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2 kaklik 1 
CCS PCW C Compiler, Version 3.110, 15448
2 
 
3 
               Filename: d:\@kaklik\programy\pic_c\robot\auto\main.LST
4 
 
5 
               ROM used: 188 (18%)
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                         Largest free fragment is 836
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               RAM used: 4 (11%) at main() level
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                         5 (14%) worst case
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               Stack:    2 locations
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11 
*
12 
0000:  MOVLW  00
13 
0001:  MOVWF  0A
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0002:  GOTO   071
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0003:  NOP
16 
....................  #include "D:\@Kaklik\programy\PIC_C\robot\auto\main.h"
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....................  #include <16C84.h>
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....................  //////// Standard Header file for the PIC16C84 device ////////////////
19 
.................... #device PIC16C84
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.................... #list
21 
....................
22 
.................... #use delay(clock=4000000)
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0004:  MOVLW  10
24 
0005:  MOVWF  04
25 
0006:  MOVF   00,W
26 
0007:  BTFSC  03.2
27 
0008:  GOTO   018
28 
0009:  MOVLW  01
29 
000A:  MOVWF  0D
30 
000B:  CLRF   0C
31 
000C:  DECFSZ 0C,F
32 
000D:  GOTO   00C
33 
000E:  DECFSZ 0D,F
34 
000F:  GOTO   00B
35 
0010:  MOVLW  4A
36 
0011:  MOVWF  0C
37 
0012:  DECFSZ 0C,F
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0013:  GOTO   012
39 
0014:  NOP
40 
0015:  NOP
41 
0016:  DECFSZ 00,F
42 
0017:  GOTO   009
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0018:  RETLW  00
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.................... #fuses XT,NOWDT
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....................
46 
....................
47 
....................
48 
.................... #DEFINE     CIDLO1L      PIN_B0
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.................... #DEFINE     CIDLO1R      PIN_B1
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.................... #DEFINE     CIDLO2L      PIN_B2
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.................... #DEFINE     CIDLO2R      PIN_B3
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....................
53 
.................... #DEFINE     RELE1       PIN_B5
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.................... #DEFINE     RELE2       PIN_B6
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.................... #DEFINE     MOTOR1      PIN_B4
56 
.................... #DEFINE     MOTOR2      PIN_A0
57 
.................... #DEFINE     MOTOR2a     PIN_A1
58 
....................
59 
.................... #DEFINE     LASER       PIN_A2
60 
....................
61 
.................... #DEFINE  L  0
62 
.................... #DEFINE  R  1
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....................
64 
.................... int cara;
65 
.................... int movement;
66 
....................
67 
.................... void left()
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.................... {
69 
....................    output_high(RELE1);
70 
*
71 
0041:  BSF    03.5
72 
0042:  BCF    06.5
73 
0043:  BCF    03.5
74 
0044:  BSF    06.5
75 
....................    output_high(RELE2);
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0045:  BSF    03.5
77 
0046:  BCF    06.6
78 
0047:  BCF    03.5
79 
0048:  BSF    06.6
80 
....................    delay_ms(100);
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0049:  MOVLW  64
82 
004A:  MOVWF  10
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004B:  CALL   004
84 
....................    output_high(MOTOR1);
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004C:  BSF    03.5
86 
004D:  BCF    06.4
87 
004E:  BCF    03.5
88 
004F:  BSF    06.4
89 
....................    output_high(MOTOR2);
90 
0050:  BSF    03.5
91 
0051:  BCF    05.0
92 
0052:  BCF    03.5
93 
0053:  BSF    05.0
94 
....................    output_high(MOTOR2a);
95 
0054:  BSF    03.5
96 
0055:  BCF    05.1
97 
0056:  BCF    03.5
98 
0057:  BSF    05.1
99 
0058:  GOTO   0A4 (RETURN)
100 
.................... }
101 
....................
102 
.................... void right()
103 
.................... {
104 
....................    output_low(RELE1);
105 
0059:  BSF    03.5
106 
005A:  BCF    06.5
107 
005B:  BCF    03.5
108 
005C:  BCF    06.5
109 
....................    output_low(RELE2);
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005D:  BSF    03.5
111 
005E:  BCF    06.6
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005F:  BCF    03.5
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0060:  BCF    06.6
114 
....................    delay_ms(100);
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0061:  MOVLW  64
116 
0062:  MOVWF  10
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0063:  CALL   004
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....................    output_high(MOTOR1);
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0064:  BSF    03.5
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0065:  BCF    06.4
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0066:  BCF    03.5
122 
0067:  BSF    06.4
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....................    output_high(MOTOR2);
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0068:  BSF    03.5
125 
0069:  BCF    05.0
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006A:  BCF    03.5
127 
006B:  BSF    05.0
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....................    output_high(MOTOR2a);
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006C:  BSF    03.5
130 
006D:  BCF    05.1
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006E:  BCF    03.5
132 
006F:  BSF    05.1
133 
0070:  GOTO   0B1 (RETURN)
134 
.................... }
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....................
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.................... void rovne()
137 
.................... {
138 
....................    output_low(RELE1);      // oba motory vpred
139 
*
140 
0029:  BSF    03.5
141 
002A:  BCF    06.5
142 
002B:  BCF    03.5
143 
002C:  BCF    06.5
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....................    output_high(RELE2);
145 
002D:  BSF    03.5
146 
002E:  BCF    06.6
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002F:  BCF    03.5
148 
0030:  BSF    06.6
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....................    delay_ms(100);
150 
0031:  MOVLW  64
151 
0032:  MOVWF  10
152 
0033:  CALL   004
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....................    output_high(MOTOR1);
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0034:  BSF    03.5
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0035:  BCF    06.4
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0036:  BCF    03.5
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0037:  BSF    06.4
158 
....................    output_high(MOTOR2);
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0038:  BSF    03.5
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0039:  BCF    05.0
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003A:  BCF    03.5
162 
003B:  BSF    05.0
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....................    output_high(MOTOR2a);
164 
003C:  BSF    03.5
165 
003D:  BCF    05.1
166 
003E:  BCF    03.5
167 
003F:  BSF    05.1
168 
0040:  RETLW  00
169 
.................... }
170 
....................
171 
.................... void stop()
172 
.................... {
173 
....................    output_low(MOTOR1);
174 
*
175 
0019:  BSF    03.5
176 
001A:  BCF    06.4
177 
001B:  BCF    03.5
178 
001C:  BCF    06.4
179 
....................    output_low(MOTOR2);
180 
001D:  BSF    03.5
181 
001E:  BCF    05.0
182 
001F:  BCF    03.5
183 
0020:  BCF    05.0
184 
....................    output_low(MOTOR2a);
185 
0021:  BSF    03.5
186 
0022:  BCF    05.1
187 
0023:  BCF    03.5
188 
0024:  BCF    05.1
189 
....................    delay_ms(100);
190 
0025:  MOVLW  64
191 
0026:  MOVWF  10
192 
0027:  CALL   004
193 
0028:  RETLW  00
194 
.................... }
195 
....................
196 
....................
197 
.................... void main()
198 
.................... {
199 
*
200 
0071:  CLRF   04
201 
0072:  MOVLW  1F
202 
0073:  ANDWF  03,F
203 
....................    cara=L;
204 
0074:  CLRF   0E
205 
....................    movement=R;
206 
0075:  MOVLW  01
207 
0076:  MOVWF  0F
208 
....................    output_low(RELE1);      // oba motory vpred
209 
0077:  BSF    03.5
210 
0078:  BCF    06.5
211 
0079:  BCF    03.5
212 
007A:  BCF    06.5
213 
....................    output_high(RELE2);
214 
007B:  BSF    03.5
215 
007C:  BCF    06.6
216 
007D:  BCF    03.5
217 
007E:  BSF    06.6
218 
....................    delay_ms(100);
219 
007F:  MOVLW  64
220 
0080:  MOVWF  10
221 
0081:  CALL   004
222 
....................    while (true)
223 
....................    {
224 
....................          if (!input(CIDLO1R)) cara=R; // cara vpravo
225 
0082:  BSF    03.5
226 
0083:  BSF    06.1
227 
0084:  BCF    03.5
228 
0085:  BTFSC  06.1
229 
0086:  GOTO   089
230 
0087:  MOVLW  01
231 
0088:  MOVWF  0E
232 
....................          if (!input(CIDLO1L)) cara=L; // cara vlevo
233 
0089:  BSF    03.5
234 
008A:  BSF    06.0
235 
008B:  BCF    03.5
236 
008C:  BTFSC  06.0
237 
008D:  GOTO   08F
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008E:  CLRF   0E
239 
....................
240 
....................
241 
....................          if (cara != movement)
242 
008F:  MOVF   0F,W
243 
0090:  SUBWF  0E,W
244 
0091:  BTFSC  03.2
245 
0092:  GOTO   0B4
246 
....................          {
247 
....................             switch(cara)
248 
0093:  MOVF   0E,W
249 
0094:  ADDLW  FE
250 
0095:  BTFSC  03.0
251 
0096:  GOTO   0B4
252 
0097:  ADDLW  02
253 
0098:  GOTO   0B6
254 
....................             {
255 
....................               case L:
256 
....................                  output_high(LASER);
257 
0099:  BSF    03.5
258 
009A:  BCF    05.2
259 
009B:  BCF    03.5
260 
009C:  BSF    05.2
261 
....................             stop();
262 
009D:  CALL   019
263 
....................             rovne();
264 
009E:  CALL   029
265 
....................             delay_ms(100);
266 
009F:  MOVLW  64
267 
00A0:  MOVWF  10
268 
00A1:  CALL   004
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....................                  stop();
270 
00A2:  CALL   019
271 
....................                  left();
272 
00A3:  GOTO   041
273 
....................                  movement=L;
274 
00A4:  CLRF   0F
275 
....................                 break;
276 
00A5:  GOTO   0B4
277 
....................
278 
....................               case R:
279 
....................             stop();
280 
00A6:  CALL   019
281 
....................             rovne();
282 
00A7:  CALL   029
283 
....................             delay_ms(100);
284 
00A8:  MOVLW  64
285 
00A9:  MOVWF  10
286 
00AA:  CALL   004
287 
....................                  output_low(LASER);
288 
00AB:  BSF    03.5
289 
00AC:  BCF    05.2
290 
00AD:  BCF    03.5
291 
00AE:  BCF    05.2
292 
....................                  stop();
293 
00AF:  CALL   019
294 
....................                  right();
295 
00B0:  GOTO   059
296 
....................                  movement=R;
297 
00B1:  MOVLW  01
298 
00B2:  MOVWF  0F
299 
....................                 break;
300 
00B3:  GOTO   0B4
301 
....................             }
302 
*
303 
00B6:  BCF    0A.0
304 
00B7:  BCF    0A.1
305 
00B8:  BCF    0A.2
306 
00B9:  ADDWF  02,F
307 
00BA:  GOTO   099
308 
00BB:  GOTO   0A6
309 
....................          }
310 
....................    }
311 
*
312 
00B4:  GOTO   082
313 
.................... }
314 
....................
315 
00B5:  SLEEP