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Rev Author Line No. Line
318 kaklik 1 
'robot
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'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
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#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H
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#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L
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#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
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#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H
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#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L
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#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L
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#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H
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#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
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#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H
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#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
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#pragma DATA _CONFIG7H, _EBTRB_ON_7H
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#pragma CLOCK_FREQ 40000000
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Function receive() As Byte
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	If ( (rcsta.OERR = 1) ) Then
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		rcsta.CREN = 0
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        rcsta.CREN = 1
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	End If
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    Do While (pir1.RCIF = 0)
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	Loop
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	receive = rcreg
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End Function
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Sub send(c As Byte)
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	Do while (pir1 & (1 << TXIF)) = 0 Loop
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	txreg = c
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End Sub
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Sub main()
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	Dim motors As Byte
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	Dim sensors As Byte
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	Dim buttons As Byte
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	Dim leds As Byte
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	Dim count As Long
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	Dim cas As Long
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	Dim i As Long
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	'NASTAVENI IO
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	lata=0xFF
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	latb=0
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	latc=0xFF
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	trisa=0xF0
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	trisb=0x3F
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	trisc=0x9F
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	'VYPNOUT ADC
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	adcon1=0xC6
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	adcon0=0xC0
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	'UART 9600bps
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	spbrg=64
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	txsta = txsta & ~(1 << BRGH)
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	txsta = txsta | (1 << TXEN)
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	rcsta = rcsta | (1 << CREN)
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	rcsta = rcsta | (1 << SPEN)
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	motors = 0x00
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    do while (portb.0 = 1)
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	loop
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	leds = 0xF0
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	count = 400000
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	do while (count > 0)
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		count = count -1
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		if count < 300000 then
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			leds = leds | 1
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		end if
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		if count < 200000 then
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			leds = leds | 2
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		end if
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		if count < 100000 then
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			leds = leds | 4
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		end if
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		lata = leds
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	loop
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	lata = 0xFF
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Do while 1
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  cas = 0
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  sensors =0xFF
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  sensors = Call receive()	'prijmi stav cidel senzoru
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  If (!((sensors.0) and (sensors.1))) Then
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    motors = 0x77
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  End If
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  If (!(sensors.2)) Then
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    If cas< 400000 Then
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      cas = cas + 1
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    End If
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    cas = 0
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    motors = 0xF7
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  End If
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  If (!(sensors.3)) Then
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    If cas< 400000 Then
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      cas = cas + 1
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    End If
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    cas = 0
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    motors = 0x7F
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  End If
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  cas = cas+1
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  lata = sensors
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  call send(motors)
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Loop
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End Sub