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;/////////////////////////////////////////////////////////////////////////////////
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;// Code Generator: BoostBasic Compiler - http://www.sourceboost.com
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;// Version : 6.70
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;// License Type : Pro License
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;// Limitations : PIC18 max code size:Unlimited, max RAM banks:Unlimited
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;/////////////////////////////////////////////////////////////////////////////////
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'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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020E A2AB BTFSS gbl_rcsta,1
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0210 D002 BRA label268438550
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0216 label268438550
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rcsta.CREN = 0
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0212 98AB BCF gbl_rcsta,4
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rcsta.CREN = 1
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0214 88AB BSF gbl_rcsta,4
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End If
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Do While (pir1.RCIF = 0)
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0216 AA9E BTFSS gbl_pir1,5
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0218 D7FE BRA label268438550
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Loop
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receive = rcreg
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021A 50AE MOVF gbl_rcreg, W
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021C 6E0A MOVWF CompTempVarRet489
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End Function
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021E 0012 RETURN
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Sub send(c As Byte)
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Do while (pir1 & (1 << TXIF)) = 0 Loop
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0204 label268438561
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0204 A89E BTFSS gbl_pir1,4
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0206 D7FE BRA label268438561
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txreg = c
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0208 500A MOVF send_00000_arg_c, W
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020A 6EAD MOVWF gbl_txreg
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End Sub
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020C 0012 RETURN
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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 leds As Byte
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Dim leds1 As Byte
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Dim buttons As Byte
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Dim i As Long
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'NASTAVENI IO
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lata=0xFF
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0220 6889 SETF gbl_lata
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latb=0
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0222 6A8A CLRF gbl_latb
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latc=0xFF
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0224 688B SETF gbl_latc
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trisa=0xF0
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0226 0EF0 MOVLW 0xF0
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0228 6E92 MOVWF gbl_trisa
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trisb=0x3F
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022A 0E3F MOVLW 0x3F
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022C 6E93 MOVWF gbl_trisb
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trisc=0x9F
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022E 0E9F MOVLW 0x9F
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0230 6E94 MOVWF gbl_trisc
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'VYPNOUT ADC
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adcon1=0xC6
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0232 0EC6 MOVLW 0xC6
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0234 6EC1 MOVWF gbl_adcon1
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adcon0=0xC0
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0236 0EC0 MOVLW 0xC0
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0238 6EC2 MOVWF gbl_adcon0
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'UART 9600bps
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spbrg=64
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023A 0E40 MOVLW 0x40
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023C 6EAF MOVWF gbl_spbrg
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txsta = txsta & ~(1 << BRGH)
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023E 0EFB MOVLW 0xFB
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0240 14AC ANDWF gbl_txsta, W
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0242 6EAC MOVWF gbl_txsta
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txsta = txsta | (1 << TXEN)
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0244 0E20 MOVLW 0x20
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0246 10AC IORWF gbl_txsta, W
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0248 6EAC MOVWF gbl_txsta
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rcsta = rcsta | (1 << CREN)
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024A 0E10 MOVLW 0x10
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024C 10AB IORWF gbl_rcsta, W
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024E 6EAB MOVWF gbl_rcsta
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rcsta = rcsta | (1 << SPEN)
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0250 0E80 MOVLW 0x80
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0252 10AB IORWF gbl_rcsta, W
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0254 6EAB MOVWF gbl_rcsta
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leds = 0xFF
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0256 6803 SETF main_1_leds
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leds1 = 0x0F
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0258 0E0F MOVLW 0x0F
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025A 6E04 MOVWF main_1_leds1
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motors = 0x00
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025C 6A01 CLRF main_1_motors
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Do while 1
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025E label268438595
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buttons = portb
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025E 5081 MOVF gbl_portb, W
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0260 6E05 MOVWF main_1_buttons
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If (buttons.1)=0 Then
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0262 B205 BTFSC main_1_buttons,1
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0264 D022 BRA label268438598
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02AA label268438598
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i=0
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0266 6A06 CLRF main_1_i
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0268 6A07 CLRF main_1_i+D'1'
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026A 6A08 CLRF main_1_i+D'2'
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026C 6A09 CLRF main_1_i+D'3'
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leds1 = leds1 - 1
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026E 0404 DECF main_1_leds1, W
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0270 6E04 MOVWF main_1_leds1
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lata = leds1
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0272 5004 MOVF main_1_leds1, W
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0274 6E89 MOVWF gbl_lata
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Do while i <= 500000
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0276 label268438603
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0276 5009 MOVF main_1_i+D'3', W
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0278 0800 SUBLW 0x00
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027A E108 BNZ label268438604
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027C 5008 MOVF main_1_i+D'2', W
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027E 0807 SUBLW 0x07
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0280 E105 BNZ label268438604
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0282 5007 MOVF main_1_i+D'1', W
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0284 08A1 SUBLW 0xA1
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0286 E102 BNZ label268438604
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0288 5006 MOVF main_1_i, W
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028A 0820 SUBLW 0x20
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028C label268438604
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028C E202 BC label4026532463
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028E AE09 BTFSS main_1_i+D'3',7
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0290 D008 BRA label268438608
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0292 label4026532463
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i=i+1
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0292 2A06 INCF main_1_i, F
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0294 B4D8 BTFSC STATUS,Z
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0296 2A07 INCF main_1_i+D'1', F
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0298 B4D8 BTFSC STATUS,Z
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029A 2A08 INCF main_1_i+D'2', F
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029C B4D8 BTFSC STATUS,Z
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029E 2A09 INCF main_1_i+D'3', F
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loop
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02A0 D7EA BRA label268438603
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02A2 label268438608
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motors = motors + 0x11
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02A2 0E11 MOVLW 0x11
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02A4 2401 ADDWF main_1_motors, W
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02A6 6E01 MOVWF main_1_motors
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elseif (buttons.4)=0 Then
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02A8 D023 BRA label268438619
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02AA B805 BTFSC main_1_buttons,4
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02AC D021 BRA label268438619
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02F0 label268438619
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i=0
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02AE 6A06 CLRF main_1_i
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02B0 6A07 CLRF main_1_i+D'1'
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02B2 6A08 CLRF main_1_i+D'2'
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02B4 6A09 CLRF main_1_i+D'3'
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leds1 = leds1 + 1
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02B6 2804 INCF main_1_leds1, W
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02B8 6E04 MOVWF main_1_leds1
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lata = leds1
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02BA 5004 MOVF main_1_leds1, W
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02BC 6E89 MOVWF gbl_lata
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236 |
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Do while i <= 500000
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02BE label268438624
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02BE 5009 MOVF main_1_i+D'3', W
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02C0 0800 SUBLW 0x00
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02C2 E108 BNZ label268438625
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02C4 5008 MOVF main_1_i+D'2', W
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02C6 0807 SUBLW 0x07
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02C8 E105 BNZ label268438625
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02CA 5007 MOVF main_1_i+D'1', W
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02CC 08A1 SUBLW 0xA1
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02CE E102 BNZ label268438625
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02D0 5006 MOVF main_1_i, W
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02D2 0820 SUBLW 0x20
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02D4 label268438625
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02D4 E202 BC label4026532468
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02D6 AE09 BTFSS main_1_i+D'3',7
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02D8 D008 BRA label268438629
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02DA label4026532468
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i=i+1
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02DA 2A06 INCF main_1_i, F
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02DC B4D8 BTFSC STATUS,Z
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02DE 2A07 INCF main_1_i+D'1', F
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260 |
02E0 B4D8 BTFSC STATUS,Z
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02E2 2A08 INCF main_1_i+D'2', F
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262 |
02E4 B4D8 BTFSC STATUS,Z
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263 |
02E6 2A09 INCF main_1_i+D'3', F
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264 |
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265 |
loop
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266 |
02E8 D7EA BRA label268438624
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267 |
02EA label268438629
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268 |
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269 |
motors = motors - 0x11
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270 |
02EA 0E11 MOVLW 0x11
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271 |
02EC 5C01 SUBWF main_1_motors, W
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272 |
02EE 6E01 MOVWF main_1_motors
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273 |
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274 |
End If
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275 |
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leds = 0xFF
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277 |
02F0 6803 SETF main_1_leds
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278 |
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279 |
sensors =0xFF
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280 |
02F2 6802 SETF main_1_sensors
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281 |
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282 |
sensors = Call receive() 'prijmi stav cidel senzoru
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283 |
02F4 EC07F001 CALL receive_00000
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284 |
02F8 500A MOVF CompTempVarRet489, W
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285 |
02FA 6E02 MOVWF main_1_sensors
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286 |
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287 |
'Bity v bajtu sensors
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288 |
'BIT3=LEVE SPODNI, BIT2=PRAVE SPODNI, BIT1=LEVE PREDNI, BIT0=PRAVE PREDNI
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289 |
'prislusny bit v nule znamena aktivni senzor
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290 |
If (sensors.0)=0 Then
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291 |
02FC B002 BTFSC main_1_sensors,0
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292 |
02FE D003 BRA label268438643
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293 |
0306 label268438643
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294 |
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295 |
'pravy predni senzor aktivni
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296 |
'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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297 |
leds = leds & ~(1 << 1) 'led sviti, kdyz se ji bit znuluje
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298 |
0300 0EFD MOVLW 0xFD
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299 |
0302 1403 ANDWF main_1_leds, W
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300 |
0304 6E03 MOVWF main_1_leds
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301 |
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302 |
End If
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303 |
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304 |
If (sensors.1)=0 Then
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305 |
0306 B202 BTFSC main_1_sensors,1
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306 |
0308 D003 BRA label268438646
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307 |
0310 label268438646
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308 |
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309 |
'levy predni senzor aktivni
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310 |
'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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311 |
leds = leds & ~(1 << 2) 'led sviti, kdyz se ji bit znuluje
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312 |
030A 0EFB MOVLW 0xFB
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313 |
030C 1403 ANDWF main_1_leds, W
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314 |
030E 6E03 MOVWF main_1_leds
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315 |
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316 |
End If
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317 |
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318 |
If (sensors.2)=0 Then
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319 |
0310 B402 BTFSC main_1_sensors,2
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320 |
0312 D003 BRA label268438649
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321 |
031A label268438649
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322 |
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323 |
'pravy spodni senzor aktivni
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324 |
'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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325 |
leds = leds & ~(1 << 0) 'led sviti, kdyz se ji bit znuluje
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326 |
0314 0EFE MOVLW 0xFE
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327 |
0316 1403 ANDWF main_1_leds, W
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328 |
0318 6E03 MOVWF main_1_leds
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329 |
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330 |
End If
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331 |
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332 |
If (sensors.3)=0 Then
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333 |
031A B602 BTFSC main_1_sensors,3
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334 |
031C D003 BRA label268438652
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335 |
0324 label268438652
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336 |
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337 |
'levy spodni senzor aktivni
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338 |
'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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339 |
leds = leds & ~(1 << 3) 'led sviti, kdyz se ji bit znuluje
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340 |
031E 0EF7 MOVLW 0xF7
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341 |
0320 1403 ANDWF main_1_leds, W
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342 |
0322 6E03 MOVWF main_1_leds
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343 |
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344 |
End If
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345 |
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346 |
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347 |
lata = leds
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348 |
0324 5003 MOVF main_1_leds, W
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349 |
0326 6E89 MOVWF gbl_lata
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350 |
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|
351 |
call send(motors)
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|
352 |
0328 5001 MOVF main_1_motors, W
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353 |
032A 6E0A MOVWF send_00000_arg_c
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354 |
032C EC02F001 CALL send_00000
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355 |
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356 |
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357 |
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358 |
Loop
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359 |
0330 D796 BRA label268438595
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360 |
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361 |
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362 |
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|
363 |
End Sub
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364 |
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365 |
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|
366 |
////////////////////////////////////////
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|
367 |
// Code with no source :-)
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|
368 |
////////////////////////////////////////
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|
369 |
0200 EF99F001 GOTO _startup
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|
370 |
|
|
|
371 |
|
|
|
372 |
0332 _startup
|
|
|
373 |
0332 EF10F001 GOTO main
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|
374 |
|
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|
375 |
300000 FEFF DW 0xFEFF
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|
376 |
300002 FEF6 DW 0xFEF6
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|
377 |
300004 FEFF DW 0xFEFF
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|
|
378 |
300006 FFFB DW 0xFFFB
|
|
|
379 |
300008 3FF0 DW 0x3FF0
|
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|
380 |
30000A 9FFF DW 0x9FFF
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|
381 |
30000C BFFF DW 0xBFFF
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