WebSVN – svnkaklik – Blame – /roboti/istrobot/3Orbis/main.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 30-IV-06 21:17`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\3Orbis\main.lst`
		4
		5	`ROM used: 1154 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 26C`
		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 PRED_CIHLOU 100 // rychlost pri dalkove detekci cihly`
		142	`.................... //#define L1 1 // cara vlevo`
		143	`.................... #define L2 2 // cara vlevo`
		144	`.................... #define L3 3 // cara vlevo`
		145	`.................... #define S 0 // cara mezi sensory`
		146	`.................... //#define R1 -1 // cara vpravo`
		147	`.................... #define R2 -2 // cara vpravo`
		148	`.................... #define R3 -3 // cara vpravo`
		149	`....................`
		150	`.................... // servo`
		151	`.................... #define SERVO PIN_B5`
		152	`....................`
		153	`.................... // kroutitka`
		154	`.................... #define CERVENA 4 // AN4`
		155	`.................... //#define CERNA 5 // AN5`
		156	`.................... //#define ZELENA 6 // AN6`
		157	`.................... #define MODRA 2 // AN2`
		158	`....................`
		159	`.................... // IR`
		160	`.................... #define IRTX PIN_B2`
		161	`.................... #define CIHLA PIN_A3`
		162	`....................`
		163	`.................... //motory`
		164	`.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred`
		165	`.................... #define FL output_low(PIN_A1); output_high(PIN_A0)`
		166	`.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad`
		167	`.................... #define BL output_low(PIN_A0); output_high(PIN_A1)`
		168	`.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)`
		169	`.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)`
		170	`....................`
		171	`.................... //HID`
		172	`.................... #define LED1 PIN_B1 //oranzova`
		173	`.................... #define LED2 PIN_B2 //zluta`
		174	`....................`
		175	`.................... #define STROBE PIN_B0`
		176	`.................... //#define SW1 PIN_A2 // Motory On/off`
		177	`....................`
		178	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		179	`.................... signed int8 line = S; // na ktere strane byla detekovana cara`
		180	`*`
		181	`0279: BCF 03.5`
		182	`027A: CLRF 2B`
		183	`.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara`
		184	`.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni`
		185	`.................... unsigned int8 speed; // maximalni povolena rychlost`
		186	`.................... unsigned int8 turn; // rychlost toceni`
		187	`.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky`
		188	`....................`
		189	`.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem`
		190	`.................... signed int16 Rmotor; // a pravem motoru`
		191	`....................`
		192	`.................... // makro pro PWM pro motory`
		193	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		194	`.................... {direction##motor;} else {stop##motor;}`
		195	`.................... ////////////////////////////////////////////////////////////////////////////////`
		196	`.................... #int_TIMER2`
		197	`.................... TIMER2_isr() // ovladani serva`
		198	`.................... {`
		199	`.................... unsigned int8 n;`
		200	`....................`
		201	`.................... output_high(SERVO);`
		202	`*`
		203	`0047: BSF 03.5`
		204	`0048: BCF 06.5`
		205	`0049: BCF 03.5`
		206	`004A: BSF 06.5`
		207	`.................... delay_us(1000);`
		208	`004B: CLRWDT`
		209	`004C: MOVLW 09`
		210	`004D: MOVWF 3C`
		211	`004E: MOVLW 6D`
		212	`004F: MOVWF 3D`
		213	`0050: CALL 037`
		214	`0051: DECFSZ 3C,F`
		215	`0052: GOTO 04E`
		216	`.................... for(n=uhel; n>0; n--) Delay_us(2);`
		217	`0053: MOVF 2C,W`
		218	`0054: MOVWF 3B`
		219	`0055: MOVF 3B,F`
		220	`0056: BTFSC 03.2`
		221	`0057: GOTO 05E`
		222	`0058: CLRWDT`
		223	`0059: NOP`
		224	`005A: NOP`
		225	`005B: NOP`
		226	`005C: DECF 3B,F`
		227	`005D: GOTO 055`
		228	`.................... output_low(SERVO);`
		229	`005E: BSF 03.5`
		230	`005F: BCF 06.5`
		231	`0060: BCF 03.5`
		232	`0061: BCF 06.5`
		233	`.................... }`
		234	`....................`
		235	`.................... ////////////////////////////////////////////////////////////////////////////////`
		236	`0062: BCF 0C.1`
		237	`0063: BCF 0A.3`
		238	`0064: GOTO 022`
		239	`.................... int8 IRcheck() // potvrdi detekci cihly`
		240	`.................... {`
		241	`.................... output_high(IRTX); // vypne vysilac IR`
		242	`.................... delay_ms(10);`
		243	`....................`
		244	`.................... output_low(STROBE);`
		245	`.................... sensors = spi_read(0); // cteni senzoru`
		246	`.................... sensors=~sensors;`
		247	`.................... output_high(STROBE);`
		248	`....................`
		249	`.................... if(bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal`
		250	`.................... {`
		251	`.................... output_low(IRTX); // zapne vysilac IR`
		252	`.................... delay_ms(10);`
		253	`....................`
		254	`.................... output_low(STROBE);`
		255	`.................... sensors = spi_read(0); // cteni senzoru`
		256	`.................... sensors=~sensors;`
		257	`.................... output_high(STROBE);`
		258	`....................`
		259	`.................... if(!bit_test(sensors,7)) // otestuje, jestli je detekovana cihla`
		260	`.................... {`
		261	`.................... output_high(IRTX); // vypne vysilac IR`
		262	`.................... delay_ms(10);`
		263	`....................`
		264	`.................... output_low(STROBE);`
		265	`.................... sensors = spi_read(0); // cteni senzoru`
		266	`.................... sensors=~sensors;`
		267	`.................... output_high(STROBE);`
		268	`....................`
		269	`.................... output_low(IRTX); // zapne vysilac IR`
		270	`....................`
		271	`.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla`
		272	`.................... }`
		273	`.................... };`
		274	`.................... output_low(IRTX); // zapne vysilac IR`
		275	`.................... return 0; // vrat 0, kdyz je detekovano ruseni`
		276	`.................... }`
		277	`.................... ////////////////////////////////////////////////////////////////////////////////`
		278	`.................... #include ".\objizdka_centrovani_R.c"`
		279	`.................... #define DOLEVA 0`
		280	`.................... #define DOPRAVA 1`
		281	`....................`
		282	`.................... void cikcak()`
		283	`.................... {`
		284	`.................... unsigned int8 i=0;`
		285	`*`
		286	`007D: CLRF 39`
		287	`....................`
		288	`.................... uhel=KOLMO1; // aby se dalo tocit na miste`
		289	`007E: MOVLW E1`
		290	`007F: MOVWF 2C`
		291	`.................... Delay_ms(100);`
		292	`0080: MOVLW 64`
		293	`0081: MOVWF 3A`
		294	`0082: CALL 065`
		295	`....................`
		296	`.................... if (line==L2) line=L3; // poznamenej, kde byla cara pred brzdenim`
		297	`0083: MOVF 2B,W`
		298	`0084: SUBLW 02`
		299	`0085: BTFSS 03.2`
		300	`0086: GOTO 089`
		301	`0087: MOVLW 03`
		302	`0088: MOVWF 2B`
		303	`.................... if (line==S) line=L3;`
		304	`0089: MOVF 2B,F`
		305	`008A: BTFSS 03.2`
		306	`008B: GOTO 08E`
		307	`008C: MOVLW 03`
		308	`008D: MOVWF 2B`
		309	`.................... if (line==R2) line=R3;`
		310	`008E: MOVF 2B,W`
		311	`008F: SUBLW FE`
		312	`0090: BTFSS 03.2`
		313	`0091: GOTO 094`
		314	`0092: MOVLW FD`
		315	`0093: MOVWF 2B`
		316	`....................`
		317	`.................... Delay_ms(3); // prodleva na cteni senzoru pred prenosem`
		318	`0094: MOVLW 03`
		319	`0095: MOVWF 3A`
		320	`0096: CALL 065`
		321	`....................`
		322	`.................... output_low(STROBE); // zapni zobrazovani na posuvnem registru`
		323	`0097: BSF 03.5`
		324	`0098: BCF 06.0`
		325	`0099: BCF 03.5`
		326	`009A: BCF 06.0`
		327	`.................... sensors = spi_read(0); // cteni senzoru`
		328	`009B: MOVF 13,W`
		329	`009C: CLRF 13`
		330	`009D: BSF 03.5`
		331	`009E: BTFSC 14.0`
		332	`009F: GOTO 0A2`
		333	`00A0: BCF 03.5`
		334	`00A1: GOTO 09D`
		335	`00A2: BCF 03.5`
		336	`00A3: MOVF 13,W`
		337	`00A4: MOVWF 2A`
		338	`.................... sensors=~sensors;`
		339	`00A5: COMF 2A,F`
		340	`.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru`
		341	`00A6: BSF 03.5`
		342	`00A7: BCF 06.0`
		343	`00A8: BCF 03.5`
		344	`00A9: BSF 06.0`
		345	`....................`
		346	`.................... while(true)`
		347	`.................... {`
		348	`.................... Delay_ms(3);`
		349	`00AA: MOVLW 03`
		350	`00AB: MOVWF 3A`
		351	`00AC: CALL 065`
		352	`....................`
		353	`.................... if (line==L3)`
		354	`00AD: MOVF 2B,W`
		355	`00AE: SUBLW 03`
		356	`00AF: BTFSS 03.2`
		357	`00B0: GOTO 0DB`
		358	`.................... {`
		359	`.................... GO(L,B,160);GO(R,F,160);`
		360	`00B1: MOVF 01,W`
		361	`00B2: SUBLW A0`
		362	`00B3: BTFSS 03.0`
		363	`00B4: GOTO 0BE`
		364	`00B5: BSF 03.5`
		365	`00B6: BCF 05.0`
		366	`00B7: BCF 03.5`
		367	`00B8: BCF 05.0`
		368	`00B9: BSF 03.5`
		369	`00BA: BCF 05.1`
		370	`00BB: BCF 03.5`
		371	`00BC: BSF 05.1`
		372	`00BD: GOTO 0C6`
		373	`00BE: BSF 03.5`
		374	`00BF: BCF 05.0`
		375	`00C0: BCF 03.5`
		376	`00C1: BCF 05.0`
		377	`00C2: BSF 03.5`
		378	`00C3: BCF 05.1`
		379	`00C4: BCF 03.5`
		380	`00C5: BCF 05.1`
		381	`00C6: MOVF 01,W`
		382	`00C7: SUBLW A0`
		383	`00C8: BTFSS 03.0`
		384	`00C9: GOTO 0D3`
		385	`00CA: BSF 03.5`
		386	`00CB: BCF 05.7`
		387	`00CC: BCF 03.5`
		388	`00CD: BCF 05.7`
		389	`00CE: BSF 03.5`
		390	`00CF: BCF 05.6`
		391	`00D0: BCF 03.5`
		392	`00D1: BSF 05.6`
		393	`00D2: GOTO 0DB`
		394	`00D3: BSF 03.5`
		395	`00D4: BCF 05.6`
		396	`00D5: BCF 03.5`
		397	`00D6: BCF 05.6`
		398	`00D7: BSF 03.5`
		399	`00D8: BCF 05.7`
		400	`00D9: BCF 03.5`
		401	`00DA: BCF 05.7`
		402	`.................... };`
		403	`.................... if (line==R3)`
		404	`00DB: MOVF 2B,W`
		405	`00DC: SUBLW FD`
		406	`00DD: BTFSS 03.2`
		407	`00DE: GOTO 109`
		408	`.................... {`
		409	`.................... GO(R,B,160);GO(L,F,160);`
		410	`00DF: MOVF 01,W`
		411	`00E0: SUBLW A0`
		412	`00E1: BTFSS 03.0`
		413	`00E2: GOTO 0EC`
		414	`00E3: BSF 03.5`
		415	`00E4: BCF 05.6`
		416	`00E5: BCF 03.5`
		417	`00E6: BCF 05.6`
		418	`00E7: BSF 03.5`
		419	`00E8: BCF 05.7`
		420	`00E9: BCF 03.5`
		421	`00EA: BSF 05.7`
		422	`00EB: GOTO 0F4`
		423	`00EC: BSF 03.5`
		424	`00ED: BCF 05.6`
		425	`00EE: BCF 03.5`
		426	`00EF: BCF 05.6`
		427	`00F0: BSF 03.5`
		428	`00F1: BCF 05.7`
		429	`00F2: BCF 03.5`
		430	`00F3: BCF 05.7`
		431	`00F4: MOVF 01,W`
		432	`00F5: SUBLW A0`
		433	`00F6: BTFSS 03.0`
		434	`00F7: GOTO 101`
		435	`00F8: BSF 03.5`
		436	`00F9: BCF 05.1`
		437	`00FA: BCF 03.5`
		438	`00FB: BCF 05.1`
		439	`00FC: BSF 03.5`
		440	`00FD: BCF 05.0`
		441	`00FE: BCF 03.5`
		442	`00FF: BSF 05.0`
		443	`0100: GOTO 109`
		444	`0101: BSF 03.5`
		445	`0102: BCF 05.0`
		446	`0103: BCF 03.5`
		447	`0104: BCF 05.0`
		448	`0105: BSF 03.5`
		449	`0106: BCF 05.1`
		450	`0107: BCF 03.5`
		451	`0108: BCF 05.1`
		452	`.................... };`
		453	`.................... if (line==S) {STOPL;STOPR; i++;} else i=0;`
		454	`0109: MOVF 2B,F`
		455	`010A: BTFSS 03.2`
		456	`010B: GOTO 11E`
		457	`010C: BSF 03.5`
		458	`010D: BCF 05.0`
		459	`010E: BCF 03.5`
		460	`010F: BCF 05.0`
		461	`0110: BSF 03.5`
		462	`0111: BCF 05.1`
		463	`0112: BCF 03.5`
		464	`0113: BCF 05.1`
		465	`0114: BSF 03.5`
		466	`0115: BCF 05.6`
		467	`0116: BCF 03.5`
		468	`0117: BCF 05.6`
		469	`0118: BSF 03.5`
		470	`0119: BCF 05.7`
		471	`011A: BCF 03.5`
		472	`011B: BCF 05.7`
		473	`011C: INCF 39,F`
		474	`011D: GOTO 11F`
		475	`011E: CLRF 39`
		476	`....................`
		477	`.................... if (i>=100) break; // pokud je dostatecne dlouho cara vprostred, vypadni`
		478	`011F: MOVF 39,W`
		479	`0120: SUBLW 63`
		480	`0121: BTFSS 03.0`
		481	`0122: GOTO 159`
		482	`....................`
		483	`.................... output_low(STROBE); // zapni zobrazovani na posuvnem registru`
		484	`0123: BSF 03.5`
		485	`0124: BCF 06.0`
		486	`0125: BCF 03.5`
		487	`0126: BCF 06.0`
		488	`.................... sensors = spi_read(0); // cteni senzoru`
		489	`0127: MOVF 13,W`
		490	`0128: CLRF 13`
		491	`0129: BSF 03.5`
		492	`012A: BTFSC 14.0`
		493	`012B: GOTO 12E`
		494	`012C: BCF 03.5`
		495	`012D: GOTO 129`
		496	`012E: BCF 03.5`
		497	`012F: MOVF 13,W`
		498	`0130: MOVWF 2A`
		499	`.................... sensors=~sensors;`
		500	`0131: COMF 2A,F`
		501	`.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru`
		502	`0132: BSF 03.5`
		503	`0133: BCF 06.0`
		504	`0134: BCF 03.5`
		505	`0135: BSF 06.0`
		506	`....................`
		507	`.................... if(bit_test(sensors,3)) //...\|...//`
		508	`0136: BTFSS 2A.3`
		509	`0137: GOTO 13A`
		510	`.................... {`
		511	`.................... line=S;`
		512	`0138: CLRF 2B`
		513	`.................... continue;`
		514	`0139: GOTO 0AA`
		515	`.................... }`
		516	`....................`
		517	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		518	`013A: BTFSS 2A.0`
		519	`013B: GOTO 13F`
		520	`.................... {`
		521	`.................... line=L3;`
		522	`013C: MOVLW 03`
		523	`013D: MOVWF 2B`
		524	`.................... continue;`
		525	`013E: GOTO 0AA`
		526	`.................... }`
		527	`....................`
		528	`.................... if(bit_test(sensors,6)) //......\|//`
		529	`013F: BTFSS 2A.6`
		530	`0140: GOTO 144`
		531	`.................... {`
		532	`.................... line=R3;`
		533	`0141: MOVLW FD`
		534	`0142: MOVWF 2B`
		535	`.................... continue;`
		536	`0143: GOTO 0AA`
		537	`.................... }`
		538	`....................`
		539	`.................... if(bit_test(sensors,1)) //.\|.....//`
		540	`0144: BTFSS 2A.1`
		541	`0145: GOTO 149`
		542	`.................... {`
		543	`.................... line=L3;`
		544	`0146: MOVLW 03`
		545	`0147: MOVWF 2B`
		546	`.................... continue;`
		547	`0148: GOTO 0AA`
		548	`.................... }`
		549	`....................`
		550	`.................... if(bit_test(sensors,5)) //.....\|.//`
		551	`0149: BTFSS 2A.5`
		552	`014A: GOTO 14E`
		553	`.................... {`
		554	`.................... line=R3;`
		555	`014B: MOVLW FD`
		556	`014C: MOVWF 2B`
		557	`.................... continue;`
		558	`014D: GOTO 0AA`
		559	`.................... }`
		560	`....................`
		561	`.................... if (bit_test(sensors,2)) //..\|....//`
		562	`014E: BTFSS 2A.2`
		563	`014F: GOTO 153`
		564	`.................... {`
		565	`.................... line=L3;`
		566	`0150: MOVLW 03`
		567	`0151: MOVWF 2B`
		568	`.................... continue;`
		569	`0152: GOTO 0AA`
		570	`.................... }`
		571	`....................`
		572	`.................... if (bit_test(sensors,4)) //....\|..//`
		573	`0153: BTFSS 2A.4`
		574	`0154: GOTO 158`
		575	`.................... {`
		576	`.................... line=R3;`
		577	`0155: MOVLW FD`
		578	`0156: MOVWF 2B`
		579	`.................... continue;`
		580	`0157: GOTO 0AA`
		581	`.................... }`
		582	`.................... }`
		583	`0158: GOTO 0AA`
		584	`.................... }`
		585	`0159: RETLW 00`
		586	`.................... ////////////////////////////////////////////////////////////////////////////////`
		587	`.................... void objizdka()`
		588	`.................... {`
		589	`.................... FL;BR; // doprava 90`
		590	`015A: BSF 03.5`
		591	`015B: BCF 05.1`
		592	`015C: BCF 03.5`
		593	`015D: BCF 05.1`
		594	`015E: BSF 03.5`
		595	`015F: BCF 05.0`
		596	`0160: BCF 03.5`
		597	`0161: BSF 05.0`
		598	`0162: BSF 03.5`
		599	`0163: BCF 05.6`
		600	`0164: BCF 03.5`
		601	`0165: BCF 05.6`
		602	`0166: BSF 03.5`
		603	`0167: BCF 05.7`
		604	`0168: BCF 03.5`
		605	`0169: BSF 05.7`
		606	`.................... Delay_ms(300);`
		607	`016A: MOVLW 02`
		608	`016B: MOVWF 39`
		609	`016C: MOVLW 96`
		610	`016D: MOVWF 3A`
		611	`016E: CALL 065`
		612	`016F: DECFSZ 39,F`
		613	`0170: GOTO 16C`
		614	`.................... BL;FR; // brzdi z toceni`
		615	`0171: BSF 03.5`
		616	`0172: BCF 05.0`
		617	`0173: BCF 03.5`
		618	`0174: BCF 05.0`
		619	`0175: BSF 03.5`
		620	`0176: BCF 05.1`
		621	`0177: BCF 03.5`
		622	`0178: BSF 05.1`
		623	`0179: BSF 03.5`
		624	`017A: BCF 05.7`
		625	`017B: BCF 03.5`
		626	`017C: BCF 05.7`
		627	`017D: BSF 03.5`
		628	`017E: BCF 05.6`
		629	`017F: BCF 03.5`
		630	`0180: BSF 05.6`
		631	`.................... Delay_ms(100);`
		632	`0181: MOVLW 64`
		633	`0182: MOVWF 3A`
		634	`0183: CALL 065`
		635	`.................... STOPL;STOPR;`
		636	`0184: BSF 03.5`
		637	`0185: BCF 05.0`
		638	`0186: BCF 03.5`
		639	`0187: BCF 05.0`
		640	`0188: BSF 03.5`
		641	`0189: BCF 05.1`
		642	`018A: BCF 03.5`
		643	`018B: BCF 05.1`
		644	`018C: BSF 03.5`
		645	`018D: BCF 05.6`
		646	`018E: BCF 03.5`
		647	`018F: BCF 05.6`
		648	`0190: BSF 03.5`
		649	`0191: BCF 05.7`
		650	`0192: BCF 03.5`
		651	`0193: BCF 05.7`
		652	`....................`
		653	`.................... uhel=STRED;`
		654	`0194: MOVLW 80`
		655	`0195: MOVWF 2C`
		656	`.................... FL;FR;`
		657	`0196: BSF 03.5`
		658	`0197: BCF 05.1`
		659	`0198: BCF 03.5`
		660	`0199: BCF 05.1`
		661	`019A: BSF 03.5`
		662	`019B: BCF 05.0`
		663	`019C: BCF 03.5`
		664	`019D: BSF 05.0`
		665	`019E: BSF 03.5`
		666	`019F: BCF 05.7`
		667	`01A0: BCF 03.5`
		668	`01A1: BCF 05.7`
		669	`01A2: BSF 03.5`
		670	`01A3: BCF 05.6`
		671	`01A4: BCF 03.5`
		672	`01A5: BSF 05.6`
		673	`.................... Delay_ms(380); // rovne`
		674	`01A6: MOVLW 02`
		675	`01A7: MOVWF 39`
		676	`01A8: MOVLW BE`
		677	`01A9: MOVWF 3A`
		678	`01AA: CALL 065`
		679	`01AB: DECFSZ 39,F`
		680	`01AC: GOTO 1A8`
		681	`....................`
		682	`.................... uhel=STRED-55;`
		683	`01AD: MOVLW 49`
		684	`01AE: MOVWF 2C`
		685	`.................... STOPL;FR;`
		686	`01AF: BSF 03.5`
		687	`01B0: BCF 05.0`
		688	`01B1: BCF 03.5`
		689	`01B2: BCF 05.0`
		690	`01B3: BSF 03.5`
		691	`01B4: BCF 05.1`
		692	`01B5: BCF 03.5`
		693	`01B6: BCF 05.1`
		694	`01B7: BSF 03.5`
		695	`01B8: BCF 05.7`
		696	`01B9: BCF 03.5`
		697	`01BA: BCF 05.7`
		698	`01BB: BSF 03.5`
		699	`01BC: BCF 05.6`
		700	`01BD: BCF 03.5`
		701	`01BE: BSF 05.6`
		702	`.................... Delay_ms(190); // doleva`
		703	`01BF: MOVLW BE`
		704	`01C0: MOVWF 3A`
		705	`01C1: CALL 065`
		706	`....................`
		707	`.................... uhel=STRED;`
		708	`01C2: MOVLW 80`
		709	`01C3: MOVWF 2C`
		710	`.................... FR;FL;`
		711	`01C4: BSF 03.5`
		712	`01C5: BCF 05.7`
		713	`01C6: BCF 03.5`
		714	`01C7: BCF 05.7`
		715	`01C8: BSF 03.5`
		716	`01C9: BCF 05.6`
		717	`01CA: BCF 03.5`
		718	`01CB: BSF 05.6`
		719	`01CC: BSF 03.5`
		720	`01CD: BCF 05.1`
		721	`01CE: BCF 03.5`
		722	`01CF: BCF 05.1`
		723	`01D0: BSF 03.5`
		724	`01D1: BCF 05.0`
		725	`01D2: BCF 03.5`
		726	`01D3: BSF 05.0`
		727	`.................... Delay_ms(300); // rovne`
		728	`01D4: MOVLW 02`
		729	`01D5: MOVWF 39`
		730	`01D6: MOVLW 96`
		731	`01D7: MOVWF 3A`
		732	`01D8: CALL 065`
		733	`01D9: DECFSZ 39,F`
		734	`01DA: GOTO 1D6`
		735	`....................`
		736	`.................... uhel=STRED-55;`
		737	`01DB: MOVLW 49`
		738	`01DC: MOVWF 2C`
		739	`.................... FR;STOPL;`
		740	`01DD: BSF 03.5`
		741	`01DE: BCF 05.7`
		742	`01DF: BCF 03.5`
		743	`01E0: BCF 05.7`
		744	`01E1: BSF 03.5`
		745	`01E2: BCF 05.6`
		746	`01E3: BCF 03.5`
		747	`01E4: BSF 05.6`
		748	`01E5: BSF 03.5`
		749	`01E6: BCF 05.0`
		750	`01E7: BCF 03.5`
		751	`01E8: BCF 05.0`
		752	`01E9: BSF 03.5`
		753	`01EA: BCF 05.1`
		754	`01EB: BCF 03.5`
		755	`01EC: BCF 05.1`
		756	`.................... Delay_ms(190); // doleva`
		757	`01ED: MOVLW BE`
		758	`01EE: MOVWF 3A`
		759	`01EF: CALL 065`
		760	`....................`
		761	`.................... uhel=STRED;`
		762	`01F0: MOVLW 80`
		763	`01F1: MOVWF 2C`
		764	`.................... FR;FL;`
		765	`01F2: BSF 03.5`
		766	`01F3: BCF 05.7`
		767	`01F4: BCF 03.5`
		768	`01F5: BCF 05.7`
		769	`01F6: BSF 03.5`
		770	`01F7: BCF 05.6`
		771	`01F8: BCF 03.5`
		772	`01F9: BSF 05.6`
		773	`01FA: BSF 03.5`
		774	`01FB: BCF 05.1`
		775	`01FC: BCF 03.5`
		776	`01FD: BCF 05.1`
		777	`01FE: BSF 03.5`
		778	`01FF: BCF 05.0`
		779	`0200: BCF 03.5`
		780	`0201: BSF 05.0`
		781	`.................... Delay_ms(100); // rovne`
		782	`0202: MOVLW 64`
		783	`0203: MOVWF 3A`
		784	`0204: CALL 065`
		785	`....................`
		786	`.................... While((sensors & 0b11111110)!=0) //dokud neni cara`
		787	`.................... {`
		788	`0205: MOVF 2A,W`
		789	`0206: ANDLW FE`
		790	`0207: BTFSC 03.2`
		791	`0208: GOTO 218`
		792	`.................... sensors = spi_read(0); // cteni senzoru`
		793	`0209: MOVF 13,W`
		794	`020A: CLRF 13`
		795	`020B: BSF 03.5`
		796	`020C: BTFSC 14.0`
		797	`020D: GOTO 210`
		798	`020E: BCF 03.5`
		799	`020F: GOTO 20B`
		800	`0210: BCF 03.5`
		801	`0211: MOVF 13,W`
		802	`0212: MOVWF 2A`
		803	`.................... sensors=~sensors;`
		804	`0213: COMF 2A,F`
		805	`.................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel`
		806	`0214: MOVLW 03`
		807	`0215: MOVWF 3A`
		808	`0216: CALL 065`
		809	`.................... }`
		810	`0217: GOTO 205`
		811	`.................... BL;BR; // zabrzdi`
		812	`0218: BSF 03.5`
		813	`0219: BCF 05.0`
		814	`021A: BCF 03.5`
		815	`021B: BCF 05.0`
		816	`021C: BSF 03.5`
		817	`021D: BCF 05.1`
		818	`021E: BCF 03.5`
		819	`021F: BSF 05.1`
		820	`0220: BSF 03.5`
		821	`0221: BCF 05.6`
		822	`0222: BCF 03.5`
		823	`0223: BCF 05.6`
		824	`0224: BSF 03.5`
		825	`0225: BCF 05.7`
		826	`0226: BCF 03.5`
		827	`0227: BSF 05.7`
		828	`.................... Delay_ms(250);`
		829	`0228: MOVLW FA`
		830	`0229: MOVWF 3A`
		831	`022A: CALL 065`
		832	`....................`
		833	`.................... uhel=KOLMO1;`
		834	`022B: MOVLW E1`
		835	`022C: MOVWF 2C`
		836	`.................... FL;BR; // doprava`
		837	`022D: BSF 03.5`
		838	`022E: BCF 05.1`
		839	`022F: BCF 03.5`
		840	`0230: BCF 05.1`
		841	`0231: BSF 03.5`
		842	`0232: BCF 05.0`
		843	`0233: BCF 03.5`
		844	`0234: BSF 05.0`
		845	`0235: BSF 03.5`
		846	`0236: BCF 05.6`
		847	`0237: BCF 03.5`
		848	`0238: BCF 05.6`
		849	`0239: BSF 03.5`
		850	`023A: BCF 05.7`
		851	`023B: BCF 03.5`
		852	`023C: BSF 05.7`
		853	`.................... While((sensors & 0b11111110)!=0) //dokud neni cara`
		854	`.................... {`
		855	`023D: MOVF 2A,W`
		856	`023E: ANDLW FE`
		857	`023F: BTFSC 03.2`
		858	`0240: GOTO 250`
		859	`.................... sensors = spi_read(0); // cteni senzoru`
		860	`0241: MOVF 13,W`
		861	`0242: CLRF 13`
		862	`0243: BSF 03.5`
		863	`0244: BTFSC 14.0`
		864	`0245: GOTO 248`
		865	`0246: BCF 03.5`
		866	`0247: GOTO 243`
		867	`0248: BCF 03.5`
		868	`0249: MOVF 13,W`
		869	`024A: MOVWF 2A`
		870	`.................... sensors=~sensors;`
		871	`024B: COMF 2A,F`
		872	`.................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel`
		873	`024C: MOVLW 03`
		874	`024D: MOVWF 3A`
		875	`024E: CALL 065`
		876	`.................... }`
		877	`024F: GOTO 23D`
		878	`.................... STOPL;STOPR; // zabrzdi`
		879	`0250: BSF 03.5`
		880	`0251: BCF 05.0`
		881	`0252: BCF 03.5`
		882	`0253: BCF 05.0`
		883	`0254: BSF 03.5`
		884	`0255: BCF 05.1`
		885	`0256: BCF 03.5`
		886	`0257: BCF 05.1`
		887	`0258: BSF 03.5`
		888	`0259: BCF 05.6`
		889	`025A: BCF 03.5`
		890	`025B: BCF 05.6`
		891	`025C: BSF 03.5`
		892	`025D: BCF 05.7`
		893	`025E: BCF 03.5`
		894	`025F: BCF 05.7`
		895	`.................... Delay_ms(300);`
		896	`0260: MOVLW 02`
		897	`0261: MOVWF 39`
		898	`0262: MOVLW 96`
		899	`0263: MOVWF 3A`
		900	`0264: CALL 065`
		901	`0265: DECFSZ 39,F`
		902	`0266: GOTO 262`
		903	`.................... // delay_ms(250);`
		904	`....................`
		905	`.................... line=R3;`
		906	`0267: MOVLW FD`
		907	`0268: MOVWF 2B`
		908	`.................... cikcak();`
		909	`0269: CALL 07D`
		910	`.................... }`
		911	`026A: BCF 0A.3`
		912	`026B: GOTO 3CF (RETURN)`
		913	`....................`
		914	`....................`
		915	`.................... ////////////////////////////////////////////////////////////////////////////////`
		916	`.................... void main()`
		917	`.................... {`
		918	`026C: CLRF 04`
		919	`026D: MOVLW 1F`
		920	`026E: ANDWF 03,F`
		921	`026F: MOVLW 70`
		922	`0270: BSF 03.5`
		923	`0271: MOVWF 0F`
		924	`0272: BCF 1F.4`
		925	`0273: BCF 1F.5`
		926	`0274: MOVF 1B,W`
		927	`0275: ANDLW 80`
		928	`0276: MOVWF 1B`
		929	`0277: MOVLW 07`
		930	`0278: MOVWF 1C`
		931	`....................`
		932	`.................... unsigned int8 n;`
		933	`.................... unsigned int8 i,j;`
		934	`.................... unsigned int8 last_sensors;`
		935	`.................... unsigned int8 RozumnaRychlost;`
		936	`....................`
		937	`.................... setup_adc_ports(sAN5\|sAN2\|sAN4\|sAN6\|VSS_VDD); // AD pro kroutitka`
		938	`*`
		939	`027B: BSF 03.5`
		940	`027C: BCF 1F.4`
		941	`027D: BCF 1F.5`
		942	`027E: MOVF 1B,W`
		943	`027F: ANDLW 80`
		944	`0280: IORLW 74`
		945	`0281: MOVWF 1B`
		946	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		947	`0282: BCF 1F.6`
		948	`0283: BCF 03.5`
		949	`0284: BSF 1F.6`
		950	`0285: BSF 1F.7`
		951	`0286: BSF 03.5`
		952	`0287: BCF 1F.7`
		953	`0288: BCF 03.5`
		954	`0289: BSF 1F.0`
		955	`.................... setup_spi(SPI_MASTER\|SPI_H_TO_L\|SPI_XMIT_L_TO_H\|SPI_CLK_DIV_16);`
		956	`028A: BCF 14.5`
		957	`028B: BSF 03.5`
		958	`028C: BCF 06.2`
		959	`028D: BSF 06.1`
		960	`028E: BCF 06.4`
		961	`028F: MOVLW 31`
		962	`0290: BCF 03.5`
		963	`0291: MOVWF 14`
		964	`0292: MOVLW 00`
		965	`0293: BSF 03.5`
		966	`0294: MOVWF 14`
		967	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		968	`0295: MOVF 01,W`
		969	`0296: ANDLW C7`
		970	`0297: IORLW 08`
		971	`0298: MOVWF 01`
		972	`.................... setup_timer_1(T1_DISABLED\|T1_DIV_BY_8);`
		973	`0299: MOVLW 30`
		974	`029A: BCF 03.5`
		975	`029B: MOVWF 10`
		976	`.................... setup_timer_2(T2_DIV_BY_16,140,16);`
		977	`029C: MOVLW 78`
		978	`029D: MOVWF 78`
		979	`029E: IORLW 06`
		980	`029F: MOVWF 12`
		981	`02A0: MOVLW 8C`
		982	`02A1: BSF 03.5`
		983	`02A2: MOVWF 12`
		984	`.................... setup_oscillator(OSC_8MHZ\|OSC_INTRC);`
		985	`02A3: MOVLW 72`
		986	`02A4: MOVWF 0F`
		987	`....................`
		988	`.................... STOPR; STOPL; // zastav motory`
		989	`02A5: BCF 05.6`
		990	`02A6: BCF 03.5`
		991	`02A7: BCF 05.6`
		992	`02A8: BSF 03.5`
		993	`02A9: BCF 05.7`
		994	`02AA: BCF 03.5`
		995	`02AB: BCF 05.7`
		996	`02AC: BSF 03.5`
		997	`02AD: BCF 05.0`
		998	`02AE: BCF 03.5`
		999	`02AF: BCF 05.0`
		1000	`02B0: BSF 03.5`
		1001	`02B1: BCF 05.1`
		1002	`02B2: BCF 03.5`
		1003	`02B3: BCF 05.1`
		1004	`.................... Lmotor=0;Rmotor=0;`
		1005	`02B4: CLRF 31`
		1006	`02B5: CLRF 30`
		1007	`02B6: CLRF 33`
		1008	`02B7: CLRF 32`
		1009	`....................`
		1010	`.................... uhel = STRED; // nastav zadni kolecko na stred`
		1011	`02B8: MOVLW 80`
		1012	`02B9: MOVWF 2C`
		1013	`.................... rovinka = 0;`
		1014	`02BA: CLRF 2F`
		1015	`....................`
		1016	`.................... enable_interrupts(INT_TIMER2);`
		1017	`02BB: BSF 03.5`
		1018	`02BC: BSF 0C.1`
		1019	`.................... enable_interrupts(GLOBAL);`
		1020	`02BD: MOVLW C0`
		1021	`02BE: BCF 03.5`
		1022	`02BF: IORWF 0B,F`
		1023	`....................`
		1024	`.................... output_low(IRTX); // zapni IR vysilac`
		1025	`02C0: BSF 03.5`
		1026	`02C1: BCF 06.2`
		1027	`02C2: BCF 03.5`
		1028	`02C3: BCF 06.2`
		1029	`....................`
		1030	`.................... delay_ms(2000); // musime pockat na diagnostiku slave CPU`
		1031	`02C4: MOVLW 08`
		1032	`02C5: MOVWF 39`
		1033	`02C6: MOVLW FA`
		1034	`02C7: MOVWF 3A`
		1035	`02C8: CALL 065`
		1036	`02C9: DECFSZ 39,F`
		1037	`02CA: GOTO 2C6`
		1038	`....................`
		1039	`.................... //nastaveni rychlosti`
		1040	`.................... set_adc_channel(CERVENA);`
		1041	`02CB: MOVLW 20`
		1042	`02CC: MOVWF 78`
		1043	`02CD: MOVF 1F,W`
		1044	`02CE: ANDLW C7`
		1045	`02CF: IORWF 78,W`
		1046	`02D0: MOVWF 1F`
		1047	`....................`
		1048	`.................... Delay_ms(1);`
		1049	`02D1: MOVLW 01`
		1050	`02D2: MOVWF 3A`
		1051	`02D3: CALL 065`
		1052	`.................... RozumnaRychlost=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63`
		1053	`02D4: BSF 1F.2`
		1054	`02D5: BTFSC 1F.2`
		1055	`02D6: GOTO 2D5`
		1056	`02D7: MOVF 1E,W`
		1057	`02D8: MOVWF 77`
		1058	`02D9: RRF 77,F`
		1059	`02DA: RRF 77,F`
		1060	`02DB: MOVLW 3F`
		1061	`02DC: ANDWF 77,F`
		1062	`02DD: MOVF 77,W`
		1063	`02DE: ADDLW 64`
		1064	`02DF: MOVWF 38`
		1065	`.................... set_adc_channel(MODRA);`
		1066	`02E0: MOVLW 10`
		1067	`02E1: MOVWF 78`
		1068	`02E2: MOVF 1F,W`
		1069	`02E3: ANDLW C7`
		1070	`02E4: IORWF 78,W`
		1071	`02E5: MOVWF 1F`
		1072	`.................... Delay_ms(1);`
		1073	`02E6: MOVLW 01`
		1074	`02E7: MOVWF 3A`
		1075	`02E8: CALL 065`
		1076	`.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63`
		1077	`02E9: MOVLW 20`
		1078	`02EA: SUBWF 2D,W`
		1079	`02EB: MOVWF 39`
		1080	`02EC: BSF 1F.2`
		1081	`02ED: BTFSC 1F.2`
		1082	`02EE: GOTO 2ED`
		1083	`02EF: MOVF 1E,W`
		1084	`02F0: MOVWF 77`
		1085	`02F1: RRF 77,F`
		1086	`02F2: RRF 77,F`
		1087	`02F3: MOVLW 3F`
		1088	`02F4: ANDWF 77,F`
		1089	`02F5: MOVF 77,W`
		1090	`02F6: ADDWF 39,W`
		1091	`02F7: MOVWF 2E`
		1092	`....................`
		1093	`.................... speed=R17;`
		1094	`02F8: MOVLW C8`
		1095	`02F9: MOVWF 2D`
		1096	`....................`
		1097	`.................... while(true)`
		1098	`.................... {`
		1099	`....................`
		1100	`.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor`
		1101	`02FA: MOVF 01,W`
		1102	`02FB: BTFSS 00.7`
		1103	`02FC: GOTO 300`
		1104	`02FD: BTFSS 31.7`
		1105	`02FE: GOTO 308`
		1106	`02FF: GOTO 302`
		1107	`0300: BTFSC 31.7`
		1108	`0301: GOTO 311`
		1109	`0302: MOVF 31,F`
		1110	`0303: BTFSS 03.2`
		1111	`0304: GOTO 308`
		1112	`0305: SUBWF 30,W`
		1113	`0306: BTFSS 03.0`
		1114	`0307: GOTO 311`
		1115	`0308: BSF 03.5`
		1116	`0309: BCF 05.1`
		1117	`030A: BCF 03.5`
		1118	`030B: BCF 05.1`
		1119	`030C: BSF 03.5`
		1120	`030D: BCF 05.0`
		1121	`030E: BCF 03.5`
		1122	`030F: BSF 05.0`
		1123	`0310: GOTO 319`
		1124	`0311: BSF 03.5`
		1125	`0312: BCF 05.0`
		1126	`0313: BCF 03.5`
		1127	`0314: BCF 05.0`
		1128	`0315: BSF 03.5`
		1129	`0316: BCF 05.1`
		1130	`0317: BCF 03.5`
		1131	`0318: BCF 05.1`
		1132	`0319: MOVF 01,W`
		1133	`031A: BTFSS 00.7`
		1134	`031B: GOTO 31F`
		1135	`031C: BTFSS 33.7`
		1136	`031D: GOTO 327`
		1137	`031E: GOTO 321`
		1138	`031F: BTFSC 33.7`
		1139	`0320: GOTO 330`
		1140	`0321: MOVF 33,F`
		1141	`0322: BTFSS 03.2`
		1142	`0323: GOTO 327`
		1143	`0324: SUBWF 32,W`
		1144	`0325: BTFSS 03.0`
		1145	`0326: GOTO 330`
		1146	`0327: BSF 03.5`
		1147	`0328: BCF 05.7`
		1148	`0329: BCF 03.5`
		1149	`032A: BCF 05.7`
		1150	`032B: BSF 03.5`
		1151	`032C: BCF 05.6`
		1152	`032D: BCF 03.5`
		1153	`032E: BSF 05.6`
		1154	`032F: GOTO 338`
		1155	`0330: BSF 03.5`
		1156	`0331: BCF 05.6`
		1157	`0332: BCF 03.5`
		1158	`0333: BCF 05.6`
		1159	`0334: BSF 03.5`
		1160	`0335: BCF 05.7`
		1161	`0336: BCF 03.5`
		1162	`0337: BCF 05.7`
		1163	`....................`
		1164	`.................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel`
		1165	`0338: CLRWDT`
		1166	`0339: MOVLW 01`
		1167	`033A: MOVWF 3A`
		1168	`033B: CALL 065`
		1169	`033C: MOVLW 09`
		1170	`033D: MOVWF 39`
		1171	`033E: CLRF 29`
		1172	`033F: BTFSC 0B.7`
		1173	`0340: BSF 29.7`
		1174	`0341: BCF 0B.7`
		1175	`0342: MOVLW 6D`
		1176	`0343: MOVWF 3D`
		1177	`0344: CALL 037`
		1178	`0345: BTFSC 29.7`
		1179	`0346: BSF 0B.7`
		1180	`0347: DECFSZ 39,F`
		1181	`0348: GOTO 33E`
		1182	`....................`
		1183	`.................... last_sensors=sensors;`
		1184	`0349: MOVF 2A,W`
		1185	`034A: MOVWF 37`
		1186	`....................`
		1187	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		1188	`034B: BSF 03.5`
		1189	`034C: BCF 06.0`
		1190	`034D: BCF 03.5`
		1191	`034E: BCF 06.0`
		1192	`.................... sensors = spi_read(0); // cteni senzoru`
		1193	`034F: MOVF 13,W`
		1194	`0350: CLRF 13`
		1195	`0351: BSF 03.5`
		1196	`0352: BTFSC 14.0`
		1197	`0353: GOTO 356`
		1198	`0354: BCF 03.5`
		1199	`0355: GOTO 351`
		1200	`0356: BCF 03.5`
		1201	`0357: MOVF 13,W`
		1202	`0358: MOVWF 2A`
		1203	`.................... sensors=~sensors; // neguj prijata data`
		1204	`0359: COMF 2A,F`
		1205	`.................... output_high(STROBE); // zobraz data na posuvnem registru`
		1206	`035A: BSF 03.5`
		1207	`035B: BCF 06.0`
		1208	`035C: BCF 03.5`
		1209	`035D: BSF 06.0`
		1210	`....................`
		1211	`.................... i=0; // havarijni kod`
		1212	`035E: CLRF 35`
		1213	`.................... for (n=0; n<=6; n++)`
		1214	`035F: CLRF 34`
		1215	`0360: MOVF 34,W`
		1216	`0361: SUBLW 06`
		1217	`0362: BTFSS 03.0`
		1218	`0363: GOTO 372`
		1219	`.................... {`
		1220	`.................... if(bit_test(sensors,n)) i++;`
		1221	`0364: MOVF 2A,W`
		1222	`0365: MOVWF 77`
		1223	`0366: MOVF 34,W`
		1224	`0367: MOVWF 78`
		1225	`0368: BTFSC 03.2`
		1226	`0369: GOTO 36E`
		1227	`036A: BCF 03.0`
		1228	`036B: RRF 77,F`
		1229	`036C: DECFSZ 78,F`
		1230	`036D: GOTO 36A`
		1231	`036E: BTFSC 77.0`
		1232	`036F: INCF 35,F`
		1233	`.................... }`
		1234	`0370: INCF 34,F`
		1235	`0371: GOTO 360`
		1236	`.................... if (i>4) // zastavi, kdyz je cerno pod vice nez tremi cidly`
		1237	`0372: MOVF 35,W`
		1238	`0373: SUBLW 04`
		1239	`0374: BTFSC 03.0`
		1240	`0375: GOTO 39E`
		1241	`.................... {`
		1242	`.................... BL; BR;`
		1243	`0376: BSF 03.5`
		1244	`0377: BCF 05.0`
		1245	`0378: BCF 03.5`
		1246	`0379: BCF 05.0`
		1247	`037A: BSF 03.5`
		1248	`037B: BCF 05.1`
		1249	`037C: BCF 03.5`
		1250	`037D: BSF 05.1`
		1251	`037E: BSF 03.5`
		1252	`037F: BCF 05.6`
		1253	`0380: BCF 03.5`
		1254	`0381: BCF 05.6`
		1255	`0382: BSF 03.5`
		1256	`0383: BCF 05.7`
		1257	`0384: BCF 03.5`
		1258	`0385: BSF 05.7`
		1259	`.................... delay_ms(300);`
		1260	`0386: MOVLW 02`
		1261	`0387: MOVWF 39`
		1262	`0388: MOVLW 96`
		1263	`0389: MOVWF 3A`
		1264	`038A: CALL 065`
		1265	`038B: DECFSZ 39,F`
		1266	`038C: GOTO 388`
		1267	`.................... STOPR; STOPL;`
		1268	`038D: BSF 03.5`
		1269	`038E: BCF 05.6`
		1270	`038F: BCF 03.5`
		1271	`0390: BCF 05.6`
		1272	`0391: BSF 03.5`
		1273	`0392: BCF 05.7`
		1274	`0393: BCF 03.5`
		1275	`0394: BCF 05.7`
		1276	`0395: BSF 03.5`
		1277	`0396: BCF 05.0`
		1278	`0397: BCF 03.5`
		1279	`0398: BCF 05.0`
		1280	`0399: BSF 03.5`
		1281	`039A: BCF 05.1`
		1282	`039B: BCF 03.5`
		1283	`039C: BCF 05.1`
		1284	`.................... While(true);`
		1285	`039D: GOTO 39D`
		1286	`.................... };`
		1287	`....................`
		1288	`.................... /*`
		1289	`.................... if (!input(CIHLA)) // dalkova detekce cihly`
		1290	`.................... {`
		1291	`.................... speed=PRED_CIHLOU;`
		1292	`.................... }`
		1293	`.................... else`
		1294	`.................... {`
		1295	`.................... speed=RozumnaRychlost;`
		1296	`.................... }`
		1297	`.................... */`
		1298	`.................... if (bit_test(sensors,7)) // detekce cihly`
		1299	`039E: BTFSS 2A.7`
		1300	`039F: GOTO 3CF`
		1301	`.................... {`
		1302	`.................... BR;BL;`
		1303	`03A0: BSF 03.5`
		1304	`03A1: BCF 05.6`
		1305	`03A2: BCF 03.5`
		1306	`03A3: BCF 05.6`
		1307	`03A4: BSF 03.5`
		1308	`03A5: BCF 05.7`
		1309	`03A6: BCF 03.5`
		1310	`03A7: BSF 05.7`
		1311	`03A8: BSF 03.5`
		1312	`03A9: BCF 05.0`
		1313	`03AA: BCF 03.5`
		1314	`03AB: BCF 05.0`
		1315	`03AC: BSF 03.5`
		1316	`03AD: BCF 05.1`
		1317	`03AE: BCF 03.5`
		1318	`03AF: BSF 05.1`
		1319	`.................... Delay_ms(400);`
		1320	`03B0: MOVLW 02`
		1321	`03B1: MOVWF 39`
		1322	`03B2: MOVLW C8`
		1323	`03B3: MOVWF 3A`
		1324	`03B4: CALL 065`
		1325	`03B5: DECFSZ 39,F`
		1326	`03B6: GOTO 3B2`
		1327	`.................... STOPR;STOPL;`
		1328	`03B7: BSF 03.5`
		1329	`03B8: BCF 05.6`
		1330	`03B9: BCF 03.5`
		1331	`03BA: BCF 05.6`
		1332	`03BB: BSF 03.5`
		1333	`03BC: BCF 05.7`
		1334	`03BD: BCF 03.5`
		1335	`03BE: BCF 05.7`
		1336	`03BF: BSF 03.5`
		1337	`03C0: BCF 05.0`
		1338	`03C1: BCF 03.5`
		1339	`03C2: BCF 05.0`
		1340	`03C3: BSF 03.5`
		1341	`03C4: BCF 05.1`
		1342	`03C5: BCF 03.5`
		1343	`03C6: BCF 05.1`
		1344	`.................... // if (1==IRcheck()) // kontrola, jestli nebylo rusene cidlo`
		1345	`.................... {`
		1346	`.................... Delay_ms(100);`
		1347	`03C7: MOVLW 64`
		1348	`03C8: MOVWF 3A`
		1349	`03C9: CALL 065`
		1350	`.................... cikcak();`
		1351	`03CA: CALL 07D`
		1352	`.................... delay_ms(100);`
		1353	`03CB: MOVLW 64`
		1354	`03CC: MOVWF 3A`
		1355	`03CD: CALL 065`
		1356	`.................... objizdka(); // objede cihlu`
		1357	`03CE: GOTO 15A`
		1358	`.................... }`
		1359	`.................... }`
		1360	`....................`
		1361	`.................... if (speed > RozumnaRychlost) speed--; // postupne zpomaleni na Roz. Rychl.`
		1362	`03CF: MOVF 2D,W`
		1363	`03D0: SUBWF 38,W`
		1364	`03D1: BTFSS 03.0`
		1365	`03D2: DECF 2D,F`
		1366	`....................`
		1367	`.................... if(bit_test(sensors,3)) //...\|...//`
		1368	`03D3: BTFSS 2A.3`
		1369	`03D4: GOTO 3E7`
		1370	`.................... {`
		1371	`.................... uhel=STRED;`
		1372	`03D5: MOVLW 80`
		1373	`03D6: MOVWF 2C`
		1374	`.................... Lmotor=speed;`
		1375	`03D7: CLRF 7A`
		1376	`03D8: MOVF 2D,W`
		1377	`03D9: MOVWF 30`
		1378	`03DA: MOVF 7A,W`
		1379	`03DB: MOVWF 31`
		1380	`.................... Rmotor=speed;`
		1381	`03DC: CLRF 7A`
		1382	`03DD: MOVF 2D,W`
		1383	`03DE: MOVWF 32`
		1384	`03DF: MOVF 7A,W`
		1385	`03E0: MOVWF 33`
		1386	`.................... line=S;`
		1387	`03E1: CLRF 2B`
		1388	`.................... if (rovinka < 255) rovinka++;`
		1389	`03E2: INCFSZ 2F,W`
		1390	`03E3: GOTO 3E5`
		1391	`03E4: GOTO 3E6`
		1392	`03E5: INCF 2F,F`
		1393	`.................... continue;`
		1394	`03E6: GOTO 2FA`
		1395	`.................... }`
		1396	`....................`
		1397	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		1398	`03E7: BTFSS 2A.0`
		1399	`03E8: GOTO 3F5`
		1400	`.................... {`
		1401	`.................... uhel=STRED - BEAR3;`
		1402	`03E9: MOVLW 53`
		1403	`03EA: MOVWF 2C`
		1404	`.................... Lmotor=0;`
		1405	`03EB: CLRF 31`
		1406	`03EC: CLRF 30`
		1407	`.................... Rmotor=turn;`
		1408	`03ED: CLRF 7A`
		1409	`03EE: MOVF 2E,W`
		1410	`03EF: MOVWF 32`
		1411	`03F0: MOVF 7A,W`
		1412	`03F1: MOVWF 33`
		1413	`.................... line=L3;`
		1414	`03F2: MOVLW 03`
		1415	`03F3: MOVWF 2B`
		1416	`.................... continue;`
		1417	`03F4: GOTO 2FA`
		1418	`.................... }`
		1419	`....................`
		1420	`.................... if(bit_test(sensors,6)) //......\|//`
		1421	`03F5: BTFSS 2A.6`
		1422	`03F6: GOTO 403`
		1423	`.................... {`
		1424	`.................... uhel=STRED + BEAR3;`
		1425	`03F7: MOVLW AD`
		1426	`03F8: MOVWF 2C`
		1427	`.................... Rmotor=0;`
		1428	`03F9: CLRF 33`
		1429	`03FA: CLRF 32`
		1430	`.................... Lmotor=turn;`
		1431	`03FB: CLRF 7A`
		1432	`03FC: MOVF 2E,W`
		1433	`03FD: MOVWF 30`
		1434	`03FE: MOVF 7A,W`
		1435	`03FF: MOVWF 31`
		1436	`.................... line=R3;`
		1437	`0400: MOVLW FD`
		1438	`0401: MOVWF 2B`
		1439	`.................... continue;`
		1440	`0402: GOTO 2FA`
		1441	`.................... }`
		1442	`....................`
		1443	`.................... if(bit_test(sensors,1)) //.\|.....//`
		1444	`0403: BTFSS 2A.1`
		1445	`0404: GOTO 415`
		1446	`.................... {`
		1447	`.................... uhel=STRED - BEAR2;`
		1448	`0405: MOVLW 67`
		1449	`0406: MOVWF 2C`
		1450	`.................... Lmotor=speed-70;`
		1451	`0407: MOVLW 46`
		1452	`0408: SUBWF 2D,W`
		1453	`0409: CLRF 7A`
		1454	`040A: MOVWF 30`
		1455	`040B: MOVF 7A,W`
		1456	`040C: MOVWF 31`
		1457	`.................... Rmotor=speed;`
		1458	`040D: CLRF 7A`
		1459	`040E: MOVF 2D,W`
		1460	`040F: MOVWF 32`
		1461	`0410: MOVF 7A,W`
		1462	`0411: MOVWF 33`
		1463	`.................... line=L2;`
		1464	`0412: MOVLW 02`
		1465	`0413: MOVWF 2B`
		1466	`.................... continue;`
		1467	`0414: GOTO 2FA`
		1468	`.................... }`
		1469	`....................`
		1470	`.................... if(bit_test(sensors,5)) //.....\|.//`
		1471	`0415: BTFSS 2A.5`
		1472	`0416: GOTO 427`
		1473	`.................... {`
		1474	`.................... uhel=STRED + BEAR2;`
		1475	`0417: MOVLW 99`
		1476	`0418: MOVWF 2C`
		1477	`.................... Rmotor=speed-70;`
		1478	`0419: MOVLW 46`
		1479	`041A: SUBWF 2D,W`
		1480	`041B: CLRF 7A`
		1481	`041C: MOVWF 32`
		1482	`041D: MOVF 7A,W`
		1483	`041E: MOVWF 33`
		1484	`.................... Lmotor=speed;`
		1485	`041F: CLRF 7A`
		1486	`0420: MOVF 2D,W`
		1487	`0421: MOVWF 30`
		1488	`0422: MOVF 7A,W`
		1489	`0423: MOVWF 31`
		1490	`.................... line=R2;`
		1491	`0424: MOVLW FE`
		1492	`0425: MOVWF 2B`
		1493	`.................... continue;`
		1494	`0426: GOTO 2FA`
		1495	`.................... }`
		1496	`....................`
		1497	`.................... if (bit_test(sensors,2)) //..\|....//`
		1498	`0427: BTFSS 2A.2`
		1499	`0428: GOTO 43D`
		1500	`.................... {`
		1501	`.................... uhel=STRED - BEAR1;`
		1502	`0429: MOVLW 76`
		1503	`042A: MOVWF 2C`
		1504	`.................... Lmotor=speed-20;`
		1505	`042B: MOVLW 14`
		1506	`042C: SUBWF 2D,W`
		1507	`042D: CLRF 7A`
		1508	`042E: MOVWF 30`
		1509	`042F: MOVF 7A,W`
		1510	`0430: MOVWF 31`
		1511	`.................... Rmotor=speed;`
		1512	`0431: CLRF 7A`
		1513	`0432: MOVF 2D,W`
		1514	`0433: MOVWF 32`
		1515	`0434: MOVF 7A,W`
		1516	`0435: MOVWF 33`
		1517	`.................... line=L2;`
		1518	`0436: MOVLW 02`
		1519	`0437: MOVWF 2B`
		1520	`.................... if (rovinka<255) rovinka++;`
		1521	`0438: INCFSZ 2F,W`
		1522	`0439: GOTO 43B`
		1523	`043A: GOTO 43C`
		1524	`043B: INCF 2F,F`
		1525	`.................... continue;`
		1526	`043C: GOTO 2FA`
		1527	`.................... }`
		1528	`....................`
		1529	`.................... if (bit_test(sensors,4)) //....\|..//`
		1530	`043D: BTFSS 2A.4`
		1531	`043E: GOTO 453`
		1532	`.................... {`
		1533	`.................... uhel=STRED + BEAR1;`
		1534	`043F: MOVLW 8A`
		1535	`0440: MOVWF 2C`
		1536	`.................... Rmotor=speed-20;`
		1537	`0441: MOVLW 14`
		1538	`0442: SUBWF 2D,W`
		1539	`0443: CLRF 7A`
		1540	`0444: MOVWF 32`
		1541	`0445: MOVF 7A,W`
		1542	`0446: MOVWF 33`
		1543	`.................... Lmotor=speed;`
		1544	`0447: CLRF 7A`
		1545	`0448: MOVF 2D,W`
		1546	`0449: MOVWF 30`
		1547	`044A: MOVF 7A,W`
		1548	`044B: MOVWF 31`
		1549	`.................... line=L2;`
		1550	`044C: MOVLW 02`
		1551	`044D: MOVWF 2B`
		1552	`.................... if (rovinka<255) rovinka++;`
		1553	`044E: INCFSZ 2F,W`
		1554	`044F: GOTO 451`
		1555	`0450: GOTO 452`
		1556	`0451: INCF 2F,F`
		1557	`.................... continue;`
		1558	`0452: GOTO 2FA`
		1559	`.................... }`
		1560	`....................`
		1561	`....................`
		1562	`.................... if ((L3==line) \|\| (R3==line)) // Brzdeni pri vyjeti z trate`
		1563	`0453: MOVF 2B,W`
		1564	`0454: SUBLW 03`
		1565	`0455: BTFSC 03.2`
		1566	`0456: GOTO 45B`
		1567	`0457: MOVF 2B,W`
		1568	`0458: SUBLW FD`
		1569	`0459: BTFSS 03.2`
		1570	`045A: GOTO 480`
		1571	`.................... {`
		1572	`.................... if (rovinka>50)`
		1573	`045B: MOVF 2F,W`
		1574	`045C: SUBLW 32`
		1575	`045D: BTFSC 03.0`
		1576	`045E: GOTO 47D`
		1577	`.................... {`
		1578	`.................... BL; BR;`
		1579	`045F: BSF 03.5`
		1580	`0460: BCF 05.0`
		1581	`0461: BCF 03.5`
		1582	`0462: BCF 05.0`
		1583	`0463: BSF 03.5`
		1584	`0464: BCF 05.1`
		1585	`0465: BCF 03.5`
		1586	`0466: BSF 05.1`
		1587	`0467: BSF 03.5`
		1588	`0468: BCF 05.6`
		1589	`0469: BCF 03.5`
		1590	`046A: BCF 05.6`
		1591	`046B: BSF 03.5`
		1592	`046C: BCF 05.7`
		1593	`046D: BCF 03.5`
		1594	`046E: BSF 05.7`
		1595	`.................... Delay_ms(100);`
		1596	`046F: MOVLW 64`
		1597	`0470: MOVWF 3A`
		1598	`0471: CALL 065`
		1599	`.................... if (rovinka > 250 \|\| speed > 170) delay_ms(50);`
		1600	`0472: MOVF 2F,W`
		1601	`0473: SUBLW FA`
		1602	`0474: BTFSS 03.0`
		1603	`0475: GOTO 47A`
		1604	`0476: MOVF 2D,W`
		1605	`0477: SUBLW AA`
		1606	`0478: BTFSC 03.0`
		1607	`0479: GOTO 47D`
		1608	`047A: MOVLW 32`
		1609	`047B: MOVWF 3A`
		1610	`047C: CALL 065`
		1611	`.................... };`
		1612	`.................... rovinka=0;`
		1613	`047D: CLRF 2F`
		1614	`.................... speed=R17;`
		1615	`047E: MOVLW C8`
		1616	`047F: MOVWF 2D`
		1617	`.................... };`
		1618	`.................... }`
		1619	`0480: GOTO 2FA`
		1620	`.................... }`
		1621	`0481: SLEEP`
		1622
		1623	`Configuration Fuses:`
		1624	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1625	`Word 2: 3FFC NOFCMEN NOIESO`

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(root)/roboti/istrobot/3Orbis/main.LST – Rev 155