WebSVN – svnkaklik – Blame – /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 23-IV-06 20:13`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst`
		4
		5	`ROM used: 1012 words (25%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 32 (18%) at main() level`
		8	`38 (22%) 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 40,F`
		100	`0045: BTFSS 03.0`
		101	`0046: GOTO 052`
		102	`0047: MOVLW 40`
		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 3D`
		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 R 100 // 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_B5`
		161	`....................`
		162	`.................... // kroutitka`
		163	`.................... #define CERVENA 5 // AN5`
		164	`.................... #define CERNA 2 // AN2`
		165	`.................... #define ZELENA 4 // AN4`
		166	`.................... #define MODRA 6 // AN6`
		167	`....................`
		168	`.................... // IR`
		169	`.................... #define IRTX PIN_B2`
		170	`.................... #define CIHLA PIN_A3`
		171	`....................`
		172	`.................... //motory`
		173	`.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred`
		174	`.................... #define FL output_low(PIN_A1); output_high(PIN_A0)`
		175	`.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad`
		176	`.................... #define BL output_low(PIN_A0); output_high(PIN_A1)`
		177	`.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)`
		178	`.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)`
		179	`....................`
		180	`.................... //HID`
		181	`.................... #define LED1 PIN_B1 //oranzova`
		182	`.................... #define LED2 PIN_B2 //zluta`
		183	`....................`
		184	`.................... #define STROBE PIN_B0`
		185	`.................... //#define SW1 PIN_A2 // Motory On/off`
		186	`....................`
		187	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		188	`.................... signed int8 line = S; // na ktere strane byla detekovana cara`
		189	`*`
		190	`021F: BCF 03.5`
		191	`0220: CLRF 2B`
		192	`.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara`
		193	`.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni`
		194	`.................... unsigned int8 speed; // maximalni povolena rychlost`
		195	`.................... unsigned int8 turn; // rychlost toceni`
		196	`.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky`
		197	`....................`
		198	`.................... short int preteceni; // flag preteceni timeru1`
		199	`....................`
		200	`.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem`
		201	`.................... signed int16 Rmotor; // a pravem motoru`
		202	`....................`
		203	`.................... // makro pro PWM pro motory`
		204	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		205	`.................... {direction##motor;} else {stop##motor;}`
		206	`....................`
		207	`.................... ////////////////////////////////////////////////////////////////////////////////`
		208	`.................... #int_TIMER1`
		209	`.................... TIMER1_isr()`
		210	`.................... {`
		211	`.................... preteceni = true;`
		212	`*`
		213	`003F: BSF 30.0`
		214	`.................... }`
		215	`.................... ////////////////////////////////////////////////////////////////////////////////`
		216	`0040: BCF 0C.0`
		217	`0041: BCF 0A.3`
		218	`0042: GOTO 028`
		219	`.................... #int_TIMER2`
		220	`.................... TIMER2_isr() // ovladani serva`
		221	`.................... {`
		222	`.................... unsigned int8 n;`
		223	`....................`
		224	`.................... output_high(SERVO);`
		225	`*`
		226	`0053: BSF 03.5`
		227	`0054: BCF 06.5`
		228	`0055: BCF 03.5`
		229	`0056: BSF 06.5`
		230	`.................... delay_us(1000);`
		231	`0057: CLRWDT`
		232	`0058: MOVLW 09`
		233	`0059: MOVWF 3F`
		234	`005A: MOVLW 6D`
		235	`005B: MOVWF 40`
		236	`005C: CALL 043`
		237	`005D: DECFSZ 3F,F`
		238	`005E: GOTO 05A`
		239	`.................... for(n=uhel; n>0; n--) Delay_us(2);`
		240	`005F: MOVF 2C,W`
		241	`0060: MOVWF 3E`
		242	`0061: MOVF 3E,F`
		243	`0062: BTFSC 03.2`
		244	`0063: GOTO 06A`
		245	`0064: CLRWDT`
		246	`0065: NOP`
		247	`0066: NOP`
		248	`0067: NOP`
		249	`0068: DECF 3E,F`
		250	`0069: GOTO 061`
		251	`.................... output_low(SERVO);`
		252	`006A: BSF 03.5`
		253	`006B: BCF 06.5`
		254	`006C: BCF 03.5`
		255	`006D: BCF 06.5`
		256	`.................... }`
		257	`....................`
		258	`.................... ////////////////////////////////////////////////////////////////////////////////`
		259	`006E: BCF 0C.1`
		260	`006F: BCF 0A.3`
		261	`0070: GOTO 028`
		262	`.................... short int IRcheck() // potvrdi detekci cihly`
		263	`.................... {`
		264	`.................... output_high(IRTX); // vypne vysilac IR`
		265	`.................... delay_ms(100);`
		266	`....................`
		267	`.................... output_low(STROBE);`
		268	`.................... sensors = spi_read(0); // cteni senzoru`
		269	`.................... sensors=~sensors;`
		270	`.................... output_high(STROBE);`
		271	`....................`
		272	`.................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal`
		273	`.................... {`
		274	`.................... output_low(IRTX); // zapne vysilac IR`
		275	`.................... delay_ms(100);`
		276	`....................`
		277	`.................... output_low(STROBE);`
		278	`.................... sensors = spi_read(0); // cteni senzoru`
		279	`.................... sensors=~sensors;`
		280	`.................... output_high(STROBE);`
		281	`....................`
		282	`.................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla`
		283	`.................... {`
		284	`.................... output_high(IRTX); // vypne vysilac IR`
		285	`.................... delay_ms(100);`
		286	`....................`
		287	`.................... output_low(STROBE);`
		288	`.................... sensors = spi_read(0); // cteni senzoru`
		289	`.................... sensors=~sensors;`
		290	`.................... output_high(STROBE);`
		291	`....................`
		292	`.................... output_low(IRTX); // zapne vysilac IR`
		293	`.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla`
		294	`.................... }`
		295	`.................... };`
		296	`.................... output_low(IRTX); // zapne vysilac IR`
		297	`.................... return 0; // vrat 0, kdyz je detekovano ruseni`
		298	`.................... }`
		299	`.................... ////////////////////////////////////////////////////////////////////////////////`
		300	`.................... void objizdka()`
		301	`.................... {`
		302	`.................... int8 shure=0;`
		303	`*`
		304	`0089: CLRF 39`
		305	`.................... unsigned int16 n;`
		306	`....................`
		307	`.................... BR;BL;`
		308	`008A: BSF 03.5`
		309	`008B: BCF 05.6`
		310	`008C: BCF 03.5`
		311	`008D: BCF 05.6`
		312	`008E: BSF 03.5`
		313	`008F: BCF 05.7`
		314	`0090: BCF 03.5`
		315	`0091: BSF 05.7`
		316	`0092: BSF 03.5`
		317	`0093: BCF 05.0`
		318	`0094: BCF 03.5`
		319	`0095: BCF 05.0`
		320	`0096: BSF 03.5`
		321	`0097: BCF 05.1`
		322	`0098: BCF 03.5`
		323	`0099: BSF 05.1`
		324	`.................... Delay_ms(400);`
		325	`009A: MOVLW 02`
		326	`009B: MOVWF 3C`
		327	`009C: MOVLW C8`
		328	`009D: MOVWF 3D`
		329	`009E: CALL 071`
		330	`009F: DECFSZ 3C,F`
		331	`00A0: GOTO 09C`
		332	`.................... STOPR;STOPL;`
		333	`00A1: BSF 03.5`
		334	`00A2: BCF 05.6`
		335	`00A3: BCF 03.5`
		336	`00A4: BCF 05.6`
		337	`00A5: BSF 03.5`
		338	`00A6: BCF 05.7`
		339	`00A7: BCF 03.5`
		340	`00A8: BCF 05.7`
		341	`00A9: BSF 03.5`
		342	`00AA: BCF 05.0`
		343	`00AB: BCF 03.5`
		344	`00AC: BCF 05.0`
		345	`00AD: BSF 03.5`
		346	`00AE: BCF 05.1`
		347	`00AF: BCF 03.5`
		348	`00B0: BCF 05.1`
		349	`....................`
		350	`.................... // toceni na miste dokud nezmizi cihla`
		351	`.................... //------------------------------------`
		352	`.................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota`
		353	`00B1: MOVLW E1`
		354	`00B2: MOVWF 2C`
		355	`.................... Delay_ms(100);`
		356	`00B3: MOVLW 64`
		357	`00B4: MOVWF 3D`
		358	`00B5: CALL 071`
		359	`.................... BL;FR;`
		360	`00B6: BSF 03.5`
		361	`00B7: BCF 05.0`
		362	`00B8: BCF 03.5`
		363	`00B9: BCF 05.0`
		364	`00BA: BSF 03.5`
		365	`00BB: BCF 05.1`
		366	`00BC: BCF 03.5`
		367	`00BD: BSF 05.1`
		368	`00BE: BSF 03.5`
		369	`00BF: BCF 05.7`
		370	`00C0: BCF 03.5`
		371	`00C1: BCF 05.7`
		372	`00C2: BSF 03.5`
		373	`00C3: BCF 05.6`
		374	`00C4: BCF 03.5`
		375	`00C5: BSF 05.6`
		376	`.................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle`
		377	`00C6: MOVLW C8`
		378	`00C7: MOVWF 3D`
		379	`00C8: CALL 071`
		380	`....................`
		381	`.................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru`
		382	`.................... {`
		383	`00C9: BTFSS 2A.7`
		384	`00CA: GOTO 0DA`
		385	`.................... sensors = spi_read(0); // cteni senzoru`
		386	`00CB: MOVF 13,W`
		387	`00CC: CLRF 13`
		388	`00CD: BSF 03.5`
		389	`00CE: BTFSC 14.0`
		390	`00CF: GOTO 0D2`
		391	`00D0: BCF 03.5`
		392	`00D1: GOTO 0CD`
		393	`00D2: BCF 03.5`
		394	`00D3: MOVF 13,W`
		395	`00D4: MOVWF 2A`
		396	`.................... sensors=~sensors;`
		397	`00D5: COMF 2A,F`
		398	`.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel`
		399	`00D6: MOVLW 04`
		400	`00D7: MOVWF 3D`
		401	`00D8: CALL 071`
		402	`.................... }`
		403	`00D9: GOTO 0C9`
		404	`.................... STOPL; STOPR;`
		405	`00DA: BSF 03.5`
		406	`00DB: BCF 05.0`
		407	`00DC: BCF 03.5`
		408	`00DD: BCF 05.0`
		409	`00DE: BSF 03.5`
		410	`00DF: BCF 05.1`
		411	`00E0: BCF 03.5`
		412	`00E1: BCF 05.1`
		413	`00E2: BSF 03.5`
		414	`00E3: BCF 05.6`
		415	`00E4: BCF 03.5`
		416	`00E5: BCF 05.6`
		417	`00E6: BSF 03.5`
		418	`00E7: BCF 05.7`
		419	`00E8: BCF 03.5`
		420	`00E9: BCF 05.7`
		421	`....................`
		422	`.................... for (n=0;n<1000;n++) // vystred se na hranu cihly`
		423	`00EA: CLRF 3B`
		424	`00EB: CLRF 3A`
		425	`00EC: MOVF 3B,W`
		426	`00ED: SUBLW 03`
		427	`00EE: BTFSS 03.0`
		428	`00EF: GOTO 157`
		429	`00F0: BTFSS 03.2`
		430	`00F1: GOTO 0F6`
		431	`00F2: MOVF 3A,W`
		432	`00F3: SUBLW E7`
		433	`00F4: BTFSS 03.0`
		434	`00F5: GOTO 157`
		435	`.................... {`
		436	`.................... if(!input(CIHLA))`
		437	`00F6: BSF 03.5`
		438	`00F7: BSF 05.3`
		439	`00F8: BCF 03.5`
		440	`00F9: BTFSC 05.3`
		441	`00FA: GOTO 126`
		442	`.................... {`
		443	`.................... GO(L,B,180);GO(R,F,160); // zapni motory PWM podle promenych Lmotor a Rmotor`
		444	`00FB: MOVF 01,W`
		445	`00FC: SUBLW B4`
		446	`00FD: BTFSS 03.0`
		447	`00FE: GOTO 108`
		448	`00FF: BSF 03.5`
		449	`0100: BCF 05.0`
		450	`0101: BCF 03.5`
		451	`0102: BCF 05.0`
		452	`0103: BSF 03.5`
		453	`0104: BCF 05.1`
		454	`0105: BCF 03.5`
		455	`0106: BSF 05.1`
		456	`0107: GOTO 110`
		457	`0108: BSF 03.5`
		458	`0109: BCF 05.0`
		459	`010A: BCF 03.5`
		460	`010B: BCF 05.0`
		461	`010C: BSF 03.5`
		462	`010D: BCF 05.1`
		463	`010E: BCF 03.5`
		464	`010F: BCF 05.1`
		465	`0110: MOVF 01,W`
		466	`0111: SUBLW A0`
		467	`0112: BTFSS 03.0`
		468	`0113: GOTO 11D`
		469	`0114: BSF 03.5`
		470	`0115: BCF 05.7`
		471	`0116: BCF 03.5`
		472	`0117: BCF 05.7`
		473	`0118: BSF 03.5`
		474	`0119: BCF 05.6`
		475	`011A: BCF 03.5`
		476	`011B: BSF 05.6`
		477	`011C: GOTO 125`
		478	`011D: BSF 03.5`
		479	`011E: BCF 05.6`
		480	`011F: BCF 03.5`
		481	`0120: BCF 05.6`
		482	`0121: BSF 03.5`
		483	`0122: BCF 05.7`
		484	`0123: BCF 03.5`
		485	`0124: BCF 05.7`
		486	`.................... } else`
		487	`0125: GOTO 150`
		488	`.................... {`
		489	`.................... GO(L,F,180);GO(R,B,160); // zapni motory PWM podle promenych Lmotor a Rmotor`
		490	`0126: MOVF 01,W`
		491	`0127: SUBLW B4`
		492	`0128: BTFSS 03.0`
		493	`0129: GOTO 133`
		494	`012A: BSF 03.5`
		495	`012B: BCF 05.1`
		496	`012C: BCF 03.5`
		497	`012D: BCF 05.1`
		498	`012E: BSF 03.5`
		499	`012F: BCF 05.0`
		500	`0130: BCF 03.5`
		501	`0131: BSF 05.0`
		502	`0132: GOTO 13B`
		503	`0133: BSF 03.5`
		504	`0134: BCF 05.0`
		505	`0135: BCF 03.5`
		506	`0136: BCF 05.0`
		507	`0137: BSF 03.5`
		508	`0138: BCF 05.1`
		509	`0139: BCF 03.5`
		510	`013A: BCF 05.1`
		511	`013B: MOVF 01,W`
		512	`013C: SUBLW A0`
		513	`013D: BTFSS 03.0`
		514	`013E: GOTO 148`
		515	`013F: BSF 03.5`
		516	`0140: BCF 05.6`
		517	`0141: BCF 03.5`
		518	`0142: BCF 05.6`
		519	`0143: BSF 03.5`
		520	`0144: BCF 05.7`
		521	`0145: BCF 03.5`
		522	`0146: BSF 05.7`
		523	`0147: GOTO 150`
		524	`0148: BSF 03.5`
		525	`0149: BCF 05.6`
		526	`014A: BCF 03.5`
		527	`014B: BCF 05.6`
		528	`014C: BSF 03.5`
		529	`014D: BCF 05.7`
		530	`014E: BCF 03.5`
		531	`014F: BCF 05.7`
		532	`.................... };`
		533	`.................... delay_ms(1);`
		534	`0150: MOVLW 01`
		535	`0151: MOVWF 3D`
		536	`0152: CALL 071`
		537	`.................... }`
		538	`0153: INCF 3A,F`
		539	`0154: BTFSC 03.2`
		540	`0155: INCF 3B,F`
		541	`0156: GOTO 0EC`
		542	`.................... STOPR;STOPL;`
		543	`0157: BSF 03.5`
		544	`0158: BCF 05.6`
		545	`0159: BCF 03.5`
		546	`015A: BCF 05.6`
		547	`015B: BSF 03.5`
		548	`015C: BCF 05.7`
		549	`015D: BCF 03.5`
		550	`015E: BCF 05.7`
		551	`015F: BSF 03.5`
		552	`0160: BCF 05.0`
		553	`0161: BCF 03.5`
		554	`0162: BCF 05.0`
		555	`0163: BSF 03.5`
		556	`0164: BCF 05.1`
		557	`0165: BCF 03.5`
		558	`0166: BCF 05.1`
		559	`....................`
		560	`.................... uhel=STRED; // dopredu`
		561	`0167: MOVLW 80`
		562	`0168: MOVWF 2C`
		563	`.................... delay_ms(100);`
		564	`0169: MOVLW 64`
		565	`016A: MOVWF 3D`
		566	`016B: CALL 071`
		567	`.................... FR; FL;`
		568	`016C: BSF 03.5`
		569	`016D: BCF 05.7`
		570	`016E: BCF 03.5`
		571	`016F: BCF 05.7`
		572	`0170: BSF 03.5`
		573	`0171: BCF 05.6`
		574	`0172: BCF 03.5`
		575	`0173: BSF 05.6`
		576	`0174: BSF 03.5`
		577	`0175: BCF 05.1`
		578	`0176: BCF 03.5`
		579	`0177: BCF 05.1`
		580	`0178: BSF 03.5`
		581	`0179: BCF 05.0`
		582	`017A: BCF 03.5`
		583	`017B: BSF 05.0`
		584	`.................... delay_ms(500);`
		585	`017C: MOVLW 02`
		586	`017D: MOVWF 3C`
		587	`017E: MOVLW FA`
		588	`017F: MOVWF 3D`
		589	`0180: CALL 071`
		590	`0181: DECFSZ 3C,F`
		591	`0182: GOTO 17E`
		592	`.................... BL;BR;`
		593	`0183: BSF 03.5`
		594	`0184: BCF 05.0`
		595	`0185: BCF 03.5`
		596	`0186: BCF 05.0`
		597	`0187: BSF 03.5`
		598	`0188: BCF 05.1`
		599	`0189: BCF 03.5`
		600	`018A: BSF 05.1`
		601	`018B: BSF 03.5`
		602	`018C: BCF 05.6`
		603	`018D: BCF 03.5`
		604	`018E: BCF 05.6`
		605	`018F: BSF 03.5`
		606	`0190: BCF 05.7`
		607	`0191: BCF 03.5`
		608	`0192: BSF 05.7`
		609	`.................... delay_ms(200);`
		610	`0193: MOVLW C8`
		611	`0194: MOVWF 3D`
		612	`0195: CALL 071`
		613	`.................... STOPL;STOPR;`
		614	`0196: BSF 03.5`
		615	`0197: BCF 05.0`
		616	`0198: BCF 03.5`
		617	`0199: BCF 05.0`
		618	`019A: BSF 03.5`
		619	`019B: BCF 05.1`
		620	`019C: BCF 03.5`
		621	`019D: BCF 05.1`
		622	`019E: BSF 03.5`
		623	`019F: BCF 05.6`
		624	`01A0: BCF 03.5`
		625	`01A1: BCF 05.6`
		626	`01A2: BSF 03.5`
		627	`01A3: BCF 05.7`
		628	`01A4: BCF 03.5`
		629	`01A5: BCF 05.7`
		630	`....................`
		631	`.................... uhel=STRED+BEAR3; // doprava`
		632	`01A6: MOVLW AD`
		633	`01A7: MOVWF 2C`
		634	`.................... delay_ms(100);`
		635	`01A8: MOVLW 64`
		636	`01A9: MOVWF 3D`
		637	`01AA: CALL 071`
		638	`.................... FL;`
		639	`01AB: BSF 03.5`
		640	`01AC: BCF 05.1`
		641	`01AD: BCF 03.5`
		642	`01AE: BCF 05.1`
		643	`01AF: BSF 03.5`
		644	`01B0: BCF 05.0`
		645	`01B1: BCF 03.5`
		646	`01B2: BSF 05.0`
		647	`.................... delay_ms(400);`
		648	`01B3: MOVLW 02`
		649	`01B4: MOVWF 3C`
		650	`01B5: MOVLW C8`
		651	`01B6: MOVWF 3D`
		652	`01B7: CALL 071`
		653	`01B8: DECFSZ 3C,F`
		654	`01B9: GOTO 1B5`
		655	`.................... uhel=STRED+BEAR2; // min doprava`
		656	`01BA: MOVLW 99`
		657	`01BB: MOVWF 2C`
		658	`.................... FL;FR;`
		659	`01BC: BSF 03.5`
		660	`01BD: BCF 05.1`
		661	`01BE: BCF 03.5`
		662	`01BF: BCF 05.1`
		663	`01C0: BSF 03.5`
		664	`01C1: BCF 05.0`
		665	`01C2: BCF 03.5`
		666	`01C3: BSF 05.0`
		667	`01C4: BSF 03.5`
		668	`01C5: BCF 05.7`
		669	`01C6: BCF 03.5`
		670	`01C7: BCF 05.7`
		671	`01C8: BSF 03.5`
		672	`01C9: BCF 05.6`
		673	`01CA: BCF 03.5`
		674	`01CB: BSF 05.6`
		675	`.................... delay_ms(100);`
		676	`01CC: MOVLW 64`
		677	`01CD: MOVWF 3D`
		678	`01CE: CALL 071`
		679	`.................... uhel=STRED+BEAR1; // jeste min doprava`
		680	`01CF: MOVLW 8A`
		681	`01D0: MOVWF 2C`
		682	`.................... FL;FR;`
		683	`01D1: BSF 03.5`
		684	`01D2: BCF 05.1`
		685	`01D3: BCF 03.5`
		686	`01D4: BCF 05.1`
		687	`01D5: BSF 03.5`
		688	`01D6: BCF 05.0`
		689	`01D7: BCF 03.5`
		690	`01D8: BSF 05.0`
		691	`01D9: BSF 03.5`
		692	`01DA: BCF 05.7`
		693	`01DB: BCF 03.5`
		694	`01DC: BCF 05.7`
		695	`01DD: BSF 03.5`
		696	`01DE: BCF 05.6`
		697	`01DF: BCF 03.5`
		698	`01E0: BSF 05.6`
		699	`.................... delay_ms(200);`
		700	`01E1: MOVLW C8`
		701	`01E2: MOVWF 3D`
		702	`01E3: CALL 071`
		703	`.................... While((sensors & 0b01111111)!=0) //dokud neni cara`
		704	`.................... {`
		705	`01E4: MOVF 2A,W`
		706	`01E5: ANDLW 7F`
		707	`01E6: BTFSC 03.2`
		708	`01E7: GOTO 1F7`
		709	`.................... sensors = spi_read(0); // cteni senzoru`
		710	`01E8: MOVF 13,W`
		711	`01E9: CLRF 13`
		712	`01EA: BSF 03.5`
		713	`01EB: BTFSC 14.0`
		714	`01EC: GOTO 1EF`
		715	`01ED: BCF 03.5`
		716	`01EE: GOTO 1EA`
		717	`01EF: BCF 03.5`
		718	`01F0: MOVF 13,W`
		719	`01F1: MOVWF 2A`
		720	`.................... sensors=~sensors;`
		721	`01F2: COMF 2A,F`
		722	`.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel`
		723	`01F3: MOVLW 04`
		724	`01F4: MOVWF 3D`
		725	`01F5: CALL 071`
		726	`.................... }`
		727	`01F6: GOTO 1E4`
		728	`.................... BL; BR;`
		729	`01F7: BSF 03.5`
		730	`01F8: BCF 05.0`
		731	`01F9: BCF 03.5`
		732	`01FA: BCF 05.0`
		733	`01FB: BSF 03.5`
		734	`01FC: BCF 05.1`
		735	`01FD: BCF 03.5`
		736	`01FE: BSF 05.1`
		737	`01FF: BSF 03.5`
		738	`0200: BCF 05.6`
		739	`0201: BCF 03.5`
		740	`0202: BCF 05.6`
		741	`0203: BSF 03.5`
		742	`0204: BCF 05.7`
		743	`0205: BCF 03.5`
		744	`0206: BSF 05.7`
		745	`.................... delay_ms(400);`
		746	`0207: MOVLW 02`
		747	`0208: MOVWF 3C`
		748	`0209: MOVLW C8`
		749	`020A: MOVWF 3D`
		750	`020B: CALL 071`
		751	`020C: DECFSZ 3C,F`
		752	`020D: GOTO 209`
		753	`....................`
		754	`.................... uhel=STRED-BEAR3; // doleva`
		755	`020E: MOVLW 53`
		756	`020F: MOVWF 2C`
		757	`.................... }`
		758	`0210: BCF 0A.3`
		759	`0211: GOTO 343 (RETURN)`
		760	`....................`
		761	`.................... ////////////////////////////////////////////////////////////////////////////////`
		762	`.................... void main()`
		763	`.................... {`
		764	`0212: CLRF 04`
		765	`0213: MOVLW 1F`
		766	`0214: ANDWF 03,F`
		767	`0215: MOVLW 70`
		768	`0216: BSF 03.5`
		769	`0217: MOVWF 0F`
		770	`0218: BCF 1F.4`
		771	`0219: BCF 1F.5`
		772	`021A: MOVF 1B,W`
		773	`021B: ANDLW 80`
		774	`021C: MOVWF 1B`
		775	`021D: MOVLW 07`
		776	`021E: MOVWF 1C`
		777	`....................`
		778	`.................... unsigned int8 n;`
		779	`.................... unsigned int8 i,v;`
		780	`.................... unsigned int8 last_sensors;`
		781	`....................`
		782	`.................... setup_adc_ports(sAN5\|sAN2\|sAN4\|sAN6\|VSS_VDD); // AD pro kroutitka`
		783	`*`
		784	`0221: BSF 03.5`
		785	`0222: BCF 1F.4`
		786	`0223: BCF 1F.5`
		787	`0224: MOVF 1B,W`
		788	`0225: ANDLW 80`
		789	`0226: IORLW 74`
		790	`0227: MOVWF 1B`
		791	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		792	`0228: BCF 1F.6`
		793	`0229: BCF 03.5`
		794	`022A: BSF 1F.6`
		795	`022B: BSF 1F.7`
		796	`022C: BSF 03.5`
		797	`022D: BCF 1F.7`
		798	`022E: BCF 03.5`
		799	`022F: BSF 1F.0`
		800	`.................... setup_spi(SPI_MASTER\|SPI_H_TO_L\|SPI_XMIT_L_TO_H\|SPI_CLK_DIV_16);`
		801	`0230: BCF 14.5`
		802	`0231: BSF 03.5`
		803	`0232: BCF 06.2`
		804	`0233: BSF 06.1`
		805	`0234: BCF 06.4`
		806	`0235: MOVLW 31`
		807	`0236: BCF 03.5`
		808	`0237: MOVWF 14`
		809	`0238: MOVLW 00`
		810	`0239: BSF 03.5`
		811	`023A: MOVWF 14`
		812	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		813	`023B: MOVF 01,W`
		814	`023C: ANDLW C7`
		815	`023D: IORLW 08`
		816	`023E: MOVWF 01`
		817	`.................... setup_timer_1(T1_DISABLED\|T1_DIV_BY_8);`
		818	`023F: MOVLW 30`
		819	`0240: BCF 03.5`
		820	`0241: MOVWF 10`
		821	`.................... setup_timer_2(T2_DIV_BY_16,140,16);`
		822	`0242: MOVLW 78`
		823	`0243: MOVWF 78`
		824	`0244: IORLW 06`
		825	`0245: MOVWF 12`
		826	`0246: MOVLW 8C`
		827	`0247: BSF 03.5`
		828	`0248: MOVWF 12`
		829	`.................... setup_oscillator(OSC_8MHZ\|OSC_INTRC);`
		830	`0249: MOVLW 72`
		831	`024A: MOVWF 0F`
		832	`....................`
		833	`.................... STOPR; STOPL; // zastav motory`
		834	`024B: BCF 05.6`
		835	`024C: BCF 03.5`
		836	`024D: BCF 05.6`
		837	`024E: BSF 03.5`
		838	`024F: BCF 05.7`
		839	`0250: BCF 03.5`
		840	`0251: BCF 05.7`
		841	`0252: BSF 03.5`
		842	`0253: BCF 05.0`
		843	`0254: BCF 03.5`
		844	`0255: BCF 05.0`
		845	`0256: BSF 03.5`
		846	`0257: BCF 05.1`
		847	`0258: BCF 03.5`
		848	`0259: BCF 05.1`
		849	`.................... Lmotor=0;Rmotor=0;`
		850	`025A: CLRF 32`
		851	`025B: CLRF 31`
		852	`025C: CLRF 34`
		853	`025D: CLRF 33`
		854	`....................`
		855	`.................... uhel = STRED; // nastav zadni kolecko na stred`
		856	`025E: MOVLW 80`
		857	`025F: MOVWF 2C`
		858	`.................... rovinka = 0;`
		859	`0260: CLRF 2F`
		860	`....................`
		861	`.................... enable_interrupts(INT_TIMER2);`
		862	`0261: BSF 03.5`
		863	`0262: BSF 0C.1`
		864	`.................... enable_interrupts(GLOBAL);`
		865	`0263: MOVLW C0`
		866	`0264: BCF 03.5`
		867	`0265: IORWF 0B,F`
		868	`....................`
		869	`.................... output_low(IRTX); // zapni IR vysilac`
		870	`0266: BSF 03.5`
		871	`0267: BCF 06.2`
		872	`0268: BCF 03.5`
		873	`0269: BCF 06.2`
		874	`....................`
		875	`.................... delay_ms(1500); // musime pockat na diagnostiku slave CPU`
		876	`026A: MOVLW 06`
		877	`026B: MOVWF 39`
		878	`026C: MOVLW FA`
		879	`026D: MOVWF 3D`
		880	`026E: CALL 071`
		881	`026F: DECFSZ 39,F`
		882	`0270: GOTO 26C`
		883	`....................`
		884	`.................... //nastaveni rychlosti`
		885	`.................... set_adc_channel(CERVENA);`
		886	`0271: MOVLW 28`
		887	`0272: MOVWF 78`
		888	`0273: MOVF 1F,W`
		889	`0274: ANDLW C7`
		890	`0275: IORWF 78,W`
		891	`0276: MOVWF 1F`
		892	`.................... Delay_ms(1);`
		893	`0277: MOVLW 01`
		894	`0278: MOVWF 3D`
		895	`0279: CALL 071`
		896	`.................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63`
		897	`027A: BSF 1F.2`
		898	`027B: BTFSC 1F.2`
		899	`027C: GOTO 27B`
		900	`027D: MOVF 1E,W`
		901	`027E: MOVWF 77`
		902	`027F: RRF 77,F`
		903	`0280: RRF 77,F`
		904	`0281: MOVLW 3F`
		905	`0282: ANDWF 77,F`
		906	`0283: MOVF 77,W`
		907	`0284: ADDLW 64`
		908	`0285: MOVWF 2D`
		909	`.................... set_adc_channel(MODRA);`
		910	`0286: MOVLW 30`
		911	`0287: MOVWF 78`
		912	`0288: MOVF 1F,W`
		913	`0289: ANDLW C7`
		914	`028A: IORWF 78,W`
		915	`028B: MOVWF 1F`
		916	`.................... Delay_ms(1);`
		917	`028C: MOVLW 01`
		918	`028D: MOVWF 3D`
		919	`028E: CALL 071`
		920	`.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63`
		921	`028F: MOVLW 20`
		922	`0290: SUBWF 2D,W`
		923	`0291: MOVWF 39`
		924	`0292: BSF 1F.2`
		925	`0293: BTFSC 1F.2`
		926	`0294: GOTO 293`
		927	`0295: MOVF 1E,W`
		928	`0296: MOVWF 77`
		929	`0297: RRF 77,F`
		930	`0298: RRF 77,F`
		931	`0299: MOVLW 3F`
		932	`029A: ANDWF 77,F`
		933	`029B: MOVF 77,W`
		934	`029C: ADDWF 39,W`
		935	`029D: MOVWF 2E`
		936	`.................... while(true)`
		937	`.................... {`
		938	`....................`
		939	`.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor`
		940	`029E: MOVF 01,W`
		941	`029F: BTFSS 00.7`
		942	`02A0: GOTO 2A4`
		943	`02A1: BTFSS 32.7`
		944	`02A2: GOTO 2AC`
		945	`02A3: GOTO 2A6`
		946	`02A4: BTFSC 32.7`
		947	`02A5: GOTO 2B5`
		948	`02A6: MOVF 32,F`
		949	`02A7: BTFSS 03.2`
		950	`02A8: GOTO 2AC`
		951	`02A9: SUBWF 31,W`
		952	`02AA: BTFSS 03.0`
		953	`02AB: GOTO 2B5`
		954	`02AC: BSF 03.5`
		955	`02AD: BCF 05.1`
		956	`02AE: BCF 03.5`
		957	`02AF: BCF 05.1`
		958	`02B0: BSF 03.5`
		959	`02B1: BCF 05.0`
		960	`02B2: BCF 03.5`
		961	`02B3: BSF 05.0`
		962	`02B4: GOTO 2BD`
		963	`02B5: BSF 03.5`
		964	`02B6: BCF 05.0`
		965	`02B7: BCF 03.5`
		966	`02B8: BCF 05.0`
		967	`02B9: BSF 03.5`
		968	`02BA: BCF 05.1`
		969	`02BB: BCF 03.5`
		970	`02BC: BCF 05.1`
		971	`02BD: MOVF 01,W`
		972	`02BE: BTFSS 00.7`
		973	`02BF: GOTO 2C3`
		974	`02C0: BTFSS 34.7`
		975	`02C1: GOTO 2CB`
		976	`02C2: GOTO 2C5`
		977	`02C3: BTFSC 34.7`
		978	`02C4: GOTO 2D4`
		979	`02C5: MOVF 34,F`
		980	`02C6: BTFSS 03.2`
		981	`02C7: GOTO 2CB`
		982	`02C8: SUBWF 33,W`
		983	`02C9: BTFSS 03.0`
		984	`02CA: GOTO 2D4`
		985	`02CB: BSF 03.5`
		986	`02CC: BCF 05.7`
		987	`02CD: BCF 03.5`
		988	`02CE: BCF 05.7`
		989	`02CF: BSF 03.5`
		990	`02D0: BCF 05.6`
		991	`02D1: BCF 03.5`
		992	`02D2: BSF 05.6`
		993	`02D3: GOTO 2DC`
		994	`02D4: BSF 03.5`
		995	`02D5: BCF 05.6`
		996	`02D6: BCF 03.5`
		997	`02D7: BCF 05.6`
		998	`02D8: BSF 03.5`
		999	`02D9: BCF 05.7`
		1000	`02DA: BCF 03.5`
		1001	`02DB: BCF 05.7`
		1002	`....................`
		1003	`.................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel`
		1004	`02DC: CLRWDT`
		1005	`02DD: MOVLW 01`
		1006	`02DE: MOVWF 3D`
		1007	`02DF: CALL 071`
		1008	`02E0: MOVLW 09`
		1009	`02E1: MOVWF 39`
		1010	`02E2: CLRF 29`
		1011	`02E3: BTFSC 0B.7`
		1012	`02E4: BSF 29.7`
		1013	`02E5: BCF 0B.7`
		1014	`02E6: MOVLW 6D`
		1015	`02E7: MOVWF 40`
		1016	`02E8: CALL 043`
		1017	`02E9: BTFSC 29.7`
		1018	`02EA: BSF 0B.7`
		1019	`02EB: DECFSZ 39,F`
		1020	`02EC: GOTO 2E2`
		1021	`....................`
		1022	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		1023	`02ED: BSF 03.5`
		1024	`02EE: BCF 06.0`
		1025	`02EF: BCF 03.5`
		1026	`02F0: BCF 06.0`
		1027	`.................... sensors = spi_read(0); // cteni senzoru`
		1028	`02F1: MOVF 13,W`
		1029	`02F2: CLRF 13`
		1030	`02F3: BSF 03.5`
		1031	`02F4: BTFSC 14.0`
		1032	`02F5: GOTO 2F8`
		1033	`02F6: BCF 03.5`
		1034	`02F7: GOTO 2F3`
		1035	`02F8: BCF 03.5`
		1036	`02F9: MOVF 13,W`
		1037	`02FA: MOVWF 2A`
		1038	`.................... sensors=~sensors;`
		1039	`02FB: COMF 2A,F`
		1040	`.................... output_high(STROBE); // zobraz data na posuvnem registru`
		1041	`02FC: BSF 03.5`
		1042	`02FD: BCF 06.0`
		1043	`02FE: BCF 03.5`
		1044	`02FF: BSF 06.0`
		1045	`....................`
		1046	`.................... i=0; // havarijni kod`
		1047	`0300: CLRF 36`
		1048	`.................... for (n=0; n<=6; n++)`
		1049	`0301: CLRF 35`
		1050	`0302: MOVF 35,W`
		1051	`0303: SUBLW 06`
		1052	`0304: BTFSS 03.0`
		1053	`0305: GOTO 314`
		1054	`.................... {`
		1055	`.................... if(bit_test(sensors,n)) i++;`
		1056	`0306: MOVF 2A,W`
		1057	`0307: MOVWF 77`
		1058	`0308: MOVF 35,W`
		1059	`0309: MOVWF 78`
		1060	`030A: BTFSC 03.2`
		1061	`030B: GOTO 310`
		1062	`030C: BCF 03.0`
		1063	`030D: RRF 77,F`
		1064	`030E: DECFSZ 78,F`
		1065	`030F: GOTO 30C`
		1066	`0310: BTFSC 77.0`
		1067	`0311: INCF 36,F`
		1068	`.................... }`
		1069	`0312: INCF 35,F`
		1070	`0313: GOTO 302`
		1071	`.................... if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly`
		1072	`0314: MOVF 36,W`
		1073	`0315: SUBLW 03`
		1074	`0316: BTFSC 03.0`
		1075	`0317: GOTO 340`
		1076	`.................... {`
		1077	`.................... BL; BR;`
		1078	`0318: BSF 03.5`
		1079	`0319: BCF 05.0`
		1080	`031A: BCF 03.5`
		1081	`031B: BCF 05.0`
		1082	`031C: BSF 03.5`
		1083	`031D: BCF 05.1`
		1084	`031E: BCF 03.5`
		1085	`031F: BSF 05.1`
		1086	`0320: BSF 03.5`
		1087	`0321: BCF 05.6`
		1088	`0322: BCF 03.5`
		1089	`0323: BCF 05.6`
		1090	`0324: BSF 03.5`
		1091	`0325: BCF 05.7`
		1092	`0326: BCF 03.5`
		1093	`0327: BSF 05.7`
		1094	`.................... delay_ms(300);`
		1095	`0328: MOVLW 02`
		1096	`0329: MOVWF 39`
		1097	`032A: MOVLW 96`
		1098	`032B: MOVWF 3D`
		1099	`032C: CALL 071`
		1100	`032D: DECFSZ 39,F`
		1101	`032E: GOTO 32A`
		1102	`.................... STOPR; STOPL;`
		1103	`032F: BSF 03.5`
		1104	`0330: BCF 05.6`
		1105	`0331: BCF 03.5`
		1106	`0332: BCF 05.6`
		1107	`0333: BSF 03.5`
		1108	`0334: BCF 05.7`
		1109	`0335: BCF 03.5`
		1110	`0336: BCF 05.7`
		1111	`0337: BSF 03.5`
		1112	`0338: BCF 05.0`
		1113	`0339: BCF 03.5`
		1114	`033A: BCF 05.0`
		1115	`033B: BSF 03.5`
		1116	`033C: BCF 05.1`
		1117	`033D: BCF 03.5`
		1118	`033E: BCF 05.1`
		1119	`.................... While(true);`
		1120	`033F: GOTO 33F`
		1121	`.................... };`
		1122	`....................`
		1123	`.................... if(bit_test(sensors,7)) // detekce cihly`
		1124	`0340: BTFSS 2A.7`
		1125	`0341: GOTO 343`
		1126	`.................... {`
		1127	`.................... objizdka(); // objede cihlu`
		1128	`0342: GOTO 089`
		1129	`.................... }`
		1130	`....................`
		1131	`....................`
		1132	`.................... if(bit_test(sensors,3)) //...\|...//`
		1133	`0343: BTFSS 2A.3`
		1134	`0344: GOTO 361`
		1135	`.................... {`
		1136	`.................... uhel=STRED;`
		1137	`0345: MOVLW 80`
		1138	`0346: MOVWF 2C`
		1139	`.................... if (rovinka<50)`
		1140	`0347: MOVF 2F,W`
		1141	`0348: SUBLW 31`
		1142	`0349: BTFSS 03.0`
		1143	`034A: GOTO 351`
		1144	`.................... {`
		1145	`.................... Lmotor=R17;`
		1146	`034B: CLRF 32`
		1147	`034C: MOVLW FF`
		1148	`034D: MOVWF 31`
		1149	`.................... Rmotor=R17;`
		1150	`034E: CLRF 34`
		1151	`034F: MOVWF 33`
		1152	`.................... }`
		1153	`.................... else`
		1154	`0350: GOTO 35B`
		1155	`.................... {`
		1156	`.................... Lmotor=speed;`
		1157	`0351: CLRF 7A`
		1158	`0352: MOVF 2D,W`
		1159	`0353: MOVWF 31`
		1160	`0354: MOVF 7A,W`
		1161	`0355: MOVWF 32`
		1162	`.................... Rmotor=speed;`
		1163	`0356: CLRF 7A`
		1164	`0357: MOVF 2D,W`
		1165	`0358: MOVWF 33`
		1166	`0359: MOVF 7A,W`
		1167	`035A: MOVWF 34`
		1168	`.................... };`
		1169	`.................... line=S;`
		1170	`035B: CLRF 2B`
		1171	`.................... if (rovinka < 255) rovinka++;`
		1172	`035C: INCFSZ 2F,W`
		1173	`035D: GOTO 35F`
		1174	`035E: GOTO 360`
		1175	`035F: INCF 2F,F`
		1176	`.................... continue;`
		1177	`0360: GOTO 29E`
		1178	`.................... }`
		1179	`....................`
		1180	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		1181	`0361: BTFSS 2A.0`
		1182	`0362: GOTO 36F`
		1183	`.................... {`
		1184	`.................... uhel=STRED - BEAR3;`
		1185	`0363: MOVLW 53`
		1186	`0364: MOVWF 2C`
		1187	`.................... Lmotor=0;`
		1188	`0365: CLRF 32`
		1189	`0366: CLRF 31`
		1190	`.................... Rmotor=turn;`
		1191	`0367: CLRF 7A`
		1192	`0368: MOVF 2E,W`
		1193	`0369: MOVWF 33`
		1194	`036A: MOVF 7A,W`
		1195	`036B: MOVWF 34`
		1196	`.................... line=L3;`
		1197	`036C: MOVLW 03`
		1198	`036D: MOVWF 2B`
		1199	`.................... continue;`
		1200	`036E: GOTO 29E`
		1201	`.................... }`
		1202	`....................`
		1203	`.................... if(bit_test(sensors,6)) //......\|//`
		1204	`036F: BTFSS 2A.6`
		1205	`0370: GOTO 37D`
		1206	`.................... {`
		1207	`.................... uhel=STRED + BEAR3;`
		1208	`0371: MOVLW AD`
		1209	`0372: MOVWF 2C`
		1210	`.................... Rmotor=0;`
		1211	`0373: CLRF 34`
		1212	`0374: CLRF 33`
		1213	`.................... Lmotor=turn;`
		1214	`0375: CLRF 7A`
		1215	`0376: MOVF 2E,W`
		1216	`0377: MOVWF 31`
		1217	`0378: MOVF 7A,W`
		1218	`0379: MOVWF 32`
		1219	`.................... line=R3;`
		1220	`037A: MOVLW FD`
		1221	`037B: MOVWF 2B`
		1222	`.................... continue;`
		1223	`037C: GOTO 29E`
		1224	`.................... }`
		1225	`....................`
		1226	`.................... if(bit_test(sensors,1)) //.\|.....//`
		1227	`037D: BTFSS 2A.1`
		1228	`037E: GOTO 38F`
		1229	`.................... {`
		1230	`.................... uhel=STRED - BEAR2;`
		1231	`037F: MOVLW 67`
		1232	`0380: MOVWF 2C`
		1233	`.................... Lmotor=speed-50;`
		1234	`0381: MOVLW 32`
		1235	`0382: SUBWF 2D,W`
		1236	`0383: CLRF 7A`
		1237	`0384: MOVWF 31`
		1238	`0385: MOVF 7A,W`
		1239	`0386: MOVWF 32`
		1240	`.................... Rmotor=speed;`
		1241	`0387: CLRF 7A`
		1242	`0388: MOVF 2D,W`
		1243	`0389: MOVWF 33`
		1244	`038A: MOVF 7A,W`
		1245	`038B: MOVWF 34`
		1246	`.................... line=L2;`
		1247	`038C: MOVLW 02`
		1248	`038D: MOVWF 2B`
		1249	`.................... continue;`
		1250	`038E: GOTO 29E`
		1251	`.................... }`
		1252	`....................`
		1253	`.................... if(bit_test(sensors,5)) //.....\|.//`
		1254	`038F: BTFSS 2A.5`
		1255	`0390: GOTO 3A1`
		1256	`.................... {`
		1257	`.................... uhel=STRED + BEAR2;`
		1258	`0391: MOVLW 99`
		1259	`0392: MOVWF 2C`
		1260	`.................... Rmotor=speed-50;`
		1261	`0393: MOVLW 32`
		1262	`0394: SUBWF 2D,W`
		1263	`0395: CLRF 7A`
		1264	`0396: MOVWF 33`
		1265	`0397: MOVF 7A,W`
		1266	`0398: MOVWF 34`
		1267	`.................... Lmotor=speed;`
		1268	`0399: CLRF 7A`
		1269	`039A: MOVF 2D,W`
		1270	`039B: MOVWF 31`
		1271	`039C: MOVF 7A,W`
		1272	`039D: MOVWF 32`
		1273	`.................... line=R2;`
		1274	`039E: MOVLW FE`
		1275	`039F: MOVWF 2B`
		1276	`.................... continue;`
		1277	`03A0: GOTO 29E`
		1278	`.................... }`
		1279	`....................`
		1280	`.................... if (bit_test(sensors,2)) //..\|....//`
		1281	`03A1: BTFSS 2A.2`
		1282	`03A2: GOTO 3B6`
		1283	`.................... {`
		1284	`.................... uhel=STRED - BEAR1;`
		1285	`03A3: MOVLW 76`
		1286	`03A4: MOVWF 2C`
		1287	`.................... Lmotor=speed;`
		1288	`03A5: CLRF 7A`
		1289	`03A6: MOVF 2D,W`
		1290	`03A7: MOVWF 31`
		1291	`03A8: MOVF 7A,W`
		1292	`03A9: MOVWF 32`
		1293	`.................... Rmotor=speed;`
		1294	`03AA: CLRF 7A`
		1295	`03AB: MOVF 2D,W`
		1296	`03AC: MOVWF 33`
		1297	`03AD: MOVF 7A,W`
		1298	`03AE: MOVWF 34`
		1299	`.................... line=L1;`
		1300	`03AF: MOVLW 01`
		1301	`03B0: MOVWF 2B`
		1302	`.................... if (rovinka<255) rovinka++;`
		1303	`03B1: INCFSZ 2F,W`
		1304	`03B2: GOTO 3B4`
		1305	`03B3: GOTO 3B5`
		1306	`03B4: INCF 2F,F`
		1307	`.................... continue;`
		1308	`03B5: GOTO 29E`
		1309	`.................... }`
		1310	`....................`
		1311	`.................... if (bit_test(sensors,4)) //....\|..//`
		1312	`03B6: BTFSS 2A.4`
		1313	`03B7: GOTO 3CB`
		1314	`.................... {`
		1315	`.................... uhel=STRED + BEAR1;`
		1316	`03B8: MOVLW 8A`
		1317	`03B9: MOVWF 2C`
		1318	`.................... Rmotor=speed;`
		1319	`03BA: CLRF 7A`
		1320	`03BB: MOVF 2D,W`
		1321	`03BC: MOVWF 33`
		1322	`03BD: MOVF 7A,W`
		1323	`03BE: MOVWF 34`
		1324	`.................... Lmotor=speed;`
		1325	`03BF: CLRF 7A`
		1326	`03C0: MOVF 2D,W`
		1327	`03C1: MOVWF 31`
		1328	`03C2: MOVF 7A,W`
		1329	`03C3: MOVWF 32`
		1330	`.................... line=R1;`
		1331	`03C4: MOVLW FF`
		1332	`03C5: MOVWF 2B`
		1333	`.................... if (rovinka<255) rovinka++;`
		1334	`03C6: INCFSZ 2F,W`
		1335	`03C7: GOTO 3C9`
		1336	`03C8: GOTO 3CA`
		1337	`03C9: INCF 2F,F`
		1338	`.................... continue;`
		1339	`03CA: GOTO 29E`
		1340	`.................... }`
		1341	`....................`
		1342	`....................`
		1343	`.................... if ((L3==line) \|\| (R3==line)) // Brzdeni pri vyjeti z trate`
		1344	`03CB: MOVF 2B,W`
		1345	`03CC: SUBLW 03`
		1346	`03CD: BTFSC 03.2`
		1347	`03CE: GOTO 3D3`
		1348	`03CF: MOVF 2B,W`
		1349	`03D0: SUBLW FD`
		1350	`03D1: BTFSS 03.2`
		1351	`03D2: GOTO 3F2`
		1352	`.................... {`
		1353	`.................... if (rovinka>50)`
		1354	`03D3: MOVF 2F,W`
		1355	`03D4: SUBLW 32`
		1356	`03D5: BTFSC 03.0`
		1357	`03D6: GOTO 3F1`
		1358	`.................... {`
		1359	`.................... BL; BR;`
		1360	`03D7: BSF 03.5`
		1361	`03D8: BCF 05.0`
		1362	`03D9: BCF 03.5`
		1363	`03DA: BCF 05.0`
		1364	`03DB: BSF 03.5`
		1365	`03DC: BCF 05.1`
		1366	`03DD: BCF 03.5`
		1367	`03DE: BSF 05.1`
		1368	`03DF: BSF 03.5`
		1369	`03E0: BCF 05.6`
		1370	`03E1: BCF 03.5`
		1371	`03E2: BCF 05.6`
		1372	`03E3: BSF 03.5`
		1373	`03E4: BCF 05.7`
		1374	`03E5: BCF 03.5`
		1375	`03E6: BSF 05.7`
		1376	`.................... Delay_ms(100);`
		1377	`03E7: MOVLW 64`
		1378	`03E8: MOVWF 3D`
		1379	`03E9: CALL 071`
		1380	`.................... if (rovinka>250) delay_ms(50);`
		1381	`03EA: MOVF 2F,W`
		1382	`03EB: SUBLW FA`
		1383	`03EC: BTFSC 03.0`
		1384	`03ED: GOTO 3F1`
		1385	`03EE: MOVLW 32`
		1386	`03EF: MOVWF 3D`
		1387	`03F0: CALL 071`
		1388	`.................... };`
		1389	`.................... rovinka=0;`
		1390	`03F1: CLRF 2F`
		1391	`.................... };`
		1392	`.................... }`
		1393	`03F2: GOTO 29E`
		1394	`.................... }`
		1395	`03F3: SLEEP`
		1396
		1397	`Configuration Fuses:`
		1398	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1399	`Word 2: 3FFC NOFCMEN NOIESO`

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