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

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.245, 27853 12-V-06 23:56`
		2
		3	`Filename: D:\KAKLIK\roboti\istrobot\3Orbis\vystava\main.lst`
		4
		5	`ROM used: 646 words (16%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 32 (18%) at main() level`
		8	`35 (20%) worst case`
		9	`Stack: 3 worst case (1 in main + 2 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 07D`
		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 // 3 stupne zataceni`
		137	`.................... #define BEAR2 25`
		138	`.................... #define BEAR3 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 L2 2 // cara vlevo`
		143	`.................... #define L3 3 // cara vlevo`
		144	`.................... #define S 0 // cara mezi sensory`
		145	`.................... #define R2 -2 // cara vpravo`
		146	`.................... #define R3 -3 // cara vpravo`
		147	`....................`
		148	`.................... // servo`
		149	`.................... #define SERVO PIN_B5`
		150	`....................`
		151	`.................... // kroutitka`
		152	`.................... #define CERVENA 4 // AN4`
		153	`.................... #define MODRA 2 // AN2`
		154	`....................`
		155	`.................... // IR`
		156	`.................... #define IRTX PIN_B2`
		157	`.................... #define CIHLA PIN_A3`
		158	`....................`
		159	`.................... //motory`
		160	`.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred`
		161	`.................... #define FL output_low(PIN_A1); output_high(PIN_A0)`
		162	`.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad`
		163	`.................... #define BL output_low(PIN_A0); output_high(PIN_A1)`
		164	`.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7)`
		165	`.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)`
		166	`....................`
		167	`.................... //HID`
		168	`.................... #define LED1 PIN_B1 //oranzova`
		169	`.................... #define LED2 PIN_B2 //zluta`
		170	`....................`
		171	`.................... #define STROBE PIN_B0`
		172	`....................`
		173	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		174	`.................... signed int8 line = S; // na ktere strane byla detekovana cara`
		175	`*`
		176	`008A: BCF 03.5`
		177	`008B: CLRF 2B`
		178	`.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni`
		179	`.................... unsigned int8 speed; // maximalni povolena rychlost`
		180	`.................... unsigned int8 turn; // rychlost toceni`
		181	`.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky`
		182	`....................`
		183	`.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem`
		184	`.................... signed int16 Rmotor; // a pravem motoru`
		185	`....................`
		186	`.................... // makro pro PWM pro motory`
		187	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		188	`.................... {direction##motor;} else {stop##motor;}`
		189	`.................... ////////////////////////////////////////////////////////////////////////////////`
		190	`.................... #int_TIMER2`
		191	`.................... TIMER2_isr() // ovladani serva`
		192	`.................... {`
		193	`.................... unsigned int8 n;`
		194	`....................`
		195	`.................... output_high(SERVO);`
		196	`*`
		197	`0047: BSF 03.5`
		198	`0048: BCF 06.5`
		199	`0049: BCF 03.5`
		200	`004A: BSF 06.5`
		201	`.................... delay_us(1000);`
		202	`004B: CLRWDT`
		203	`004C: MOVLW 09`
		204	`004D: MOVWF 3C`
		205	`004E: MOVLW 6D`
		206	`004F: MOVWF 3D`
		207	`0050: CALL 037`
		208	`0051: DECFSZ 3C,F`
		209	`0052: GOTO 04E`
		210	`.................... for(n=uhel; n>0; n--) Delay_us(2);`
		211	`0053: MOVF 2C,W`
		212	`0054: MOVWF 3B`
		213	`0055: MOVF 3B,F`
		214	`0056: BTFSC 03.2`
		215	`0057: GOTO 05E`
		216	`0058: CLRWDT`
		217	`0059: NOP`
		218	`005A: NOP`
		219	`005B: NOP`
		220	`005C: DECF 3B,F`
		221	`005D: GOTO 055`
		222	`.................... output_low(SERVO);`
		223	`005E: BSF 03.5`
		224	`005F: BCF 06.5`
		225	`0060: BCF 03.5`
		226	`0061: BCF 06.5`
		227	`.................... }`
		228	`....................`
		229	`.................... ////////////////////////////////////////////////////////////////////////////////`
		230	`0062: BCF 0C.1`
		231	`0063: BCF 0A.3`
		232	`0064: GOTO 022`
		233	`.................... void main()`
		234	`.................... {`
		235	`*`
		236	`007D: CLRF 04`
		237	`007E: MOVLW 1F`
		238	`007F: ANDWF 03,F`
		239	`0080: MOVLW 70`
		240	`0081: BSF 03.5`
		241	`0082: MOVWF 0F`
		242	`0083: BCF 1F.4`
		243	`0084: BCF 1F.5`
		244	`0085: MOVF 1B,W`
		245	`0086: ANDLW 80`
		246	`0087: MOVWF 1B`
		247	`0088: MOVLW 07`
		248	`0089: MOVWF 1C`
		249	`....................`
		250	`.................... unsigned int8 n;`
		251	`.................... unsigned int8 i,j;`
		252	`.................... unsigned int8 last_sensors;`
		253	`.................... unsigned int8 RozumnaRychlost;`
		254	`....................`
		255	`.................... setup_adc_ports(sAN5\|sAN2\|sAN4\|sAN6\|VSS_VDD); // AD pro kroutitka`
		256	`*`
		257	`008C: BSF 03.5`
		258	`008D: BCF 1F.4`
		259	`008E: BCF 1F.5`
		260	`008F: MOVF 1B,W`
		261	`0090: ANDLW 80`
		262	`0091: IORLW 74`
		263	`0092: MOVWF 1B`
		264	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		265	`0093: BCF 1F.6`
		266	`0094: BCF 03.5`
		267	`0095: BSF 1F.6`
		268	`0096: BSF 1F.7`
		269	`0097: BSF 03.5`
		270	`0098: BCF 1F.7`
		271	`0099: BCF 03.5`
		272	`009A: BSF 1F.0`
		273	`.................... setup_spi(SPI_MASTER\|SPI_H_TO_L\|SPI_XMIT_L_TO_H\|SPI_CLK_DIV_16);`
		274	`009B: BCF 14.5`
		275	`009C: BSF 03.5`
		276	`009D: BCF 06.2`
		277	`009E: BSF 06.1`
		278	`009F: BCF 06.4`
		279	`00A0: MOVLW 31`
		280	`00A1: BCF 03.5`
		281	`00A2: MOVWF 14`
		282	`00A3: MOVLW 00`
		283	`00A4: BSF 03.5`
		284	`00A5: MOVWF 14`
		285	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
		286	`00A6: MOVF 01,W`
		287	`00A7: ANDLW C7`
		288	`00A8: IORLW 08`
		289	`00A9: MOVWF 01`
		290	`.................... setup_timer_1(T1_DISABLED\|T1_DIV_BY_8);`
		291	`00AA: MOVLW 30`
		292	`00AB: BCF 03.5`
		293	`00AC: MOVWF 10`
		294	`.................... setup_timer_2(T2_DIV_BY_16,140,16);`
		295	`00AD: MOVLW 78`
		296	`00AE: MOVWF 78`
		297	`00AF: IORLW 06`
		298	`00B0: MOVWF 12`
		299	`00B1: MOVLW 8C`
		300	`00B2: BSF 03.5`
		301	`00B3: MOVWF 12`
		302	`.................... setup_oscillator(OSC_8MHZ\|OSC_INTRC);`
		303	`00B4: MOVLW 72`
		304	`00B5: MOVWF 0F`
		305	`....................`
		306	`.................... STOPR; STOPL; // zastav motory`
		307	`00B6: BCF 05.6`
		308	`00B7: BCF 03.5`
		309	`00B8: BCF 05.6`
		310	`00B9: BSF 03.5`
		311	`00BA: BCF 05.7`
		312	`00BB: BCF 03.5`
		313	`00BC: BCF 05.7`
		314	`00BD: BSF 03.5`
		315	`00BE: BCF 05.0`
		316	`00BF: BCF 03.5`
		317	`00C0: BCF 05.0`
		318	`00C1: BSF 03.5`
		319	`00C2: BCF 05.1`
		320	`00C3: BCF 03.5`
		321	`00C4: BCF 05.1`
		322	`.................... Lmotor=0;Rmotor=0;`
		323	`00C5: CLRF 31`
		324	`00C6: CLRF 30`
		325	`00C7: CLRF 33`
		326	`00C8: CLRF 32`
		327	`....................`
		328	`.................... uhel = STRED; // nastav zadni kolecko na stred`
		329	`00C9: MOVLW 80`
		330	`00CA: MOVWF 2C`
		331	`.................... rovinka = 0;`
		332	`00CB: CLRF 2F`
		333	`....................`
		334	`.................... enable_interrupts(INT_TIMER2);`
		335	`00CC: BSF 03.5`
		336	`00CD: BSF 0C.1`
		337	`.................... enable_interrupts(GLOBAL);`
		338	`00CE: MOVLW C0`
		339	`00CF: BCF 03.5`
		340	`00D0: IORWF 0B,F`
		341	`....................`
		342	`.................... output_low(IRTX); // zapni IR vysilac`
		343	`00D1: BSF 03.5`
		344	`00D2: BCF 06.2`
		345	`00D3: BCF 03.5`
		346	`00D4: BCF 06.2`
		347	`....................`
		348	`.................... delay_ms(2000); // musime pockat na diagnostiku slave CPU`
		349	`00D5: MOVLW 08`
		350	`00D6: MOVWF 39`
		351	`00D7: MOVLW FA`
		352	`00D8: MOVWF 3A`
		353	`00D9: CALL 065`
		354	`00DA: DECFSZ 39,F`
		355	`00DB: GOTO 0D7`
		356	`....................`
		357	`.................... //nastaveni rychlosti`
		358	`.................... set_adc_channel(CERVENA);`
		359	`00DC: MOVLW 20`
		360	`00DD: MOVWF 78`
		361	`00DE: MOVF 1F,W`
		362	`00DF: ANDLW C7`
		363	`00E0: IORWF 78,W`
		364	`00E1: MOVWF 1F`
		365	`....................`
		366	`.................... Delay_ms(1);`
		367	`00E2: MOVLW 01`
		368	`00E3: MOVWF 3A`
		369	`00E4: CALL 065`
		370	`.................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63`
		371	`00E5: BSF 1F.2`
		372	`00E6: BTFSC 1F.2`
		373	`00E7: GOTO 0E6`
		374	`00E8: MOVF 1E,W`
		375	`00E9: MOVWF 77`
		376	`00EA: RRF 77,F`
		377	`00EB: RRF 77,F`
		378	`00EC: MOVLW 3F`
		379	`00ED: ANDWF 77,F`
		380	`00EE: MOVF 77,W`
		381	`00EF: ADDLW 64`
		382	`00F0: MOVWF 2D`
		383	`.................... set_adc_channel(MODRA);`
		384	`00F1: MOVLW 10`
		385	`00F2: MOVWF 78`
		386	`00F3: MOVF 1F,W`
		387	`00F4: ANDLW C7`
		388	`00F5: IORWF 78,W`
		389	`00F6: MOVWF 1F`
		390	`.................... Delay_ms(1);`
		391	`00F7: MOVLW 01`
		392	`00F8: MOVWF 3A`
		393	`00F9: CALL 065`
		394	`.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63`
		395	`00FA: MOVLW 20`
		396	`00FB: SUBWF 2D,W`
		397	`00FC: MOVWF 39`
		398	`00FD: BSF 1F.2`
		399	`00FE: BTFSC 1F.2`
		400	`00FF: GOTO 0FE`
		401	`0100: MOVF 1E,W`
		402	`0101: MOVWF 77`
		403	`0102: RRF 77,F`
		404	`0103: RRF 77,F`
		405	`0104: MOVLW 3F`
		406	`0105: ANDWF 77,F`
		407	`0106: MOVF 77,W`
		408	`0107: ADDWF 39,W`
		409	`0108: MOVWF 2E`
		410	`....................`
		411	`....................`
		412	`.................... while(true)`
		413	`.................... {`
		414	`....................`
		415	`.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor`
		416	`0109: MOVF 01,W`
		417	`010A: BTFSS 00.7`
		418	`010B: GOTO 10F`
		419	`010C: BTFSS 31.7`
		420	`010D: GOTO 117`
		421	`010E: GOTO 111`
		422	`010F: BTFSC 31.7`
		423	`0110: GOTO 120`
		424	`0111: MOVF 31,F`
		425	`0112: BTFSS 03.2`
		426	`0113: GOTO 117`
		427	`0114: SUBWF 30,W`
		428	`0115: BTFSS 03.0`
		429	`0116: GOTO 120`
		430	`0117: BSF 03.5`
		431	`0118: BCF 05.1`
		432	`0119: BCF 03.5`
		433	`011A: BCF 05.1`
		434	`011B: BSF 03.5`
		435	`011C: BCF 05.0`
		436	`011D: BCF 03.5`
		437	`011E: BSF 05.0`
		438	`011F: GOTO 128`
		439	`0120: BSF 03.5`
		440	`0121: BCF 05.0`
		441	`0122: BCF 03.5`
		442	`0123: BCF 05.0`
		443	`0124: BSF 03.5`
		444	`0125: BCF 05.1`
		445	`0126: BCF 03.5`
		446	`0127: BCF 05.1`
		447	`0128: MOVF 01,W`
		448	`0129: BTFSS 00.7`
		449	`012A: GOTO 12E`
		450	`012B: BTFSS 33.7`
		451	`012C: GOTO 136`
		452	`012D: GOTO 130`
		453	`012E: BTFSC 33.7`
		454	`012F: GOTO 13F`
		455	`0130: MOVF 33,F`
		456	`0131: BTFSS 03.2`
		457	`0132: GOTO 136`
		458	`0133: SUBWF 32,W`
		459	`0134: BTFSS 03.0`
		460	`0135: GOTO 13F`
		461	`0136: BSF 03.5`
		462	`0137: BCF 05.7`
		463	`0138: BCF 03.5`
		464	`0139: BCF 05.7`
		465	`013A: BSF 03.5`
		466	`013B: BCF 05.6`
		467	`013C: BCF 03.5`
		468	`013D: BSF 05.6`
		469	`013E: GOTO 147`
		470	`013F: BSF 03.5`
		471	`0140: BCF 05.6`
		472	`0141: BCF 03.5`
		473	`0142: BCF 05.6`
		474	`0143: BSF 03.5`
		475	`0144: BCF 05.7`
		476	`0145: BCF 03.5`
		477	`0146: BCF 05.7`
		478	`....................`
		479	`.................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel`
		480	`0147: CLRWDT`
		481	`0148: MOVLW 01`
		482	`0149: MOVWF 3A`
		483	`014A: CALL 065`
		484	`014B: MOVLW 09`
		485	`014C: MOVWF 39`
		486	`014D: CLRF 29`
		487	`014E: BTFSC 0B.7`
		488	`014F: BSF 29.7`
		489	`0150: BCF 0B.7`
		490	`0151: MOVLW 6D`
		491	`0152: MOVWF 3D`
		492	`0153: CALL 037`
		493	`0154: BTFSC 29.7`
		494	`0155: BSF 0B.7`
		495	`0156: DECFSZ 39,F`
		496	`0157: GOTO 14D`
		497	`....................`
		498	`.................... last_sensors=sensors;`
		499	`0158: MOVF 2A,W`
		500	`0159: MOVWF 37`
		501	`....................`
		502	`.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru`
		503	`015A: BSF 03.5`
		504	`015B: BCF 06.0`
		505	`015C: BCF 03.5`
		506	`015D: BCF 06.0`
		507	`.................... sensors = spi_read(0); // cteni senzoru`
		508	`015E: MOVF 13,W`
		509	`015F: CLRF 13`
		510	`0160: BSF 03.5`
		511	`0161: BTFSC 14.0`
		512	`0162: GOTO 165`
		513	`0163: BCF 03.5`
		514	`0164: GOTO 160`
		515	`0165: BCF 03.5`
		516	`0166: MOVF 13,W`
		517	`0167: MOVWF 2A`
		518	`.................... sensors=~sensors; // neguj prijata data`
		519	`0168: COMF 2A,F`
		520	`.................... output_high(STROBE); // zobraz data na posuvnem registru`
		521	`0169: BSF 03.5`
		522	`016A: BCF 06.0`
		523	`016B: BCF 03.5`
		524	`016C: BSF 06.0`
		525	`....................`
		526	`.................... i=0; // havarijni kod`
		527	`016D: CLRF 35`
		528	`.................... for (n=0; n<=6; n++)`
		529	`016E: CLRF 34`
		530	`016F: MOVF 34,W`
		531	`0170: SUBLW 06`
		532	`0171: BTFSS 03.0`
		533	`0172: GOTO 181`
		534	`.................... {`
		535	`.................... if(bit_test(sensors,n)) i++;`
		536	`0173: MOVF 2A,W`
		537	`0174: MOVWF 77`
		538	`0175: MOVF 34,W`
		539	`0176: MOVWF 78`
		540	`0177: BTFSC 03.2`
		541	`0178: GOTO 17D`
		542	`0179: BCF 03.0`
		543	`017A: RRF 77,F`
		544	`017B: DECFSZ 78,F`
		545	`017C: GOTO 179`
		546	`017D: BTFSC 77.0`
		547	`017E: INCF 35,F`
		548	`.................... }`
		549	`017F: INCF 34,F`
		550	`0180: GOTO 16F`
		551	`.................... if (i>4) // zastavi, kdyz je cerno pod vice nez tremi cidly`
		552	`0181: MOVF 35,W`
		553	`0182: SUBLW 04`
		554	`0183: BTFSC 03.0`
		555	`0184: GOTO 1AD`
		556	`.................... {`
		557	`.................... BL; BR;`
		558	`0185: BSF 03.5`
		559	`0186: BCF 05.0`
		560	`0187: BCF 03.5`
		561	`0188: BCF 05.0`
		562	`0189: BSF 03.5`
		563	`018A: BCF 05.1`
		564	`018B: BCF 03.5`
		565	`018C: BSF 05.1`
		566	`018D: BSF 03.5`
		567	`018E: BCF 05.6`
		568	`018F: BCF 03.5`
		569	`0190: BCF 05.6`
		570	`0191: BSF 03.5`
		571	`0192: BCF 05.7`
		572	`0193: BCF 03.5`
		573	`0194: BSF 05.7`
		574	`.................... delay_ms(300);`
		575	`0195: MOVLW 02`
		576	`0196: MOVWF 39`
		577	`0197: MOVLW 96`
		578	`0198: MOVWF 3A`
		579	`0199: CALL 065`
		580	`019A: DECFSZ 39,F`
		581	`019B: GOTO 197`
		582	`.................... STOPR; STOPL;`
		583	`019C: BSF 03.5`
		584	`019D: BCF 05.6`
		585	`019E: BCF 03.5`
		586	`019F: BCF 05.6`
		587	`01A0: BSF 03.5`
		588	`01A1: BCF 05.7`
		589	`01A2: BCF 03.5`
		590	`01A3: BCF 05.7`
		591	`01A4: BSF 03.5`
		592	`01A5: BCF 05.0`
		593	`01A6: BCF 03.5`
		594	`01A7: BCF 05.0`
		595	`01A8: BSF 03.5`
		596	`01A9: BCF 05.1`
		597	`01AA: BCF 03.5`
		598	`01AB: BCF 05.1`
		599	`.................... While(true);`
		600	`01AC: GOTO 1AC`
		601	`.................... };`
		602	`....................`
		603	`.................... if (bit_test(sensors,7)) // detekce cihly`
		604	`01AD: BTFSS 2A.7`
		605	`01AE: GOTO 1D9`
		606	`.................... {`
		607	`.................... BR;BL;`
		608	`01AF: BSF 03.5`
		609	`01B0: BCF 05.6`
		610	`01B1: BCF 03.5`
		611	`01B2: BCF 05.6`
		612	`01B3: BSF 03.5`
		613	`01B4: BCF 05.7`
		614	`01B5: BCF 03.5`
		615	`01B6: BSF 05.7`
		616	`01B7: BSF 03.5`
		617	`01B8: BCF 05.0`
		618	`01B9: BCF 03.5`
		619	`01BA: BCF 05.0`
		620	`01BB: BSF 03.5`
		621	`01BC: BCF 05.1`
		622	`01BD: BCF 03.5`
		623	`01BE: BSF 05.1`
		624	`.................... Delay_ms(100);`
		625	`01BF: MOVLW 64`
		626	`01C0: MOVWF 3A`
		627	`01C1: CALL 065`
		628	`.................... STOPR;STOPL;`
		629	`01C2: BSF 03.5`
		630	`01C3: BCF 05.6`
		631	`01C4: BCF 03.5`
		632	`01C5: BCF 05.6`
		633	`01C6: BSF 03.5`
		634	`01C7: BCF 05.7`
		635	`01C8: BCF 03.5`
		636	`01C9: BCF 05.7`
		637	`01CA: BSF 03.5`
		638	`01CB: BCF 05.0`
		639	`01CC: BCF 03.5`
		640	`01CD: BCF 05.0`
		641	`01CE: BSF 03.5`
		642	`01CF: BCF 05.1`
		643	`01D0: BCF 03.5`
		644	`01D1: BCF 05.1`
		645	`.................... Delay_ms(1000);`
		646	`01D2: MOVLW 04`
		647	`01D3: MOVWF 39`
		648	`01D4: MOVLW FA`
		649	`01D5: MOVWF 3A`
		650	`01D6: CALL 065`
		651	`01D7: DECFSZ 39,F`
		652	`01D8: GOTO 1D4`
		653	`.................... }`
		654	`....................`
		655	`.................... if(bit_test(sensors,0)) //\|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu`
		656	`01D9: BTFSS 2A.0`
		657	`01DA: GOTO 1E7`
		658	`.................... {`
		659	`.................... uhel=STRED - BEAR3;`
		660	`01DB: MOVLW 53`
		661	`01DC: MOVWF 2C`
		662	`.................... Lmotor=0;`
		663	`01DD: CLRF 31`
		664	`01DE: CLRF 30`
		665	`.................... Rmotor=turn;`
		666	`01DF: CLRF 7A`
		667	`01E0: MOVF 2E,W`
		668	`01E1: MOVWF 32`
		669	`01E2: MOVF 7A,W`
		670	`01E3: MOVWF 33`
		671	`.................... line=L3;`
		672	`01E4: MOVLW 03`
		673	`01E5: MOVWF 2B`
		674	`.................... continue;`
		675	`01E6: GOTO 109`
		676	`.................... }`
		677	`....................`
		678	`.................... if(bit_test(sensors,6)) //......\|//`
		679	`01E7: BTFSS 2A.6`
		680	`01E8: GOTO 1F5`
		681	`.................... {`
		682	`.................... uhel=STRED + BEAR3;`
		683	`01E9: MOVLW AD`
		684	`01EA: MOVWF 2C`
		685	`.................... Rmotor=0;`
		686	`01EB: CLRF 33`
		687	`01EC: CLRF 32`
		688	`.................... Lmotor=turn;`
		689	`01ED: CLRF 7A`
		690	`01EE: MOVF 2E,W`
		691	`01EF: MOVWF 30`
		692	`01F0: MOVF 7A,W`
		693	`01F1: MOVWF 31`
		694	`.................... line=R3;`
		695	`01F2: MOVLW FD`
		696	`01F3: MOVWF 2B`
		697	`.................... continue;`
		698	`01F4: GOTO 109`
		699	`.................... }`
		700	`....................`
		701	`.................... if(bit_test(sensors,1)) //.\|.....//`
		702	`01F5: BTFSS 2A.1`
		703	`01F6: GOTO 207`
		704	`.................... {`
		705	`.................... uhel=STRED - BEAR2;`
		706	`01F7: MOVLW 67`
		707	`01F8: MOVWF 2C`
		708	`.................... Lmotor=speed-70;`
		709	`01F9: MOVLW 46`
		710	`01FA: SUBWF 2D,W`
		711	`01FB: CLRF 7A`
		712	`01FC: MOVWF 30`
		713	`01FD: MOVF 7A,W`
		714	`01FE: MOVWF 31`
		715	`.................... Rmotor=speed;`
		716	`01FF: CLRF 7A`
		717	`0200: MOVF 2D,W`
		718	`0201: MOVWF 32`
		719	`0202: MOVF 7A,W`
		720	`0203: MOVWF 33`
		721	`.................... line=L2;`
		722	`0204: MOVLW 02`
		723	`0205: MOVWF 2B`
		724	`.................... continue;`
		725	`0206: GOTO 109`
		726	`.................... }`
		727	`....................`
		728	`.................... if(bit_test(sensors,5)) //.....\|.//`
		729	`0207: BTFSS 2A.5`
		730	`0208: GOTO 219`
		731	`.................... {`
		732	`.................... uhel=STRED + BEAR2;`
		733	`0209: MOVLW 99`
		734	`020A: MOVWF 2C`
		735	`.................... Rmotor=speed-70;`
		736	`020B: MOVLW 46`
		737	`020C: SUBWF 2D,W`
		738	`020D: CLRF 7A`
		739	`020E: MOVWF 32`
		740	`020F: MOVF 7A,W`
		741	`0210: MOVWF 33`
		742	`.................... Lmotor=speed;`
		743	`0211: CLRF 7A`
		744	`0212: MOVF 2D,W`
		745	`0213: MOVWF 30`
		746	`0214: MOVF 7A,W`
		747	`0215: MOVWF 31`
		748	`.................... line=R2;`
		749	`0216: MOVLW FE`
		750	`0217: MOVWF 2B`
		751	`.................... continue;`
		752	`0218: GOTO 109`
		753	`.................... }`
		754	`....................`
		755	`.................... if (bit_test(sensors,2)) //..\|....//`
		756	`0219: BTFSS 2A.2`
		757	`021A: GOTO 22F`
		758	`.................... {`
		759	`.................... uhel=STRED - BEAR1;`
		760	`021B: MOVLW 76`
		761	`021C: MOVWF 2C`
		762	`.................... Lmotor=speed-20;`
		763	`021D: MOVLW 14`
		764	`021E: SUBWF 2D,W`
		765	`021F: CLRF 7A`
		766	`0220: MOVWF 30`
		767	`0221: MOVF 7A,W`
		768	`0222: MOVWF 31`
		769	`.................... Rmotor=speed;`
		770	`0223: CLRF 7A`
		771	`0224: MOVF 2D,W`
		772	`0225: MOVWF 32`
		773	`0226: MOVF 7A,W`
		774	`0227: MOVWF 33`
		775	`.................... line=L2;`
		776	`0228: MOVLW 02`
		777	`0229: MOVWF 2B`
		778	`.................... if (rovinka<255) rovinka++;`
		779	`022A: INCFSZ 2F,W`
		780	`022B: GOTO 22D`
		781	`022C: GOTO 22E`
		782	`022D: INCF 2F,F`
		783	`.................... continue;`
		784	`022E: GOTO 109`
		785	`.................... }`
		786	`....................`
		787	`.................... if (bit_test(sensors,4)) //....\|..//`
		788	`022F: BTFSS 2A.4`
		789	`0230: GOTO 245`
		790	`.................... {`
		791	`.................... uhel=STRED + BEAR1;`
		792	`0231: MOVLW 8A`
		793	`0232: MOVWF 2C`
		794	`.................... Rmotor=speed-20;`
		795	`0233: MOVLW 14`
		796	`0234: SUBWF 2D,W`
		797	`0235: CLRF 7A`
		798	`0236: MOVWF 32`
		799	`0237: MOVF 7A,W`
		800	`0238: MOVWF 33`
		801	`.................... Lmotor=speed;`
		802	`0239: CLRF 7A`
		803	`023A: MOVF 2D,W`
		804	`023B: MOVWF 30`
		805	`023C: MOVF 7A,W`
		806	`023D: MOVWF 31`
		807	`.................... line=L2;`
		808	`023E: MOVLW 02`
		809	`023F: MOVWF 2B`
		810	`.................... if (rovinka<255) rovinka++;`
		811	`0240: INCFSZ 2F,W`
		812	`0241: GOTO 243`
		813	`0242: GOTO 244`
		814	`0243: INCF 2F,F`
		815	`.................... continue;`
		816	`0244: GOTO 109`
		817	`.................... }`
		818	`....................`
		819	`.................... if(bit_test(sensors,3)) //...\|...//`
		820	`0245: BTFSS 2A.3`
		821	`0246: GOTO 259`
		822	`.................... {`
		823	`.................... uhel=STRED;`
		824	`0247: MOVLW 80`
		825	`0248: MOVWF 2C`
		826	`.................... Lmotor=speed;`
		827	`0249: CLRF 7A`
		828	`024A: MOVF 2D,W`
		829	`024B: MOVWF 30`
		830	`024C: MOVF 7A,W`
		831	`024D: MOVWF 31`
		832	`.................... Rmotor=speed;`
		833	`024E: CLRF 7A`
		834	`024F: MOVF 2D,W`
		835	`0250: MOVWF 32`
		836	`0251: MOVF 7A,W`
		837	`0252: MOVWF 33`
		838	`.................... line=S;`
		839	`0253: CLRF 2B`
		840	`.................... if (rovinka < 255) rovinka++;`
		841	`0254: INCFSZ 2F,W`
		842	`0255: GOTO 257`
		843	`0256: GOTO 258`
		844	`0257: INCF 2F,F`
		845	`.................... continue;`
		846	`0258: GOTO 109`
		847	`.................... }`
		848	`....................`
		849	`....................`
		850	`....................`
		851	`.................... if ((L3==line) \|\| (R3==line)) // Brzdeni pri vyjeti z trate`
		852	`0259: MOVF 2B,W`
		853	`025A: SUBLW 03`
		854	`025B: BTFSC 03.2`
		855	`025C: GOTO 261`
		856	`025D: MOVF 2B,W`
		857	`025E: SUBLW FD`
		858	`025F: BTFSS 03.2`
		859	`0260: GOTO 284`
		860	`.................... {`
		861	`.................... if (rovinka>50)`
		862	`0261: MOVF 2F,W`
		863	`0262: SUBLW 32`
		864	`0263: BTFSC 03.0`
		865	`0264: GOTO 283`
		866	`.................... {`
		867	`.................... BL; BR;`
		868	`0265: BSF 03.5`
		869	`0266: BCF 05.0`
		870	`0267: BCF 03.5`
		871	`0268: BCF 05.0`
		872	`0269: BSF 03.5`
		873	`026A: BCF 05.1`
		874	`026B: BCF 03.5`
		875	`026C: BSF 05.1`
		876	`026D: BSF 03.5`
		877	`026E: BCF 05.6`
		878	`026F: BCF 03.5`
		879	`0270: BCF 05.6`
		880	`0271: BSF 03.5`
		881	`0272: BCF 05.7`
		882	`0273: BCF 03.5`
		883	`0274: BSF 05.7`
		884	`.................... Delay_ms(70);`
		885	`0275: MOVLW 46`
		886	`0276: MOVWF 3A`
		887	`0277: CALL 065`
		888	`.................... if (rovinka > 250 \|\| speed > 170) delay_ms(50);`
		889	`0278: MOVF 2F,W`
		890	`0279: SUBLW FA`
		891	`027A: BTFSS 03.0`
		892	`027B: GOTO 280`
		893	`027C: MOVF 2D,W`
		894	`027D: SUBLW AA`
		895	`027E: BTFSC 03.0`
		896	`027F: GOTO 283`
		897	`0280: MOVLW 32`
		898	`0281: MOVWF 3A`
		899	`0282: CALL 065`
		900	`.................... };`
		901	`.................... rovinka=0;`
		902	`0283: CLRF 2F`
		903	`.................... };`
		904	`.................... }`
		905	`0284: GOTO 109`
		906	`.................... }`
		907	`0285: SLEEP`
		908
		909	`Configuration Fuses:`
		910	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		911	`Word 2: 3FFC NOFCMEN NOIESO`

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