WebSVN – svnkaklik – Blame – /roboti/istrobot/3Orbis/bak/09 ruzove rukavice/master/main.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 25-IV-06 20:23`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\3Orbis\main.lst`
		4
		5	`ROM used: 1149 words (28%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 32 (18%) at main() level`
		8	`35 (20%) worst case`
		9	`Stack: 5 worst case (3 in main + 2 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 261`
		15	`0003: NOP`
		16	`0004: MOVWF 7F`
		17	`0005: SWAPF 03,W`
		18	`0006: CLRF 03`
		19	`0007: MOVWF 21`
		20	`0008: MOVF 7F,W`
		21	`0009: MOVWF 20`
		22	`000A: MOVF 0A,W`
		23	`000B: MOVWF 28`
		24	`000C: CLRF 0A`
		25	`000D: SWAPF 20,F`
		26	`000E: MOVF 04,W`
		27	`000F: MOVWF 22`
		28	`0010: MOVF 77,W`
		29	`0011: MOVWF 23`
		30	`0012: MOVF 78,W`
		31	`0013: MOVWF 24`
		32	`0014: MOVF 79,W`
		33	`0015: MOVWF 25`
		34	`0016: MOVF 7A,W`
		35	`0017: MOVWF 26`
		36	`0018: MOVF 7B,W`
		37	`0019: MOVWF 27`
		38	`001A: BCF 03.7`
		39	`001B: BCF 03.5`
		40	`001C: MOVLW 8C`
		41	`001D: MOVWF 04`
		42	`001E: BTFSS 00.1`
		43	`001F: GOTO 022`
		44	`0020: BTFSC 0C.1`
		45	`0021: GOTO 035`
		46	`0022: MOVF 22,W`
		47	`0023: MOVWF 04`
		48	`0024: MOVF 23,W`
		49	`0025: MOVWF 77`
		50	`0026: MOVF 24,W`
		51	`0027: MOVWF 78`
		52	`0028: MOVF 25,W`
		53	`0029: MOVWF 79`
		54	`002A: MOVF 26,W`
		55	`002B: MOVWF 7A`
		56	`002C: MOVF 27,W`
		57	`002D: MOVWF 7B`
		58	`002E: MOVF 28,W`
		59	`002F: MOVWF 0A`
		60	`0030: SWAPF 21,W`
		61	`0031: MOVWF 03`
		62	`0032: SWAPF 7F,F`
		63	`0033: SWAPF 7F,W`
		64	`0034: RETFIE`
		65	`0035: BCF 0A.3`
		66	`0036: GOTO 047`
		67	`.................... #include ".\main.h"`
		68	`.................... #include <16F88.h>`
		69	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		70	`.................... #device PIC16F88`
		71	`.................... #list`
		72	`....................`
		73	`.................... #device adc=8`
		74	`....................`
		75	`.................... #FUSES NOWDT //No Watch Dog Timer`
		76	`.................... #FUSES INTRC_IO`
		77	`.................... #FUSES NOPUT //No Power Up Timer`
		78	`.................... #FUSES MCLR //Master Clear pin enabled`
		79	`.................... #FUSES NOBROWNOUT //Reset when brownout detected`
		80	`.................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18)`
		81	`.................... #FUSES NOCPD //No EE protection`
		82	`.................... #FUSES NOWRT //Program memory not write protected`
		83	`.................... #FUSES NODEBUG //No Debug mode for ICD`
		84	`.................... #FUSES NOPROTECT //Code not protected from reading`
		85	`.................... #FUSES NOFCMEN //Fail-safe clock monitor enabled`
		86	`.................... #FUSES NOIESO //Internal External Switch Over mode enabled`
		87	`....................`
		88	`.................... #use delay(clock=8000000,RESTART_WDT)`
		89	`0037: MOVLW 08`
		90	`0038: SUBWF 3D,F`
		91	`0039: BTFSS 03.0`
		92	`003A: GOTO 046`
		93	`003B: MOVLW 3D`
		94	`003C: MOVWF 04`
		95	`003D: BCF 03.0`
		96	`003E: RRF 00,F`
		97	`003F: MOVF 00,W`
		98	`0040: BTFSC 03.2`
		99	`0041: GOTO 046`
		100	`0042: GOTO 044`
		101	`0043: CLRWDT`
		102	`0044: DECFSZ 00,F`
		103	`0045: GOTO 043`
		104	`0046: RETLW 00`
		105	`*`
		106	`0065: MOVLW 3A`
		107	`0066: MOVWF 04`
		108	`0067: MOVF 00,W`
		109	`0068: BTFSC 03.2`
		110	`0069: GOTO 07C`
		111	`006A: MOVLW 02`
		112	`006B: MOVWF 78`
		113	`006C: MOVLW BF`
		114	`006D: MOVWF 77`
		115	`006E: CLRWDT`
		116	`006F: DECFSZ 77,F`
		117	`0070: GOTO 06E`
		118	`0071: DECFSZ 78,F`
		119	`0072: GOTO 06C`
		120	`0073: MOVLW 96`
		121	`0074: MOVWF 77`
		122	`0075: DECFSZ 77,F`
		123	`0076: GOTO 075`
		124	`0077: NOP`
		125	`0078: NOP`
		126	`0079: CLRWDT`
		127	`007A: DECFSZ 00,F`
		128	`007B: GOTO 06A`
		129	`007C: RETLW 00`
		130	`....................`
		131	`....................`
		132	`....................`
		133	`.................... #define KOLMO1 225 // predni kolecko sroubem dopredu`
		134	`.................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu`
		135	`.................... #define STRED 128 // sredni poloha zataceciho kolecka`
		136	`.................... #define BEAR1 10//10 // 3 stupne zataceni`
		137	`.................... #define BEAR2 25//25`
		138	`.................... #define BEAR3 45//45`
		139	`.................... #define R 100 // Rozumna rychlost`
		140	`.................... #define R17 200 // X nasobek rozumne rychlosti`
		141	`.................... //#define L1 1 // cara vlevo`
		142	`.................... #define L2 2 // cara vlevo`
		143	`.................... #define L3 3 // cara vlevo`
		144	`.................... #define S 0 // cara mezi sensory`
		145	`.................... //#define R1 -1 // cara vpravo`
		146	`.................... #define R2 -2 // cara vpravo`
		147	`.................... #define R3 -3 // cara vpravo`
		148	`....................`
		149	`.................... // servo`
		150	`.................... #define SERVO PIN_B5`
		151	`....................`
		152	`.................... // kroutitka`
		153	`.................... #define CERVENA 4 // AN4`
		154	`.................... //#define CERNA 5 // AN5`
		155	`.................... //#define ZELENA 6 // AN6`
		156	`.................... #define MODRA 2 // AN2`
		157	`....................`
		158	`.................... // IR`
		159	`.................... #define IRTX PIN_B2`
		160	`.................... #define CIHLA PIN_A3`
		161	`....................`
		162	`.................... //motory`
		163	`.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred`
		164	`.................... #define FL output_low(PIN_A1); output_high(PIN_A0)`
		165	`.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad`
		166	`.................... #define BL output_low(PIN_A0); output_high(PIN_A1)`
		167	`.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)`
		168	`.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)`
		169	`....................`
		170	`.................... //HID`
		171	`.................... #define LED1 PIN_B1 //oranzova`
		172	`.................... #define LED2 PIN_B2 //zluta`
		173	`....................`
		174	`.................... #define STROBE PIN_B0`
		175	`.................... //#define SW1 PIN_A2 // Motory On/off`
		176	`....................`
		177	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		178	`.................... signed int8 line = S; // na ktere strane byla detekovana cara`
		179	`*`
		180	`026E: BCF 03.5`
		181	`026F: CLRF 2B`
		182	`.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara`
		183	`.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni`
		184	`.................... unsigned int8 speed; // maximalni povolena rychlost`
		185	`.................... unsigned int8 turn; // rychlost toceni`
		186	`.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky`
		187	`....................`
		188	`.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem`
		189	`.................... signed int16 Rmotor; // a pravem motoru`
		190	`....................`
		191	`.................... // makro pro PWM pro motory`
		192	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		193	`.................... {direction##motor;} else {stop##motor;}`
		194	`.................... ////////////////////////////////////////////////////////////////////////////////`
		195	`.................... #int_TIMER2`
		196	`.................... TIMER2_isr() // ovladani serva`
		197	`.................... {`
		198	`.................... unsigned int8 n;`
		199	`....................`
		200	`.................... output_high(SERVO);`
		201	`*`
		202	`0047: BSF 03.5`
		203	`0048: BCF 06.5`
		204	`0049: BCF 03.5`
		205	`004A: BSF 06.5`
		206	`.................... delay_us(1000);`
		207	`004B: CLRWDT`
		208	`004C: MOVLW 09`
		209	`004D: MOVWF 3C`
		210	`004E: MOVLW 6D`
		211	`004F: MOVWF 3D`
		212	`0050: CALL 037`
		213	`0051: DECFSZ 3C,F`
		214	`0052: GOTO 04E`
		215	`.................... for(n=uhel; n>0; n--) Delay_us(2);`
		216	`0053: MOVF 2C,W`
		217	`0054: MOVWF 3B`
		218	`0055: MOVF 3B,F`
		219	`0056: BTFSC 03.2`
		220	`0057: GOTO 05E`
		221	`0058: CLRWDT`
		222	`0059: NOP`
		223	`005A: NOP`
		224	`005B: NOP`
		225	`005C: DECF 3B,F`
		226	`005D: GOTO 055`
		227	`.................... output_low(SERVO);`
		228	`005E: BSF 03.5`
		229	`005F: BCF 06.5`
		230	`0060: BCF 03.5`
		231	`0061: BCF 06.5`
		232	`.................... }`
		233	`....................`
		234	`.................... ////////////////////////////////////////////////////////////////////////////////`
		235	`0062: BCF 0C.1`
		236	`0063: BCF 0A.3`
		237	`0064: GOTO 022`
		238	`.................... short int IRcheck() // potvrdi detekci cihly`
		239	`.................... {`
		240	`.................... output_high(IRTX); // vypne vysilac IR`
		241	`.................... delay_ms(100);`
		242	`....................`
		243	`.................... output_low(STROBE);`
		244	`.................... sensors = spi_read(0); // cteni senzoru`
		245	`.................... sensors=~sensors;`
		246	`.................... output_high(STROBE);`
		247	`....................`
		248	`.................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal`
		249	`.................... {`
		250	`.................... output_low(IRTX); // zapne vysilac IR`
		251	`.................... delay_ms(100);`
		252	`....................`
		253	`.................... output_low(STROBE);`
		254	`.................... sensors = spi_read(0); // cteni senzoru`
		255	`.................... sensors=~sensors;`
		256	`.................... output_high(STROBE);`
		257	`....................`
		258	`.................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla`
		259	`.................... {`
		260	`.................... output_high(IRTX); // vypne vysilac IR`
		261	`.................... delay_ms(100);`
		262	`....................`
		263	`.................... output_low(STROBE);`
		264	`.................... sensors = spi_read(0); // cteni senzoru`
		265	`.................... sensors=~sensors;`
		266	`.................... output_high(STROBE);`
		267	`....................`
		268	`.................... output_low(IRTX); // zapne vysilac IR`
		269	`.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla`
		270	`.................... }`
		271	`.................... };`
		272	`.................... output_low(IRTX); // zapne vysilac IR`
		273	`.................... return 0; // vrat 0, kdyz je detekovano ruseni`
		274	`.................... }`
		275	`.................... ////////////////////////////////////////////////////////////////////////////////`
		276	`.................... #include ".\objizdka_centrovani.c"`
		277	`.................... #define DOLEVA 0`
		278	`.................... #define DOPRAVA 1`
		279	`....................`
		280	`.................... void cikcak()`
		281	`.................... {`
		282	`.................... unsigned int8 i;`
		283	`....................`
		284	`.................... uhel=KOLMO1;`
		285	`*`
		286	`007D: MOVLW E1`
		287	`007E: MOVWF 2C`
		288	`.................... Delay_ms(100);`
		289	`007F: MOVLW 64`
		290	`0080: MOVWF 3A`
		291	`0081: CALL 065`
		292	`.................... if (line==L2) line=L3;`
		293	`0082: MOVF 2B,W`
		294	`0083: SUBLW 02`
		295	`0084: BTFSS 03.2`
		296	`0085: GOTO 088`
		297	`0086: MOVLW 03`
		298	`0087: MOVWF 2B`
		299	`.................... if (line==S) line=L3;`
		300	`0088: MOVF 2B,F`
		301	`0089: BTFSS 03.2`
		302	`008A: GOTO 08D`
		303	`008B: MOVLW 03`
		304	`008C: MOVWF 2B`
		305	`.................... if (line==R2) line=R3;`
		306	`008D: MOVF 2B,W`
		307	`008E: SUBLW FE`
		308	`008F: BTFSS 03.2`
		309	`0090: GOTO 093`
		310	`0091: MOVLW FD`
		311	`0092: MOVWF 2B`
		312	`....................`
		313	`.................... Delay_ms(3);`
		314	`0093: MOVLW 03`
		315	`0094: MOVWF 3A`
		316	`0095: CALL 065`
		317	`....................`
		318	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		319	`0096: BSF 03.5`
		320	`0097: BCF 06.0`
		321	`0098: BCF 03.5`
		322	`0099: BCF 06.0`
		323	`.................... sensors = spi_read(0); // cteni senzoru`
		324	`009A: MOVF 13,W`
		325	`009B: CLRF 13`
		326	`009C: BSF 03.5`
		327	`009D: BTFSC 14.0`
		328	`009E: GOTO 0A1`
		329	`009F: BCF 03.5`
		330	`00A0: GOTO 09C`
		331	`00A1: BCF 03.5`
		332	`00A2: MOVF 13,W`
		333	`00A3: MOVWF 2A`
		334	`.................... sensors=~sensors;`
		335	`00A4: COMF 2A,F`
		336	`.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru`
		337	`00A5: BSF 03.5`
		338	`00A6: BCF 06.0`
		339	`00A7: BCF 03.5`
		340	`00A8: BSF 06.0`
		341	`....................`
		342	`.................... while(!bit_test(sensors,3))`
		343	`.................... {`
		344	`00A9: BTFSC 2A.3`
		345	`00AA: GOTO 171`
		346	`.................... while(true)`
		347	`.................... {`
		348	`.................... Delay_ms(3);`
		349	`00AB: MOVLW 03`
		350	`00AC: MOVWF 3A`
		351	`00AD: CALL 065`
		352	`....................`
		353	`.................... if (line==L3)`
		354	`00AE: MOVF 2B,W`
		355	`00AF: SUBLW 03`
		356	`00B0: BTFSS 03.2`
		357	`00B1: GOTO 0DC`
		358	`.................... {`
		359	`.................... GO(L,B,160);GO(R,F,160);`
		360	`00B2: MOVF 01,W`
		361	`00B3: SUBLW A0`
		362	`00B4: BTFSS 03.0`
		363	`00B5: GOTO 0BF`
		364	`00B6: BSF 03.5`
		365	`00B7: BCF 05.0`
		366	`00B8: BCF 03.5`
		367	`00B9: BCF 05.0`
		368	`00BA: BSF 03.5`
		369	`00BB: BCF 05.1`
		370	`00BC: BCF 03.5`
		371	`00BD: BSF 05.1`
		372	`00BE: GOTO 0C7`
		373	`00BF: BSF 03.5`
		374	`00C0: BCF 05.0`
		375	`00C1: BCF 03.5`
		376	`00C2: BCF 05.0`
		377	`00C3: BSF 03.5`
		378	`00C4: BCF 05.1`
		379	`00C5: BCF 03.5`
		380	`00C6: BCF 05.1`
		381	`00C7: MOVF 01,W`
		382	`00C8: SUBLW A0`
		383	`00C9: BTFSS 03.0`
		384	`00CA: GOTO 0D4`
		385	`00CB: BSF 03.5`
		386	`00CC: BCF 05.7`
		387	`00CD: BCF 03.5`
		388	`00CE: BCF 05.7`
		389	`00CF: BSF 03.5`
		390	`00D0: BCF 05.6`
		391	`00D1: BCF 03.5`
		392	`00D2: BSF 05.6`
		393	`00D3: GOTO 0DC`
		394	`00D4: BSF 03.5`
		395	`00D5: BCF 05.6`
		396	`00D6: BCF 03.5`
		397	`00D7: BCF 05.6`
		398	`00D8: BSF 03.5`
		399	`00D9: BCF 05.7`
		400	`00DA: BCF 03.5`
		401	`00DB: BCF 05.7`
		402	`.................... };`
		403	`.................... if (line==R3)`
		404	`00DC: MOVF 2B,W`
		405	`00DD: SUBLW FD`
		406	`00DE: BTFSS 03.2`
		407	`00DF: GOTO 10A`
		408	`.................... {`
		409	`.................... GO(R,B,160);GO(L,F,160);`
		410	`00E0: MOVF 01,W`
		411	`00E1: SUBLW A0`
		412	`00E2: BTFSS 03.0`
		413	`00E3: GOTO 0ED`
		414	`00E4: BSF 03.5`
		415	`00E5: BCF 05.6`
		416	`00E6: BCF 03.5`
		417	`00E7: BCF 05.6`
		418	`00E8: BSF 03.5`
		419	`00E9: BCF 05.7`
		420	`00EA: BCF 03.5`
		421	`00EB: BSF 05.7`
		422	`00EC: GOTO 0F5`
		423	`00ED: BSF 03.5`
		424	`00EE: BCF 05.6`
		425	`00EF: BCF 03.5`
		426	`00F0: BCF 05.6`
		427	`00F1: BSF 03.5`
		428	`00F2: BCF 05.7`
		429	`00F3: BCF 03.5`
		430	`00F4: BCF 05.7`
		431	`00F5: MOVF 01,W`
		432	`00F6: SUBLW A0`
		433	`00F7: BTFSS 03.0`
		434	`00F8: GOTO 102`
		435	`00F9: BSF 03.5`
		436	`00FA: BCF 05.1`
		437	`00FB: BCF 03.5`
		438	`00FC: BCF 05.1`
		439	`00FD: BSF 03.5`
		440	`00FE: BCF 05.0`
		441	`00FF: BCF 03.5`
		442	`0100: BSF 05.0`
		443	`0101: GOTO 10A`
		444	`0102: BSF 03.5`
		445	`0103: BCF 05.0`
		446	`0104: BCF 03.5`
		447	`0105: BCF 05.0`
		448	`0106: BSF 03.5`
		449	`0107: BCF 05.1`
		450	`0108: BCF 03.5`
		451	`0109: BCF 05.1`
		452	`.................... };`
		453	`.................... if (line==S) {STOPL;STOPR; i++;}`
		454	`010A: MOVF 2B,F`
		455	`010B: BTFSS 03.2`
		456	`010C: GOTO 11F`
		457	`010D: BSF 03.5`
		458	`010E: BCF 05.0`
		459	`010F: BCF 03.5`
		460	`0110: BCF 05.0`
		461	`0111: BSF 03.5`
		462	`0112: BCF 05.1`
		463	`0113: BCF 03.5`
		464	`0114: BCF 05.1`
		465	`0115: BSF 03.5`
		466	`0116: BCF 05.6`
		467	`0117: BCF 03.5`
		468	`0118: BCF 05.6`
		469	`0119: BSF 03.5`
		470	`011A: BCF 05.7`
		471	`011B: BCF 03.5`
		472	`011C: BCF 05.7`
		473	`011D: INCF 39,F`
		474	`.................... else i=0;`
		475	`011E: GOTO 120`
		476	`011F: CLRF 39`
		477	`....................`
		478	`.................... if (i>=100) break;`
		479	`0120: MOVF 39,W`
		480	`0121: SUBLW 63`
		481	`0122: BTFSS 03.0`
		482	`0123: GOTO 15A`
		483	`....................`
		484	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		485	`0124: BSF 03.5`
		486	`0125: BCF 06.0`
		487	`0126: BCF 03.5`
		488	`0127: BCF 06.0`
		489	`.................... sensors = spi_read(0); // cteni senzoru`
		490	`0128: MOVF 13,W`
		491	`0129: CLRF 13`
		492	`012A: BSF 03.5`
		493	`012B: BTFSC 14.0`
		494	`012C: GOTO 12F`
		495	`012D: BCF 03.5`
		496	`012E: GOTO 12A`
		497	`012F: BCF 03.5`
		498	`0130: MOVF 13,W`
		499	`0131: MOVWF 2A`
		500	`.................... sensors=~sensors;`
		501	`0132: COMF 2A,F`
		502	`.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru`
		503	`0133: BSF 03.5`
		504	`0134: BCF 06.0`
		505	`0135: BCF 03.5`
		506	`0136: BSF 06.0`
		507	`....................`
		508	`.................... if(bit_test(sensors,3)) //...\|...//`
		509	`0137: BTFSS 2A.3`
		510	`0138: GOTO 13B`
		511	`.................... {`
		512	`.................... line=S;`
		513	`0139: CLRF 2B`
		514	`.................... continue;`
		515	`013A: GOTO 0AB`
		516	`.................... }`
		517	`....................`
		518	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		519	`013B: BTFSS 2A.0`
		520	`013C: GOTO 140`
		521	`.................... {`
		522	`.................... line=L3;`
		523	`013D: MOVLW 03`
		524	`013E: MOVWF 2B`
		525	`.................... continue;`
		526	`013F: GOTO 0AB`
		527	`.................... }`
		528	`....................`
		529	`.................... if(bit_test(sensors,6)) //......\|//`
		530	`0140: BTFSS 2A.6`
		531	`0141: GOTO 145`
		532	`.................... {`
		533	`.................... line=R3;`
		534	`0142: MOVLW FD`
		535	`0143: MOVWF 2B`
		536	`.................... continue;`
		537	`0144: GOTO 0AB`
		538	`.................... }`
		539	`....................`
		540	`.................... if(bit_test(sensors,1)) //.\|.....//`
		541	`0145: BTFSS 2A.1`
		542	`0146: GOTO 14A`
		543	`.................... {`
		544	`.................... line=L3;`
		545	`0147: MOVLW 03`
		546	`0148: MOVWF 2B`
		547	`.................... continue;`
		548	`0149: GOTO 0AB`
		549	`.................... }`
		550	`....................`
		551	`.................... if(bit_test(sensors,5)) //.....\|.//`
		552	`014A: BTFSS 2A.5`
		553	`014B: GOTO 14F`
		554	`.................... {`
		555	`.................... line=R3;`
		556	`014C: MOVLW FD`
		557	`014D: MOVWF 2B`
		558	`.................... continue;`
		559	`014E: GOTO 0AB`
		560	`.................... }`
		561	`....................`
		562	`.................... if (bit_test(sensors,2)) //..\|....//`
		563	`014F: BTFSS 2A.2`
		564	`0150: GOTO 154`
		565	`.................... {`
		566	`.................... line=L3;`
		567	`0151: MOVLW 03`
		568	`0152: MOVWF 2B`
		569	`.................... continue;`
		570	`0153: GOTO 0AB`
		571	`.................... }`
		572	`....................`
		573	`.................... if (bit_test(sensors,4)) //....\|..//`
		574	`0154: BTFSS 2A.4`
		575	`0155: GOTO 159`
		576	`.................... {`
		577	`.................... line=R3;`
		578	`0156: MOVLW FD`
		579	`0157: MOVWF 2B`
		580	`.................... continue;`
		581	`0158: GOTO 0AB`
		582	`.................... }`
		583	`.................... }`
		584	`0159: GOTO 0AB`
		585	`.................... delay_ms(100);`
		586	`015A: MOVLW 64`
		587	`015B: MOVWF 3A`
		588	`015C: CALL 065`
		589	`....................`
		590	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		591	`015D: BSF 03.5`
		592	`015E: BCF 06.0`
		593	`015F: BCF 03.5`
		594	`0160: BCF 06.0`
		595	`.................... sensors = spi_read(0); // cteni senzoru`
		596	`0161: MOVF 13,W`
		597	`0162: CLRF 13`
		598	`0163: BSF 03.5`
		599	`0164: BTFSC 14.0`
		600	`0165: GOTO 168`
		601	`0166: BCF 03.5`
		602	`0167: GOTO 163`
		603	`0168: BCF 03.5`
		604	`0169: MOVF 13,W`
		605	`016A: MOVWF 2A`
		606	`.................... sensors=~sensors;`
		607	`016B: COMF 2A,F`
		608	`.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru`
		609	`016C: BSF 03.5`
		610	`016D: BCF 06.0`
		611	`016E: BCF 03.5`
		612	`016F: BSF 06.0`
		613	`.................... }`
		614	`0170: GOTO 0A9`
		615	`.................... }`
		616	`0171: RETLW 00`
		617	`....................`
		618	`.................... /*`
		619	`.................... void cikcak()`
		620	`.................... {`
		621	`.................... short int movement;`
		622	`.................... unsigned int8 n,i=0;`
		623	`....................`
		624	`.................... if(uhel>=STRED)`
		625	`.................... {`
		626	`.................... uhel=KOLMO1;`
		627	`.................... Delay_ms(100);`
		628	`.................... }`
		629	`....................`
		630	`.................... if(uhel<=STRED)`
		631	`.................... {`
		632	`.................... uhel=KOLMO2;`
		633	`.................... Delay_ms(100);`
		634	`.................... }`
		635	`....................`
		636	`....................`
		637	`.................... sensors = spi_read(0); // cteni senzoru`
		638	`.................... sensors=~sensors;`
		639	`.................... Delay_ms(5);`
		640	`....................`
		641	`.................... if ((sensors & 0b11100000)!=0) movement=DOPRAVA;`
		642	`....................`
		643	`.................... while(i<=100)`
		644	`.................... {`
		645	`.................... while(!bit_test(sensors,3))`
		646	`.................... {`
		647	`.................... if(DOPRAVA == movement)`
		648	`.................... {`
		649	`.................... FR;BL;`
		650	`.................... movement=DOLEVA;`
		651	`.................... n=0;`
		652	`.................... //if ((sensors & 0b11100000)!=0) line=L1;`
		653	`.................... //if ((sensors & 0b00001110)!=0) line=R1;`
		654	`.................... //if ((sensors & 0b00010000)!=0) line=S;`
		655	`....................`
		656	`.................... for(n=0; n<=100; n++)`
		657	`.................... {`
		658	`.................... sensors = spi_read(0); // cteni senzoru`
		659	`.................... sensors=~sensors;`
		660	`.................... Delay_ms(5); // cekani na SLAVE nez pripravi data od cidel`
		661	`.................... if(bit_test(sensors,3)) break;`
		662	`.................... else i=0;`
		663	`.................... }`
		664	`.................... STOPL;STOPR;`
		665	`.................... }`
		666	`....................`
		667	`.................... if(DOLEVA == movement)`
		668	`.................... {`
		669	`.................... FL;BR;`
		670	`.................... movement=DOPRAVA;`
		671	`.................... n=0;`
		672	`....................`
		673	`.................... for(n=0; n<=100; n++)`
		674	`.................... {`
		675	`.................... sensors = spi_read(0);`
		676	`.................... sensors =~ sensors;`
		677	`.................... Delay_ms(5);`
		678	`.................... if(bit_test(sensors,3)) break;`
		679	`.................... else i=0;`
		680	`.................... }`
		681	`.................... STOPL;STOPR;`
		682	`.................... }`
		683	`.................... sensors = spi_read(0); // cteni senzoru`
		684	`.................... sensors=~sensors;`
		685	`.................... Delay_ms(5);`
		686	`.................... }`
		687	`.................... i++;`
		688	`.................... }`
		689	`.................... }`
		690	`.................... */`
		691	`.................... ////////////////////////////////////////////////////////////////////////////////`
		692	`.................... void objizdka()`
		693	`.................... {`
		694	`.................... BL;FR;`
		695	`0172: BSF 03.5`
		696	`0173: BCF 05.0`
		697	`0174: BCF 03.5`
		698	`0175: BCF 05.0`
		699	`0176: BSF 03.5`
		700	`0177: BCF 05.1`
		701	`0178: BCF 03.5`
		702	`0179: BSF 05.1`
		703	`017A: BSF 03.5`
		704	`017B: BCF 05.7`
		705	`017C: BCF 03.5`
		706	`017D: BCF 05.7`
		707	`017E: BSF 03.5`
		708	`017F: BCF 05.6`
		709	`0180: BCF 03.5`
		710	`0181: BSF 05.6`
		711	`.................... Delay_ms(300);`
		712	`0182: MOVLW 02`
		713	`0183: MOVWF 39`
		714	`0184: MOVLW 96`
		715	`0185: MOVWF 3A`
		716	`0186: CALL 065`
		717	`0187: DECFSZ 39,F`
		718	`0188: GOTO 184`
		719	`.................... FL;BR;`
		720	`0189: BSF 03.5`
		721	`018A: BCF 05.1`
		722	`018B: BCF 03.5`
		723	`018C: BCF 05.1`
		724	`018D: BSF 03.5`
		725	`018E: BCF 05.0`
		726	`018F: BCF 03.5`
		727	`0190: BSF 05.0`
		728	`0191: BSF 03.5`
		729	`0192: BCF 05.6`
		730	`0193: BCF 03.5`
		731	`0194: BCF 05.6`
		732	`0195: BSF 03.5`
		733	`0196: BCF 05.7`
		734	`0197: BCF 03.5`
		735	`0198: BSF 05.7`
		736	`.................... Delay_ms(100);`
		737	`0199: MOVLW 64`
		738	`019A: MOVWF 3A`
		739	`019B: CALL 065`
		740	`.................... STOPL;STOPR;`
		741	`019C: BSF 03.5`
		742	`019D: BCF 05.0`
		743	`019E: BCF 03.5`
		744	`019F: BCF 05.0`
		745	`01A0: BSF 03.5`
		746	`01A1: BCF 05.1`
		747	`01A2: BCF 03.5`
		748	`01A3: BCF 05.1`
		749	`01A4: BSF 03.5`
		750	`01A5: BCF 05.6`
		751	`01A6: BCF 03.5`
		752	`01A7: BCF 05.6`
		753	`01A8: BSF 03.5`
		754	`01A9: BCF 05.7`
		755	`01AA: BCF 03.5`
		756	`01AB: BCF 05.7`
		757	`....................`
		758	`.................... uhel=STRED;`
		759	`01AC: MOVLW 80`
		760	`01AD: MOVWF 2C`
		761	`.................... FL;FR;`
		762	`01AE: BSF 03.5`
		763	`01AF: BCF 05.1`
		764	`01B0: BCF 03.5`
		765	`01B1: BCF 05.1`
		766	`01B2: BSF 03.5`
		767	`01B3: BCF 05.0`
		768	`01B4: BCF 03.5`
		769	`01B5: BSF 05.0`
		770	`01B6: BSF 03.5`
		771	`01B7: BCF 05.7`
		772	`01B8: BCF 03.5`
		773	`01B9: BCF 05.7`
		774	`01BA: BSF 03.5`
		775	`01BB: BCF 05.6`
		776	`01BC: BCF 03.5`
		777	`01BD: BSF 05.6`
		778	`.................... Delay_ms(500); // rovne`
		779	`01BE: MOVLW 02`
		780	`01BF: MOVWF 39`
		781	`01C0: MOVLW FA`
		782	`01C1: MOVWF 3A`
		783	`01C2: CALL 065`
		784	`01C3: DECFSZ 39,F`
		785	`01C4: GOTO 1C0`
		786	`....................`
		787	`.................... uhel=STRED+55;`
		788	`01C5: MOVLW B7`
		789	`01C6: MOVWF 2C`
		790	`.................... STOPR;FL;`
		791	`01C7: BSF 03.5`
		792	`01C8: BCF 05.6`
		793	`01C9: BCF 03.5`
		794	`01CA: BCF 05.6`
		795	`01CB: BSF 03.5`
		796	`01CC: BCF 05.7`
		797	`01CD: BCF 03.5`
		798	`01CE: BCF 05.7`
		799	`01CF: BSF 03.5`
		800	`01D0: BCF 05.1`
		801	`01D1: BCF 03.5`
		802	`01D2: BCF 05.1`
		803	`01D3: BSF 03.5`
		804	`01D4: BCF 05.0`
		805	`01D5: BCF 03.5`
		806	`01D6: BSF 05.0`
		807	`.................... Delay_ms(190); // doprava`
		808	`01D7: MOVLW BE`
		809	`01D8: MOVWF 3A`
		810	`01D9: CALL 065`
		811	`....................`
		812	`.................... uhel=STRED;`
		813	`01DA: MOVLW 80`
		814	`01DB: MOVWF 2C`
		815	`.................... FR;FL;`
		816	`01DC: BSF 03.5`
		817	`01DD: BCF 05.7`
		818	`01DE: BCF 03.5`
		819	`01DF: BCF 05.7`
		820	`01E0: BSF 03.5`
		821	`01E1: BCF 05.6`
		822	`01E2: BCF 03.5`
		823	`01E3: BSF 05.6`
		824	`01E4: BSF 03.5`
		825	`01E5: BCF 05.1`
		826	`01E6: BCF 03.5`
		827	`01E7: BCF 05.1`
		828	`01E8: BSF 03.5`
		829	`01E9: BCF 05.0`
		830	`01EA: BCF 03.5`
		831	`01EB: BSF 05.0`
		832	`.................... Delay_ms(500); // rovne`
		833	`01EC: MOVLW 02`
		834	`01ED: MOVWF 39`
		835	`01EE: MOVLW FA`
		836	`01EF: MOVWF 3A`
		837	`01F0: CALL 065`
		838	`01F1: DECFSZ 39,F`
		839	`01F2: GOTO 1EE`
		840	`....................`
		841	`.................... uhel=STRED+55;`
		842	`01F3: MOVLW B7`
		843	`01F4: MOVWF 2C`
		844	`.................... FL;STOPR;`
		845	`01F5: BSF 03.5`
		846	`01F6: BCF 05.1`
		847	`01F7: BCF 03.5`
		848	`01F8: BCF 05.1`
		849	`01F9: BSF 03.5`
		850	`01FA: BCF 05.0`
		851	`01FB: BCF 03.5`
		852	`01FC: BSF 05.0`
		853	`01FD: BSF 03.5`
		854	`01FE: BCF 05.6`
		855	`01FF: BCF 03.5`
		856	`0200: BCF 05.6`
		857	`0201: BSF 03.5`
		858	`0202: BCF 05.7`
		859	`0203: BCF 03.5`
		860	`0204: BCF 05.7`
		861	`.................... Delay_ms(200); // doprava`
		862	`0205: MOVLW C8`
		863	`0206: MOVWF 3A`
		864	`0207: CALL 065`
		865	`....................`
		866	`.................... uhel=STRED;`
		867	`0208: MOVLW 80`
		868	`0209: MOVWF 2C`
		869	`.................... FR;FL;`
		870	`020A: BSF 03.5`
		871	`020B: BCF 05.7`
		872	`020C: BCF 03.5`
		873	`020D: BCF 05.7`
		874	`020E: BSF 03.5`
		875	`020F: BCF 05.6`
		876	`0210: BCF 03.5`
		877	`0211: BSF 05.6`
		878	`0212: BSF 03.5`
		879	`0213: BCF 05.1`
		880	`0214: BCF 03.5`
		881	`0215: BCF 05.1`
		882	`0216: BSF 03.5`
		883	`0217: BCF 05.0`
		884	`0218: BCF 03.5`
		885	`0219: BSF 05.0`
		886	`.................... Delay_ms(150); // rovne`
		887	`021A: MOVLW 96`
		888	`021B: MOVWF 3A`
		889	`021C: CALL 065`
		890	`....................`
		891	`.................... While((sensors & 0b11111110)!=0) //dokud neni cara`
		892	`.................... {`
		893	`021D: MOVF 2A,W`
		894	`021E: ANDLW FE`
		895	`021F: BTFSC 03.2`
		896	`0220: GOTO 230`
		897	`.................... sensors = spi_read(0); // cteni senzoru`
		898	`0221: MOVF 13,W`
		899	`0222: CLRF 13`
		900	`0223: BSF 03.5`
		901	`0224: BTFSC 14.0`
		902	`0225: GOTO 228`
		903	`0226: BCF 03.5`
		904	`0227: GOTO 223`
		905	`0228: BCF 03.5`
		906	`0229: MOVF 13,W`
		907	`022A: MOVWF 2A`
		908	`.................... sensors=~sensors;`
		909	`022B: COMF 2A,F`
		910	`.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel`
		911	`022C: MOVLW 04`
		912	`022D: MOVWF 3A`
		913	`022E: CALL 065`
		914	`.................... }`
		915	`022F: GOTO 21D`
		916	`.................... BL;BR;`
		917	`0230: BSF 03.5`
		918	`0231: BCF 05.0`
		919	`0232: BCF 03.5`
		920	`0233: BCF 05.0`
		921	`0234: BSF 03.5`
		922	`0235: BCF 05.1`
		923	`0236: BCF 03.5`
		924	`0237: BSF 05.1`
		925	`0238: BSF 03.5`
		926	`0239: BCF 05.6`
		927	`023A: BCF 03.5`
		928	`023B: BCF 05.6`
		929	`023C: BSF 03.5`
		930	`023D: BCF 05.7`
		931	`023E: BCF 03.5`
		932	`023F: BSF 05.7`
		933	`.................... Delay_ms(400);`
		934	`0240: MOVLW 02`
		935	`0241: MOVWF 39`
		936	`0242: MOVLW C8`
		937	`0243: MOVWF 3A`
		938	`0244: CALL 065`
		939	`0245: DECFSZ 39,F`
		940	`0246: GOTO 242`
		941	`....................`
		942	`.................... uhel=STRED-55;`
		943	`0247: MOVLW 49`
		944	`0248: MOVWF 2C`
		945	`.................... FR;STOPL; // doleva`
		946	`0249: BSF 03.5`
		947	`024A: BCF 05.7`
		948	`024B: BCF 03.5`
		949	`024C: BCF 05.7`
		950	`024D: BSF 03.5`
		951	`024E: BCF 05.6`
		952	`024F: BCF 03.5`
		953	`0250: BSF 05.6`
		954	`0251: BSF 03.5`
		955	`0252: BCF 05.0`
		956	`0253: BCF 03.5`
		957	`0254: BCF 05.0`
		958	`0255: BSF 03.5`
		959	`0256: BCF 05.1`
		960	`0257: BCF 03.5`
		961	`0258: BCF 05.1`
		962	`.................... delay_ms(250);`
		963	`0259: MOVLW FA`
		964	`025A: MOVWF 3A`
		965	`025B: CALL 065`
		966	`....................`
		967	`.................... line=L3;`
		968	`025C: MOVLW 03`
		969	`025D: MOVWF 2B`
		970	`.................... cikcak();`
		971	`025E: CALL 07D`
		972	`.................... }`
		973	`025F: BCF 0A.3`
		974	`0260: GOTO 3D2 (RETURN)`
		975	`....................`
		976	`....................`
		977	`.................... ////////////////////////////////////////////////////////////////////////////////`
		978	`.................... void main()`
		979	`.................... {`
		980	`0261: CLRF 04`
		981	`0262: MOVLW 1F`
		982	`0263: ANDWF 03,F`
		983	`0264: MOVLW 70`
		984	`0265: BSF 03.5`
		985	`0266: MOVWF 0F`
		986	`0267: BCF 1F.4`
		987	`0268: BCF 1F.5`
		988	`0269: MOVF 1B,W`
		989	`026A: ANDLW 80`
		990	`026B: MOVWF 1B`
		991	`026C: MOVLW 07`
		992	`026D: MOVWF 1C`
		993	`....................`
		994	`.................... unsigned int8 n;`
		995	`.................... unsigned int8 i,j;`
		996	`.................... unsigned int8 last_sensors;`
		997	`.................... unsigned int8 RozumnaRychlost;`
		998	`....................`
		999	`.................... setup_adc_ports(sAN5\|sAN2\|sAN4\|sAN6\|VSS_VDD); // AD pro kroutitka`
		1000	`*`
		1001	`0270: BSF 03.5`
		1002	`0271: BCF 1F.4`
		1003	`0272: BCF 1F.5`
		1004	`0273: MOVF 1B,W`
		1005	`0274: ANDLW 80`
		1006	`0275: IORLW 74`
		1007	`0276: MOVWF 1B`
		1008	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		1009	`0277: BCF 1F.6`
		1010	`0278: BCF 03.5`
		1011	`0279: BSF 1F.6`
		1012	`027A: BSF 1F.7`
		1013	`027B: BSF 03.5`
		1014	`027C: BCF 1F.7`
		1015	`027D: BCF 03.5`
		1016	`027E: BSF 1F.0`
		1017	`.................... setup_spi(SPI_MASTER\|SPI_H_TO_L\|SPI_XMIT_L_TO_H\|SPI_CLK_DIV_16);`
		1018	`027F: BCF 14.5`
		1019	`0280: BSF 03.5`
		1020	`0281: BCF 06.2`
		1021	`0282: BSF 06.1`
		1022	`0283: BCF 06.4`
		1023	`0284: MOVLW 31`
		1024	`0285: BCF 03.5`
		1025	`0286: MOVWF 14`
		1026	`0287: MOVLW 00`
		1027	`0288: BSF 03.5`
		1028	`0289: MOVWF 14`
		1029	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		1030	`028A: MOVF 01,W`
		1031	`028B: ANDLW C7`
		1032	`028C: IORLW 08`
		1033	`028D: MOVWF 01`
		1034	`.................... setup_timer_1(T1_DISABLED\|T1_DIV_BY_8);`
		1035	`028E: MOVLW 30`
		1036	`028F: BCF 03.5`
		1037	`0290: MOVWF 10`
		1038	`.................... setup_timer_2(T2_DIV_BY_16,140,16);`
		1039	`0291: MOVLW 78`
		1040	`0292: MOVWF 78`
		1041	`0293: IORLW 06`
		1042	`0294: MOVWF 12`
		1043	`0295: MOVLW 8C`
		1044	`0296: BSF 03.5`
		1045	`0297: MOVWF 12`
		1046	`.................... setup_oscillator(OSC_8MHZ\|OSC_INTRC);`
		1047	`0298: MOVLW 72`
		1048	`0299: MOVWF 0F`
		1049	`....................`
		1050	`.................... STOPR; STOPL; // zastav motory`
		1051	`029A: BCF 05.6`
		1052	`029B: BCF 03.5`
		1053	`029C: BCF 05.6`
		1054	`029D: BSF 03.5`
		1055	`029E: BCF 05.7`
		1056	`029F: BCF 03.5`
		1057	`02A0: BCF 05.7`
		1058	`02A1: BSF 03.5`
		1059	`02A2: BCF 05.0`
		1060	`02A3: BCF 03.5`
		1061	`02A4: BCF 05.0`
		1062	`02A5: BSF 03.5`
		1063	`02A6: BCF 05.1`
		1064	`02A7: BCF 03.5`
		1065	`02A8: BCF 05.1`
		1066	`.................... Lmotor=0;Rmotor=0;`
		1067	`02A9: CLRF 31`
		1068	`02AA: CLRF 30`
		1069	`02AB: CLRF 33`
		1070	`02AC: CLRF 32`
		1071	`....................`
		1072	`.................... uhel = STRED; // nastav zadni kolecko na stred`
		1073	`02AD: MOVLW 80`
		1074	`02AE: MOVWF 2C`
		1075	`.................... rovinka = 0;`
		1076	`02AF: CLRF 2F`
		1077	`....................`
		1078	`.................... enable_interrupts(INT_TIMER2);`
		1079	`02B0: BSF 03.5`
		1080	`02B1: BSF 0C.1`
		1081	`.................... enable_interrupts(GLOBAL);`
		1082	`02B2: MOVLW C0`
		1083	`02B3: BCF 03.5`
		1084	`02B4: IORWF 0B,F`
		1085	`....................`
		1086	`.................... output_low(IRTX); // zapni IR vysilac`
		1087	`02B5: BSF 03.5`
		1088	`02B6: BCF 06.2`
		1089	`02B7: BCF 03.5`
		1090	`02B8: BCF 06.2`
		1091	`....................`
		1092	`.................... delay_ms(2000); // musime pockat na diagnostiku slave CPU`
		1093	`02B9: MOVLW 08`
		1094	`02BA: MOVWF 39`
		1095	`02BB: MOVLW FA`
		1096	`02BC: MOVWF 3A`
		1097	`02BD: CALL 065`
		1098	`02BE: DECFSZ 39,F`
		1099	`02BF: GOTO 2BB`
		1100	`....................`
		1101	`.................... //nastaveni rychlosti`
		1102	`.................... set_adc_channel(CERVENA);`
		1103	`02C0: MOVLW 20`
		1104	`02C1: MOVWF 78`
		1105	`02C2: MOVF 1F,W`
		1106	`02C3: ANDLW C7`
		1107	`02C4: IORWF 78,W`
		1108	`02C5: MOVWF 1F`
		1109	`....................`
		1110	`.................... Delay_ms(1);`
		1111	`02C6: MOVLW 01`
		1112	`02C7: MOVWF 3A`
		1113	`02C8: CALL 065`
		1114	`.................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63`
		1115	`02C9: BSF 1F.2`
		1116	`02CA: BTFSC 1F.2`
		1117	`02CB: GOTO 2CA`
		1118	`02CC: MOVF 1E,W`
		1119	`02CD: MOVWF 77`
		1120	`02CE: RRF 77,F`
		1121	`02CF: RRF 77,F`
		1122	`02D0: MOVLW 3F`
		1123	`02D1: ANDWF 77,F`
		1124	`02D2: MOVF 77,W`
		1125	`02D3: ADDLW 64`
		1126	`02D4: MOVWF 2D`
		1127	`.................... set_adc_channel(MODRA);`
		1128	`02D5: MOVLW 10`
		1129	`02D6: MOVWF 78`
		1130	`02D7: MOVF 1F,W`
		1131	`02D8: ANDLW C7`
		1132	`02D9: IORWF 78,W`
		1133	`02DA: MOVWF 1F`
		1134	`.................... Delay_ms(1);`
		1135	`02DB: MOVLW 01`
		1136	`02DC: MOVWF 3A`
		1137	`02DD: CALL 065`
		1138	`.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63`
		1139	`02DE: MOVLW 20`
		1140	`02DF: SUBWF 2D,W`
		1141	`02E0: MOVWF 39`
		1142	`02E1: BSF 1F.2`
		1143	`02E2: BTFSC 1F.2`
		1144	`02E3: GOTO 2E2`
		1145	`02E4: MOVF 1E,W`
		1146	`02E5: MOVWF 77`
		1147	`02E6: RRF 77,F`
		1148	`02E7: RRF 77,F`
		1149	`02E8: MOVLW 3F`
		1150	`02E9: ANDWF 77,F`
		1151	`02EA: MOVF 77,W`
		1152	`02EB: ADDWF 39,W`
		1153	`02EC: MOVWF 2E`
		1154	`....................`
		1155	`.................... RozumnaRychlost=speed;`
		1156	`02ED: MOVF 2D,W`
		1157	`02EE: MOVWF 38`
		1158	`....................`
		1159	`.................... while(true)`
		1160	`.................... {`
		1161	`....................`
		1162	`.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor`
		1163	`02EF: MOVF 01,W`
		1164	`02F0: BTFSS 00.7`
		1165	`02F1: GOTO 2F5`
		1166	`02F2: BTFSS 31.7`
		1167	`02F3: GOTO 2FD`
		1168	`02F4: GOTO 2F7`
		1169	`02F5: BTFSC 31.7`
		1170	`02F6: GOTO 306`
		1171	`02F7: MOVF 31,F`
		1172	`02F8: BTFSS 03.2`
		1173	`02F9: GOTO 2FD`
		1174	`02FA: SUBWF 30,W`
		1175	`02FB: BTFSS 03.0`
		1176	`02FC: GOTO 306`
		1177	`02FD: BSF 03.5`
		1178	`02FE: BCF 05.1`
		1179	`02FF: BCF 03.5`
		1180	`0300: BCF 05.1`
		1181	`0301: BSF 03.5`
		1182	`0302: BCF 05.0`
		1183	`0303: BCF 03.5`
		1184	`0304: BSF 05.0`
		1185	`0305: GOTO 30E`
		1186	`0306: BSF 03.5`
		1187	`0307: BCF 05.0`
		1188	`0308: BCF 03.5`
		1189	`0309: BCF 05.0`
		1190	`030A: BSF 03.5`
		1191	`030B: BCF 05.1`
		1192	`030C: BCF 03.5`
		1193	`030D: BCF 05.1`
		1194	`030E: MOVF 01,W`
		1195	`030F: BTFSS 00.7`
		1196	`0310: GOTO 314`
		1197	`0311: BTFSS 33.7`
		1198	`0312: GOTO 31C`
		1199	`0313: GOTO 316`
		1200	`0314: BTFSC 33.7`
		1201	`0315: GOTO 325`
		1202	`0316: MOVF 33,F`
		1203	`0317: BTFSS 03.2`
		1204	`0318: GOTO 31C`
		1205	`0319: SUBWF 32,W`
		1206	`031A: BTFSS 03.0`
		1207	`031B: GOTO 325`
		1208	`031C: BSF 03.5`
		1209	`031D: BCF 05.7`
		1210	`031E: BCF 03.5`
		1211	`031F: BCF 05.7`
		1212	`0320: BSF 03.5`
		1213	`0321: BCF 05.6`
		1214	`0322: BCF 03.5`
		1215	`0323: BSF 05.6`
		1216	`0324: GOTO 32D`
		1217	`0325: BSF 03.5`
		1218	`0326: BCF 05.6`
		1219	`0327: BCF 03.5`
		1220	`0328: BCF 05.6`
		1221	`0329: BSF 03.5`
		1222	`032A: BCF 05.7`
		1223	`032B: BCF 03.5`
		1224	`032C: BCF 05.7`
		1225	`....................`
		1226	`.................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel`
		1227	`032D: CLRWDT`
		1228	`032E: MOVLW 01`
		1229	`032F: MOVWF 3A`
		1230	`0330: CALL 065`
		1231	`0331: MOVLW 09`
		1232	`0332: MOVWF 39`
		1233	`0333: CLRF 29`
		1234	`0334: BTFSC 0B.7`
		1235	`0335: BSF 29.7`
		1236	`0336: BCF 0B.7`
		1237	`0337: MOVLW 6D`
		1238	`0338: MOVWF 3D`
		1239	`0339: CALL 037`
		1240	`033A: BTFSC 29.7`
		1241	`033B: BSF 0B.7`
		1242	`033C: DECFSZ 39,F`
		1243	`033D: GOTO 333`
		1244	`....................`
		1245	`.................... last_sensors=sensors;`
		1246	`033E: MOVF 2A,W`
		1247	`033F: MOVWF 37`
		1248	`....................`
		1249	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		1250	`0340: BSF 03.5`
		1251	`0341: BCF 06.0`
		1252	`0342: BCF 03.5`
		1253	`0343: BCF 06.0`
		1254	`.................... sensors = spi_read(0); // cteni senzoru`
		1255	`0344: MOVF 13,W`
		1256	`0345: CLRF 13`
		1257	`0346: BSF 03.5`
		1258	`0347: BTFSC 14.0`
		1259	`0348: GOTO 34B`
		1260	`0349: BCF 03.5`
		1261	`034A: GOTO 346`
		1262	`034B: BCF 03.5`
		1263	`034C: MOVF 13,W`
		1264	`034D: MOVWF 2A`
		1265	`.................... sensors=~sensors; // neguj prijata data`
		1266	`034E: COMF 2A,F`
		1267	`.................... output_high(STROBE); // zobraz data na posuvnem registru`
		1268	`034F: BSF 03.5`
		1269	`0350: BCF 06.0`
		1270	`0351: BCF 03.5`
		1271	`0352: BSF 06.0`
		1272	`....................`
		1273	`.................... i=0; // havarijni kod`
		1274	`0353: CLRF 35`
		1275	`.................... for (n=0; n<=6; n++)`
		1276	`0354: CLRF 34`
		1277	`0355: MOVF 34,W`
		1278	`0356: SUBLW 06`
		1279	`0357: BTFSS 03.0`
		1280	`0358: GOTO 367`
		1281	`.................... {`
		1282	`.................... if(bit_test(sensors,n)) i++;`
		1283	`0359: MOVF 2A,W`
		1284	`035A: MOVWF 77`
		1285	`035B: MOVF 34,W`
		1286	`035C: MOVWF 78`
		1287	`035D: BTFSC 03.2`
		1288	`035E: GOTO 363`
		1289	`035F: BCF 03.0`
		1290	`0360: RRF 77,F`
		1291	`0361: DECFSZ 78,F`
		1292	`0362: GOTO 35F`
		1293	`0363: BTFSC 77.0`
		1294	`0364: INCF 35,F`
		1295	`.................... }`
		1296	`0365: INCF 34,F`
		1297	`0366: GOTO 355`
		1298	`.................... if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly`
		1299	`0367: MOVF 35,W`
		1300	`0368: SUBLW 03`
		1301	`0369: BTFSC 03.0`
		1302	`036A: GOTO 393`
		1303	`.................... {`
		1304	`.................... BL; BR;`
		1305	`036B: BSF 03.5`
		1306	`036C: BCF 05.0`
		1307	`036D: BCF 03.5`
		1308	`036E: BCF 05.0`
		1309	`036F: BSF 03.5`
		1310	`0370: BCF 05.1`
		1311	`0371: BCF 03.5`
		1312	`0372: BSF 05.1`
		1313	`0373: BSF 03.5`
		1314	`0374: BCF 05.6`
		1315	`0375: BCF 03.5`
		1316	`0376: BCF 05.6`
		1317	`0377: BSF 03.5`
		1318	`0378: BCF 05.7`
		1319	`0379: BCF 03.5`
		1320	`037A: BSF 05.7`
		1321	`.................... delay_ms(300);`
		1322	`037B: MOVLW 02`
		1323	`037C: MOVWF 39`
		1324	`037D: MOVLW 96`
		1325	`037E: MOVWF 3A`
		1326	`037F: CALL 065`
		1327	`0380: DECFSZ 39,F`
		1328	`0381: GOTO 37D`
		1329	`.................... STOPR; STOPL;`
		1330	`0382: BSF 03.5`
		1331	`0383: BCF 05.6`
		1332	`0384: BCF 03.5`
		1333	`0385: BCF 05.6`
		1334	`0386: BSF 03.5`
		1335	`0387: BCF 05.7`
		1336	`0388: BCF 03.5`
		1337	`0389: BCF 05.7`
		1338	`038A: BSF 03.5`
		1339	`038B: BCF 05.0`
		1340	`038C: BCF 03.5`
		1341	`038D: BCF 05.0`
		1342	`038E: BSF 03.5`
		1343	`038F: BCF 05.1`
		1344	`0390: BCF 03.5`
		1345	`0391: BCF 05.1`
		1346	`.................... While(true);`
		1347	`0392: GOTO 392`
		1348	`.................... };`
		1349	`....................`
		1350	`.................... if (!input(CIHLA)) // dalkova detekce cihly`
		1351	`0393: BSF 03.5`
		1352	`0394: BSF 05.3`
		1353	`0395: BCF 03.5`
		1354	`0396: BTFSC 05.3`
		1355	`0397: GOTO 39B`
		1356	`.................... {`
		1357	`.................... speed=100;`
		1358	`0398: MOVLW 64`
		1359	`0399: MOVWF 2D`
		1360	`.................... }`
		1361	`.................... else`
		1362	`039A: GOTO 39D`
		1363	`.................... {`
		1364	`.................... speed=RozumnaRychlost;`
		1365	`039B: MOVF 38,W`
		1366	`039C: MOVWF 2D`
		1367	`.................... }`
		1368	`....................`
		1369	`.................... if (bit_test(sensors,7)) // detekce cihly`
		1370	`039D: BTFSS 2A.7`
		1371	`039E: GOTO 3D2`
		1372	`.................... {`
		1373	`.................... BR;BL;`
		1374	`039F: BSF 03.5`
		1375	`03A0: BCF 05.6`
		1376	`03A1: BCF 03.5`
		1377	`03A2: BCF 05.6`
		1378	`03A3: BSF 03.5`
		1379	`03A4: BCF 05.7`
		1380	`03A5: BCF 03.5`
		1381	`03A6: BSF 05.7`
		1382	`03A7: BSF 03.5`
		1383	`03A8: BCF 05.0`
		1384	`03A9: BCF 03.5`
		1385	`03AA: BCF 05.0`
		1386	`03AB: BSF 03.5`
		1387	`03AC: BCF 05.1`
		1388	`03AD: BCF 03.5`
		1389	`03AE: BSF 05.1`
		1390	`.................... Delay_ms(400);`
		1391	`03AF: MOVLW 02`
		1392	`03B0: MOVWF 39`
		1393	`03B1: MOVLW C8`
		1394	`03B2: MOVWF 3A`
		1395	`03B3: CALL 065`
		1396	`03B4: DECFSZ 39,F`
		1397	`03B5: GOTO 3B1`
		1398	`.................... STOPR;STOPL;`
		1399	`03B6: BSF 03.5`
		1400	`03B7: BCF 05.6`
		1401	`03B8: BCF 03.5`
		1402	`03B9: BCF 05.6`
		1403	`03BA: BSF 03.5`
		1404	`03BB: BCF 05.7`
		1405	`03BC: BCF 03.5`
		1406	`03BD: BCF 05.7`
		1407	`03BE: BSF 03.5`
		1408	`03BF: BCF 05.0`
		1409	`03C0: BCF 03.5`
		1410	`03C1: BCF 05.0`
		1411	`03C2: BSF 03.5`
		1412	`03C3: BCF 05.1`
		1413	`03C4: BCF 03.5`
		1414	`03C5: BCF 05.1`
		1415	`.................... Delay_ms(100);`
		1416	`03C6: MOVLW 64`
		1417	`03C7: MOVWF 3A`
		1418	`03C8: CALL 065`
		1419	`.................... cikcak();`
		1420	`03C9: CALL 07D`
		1421	`.................... delay_ms(500);`
		1422	`03CA: MOVLW 02`
		1423	`03CB: MOVWF 39`
		1424	`03CC: MOVLW FA`
		1425	`03CD: MOVWF 3A`
		1426	`03CE: CALL 065`
		1427	`03CF: DECFSZ 39,F`
		1428	`03D0: GOTO 3CC`
		1429	`.................... objizdka(); // objede cihlu`
		1430	`03D1: GOTO 172`
		1431	`.................... }`
		1432	`....................`
		1433	`....................`
		1434	`.................... if(bit_test(sensors,3)) //...\|...//`
		1435	`03D2: BTFSS 2A.3`
		1436	`03D3: GOTO 3E6`
		1437	`.................... {`
		1438	`.................... uhel=STRED;`
		1439	`03D4: MOVLW 80`
		1440	`03D5: MOVWF 2C`
		1441	`.................... Lmotor=speed;`
		1442	`03D6: CLRF 7A`
		1443	`03D7: MOVF 2D,W`
		1444	`03D8: MOVWF 30`
		1445	`03D9: MOVF 7A,W`
		1446	`03DA: MOVWF 31`
		1447	`.................... Rmotor=speed;`
		1448	`03DB: CLRF 7A`
		1449	`03DC: MOVF 2D,W`
		1450	`03DD: MOVWF 32`
		1451	`03DE: MOVF 7A,W`
		1452	`03DF: MOVWF 33`
		1453	`.................... line=S;`
		1454	`03E0: CLRF 2B`
		1455	`.................... if (rovinka < 255) rovinka++;`
		1456	`03E1: INCFSZ 2F,W`
		1457	`03E2: GOTO 3E4`
		1458	`03E3: GOTO 3E5`
		1459	`03E4: INCF 2F,F`
		1460	`.................... // if (speed > R) speed--;`
		1461	`.................... continue;`
		1462	`03E5: GOTO 2EF`
		1463	`.................... }`
		1464	`....................`
		1465	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		1466	`03E6: BTFSS 2A.0`
		1467	`03E7: GOTO 3F4`
		1468	`.................... {`
		1469	`.................... uhel=STRED - BEAR3;`
		1470	`03E8: MOVLW 53`
		1471	`03E9: MOVWF 2C`
		1472	`.................... Lmotor=0;`
		1473	`03EA: CLRF 31`
		1474	`03EB: CLRF 30`
		1475	`.................... Rmotor=turn;`
		1476	`03EC: CLRF 7A`
		1477	`03ED: MOVF 2E,W`
		1478	`03EE: MOVWF 32`
		1479	`03EF: MOVF 7A,W`
		1480	`03F0: MOVWF 33`
		1481	`.................... line=L3;`
		1482	`03F1: MOVLW 03`
		1483	`03F2: MOVWF 2B`
		1484	`.................... // if (speed > R) speed--;`
		1485	`.................... continue;`
		1486	`03F3: GOTO 2EF`
		1487	`.................... }`
		1488	`....................`
		1489	`.................... if(bit_test(sensors,6)) //......\|//`
		1490	`03F4: BTFSS 2A.6`
		1491	`03F5: GOTO 402`
		1492	`.................... {`
		1493	`.................... uhel=STRED + BEAR3;`
		1494	`03F6: MOVLW AD`
		1495	`03F7: MOVWF 2C`
		1496	`.................... Rmotor=0;`
		1497	`03F8: CLRF 33`
		1498	`03F9: CLRF 32`
		1499	`.................... Lmotor=turn;`
		1500	`03FA: CLRF 7A`
		1501	`03FB: MOVF 2E,W`
		1502	`03FC: MOVWF 30`
		1503	`03FD: MOVF 7A,W`
		1504	`03FE: MOVWF 31`
		1505	`.................... line=R3;`
		1506	`03FF: MOVLW FD`
		1507	`0400: MOVWF 2B`
		1508	`.................... // if (speed > R) speed--;`
		1509	`.................... continue;`
		1510	`0401: GOTO 2EF`
		1511	`.................... }`
		1512	`....................`
		1513	`.................... if(bit_test(sensors,1)) //.\|.....//`
		1514	`0402: BTFSS 2A.1`
		1515	`0403: GOTO 414`
		1516	`.................... {`
		1517	`.................... uhel=STRED - BEAR2;`
		1518	`0404: MOVLW 67`
		1519	`0405: MOVWF 2C`
		1520	`.................... Lmotor=speed-50;`
		1521	`0406: MOVLW 32`
		1522	`0407: SUBWF 2D,W`
		1523	`0408: CLRF 7A`
		1524	`0409: MOVWF 30`
		1525	`040A: MOVF 7A,W`
		1526	`040B: MOVWF 31`
		1527	`.................... Rmotor=speed;`
		1528	`040C: CLRF 7A`
		1529	`040D: MOVF 2D,W`
		1530	`040E: MOVWF 32`
		1531	`040F: MOVF 7A,W`
		1532	`0410: MOVWF 33`
		1533	`.................... line=L2;`
		1534	`0411: MOVLW 02`
		1535	`0412: MOVWF 2B`
		1536	`.................... // if (speed > R) speed--;`
		1537	`.................... continue;`
		1538	`0413: GOTO 2EF`
		1539	`.................... }`
		1540	`....................`
		1541	`.................... if(bit_test(sensors,5)) //.....\|.//`
		1542	`0414: BTFSS 2A.5`
		1543	`0415: GOTO 426`
		1544	`.................... {`
		1545	`.................... uhel=STRED + BEAR2;`
		1546	`0416: MOVLW 99`
		1547	`0417: MOVWF 2C`
		1548	`.................... Rmotor=speed-50;`
		1549	`0418: MOVLW 32`
		1550	`0419: SUBWF 2D,W`
		1551	`041A: CLRF 7A`
		1552	`041B: MOVWF 32`
		1553	`041C: MOVF 7A,W`
		1554	`041D: MOVWF 33`
		1555	`.................... Lmotor=speed;`
		1556	`041E: CLRF 7A`
		1557	`041F: MOVF 2D,W`
		1558	`0420: MOVWF 30`
		1559	`0421: MOVF 7A,W`
		1560	`0422: MOVWF 31`
		1561	`.................... line=R2;`
		1562	`0423: MOVLW FE`
		1563	`0424: MOVWF 2B`
		1564	`.................... // if (speed > R) speed--;`
		1565	`.................... continue;`
		1566	`0425: GOTO 2EF`
		1567	`.................... }`
		1568	`....................`
		1569	`.................... if (bit_test(sensors,2)) //..\|....//`
		1570	`0426: BTFSS 2A.2`
		1571	`0427: GOTO 43B`
		1572	`.................... {`
		1573	`.................... uhel=STRED - BEAR1;`
		1574	`0428: MOVLW 76`
		1575	`0429: MOVWF 2C`
		1576	`.................... Lmotor=speed;`
		1577	`042A: CLRF 7A`
		1578	`042B: MOVF 2D,W`
		1579	`042C: MOVWF 30`
		1580	`042D: MOVF 7A,W`
		1581	`042E: MOVWF 31`
		1582	`.................... Rmotor=speed;`
		1583	`042F: CLRF 7A`
		1584	`0430: MOVF 2D,W`
		1585	`0431: MOVWF 32`
		1586	`0432: MOVF 7A,W`
		1587	`0433: MOVWF 33`
		1588	`.................... line=L2;`
		1589	`0434: MOVLW 02`
		1590	`0435: MOVWF 2B`
		1591	`.................... if (rovinka<255) rovinka++;`
		1592	`0436: INCFSZ 2F,W`
		1593	`0437: GOTO 439`
		1594	`0438: GOTO 43A`
		1595	`0439: INCF 2F,F`
		1596	`.................... // if (speed > R) speed--;`
		1597	`.................... continue;`
		1598	`043A: GOTO 2EF`
		1599	`.................... }`
		1600	`....................`
		1601	`.................... if (bit_test(sensors,4)) //....\|..//`
		1602	`043B: BTFSS 2A.4`
		1603	`043C: GOTO 450`
		1604	`.................... {`
		1605	`.................... uhel=STRED + BEAR1;`
		1606	`043D: MOVLW 8A`
		1607	`043E: MOVWF 2C`
		1608	`.................... Rmotor=speed;`
		1609	`043F: CLRF 7A`
		1610	`0440: MOVF 2D,W`
		1611	`0441: MOVWF 32`
		1612	`0442: MOVF 7A,W`
		1613	`0443: MOVWF 33`
		1614	`.................... Lmotor=speed;`
		1615	`0444: CLRF 7A`
		1616	`0445: MOVF 2D,W`
		1617	`0446: MOVWF 30`
		1618	`0447: MOVF 7A,W`
		1619	`0448: MOVWF 31`
		1620	`.................... line=L2;`
		1621	`0449: MOVLW 02`
		1622	`044A: MOVWF 2B`
		1623	`.................... if (rovinka<255) rovinka++;`
		1624	`044B: INCFSZ 2F,W`
		1625	`044C: GOTO 44E`
		1626	`044D: GOTO 44F`
		1627	`044E: INCF 2F,F`
		1628	`.................... // if (speed > R) speed--;`
		1629	`.................... continue;`
		1630	`044F: GOTO 2EF`
		1631	`.................... }`
		1632	`....................`
		1633	`....................`
		1634	`.................... if ((L3==line) \|\| (R3==line)) // Brzdeni pri vyjeti z trate`
		1635	`0450: MOVF 2B,W`
		1636	`0451: SUBLW 03`
		1637	`0452: BTFSC 03.2`
		1638	`0453: GOTO 458`
		1639	`0454: MOVF 2B,W`
		1640	`0455: SUBLW FD`
		1641	`0456: BTFSS 03.2`
		1642	`0457: GOTO 47B`
		1643	`.................... {`
		1644	`.................... if (rovinka>50)`
		1645	`0458: MOVF 2F,W`
		1646	`0459: SUBLW 32`
		1647	`045A: BTFSC 03.0`
		1648	`045B: GOTO 47A`
		1649	`.................... {`
		1650	`.................... BL; BR;`
		1651	`045C: BSF 03.5`
		1652	`045D: BCF 05.0`
		1653	`045E: BCF 03.5`
		1654	`045F: BCF 05.0`
		1655	`0460: BSF 03.5`
		1656	`0461: BCF 05.1`
		1657	`0462: BCF 03.5`
		1658	`0463: BSF 05.1`
		1659	`0464: BSF 03.5`
		1660	`0465: BCF 05.6`
		1661	`0466: BCF 03.5`
		1662	`0467: BCF 05.6`
		1663	`0468: BSF 03.5`
		1664	`0469: BCF 05.7`
		1665	`046A: BCF 03.5`
		1666	`046B: BSF 05.7`
		1667	`.................... Delay_ms(100);`
		1668	`046C: MOVLW 64`
		1669	`046D: MOVWF 3A`
		1670	`046E: CALL 065`
		1671	`.................... if (rovinka > 250 \|\| speed > 170) delay_ms(50);`
		1672	`046F: MOVF 2F,W`
		1673	`0470: SUBLW FA`
		1674	`0471: BTFSS 03.0`
		1675	`0472: GOTO 477`
		1676	`0473: MOVF 2D,W`
		1677	`0474: SUBLW AA`
		1678	`0475: BTFSC 03.0`
		1679	`0476: GOTO 47A`
		1680	`0477: MOVLW 32`
		1681	`0478: MOVWF 3A`
		1682	`0479: CALL 065`
		1683	`.................... };`
		1684	`.................... rovinka=0;`
		1685	`047A: CLRF 2F`
		1686	`.................... // speed=R17;`
		1687	`.................... };`
		1688	`.................... }`
		1689	`047B: GOTO 2EF`
		1690	`.................... }`
		1691	`047C: SLEEP`
		1692
		1693	`Configuration Fuses:`
		1694	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1695	`Word 2: 3FFC NOFCMEN NOIESO`

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