na ňu. Za týmto úsekom sa nachádza |
| pomyslená štartovacia čiara, po prerušení svetelného lúča (10 mm |
| nad povrchom dráhy) ľubovoľnou časťou robota sa začne merať čas. Dráha |
| bude uzavretá a v priestore štartu (a teda aj cieľa) bude cez čiernu |
| čiaru nalepený kolmý pásik dlhý cca 10cm, ktorý bude znamenať začiatok |
| a koniec dráhy. Súťažiaci, ktorým by pásik vadil, môžu robota na dráhu |
| postaviť až za ním. Tak môžu roboty lepšie využiť znalosti získané z |
| predošlých kôl. |
| </p> |
| <p lang="SK"> |
| Časomiera sa zastaví po prerušení podobného lúča na konci dráhy. |
| </p> |
| <h2 lang="SK"> |
| Činnosť robota |
| </h2> |
| <p lang="SK"> |
| Po umiestnení robota do štartovacieho kruhu a jeho zapnutí súťažiaci |
| nesmie do jeho činnosti nijakým spôsobom zasahovať. Robot musí byť |
| riadený výlučne vstavanými elektronickými obvodmi. |
| </p> |
| <p lang="SK"> |
| Po prekročení štartovacej čiary robot nesmie opustiť dráhu vyznačenú |
| tmavou čiarou s výnimkou obchádzania prekážky. Pri pohybe nesmie |
| zanechávať žiadne stopy a značky. Na dráhe nesmie ostať ani žiadna jeho |
| súčasť. |
| </p> |
| <p lang="SK"> |
| Pri poškodení súťažnej dráhy je robot diskvalifikovaný. |
| </p> |
| <h2 lang="SK"> |
| Rozmery a veľkosť robota |
| </h2> |
| <p lang="SK"> |
| Rozmer robota nesmie v žiadnom smere presiahnuť 25cm. Uvedomte si |
| aj obmedzenia dané tunelmi a polomermi oblúkov na dráhe. |
| </p> |
| <p lang="SK"> |
| Minimálne rozmery nie sú obmedzené. Hmotnosť nie je obmedzená. |
| </p> |
| <h2 lang="SK"> |
| Konštrukcia a materiály |
| </h2> |
| <p lang="SK"> |
| Na konštrukciu sa nekladú žiadne obmedzenia. Jedinou požiadavkou je to, |
| aby robot bol výrobkom súťažiaceho (súťažiacich). To nevylučuje komerčné |
| stavebnice (LEGO, Fischertechnik), iba hotové výrobky. |
| </p> |
| <h2 lang="SK"> |
| Senzorika |
| </h2> |
| <p lang="SK"> |
| Nie sú kladené žiadne obmedzenia na typ, počet a rozmery použitých |
| snímačov, ak neporušujú iné pravidlá. |
| </p> |
| <p lang="SK"> |
| Súťažiaci nesmú použiť žiadne vonkajšie pomôcky na zlepšenie navigácie |
| (nálepky, značky, zrkadielka,...). |
| </p> |
| <h2 lang="SK"> |
| Elektronika |
| </h2> |
| <p lang="SK"> |
| Žiadna časť robota nesmie pracovať s väčším napätím ako je 24V. |
| Celková spotreba by nemala byť viac ako 20A. Výnimky z tohto |
| pravidla schvaľuje porota. Všetky riadiace obvody musia byť súčasťou |
| robota, nie je možné riadiť jeho pohyb napríklad z externého PC |
| pripojeného či už káblom, alebo bezdrôtovo. |
| </p> |
| <p lang="SK"> |
| Na použité elektronické súčiastky nie je žiadne obmedzenie. |
| </p> |
| <p lang="SK"> |
| Zdroje energie sú problém súťažiacich. |
| </p> |
| <h2 lang="SK"> |
| Poradie účastníkov a priebeh súťaže |
| </h2> |
| <p lang="SK"> |
| Poradie súťažiacich bude vylosované tesne pred súťažou. Účastníci musia |
| absolvovať predpísanú dráhu v poradí určenom losovaním. Každý |
| súťažiaci robot môže prejsť dráhu trikrát vo vylosovanom poradí. Čas |
| medzi pokusmi môže účastník využiť na ľubovoľné opravy a úpravy. Ak sa |
| však nedostaví do 1 minúty po výzve na štart, stráca právo absolvovať |
| pokus. V prípade, že sa prihlási veľa súťažiacich, porota môže |
| znížiť počet pokusov, prípadne vyhlásiť kvalifikačné kolo. |
| </p> |
| <h2 lang="SK"> |
| Časové limity |
| </h2> |
| <p lang="SK"> |
| Na prejdenie dráhy je stanovený časový limit 5 minút. Po piatich |
| minútach sa meranie času zastaví a pokus sa zruší. Aj napriek tomuto |
| handicapu však nie je diskvalifikovaný. Zastavenie merania času nemá |
| nijaký vplyv na ostatné pokusy. |
| </p> |
| <h2 lang="SK"> |
| Hodnotenie a ceny |
| </h2> |
| <p lang="SK"> |
| Každý prihlásený robot, ktorý prejde stanovenú dráhu, dostane diplom. |
| Víťazom sa stane robot s najnižším dosiahnutým časom zo všetkých |
| pokusov. Okrem toho môže porota udeliť cenu za najlepšiu konštrukciu a |
| najelegantnejšiu konštrukciu (kapotáž). |
| </p> |
| <h2 lang="SK"> |
| Diskvalifikácia |
| </h2> |
| <p lang="SK"> |
| Vo všeobecnosti platí, že pri každom porušení pravidiel je robot zo |
| súťaže vylúčený. To platí najmä v týchto situáciach: |
| </p> |
| <ul> |
| <li lang="SK"> |
| nebezpečné správanie, ohrozenie bezpečnosti, |
| </li> |
| <li lang="SK"> |
| poškodenie dráhy, |
| </li> |
| <li lang="SK"> |
| ak sa robot počas jazdy rozpadne. |
| </li> |
| </ul> |
| <h2 lang="SK"> |
| Bezpečnosť |
| </h2> |
| <p lang="SK"> |
| Tri zákony robotiky: |
| </p> |
| <ul> |
| <li lang="SK"> |
| <i>Robot nesmie ublížiť človeku</i> alebo svojou nečinnosťou dopustiť, |
| aby bolo človeku ublížené. |
| </li> |
| <li lang="SK"> |
| <i>Robot musí poslúchnuť príkaz človeka</i>, s výnimkou prípadov, |
| keď je taký príkaz v rozpore s prvým zákonom. |
| </li> |
| <li lang="SK"> |
| <i>Robot musí chrániť sám seba pred zničením</i>, s výnimkou |
| prípadov, keď je to v rozpore s prvým a druhým zákonom. |
| </li> |
| </ul> |
| <p class="Right" lang="EN"> |
| Isaac Asimov: The Complete Robot, Nightfall Inc., 1982. |
| </p> |
| <p lang="SK"> |
| V prípade, že zariadenie nebude spĺňať základné bezpečnostné |
| predpisy, porota ho nesmie pripustiť k súťaži a nesmie dovoliť |
| jeho prevádzkovanie. |
| </p> |
| <p lang="SK"> |
| Každý robot, ktorý by mohol ohroziť účastníkov, divákov, alebo |
| zariadenie, bude vypnutý. |
| </p> |
| <p lang="SK"> |
| Súťažná dráha nemá mantinely. Okolo čiary je na každej strane bezpečný |
| pás široký 26 cm, ale napriek tomu sa odporúča vo vlastnom záujme |
| robota vybaviť bezpečnostným zariadením proti pádu zo stola. |
| </p> |
| <h2 lang="SK"> |
| Klimatické podmienky |
| </h2> |
| <p lang="SK"> |
| Súťaž bude prebiehať v bežných klimatických podmienkach (T = 270 - |
| 310 K, <i>p</i> = 90 - 120 kPa, 0 - 90% RH). |
| </p> |
| <p lang="SK"> |
| Skutočnú úroveň osvetlenia scény nie je možné vopred určiť. Pred súťažou |
| bude vyhradený čas, ktorý môžu súťažiaci využiť na optimálne nastavenie |
| citlivosti snímačov. Organizátor nemôže zaručiť, že diváci nebudú vrhať |
| na dráhu tiene. |
| </p> |
| <p lang="SK"> |
| Upozornenie: Konštruktéri si musia uvedomiť, že moderné filmové a |
| fotografické prístroje používajú zábleskové zariadenia a infračervené |
| vysielače na zaostrovanie. Pretože priebeh súťaže bude zaznamenávaný, |
| pri konštrukcii treba počítať aj s takýmito poruchovými signálmi. |
| </p> |
| <h2 lang="SK"> |
| Dokumentácia |
| </h2> |
| <p lang="SK"> |
| Každý súťažiaci musí odovzdať pred súťažou dokumentáciu popisujúcu |
| elektroniku, konštrukciu a riadiaci algoritmus. Najlepšia forma je |
| <code>html</code>, organizátor poskytne priestor na jej uverejnenie na |
| svojom serveri. |
| </p> |
| <h2 lang="SK"> |
| Porota |
| </h2> |
| <p lang="SK"> |
| Nad priebehom súťaže a dodržiavaním pravidiel bdie porota. |
| </p> |
| <p lang="SK"> |
| Porota je najmenej trojčlenná, skladá sa zo zástupcov fakulty, študentov |
| a sponzorov. |
| </p> |
| <p lang="SK"> |
| Výroky poroty sú záväzné vo všetkých sporných bodoch i v otázkach |
| výkladu pravidiel. |
| </p> |
| <h2 lang="SK"> |
| Kedy a kde? |
| </h2> |
| <p lang="SK"> |
| Súťaž bude prebiehať v priestoroch Fakulty elektrotechniky a |
| informatiky na Ilkovičovej 3 v Bratislave 27. apríla 2005. |
| Účastníci budú mať možnosť otestovať dráhu (pravdaže nie jej súťažný |
| tvar) v stanovených termínoch a deň pred súťažou. |
| </p> |
| <h2 lang="SK"> |
| Registrácia a prihlášky |
| </h2> |
| <p lang="SK"> |
| Súťaže sa môžu zúčastniť jednotlivci a tímy (max. 5-členné) bez ohľadu |
| na vek či zamestnanie. |
| </p> |
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