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/Designs/ROBOTS/Merkur/SW/MerkurU/AX25.c
0,0 → 1,135
#nolist
//#define PTT PIN_A2 // PTT control
//#define TXo PIN_C0 // To the transmitter modulator
#define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500
#define TAILH delay_us(78)
#define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500
#define TAILL delay_us(345)
#byte STATUS = 3 // CPUs status register
byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60,
'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61,
0x03, 0xF0};
boolean bit;
int fcslo, fcshi; // variabloes for calculating FCS (CRC)
int stuff; // stuff counter for extra 0
int flag_flag; // if it is sending flag (7E)
int fcs_flag; // if it is sending Frame Check Sequence
int i; // for for
void flipout() //flips the state of output pin a_1
{
stuff = 0; //since this is a 0, reset the stuff counter
if (bit)
{
bit=FALSE; //if the state of the pin was low, make it high.
}
else
{
bit=TRUE; //if the state of the pin was high make it low
}
}
void fcsbit(byte tbyte)
{
#asm
BCF STATUS,0
RRF fcshi,F // rotates the entire 16 bits
RRF fcslo,F // to the right
#endasm
if (((STATUS & 0x01)^(tbyte)) ==0x01)
{
fcshi = fcshi^0x84;
fcslo = fcslo^0x08;
}
}
void SendBit ()
{
if (bit)
{
output_high(TXo);
PERIODAH;
output_low(TXo);
PERIODAH;
output_high(TXo);
PERIODAH;
output_low(TXo);
TAILH;
}
else
{
output_high(TXo);
PERIODAL;
output_low(TXo);
TAILL;
};
}
void SendByte (byte inbyte)
{
int k, bt;
for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte
{
bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte)
if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this
//is not a flag or fcs byte
if (bt == 0)
{
flipout();
} // if this bit is a zero, flip the output state
else
{ //otherwise if it is a 1, do the following:
if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's
if ((flag_flag == FALSE) & (stuff == 5))
{ //stuff an extra 0, if 5 1's in a row
SendBit();
flipout(); //flip the output state to stuff a 0
}//end of if
}//end of else
// delay_us(850); //introduces a delay that creates 1200 baud
SendBit();
inbyte = inbyte>>1; //go to the next bit in the byte
}//end of for
}//end of SendByte
void SendPacket(char *data)
{
bit=FALSE;
fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF
stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5
// it is time to stuff a 0.
// output_low(PTT); // Blinking LED
// delay_ms(1000);
// output_high(PTT);
flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise.
fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise.
for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay
//each flag takes approx 6.7 ms
flag_flag = FALSE; //done sending flags
for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes
for(i=0; 0 != *data; i++)
{
SendByte(*data); //send the packet bytes
data++;
};
fcs_flag = TRUE; //about to send the FCS bytes
fcslo =fcslo^0xff; //must XOR them with FF before sending
fcshi = fcshi^0xff;
SendByte(fcslo); //send the low byte of fcs
SendByte(fcshi); //send the high byte of fcs
fcs_flag = FALSE; //done sending FCS
flag_flag = TRUE; //about to send flags
SendByte(0x7e); // Send a flag to end packet
}
#list

/Designs/ROBOTS/Merkur/SW/MerkurU/tank.BAK
0,0 → 1,268
// Program pro predvadeni schopnosti robota Merkur
//------------------------------------------------
#include "tank.h"
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru
unsigned int8 line; // na ktere strane byla detekovana cara
unsigned int8 speed; // rychlost zataceni
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku
int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus
int1 BW; // urcuje, jestli je cara cerno/bila nebo
// bilo/cerna (true = bila cara, cerny podklad)
// Konstanty pro dynamiku pohybu
#define T_DIRA 120 // po jakem case zataceni se detekuje dira
#define FW_POMALU 170 // trochu mimo caru vnitrni pas
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni
#define FW_STREDNE 190 // trochu mimo caru vnejsi pas
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry
#define MAX_ROVINKA (255-FW_STREDNE)
#define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd
#define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku
//motory //Napred vypnout potom zapnout!
#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred
#define FL output_low(PIN_B7); output_high(PIN_B6)
#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad
#define BL output_low(PIN_B6); output_high(PIN_B7)
#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav
#define STOPL output_low(PIN_B6);output_low(PIN_B7)
#define L 0b10 // left
#define R 0b01 // right
#define S 0b11 // straight
//cidla
#define RSENSOR (BW != C2OUT) // Senzory na caru
#define LSENSOR (BW != C1OUT)
#define BUMPER sAN2 // Senzor na cihlu
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod
#define BARVY PIN_B1 // Propojka pro nastaveni barvy cary
#define SPEAKER PIN_B0 // vystup pro pipak
#define LED1 PIN_A4 // LEDky
#define LED2 PIN_A3
#define LED3 PIN_A7
#define LED4 PIN_A6
// makro pro PWM
#define GO(motor, direction, power) if(get_timer0()<=power) \
{direction##motor;} else {stop##motor;}
#int_TIMER2
void TIMER2_isr() // obsluha zrychlovani
{
if (speed<255) speed++;
if (rovinka<MAX_ROVINKA) rovinka++;
}
// Primitivni Pipani
void beep(unsigned int16 period, unsigned int16 length)
{
unsigned int16 nn;
for(nn=length; nn>0; nn--)
{
output_high(SPEAKER);
delay_us(period);
output_low(SPEAKER);
delay_us(period);
}
}
/******************************************************************************/
void diagnostika()
{
unsigned int16 n;
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku
{
for (n=500; n<800; n+=100)
{
beep(n,n); //beep UP
};
Delay_ms(1000);
//zastav vse
STOPL; STOPR;
//pravy pas
FR; Delay_ms(1000); STOPR; Delay_ms(1000);
BR; Delay_ms(1000); STOPR; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//levy pas
FL; Delay_ms(1000); STOPL; Delay_ms(1000);
BL; Delay_ms(1000); STOPL; Delay_ms(1000);
Beep(880,100); Delay_ms(1000);
//oba pasy
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
};
while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel
{
if (RSENSOR) beep(1000,200);
Delay_ms(300);
if (LSENSOR) beep(2000,300);
Delay_ms(300);
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400);
Delay_ms(300);
};
}
///////////////////////////////////////////////////////////////////////////////
void OtocSe() // otoci se zpet, kdyz je prekazka
{
unsigned int16 n;
BL; BR; // cukni zpatky
Delay_ms(200);
STOPR;STOPL;
beep(800,400);
beep(2000,1000);
output_low(LED4);
beep(900,400);
output_low(LED1);
BR; FL; Delay_ms(100); // otoc se 30° do prava
STOPL; STOPR;
beep(1000,1000);
output_low(LED3);
BR; FL;
for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru
{
line = RSENSOR; // cteni senzoru na caru
line |= LSENSOR << 1;
if (line!=0) break;
}
STOPR; STOPL;
output_high(LED1); output_high(LED3); output_high(LED4);
line=L; // caru jsme prejeli, tak je vlevo
cirkus=0;
}
void main()
{
unsigned int16 n; // pro FOR
unsigned int16 i;
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator
port_b_pullups(TRUE); // pullups pro piano na diagnostiku
setup_spi(FALSE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
// preruseni kazdych 10ms
setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik
setup_adc(ADC_CLOCK_INTERNAL);
set_adc_channel(2);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik
setup_ccp1(CCP_COMPARE_RESET_TIMER);
CCP_1=(2^10)-1; // prevod kazdou 1ms
output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4);
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd
Beep(1000,200); //double beep
Delay_ms(50);
Beep(1000,200);
Delay_ms(1000); // 1s
// povoleni rizeni rychlosti zataceni pres preruseni
enable_interrupts(INT_TIMER2);
enable_interrupts(GLOBAL);
/*---------------------------------------------------------------------------*/
sensors=S;
line=S;
last=S;
cirkus=0;
// movement=S;
speed=FW_POMALU;
BW=input(BARVY); // Jaka ma byt barva cary?
diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku
Delay_ms(500);
output_high(LED1); Beep(1000,200); Delay_ms(500);
output_high(LED2); Beep(1000,200); Delay_ms(500);
output_high(LED3); Beep(1000,200); Delay_ms(500);
output_high(LED4); Beep(1000,200); Delay_ms(500);
while(true) // hlavni smycka (jizda podle cary)
{
sensors = RSENSOR; // cteni senzoru na caru
sensors |= LSENSOR << 1;
if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();
switch (sensors) // zatacej podle toho, kde vidis caru
{
case S: // rovne
GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);
continue;
case L: // trochu vlevo
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);
line=L;
continue;
case R: // trochu vpravo
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);
line=R;
continue;
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal
};
rovinka=0;
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu,
// tak zabrzdi
{
output_bit(LED1, !input(LED1));
last=line;
speed=FW_ZATACKA;
cirkus++;
if (cirkus>8)
{
STOPL; STOPR;
cirkus=0;
disable_interrupts(GLOBAL);
beep(1000,400);
for(n=3000; n>3950; n--) beep(n,10);
output_low(LED1);
beep(2000,200);
beep(900,400);
for(n=2950; n<3000; n++) beep(n,10);
output_low(LED2);
output_high(LED1);
beep(4000,400);
beep(1000,100);
output_low(LED3);
beep(3000,400);
Delay_ms(1000);
output_high(LED1); output_high(LED2);
output_high(LED3); output_high(LED4);
enable_interrupts(GLOBAL);
}
};
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru
{
STOPL;
GO(R, F, speed);
}
else
{
STOPR;
GO(L, F, speed);
}
} // while(true)
}

/Designs/ROBOTS/Merkur/SW/MerkurU/tank.HEX
0,0 → 1,184
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:1009700083160613831206138316861383128613B7
:1009800083160612831206128316861283128612AB
:10099000AE010B138B138B1BCA2C0330B700E8304E
:1009A000B6000130B9009030B80055200B30B100CE
:1009B000B830B00031080E3C0318F22CFF3A031D8A
:1009C000E52C30086E3C0318F22C3108B7003008D3
:1009D000B600B9010A30B800552030080319B10338
:1009E000B003DA2C83160512831205120730B70004
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:100A1000B1008630B00031080B3C031C212D031DB2
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: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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;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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;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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: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