WebSVN – svnkaklik – Blame – /roboti/istrobot/3Orbis/bak/05 bez RTOS -dacela funkcni objizdka/master/main.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 17-IV-06 12:46`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst`
		4
		5	`ROM used: 849 words (21%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 27 (15%) at main() level`
		8	`34 (19%) worst case`
		9	`Stack: 4 worst case (2 in main + 2 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 1E3`
		15	`0003: NOP`
		16	`0004: MOVWF 7F`
		17	`0005: SWAPF 03,W`
		18	`0006: CLRF 03`
		19	`0007: MOVWF 21`
		20	`0008: MOVF 7F,W`
		21	`0009: MOVWF 20`
		22	`000A: MOVF 0A,W`
		23	`000B: MOVWF 28`
		24	`000C: CLRF 0A`
		25	`000D: SWAPF 20,F`
		26	`000E: MOVF 04,W`
		27	`000F: MOVWF 22`
		28	`0010: MOVF 77,W`
		29	`0011: MOVWF 23`
		30	`0012: MOVF 78,W`
		31	`0013: MOVWF 24`
		32	`0014: MOVF 79,W`
		33	`0015: MOVWF 25`
		34	`0016: MOVF 7A,W`
		35	`0017: MOVWF 26`
		36	`0018: MOVF 7B,W`
		37	`0019: MOVWF 27`
		38	`001A: BCF 03.7`
		39	`001B: BCF 03.5`
		40	`001C: MOVLW 8C`
		41	`001D: MOVWF 04`
		42	`001E: BTFSS 00.1`
		43	`001F: GOTO 022`
		44	`0020: BTFSC 0C.1`
		45	`0021: GOTO 035`
		46	`0022: MOVF 22,W`
		47	`0023: MOVWF 04`
		48	`0024: MOVF 23,W`
		49	`0025: MOVWF 77`
		50	`0026: MOVF 24,W`
		51	`0027: MOVWF 78`
		52	`0028: MOVF 25,W`
		53	`0029: MOVWF 79`
		54	`002A: MOVF 26,W`
		55	`002B: MOVWF 7A`
		56	`002C: MOVF 27,W`
		57	`002D: MOVWF 7B`
		58	`002E: MOVF 28,W`
		59	`002F: MOVWF 0A`
		60	`0030: SWAPF 21,W`
		61	`0031: MOVWF 03`
		62	`0032: SWAPF 7F,F`
		63	`0033: SWAPF 7F,W`
		64	`0034: RETFIE`
		65	`0035: BCF 0A.3`
		66	`0036: GOTO 047`
		67	`.................... #include ".\main.h"`
		68	`.................... #include <16F88.h>`
		69	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		70	`.................... #device PIC16F88`
		71	`.................... #list`
		72	`....................`
		73	`.................... #device adc=8`
		74	`....................`
		75	`.................... #FUSES NOWDT //No Watch Dog Timer`
		76	`.................... #FUSES INTRC_IO`
		77	`.................... #FUSES NOPUT //No Power Up Timer`
		78	`.................... #FUSES MCLR //Master Clear pin enabled`
		79	`.................... #FUSES NOBROWNOUT //Reset when brownout detected`
		80	`.................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18)`
		81	`.................... #FUSES NOCPD //No EE protection`
		82	`.................... #FUSES NOWRT //Program memory not write protected`
		83	`.................... #FUSES NODEBUG //No Debug mode for ICD`
		84	`.................... #FUSES NOPROTECT //Code not protected from reading`
		85	`.................... #FUSES NOFCMEN //Fail-safe clock monitor enabled`
		86	`.................... #FUSES NOIESO //Internal External Switch Over mode enabled`
		87	`....................`
		88	`.................... #use delay(clock=8000000,RESTART_WDT)`
		89	`0037: MOVLW 08`
		90	`0038: SUBWF 3C,F`
		91	`0039: BTFSS 03.0`
		92	`003A: GOTO 046`
		93	`003B: MOVLW 3C`
		94	`003C: MOVWF 04`
		95	`003D: BCF 03.0`
		96	`003E: RRF 00,F`
		97	`003F: MOVF 00,W`
		98	`0040: BTFSC 03.2`
		99	`0041: GOTO 046`
		100	`0042: GOTO 044`
		101	`0043: CLRWDT`
		102	`0044: DECFSZ 00,F`
		103	`0045: GOTO 043`
		104	`0046: RETLW 00`
		105	`*`
		106	`0065: MOVLW 39`
		107	`0066: MOVWF 04`
		108	`0067: MOVF 00,W`
		109	`0068: BTFSC 03.2`
		110	`0069: GOTO 07C`
		111	`006A: MOVLW 02`
		112	`006B: MOVWF 78`
		113	`006C: MOVLW BF`
		114	`006D: MOVWF 77`
		115	`006E: CLRWDT`
		116	`006F: DECFSZ 77,F`
		117	`0070: GOTO 06E`
		118	`0071: DECFSZ 78,F`
		119	`0072: GOTO 06C`
		120	`0073: MOVLW 96`
		121	`0074: MOVWF 77`
		122	`0075: DECFSZ 77,F`
		123	`0076: GOTO 075`
		124	`0077: NOP`
		125	`0078: NOP`
		126	`0079: CLRWDT`
		127	`007A: DECFSZ 00,F`
		128	`007B: GOTO 06A`
		129	`007C: RETLW 00`
		130	`....................`
		131	`....................`
		132	`....................`
		133	`.................... #define KOLMO1 225 // predni kolecko sroubem dopredu`
		134	`.................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu`
		135	`.................... #define STRED 128 // sredni poloha zataceciho kolecka`
		136	`.................... #define BEAR1 12 // 3 stupne zataceni`
		137	`.................... #define BEAR2 34`
		138	`.................... #define BEAR3 55`
		139	`.................... #define SPEEDMAX 140 // maximalni rychlost`
		140	`....................`
		141	`.................... #define L 1 // cara vlevo`
		142	`.................... #define S 2 // casa mezi sensory`
		143	`.................... #define R 0 // cara vpravo`
		144	`....................`
		145	`.................... // servo`
		146	`.................... #define SERVO PIN_A2`
		147	`....................`
		148	`.................... // IR`
		149	`.................... #define IRTX PIN_B2`
		150	`.................... #define CIHLA PIN_A3`
		151	`....................`
		152	`.................... //motory`
		153	`.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred`
		154	`.................... #define FL output_low(PIN_A1); output_high(PIN_A0)`
		155	`.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad`
		156	`.................... #define BL output_low(PIN_A0); output_high(PIN_A1)`
		157	`.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)`
		158	`.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)`
		159	`....................`
		160	`.................... //HID`
		161	`.................... #define LED1 PIN_B1 //oranzova`
		162	`.................... #define LED2 PIN_B2 //zluta`
		163	`....................`
		164	`.................... #define STROBE PIN_B0`
		165	`.................... //#define SW1 PIN_A2 // Motory On/off`
		166	`....................`
		167	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		168	`.................... unsigned int8 line; // na ktere strane byla detekovana cara`
		169	`.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara`
		170	`.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni`
		171	`.................... //unsigned int8 speed; // maximalni povolena rychlost`
		172	`.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky`
		173	`....................`
		174	`.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem`
		175	`.................... signed int16 Rmotor; // a pravem motoru`
		176	`....................`
		177	`.................... // makro pro PWM pro motory`
		178	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		179	`.................... {direction##motor;} else {stop##motor;}`
		180	`....................`
		181	`.................... ////////////////////////////////////////////////////////////////////////////////`
		182	`.................... /*`
		183	`.................... void diagnostika()`
		184	`.................... {`
		185	`.................... if(input(SW1))STOPR;STOPL;While(TRUE);`
		186	`.................... // if(LSENSOR==true) output_high(LED2); else output_low(LED2);`
		187	`.................... // if(RSENSOR==true) output_high(LED1); else output_low(LED1);`
		188	`.................... }`
		189	`.................... */`
		190	`.................... ////////////////////////////////////////////////////////////////////////////////`
		191	`.................... #int_TIMER2`
		192	`.................... TIMER2_isr() // ovladani serva`
		193	`.................... {`
		194	`.................... unsigned int8 n;`
		195	`....................`
		196	`.................... output_high(SERVO);`
		197	`*`
		198	`0047: BSF 03.5`
		199	`0048: BCF 05.2`
		200	`0049: BCF 03.5`
		201	`004A: BSF 05.2`
		202	`.................... delay_us(1000);`
		203	`004B: CLRWDT`
		204	`004C: MOVLW 09`
		205	`004D: MOVWF 3B`
		206	`004E: MOVLW 6D`
		207	`004F: MOVWF 3C`
		208	`0050: CALL 037`
		209	`0051: DECFSZ 3B,F`
		210	`0052: GOTO 04E`
		211	`.................... for(n=uhel; n>0; n--) Delay_us(2);`
		212	`0053: MOVF 2C,W`
		213	`0054: MOVWF 3A`
		214	`0055: MOVF 3A,F`
		215	`0056: BTFSC 03.2`
		216	`0057: GOTO 05E`
		217	`0058: CLRWDT`
		218	`0059: NOP`
		219	`005A: NOP`
		220	`005B: NOP`
		221	`005C: DECF 3A,F`
		222	`005D: GOTO 055`
		223	`.................... output_low(SERVO);`
		224	`005E: BSF 03.5`
		225	`005F: BCF 05.2`
		226	`0060: BCF 03.5`
		227	`0061: BCF 05.2`
		228	`.................... }`
		229	`....................`
		230	`.................... ////////////////////////////////////////////////////////////////////////////////`
		231	`0062: BCF 0C.1`
		232	`0063: BCF 0A.3`
		233	`0064: GOTO 022`
		234	`.................... short int IRcheck() // potvrdi detekci cihly`
		235	`.................... {`
		236	`.................... output_high(IRTX); // vypne vysilac IR`
		237	`.................... delay_ms(100);`
		238	`....................`
		239	`.................... output_low(STROBE);`
		240	`.................... sensors = spi_read(0); // cteni senzoru`
		241	`.................... sensors=~sensors;`
		242	`.................... output_high(STROBE);`
		243	`....................`
		244	`.................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal`
		245	`.................... {`
		246	`.................... output_low(IRTX); // zapne vysilac IR`
		247	`.................... delay_ms(100);`
		248	`....................`
		249	`.................... output_low(STROBE);`
		250	`.................... sensors = spi_read(0); // cteni senzoru`
		251	`.................... sensors=~sensors;`
		252	`.................... output_high(STROBE);`
		253	`....................`
		254	`.................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla`
		255	`.................... {`
		256	`.................... output_high(IRTX); // vypne vysilac IR`
		257	`.................... delay_ms(100);`
		258	`....................`
		259	`.................... output_low(STROBE);`
		260	`.................... sensors = spi_read(0); // cteni senzoru`
		261	`.................... sensors=~sensors;`
		262	`.................... output_high(STROBE);`
		263	`....................`
		264	`.................... output_low(IRTX); // zapne vysilac IR`
		265	`.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla`
		266	`.................... }`
		267	`.................... };`
		268	`.................... output_low(IRTX); // zapne vysilac IR`
		269	`.................... return 0; // vrat 0, kdyz je detekovano ruseni`
		270	`.................... }`
		271	`.................... ////////////////////////////////////////////////////////////////////////////////`
		272	`.................... void objizdka()`
		273	`.................... {`
		274	`.................... int8 shure=0;`
		275	`*`
		276	`007D: CLRF 35`
		277	`.................... unsigned int16 n;`
		278	`....................`
		279	`.................... BR;BL;`
		280	`007E: BSF 03.5`
		281	`007F: BCF 05.6`
		282	`0080: BCF 03.5`
		283	`0081: BCF 05.6`
		284	`0082: BSF 03.5`
		285	`0083: BCF 05.7`
		286	`0084: BCF 03.5`
		287	`0085: BSF 05.7`
		288	`0086: BSF 03.5`
		289	`0087: BCF 05.0`
		290	`0088: BCF 03.5`
		291	`0089: BCF 05.0`
		292	`008A: BSF 03.5`
		293	`008B: BCF 05.1`
		294	`008C: BCF 03.5`
		295	`008D: BSF 05.1`
		296	`.................... Delay_ms(400);`
		297	`008E: MOVLW 02`
		298	`008F: MOVWF 38`
		299	`0090: MOVLW C8`
		300	`0091: MOVWF 39`
		301	`0092: CALL 065`
		302	`0093: DECFSZ 38,F`
		303	`0094: GOTO 090`
		304	`.................... STOPR;STOPL;`
		305	`0095: BSF 03.5`
		306	`0096: BCF 05.6`
		307	`0097: BCF 03.5`
		308	`0098: BCF 05.6`
		309	`0099: BSF 03.5`
		310	`009A: BCF 05.7`
		311	`009B: BCF 03.5`
		312	`009C: BCF 05.7`
		313	`009D: BSF 03.5`
		314	`009E: BCF 05.0`
		315	`009F: BCF 03.5`
		316	`00A0: BCF 05.0`
		317	`00A1: BSF 03.5`
		318	`00A2: BCF 05.1`
		319	`00A3: BCF 03.5`
		320	`00A4: BCF 05.1`
		321	`....................`
		322	`.................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota`
		323	`00A5: MOVLW E1`
		324	`00A6: MOVWF 2C`
		325	`.................... Delay_ms(100);`
		326	`00A7: MOVLW 64`
		327	`00A8: MOVWF 39`
		328	`00A9: CALL 065`
		329	`.................... BL;FR;`
		330	`00AA: BSF 03.5`
		331	`00AB: BCF 05.0`
		332	`00AC: BCF 03.5`
		333	`00AD: BCF 05.0`
		334	`00AE: BSF 03.5`
		335	`00AF: BCF 05.1`
		336	`00B0: BCF 03.5`
		337	`00B1: BSF 05.1`
		338	`00B2: BSF 03.5`
		339	`00B3: BCF 05.7`
		340	`00B4: BCF 03.5`
		341	`00B5: BCF 05.7`
		342	`00B6: BSF 03.5`
		343	`00B7: BCF 05.6`
		344	`00B8: BCF 03.5`
		345	`00B9: BSF 05.6`
		346	`.................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle`
		347	`00BA: MOVLW C8`
		348	`00BB: MOVWF 39`
		349	`00BC: CALL 065`
		350	`....................`
		351	`.................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru`
		352	`.................... {`
		353	`00BD: BTFSS 2A.7`
		354	`00BE: GOTO 0CE`
		355	`.................... sensors = spi_read(0); // cteni senzoru`
		356	`00BF: MOVF 13,W`
		357	`00C0: CLRF 13`
		358	`00C1: BSF 03.5`
		359	`00C2: BTFSC 14.0`
		360	`00C3: GOTO 0C6`
		361	`00C4: BCF 03.5`
		362	`00C5: GOTO 0C1`
		363	`00C6: BCF 03.5`
		364	`00C7: MOVF 13,W`
		365	`00C8: MOVWF 2A`
		366	`.................... sensors=~sensors;`
		367	`00C9: COMF 2A,F`
		368	`.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel`
		369	`00CA: MOVLW 04`
		370	`00CB: MOVWF 39`
		371	`00CC: CALL 065`
		372	`.................... }`
		373	`00CD: GOTO 0BD`
		374	`.................... STOPL; STOPR;`
		375	`00CE: BSF 03.5`
		376	`00CF: BCF 05.0`
		377	`00D0: BCF 03.5`
		378	`00D1: BCF 05.0`
		379	`00D2: BSF 03.5`
		380	`00D3: BCF 05.1`
		381	`00D4: BCF 03.5`
		382	`00D5: BCF 05.1`
		383	`00D6: BSF 03.5`
		384	`00D7: BCF 05.6`
		385	`00D8: BCF 03.5`
		386	`00D9: BCF 05.6`
		387	`00DA: BSF 03.5`
		388	`00DB: BCF 05.7`
		389	`00DC: BCF 03.5`
		390	`00DD: BCF 05.7`
		391	`....................`
		392	`.................... for (n=0;n<1500;n++) // vystred se na hranu cihly`
		393	`00DE: CLRF 37`
		394	`00DF: CLRF 36`
		395	`00E0: MOVF 37,W`
		396	`00E1: SUBLW 05`
		397	`00E2: BTFSS 03.0`
		398	`00E3: GOTO 117`
		399	`00E4: BTFSS 03.2`
		400	`00E5: GOTO 0EA`
		401	`00E6: MOVF 36,W`
		402	`00E7: SUBLW DB`
		403	`00E8: BTFSS 03.0`
		404	`00E9: GOTO 117`
		405	`.................... {`
		406	`.................... if(!input(CIHLA)) {BL; FR;} else {FL; BR;};`
		407	`00EA: BSF 03.5`
		408	`00EB: BSF 05.3`
		409	`00EC: BCF 03.5`
		410	`00ED: BTFSC 05.3`
		411	`00EE: GOTO 100`
		412	`00EF: BSF 03.5`
		413	`00F0: BCF 05.0`
		414	`00F1: BCF 03.5`
		415	`00F2: BCF 05.0`
		416	`00F3: BSF 03.5`
		417	`00F4: BCF 05.1`
		418	`00F5: BCF 03.5`
		419	`00F6: BSF 05.1`
		420	`00F7: BSF 03.5`
		421	`00F8: BCF 05.7`
		422	`00F9: BCF 03.5`
		423	`00FA: BCF 05.7`
		424	`00FB: BSF 03.5`
		425	`00FC: BCF 05.6`
		426	`00FD: BCF 03.5`
		427	`00FE: BSF 05.6`
		428	`00FF: GOTO 110`
		429	`0100: BSF 03.5`
		430	`0101: BCF 05.1`
		431	`0102: BCF 03.5`
		432	`0103: BCF 05.1`
		433	`0104: BSF 03.5`
		434	`0105: BCF 05.0`
		435	`0106: BCF 03.5`
		436	`0107: BSF 05.0`
		437	`0108: BSF 03.5`
		438	`0109: BCF 05.6`
		439	`010A: BCF 03.5`
		440	`010B: BCF 05.6`
		441	`010C: BSF 03.5`
		442	`010D: BCF 05.7`
		443	`010E: BCF 03.5`
		444	`010F: BSF 05.7`
		445	`.................... delay_ms(1);`
		446	`0110: MOVLW 01`
		447	`0111: MOVWF 39`
		448	`0112: CALL 065`
		449	`.................... }`
		450	`0113: INCF 36,F`
		451	`0114: BTFSC 03.2`
		452	`0115: INCF 37,F`
		453	`0116: GOTO 0E0`
		454	`.................... STOPR;STOPL;`
		455	`0117: BSF 03.5`
		456	`0118: BCF 05.6`
		457	`0119: BCF 03.5`
		458	`011A: BCF 05.6`
		459	`011B: BSF 03.5`
		460	`011C: BCF 05.7`
		461	`011D: BCF 03.5`
		462	`011E: BCF 05.7`
		463	`011F: BSF 03.5`
		464	`0120: BCF 05.0`
		465	`0121: BCF 03.5`
		466	`0122: BCF 05.0`
		467	`0123: BSF 03.5`
		468	`0124: BCF 05.1`
		469	`0125: BCF 03.5`
		470	`0126: BCF 05.1`
		471	`....................`
		472	`.................... uhel=STRED; // dopredu`
		473	`0127: MOVLW 80`
		474	`0128: MOVWF 2C`
		475	`.................... delay_ms(100);`
		476	`0129: MOVLW 64`
		477	`012A: MOVWF 39`
		478	`012B: CALL 065`
		479	`.................... FR; FL;`
		480	`012C: BSF 03.5`
		481	`012D: BCF 05.7`
		482	`012E: BCF 03.5`
		483	`012F: BCF 05.7`
		484	`0130: BSF 03.5`
		485	`0131: BCF 05.6`
		486	`0132: BCF 03.5`
		487	`0133: BSF 05.6`
		488	`0134: BSF 03.5`
		489	`0135: BCF 05.1`
		490	`0136: BCF 03.5`
		491	`0137: BCF 05.1`
		492	`0138: BSF 03.5`
		493	`0139: BCF 05.0`
		494	`013A: BCF 03.5`
		495	`013B: BSF 05.0`
		496	`.................... delay_ms(500);`
		497	`013C: MOVLW 02`
		498	`013D: MOVWF 38`
		499	`013E: MOVLW FA`
		500	`013F: MOVWF 39`
		501	`0140: CALL 065`
		502	`0141: DECFSZ 38,F`
		503	`0142: GOTO 13E`
		504	`.................... BL;BR;`
		505	`0143: BSF 03.5`
		506	`0144: BCF 05.0`
		507	`0145: BCF 03.5`
		508	`0146: BCF 05.0`
		509	`0147: BSF 03.5`
		510	`0148: BCF 05.1`
		511	`0149: BCF 03.5`
		512	`014A: BSF 05.1`
		513	`014B: BSF 03.5`
		514	`014C: BCF 05.6`
		515	`014D: BCF 03.5`
		516	`014E: BCF 05.6`
		517	`014F: BSF 03.5`
		518	`0150: BCF 05.7`
		519	`0151: BCF 03.5`
		520	`0152: BSF 05.7`
		521	`.................... delay_ms(200);`
		522	`0153: MOVLW C8`
		523	`0154: MOVWF 39`
		524	`0155: CALL 065`
		525	`.................... STOPL;STOPR;`
		526	`0156: BSF 03.5`
		527	`0157: BCF 05.0`
		528	`0158: BCF 03.5`
		529	`0159: BCF 05.0`
		530	`015A: BSF 03.5`
		531	`015B: BCF 05.1`
		532	`015C: BCF 03.5`
		533	`015D: BCF 05.1`
		534	`015E: BSF 03.5`
		535	`015F: BCF 05.6`
		536	`0160: BCF 03.5`
		537	`0161: BCF 05.6`
		538	`0162: BSF 03.5`
		539	`0163: BCF 05.7`
		540	`0164: BCF 03.5`
		541	`0165: BCF 05.7`
		542	`....................`
		543	`.................... uhel=STRED+BEAR3; // doprava`
		544	`0166: MOVLW B7`
		545	`0167: MOVWF 2C`
		546	`.................... delay_ms(100);`
		547	`0168: MOVLW 64`
		548	`0169: MOVWF 39`
		549	`016A: CALL 065`
		550	`.................... FL;`
		551	`016B: BSF 03.5`
		552	`016C: BCF 05.1`
		553	`016D: BCF 03.5`
		554	`016E: BCF 05.1`
		555	`016F: BSF 03.5`
		556	`0170: BCF 05.0`
		557	`0171: BCF 03.5`
		558	`0172: BSF 05.0`
		559	`.................... delay_ms(200);`
		560	`0173: MOVLW C8`
		561	`0174: MOVWF 39`
		562	`0175: CALL 065`
		563	`.................... uhel=STRED+BEAR2; // min doprava`
		564	`0176: MOVLW A2`
		565	`0177: MOVWF 2C`
		566	`.................... FL;FR;`
		567	`0178: BSF 03.5`
		568	`0179: BCF 05.1`
		569	`017A: BCF 03.5`
		570	`017B: BCF 05.1`
		571	`017C: BSF 03.5`
		572	`017D: BCF 05.0`
		573	`017E: BCF 03.5`
		574	`017F: BSF 05.0`
		575	`0180: BSF 03.5`
		576	`0181: BCF 05.7`
		577	`0182: BCF 03.5`
		578	`0183: BCF 05.7`
		579	`0184: BSF 03.5`
		580	`0185: BCF 05.6`
		581	`0186: BCF 03.5`
		582	`0187: BSF 05.6`
		583	`.................... delay_ms(200);`
		584	`0188: MOVLW C8`
		585	`0189: MOVWF 39`
		586	`018A: CALL 065`
		587	`.................... uhel=STRED+BEAR1; // jeste min doprava`
		588	`018B: MOVLW 8C`
		589	`018C: MOVWF 2C`
		590	`.................... FL;FR;`
		591	`018D: BSF 03.5`
		592	`018E: BCF 05.1`
		593	`018F: BCF 03.5`
		594	`0190: BCF 05.1`
		595	`0191: BSF 03.5`
		596	`0192: BCF 05.0`
		597	`0193: BCF 03.5`
		598	`0194: BSF 05.0`
		599	`0195: BSF 03.5`
		600	`0196: BCF 05.7`
		601	`0197: BCF 03.5`
		602	`0198: BCF 05.7`
		603	`0199: BSF 03.5`
		604	`019A: BCF 05.6`
		605	`019B: BCF 03.5`
		606	`019C: BSF 05.6`
		607	`.................... delay_ms(200);`
		608	`019D: MOVLW C8`
		609	`019E: MOVWF 39`
		610	`019F: CALL 065`
		611	`.................... uhel=STRED; // rovne`
		612	`01A0: MOVLW 80`
		613	`01A1: MOVWF 2C`
		614	`.................... FL;FR;`
		615	`01A2: BSF 03.5`
		616	`01A3: BCF 05.1`
		617	`01A4: BCF 03.5`
		618	`01A5: BCF 05.1`
		619	`01A6: BSF 03.5`
		620	`01A7: BCF 05.0`
		621	`01A8: BCF 03.5`
		622	`01A9: BSF 05.0`
		623	`01AA: BSF 03.5`
		624	`01AB: BCF 05.7`
		625	`01AC: BCF 03.5`
		626	`01AD: BCF 05.7`
		627	`01AE: BSF 03.5`
		628	`01AF: BCF 05.6`
		629	`01B0: BCF 03.5`
		630	`01B1: BSF 05.6`
		631	`.................... delay_ms(100);`
		632	`01B2: MOVLW 64`
		633	`01B3: MOVWF 39`
		634	`01B4: CALL 065`
		635	`.................... While((sensors & 0b01111111)!=0) //dokud neni cara`
		636	`.................... {`
		637	`01B5: MOVF 2A,W`
		638	`01B6: ANDLW 7F`
		639	`01B7: BTFSC 03.2`
		640	`01B8: GOTO 1C8`
		641	`.................... sensors = spi_read(0); // cteni senzoru`
		642	`01B9: MOVF 13,W`
		643	`01BA: CLRF 13`
		644	`01BB: BSF 03.5`
		645	`01BC: BTFSC 14.0`
		646	`01BD: GOTO 1C0`
		647	`01BE: BCF 03.5`
		648	`01BF: GOTO 1BB`
		649	`01C0: BCF 03.5`
		650	`01C1: MOVF 13,W`
		651	`01C2: MOVWF 2A`
		652	`.................... sensors=~sensors;`
		653	`01C3: COMF 2A,F`
		654	`.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel`
		655	`01C4: MOVLW 04`
		656	`01C5: MOVWF 39`
		657	`01C6: CALL 065`
		658	`.................... }`
		659	`01C7: GOTO 1B5`
		660	`.................... BL; BR;`
		661	`01C8: BSF 03.5`
		662	`01C9: BCF 05.0`
		663	`01CA: BCF 03.5`
		664	`01CB: BCF 05.0`
		665	`01CC: BSF 03.5`
		666	`01CD: BCF 05.1`
		667	`01CE: BCF 03.5`
		668	`01CF: BSF 05.1`
		669	`01D0: BSF 03.5`
		670	`01D1: BCF 05.6`
		671	`01D2: BCF 03.5`
		672	`01D3: BCF 05.6`
		673	`01D4: BSF 03.5`
		674	`01D5: BCF 05.7`
		675	`01D6: BCF 03.5`
		676	`01D7: BSF 05.7`
		677	`.................... delay_ms(400);`
		678	`01D8: MOVLW 02`
		679	`01D9: MOVWF 38`
		680	`01DA: MOVLW C8`
		681	`01DB: MOVWF 39`
		682	`01DC: CALL 065`
		683	`01DD: DECFSZ 38,F`
		684	`01DE: GOTO 1DA`
		685	`....................`
		686	`.................... uhel=STRED-BEAR3; // doleva`
		687	`01DF: MOVLW 49`
		688	`01E0: MOVWF 2C`
		689	`.................... }`
		690	`01E1: BCF 0A.3`
		691	`01E2: GOTO 2D1 (RETURN)`
		692	`....................`
		693	`.................... ////////////////////////////////////////////////////////////////////////////////`
		694	`.................... void main()`
		695	`.................... {`
		696	`01E3: CLRF 04`
		697	`01E4: MOVLW 1F`
		698	`01E5: ANDWF 03,F`
		699	`01E6: MOVLW 70`
		700	`01E7: BSF 03.5`
		701	`01E8: MOVWF 0F`
		702	`01E9: BCF 1F.4`
		703	`01EA: BCF 1F.5`
		704	`01EB: MOVF 1B,W`
		705	`01EC: ANDLW 80`
		706	`01ED: MOVWF 1B`
		707	`01EE: MOVLW 07`
		708	`01EF: MOVWF 1C`
		709	`....................`
		710	`.................... unsigned int16 n;`
		711	`.................... unsigned int8 i;`
		712	`....................`
		713	`.................... setup_adc_ports(NO_ANALOGS);`
		714	`01F0: BCF 1F.4`
		715	`01F1: BCF 1F.5`
		716	`01F2: MOVF 1B,W`
		717	`01F3: ANDLW 80`
		718	`01F4: MOVWF 1B`
		719	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		720	`01F5: BCF 1F.6`
		721	`01F6: BCF 03.5`
		722	`01F7: BSF 1F.6`
		723	`01F8: BSF 1F.7`
		724	`01F9: BSF 03.5`
		725	`01FA: BCF 1F.7`
		726	`01FB: BCF 03.5`
		727	`01FC: BSF 1F.0`
		728	`.................... setup_spi(SPI_MASTER\|SPI_H_TO_L\|SPI_XMIT_L_TO_H\|SPI_CLK_DIV_4);`
		729	`01FD: BCF 14.5`
		730	`01FE: BSF 03.5`
		731	`01FF: BCF 06.2`
		732	`0200: BSF 06.1`
		733	`0201: BCF 06.4`
		734	`0202: MOVLW 30`
		735	`0203: BCF 03.5`
		736	`0204: MOVWF 14`
		737	`0205: MOVLW 00`
		738	`0206: BSF 03.5`
		739	`0207: MOVWF 14`
		740	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		741	`0208: MOVF 01,W`
		742	`0209: ANDLW C7`
		743	`020A: IORLW 08`
		744	`020B: MOVWF 01`
		745	`.................... setup_timer_1(T1_DISABLED);`
		746	`020C: BCF 03.5`
		747	`020D: CLRF 10`
		748	`.................... setup_timer_2(T2_DIV_BY_16,140,16);`
		749	`020E: MOVLW 78`
		750	`020F: MOVWF 78`
		751	`0210: IORLW 06`
		752	`0211: MOVWF 12`
		753	`0212: MOVLW 8C`
		754	`0213: BSF 03.5`
		755	`0214: MOVWF 12`
		756	`.................... setup_oscillator(OSC_8MHZ\|OSC_INTRC);`
		757	`0215: MOVLW 72`
		758	`0216: MOVWF 0F`
		759	`....................`
		760	`.................... STOPR; STOPL; // zastav motory`
		761	`0217: BCF 05.6`
		762	`0218: BCF 03.5`
		763	`0219: BCF 05.6`
		764	`021A: BSF 03.5`
		765	`021B: BCF 05.7`
		766	`021C: BCF 03.5`
		767	`021D: BCF 05.7`
		768	`021E: BSF 03.5`
		769	`021F: BCF 05.0`
		770	`0220: BCF 03.5`
		771	`0221: BCF 05.0`
		772	`0222: BSF 03.5`
		773	`0223: BCF 05.1`
		774	`0224: BCF 03.5`
		775	`0225: BCF 05.1`
		776	`.................... Lmotor=0;Rmotor=0;`
		777	`0226: CLRF 2F`
		778	`0227: CLRF 2E`
		779	`0228: CLRF 31`
		780	`0229: CLRF 30`
		781	`....................`
		782	`.................... uhel=STRED; // nastav zadni kolecko na stred`
		783	`022A: MOVLW 80`
		784	`022B: MOVWF 2C`
		785	`.................... rovinka=0;`
		786	`022C: CLRF 2D`
		787	`....................`
		788	`.................... enable_interrupts(INT_TIMER2);`
		789	`022D: BSF 03.5`
		790	`022E: BSF 0C.1`
		791	`.................... enable_interrupts(GLOBAL);`
		792	`022F: MOVLW C0`
		793	`0230: BCF 03.5`
		794	`0231: IORWF 0B,F`
		795	`....................`
		796	`.................... output_low(IRTX); // zapni IR vysilac`
		797	`0232: BSF 03.5`
		798	`0233: BCF 06.2`
		799	`0234: BCF 03.5`
		800	`0235: BCF 06.2`
		801	`....................`
		802	`.................... delay_ms(1000);`
		803	`0236: MOVLW 04`
		804	`0237: MOVWF 35`
		805	`0238: MOVLW FA`
		806	`0239: MOVWF 39`
		807	`023A: CALL 065`
		808	`023B: DECFSZ 35,F`
		809	`023C: GOTO 238`
		810	`....................`
		811	`.................... while(true)`
		812	`.................... {`
		813	`....................`
		814	`.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory`
		815	`023D: MOVF 01,W`
		816	`023E: BTFSS 00.7`
		817	`023F: GOTO 243`
		818	`0240: BTFSS 2F.7`
		819	`0241: GOTO 24B`
		820	`0242: GOTO 245`
		821	`0243: BTFSC 2F.7`
		822	`0244: GOTO 254`
		823	`0245: MOVF 2F,F`
		824	`0246: BTFSS 03.2`
		825	`0247: GOTO 24B`
		826	`0248: SUBWF 2E,W`
		827	`0249: BTFSS 03.0`
		828	`024A: GOTO 254`
		829	`024B: BSF 03.5`
		830	`024C: BCF 05.1`
		831	`024D: BCF 03.5`
		832	`024E: BCF 05.1`
		833	`024F: BSF 03.5`
		834	`0250: BCF 05.0`
		835	`0251: BCF 03.5`
		836	`0252: BSF 05.0`
		837	`0253: GOTO 25C`
		838	`0254: BSF 03.5`
		839	`0255: BCF 05.0`
		840	`0256: BCF 03.5`
		841	`0257: BCF 05.0`
		842	`0258: BSF 03.5`
		843	`0259: BCF 05.1`
		844	`025A: BCF 03.5`
		845	`025B: BCF 05.1`
		846	`025C: MOVF 01,W`
		847	`025D: BTFSS 00.7`
		848	`025E: GOTO 262`
		849	`025F: BTFSS 31.7`
		850	`0260: GOTO 26A`
		851	`0261: GOTO 264`
		852	`0262: BTFSC 31.7`
		853	`0263: GOTO 273`
		854	`0264: MOVF 31,F`
		855	`0265: BTFSS 03.2`
		856	`0266: GOTO 26A`
		857	`0267: SUBWF 30,W`
		858	`0268: BTFSS 03.0`
		859	`0269: GOTO 273`
		860	`026A: BSF 03.5`
		861	`026B: BCF 05.7`
		862	`026C: BCF 03.5`
		863	`026D: BCF 05.7`
		864	`026E: BSF 03.5`
		865	`026F: BCF 05.6`
		866	`0270: BCF 03.5`
		867	`0271: BSF 05.6`
		868	`0272: GOTO 27B`
		869	`0273: BSF 03.5`
		870	`0274: BCF 05.6`
		871	`0275: BCF 03.5`
		872	`0276: BCF 05.6`
		873	`0277: BSF 03.5`
		874	`0278: BCF 05.7`
		875	`0279: BCF 03.5`
		876	`027A: BCF 05.7`
		877	`....................`
		878	`.................... delay_us(1500);`
		879	`027B: CLRWDT`
		880	`027C: MOVLW 01`
		881	`027D: MOVWF 39`
		882	`027E: CALL 065`
		883	`027F: MOVLW 02`
		884	`0280: MOVWF 35`
		885	`0281: CLRF 29`
		886	`0282: BTFSC 0B.7`
		887	`0283: BSF 29.7`
		888	`0284: BCF 0B.7`
		889	`0285: MOVLW F7`
		890	`0286: MOVWF 3C`
		891	`0287: CALL 037`
		892	`0288: BTFSC 29.7`
		893	`0289: BSF 0B.7`
		894	`028A: DECFSZ 35,F`
		895	`028B: GOTO 281`
		896	`....................`
		897	`.................... output_low(STROBE);`
		898	`028C: BSF 03.5`
		899	`028D: BCF 06.0`
		900	`028E: BCF 03.5`
		901	`028F: BCF 06.0`
		902	`.................... sensors = spi_read(0); // cteni senzoru`
		903	`0290: MOVF 13,W`
		904	`0291: CLRF 13`
		905	`0292: BSF 03.5`
		906	`0293: BTFSC 14.0`
		907	`0294: GOTO 297`
		908	`0295: BCF 03.5`
		909	`0296: GOTO 292`
		910	`0297: BCF 03.5`
		911	`0298: MOVF 13,W`
		912	`0299: MOVWF 2A`
		913	`.................... sensors=~sensors;`
		914	`029A: COMF 2A,F`
		915	`.................... output_high(STROBE);`
		916	`029B: BSF 03.5`
		917	`029C: BCF 06.0`
		918	`029D: BCF 03.5`
		919	`029E: BSF 06.0`
		920	`....................`
		921	`.................... i=0; // havarijni kod`
		922	`029F: CLRF 34`
		923	`.................... for (n=0; n<=6; n++)`
		924	`02A0: CLRF 33`
		925	`02A1: CLRF 32`
		926	`02A2: MOVF 33,F`
		927	`02A3: BTFSS 03.2`
		928	`02A4: GOTO 2B9`
		929	`02A5: MOVF 32,W`
		930	`02A6: SUBLW 06`
		931	`02A7: BTFSS 03.0`
		932	`02A8: GOTO 2B9`
		933	`.................... {`
		934	`.................... if(bit_test(sensors,n)) i++;`
		935	`02A9: MOVF 2A,W`
		936	`02AA: MOVWF 77`
		937	`02AB: MOVF 32,W`
		938	`02AC: MOVWF 78`
		939	`02AD: BTFSC 03.2`
		940	`02AE: GOTO 2B3`
		941	`02AF: BCF 03.0`
		942	`02B0: RRF 77,F`
		943	`02B1: DECFSZ 78,F`
		944	`02B2: GOTO 2AF`
		945	`02B3: BTFSC 77.0`
		946	`02B4: INCF 34,F`
		947	`.................... }`
		948	`02B5: INCF 32,F`
		949	`02B6: BTFSC 03.2`
		950	`02B7: INCF 33,F`
		951	`02B8: GOTO 2A2`
		952	`.................... if (i>3) While(true){STOPR; STOPL;}; // zastavi, kdyz je cerno pod vice nez tremi cidly`
		953	`02B9: MOVF 34,W`
		954	`02BA: SUBLW 03`
		955	`02BB: BTFSC 03.0`
		956	`02BC: GOTO 2CE`
		957	`02BD: BSF 03.5`
		958	`02BE: BCF 05.6`
		959	`02BF: BCF 03.5`
		960	`02C0: BCF 05.6`
		961	`02C1: BSF 03.5`
		962	`02C2: BCF 05.7`
		963	`02C3: BCF 03.5`
		964	`02C4: BCF 05.7`
		965	`02C5: BSF 03.5`
		966	`02C6: BCF 05.0`
		967	`02C7: BCF 03.5`
		968	`02C8: BCF 05.0`
		969	`02C9: BSF 03.5`
		970	`02CA: BCF 05.1`
		971	`02CB: BCF 03.5`
		972	`02CC: BCF 05.1`
		973	`02CD: GOTO 2BD`
		974	`....................`
		975	`.................... if(bit_test(sensors,7)) // detekce dihly`
		976	`02CE: BTFSS 2A.7`
		977	`02CF: GOTO 2D1`
		978	`.................... {`
		979	`.................... objizdka();`
		980	`02D0: GOTO 07D`
		981	`.................... }`
		982	`....................`
		983	`.................... if(bit_test(sensors,3)) //...\|...//`
		984	`02D1: BTFSS 2A.3`
		985	`02D2: GOTO 2E1`
		986	`.................... {`
		987	`.................... uhel=STRED;`
		988	`02D3: MOVLW 80`
		989	`02D4: MOVWF 2C`
		990	`.................... Lmotor=SPEEDMAX;`
		991	`02D5: CLRF 2F`
		992	`02D6: MOVLW 8C`
		993	`02D7: MOVWF 2E`
		994	`.................... Rmotor=SPEEDMAX;`
		995	`02D8: CLRF 31`
		996	`02D9: MOVWF 30`
		997	`.................... line=S;`
		998	`02DA: MOVLW 02`
		999	`02DB: MOVWF 2B`
		1000	`.................... if (rovinka<255) rovinka++;`
		1001	`02DC: INCFSZ 2D,W`
		1002	`02DD: GOTO 2DF`
		1003	`02DE: GOTO 2E0`
		1004	`02DF: INCF 2D,F`
		1005	`.................... continue;`
		1006	`02E0: GOTO 23D`
		1007	`.................... }`
		1008	`....................`
		1009	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		1010	`02E1: BTFSS 2A.0`
		1011	`02E2: GOTO 2ED`
		1012	`.................... {`
		1013	`.................... uhel=STRED-BEAR3;`
		1014	`02E3: MOVLW 49`
		1015	`02E4: MOVWF 2C`
		1016	`.................... Lmotor=0;`
		1017	`02E5: CLRF 2F`
		1018	`02E6: CLRF 2E`
		1019	`.................... Rmotor=SPEEDMAX;`
		1020	`02E7: CLRF 31`
		1021	`02E8: MOVLW 8C`
		1022	`02E9: MOVWF 30`
		1023	`.................... line=L;`
		1024	`02EA: MOVLW 01`
		1025	`02EB: MOVWF 2B`
		1026	`.................... continue;`
		1027	`02EC: GOTO 23D`
		1028	`.................... }`
		1029	`....................`
		1030	`.................... if(bit_test(sensors,6)) //......\|//`
		1031	`02ED: BTFSS 2A.6`
		1032	`02EE: GOTO 2F8`
		1033	`.................... {`
		1034	`.................... uhel=STRED+BEAR3;`
		1035	`02EF: MOVLW B7`
		1036	`02F0: MOVWF 2C`
		1037	`.................... Rmotor=0;`
		1038	`02F1: CLRF 31`
		1039	`02F2: CLRF 30`
		1040	`.................... Lmotor=SPEEDMAX;`
		1041	`02F3: CLRF 2F`
		1042	`02F4: MOVLW 8C`
		1043	`02F5: MOVWF 2E`
		1044	`.................... line=R;`
		1045	`02F6: CLRF 2B`
		1046	`.................... continue;`
		1047	`02F7: GOTO 23D`
		1048	`.................... }`
		1049	`....................`
		1050	`.................... if(bit_test(sensors,1)) //.\|.....//`
		1051	`02F8: BTFSS 2A.1`
		1052	`02F9: GOTO 305`
		1053	`.................... {`
		1054	`.................... uhel=STRED-BEAR2;`
		1055	`02FA: MOVLW 5E`
		1056	`02FB: MOVWF 2C`
		1057	`.................... Lmotor=SPEEDMAX-50;`
		1058	`02FC: CLRF 2F`
		1059	`02FD: MOVLW 5A`
		1060	`02FE: MOVWF 2E`
		1061	`.................... Rmotor=SPEEDMAX;`
		1062	`02FF: CLRF 31`
		1063	`0300: MOVLW 8C`
		1064	`0301: MOVWF 30`
		1065	`.................... line=S;`
		1066	`0302: MOVLW 02`
		1067	`0303: MOVWF 2B`
		1068	`.................... continue;`
		1069	`0304: GOTO 23D`
		1070	`.................... }`
		1071	`....................`
		1072	`.................... if(bit_test(sensors,5)) //.....\|.//`
		1073	`0305: BTFSS 2A.5`
		1074	`0306: GOTO 312`
		1075	`.................... {`
		1076	`.................... uhel=STRED+BEAR2;`
		1077	`0307: MOVLW A2`
		1078	`0308: MOVWF 2C`
		1079	`.................... Rmotor=SPEEDMAX-50;`
		1080	`0309: CLRF 31`
		1081	`030A: MOVLW 5A`
		1082	`030B: MOVWF 30`
		1083	`.................... Lmotor=SPEEDMAX;`
		1084	`030C: CLRF 2F`
		1085	`030D: MOVLW 8C`
		1086	`030E: MOVWF 2E`
		1087	`.................... line=S;`
		1088	`030F: MOVLW 02`
		1089	`0310: MOVWF 2B`
		1090	`.................... continue;`
		1091	`0311: GOTO 23D`
		1092	`.................... }`
		1093	`....................`
		1094	`.................... if (bit_test(sensors,2)) //..\|....//`
		1095	`0312: BTFSS 2A.2`
		1096	`0313: GOTO 322`
		1097	`.................... {`
		1098	`.................... uhel=STRED-BEAR1;`
		1099	`0314: MOVLW 74`
		1100	`0315: MOVWF 2C`
		1101	`.................... Lmotor=SPEEDMAX;`
		1102	`0316: CLRF 2F`
		1103	`0317: MOVLW 8C`
		1104	`0318: MOVWF 2E`
		1105	`.................... Rmotor=SPEEDMAX;`
		1106	`0319: CLRF 31`
		1107	`031A: MOVWF 30`
		1108	`.................... line=S;`
		1109	`031B: MOVLW 02`
		1110	`031C: MOVWF 2B`
		1111	`.................... if (rovinka<255) rovinka++;`
		1112	`031D: INCFSZ 2D,W`
		1113	`031E: GOTO 320`
		1114	`031F: GOTO 321`
		1115	`0320: INCF 2D,F`
		1116	`.................... continue;`
		1117	`0321: GOTO 23D`
		1118	`.................... }`
		1119	`....................`
		1120	`.................... if (bit_test(sensors,4)) //....\|..//`
		1121	`0322: BTFSS 2A.4`
		1122	`0323: GOTO 331`
		1123	`.................... {`
		1124	`.................... uhel=STRED+BEAR1;`
		1125	`0324: MOVLW 8C`
		1126	`0325: MOVWF 2C`
		1127	`.................... Rmotor=SPEEDMAX;`
		1128	`0326: CLRF 31`
		1129	`0327: MOVWF 30`
		1130	`.................... Lmotor=SPEEDMAX;`
		1131	`0328: CLRF 2F`
		1132	`0329: MOVWF 2E`
		1133	`.................... line=S;`
		1134	`032A: MOVLW 02`
		1135	`032B: MOVWF 2B`
		1136	`.................... if (rovinka<255) rovinka++;`
		1137	`032C: INCFSZ 2D,W`
		1138	`032D: GOTO 32F`
		1139	`032E: GOTO 330`
		1140	`032F: INCF 2D,F`
		1141	`.................... continue;`
		1142	`0330: GOTO 23D`
		1143	`.................... }`
		1144	`....................`
		1145	`.................... if ((L==line) \|\| (R==line)) // Brzdeni pri vyjeti z trate`
		1146	`0331: DECFSZ 2B,W`
		1147	`0332: GOTO 334`
		1148	`0333: GOTO 337`
		1149	`0334: MOVF 2B,F`
		1150	`0335: BTFSS 03.2`
		1151	`0336: GOTO 34F`
		1152	`.................... {`
		1153	`.................... if (rovinka>250)`
		1154	`0337: MOVF 2D,W`
		1155	`0338: SUBLW FA`
		1156	`0339: BTFSC 03.0`
		1157	`033A: GOTO 34E`
		1158	`.................... {`
		1159	`.................... BL; BR;`
		1160	`033B: BSF 03.5`
		1161	`033C: BCF 05.0`
		1162	`033D: BCF 03.5`
		1163	`033E: BCF 05.0`
		1164	`033F: BSF 03.5`
		1165	`0340: BCF 05.1`
		1166	`0341: BCF 03.5`
		1167	`0342: BSF 05.1`
		1168	`0343: BSF 03.5`
		1169	`0344: BCF 05.6`
		1170	`0345: BCF 03.5`
		1171	`0346: BCF 05.6`
		1172	`0347: BSF 03.5`
		1173	`0348: BCF 05.7`
		1174	`0349: BCF 03.5`
		1175	`034A: BSF 05.7`
		1176	`.................... Delay_ms(100);`
		1177	`034B: MOVLW 64`
		1178	`034C: MOVWF 39`
		1179	`034D: CALL 065`
		1180	`.................... };`
		1181	`.................... rovinka=0;`
		1182	`034E: CLRF 2D`
		1183	`.................... };`
		1184	`....................`
		1185	`.................... }`
		1186	`034F: GOTO 23D`
		1187	`.................... }`
		1188	`0350: SLEEP`
		1189
		1190	`Configuration Fuses:`
		1191	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1192	`Word 2: 3FFC NOFCMEN NOIESO`

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