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#include 16C84.INC
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#define debug	0
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Dozadu	EQU	1
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Dopredu	EQU	2
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;--------------------------------------
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Vpred_ON macro
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	bsf	PORTA, Dopredu
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	endm
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;--------------------------------------
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Vpred_OFF macro
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	bcf	PORTA, Dopredu
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	Delay	50
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	bsf	PORTA, Dozadu		;zabrzdi
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	Delay	125
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	bcf	PORTA, Dozadu
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	endm
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;--- Macro na spozdeni 1ms az 255ms ---
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Delay	macro	_ms
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	movlw	_ms
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	movwf	CT2
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	call	Delay1ms
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	endm
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;--------------------------------------
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Vpred   macro	d
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	movlw	d		; x dlazdicek
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	movwf	CT3
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	call	Vpred0
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	endm
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;--------------------------------------
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	org	0
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	goto	Start
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	;--------------------
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	org	4
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	;--------------------
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Start:
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	page1
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	movlw 	00000000B	; inicializace citace a prescaleru
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	movwf	TMR0
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	movlw 	00000000B	; konfigurace preruseni
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	movwf	INTCON
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	page1
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	movlw	11110001B	; nastaveni portu na vstup nebo vystup
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	movwf	PORTA		; 1=vstup 0=vystup
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	movlw	11110110B
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	movwf	PORTB
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	bsf	TMR0, 7		; vypni pull-up na PORTB (OPTION registr)
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	page0
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	clrw			; vynulovani portu
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	movwf	PORTA
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	movwf	PORTB
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	bsf	PORTB, 3	; Pridrz napajeni
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	bsf	PORTA, 3	; Rozsvit LED
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	Delay	250
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	bcf	PORTA, 3	; Zhasni LED
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MainLoop:
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	Vpred	3
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	Delay	50
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	call	Vlevo
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	bcf	PORTB, 3	; Vypni napajeni
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Smycka:
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	goto	Smycka
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	;----------------
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;--- Popojede o n dlazdic vpred ---
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Vpred0:
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	Vpred_ON
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	Delay	175
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	bsf	PORTB, 0
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	Delay	15
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	bcf	PORTB, 0
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	Delay	175
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	Vpred_OFF
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	Delay	50
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	decfsz	CT3, f
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	goto	Vpred0
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	return
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;--- Spozdeni v nasobcich 10ms ----
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Delay1ms:
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 IF debug == 0
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	movlw	100		; 1 ms
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	movwf	CT1
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	call	Delay10us
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	decfsz	CT2, f
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	goto	Delay1ms
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 ENDIF
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	return
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;--- Spozdeni v nasobcich 10us ----
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Delay10us:			; Prodleva (CT1 * 10us)+3us
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	nop
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	nop
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	nop
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	nop
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	nop
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	nop
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	nop
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	decfsz	CT1, f
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	goto	Delay10us
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	return
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;-----------------------------------
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Vpravo:
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	bsf	PORTB, 0
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	Delay	250
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	Delay	50
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	bcf	PORTB, 0
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	return
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;---------------------------------------
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Celemvzad:
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	call	Vpravo
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	bsf	PORTB, 0
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	Delay	125
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	bcf	PORTB, 0
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	return
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;---------------------------------------
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Vlevo:
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	call	Vpravo
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	bsf	PORTB, 0
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	Delay	250
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	Delay	75
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	bcf	PORTB, 0
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	return
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;----------------------------
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; Definice promenych
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;----------------------------
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	cblock
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	CT1
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	CT2
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	CT3
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	endc
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	end