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kaklik |
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CCS PCM C Compiler, Version 3.245, 27853 22-IV-06 16:00
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Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst
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ROM used: 666 words (16%)
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Largest free fragment is 2048
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RAM used: 32 (18%) at main() level
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35 (20%) worst case
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Stack: 3 worst case (1 in main + 2 for interrupts)
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11 |
*
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0000: MOVLW 00
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0001: MOVWF 0A
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0002: GOTO 089
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0003: NOP
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0004: MOVWF 7F
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0005: SWAPF 03,W
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0006: CLRF 03
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0007: MOVWF 21
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0008: MOVF 7F,W
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0009: MOVWF 20
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000A: MOVF 0A,W
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000B: MOVWF 28
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000C: CLRF 0A
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000D: SWAPF 20,F
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000E: MOVF 04,W
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000F: MOVWF 22
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0010: MOVF 77,W
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0011: MOVWF 23
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0012: MOVF 78,W
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0013: MOVWF 24
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0014: MOVF 79,W
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0015: MOVWF 25
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0016: MOVF 7A,W
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0017: MOVWF 26
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0018: MOVF 7B,W
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0019: MOVWF 27
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001A: BCF 03.7
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001B: BCF 03.5
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001C: MOVLW 8C
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001D: MOVWF 04
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001E: BTFSS 00.0
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001F: GOTO 022
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0020: BTFSC 0C.0
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0021: GOTO 03B
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0022: MOVLW 8C
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0023: MOVWF 04
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0024: BTFSS 00.1
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0025: GOTO 028
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0026: BTFSC 0C.1
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0027: GOTO 03D
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0028: MOVF 22,W
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0029: MOVWF 04
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002A: MOVF 23,W
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002B: MOVWF 77
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002C: MOVF 24,W
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002D: MOVWF 78
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002E: MOVF 25,W
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002F: MOVWF 79
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0030: MOVF 26,W
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0031: MOVWF 7A
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0032: MOVF 27,W
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0033: MOVWF 7B
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0034: MOVF 28,W
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0035: MOVWF 0A
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0036: SWAPF 21,W
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0037: MOVWF 03
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68 |
0038: SWAPF 7F,F
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69 |
0039: SWAPF 7F,W
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70 |
003A: RETFIE
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003B: BCF 0A.3
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003C: GOTO 03F
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003D: BCF 0A.3
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003E: GOTO 053
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.................... #include ".\main.h"
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.................... #include <16F88.h>
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.................... //////// Standard Header file for the PIC16F88 device ////////////////
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.................... #device PIC16F88
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.................... #list
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....................
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.................... #device adc=8
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....................
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.................... #FUSES NOWDT //No Watch Dog Timer
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84 |
.................... #FUSES INTRC_IO
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.................... #FUSES NOPUT //No Power Up Timer
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86 |
.................... #FUSES MCLR //Master Clear pin enabled
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.................... #FUSES NOBROWNOUT //Reset when brownout detected
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.................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18)
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.................... #FUSES NOCPD //No EE protection
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.................... #FUSES NOWRT //Program memory not write protected
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.................... #FUSES NODEBUG //No Debug mode for ICD
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.................... #FUSES NOPROTECT //Code not protected from reading
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.................... #FUSES NOFCMEN //Fail-safe clock monitor enabled
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.................... #FUSES NOIESO //Internal External Switch Over mode enabled
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....................
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.................... #use delay(clock=8000000,RESTART_WDT)
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*
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0043: MOVLW 08
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0044: SUBWF 3D,F
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0045: BTFSS 03.0
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101 |
0046: GOTO 052
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102 |
0047: MOVLW 3D
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103 |
0048: MOVWF 04
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104 |
0049: BCF 03.0
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105 |
004A: RRF 00,F
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106 |
004B: MOVF 00,W
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107 |
004C: BTFSC 03.2
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108 |
004D: GOTO 052
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109 |
004E: GOTO 050
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110 |
004F: CLRWDT
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0050: DECFSZ 00,F
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112 |
0051: GOTO 04F
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113 |
0052: RETLW 00
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114 |
*
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115 |
0071: MOVLW 3A
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0072: MOVWF 04
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0073: MOVF 00,W
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0074: BTFSC 03.2
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0075: GOTO 088
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120 |
0076: MOVLW 02
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121 |
0077: MOVWF 78
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122 |
0078: MOVLW BF
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0079: MOVWF 77
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124 |
007A: CLRWDT
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007B: DECFSZ 77,F
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007C: GOTO 07A
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127 |
007D: DECFSZ 78,F
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128 |
007E: GOTO 078
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007F: MOVLW 96
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130 |
0080: MOVWF 77
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131 |
0081: DECFSZ 77,F
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132 |
0082: GOTO 081
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133 |
0083: NOP
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134 |
0084: NOP
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135 |
0085: CLRWDT
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136 |
0086: DECFSZ 00,F
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137 |
0087: GOTO 076
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138 |
0088: RETLW 00
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139 |
....................
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140 |
....................
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141 |
....................
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142 |
.................... #define KOLMO1 225 // predni kolecko sroubem dopredu
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143 |
.................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu
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144 |
.................... #define STRED 128 // sredni poloha zataceciho kolecka
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145 |
.................... #define BEAR1 6//10 // 3 stupne zataceni
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146 |
.................... #define BEAR2 10//27
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147 |
.................... #define BEAR3 40
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148 |
.................... #define SPEEDMAX 160 // ANSMANN=140; GP=120; maximalni rozumna rychlost
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149 |
.................... #define R17 255 // X nasobek rozumne rychlosti
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150 |
.................... #define DOZNIVANI 10
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151 |
.................... #define L 1 // cara vlevo
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152 |
.................... #define S 2 // casa mezi sensory
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153 |
.................... #define R 0 // cara vpravo
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....................
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.................... // servo
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156 |
.................... #define SERVO PIN_A2
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....................
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158 |
.................... // IR
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159 |
.................... #define IRTX PIN_B2
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160 |
.................... #define CIHLA PIN_A3
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161 |
....................
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.................... //motory
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.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred
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.................... #define FL output_low(PIN_A1); output_high(PIN_A0)
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.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad
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.................... #define BL output_low(PIN_A0); output_high(PIN_A1)
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.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)
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.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)
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....................
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.................... //HID
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.................... #define LED1 PIN_B1 //oranzova
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.................... #define LED2 PIN_B2 //zluta
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....................
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.................... #define STROBE PIN_B0
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175 |
.................... //#define SW1 PIN_A2 // Motory On/off
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....................
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177 |
.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru
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.................... unsigned int8 line; // na ktere strane byla detekovana cara
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179 |
.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara
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.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni
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.................... unsigned int8 speed; // maximalni povolena rychlost
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.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky
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....................
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.................... short int preteceni; // flag preteceni timeru1
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....................
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.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem
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.................... signed int16 Rmotor; // a pravem motoru
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....................
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.................... // makro pro PWM pro motory
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.................... #define GO(motor, direction, power) if(get_timer0()<=power) \
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.................... {direction##motor;} else {stop##motor;}
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....................
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.................... ////////////////////////////////////////////////////////////////////////////////
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.................... /*
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195 |
.................... void diagnostika()
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.................... {
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.................... if(input(SW1))STOPR;STOPL;While(TRUE);
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.................... // if(LSENSOR==true) output_high(LED2); else output_low(LED2);
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.................... // if(RSENSOR==true) output_high(LED1); else output_low(LED1);
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.................... }
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.................... */
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202 |
.................... ////////////////////////////////////////////////////////////////////////////////
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203 |
.................... #int_TIMER1
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.................... TIMER1_isr()
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.................... {
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.................... preteceni = true;
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207 |
*
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208 |
003F: BSF 2F.0
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209 |
.................... }
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210 |
.................... ////////////////////////////////////////////////////////////////////////////////
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211 |
0040: BCF 0C.0
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212 |
0041: BCF 0A.3
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213 |
0042: GOTO 028
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214 |
.................... #int_TIMER2
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.................... TIMER2_isr() // ovladani serva
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.................... {
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217 |
.................... unsigned int8 n;
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218 |
....................
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219 |
.................... output_high(SERVO);
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220 |
*
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221 |
0053: BSF 03.5
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222 |
0054: BCF 05.2
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0055: BCF 03.5
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224 |
0056: BSF 05.2
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225 |
.................... delay_us(1000);
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226 |
0057: CLRWDT
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227 |
0058: MOVLW 09
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228 |
0059: MOVWF 3C
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229 |
005A: MOVLW 6D
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230 |
005B: MOVWF 3D
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231 |
005C: CALL 043
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232 |
005D: DECFSZ 3C,F
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233 |
005E: GOTO 05A
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234 |
.................... for(n=uhel; n>0; n--) Delay_us(2);
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235 |
005F: MOVF 2C,W
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236 |
0060: MOVWF 3B
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237 |
0061: MOVF 3B,F
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238 |
0062: BTFSC 03.2
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239 |
0063: GOTO 06A
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240 |
0064: CLRWDT
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241 |
0065: NOP
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242 |
0066: NOP
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243 |
0067: NOP
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244 |
0068: DECF 3B,F
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245 |
0069: GOTO 061
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246 |
.................... output_low(SERVO);
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247 |
006A: BSF 03.5
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248 |
006B: BCF 05.2
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249 |
006C: BCF 03.5
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250 |
006D: BCF 05.2
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.................... }
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252 |
....................
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253 |
.................... ////////////////////////////////////////////////////////////////////////////////
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254 |
006E: BCF 0C.1
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255 |
006F: BCF 0A.3
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256 |
0070: GOTO 028
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257 |
.................... short int IRcheck() // potvrdi detekci cihly
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258 |
.................... {
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259 |
.................... output_high(IRTX); // vypne vysilac IR
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260 |
.................... delay_ms(100);
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261 |
....................
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262 |
.................... output_low(STROBE);
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263 |
.................... sensors = spi_read(0); // cteni senzoru
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264 |
.................... sensors=~sensors;
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265 |
.................... output_high(STROBE);
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266 |
....................
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267 |
.................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal
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268 |
.................... {
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269 |
.................... output_low(IRTX); // zapne vysilac IR
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270 |
.................... delay_ms(100);
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271 |
....................
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272 |
.................... output_low(STROBE);
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273 |
.................... sensors = spi_read(0); // cteni senzoru
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274 |
.................... sensors=~sensors;
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275 |
.................... output_high(STROBE);
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276 |
....................
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277 |
.................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla
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278 |
.................... {
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279 |
.................... output_high(IRTX); // vypne vysilac IR
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280 |
.................... delay_ms(100);
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281 |
....................
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282 |
.................... output_low(STROBE);
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283 |
.................... sensors = spi_read(0); // cteni senzoru
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284 |
.................... sensors=~sensors;
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285 |
.................... output_high(STROBE);
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286 |
....................
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287 |
.................... output_low(IRTX); // zapne vysilac IR
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288 |
.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla
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289 |
.................... }
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290 |
.................... };
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291 |
.................... output_low(IRTX); // zapne vysilac IR
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292 |
.................... return 0; // vrat 0, kdyz je detekovano ruseni
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293 |
.................... }
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294 |
.................... ////////////////////////////////////////////////////////////////////////////////
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295 |
.................... void objizdka()
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296 |
.................... {
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297 |
.................... int8 shure=0;
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298 |
.................... unsigned int16 n;
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299 |
....................
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300 |
.................... BR;BL;
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301 |
.................... Delay_ms(400);
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302 |
.................... STOPR;STOPL;
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303 |
....................
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304 |
.................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota
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305 |
.................... Delay_ms(100);
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306 |
.................... BL;FR;
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307 |
.................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle
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308 |
....................
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309 |
.................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru
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310 |
.................... {
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311 |
.................... sensors = spi_read(0); // cteni senzoru
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312 |
.................... sensors=~sensors;
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313 |
.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel
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314 |
.................... }
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315 |
.................... STOPL; STOPR;
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316 |
....................
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317 |
.................... for (n=0;n<1500;n++) // vystred se na hranu cihly
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318 |
.................... {
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319 |
.................... if(!input(CIHLA)) {BL; FR;} else {FL; BR;};
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320 |
.................... delay_ms(1);
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321 |
.................... }
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322 |
.................... STOPR;STOPL;
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323 |
....................
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324 |
.................... uhel=STRED; // dopredu
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325 |
.................... delay_ms(100);
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326 |
.................... FR; FL;
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327 |
.................... delay_ms(500);
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328 |
.................... BL;BR;
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329 |
.................... delay_ms(200);
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330 |
.................... STOPL;STOPR;
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331 |
....................
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332 |
.................... uhel=STRED+BEAR3; // doprava
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333 |
.................... delay_ms(100);
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334 |
.................... FL;
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|
335 |
.................... delay_ms(200);
|
|
|
336 |
.................... uhel=STRED+BEAR2; // min doprava
|
|
|
337 |
.................... FL;FR;
|
|
|
338 |
.................... delay_ms(200);
|
|
|
339 |
.................... uhel=STRED+BEAR1; // jeste min doprava
|
|
|
340 |
.................... FL;FR;
|
|
|
341 |
.................... delay_ms(200);
|
|
|
342 |
.................... uhel=STRED; // rovne
|
|
|
343 |
.................... FL;FR;
|
|
|
344 |
.................... delay_ms(100);
|
|
|
345 |
.................... While((sensors & 0b01111111)!=0) //dokud neni cara
|
|
|
346 |
.................... {
|
|
|
347 |
.................... sensors = spi_read(0); // cteni senzoru
|
|
|
348 |
.................... sensors=~sensors;
|
|
|
349 |
.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel
|
|
|
350 |
.................... }
|
|
|
351 |
.................... BL; BR;
|
|
|
352 |
.................... delay_ms(400);
|
|
|
353 |
....................
|
|
|
354 |
.................... uhel=STRED-BEAR3; // doleva
|
|
|
355 |
.................... }
|
|
|
356 |
....................
|
|
|
357 |
.................... ////////////////////////////////////////////////////////////////////////////////
|
|
|
358 |
.................... void main()
|
|
|
359 |
.................... {
|
|
|
360 |
*
|
|
|
361 |
0089: CLRF 04
|
|
|
362 |
008A: MOVLW 1F
|
|
|
363 |
008B: ANDWF 03,F
|
|
|
364 |
008C: MOVLW 70
|
|
|
365 |
008D: BSF 03.5
|
|
|
366 |
008E: MOVWF 0F
|
|
|
367 |
008F: BCF 1F.4
|
|
|
368 |
0090: BCF 1F.5
|
|
|
369 |
0091: MOVF 1B,W
|
|
|
370 |
0092: ANDLW 80
|
|
|
371 |
0093: MOVWF 1B
|
|
|
372 |
0094: MOVLW 07
|
|
|
373 |
0095: MOVWF 1C
|
|
|
374 |
....................
|
|
|
375 |
.................... unsigned int8 n;
|
|
|
376 |
.................... unsigned int8 i,v;
|
|
|
377 |
.................... unsigned int8 last_sensors;
|
|
|
378 |
.................... unsigned int8 j=0;
|
|
|
379 |
0096: BCF 03.5
|
|
|
380 |
0097: CLRF 38
|
|
|
381 |
....................
|
|
|
382 |
.................... setup_adc_ports(NO_ANALOGS);
|
|
|
383 |
0098: BSF 03.5
|
|
|
384 |
0099: BCF 1F.4
|
|
|
385 |
009A: BCF 1F.5
|
|
|
386 |
009B: MOVF 1B,W
|
|
|
387 |
009C: ANDLW 80
|
|
|
388 |
009D: MOVWF 1B
|
|
|
389 |
.................... setup_adc(ADC_CLOCK_INTERNAL);
|
|
|
390 |
009E: BCF 1F.6
|
|
|
391 |
009F: BCF 03.5
|
|
|
392 |
00A0: BSF 1F.6
|
|
|
393 |
00A1: BSF 1F.7
|
|
|
394 |
00A2: BSF 03.5
|
|
|
395 |
00A3: BCF 1F.7
|
|
|
396 |
00A4: BCF 03.5
|
|
|
397 |
00A5: BSF 1F.0
|
|
|
398 |
.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16);
|
|
|
399 |
00A6: BCF 14.5
|
|
|
400 |
00A7: BSF 03.5
|
|
|
401 |
00A8: BCF 06.2
|
|
|
402 |
00A9: BSF 06.1
|
|
|
403 |
00AA: BCF 06.4
|
|
|
404 |
00AB: MOVLW 31
|
|
|
405 |
00AC: BCF 03.5
|
|
|
406 |
00AD: MOVWF 14
|
|
|
407 |
00AE: MOVLW 00
|
|
|
408 |
00AF: BSF 03.5
|
|
|
409 |
00B0: MOVWF 14
|
|
|
410 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
|
|
|
411 |
00B1: MOVF 01,W
|
|
|
412 |
00B2: ANDLW C7
|
|
|
413 |
00B3: IORLW 08
|
|
|
414 |
00B4: MOVWF 01
|
|
|
415 |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);
|
|
|
416 |
00B5: MOVLW B5
|
|
|
417 |
00B6: BCF 03.5
|
|
|
418 |
00B7: MOVWF 10
|
|
|
419 |
.................... setup_timer_2(T2_DIV_BY_16,140,16);
|
|
|
420 |
00B8: MOVLW 78
|
|
|
421 |
00B9: MOVWF 78
|
|
|
422 |
00BA: IORLW 06
|
|
|
423 |
00BB: MOVWF 12
|
|
|
424 |
00BC: MOVLW 8C
|
|
|
425 |
00BD: BSF 03.5
|
|
|
426 |
00BE: MOVWF 12
|
|
|
427 |
.................... setup_oscillator(OSC_8MHZ|OSC_INTRC);
|
|
|
428 |
00BF: MOVLW 72
|
|
|
429 |
00C0: MOVWF 0F
|
|
|
430 |
....................
|
|
|
431 |
.................... STOPR; STOPL; // zastav motory
|
|
|
432 |
00C1: BCF 05.6
|
|
|
433 |
00C2: BCF 03.5
|
|
|
434 |
00C3: BCF 05.6
|
|
|
435 |
00C4: BSF 03.5
|
|
|
436 |
00C5: BCF 05.7
|
|
|
437 |
00C6: BCF 03.5
|
|
|
438 |
00C7: BCF 05.7
|
|
|
439 |
00C8: BSF 03.5
|
|
|
440 |
00C9: BCF 05.0
|
|
|
441 |
00CA: BCF 03.5
|
|
|
442 |
00CB: BCF 05.0
|
|
|
443 |
00CC: BSF 03.5
|
|
|
444 |
00CD: BCF 05.1
|
|
|
445 |
00CE: BCF 03.5
|
|
|
446 |
00CF: BCF 05.1
|
|
|
447 |
.................... Lmotor=0;Rmotor=0;
|
|
|
448 |
00D0: CLRF 31
|
|
|
449 |
00D1: CLRF 30
|
|
|
450 |
00D2: CLRF 33
|
|
|
451 |
00D3: CLRF 32
|
|
|
452 |
....................
|
|
|
453 |
.................... uhel = STRED; // nastav zadni kolecko na stred
|
|
|
454 |
00D4: MOVLW 80
|
|
|
455 |
00D5: MOVWF 2C
|
|
|
456 |
.................... rovinka = 0;
|
|
|
457 |
00D6: CLRF 2E
|
|
|
458 |
....................
|
|
|
459 |
.................... enable_interrupts(INT_TIMER2);
|
|
|
460 |
00D7: BSF 03.5
|
|
|
461 |
00D8: BSF 0C.1
|
|
|
462 |
.................... enable_interrupts(INT_TIMER1);
|
|
|
463 |
00D9: BSF 0C.0
|
|
|
464 |
.................... enable_interrupts(GLOBAL);
|
|
|
465 |
00DA: MOVLW C0
|
|
|
466 |
00DB: BCF 03.5
|
|
|
467 |
00DC: IORWF 0B,F
|
|
|
468 |
....................
|
|
|
469 |
.................... output_low(IRTX); // zapni IR vysilac
|
|
|
470 |
00DD: BSF 03.5
|
|
|
471 |
00DE: BCF 06.2
|
|
|
472 |
00DF: BCF 03.5
|
|
|
473 |
00E0: BCF 06.2
|
|
|
474 |
....................
|
|
|
475 |
.................... delay_ms(1000);
|
|
|
476 |
00E1: MOVLW 04
|
|
|
477 |
00E2: MOVWF 39
|
|
|
478 |
00E3: MOVLW FA
|
|
|
479 |
00E4: MOVWF 3A
|
|
|
480 |
00E5: CALL 071
|
|
|
481 |
00E6: DECFSZ 39,F
|
|
|
482 |
00E7: GOTO 0E3
|
|
|
483 |
....................
|
|
|
484 |
.................... //!!!!
|
|
|
485 |
.................... speed=SPEEDMAX;
|
|
|
486 |
00E8: MOVLW A0
|
|
|
487 |
00E9: MOVWF 2D
|
|
|
488 |
....................
|
|
|
489 |
.................... while(true)
|
|
|
490 |
.................... {
|
|
|
491 |
....................
|
|
|
492 |
.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor
|
|
|
493 |
00EA: MOVF 01,W
|
|
|
494 |
00EB: BTFSS 00.7
|
|
|
495 |
00EC: GOTO 0F0
|
|
|
496 |
00ED: BTFSS 31.7
|
|
|
497 |
00EE: GOTO 0F8
|
|
|
498 |
00EF: GOTO 0F2
|
|
|
499 |
00F0: BTFSC 31.7
|
|
|
500 |
00F1: GOTO 101
|
|
|
501 |
00F2: MOVF 31,F
|
|
|
502 |
00F3: BTFSS 03.2
|
|
|
503 |
00F4: GOTO 0F8
|
|
|
504 |
00F5: SUBWF 30,W
|
|
|
505 |
00F6: BTFSS 03.0
|
|
|
506 |
00F7: GOTO 101
|
|
|
507 |
00F8: BSF 03.5
|
|
|
508 |
00F9: BCF 05.1
|
|
|
509 |
00FA: BCF 03.5
|
|
|
510 |
00FB: BCF 05.1
|
|
|
511 |
00FC: BSF 03.5
|
|
|
512 |
00FD: BCF 05.0
|
|
|
513 |
00FE: BCF 03.5
|
|
|
514 |
00FF: BSF 05.0
|
|
|
515 |
0100: GOTO 109
|
|
|
516 |
0101: BSF 03.5
|
|
|
517 |
0102: BCF 05.0
|
|
|
518 |
0103: BCF 03.5
|
|
|
519 |
0104: BCF 05.0
|
|
|
520 |
0105: BSF 03.5
|
|
|
521 |
0106: BCF 05.1
|
|
|
522 |
0107: BCF 03.5
|
|
|
523 |
0108: BCF 05.1
|
|
|
524 |
0109: MOVF 01,W
|
|
|
525 |
010A: BTFSS 00.7
|
|
|
526 |
010B: GOTO 10F
|
|
|
527 |
010C: BTFSS 33.7
|
|
|
528 |
010D: GOTO 117
|
|
|
529 |
010E: GOTO 111
|
|
|
530 |
010F: BTFSC 33.7
|
|
|
531 |
0110: GOTO 120
|
|
|
532 |
0111: MOVF 33,F
|
|
|
533 |
0112: BTFSS 03.2
|
|
|
534 |
0113: GOTO 117
|
|
|
535 |
0114: SUBWF 32,W
|
|
|
536 |
0115: BTFSS 03.0
|
|
|
537 |
0116: GOTO 120
|
|
|
538 |
0117: BSF 03.5
|
|
|
539 |
0118: BCF 05.7
|
|
|
540 |
0119: BCF 03.5
|
|
|
541 |
011A: BCF 05.7
|
|
|
542 |
011B: BSF 03.5
|
|
|
543 |
011C: BCF 05.6
|
|
|
544 |
011D: BCF 03.5
|
|
|
545 |
011E: BSF 05.6
|
|
|
546 |
011F: GOTO 128
|
|
|
547 |
0120: BSF 03.5
|
|
|
548 |
0121: BCF 05.6
|
|
|
549 |
0122: BCF 03.5
|
|
|
550 |
0123: BCF 05.6
|
|
|
551 |
0124: BSF 03.5
|
|
|
552 |
0125: BCF 05.7
|
|
|
553 |
0126: BCF 03.5
|
|
|
554 |
0127: BCF 05.7
|
|
|
555 |
....................
|
|
|
556 |
.................... delay_us(1500); // cekani na SLAVE, nez pripravi data od cidel
|
|
|
557 |
0128: CLRWDT
|
|
|
558 |
0129: MOVLW 01
|
|
|
559 |
012A: MOVWF 3A
|
|
|
560 |
012B: CALL 071
|
|
|
561 |
012C: MOVLW 02
|
|
|
562 |
012D: MOVWF 39
|
|
|
563 |
012E: CLRF 29
|
|
|
564 |
012F: BTFSC 0B.7
|
|
|
565 |
0130: BSF 29.7
|
|
|
566 |
0131: BCF 0B.7
|
|
|
567 |
0132: MOVLW F7
|
|
|
568 |
0133: MOVWF 3D
|
|
|
569 |
0134: CALL 043
|
|
|
570 |
0135: BTFSC 29.7
|
|
|
571 |
0136: BSF 0B.7
|
|
|
572 |
0137: DECFSZ 39,F
|
|
|
573 |
0138: GOTO 12E
|
|
|
574 |
....................
|
|
|
575 |
.................... last_sensors = sensors;
|
|
|
576 |
0139: MOVF 2A,W
|
|
|
577 |
013A: MOVWF 37
|
|
|
578 |
.................... j++;
|
|
|
579 |
013B: INCF 38,F
|
|
|
580 |
....................
|
|
|
581 |
.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru
|
|
|
582 |
013C: BSF 03.5
|
|
|
583 |
013D: BCF 06.0
|
|
|
584 |
013E: BCF 03.5
|
|
|
585 |
013F: BCF 06.0
|
|
|
586 |
.................... sensors = spi_read(0); // cteni senzoru
|
|
|
587 |
0140: MOVF 13,W
|
|
|
588 |
0141: CLRF 13
|
|
|
589 |
0142: BSF 03.5
|
|
|
590 |
0143: BTFSC 14.0
|
|
|
591 |
0144: GOTO 147
|
|
|
592 |
0145: BCF 03.5
|
|
|
593 |
0146: GOTO 142
|
|
|
594 |
0147: BCF 03.5
|
|
|
595 |
0148: MOVF 13,W
|
|
|
596 |
0149: MOVWF 2A
|
|
|
597 |
.................... sensors=~sensors;
|
|
|
598 |
014A: COMF 2A,F
|
|
|
599 |
.................... output_high(STROBE); // zobraz data na posuvnem registru
|
|
|
600 |
014B: BSF 03.5
|
|
|
601 |
014C: BCF 06.0
|
|
|
602 |
014D: BCF 03.5
|
|
|
603 |
014E: BSF 06.0
|
|
|
604 |
....................
|
|
|
605 |
....................
|
|
|
606 |
....................
|
|
|
607 |
....................
|
|
|
608 |
.................... if(false == preteceni)
|
|
|
609 |
014F: MOVLW 00
|
|
|
610 |
0150: BTFSC 2F.0
|
|
|
611 |
0151: MOVLW 01
|
|
|
612 |
0152: XORLW 00
|
|
|
613 |
0153: BTFSS 03.2
|
|
|
614 |
0154: GOTO 16B
|
|
|
615 |
.................... {
|
|
|
616 |
.................... v = 255 - (get_timer1() >> 8);
|
|
|
617 |
0155: MOVF 0F,W
|
|
|
618 |
0156: MOVWF 7A
|
|
|
619 |
0157: MOVF 0E,W
|
|
|
620 |
0158: MOVWF 77
|
|
|
621 |
0159: MOVF 0F,W
|
|
|
622 |
015A: SUBWF 7A,W
|
|
|
623 |
015B: BTFSS 03.2
|
|
|
624 |
015C: GOTO 155
|
|
|
625 |
015D: MOVF 77,W
|
|
|
626 |
015E: MOVWF 39
|
|
|
627 |
015F: MOVF 7A,W
|
|
|
628 |
0160: MOVWF 3A
|
|
|
629 |
0161: MOVF 3A,W
|
|
|
630 |
0162: CLRF 7A
|
|
|
631 |
0163: SUBLW FF
|
|
|
632 |
0164: MOVWF 36
|
|
|
633 |
.................... v >>= 3;
|
|
|
634 |
0165: RRF 36,F
|
|
|
635 |
0166: RRF 36,F
|
|
|
636 |
0167: RRF 36,F
|
|
|
637 |
0168: MOVLW 1F
|
|
|
638 |
0169: ANDWF 36,F
|
|
|
639 |
.................... }
|
|
|
640 |
.................... else
|
|
|
641 |
016A: GOTO 16D
|
|
|
642 |
.................... {
|
|
|
643 |
.................... v=0;
|
|
|
644 |
016B: CLRF 36
|
|
|
645 |
.................... preteceni=false;
|
|
|
646 |
016C: BCF 2F.0
|
|
|
647 |
.................... }
|
|
|
648 |
....................
|
|
|
649 |
....................
|
|
|
650 |
....................
|
|
|
651 |
.................... i=0; // havarijni kod
|
|
|
652 |
016D: CLRF 35
|
|
|
653 |
.................... for (n=0; n<=6; n++)
|
|
|
654 |
016E: CLRF 34
|
|
|
655 |
016F: MOVF 34,W
|
|
|
656 |
0170: SUBLW 06
|
|
|
657 |
0171: BTFSS 03.0
|
|
|
658 |
0172: GOTO 181
|
|
|
659 |
.................... {
|
|
|
660 |
.................... if(bit_test(sensors,n)) i++;
|
|
|
661 |
0173: MOVF 2A,W
|
|
|
662 |
0174: MOVWF 77
|
|
|
663 |
0175: MOVF 34,W
|
|
|
664 |
0176: MOVWF 78
|
|
|
665 |
0177: BTFSC 03.2
|
|
|
666 |
0178: GOTO 17D
|
|
|
667 |
0179: BCF 03.0
|
|
|
668 |
017A: RRF 77,F
|
|
|
669 |
017B: DECFSZ 78,F
|
|
|
670 |
017C: GOTO 179
|
|
|
671 |
017D: BTFSC 77.0
|
|
|
672 |
017E: INCF 35,F
|
|
|
673 |
.................... }
|
|
|
674 |
017F: INCF 34,F
|
|
|
675 |
0180: GOTO 16F
|
|
|
676 |
.................... if (i>3) While(true){STOPR; STOPL;}; // zastavi, kdyz je cerno pod vice nez tremi cidly
|
|
|
677 |
0181: MOVF 35,W
|
|
|
678 |
0182: SUBLW 03
|
|
|
679 |
0183: BTFSC 03.0
|
|
|
680 |
0184: GOTO 196
|
|
|
681 |
0185: BSF 03.5
|
|
|
682 |
0186: BCF 05.6
|
|
|
683 |
0187: BCF 03.5
|
|
|
684 |
0188: BCF 05.6
|
|
|
685 |
0189: BSF 03.5
|
|
|
686 |
018A: BCF 05.7
|
|
|
687 |
018B: BCF 03.5
|
|
|
688 |
018C: BCF 05.7
|
|
|
689 |
018D: BSF 03.5
|
|
|
690 |
018E: BCF 05.0
|
|
|
691 |
018F: BCF 03.5
|
|
|
692 |
0190: BCF 05.0
|
|
|
693 |
0191: BSF 03.5
|
|
|
694 |
0192: BCF 05.1
|
|
|
695 |
0193: BCF 03.5
|
|
|
696 |
0194: BCF 05.1
|
|
|
697 |
0195: GOTO 185
|
|
|
698 |
....................
|
|
|
699 |
....................
|
|
|
700 |
....................
|
|
|
701 |
.................... if(bit_test(sensors,7)) // detekce cihly
|
|
|
702 |
0196: BTFSS 2A.7
|
|
|
703 |
0197: GOTO 198
|
|
|
704 |
.................... {
|
|
|
705 |
.................... //!!! objizdka(); // objede cihlu
|
|
|
706 |
.................... }
|
|
|
707 |
....................
|
|
|
708 |
....................
|
|
|
709 |
....................
|
|
|
710 |
.................... if(bit_test(sensors,3)) //...|...//
|
|
|
711 |
0198: BTFSS 2A.3
|
|
|
712 |
0199: GOTO 1AF
|
|
|
713 |
.................... {
|
|
|
714 |
.................... uhel=STRED;
|
|
|
715 |
019A: MOVLW 80
|
|
|
716 |
019B: MOVWF 2C
|
|
|
717 |
.................... Lmotor=speed;
|
|
|
718 |
019C: CLRF 7A
|
|
|
719 |
019D: MOVF 2D,W
|
|
|
720 |
019E: MOVWF 30
|
|
|
721 |
019F: MOVF 7A,W
|
|
|
722 |
01A0: MOVWF 31
|
|
|
723 |
.................... Rmotor=speed;
|
|
|
724 |
01A1: CLRF 7A
|
|
|
725 |
01A2: MOVF 2D,W
|
|
|
726 |
01A3: MOVWF 32
|
|
|
727 |
01A4: MOVF 7A,W
|
|
|
728 |
01A5: MOVWF 33
|
|
|
729 |
.................... line=S;
|
|
|
730 |
01A6: MOVLW 02
|
|
|
731 |
01A7: MOVWF 2B
|
|
|
732 |
.................... set_timer1(0);
|
|
|
733 |
01A8: CLRF 0F
|
|
|
734 |
01A9: CLRF 0E
|
|
|
735 |
.................... if (rovinka < 255) rovinka++;
|
|
|
736 |
01AA: INCFSZ 2E,W
|
|
|
737 |
01AB: GOTO 1AD
|
|
|
738 |
01AC: GOTO 1AE
|
|
|
739 |
01AD: INCF 2E,F
|
|
|
740 |
.................... // if (speed > SPEEDMAX) speed--;
|
|
|
741 |
.................... continue;
|
|
|
742 |
01AE: GOTO 0EA
|
|
|
743 |
.................... }
|
|
|
744 |
....................
|
|
|
745 |
.................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu
|
|
|
746 |
01AF: BTFSS 2A.0
|
|
|
747 |
01B0: GOTO 1CD
|
|
|
748 |
.................... {
|
|
|
749 |
.................... if(sensors != last_sensors) uhel=STRED - BEAR3 - v;
|
|
|
750 |
01B1: MOVF 37,W
|
|
|
751 |
01B2: SUBWF 2A,W
|
|
|
752 |
01B3: BTFSC 03.2
|
|
|
753 |
01B4: GOTO 1B8
|
|
|
754 |
01B5: MOVF 36,W
|
|
|
755 |
01B6: SUBLW 58
|
|
|
756 |
01B7: MOVWF 2C
|
|
|
757 |
.................... if(j>=DOZNIVANI)
|
|
|
758 |
01B8: MOVF 38,W
|
|
|
759 |
01B9: SUBLW 09
|
|
|
760 |
01BA: BTFSC 03.0
|
|
|
761 |
01BB: GOTO 1C1
|
|
|
762 |
.................... {
|
|
|
763 |
.................... j=0;
|
|
|
764 |
01BC: CLRF 38
|
|
|
765 |
.................... if(uhel<STRED - BEAR3) uhel++;
|
|
|
766 |
01BD: MOVF 2C,W
|
|
|
767 |
01BE: SUBLW 57
|
|
|
768 |
01BF: BTFSC 03.0
|
|
|
769 |
01C0: INCF 2C,F
|
|
|
770 |
.................... }
|
|
|
771 |
.................... Lmotor=0;
|
|
|
772 |
01C1: CLRF 31
|
|
|
773 |
01C2: CLRF 30
|
|
|
774 |
.................... Rmotor=speed;
|
|
|
775 |
01C3: CLRF 7A
|
|
|
776 |
01C4: MOVF 2D,W
|
|
|
777 |
01C5: MOVWF 32
|
|
|
778 |
01C6: MOVF 7A,W
|
|
|
779 |
01C7: MOVWF 33
|
|
|
780 |
.................... line=L;
|
|
|
781 |
01C8: MOVLW 01
|
|
|
782 |
01C9: MOVWF 2B
|
|
|
783 |
.................... set_timer1(0);
|
|
|
784 |
01CA: CLRF 0F
|
|
|
785 |
01CB: CLRF 0E
|
|
|
786 |
.................... // if (speed > SPEEDMAX) speed--;
|
|
|
787 |
.................... continue;
|
|
|
788 |
01CC: GOTO 0EA
|
|
|
789 |
.................... }
|
|
|
790 |
....................
|
|
|
791 |
.................... if(bit_test(sensors,6)) //......|//
|
|
|
792 |
01CD: BTFSS 2A.6
|
|
|
793 |
01CE: GOTO 1EA
|
|
|
794 |
.................... {
|
|
|
795 |
.................... if(sensors != last_sensors) uhel=STRED + BEAR3 + v;
|
|
|
796 |
01CF: MOVF 37,W
|
|
|
797 |
01D0: SUBWF 2A,W
|
|
|
798 |
01D1: BTFSC 03.2
|
|
|
799 |
01D2: GOTO 1D6
|
|
|
800 |
01D3: MOVLW A8
|
|
|
801 |
01D4: ADDWF 36,W
|
|
|
802 |
01D5: MOVWF 2C
|
|
|
803 |
.................... if(j>=DOZNIVANI)
|
|
|
804 |
01D6: MOVF 38,W
|
|
|
805 |
01D7: SUBLW 09
|
|
|
806 |
01D8: BTFSC 03.0
|
|
|
807 |
01D9: GOTO 1DF
|
|
|
808 |
.................... {
|
|
|
809 |
.................... j=0;
|
|
|
810 |
01DA: CLRF 38
|
|
|
811 |
.................... if(uhel>STRED + BEAR3) uhel--;
|
|
|
812 |
01DB: MOVF 2C,W
|
|
|
813 |
01DC: SUBLW A8
|
|
|
814 |
01DD: BTFSS 03.0
|
|
|
815 |
01DE: DECF 2C,F
|
|
|
816 |
.................... }
|
|
|
817 |
.................... Rmotor=0;
|
|
|
818 |
01DF: CLRF 33
|
|
|
819 |
01E0: CLRF 32
|
|
|
820 |
.................... Lmotor=speed;
|
|
|
821 |
01E1: CLRF 7A
|
|
|
822 |
01E2: MOVF 2D,W
|
|
|
823 |
01E3: MOVWF 30
|
|
|
824 |
01E4: MOVF 7A,W
|
|
|
825 |
01E5: MOVWF 31
|
|
|
826 |
.................... line=R;
|
|
|
827 |
01E6: CLRF 2B
|
|
|
828 |
.................... set_timer1(0);
|
|
|
829 |
01E7: CLRF 0F
|
|
|
830 |
01E8: CLRF 0E
|
|
|
831 |
.................... // if (speed > SPEEDMAX) speed--;
|
|
|
832 |
.................... continue;
|
|
|
833 |
01E9: GOTO 0EA
|
|
|
834 |
.................... }
|
|
|
835 |
....................
|
|
|
836 |
.................... if(bit_test(sensors,1)) //.|.....//
|
|
|
837 |
01EA: BTFSS 2A.1
|
|
|
838 |
01EB: GOTO 20C
|
|
|
839 |
.................... {
|
|
|
840 |
.................... if(sensors != last_sensors) uhel=STRED - BEAR2 - v;
|
|
|
841 |
01EC: MOVF 37,W
|
|
|
842 |
01ED: SUBWF 2A,W
|
|
|
843 |
01EE: BTFSC 03.2
|
|
|
844 |
01EF: GOTO 1F3
|
|
|
845 |
01F0: MOVF 36,W
|
|
|
846 |
01F1: SUBLW 76
|
|
|
847 |
01F2: MOVWF 2C
|
|
|
848 |
.................... if(j>=DOZNIVANI)
|
|
|
849 |
01F3: MOVF 38,W
|
|
|
850 |
01F4: SUBLW 09
|
|
|
851 |
01F5: BTFSC 03.0
|
|
|
852 |
01F6: GOTO 1FC
|
|
|
853 |
.................... {
|
|
|
854 |
.................... j=0;
|
|
|
855 |
01F7: CLRF 38
|
|
|
856 |
.................... if(uhel<STRED - BEAR2) uhel++;
|
|
|
857 |
01F8: MOVF 2C,W
|
|
|
858 |
01F9: SUBLW 75
|
|
|
859 |
01FA: BTFSC 03.0
|
|
|
860 |
01FB: INCF 2C,F
|
|
|
861 |
.................... }
|
|
|
862 |
.................... Lmotor=speed-50;
|
|
|
863 |
01FC: MOVLW 32
|
|
|
864 |
01FD: SUBWF 2D,W
|
|
|
865 |
01FE: CLRF 7A
|
|
|
866 |
01FF: MOVWF 30
|
|
|
867 |
0200: MOVF 7A,W
|
|
|
868 |
0201: MOVWF 31
|
|
|
869 |
.................... Rmotor=speed;
|
|
|
870 |
0202: CLRF 7A
|
|
|
871 |
0203: MOVF 2D,W
|
|
|
872 |
0204: MOVWF 32
|
|
|
873 |
0205: MOVF 7A,W
|
|
|
874 |
0206: MOVWF 33
|
|
|
875 |
.................... line=S;
|
|
|
876 |
0207: MOVLW 02
|
|
|
877 |
0208: MOVWF 2B
|
|
|
878 |
.................... set_timer1(0);
|
|
|
879 |
0209: CLRF 0F
|
|
|
880 |
020A: CLRF 0E
|
|
|
881 |
.................... // if (speed > SPEEDMAX) speed--;
|
|
|
882 |
.................... continue;
|
|
|
883 |
020B: GOTO 0EA
|
|
|
884 |
.................... }
|
|
|
885 |
....................
|
|
|
886 |
.................... if(bit_test(sensors,5)) //.....|.//
|
|
|
887 |
020C: BTFSS 2A.5
|
|
|
888 |
020D: GOTO 22E
|
|
|
889 |
.................... {
|
|
|
890 |
.................... if(sensors != last_sensors) uhel=STRED + BEAR2 + v;
|
|
|
891 |
020E: MOVF 37,W
|
|
|
892 |
020F: SUBWF 2A,W
|
|
|
893 |
0210: BTFSC 03.2
|
|
|
894 |
0211: GOTO 215
|
|
|
895 |
0212: MOVLW 8A
|
|
|
896 |
0213: ADDWF 36,W
|
|
|
897 |
0214: MOVWF 2C
|
|
|
898 |
.................... if(j>=DOZNIVANI)
|
|
|
899 |
0215: MOVF 38,W
|
|
|
900 |
0216: SUBLW 09
|
|
|
901 |
0217: BTFSC 03.0
|
|
|
902 |
0218: GOTO 21E
|
|
|
903 |
.................... {
|
|
|
904 |
.................... j=0;
|
|
|
905 |
0219: CLRF 38
|
|
|
906 |
.................... if(uhel>STRED + BEAR2) uhel--;
|
|
|
907 |
021A: MOVF 2C,W
|
|
|
908 |
021B: SUBLW 8A
|
|
|
909 |
021C: BTFSS 03.0
|
|
|
910 |
021D: DECF 2C,F
|
|
|
911 |
.................... }
|
|
|
912 |
.................... Rmotor=speed-50;
|
|
|
913 |
021E: MOVLW 32
|
|
|
914 |
021F: SUBWF 2D,W
|
|
|
915 |
0220: CLRF 7A
|
|
|
916 |
0221: MOVWF 32
|
|
|
917 |
0222: MOVF 7A,W
|
|
|
918 |
0223: MOVWF 33
|
|
|
919 |
.................... Lmotor=speed;
|
|
|
920 |
0224: CLRF 7A
|
|
|
921 |
0225: MOVF 2D,W
|
|
|
922 |
0226: MOVWF 30
|
|
|
923 |
0227: MOVF 7A,W
|
|
|
924 |
0228: MOVWF 31
|
|
|
925 |
.................... line=S;
|
|
|
926 |
0229: MOVLW 02
|
|
|
927 |
022A: MOVWF 2B
|
|
|
928 |
.................... set_timer1(0);
|
|
|
929 |
022B: CLRF 0F
|
|
|
930 |
022C: CLRF 0E
|
|
|
931 |
.................... // if (speed > SPEEDMAX) speed--;
|
|
|
932 |
.................... continue;
|
|
|
933 |
022D: GOTO 0EA
|
|
|
934 |
.................... }
|
|
|
935 |
....................
|
|
|
936 |
.................... if (bit_test(sensors,2)) //..|....//
|
|
|
937 |
022E: BTFSS 2A.2
|
|
|
938 |
022F: GOTO 253
|
|
|
939 |
.................... {
|
|
|
940 |
.................... if(sensors != last_sensors) uhel=STRED - BEAR1 - v;
|
|
|
941 |
0230: MOVF 37,W
|
|
|
942 |
0231: SUBWF 2A,W
|
|
|
943 |
0232: BTFSC 03.2
|
|
|
944 |
0233: GOTO 237
|
|
|
945 |
0234: MOVF 36,W
|
|
|
946 |
0235: SUBLW 7A
|
|
|
947 |
0236: MOVWF 2C
|
|
|
948 |
.................... if(j>=DOZNIVANI)
|
|
|
949 |
0237: MOVF 38,W
|
|
|
950 |
0238: SUBLW 09
|
|
|
951 |
0239: BTFSC 03.0
|
|
|
952 |
023A: GOTO 240
|
|
|
953 |
.................... {
|
|
|
954 |
.................... if(uhel<STRED - BEAR1)uhel++;
|
|
|
955 |
023B: MOVF 2C,W
|
|
|
956 |
023C: SUBLW 79
|
|
|
957 |
023D: BTFSC 03.0
|
|
|
958 |
023E: INCF 2C,F
|
|
|
959 |
.................... j=0;
|
|
|
960 |
023F: CLRF 38
|
|
|
961 |
.................... }
|
|
|
962 |
.................... Lmotor=speed;
|
|
|
963 |
0240: CLRF 7A
|
|
|
964 |
0241: MOVF 2D,W
|
|
|
965 |
0242: MOVWF 30
|
|
|
966 |
0243: MOVF 7A,W
|
|
|
967 |
0244: MOVWF 31
|
|
|
968 |
.................... Rmotor=speed;
|
|
|
969 |
0245: CLRF 7A
|
|
|
970 |
0246: MOVF 2D,W
|
|
|
971 |
0247: MOVWF 32
|
|
|
972 |
0248: MOVF 7A,W
|
|
|
973 |
0249: MOVWF 33
|
|
|
974 |
.................... line=S;
|
|
|
975 |
024A: MOVLW 02
|
|
|
976 |
024B: MOVWF 2B
|
|
|
977 |
.................... set_timer1(0);
|
|
|
978 |
024C: CLRF 0F
|
|
|
979 |
024D: CLRF 0E
|
|
|
980 |
.................... if (rovinka<255) rovinka++;
|
|
|
981 |
024E: INCFSZ 2E,W
|
|
|
982 |
024F: GOTO 251
|
|
|
983 |
0250: GOTO 252
|
|
|
984 |
0251: INCF 2E,F
|
|
|
985 |
.................... // if (speed > SPEEDMAX) speed--;
|
|
|
986 |
.................... continue;
|
|
|
987 |
0252: GOTO 0EA
|
|
|
988 |
.................... }
|
|
|
989 |
....................
|
|
|
990 |
.................... if (bit_test(sensors,4)) //....|..//
|
|
|
991 |
0253: BTFSS 2A.4
|
|
|
992 |
0254: GOTO 278
|
|
|
993 |
.................... {
|
|
|
994 |
.................... if(sensors != last_sensors) uhel=STRED + BEAR1 + v;
|
|
|
995 |
0255: MOVF 37,W
|
|
|
996 |
0256: SUBWF 2A,W
|
|
|
997 |
0257: BTFSC 03.2
|
|
|
998 |
0258: GOTO 25C
|
|
|
999 |
0259: MOVLW 86
|
|
|
1000 |
025A: ADDWF 36,W
|
|
|
1001 |
025B: MOVWF 2C
|
|
|
1002 |
.................... if(j>=DOZNIVANI)
|
|
|
1003 |
025C: MOVF 38,W
|
|
|
1004 |
025D: SUBLW 09
|
|
|
1005 |
025E: BTFSC 03.0
|
|
|
1006 |
025F: GOTO 265
|
|
|
1007 |
.................... {
|
|
|
1008 |
.................... j=0;
|
|
|
1009 |
0260: CLRF 38
|
|
|
1010 |
.................... if(uhel>STRED + BEAR1) uhel--;
|
|
|
1011 |
0261: MOVF 2C,W
|
|
|
1012 |
0262: SUBLW 86
|
|
|
1013 |
0263: BTFSS 03.0
|
|
|
1014 |
0264: DECF 2C,F
|
|
|
1015 |
.................... }
|
|
|
1016 |
.................... Rmotor=speed;
|
|
|
1017 |
0265: CLRF 7A
|
|
|
1018 |
0266: MOVF 2D,W
|
|
|
1019 |
0267: MOVWF 32
|
|
|
1020 |
0268: MOVF 7A,W
|
|
|
1021 |
0269: MOVWF 33
|
|
|
1022 |
.................... Lmotor=speed;
|
|
|
1023 |
026A: CLRF 7A
|
|
|
1024 |
026B: MOVF 2D,W
|
|
|
1025 |
026C: MOVWF 30
|
|
|
1026 |
026D: MOVF 7A,W
|
|
|
1027 |
026E: MOVWF 31
|
|
|
1028 |
.................... line=S;
|
|
|
1029 |
026F: MOVLW 02
|
|
|
1030 |
0270: MOVWF 2B
|
|
|
1031 |
.................... set_timer1(0);
|
|
|
1032 |
0271: CLRF 0F
|
|
|
1033 |
0272: CLRF 0E
|
|
|
1034 |
.................... if (rovinka<255) rovinka++;
|
|
|
1035 |
0273: INCFSZ 2E,W
|
|
|
1036 |
0274: GOTO 276
|
|
|
1037 |
0275: GOTO 277
|
|
|
1038 |
0276: INCF 2E,F
|
|
|
1039 |
.................... // if (speed > SPEEDMAX) speed--;
|
|
|
1040 |
.................... continue;
|
|
|
1041 |
0277: GOTO 0EA
|
|
|
1042 |
.................... }
|
|
|
1043 |
....................
|
|
|
1044 |
.................... if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate
|
|
|
1045 |
0278: DECFSZ 2B,W
|
|
|
1046 |
0279: GOTO 27B
|
|
|
1047 |
027A: GOTO 27E
|
|
|
1048 |
027B: MOVF 2B,F
|
|
|
1049 |
027C: BTFSS 03.2
|
|
|
1050 |
027D: GOTO 298
|
|
|
1051 |
.................... {
|
|
|
1052 |
.................... if (rovinka>250)
|
|
|
1053 |
027E: MOVF 2E,W
|
|
|
1054 |
027F: SUBLW FA
|
|
|
1055 |
0280: BTFSC 03.0
|
|
|
1056 |
0281: GOTO 295
|
|
|
1057 |
.................... {
|
|
|
1058 |
.................... BL; BR;
|
|
|
1059 |
0282: BSF 03.5
|
|
|
1060 |
0283: BCF 05.0
|
|
|
1061 |
0284: BCF 03.5
|
|
|
1062 |
0285: BCF 05.0
|
|
|
1063 |
0286: BSF 03.5
|
|
|
1064 |
0287: BCF 05.1
|
|
|
1065 |
0288: BCF 03.5
|
|
|
1066 |
0289: BSF 05.1
|
|
|
1067 |
028A: BSF 03.5
|
|
|
1068 |
028B: BCF 05.6
|
|
|
1069 |
028C: BCF 03.5
|
|
|
1070 |
028D: BCF 05.6
|
|
|
1071 |
028E: BSF 03.5
|
|
|
1072 |
028F: BCF 05.7
|
|
|
1073 |
0290: BCF 03.5
|
|
|
1074 |
0291: BSF 05.7
|
|
|
1075 |
.................... Delay_ms(100);
|
|
|
1076 |
0292: MOVLW 64
|
|
|
1077 |
0293: MOVWF 3A
|
|
|
1078 |
0294: CALL 071
|
|
|
1079 |
.................... };
|
|
|
1080 |
.................... rovinka=0;
|
|
|
1081 |
0295: CLRF 2E
|
|
|
1082 |
.................... speed=SPEEDMAX;
|
|
|
1083 |
0296: MOVLW A0
|
|
|
1084 |
0297: MOVWF 2D
|
|
|
1085 |
.................... };
|
|
|
1086 |
.................... }
|
|
|
1087 |
0298: GOTO 0EA
|
|
|
1088 |
.................... }
|
|
|
1089 |
0299: SLEEP
|
|
|
1090 |
|
|
|
1091 |
Configuration Fuses:
|
|
|
1092 |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
|
|
|
1093 |
Word 2: 3FFC NOFCMEN NOIESO
|