Subversion Repositories svnkaklik

Rev

Rev 323 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log

Rev Author Line No. Line
318 kaklik 1 
'robot
2 
 
3 
'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
4 
 
5 
 
6 
#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H
7 
#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L
8 
#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
9 
#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H
10 
#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L
11 
#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L
12 
#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H
13 
#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
14 
#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H
15 
#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
16 
#pragma DATA _CONFIG7H, _EBTRB_ON_7H
17 
 
18 
#pragma CLOCK_FREQ 40000000
19 
 
20 
Function receive() As Byte
21 
	If ( (rcsta.OERR = 1) ) Then
22 
		rcsta.CREN = 0
23 
        rcsta.CREN = 1
24 
	End If
25 
    Do While (pir1.RCIF = 0)
26 
	Loop
27 
	receive = rcreg
28 
 
29 
End Function
30 
 
31 
Sub send(c As Byte)
32 
	Do while (pir1 & (1 << TXIF)) = 0 Loop
33 
	txreg = c
34 
End Sub
35 
 
36 
Sub main()
37 
	Dim motors As Byte
38 
	Dim sensors As Byte
39 
	Dim buttons As Byte
322 kaklik 40 
	Dim leds As Byte
324 kaklik 41 
	Dim count As Long
318 kaklik 42 
	Dim i As Long
43 
 
44 
	'NASTAVENI IO
45 
	lata=0xFF
46 
	latb=0
47 
	latc=0xFF
48 
	trisa=0xF0
49 
	trisb=0x3F
50 
	trisc=0x9F
51 
 
52 
	'VYPNOUT ADC
53 
	adcon1=0xC6
54 
	adcon0=0xC0
55 
 
56 
	'UART 9600bps
57 
	spbrg=64
58 
	txsta = txsta & ~(1 << BRGH)
59 
	txsta = txsta | (1 << TXEN)
60 
	rcsta = rcsta | (1 << CREN)
61 
	rcsta = rcsta | (1 << SPEN)
62 
 
321 kaklik 63 
	motors = 0x00
322 kaklik 64 
 
65 
    do while (portb.0 = 1)
66 
	loop
67 
 
68 
	leds = 0xF0
69 
	count = 400000
318 kaklik 70 
 
322 kaklik 71 
	do while (count > 0)
72 
		count = count -1
73 
 
74 
		if count < 300000 then
75 
			leds = leds | 1
76 
		end if
77 
		if count < 200000 then
78 
			leds = leds | 2
79 
		end if
80 
		if count < 100000 then
81 
			leds = leds | 4
82 
		end if
83 
		lata = leds
84 
	loop
85 
	lata = 0xFF
318 kaklik 86 
 
87 
 
88 
Do while 1
89 
 
321 kaklik 90 
  sensors =0xFF
91 
  sensors = Call receive()	'prijmi stav cidel senzoru
318 kaklik 92 
 
321 kaklik 93 
  If (!((sensors.0) and (sensors.1))) Then
94 
    motors = 0x77
95 
  End If
96 
 
97 
  If (!(sensors.2)) Then
98 
    motors = 0xF7
99 
  End If
318 kaklik 100 
 
321 kaklik 101 
  If (!(sensors.3)) Then
102 
    motors = 0x7F
103 
  End If
104 
 
105 
  lata = sensors
106 
  call send(motors)
318 kaklik 107 
 
321 kaklik 108 
Loop
109 
 
318 kaklik 110 
End Sub