WebSVN – svnkaklik – Blame – /roboti/istrobot/3Orbis/bak/07 1.funkcni/master/main.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 22-IV-06 23:50`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst`
		4
		5	`ROM used: 960 words (23%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 30 (17%) at main() level`
		8	`37 (21%) 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 212`
		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 00.0`
		43	`001F: GOTO 022`
		44	`0020: BTFSC 0C.0`
		45	`0021: GOTO 03B`
		46	`0022: MOVLW 8C`
		47	`0023: MOVWF 04`
		48	`0024: BTFSS 00.1`
		49	`0025: GOTO 028`
		50	`0026: BTFSC 0C.1`
		51	`0027: GOTO 03D`
		52	`0028: MOVF 22,W`
		53	`0029: MOVWF 04`
		54	`002A: MOVF 23,W`
		55	`002B: MOVWF 77`
		56	`002C: MOVF 24,W`
		57	`002D: MOVWF 78`
		58	`002E: MOVF 25,W`
		59	`002F: MOVWF 79`
		60	`0030: MOVF 26,W`
		61	`0031: MOVWF 7A`
		62	`0032: MOVF 27,W`
		63	`0033: MOVWF 7B`
		64	`0034: MOVF 28,W`
		65	`0035: MOVWF 0A`
		66	`0036: SWAPF 21,W`
		67	`0037: MOVWF 03`
		68	`0038: SWAPF 7F,F`
		69	`0039: SWAPF 7F,W`
		70	`003A: RETFIE`
		71	`003B: BCF 0A.3`
		72	`003C: GOTO 03F`
		73	`003D: BCF 0A.3`
		74	`003E: GOTO 053`
		75	`.................... #include ".\main.h"`
		76	`.................... #include <16F88.h>`
		77	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		78	`.................... #device PIC16F88`
		79	`.................... #list`
		80	`....................`
		81	`.................... #device adc=8`
		82	`....................`
		83	`.................... #FUSES NOWDT //No Watch Dog Timer`
		84	`.................... #FUSES INTRC_IO`
		85	`.................... #FUSES NOPUT //No Power Up Timer`
		86	`.................... #FUSES MCLR //Master Clear pin enabled`
		87	`.................... #FUSES NOBROWNOUT //Reset when brownout detected`
		88	`.................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18)`
		89	`.................... #FUSES NOCPD //No EE protection`
		90	`.................... #FUSES NOWRT //Program memory not write protected`
		91	`.................... #FUSES NODEBUG //No Debug mode for ICD`
		92	`.................... #FUSES NOPROTECT //Code not protected from reading`
		93	`.................... #FUSES NOFCMEN //Fail-safe clock monitor enabled`
		94	`.................... #FUSES NOIESO //Internal External Switch Over mode enabled`
		95	`....................`
		96	`.................... #use delay(clock=8000000,RESTART_WDT)`
		97	`*`
		98	`0043: MOVLW 08`
		99	`0044: SUBWF 3F,F`
		100	`0045: BTFSS 03.0`
		101	`0046: GOTO 052`
		102	`0047: MOVLW 3F`
		103	`0048: MOVWF 04`
		104	`0049: BCF 03.0`
		105	`004A: RRF 00,F`
		106	`004B: MOVF 00,W`
		107	`004C: BTFSC 03.2`
		108	`004D: GOTO 052`
		109	`004E: GOTO 050`
		110	`004F: CLRWDT`
		111	`0050: DECFSZ 00,F`
		112	`0051: GOTO 04F`
		113	`0052: RETLW 00`
		114	`*`
		115	`0071: MOVLW 3C`
		116	`0072: MOVWF 04`
		117	`0073: MOVF 00,W`
		118	`0074: BTFSC 03.2`
		119	`0075: GOTO 088`
		120	`0076: MOVLW 02`
		121	`0077: MOVWF 78`
		122	`0078: MOVLW BF`
		123	`0079: MOVWF 77`
		124	`007A: CLRWDT`
		125	`007B: DECFSZ 77,F`
		126	`007C: GOTO 07A`
		127	`007D: DECFSZ 78,F`
		128	`007E: GOTO 078`
		129	`007F: MOVLW 96`
		130	`0080: MOVWF 77`
		131	`0081: DECFSZ 77,F`
		132	`0082: GOTO 081`
		133	`0083: NOP`
		134	`0084: NOP`
		135	`0085: CLRWDT`
		136	`0086: DECFSZ 00,F`
		137	`0087: GOTO 076`
		138	`0088: RETLW 00`
		139	`....................`
		140	`....................`
		141	`....................`
		142	`.................... #define KOLMO1 225 // predni kolecko sroubem dopredu`
		143	`.................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu`
		144	`.................... #define STRED 128 // sredni poloha zataceciho kolecka`
		145	`.................... #define BEAR1 10//10 // 3 stupne zataceni`
		146	`.................... #define BEAR2 25//27`
		147	`.................... #define BEAR3 45`
		148	`.................... #define SPEEDMAX 140 // ANSMANN=140; GP=120; maximalni rozumna rychlost`
		149	`.................... #define R17 255 // X nasobek rozumne rychlosti`
		150	`.................... #define DOZNIVANI 10`
		151	`.................... #define L1 1 // cara vlevo`
		152	`.................... #define L2 2 // cara vlevo`
		153	`.................... #define L3 3 // cara vlevo`
		154	`.................... #define S 0 // casa mezi sensory`
		155	`.................... #define R1 -1 // cara vpravo`
		156	`.................... #define R2 -2 // cara vpravo`
		157	`.................... #define R3 -3 // cara vpravo`
		158	`....................`
		159	`.................... // servo`
		160	`.................... #define SERVO PIN_A2`
		161	`....................`
		162	`.................... // IR`
		163	`.................... #define IRTX PIN_B2`
		164	`.................... #define CIHLA PIN_A3`
		165	`....................`
		166	`.................... //motory`
		167	`.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred`
		168	`.................... #define FL output_low(PIN_A1); output_high(PIN_A0)`
		169	`.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad`
		170	`.................... #define BL output_low(PIN_A0); output_high(PIN_A1)`
		171	`.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)`
		172	`.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)`
		173	`....................`
		174	`.................... //HID`
		175	`.................... #define LED1 PIN_B1 //oranzova`
		176	`.................... #define LED2 PIN_B2 //zluta`
		177	`....................`
		178	`.................... #define STROBE PIN_B0`
		179	`.................... //#define SW1 PIN_A2 // Motory On/off`
		180	`....................`
		181	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		182	`.................... signed int8 line = S; // na ktere strane byla detekovana cara`
		183	`*`
		184	`021F: BCF 03.5`
		185	`0220: CLRF 2B`
		186	`.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara`
		187	`.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni`
		188	`.................... unsigned int8 speed; // maximalni povolena rychlost`
		189	`.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky`
		190	`....................`
		191	`.................... short int preteceni; // flag preteceni timeru1`
		192	`....................`
		193	`.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem`
		194	`.................... signed int16 Rmotor; // a pravem motoru`
		195	`....................`
		196	`.................... // makro pro PWM pro motory`
		197	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		198	`.................... {direction##motor;} else {stop##motor;}`
		199	`....................`
		200	`.................... ////////////////////////////////////////////////////////////////////////////////`
		201	`.................... /*`
		202	`.................... void diagnostika()`
		203	`.................... {`
		204	`.................... if(input(SW1))STOPR;STOPL;While(TRUE);`
		205	`.................... // if(LSENSOR==true) output_high(LED2); else output_low(LED2);`
		206	`.................... // if(RSENSOR==true) output_high(LED1); else output_low(LED1);`
		207	`.................... }`
		208	`.................... */`
		209	`.................... ////////////////////////////////////////////////////////////////////////////////`
		210	`.................... #int_TIMER1`
		211	`.................... TIMER1_isr()`
		212	`.................... {`
		213	`.................... preteceni = true;`
		214	`*`
		215	`003F: BSF 2F.0`
		216	`.................... }`
		217	`.................... ////////////////////////////////////////////////////////////////////////////////`
		218	`0040: BCF 0C.0`
		219	`0041: BCF 0A.3`
		220	`0042: GOTO 028`
		221	`.................... #int_TIMER2`
		222	`.................... TIMER2_isr() // ovladani serva`
		223	`.................... {`
		224	`.................... unsigned int8 n;`
		225	`....................`
		226	`.................... output_high(SERVO);`
		227	`*`
		228	`0053: BSF 03.5`
		229	`0054: BCF 05.2`
		230	`0055: BCF 03.5`
		231	`0056: BSF 05.2`
		232	`.................... delay_us(1000);`
		233	`0057: CLRWDT`
		234	`0058: MOVLW 09`
		235	`0059: MOVWF 3E`
		236	`005A: MOVLW 6D`
		237	`005B: MOVWF 3F`
		238	`005C: CALL 043`
		239	`005D: DECFSZ 3E,F`
		240	`005E: GOTO 05A`
		241	`.................... for(n=uhel; n>0; n--) Delay_us(2);`
		242	`005F: MOVF 2C,W`
		243	`0060: MOVWF 3D`
		244	`0061: MOVF 3D,F`
		245	`0062: BTFSC 03.2`
		246	`0063: GOTO 06A`
		247	`0064: CLRWDT`
		248	`0065: NOP`
		249	`0066: NOP`
		250	`0067: NOP`
		251	`0068: DECF 3D,F`
		252	`0069: GOTO 061`
		253	`.................... output_low(SERVO);`
		254	`006A: BSF 03.5`
		255	`006B: BCF 05.2`
		256	`006C: BCF 03.5`
		257	`006D: BCF 05.2`
		258	`.................... }`
		259	`....................`
		260	`.................... ////////////////////////////////////////////////////////////////////////////////`
		261	`006E: BCF 0C.1`
		262	`006F: BCF 0A.3`
		263	`0070: GOTO 028`
		264	`.................... short int IRcheck() // potvrdi detekci cihly`
		265	`.................... {`
		266	`.................... output_high(IRTX); // vypne vysilac IR`
		267	`.................... delay_ms(100);`
		268	`....................`
		269	`.................... output_low(STROBE);`
		270	`.................... sensors = spi_read(0); // cteni senzoru`
		271	`.................... sensors=~sensors;`
		272	`.................... output_high(STROBE);`
		273	`....................`
		274	`.................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal`
		275	`.................... {`
		276	`.................... output_low(IRTX); // zapne vysilac IR`
		277	`.................... delay_ms(100);`
		278	`....................`
		279	`.................... output_low(STROBE);`
		280	`.................... sensors = spi_read(0); // cteni senzoru`
		281	`.................... sensors=~sensors;`
		282	`.................... output_high(STROBE);`
		283	`....................`
		284	`.................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla`
		285	`.................... {`
		286	`.................... output_high(IRTX); // vypne vysilac IR`
		287	`.................... delay_ms(100);`
		288	`....................`
		289	`.................... output_low(STROBE);`
		290	`.................... sensors = spi_read(0); // cteni senzoru`
		291	`.................... sensors=~sensors;`
		292	`.................... output_high(STROBE);`
		293	`....................`
		294	`.................... output_low(IRTX); // zapne vysilac IR`
		295	`.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla`
		296	`.................... }`
		297	`.................... };`
		298	`.................... output_low(IRTX); // zapne vysilac IR`
		299	`.................... return 0; // vrat 0, kdyz je detekovano ruseni`
		300	`.................... }`
		301	`.................... ////////////////////////////////////////////////////////////////////////////////`
		302	`.................... void objizdka()`
		303	`.................... {`
		304	`.................... int8 shure=0;`
		305	`*`
		306	`0089: CLRF 38`
		307	`.................... unsigned int16 n;`
		308	`....................`
		309	`.................... BR;BL;`
		310	`008A: BSF 03.5`
		311	`008B: BCF 05.6`
		312	`008C: BCF 03.5`
		313	`008D: BCF 05.6`
		314	`008E: BSF 03.5`
		315	`008F: BCF 05.7`
		316	`0090: BCF 03.5`
		317	`0091: BSF 05.7`
		318	`0092: BSF 03.5`
		319	`0093: BCF 05.0`
		320	`0094: BCF 03.5`
		321	`0095: BCF 05.0`
		322	`0096: BSF 03.5`
		323	`0097: BCF 05.1`
		324	`0098: BCF 03.5`
		325	`0099: BSF 05.1`
		326	`.................... Delay_ms(400);`
		327	`009A: MOVLW 02`
		328	`009B: MOVWF 3B`
		329	`009C: MOVLW C8`
		330	`009D: MOVWF 3C`
		331	`009E: CALL 071`
		332	`009F: DECFSZ 3B,F`
		333	`00A0: GOTO 09C`
		334	`.................... STOPR;STOPL;`
		335	`00A1: BSF 03.5`
		336	`00A2: BCF 05.6`
		337	`00A3: BCF 03.5`
		338	`00A4: BCF 05.6`
		339	`00A5: BSF 03.5`
		340	`00A6: BCF 05.7`
		341	`00A7: BCF 03.5`
		342	`00A8: BCF 05.7`
		343	`00A9: BSF 03.5`
		344	`00AA: BCF 05.0`
		345	`00AB: BCF 03.5`
		346	`00AC: BCF 05.0`
		347	`00AD: BSF 03.5`
		348	`00AE: BCF 05.1`
		349	`00AF: BCF 03.5`
		350	`00B0: BCF 05.1`
		351	`....................`
		352	`.................... // toceni na miste dokud nezmizi cihla`
		353	`.................... //------------------------------------`
		354	`.................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota`
		355	`00B1: MOVLW E1`
		356	`00B2: MOVWF 2C`
		357	`.................... Delay_ms(100);`
		358	`00B3: MOVLW 64`
		359	`00B4: MOVWF 3C`
		360	`00B5: CALL 071`
		361	`.................... BL;FR;`
		362	`00B6: BSF 03.5`
		363	`00B7: BCF 05.0`
		364	`00B8: BCF 03.5`
		365	`00B9: BCF 05.0`
		366	`00BA: BSF 03.5`
		367	`00BB: BCF 05.1`
		368	`00BC: BCF 03.5`
		369	`00BD: BSF 05.1`
		370	`00BE: BSF 03.5`
		371	`00BF: BCF 05.7`
		372	`00C0: BCF 03.5`
		373	`00C1: BCF 05.7`
		374	`00C2: BSF 03.5`
		375	`00C3: BCF 05.6`
		376	`00C4: BCF 03.5`
		377	`00C5: BSF 05.6`
		378	`.................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle`
		379	`00C6: MOVLW C8`
		380	`00C7: MOVWF 3C`
		381	`00C8: CALL 071`
		382	`....................`
		383	`.................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru`
		384	`.................... {`
		385	`00C9: BTFSS 2A.7`
		386	`00CA: GOTO 0DA`
		387	`.................... sensors = spi_read(0); // cteni senzoru`
		388	`00CB: MOVF 13,W`
		389	`00CC: CLRF 13`
		390	`00CD: BSF 03.5`
		391	`00CE: BTFSC 14.0`
		392	`00CF: GOTO 0D2`
		393	`00D0: BCF 03.5`
		394	`00D1: GOTO 0CD`
		395	`00D2: BCF 03.5`
		396	`00D3: MOVF 13,W`
		397	`00D4: MOVWF 2A`
		398	`.................... sensors=~sensors;`
		399	`00D5: COMF 2A,F`
		400	`.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel`
		401	`00D6: MOVLW 04`
		402	`00D7: MOVWF 3C`
		403	`00D8: CALL 071`
		404	`.................... }`
		405	`00D9: GOTO 0C9`
		406	`.................... STOPL; STOPR;`
		407	`00DA: BSF 03.5`
		408	`00DB: BCF 05.0`
		409	`00DC: BCF 03.5`
		410	`00DD: BCF 05.0`
		411	`00DE: BSF 03.5`
		412	`00DF: BCF 05.1`
		413	`00E0: BCF 03.5`
		414	`00E1: BCF 05.1`
		415	`00E2: BSF 03.5`
		416	`00E3: BCF 05.6`
		417	`00E4: BCF 03.5`
		418	`00E5: BCF 05.6`
		419	`00E6: BSF 03.5`
		420	`00E7: BCF 05.7`
		421	`00E8: BCF 03.5`
		422	`00E9: BCF 05.7`
		423	`....................`
		424	`.................... for (n=0;n<1000;n++) // vystred se na hranu cihly`
		425	`00EA: CLRF 3A`
		426	`00EB: CLRF 39`
		427	`00EC: MOVF 3A,W`
		428	`00ED: SUBLW 03`
		429	`00EE: BTFSS 03.0`
		430	`00EF: GOTO 157`
		431	`00F0: BTFSS 03.2`
		432	`00F1: GOTO 0F6`
		433	`00F2: MOVF 39,W`
		434	`00F3: SUBLW E7`
		435	`00F4: BTFSS 03.0`
		436	`00F5: GOTO 157`
		437	`.................... {`
		438	`.................... if(!input(CIHLA))`
		439	`00F6: BSF 03.5`
		440	`00F7: BSF 05.3`
		441	`00F8: BCF 03.5`
		442	`00F9: BTFSC 05.3`
		443	`00FA: GOTO 126`
		444	`.................... {`
		445	`.................... // BL; FR;`
		446	`.................... GO(L,B,180);GO(R,F,160); // zapni motory PWM podle promenych Lmotor a Rmotor`
		447	`00FB: MOVF 01,W`
		448	`00FC: SUBLW B4`
		449	`00FD: BTFSS 03.0`
		450	`00FE: GOTO 108`
		451	`00FF: BSF 03.5`
		452	`0100: BCF 05.0`
		453	`0101: BCF 03.5`
		454	`0102: BCF 05.0`
		455	`0103: BSF 03.5`
		456	`0104: BCF 05.1`
		457	`0105: BCF 03.5`
		458	`0106: BSF 05.1`
		459	`0107: GOTO 110`
		460	`0108: BSF 03.5`
		461	`0109: BCF 05.0`
		462	`010A: BCF 03.5`
		463	`010B: BCF 05.0`
		464	`010C: BSF 03.5`
		465	`010D: BCF 05.1`
		466	`010E: BCF 03.5`
		467	`010F: BCF 05.1`
		468	`0110: MOVF 01,W`
		469	`0111: SUBLW A0`
		470	`0112: BTFSS 03.0`
		471	`0113: GOTO 11D`
		472	`0114: BSF 03.5`
		473	`0115: BCF 05.7`
		474	`0116: BCF 03.5`
		475	`0117: BCF 05.7`
		476	`0118: BSF 03.5`
		477	`0119: BCF 05.6`
		478	`011A: BCF 03.5`
		479	`011B: BSF 05.6`
		480	`011C: GOTO 125`
		481	`011D: BSF 03.5`
		482	`011E: BCF 05.6`
		483	`011F: BCF 03.5`
		484	`0120: BCF 05.6`
		485	`0121: BSF 03.5`
		486	`0122: BCF 05.7`
		487	`0123: BCF 03.5`
		488	`0124: BCF 05.7`
		489	`.................... } else`
		490	`0125: GOTO 150`
		491	`.................... {`
		492	`.................... // FL; BR;`
		493	`.................... GO(L,F,180);GO(R,B,160); // zapni motory PWM podle promenych Lmotor a Rmotor`
		494	`0126: MOVF 01,W`
		495	`0127: SUBLW B4`
		496	`0128: BTFSS 03.0`
		497	`0129: GOTO 133`
		498	`012A: BSF 03.5`
		499	`012B: BCF 05.1`
		500	`012C: BCF 03.5`
		501	`012D: BCF 05.1`
		502	`012E: BSF 03.5`
		503	`012F: BCF 05.0`
		504	`0130: BCF 03.5`
		505	`0131: BSF 05.0`
		506	`0132: GOTO 13B`
		507	`0133: BSF 03.5`
		508	`0134: BCF 05.0`
		509	`0135: BCF 03.5`
		510	`0136: BCF 05.0`
		511	`0137: BSF 03.5`
		512	`0138: BCF 05.1`
		513	`0139: BCF 03.5`
		514	`013A: BCF 05.1`
		515	`013B: MOVF 01,W`
		516	`013C: SUBLW A0`
		517	`013D: BTFSS 03.0`
		518	`013E: GOTO 148`
		519	`013F: BSF 03.5`
		520	`0140: BCF 05.6`
		521	`0141: BCF 03.5`
		522	`0142: BCF 05.6`
		523	`0143: BSF 03.5`
		524	`0144: BCF 05.7`
		525	`0145: BCF 03.5`
		526	`0146: BSF 05.7`
		527	`0147: GOTO 150`
		528	`0148: BSF 03.5`
		529	`0149: BCF 05.6`
		530	`014A: BCF 03.5`
		531	`014B: BCF 05.6`
		532	`014C: BSF 03.5`
		533	`014D: BCF 05.7`
		534	`014E: BCF 03.5`
		535	`014F: BCF 05.7`
		536	`.................... };`
		537	`.................... delay_ms(1);`
		538	`0150: MOVLW 01`
		539	`0151: MOVWF 3C`
		540	`0152: CALL 071`
		541	`.................... }`
		542	`0153: INCF 39,F`
		543	`0154: BTFSC 03.2`
		544	`0155: INCF 3A,F`
		545	`0156: GOTO 0EC`
		546	`.................... STOPR;STOPL;`
		547	`0157: BSF 03.5`
		548	`0158: BCF 05.6`
		549	`0159: BCF 03.5`
		550	`015A: BCF 05.6`
		551	`015B: BSF 03.5`
		552	`015C: BCF 05.7`
		553	`015D: BCF 03.5`
		554	`015E: BCF 05.7`
		555	`015F: BSF 03.5`
		556	`0160: BCF 05.0`
		557	`0161: BCF 03.5`
		558	`0162: BCF 05.0`
		559	`0163: BSF 03.5`
		560	`0164: BCF 05.1`
		561	`0165: BCF 03.5`
		562	`0166: BCF 05.1`
		563	`....................`
		564	`.................... uhel=STRED; // dopredu`
		565	`0167: MOVLW 80`
		566	`0168: MOVWF 2C`
		567	`.................... delay_ms(100);`
		568	`0169: MOVLW 64`
		569	`016A: MOVWF 3C`
		570	`016B: CALL 071`
		571	`.................... FR; FL;`
		572	`016C: BSF 03.5`
		573	`016D: BCF 05.7`
		574	`016E: BCF 03.5`
		575	`016F: BCF 05.7`
		576	`0170: BSF 03.5`
		577	`0171: BCF 05.6`
		578	`0172: BCF 03.5`
		579	`0173: BSF 05.6`
		580	`0174: BSF 03.5`
		581	`0175: BCF 05.1`
		582	`0176: BCF 03.5`
		583	`0177: BCF 05.1`
		584	`0178: BSF 03.5`
		585	`0179: BCF 05.0`
		586	`017A: BCF 03.5`
		587	`017B: BSF 05.0`
		588	`.................... delay_ms(500);`
		589	`017C: MOVLW 02`
		590	`017D: MOVWF 3B`
		591	`017E: MOVLW FA`
		592	`017F: MOVWF 3C`
		593	`0180: CALL 071`
		594	`0181: DECFSZ 3B,F`
		595	`0182: GOTO 17E`
		596	`.................... BL;BR;`
		597	`0183: BSF 03.5`
		598	`0184: BCF 05.0`
		599	`0185: BCF 03.5`
		600	`0186: BCF 05.0`
		601	`0187: BSF 03.5`
		602	`0188: BCF 05.1`
		603	`0189: BCF 03.5`
		604	`018A: BSF 05.1`
		605	`018B: BSF 03.5`
		606	`018C: BCF 05.6`
		607	`018D: BCF 03.5`
		608	`018E: BCF 05.6`
		609	`018F: BSF 03.5`
		610	`0190: BCF 05.7`
		611	`0191: BCF 03.5`
		612	`0192: BSF 05.7`
		613	`.................... delay_ms(200);`
		614	`0193: MOVLW C8`
		615	`0194: MOVWF 3C`
		616	`0195: CALL 071`
		617	`.................... STOPL;STOPR;`
		618	`0196: BSF 03.5`
		619	`0197: BCF 05.0`
		620	`0198: BCF 03.5`
		621	`0199: BCF 05.0`
		622	`019A: BSF 03.5`
		623	`019B: BCF 05.1`
		624	`019C: BCF 03.5`
		625	`019D: BCF 05.1`
		626	`019E: BSF 03.5`
		627	`019F: BCF 05.6`
		628	`01A0: BCF 03.5`
		629	`01A1: BCF 05.6`
		630	`01A2: BSF 03.5`
		631	`01A3: BCF 05.7`
		632	`01A4: BCF 03.5`
		633	`01A5: BCF 05.7`
		634	`....................`
		635	`.................... uhel=STRED+BEAR3; // doprava`
		636	`01A6: MOVLW AD`
		637	`01A7: MOVWF 2C`
		638	`.................... delay_ms(100);`
		639	`01A8: MOVLW 64`
		640	`01A9: MOVWF 3C`
		641	`01AA: CALL 071`
		642	`.................... FL;`
		643	`01AB: BSF 03.5`
		644	`01AC: BCF 05.1`
		645	`01AD: BCF 03.5`
		646	`01AE: BCF 05.1`
		647	`01AF: BSF 03.5`
		648	`01B0: BCF 05.0`
		649	`01B1: BCF 03.5`
		650	`01B2: BSF 05.0`
		651	`.................... delay_ms(400);`
		652	`01B3: MOVLW 02`
		653	`01B4: MOVWF 3B`
		654	`01B5: MOVLW C8`
		655	`01B6: MOVWF 3C`
		656	`01B7: CALL 071`
		657	`01B8: DECFSZ 3B,F`
		658	`01B9: GOTO 1B5`
		659	`.................... uhel=STRED+BEAR2; // min doprava`
		660	`01BA: MOVLW 99`
		661	`01BB: MOVWF 2C`
		662	`.................... FL;FR;`
		663	`01BC: BSF 03.5`
		664	`01BD: BCF 05.1`
		665	`01BE: BCF 03.5`
		666	`01BF: BCF 05.1`
		667	`01C0: BSF 03.5`
		668	`01C1: BCF 05.0`
		669	`01C2: BCF 03.5`
		670	`01C3: BSF 05.0`
		671	`01C4: BSF 03.5`
		672	`01C5: BCF 05.7`
		673	`01C6: BCF 03.5`
		674	`01C7: BCF 05.7`
		675	`01C8: BSF 03.5`
		676	`01C9: BCF 05.6`
		677	`01CA: BCF 03.5`
		678	`01CB: BSF 05.6`
		679	`.................... delay_ms(100);`
		680	`01CC: MOVLW 64`
		681	`01CD: MOVWF 3C`
		682	`01CE: CALL 071`
		683	`.................... uhel=STRED+BEAR1; // jeste min doprava`
		684	`01CF: MOVLW 8A`
		685	`01D0: MOVWF 2C`
		686	`.................... FL;FR;`
		687	`01D1: BSF 03.5`
		688	`01D2: BCF 05.1`
		689	`01D3: BCF 03.5`
		690	`01D4: BCF 05.1`
		691	`01D5: BSF 03.5`
		692	`01D6: BCF 05.0`
		693	`01D7: BCF 03.5`
		694	`01D8: BSF 05.0`
		695	`01D9: BSF 03.5`
		696	`01DA: BCF 05.7`
		697	`01DB: BCF 03.5`
		698	`01DC: BCF 05.7`
		699	`01DD: BSF 03.5`
		700	`01DE: BCF 05.6`
		701	`01DF: BCF 03.5`
		702	`01E0: BSF 05.6`
		703	`.................... delay_ms(200);`
		704	`01E1: MOVLW C8`
		705	`01E2: MOVWF 3C`
		706	`01E3: CALL 071`
		707	`.................... /*`
		708	`.................... uhel=STRED; // rovne`
		709	`.................... delay_ms(100);`
		710	`.................... FL;FR;`
		711	`.................... delay_ms(100);`
		712	`.................... */`
		713	`.................... While((sensors & 0b01111111)!=0) //dokud neni cara`
		714	`.................... {`
		715	`01E4: MOVF 2A,W`
		716	`01E5: ANDLW 7F`
		717	`01E6: BTFSC 03.2`
		718	`01E7: GOTO 1F7`
		719	`.................... sensors = spi_read(0); // cteni senzoru`
		720	`01E8: MOVF 13,W`
		721	`01E9: CLRF 13`
		722	`01EA: BSF 03.5`
		723	`01EB: BTFSC 14.0`
		724	`01EC: GOTO 1EF`
		725	`01ED: BCF 03.5`
		726	`01EE: GOTO 1EA`
		727	`01EF: BCF 03.5`
		728	`01F0: MOVF 13,W`
		729	`01F1: MOVWF 2A`
		730	`.................... sensors=~sensors;`
		731	`01F2: COMF 2A,F`
		732	`.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel`
		733	`01F3: MOVLW 04`
		734	`01F4: MOVWF 3C`
		735	`01F5: CALL 071`
		736	`.................... }`
		737	`01F6: GOTO 1E4`
		738	`.................... BL; BR;`
		739	`01F7: BSF 03.5`
		740	`01F8: BCF 05.0`
		741	`01F9: BCF 03.5`
		742	`01FA: BCF 05.0`
		743	`01FB: BSF 03.5`
		744	`01FC: BCF 05.1`
		745	`01FD: BCF 03.5`
		746	`01FE: BSF 05.1`
		747	`01FF: BSF 03.5`
		748	`0200: BCF 05.6`
		749	`0201: BCF 03.5`
		750	`0202: BCF 05.6`
		751	`0203: BSF 03.5`
		752	`0204: BCF 05.7`
		753	`0205: BCF 03.5`
		754	`0206: BSF 05.7`
		755	`.................... delay_ms(400);`
		756	`0207: MOVLW 02`
		757	`0208: MOVWF 3B`
		758	`0209: MOVLW C8`
		759	`020A: MOVWF 3C`
		760	`020B: CALL 071`
		761	`020C: DECFSZ 3B,F`
		762	`020D: GOTO 209`
		763	`....................`
		764	`.................... uhel=STRED-BEAR3; // doleva`
		765	`020E: MOVLW 53`
		766	`020F: MOVWF 2C`
		767	`.................... }`
		768	`0210: BCF 0A.3`
		769	`0211: GOTO 317 (RETURN)`
		770	`....................`
		771	`.................... ////////////////////////////////////////////////////////////////////////////////`
		772	`.................... void main()`
		773	`.................... {`
		774	`0212: CLRF 04`
		775	`0213: MOVLW 1F`
		776	`0214: ANDWF 03,F`
		777	`0215: MOVLW 70`
		778	`0216: BSF 03.5`
		779	`0217: MOVWF 0F`
		780	`0218: BCF 1F.4`
		781	`0219: BCF 1F.5`
		782	`021A: MOVF 1B,W`
		783	`021B: ANDLW 80`
		784	`021C: MOVWF 1B`
		785	`021D: MOVLW 07`
		786	`021E: MOVWF 1C`
		787	`....................`
		788	`.................... unsigned int8 n;`
		789	`.................... unsigned int8 i,v;`
		790	`.................... unsigned int8 last_sensors;`
		791	`....................`
		792	`.................... setup_adc_ports(NO_ANALOGS);`
		793	`*`
		794	`0221: BSF 03.5`
		795	`0222: BCF 1F.4`
		796	`0223: BCF 1F.5`
		797	`0224: MOVF 1B,W`
		798	`0225: ANDLW 80`
		799	`0226: MOVWF 1B`
		800	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		801	`0227: BCF 1F.6`
		802	`0228: BCF 03.5`
		803	`0229: BSF 1F.6`
		804	`022A: BSF 1F.7`
		805	`022B: BSF 03.5`
		806	`022C: BCF 1F.7`
		807	`022D: BCF 03.5`
		808	`022E: BSF 1F.0`
		809	`.................... setup_spi(SPI_MASTER\|SPI_H_TO_L\|SPI_XMIT_L_TO_H\|SPI_CLK_DIV_16);`
		810	`022F: BCF 14.5`
		811	`0230: BSF 03.5`
		812	`0231: BCF 06.2`
		813	`0232: BSF 06.1`
		814	`0233: BCF 06.4`
		815	`0234: MOVLW 31`
		816	`0235: BCF 03.5`
		817	`0236: MOVWF 14`
		818	`0237: MOVLW 00`
		819	`0238: BSF 03.5`
		820	`0239: MOVWF 14`
		821	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		822	`023A: MOVF 01,W`
		823	`023B: ANDLW C7`
		824	`023C: IORLW 08`
		825	`023D: MOVWF 01`
		826	`.................... // setup_timer_1(T1_INTERNAL\|T1_DIV_BY_8);`
		827	`.................... setup_timer_1(T1_DISABLED\|T1_DIV_BY_8);`
		828	`023E: MOVLW 30`
		829	`023F: BCF 03.5`
		830	`0240: MOVWF 10`
		831	`.................... setup_timer_2(T2_DIV_BY_16,140,16);`
		832	`0241: MOVLW 78`
		833	`0242: MOVWF 78`
		834	`0243: IORLW 06`
		835	`0244: MOVWF 12`
		836	`0245: MOVLW 8C`
		837	`0246: BSF 03.5`
		838	`0247: MOVWF 12`
		839	`.................... setup_oscillator(OSC_8MHZ\|OSC_INTRC);`
		840	`0248: MOVLW 72`
		841	`0249: MOVWF 0F`
		842	`....................`
		843	`.................... STOPR; STOPL; // zastav motory`
		844	`024A: BCF 05.6`
		845	`024B: BCF 03.5`
		846	`024C: BCF 05.6`
		847	`024D: BSF 03.5`
		848	`024E: BCF 05.7`
		849	`024F: BCF 03.5`
		850	`0250: BCF 05.7`
		851	`0251: BSF 03.5`
		852	`0252: BCF 05.0`
		853	`0253: BCF 03.5`
		854	`0254: BCF 05.0`
		855	`0255: BSF 03.5`
		856	`0256: BCF 05.1`
		857	`0257: BCF 03.5`
		858	`0258: BCF 05.1`
		859	`.................... Lmotor=0;Rmotor=0;`
		860	`0259: CLRF 31`
		861	`025A: CLRF 30`
		862	`025B: CLRF 33`
		863	`025C: CLRF 32`
		864	`....................`
		865	`.................... uhel = STRED; // nastav zadni kolecko na stred`
		866	`025D: MOVLW 80`
		867	`025E: MOVWF 2C`
		868	`.................... rovinka = 0;`
		869	`025F: CLRF 2E`
		870	`....................`
		871	`.................... enable_interrupts(INT_TIMER2);`
		872	`0260: BSF 03.5`
		873	`0261: BSF 0C.1`
		874	`.................... // enable_interrupts(INT_TIMER1);`
		875	`.................... enable_interrupts(GLOBAL);`
		876	`0262: MOVLW C0`
		877	`0263: BCF 03.5`
		878	`0264: IORWF 0B,F`
		879	`....................`
		880	`.................... output_low(IRTX); // zapni IR vysilac`
		881	`0265: BSF 03.5`
		882	`0266: BCF 06.2`
		883	`0267: BCF 03.5`
		884	`0268: BCF 06.2`
		885	`....................`
		886	`.................... delay_ms(1000);`
		887	`0269: MOVLW 04`
		888	`026A: MOVWF 38`
		889	`026B: MOVLW FA`
		890	`026C: MOVWF 3C`
		891	`026D: CALL 071`
		892	`026E: DECFSZ 38,F`
		893	`026F: GOTO 26B`
		894	`....................`
		895	`.................... //!!!!`
		896	`.................... speed=SPEEDMAX;`
		897	`0270: MOVLW 8C`
		898	`0271: MOVWF 2D`
		899	`....................`
		900	`.................... while(true)`
		901	`.................... {`
		902	`....................`
		903	`.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor`
		904	`0272: MOVF 01,W`
		905	`0273: BTFSS 00.7`
		906	`0274: GOTO 278`
		907	`0275: BTFSS 31.7`
		908	`0276: GOTO 280`
		909	`0277: GOTO 27A`
		910	`0278: BTFSC 31.7`
		911	`0279: GOTO 289`
		912	`027A: MOVF 31,F`
		913	`027B: BTFSS 03.2`
		914	`027C: GOTO 280`
		915	`027D: SUBWF 30,W`
		916	`027E: BTFSS 03.0`
		917	`027F: GOTO 289`
		918	`0280: BSF 03.5`
		919	`0281: BCF 05.1`
		920	`0282: BCF 03.5`
		921	`0283: BCF 05.1`
		922	`0284: BSF 03.5`
		923	`0285: BCF 05.0`
		924	`0286: BCF 03.5`
		925	`0287: BSF 05.0`
		926	`0288: GOTO 291`
		927	`0289: BSF 03.5`
		928	`028A: BCF 05.0`
		929	`028B: BCF 03.5`
		930	`028C: BCF 05.0`
		931	`028D: BSF 03.5`
		932	`028E: BCF 05.1`
		933	`028F: BCF 03.5`
		934	`0290: BCF 05.1`
		935	`0291: MOVF 01,W`
		936	`0292: BTFSS 00.7`
		937	`0293: GOTO 297`
		938	`0294: BTFSS 33.7`
		939	`0295: GOTO 29F`
		940	`0296: GOTO 299`
		941	`0297: BTFSC 33.7`
		942	`0298: GOTO 2A8`
		943	`0299: MOVF 33,F`
		944	`029A: BTFSS 03.2`
		945	`029B: GOTO 29F`
		946	`029C: SUBWF 32,W`
		947	`029D: BTFSS 03.0`
		948	`029E: GOTO 2A8`
		949	`029F: BSF 03.5`
		950	`02A0: BCF 05.7`
		951	`02A1: BCF 03.5`
		952	`02A2: BCF 05.7`
		953	`02A3: BSF 03.5`
		954	`02A4: BCF 05.6`
		955	`02A5: BCF 03.5`
		956	`02A6: BSF 05.6`
		957	`02A7: GOTO 2B0`
		958	`02A8: BSF 03.5`
		959	`02A9: BCF 05.6`
		960	`02AA: BCF 03.5`
		961	`02AB: BCF 05.6`
		962	`02AC: BSF 03.5`
		963	`02AD: BCF 05.7`
		964	`02AE: BCF 03.5`
		965	`02AF: BCF 05.7`
		966	`....................`
		967	`.................... delay_us(1500); // cekani na SLAVE, nez pripravi data od cidel`
		968	`02B0: CLRWDT`
		969	`02B1: MOVLW 01`
		970	`02B2: MOVWF 3C`
		971	`02B3: CALL 071`
		972	`02B4: MOVLW 02`
		973	`02B5: MOVWF 38`
		974	`02B6: CLRF 29`
		975	`02B7: BTFSC 0B.7`
		976	`02B8: BSF 29.7`
		977	`02B9: BCF 0B.7`
		978	`02BA: MOVLW F7`
		979	`02BB: MOVWF 3F`
		980	`02BC: CALL 043`
		981	`02BD: BTFSC 29.7`
		982	`02BE: BSF 0B.7`
		983	`02BF: DECFSZ 38,F`
		984	`02C0: GOTO 2B6`
		985	`....................`
		986	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		987	`02C1: BSF 03.5`
		988	`02C2: BCF 06.0`
		989	`02C3: BCF 03.5`
		990	`02C4: BCF 06.0`
		991	`.................... sensors = spi_read(0); // cteni senzoru`
		992	`02C5: MOVF 13,W`
		993	`02C6: CLRF 13`
		994	`02C7: BSF 03.5`
		995	`02C8: BTFSC 14.0`
		996	`02C9: GOTO 2CC`
		997	`02CA: BCF 03.5`
		998	`02CB: GOTO 2C7`
		999	`02CC: BCF 03.5`
		1000	`02CD: MOVF 13,W`
		1001	`02CE: MOVWF 2A`
		1002	`.................... sensors=~sensors;`
		1003	`02CF: COMF 2A,F`
		1004	`.................... output_high(STROBE); // zobraz data na posuvnem registru`
		1005	`02D0: BSF 03.5`
		1006	`02D1: BCF 06.0`
		1007	`02D2: BCF 03.5`
		1008	`02D3: BSF 06.0`
		1009	`....................`
		1010	`.................... i=0; // havarijni kod`
		1011	`02D4: CLRF 35`
		1012	`.................... for (n=0; n<=6; n++)`
		1013	`02D5: CLRF 34`
		1014	`02D6: MOVF 34,W`
		1015	`02D7: SUBLW 06`
		1016	`02D8: BTFSS 03.0`
		1017	`02D9: GOTO 2E8`
		1018	`.................... {`
		1019	`.................... if(bit_test(sensors,n)) i++;`
		1020	`02DA: MOVF 2A,W`
		1021	`02DB: MOVWF 77`
		1022	`02DC: MOVF 34,W`
		1023	`02DD: MOVWF 78`
		1024	`02DE: BTFSC 03.2`
		1025	`02DF: GOTO 2E4`
		1026	`02E0: BCF 03.0`
		1027	`02E1: RRF 77,F`
		1028	`02E2: DECFSZ 78,F`
		1029	`02E3: GOTO 2E0`
		1030	`02E4: BTFSC 77.0`
		1031	`02E5: INCF 35,F`
		1032	`.................... }`
		1033	`02E6: INCF 34,F`
		1034	`02E7: GOTO 2D6`
		1035	`.................... if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly`
		1036	`02E8: MOVF 35,W`
		1037	`02E9: SUBLW 03`
		1038	`02EA: BTFSC 03.0`
		1039	`02EB: GOTO 314`
		1040	`.................... {`
		1041	`.................... BL; BR;`
		1042	`02EC: BSF 03.5`
		1043	`02ED: BCF 05.0`
		1044	`02EE: BCF 03.5`
		1045	`02EF: BCF 05.0`
		1046	`02F0: BSF 03.5`
		1047	`02F1: BCF 05.1`
		1048	`02F2: BCF 03.5`
		1049	`02F3: BSF 05.1`
		1050	`02F4: BSF 03.5`
		1051	`02F5: BCF 05.6`
		1052	`02F6: BCF 03.5`
		1053	`02F7: BCF 05.6`
		1054	`02F8: BSF 03.5`
		1055	`02F9: BCF 05.7`
		1056	`02FA: BCF 03.5`
		1057	`02FB: BSF 05.7`
		1058	`.................... delay_ms(300);`
		1059	`02FC: MOVLW 02`
		1060	`02FD: MOVWF 38`
		1061	`02FE: MOVLW 96`
		1062	`02FF: MOVWF 3C`
		1063	`0300: CALL 071`
		1064	`0301: DECFSZ 38,F`
		1065	`0302: GOTO 2FE`
		1066	`.................... STOPR; STOPL;`
		1067	`0303: BSF 03.5`
		1068	`0304: BCF 05.6`
		1069	`0305: BCF 03.5`
		1070	`0306: BCF 05.6`
		1071	`0307: BSF 03.5`
		1072	`0308: BCF 05.7`
		1073	`0309: BCF 03.5`
		1074	`030A: BCF 05.7`
		1075	`030B: BSF 03.5`
		1076	`030C: BCF 05.0`
		1077	`030D: BCF 03.5`
		1078	`030E: BCF 05.0`
		1079	`030F: BSF 03.5`
		1080	`0310: BCF 05.1`
		1081	`0311: BCF 03.5`
		1082	`0312: BCF 05.1`
		1083	`.................... While(true);`
		1084	`0313: GOTO 313`
		1085	`.................... };`
		1086	`....................`
		1087	`.................... if(bit_test(sensors,7)) // detekce cihly`
		1088	`0314: BTFSS 2A.7`
		1089	`0315: GOTO 317`
		1090	`.................... {`
		1091	`.................... objizdka(); // objede cihlu`
		1092	`0316: GOTO 089`
		1093	`.................... }`
		1094	`....................`
		1095	`....................`
		1096	`.................... if(bit_test(sensors,3)) //...\|...//`
		1097	`0317: BTFSS 2A.3`
		1098	`0318: GOTO 32B`
		1099	`.................... {`
		1100	`.................... uhel=STRED;`
		1101	`0319: MOVLW 80`
		1102	`031A: MOVWF 2C`
		1103	`.................... Lmotor=speed;`
		1104	`031B: CLRF 7A`
		1105	`031C: MOVF 2D,W`
		1106	`031D: MOVWF 30`
		1107	`031E: MOVF 7A,W`
		1108	`031F: MOVWF 31`
		1109	`.................... Rmotor=speed;`
		1110	`0320: CLRF 7A`
		1111	`0321: MOVF 2D,W`
		1112	`0322: MOVWF 32`
		1113	`0323: MOVF 7A,W`
		1114	`0324: MOVWF 33`
		1115	`.................... line=S;`
		1116	`0325: CLRF 2B`
		1117	`.................... // set_timer1(0);`
		1118	`.................... if (rovinka < 255) rovinka++;`
		1119	`0326: INCFSZ 2E,W`
		1120	`0327: GOTO 329`
		1121	`0328: GOTO 32A`
		1122	`0329: INCF 2E,F`
		1123	`.................... continue;`
		1124	`032A: GOTO 272`
		1125	`.................... }`
		1126	`....................`
		1127	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		1128	`032B: BTFSS 2A.0`
		1129	`032C: GOTO 339`
		1130	`.................... {`
		1131	`.................... uhel=STRED - BEAR3;`
		1132	`032D: MOVLW 53`
		1133	`032E: MOVWF 2C`
		1134	`.................... Lmotor=0;`
		1135	`032F: CLRF 31`
		1136	`0330: CLRF 30`
		1137	`.................... Rmotor=speed;`
		1138	`0331: CLRF 7A`
		1139	`0332: MOVF 2D,W`
		1140	`0333: MOVWF 32`
		1141	`0334: MOVF 7A,W`
		1142	`0335: MOVWF 33`
		1143	`.................... line=L3;`
		1144	`0336: MOVLW 03`
		1145	`0337: MOVWF 2B`
		1146	`.................... // set_timer1(0);`
		1147	`.................... continue;`
		1148	`0338: GOTO 272`
		1149	`.................... }`
		1150	`....................`
		1151	`.................... if(bit_test(sensors,6)) //......\|//`
		1152	`0339: BTFSS 2A.6`
		1153	`033A: GOTO 347`
		1154	`.................... {`
		1155	`.................... uhel=STRED + BEAR3;`
		1156	`033B: MOVLW AD`
		1157	`033C: MOVWF 2C`
		1158	`.................... Rmotor=0;`
		1159	`033D: CLRF 33`
		1160	`033E: CLRF 32`
		1161	`.................... Lmotor=speed;`
		1162	`033F: CLRF 7A`
		1163	`0340: MOVF 2D,W`
		1164	`0341: MOVWF 30`
		1165	`0342: MOVF 7A,W`
		1166	`0343: MOVWF 31`
		1167	`.................... line=R3;`
		1168	`0344: MOVLW FD`
		1169	`0345: MOVWF 2B`
		1170	`.................... // set_timer1(0);`
		1171	`.................... continue;`
		1172	`0346: GOTO 272`
		1173	`.................... }`
		1174	`....................`
		1175	`.................... if(bit_test(sensors,1)) //.\|.....//`
		1176	`0347: BTFSS 2A.1`
		1177	`0348: GOTO 359`
		1178	`.................... {`
		1179	`.................... uhel=STRED - BEAR2;`
		1180	`0349: MOVLW 67`
		1181	`034A: MOVWF 2C`
		1182	`.................... Lmotor=speed-50;`
		1183	`034B: MOVLW 32`
		1184	`034C: SUBWF 2D,W`
		1185	`034D: CLRF 7A`
		1186	`034E: MOVWF 30`
		1187	`034F: MOVF 7A,W`
		1188	`0350: MOVWF 31`
		1189	`.................... Rmotor=speed;`
		1190	`0351: CLRF 7A`
		1191	`0352: MOVF 2D,W`
		1192	`0353: MOVWF 32`
		1193	`0354: MOVF 7A,W`
		1194	`0355: MOVWF 33`
		1195	`.................... line=L2;`
		1196	`0356: MOVLW 02`
		1197	`0357: MOVWF 2B`
		1198	`.................... // set_timer1(0);`
		1199	`.................... continue;`
		1200	`0358: GOTO 272`
		1201	`.................... }`
		1202	`....................`
		1203	`.................... if(bit_test(sensors,5)) //.....\|.//`
		1204	`0359: BTFSS 2A.5`
		1205	`035A: GOTO 36B`
		1206	`.................... {`
		1207	`.................... uhel=STRED + BEAR2;`
		1208	`035B: MOVLW 99`
		1209	`035C: MOVWF 2C`
		1210	`.................... Rmotor=speed-50;`
		1211	`035D: MOVLW 32`
		1212	`035E: SUBWF 2D,W`
		1213	`035F: CLRF 7A`
		1214	`0360: MOVWF 32`
		1215	`0361: MOVF 7A,W`
		1216	`0362: MOVWF 33`
		1217	`.................... Lmotor=speed;`
		1218	`0363: CLRF 7A`
		1219	`0364: MOVF 2D,W`
		1220	`0365: MOVWF 30`
		1221	`0366: MOVF 7A,W`
		1222	`0367: MOVWF 31`
		1223	`.................... line=R2;`
		1224	`0368: MOVLW FE`
		1225	`0369: MOVWF 2B`
		1226	`.................... // set_timer1(0);`
		1227	`.................... continue;`
		1228	`036A: GOTO 272`
		1229	`.................... }`
		1230	`....................`
		1231	`.................... if (bit_test(sensors,2)) //..\|....//`
		1232	`036B: BTFSS 2A.2`
		1233	`036C: GOTO 380`
		1234	`.................... {`
		1235	`.................... uhel=STRED - BEAR1;`
		1236	`036D: MOVLW 76`
		1237	`036E: MOVWF 2C`
		1238	`.................... Lmotor=speed;`
		1239	`036F: CLRF 7A`
		1240	`0370: MOVF 2D,W`
		1241	`0371: MOVWF 30`
		1242	`0372: MOVF 7A,W`
		1243	`0373: MOVWF 31`
		1244	`.................... Rmotor=speed;`
		1245	`0374: CLRF 7A`
		1246	`0375: MOVF 2D,W`
		1247	`0376: MOVWF 32`
		1248	`0377: MOVF 7A,W`
		1249	`0378: MOVWF 33`
		1250	`.................... line=L1;`
		1251	`0379: MOVLW 01`
		1252	`037A: MOVWF 2B`
		1253	`.................... // set_timer1(0);`
		1254	`.................... if (rovinka<255) rovinka++;`
		1255	`037B: INCFSZ 2E,W`
		1256	`037C: GOTO 37E`
		1257	`037D: GOTO 37F`
		1258	`037E: INCF 2E,F`
		1259	`.................... continue;`
		1260	`037F: GOTO 272`
		1261	`.................... }`
		1262	`....................`
		1263	`.................... if (bit_test(sensors,4)) //....\|..//`
		1264	`0380: BTFSS 2A.4`
		1265	`0381: GOTO 395`
		1266	`.................... {`
		1267	`.................... uhel=STRED + BEAR1;`
		1268	`0382: MOVLW 8A`
		1269	`0383: MOVWF 2C`
		1270	`.................... Rmotor=speed;`
		1271	`0384: CLRF 7A`
		1272	`0385: MOVF 2D,W`
		1273	`0386: MOVWF 32`
		1274	`0387: MOVF 7A,W`
		1275	`0388: MOVWF 33`
		1276	`.................... Lmotor=speed;`
		1277	`0389: CLRF 7A`
		1278	`038A: MOVF 2D,W`
		1279	`038B: MOVWF 30`
		1280	`038C: MOVF 7A,W`
		1281	`038D: MOVWF 31`
		1282	`.................... line=R1;`
		1283	`038E: MOVLW FF`
		1284	`038F: MOVWF 2B`
		1285	`.................... // set_timer1(0);`
		1286	`.................... if (rovinka<255) rovinka++;`
		1287	`0390: INCFSZ 2E,W`
		1288	`0391: GOTO 393`
		1289	`0392: GOTO 394`
		1290	`0393: INCF 2E,F`
		1291	`.................... continue;`
		1292	`0394: GOTO 272`
		1293	`.................... }`
		1294	`....................`
		1295	`....................`
		1296	`.................... if ((L3==line) \|\| (R3==line)) // Brzdeni pri vyjeti z trate`
		1297	`0395: MOVF 2B,W`
		1298	`0396: SUBLW 03`
		1299	`0397: BTFSC 03.2`
		1300	`0398: GOTO 39D`
		1301	`0399: MOVF 2B,W`
		1302	`039A: SUBLW FD`
		1303	`039B: BTFSS 03.2`
		1304	`039C: GOTO 3BE`
		1305	`.................... {`
		1306	`.................... if (rovinka>50)`
		1307	`039D: MOVF 2E,W`
		1308	`039E: SUBLW 32`
		1309	`039F: BTFSC 03.0`
		1310	`03A0: GOTO 3BB`
		1311	`.................... {`
		1312	`.................... BL; BR;`
		1313	`03A1: BSF 03.5`
		1314	`03A2: BCF 05.0`
		1315	`03A3: BCF 03.5`
		1316	`03A4: BCF 05.0`
		1317	`03A5: BSF 03.5`
		1318	`03A6: BCF 05.1`
		1319	`03A7: BCF 03.5`
		1320	`03A8: BSF 05.1`
		1321	`03A9: BSF 03.5`
		1322	`03AA: BCF 05.6`
		1323	`03AB: BCF 03.5`
		1324	`03AC: BCF 05.6`
		1325	`03AD: BSF 03.5`
		1326	`03AE: BCF 05.7`
		1327	`03AF: BCF 03.5`
		1328	`03B0: BSF 05.7`
		1329	`.................... Delay_ms(100);`
		1330	`03B1: MOVLW 64`
		1331	`03B2: MOVWF 3C`
		1332	`03B3: CALL 071`
		1333	`.................... if (rovinka>250) delay_ms(50);`
		1334	`03B4: MOVF 2E,W`
		1335	`03B5: SUBLW FA`
		1336	`03B6: BTFSC 03.0`
		1337	`03B7: GOTO 3BB`
		1338	`03B8: MOVLW 32`
		1339	`03B9: MOVWF 3C`
		1340	`03BA: CALL 071`
		1341	`.................... };`
		1342	`.................... rovinka=0;`
		1343	`03BB: CLRF 2E`
		1344	`.................... speed=SPEEDMAX;`
		1345	`03BC: MOVLW 8C`
		1346	`03BD: MOVWF 2D`
		1347	`.................... };`
		1348	`.................... }`
		1349	`03BE: GOTO 272`
		1350	`.................... }`
		1351	`03BF: SLEEP`
		1352
		1353	`Configuration Fuses:`
		1354	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1355	`Word 2: 3FFC NOFCMEN NOIESO`

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