WebSVN – svnkaklik – Blame – /roboti/istrobot/merkur/PIC16F873/main.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCW C Compiler, Version 3.110, 15448`
		2
		3	`Filename: d:\kaklik\programy\pic_c\roboti\merkur\main.LST`
		4
		5	`ROM used: 1572 (38%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 79 (41%) at main() level`
		8	`90 (47%) worst case`
		9	`Stack: 3 locations`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 41D`
		15	`0003: NOP`
		16	`.................... #include "main.h"`
		17	`.................... #include <16F873.h>`
		18	`.................... //////// Standard Header file for the PIC16F873 device ////////////////`
		19	`.................... #device PIC16F873`
		20	`.................... #list`
		21	`....................`
		22	`.................... #device adc=8`
		23	`.................... #use delay(clock=4000000)`
		24	`*`
		25	`0016: MOVLW 78`
		26	`0017: MOVWF 04`
		27	`0018: MOVLW FC`
		28	`0019: ANDWF 00,F`
		29	`001A: RRF 00,F`
		30	`001B: RRF 00,F`
		31	`001C: MOVF 00,W`
		32	`001D: BTFSC 03.2`
		33	`001E: GOTO 023`
		34	`001F: GOTO 021`
		35	`0020: NOP`
		36	`0021: DECFSZ 00,F`
		37	`0022: GOTO 020`
		38	`0023: RETLW 00`
		39	`*`
		40	`004A: MOVLW 73`
		41	`004B: MOVWF 04`
		42	`004C: MOVF 00,W`
		43	`004D: BTFSC 03.2`
		44	`004E: GOTO 05E`
		45	`004F: MOVLW 01`
		46	`0050: MOVWF 21`
		47	`0051: CLRF 20`
		48	`0052: DECFSZ 20,F`
		49	`0053: GOTO 052`
		50	`0054: DECFSZ 21,F`
		51	`0055: GOTO 051`
		52	`0056: MOVLW 4A`
		53	`0057: MOVWF 20`
		54	`0058: DECFSZ 20,F`
		55	`0059: GOTO 058`
		56	`005A: NOP`
		57	`005B: NOP`
		58	`005C: DECFSZ 00,F`
		59	`005D: GOTO 04F`
		60	`005E: RETLW 00`
		61	`.................... #fuses XT,NOWDT,NOLVP`
		62	`....................`
		63	`....................`
		64	`....................`
		65	`.................... #define TXo PIN_C3 // To the transmitter modulator`
		66	`.................... #include "AX25.c" // podprogram pro prenos telemetrie`
		67	`.................... //#define PTT PIN_A2 // PTT control`
		68	`.................... //#define TXo PIN_C0 // To the transmitter modulator`
		69	`.................... #define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500`
		70	`.................... #define TAILH delay_us(78)`
		71	`.................... #define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500`
		72	`.................... #define TAILL delay_us(345)`
		73	`.................... #byte STATUS = 3 // CPUs status register`
		74	`....................`
		75	`.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60,`
		76	`.................... 'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61,`
		77	`.................... 0x03, 0xF0};`
		78	`....................`
		79	`.................... boolean bit;`
		80	`.................... int fcslo, fcshi; // variabloes for calculating FCS (CRC)`
		81	`.................... int stuff; // stuff counter for extra 0`
		82	`.................... int flag_flag; // if it is sending flag (7E)`
		83	`.................... int fcs_flag; // if it is sending Frame Check Sequence`
		84	`.................... int i; // for for`
		85	`....................`
		86	`.................... void flipout() //flips the state of output pin a_1`
		87	`.................... {`
		88	`.................... stuff = 0; //since this is a 0, reset the stuff counter`
		89	`*`
		90	`00AE: CLRF 38`
		91	`.................... if (bit)`
		92	`00AF: BTFSS 35.0`
		93	`00B0: GOTO 0B3`
		94	`.................... {`
		95	`.................... bit=FALSE; //if the state of the pin was low, make it high.`
		96	`00B1: BCF 35.0`
		97	`.................... }`
		98	`.................... else`
		99	`00B2: GOTO 0B4`
		100	`.................... {`
		101	`.................... bit=TRUE; //if the state of the pin was high make it low`
		102	`00B3: BSF 35.0`
		103	`.................... }`
		104	`00B4: RETLW 00`
		105	`.................... }`
		106	`....................`
		107	`.................... void fcsbit(byte tbyte)`
		108	`.................... {`
		109	`.................... #asm`
		110	`.................... BCF STATUS,0`
		111	`*`
		112	`011A: BCF 03.0`
		113	`.................... RRF fcshi,F // rotates the entire 16 bits`
		114	`011B: RRF 37,F`
		115	`.................... RRF fcslo,F // to the right`
		116	`.................... #endasm`
		117	`011C: RRF 36,F`
		118	`.................... if (((STATUS & 0x01)^(tbyte)) ==0x01)`
		119	`011D: MOVF 03,W`
		120	`011E: ANDLW 01`
		121	`011F: XORWF 77,W`
		122	`0120: SUBLW 01`
		123	`0121: BTFSS 03.2`
		124	`0122: GOTO 127`
		125	`.................... {`
		126	`.................... fcshi = fcshi^0x84;`
		127	`0123: MOVLW 84`
		128	`0124: XORWF 37,F`
		129	`.................... fcslo = fcslo^0x08;`
		130	`0125: MOVLW 08`
		131	`0126: XORWF 36,F`
		132	`.................... }`
		133	`.................... }`
		134	`....................`
		135	`.................... void SendBit ()`
		136	`.................... {`
		137	`.................... if (bit)`
		138	`*`
		139	`00B5: BTFSS 35.0`
		140	`00B6: GOTO 0E8`
		141	`.................... {`
		142	`.................... output_high(TXo);`
		143	`00B7: BCF 3C.3`
		144	`00B8: MOVF 3C,W`
		145	`00B9: BSF 03.5`
		146	`00BA: MOVWF 07`
		147	`00BB: BCF 03.5`
		148	`00BC: BSF 07.3`
		149	`.................... PERIODAH;`
		150	`00BD: MOVLW 49`
		151	`00BE: MOVWF 20`
		152	`00BF: DECFSZ 20,F`
		153	`00C0: GOTO 0BF`
		154	`00C1: NOP`
		155	`00C2: NOP`
		156	`.................... output_low(TXo);`
		157	`00C3: BCF 3C.3`
		158	`00C4: MOVF 3C,W`
		159	`00C5: BSF 03.5`
		160	`00C6: MOVWF 07`
		161	`00C7: BCF 03.5`
		162	`00C8: BCF 07.3`
		163	`.................... PERIODAH;`
		164	`00C9: MOVLW 49`
		165	`00CA: MOVWF 20`
		166	`00CB: DECFSZ 20,F`
		167	`00CC: GOTO 0CB`
		168	`00CD: NOP`
		169	`00CE: NOP`
		170	`.................... output_high(TXo);`
		171	`00CF: BCF 3C.3`
		172	`00D0: MOVF 3C,W`
		173	`00D1: BSF 03.5`
		174	`00D2: MOVWF 07`
		175	`00D3: BCF 03.5`
		176	`00D4: BSF 07.3`
		177	`.................... PERIODAH;`
		178	`00D5: MOVLW 49`
		179	`00D6: MOVWF 20`
		180	`00D7: DECFSZ 20,F`
		181	`00D8: GOTO 0D7`
		182	`00D9: NOP`
		183	`00DA: NOP`
		184	`.................... output_low(TXo);`
		185	`00DB: BCF 3C.3`
		186	`00DC: MOVF 3C,W`
		187	`00DD: BSF 03.5`
		188	`00DE: MOVWF 07`
		189	`00DF: BCF 03.5`
		190	`00E0: BCF 07.3`
		191	`.................... TAILH;`
		192	`00E1: MOVLW 19`
		193	`00E2: MOVWF 20`
		194	`00E3: DECFSZ 20,F`
		195	`00E4: GOTO 0E3`
		196	`00E5: NOP`
		197	`00E6: NOP`
		198	`.................... }`
		199	`.................... else`
		200	`00E7: GOTO 0FE`
		201	`.................... {`
		202	`.................... output_high(TXo);`
		203	`00E8: BCF 3C.3`
		204	`00E9: MOVF 3C,W`
		205	`00EA: BSF 03.5`
		206	`00EB: MOVWF 07`
		207	`00EC: BCF 03.5`
		208	`00ED: BSF 07.3`
		209	`.................... PERIODAL;`
		210	`00EE: MOVLW 89`
		211	`00EF: MOVWF 20`
		212	`00F0: DECFSZ 20,F`
		213	`00F1: GOTO 0F0`
		214	`.................... output_low(TXo);`
		215	`00F2: BCF 3C.3`
		216	`00F3: MOVF 3C,W`
		217	`00F4: BSF 03.5`
		218	`00F5: MOVWF 07`
		219	`00F6: BCF 03.5`
		220	`00F7: BCF 07.3`
		221	`.................... TAILL;`
		222	`00F8: MOVLW 72`
		223	`00F9: MOVWF 20`
		224	`00FA: DECFSZ 20,F`
		225	`00FB: GOTO 0FA`
		226	`00FC: NOP`
		227	`00FD: NOP`
		228	`.................... };`
		229	`00FE: RETLW 00`
		230	`.................... }`
		231	`....................`
		232	`.................... void SendByte (byte inbyte)`
		233	`.................... {`
		234	`.................... int k, bt;`
		235	`....................`
		236	`.................... for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte`
		237	`00FF: CLRF 75`
		238	`0100: MOVF 75,W`
		239	`0101: SUBLW 07`
		240	`0102: BTFSS 03.0`
		241	`0103: GOTO 149`
		242	`.................... {`
		243	`.................... bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte)`
		244	`0104: MOVF 74,W`
		245	`0105: ANDLW 01`
		246	`0106: MOVWF 76`
		247	`.................... if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this`
		248	`0107: MOVF 3A,F`
		249	`0108: BTFSC 03.2`
		250	`0109: GOTO 10C`
		251	`010A: MOVLW 00`
		252	`010B: GOTO 10D`
		253	`010C: MOVLW 01`
		254	`010D: MOVWF 77`
		255	`010E: MOVF 39,F`
		256	`010F: BTFSC 03.2`
		257	`0110: GOTO 113`
		258	`0111: MOVLW 00`
		259	`0112: GOTO 114`
		260	`0113: MOVLW 01`
		261	`0114: ANDWF 77,W`
		262	`0115: XORLW 00`
		263	`0116: BTFSC 03.2`
		264	`0117: GOTO 127`
		265	`0118: MOVF 76,W`
		266	`0119: MOVWF 77`
		267	`.................... //is not a flag or fcs byte`
		268	`.................... if (bt == 0)`
		269	`*`
		270	`0127: MOVF 76,F`
		271	`0128: BTFSS 03.2`
		272	`0129: GOTO 12C`
		273	`.................... {`
		274	`.................... flipout();`
		275	`012A: CALL 0AE`
		276	`.................... } // if this bit is a zero, flip the output state`
		277	`.................... else`
		278	`012B: GOTO 144`
		279	`.................... { //otherwise if it is a 1, do the following:`
		280	`.................... if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's`
		281	`012C: MOVF 39,F`
		282	`012D: BTFSS 03.2`
		283	`012E: GOTO 130`
		284	`012F: INCF 38,F`
		285	`.................... if ((flag_flag == FALSE) & (stuff == 5))`
		286	`0130: MOVF 39,F`
		287	`0131: BTFSC 03.2`
		288	`0132: GOTO 135`
		289	`0133: MOVLW 00`
		290	`0134: GOTO 136`
		291	`0135: MOVLW 01`
		292	`0136: MOVWF 77`
		293	`0137: MOVF 38,W`
		294	`0138: SUBLW 05`
		295	`0139: BTFSC 03.2`
		296	`013A: GOTO 13D`
		297	`013B: MOVLW 00`
		298	`013C: GOTO 13E`
		299	`013D: MOVLW 01`
		300	`013E: ANDWF 77,W`
		301	`013F: XORLW 00`
		302	`0140: BTFSC 03.2`
		303	`0141: GOTO 144`
		304	`.................... { //stuff an extra 0, if 5 1's in a row`
		305	`.................... SendBit();`
		306	`0142: CALL 0B5`
		307	`.................... flipout(); //flip the output state to stuff a 0`
		308	`0143: CALL 0AE`
		309	`.................... }//end of if`
		310	`.................... }//end of else`
		311	`.................... // delay_us(850); //introduces a delay that creates 1200 baud`
		312	`.................... SendBit();`
		313	`0144: CALL 0B5`
		314	`.................... inbyte = inbyte>>1; //go to the next bit in the byte`
		315	`0145: BCF 03.0`
		316	`0146: RRF 74,F`
		317	`.................... }//end of for`
		318	`0147: INCF 75,F`
		319	`0148: GOTO 100`
		320	`0149: RETLW 00`
		321	`.................... }//end of SendByte`
		322	`....................`
		323	`.................... void SendPacket(char *data)`
		324	`.................... {`
		325	`.................... bit=FALSE;`
		326	`*`
		327	`02CF: BCF 35.0`
		328	`....................`
		329	`.................... fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF`
		330	`02D0: MOVLW FF`
		331	`02D1: MOVWF 37`
		332	`02D2: MOVWF 36`
		333	`.................... stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5`
		334	`02D3: CLRF 38`
		335	`.................... // it is time to stuff a 0.`
		336	`....................`
		337	`.................... // output_low(PTT); // Blinking LED`
		338	`.................... // delay_ms(1000);`
		339	`.................... // output_high(PTT);`
		340	`....................`
		341	`.................... flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise.`
		342	`02D4: MOVLW 01`
		343	`02D5: MOVWF 39`
		344	`.................... fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise.`
		345	`02D6: CLRF 3A`
		346	`....................`
		347	`.................... for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay`
		348	`02D7: CLRF 3B`
		349	`02D8: MOVF 3B,W`
		350	`02D9: SUBLW 09`
		351	`02DA: BTFSS 03.0`
		352	`02DB: GOTO 2E1`
		353	`02DC: MOVLW 7E`
		354	`02DD: MOVWF 74`
		355	`02DE: CALL 0FF`
		356	`02DF: INCF 3B,F`
		357	`02E0: GOTO 2D8`
		358	`.................... //each flag takes approx 6.7 ms`
		359	`.................... flag_flag = FALSE; //done sending flags`
		360	`02E1: CLRF 39`
		361	`....................`
		362	`.................... for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes`
		363	`02E2: CLRF 3B`
		364	`02E3: MOVF 3B,W`
		365	`02E4: SUBLW 0F`
		366	`02E5: BTFSS 03.0`
		367	`02E6: GOTO 2F0`
		368	`02E7: MOVLW 25`
		369	`02E8: ADDWF 3B,W`
		370	`02E9: MOVWF 04`
		371	`02EA: MOVF 00,W`
		372	`02EB: MOVWF 73`
		373	`02EC: MOVWF 74`
		374	`02ED: CALL 0FF`
		375	`02EE: INCF 3B,F`
		376	`02EF: GOTO 2E3`
		377	`....................`
		378	`.................... for(i=0; 0 != *data; i++)`
		379	`02F0: CLRF 3B`
		380	`02F1: MOVF 72,W`
		381	`02F2: MOVWF 04`
		382	`02F3: MOVF 00,W`
		383	`02F4: XORLW 00`
		384	`02F5: BTFSC 03.2`
		385	`02F6: GOTO 300`
		386	`.................... {`
		387	`.................... SendByte(*data); //send the packet bytes`
		388	`02F7: MOVF 72,W`
		389	`02F8: MOVWF 04`
		390	`02F9: MOVF 00,W`
		391	`02FA: MOVWF 73`
		392	`02FB: MOVWF 74`
		393	`02FC: CALL 0FF`
		394	`.................... data++;`
		395	`02FD: INCF 72,F`
		396	`.................... };`
		397	`02FE: INCF 3B,F`
		398	`02FF: GOTO 2F1`
		399	`....................`
		400	`.................... fcs_flag = TRUE; //about to send the FCS bytes`
		401	`0300: MOVLW 01`
		402	`0301: MOVWF 3A`
		403	`.................... fcslo =fcslo^0xff; //must XOR them with FF before sending`
		404	`0302: MOVLW FF`
		405	`0303: XORWF 36,F`
		406	`.................... fcshi = fcshi^0xff;`
		407	`0304: XORWF 37,F`
		408	`.................... SendByte(fcslo); //send the low byte of fcs`
		409	`0305: MOVF 36,W`
		410	`0306: MOVWF 74`
		411	`0307: CALL 0FF`
		412	`.................... SendByte(fcshi); //send the high byte of fcs`
		413	`0308: MOVF 37,W`
		414	`0309: MOVWF 74`
		415	`030A: CALL 0FF`
		416	`.................... fcs_flag = FALSE; //done sending FCS`
		417	`030B: CLRF 3A`
		418	`.................... flag_flag = TRUE; //about to send flags`
		419	`030C: MOVLW 01`
		420	`030D: MOVWF 39`
		421	`.................... SendByte(0x7e); // Send a flag to end packet`
		422	`030E: MOVLW 7E`
		423	`030F: MOVWF 74`
		424	`0310: CALL 0FF`
		425	`.................... }`
		426	`....................`
		427	`....................`
		428	`....................`
		429	`....................`
		430	`....................`
		431	`.................... //motory //Napred vypnout potom zapnout!`
		432	`.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`
		433	`.................... #define FL output_low(PIN_B7); output_high(PIN_B6)`
		434	`.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`
		435	`.................... #define BL output_low(PIN_B6); output_high(PIN_B7)`
		436	`.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5)`
		437	`.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)`
		438	`....................`
		439	`.................... #define L 0b10 // left`
		440	`.................... #define R 0b01 // right`
		441	`.................... #define S 0b11 // straight`
		442	`....................`
		443	`.................... #define COUVANI 1600 // couvnuti po zjisteni diry`
		444	`.................... #define MEZERA 5400 // za jak dlouho bude ztracena cara`
		445	`.................... #define PRES_DIRU 400 // velikost mezery v care`
		446	`.................... #define ODEZVA 1 // za jak dlouho po opusteni cary se ma zacit zatacet`
		447	`.................... #define BRZDENI 100 // doba (v ms) ptrebna k zastaveni jednoho motoru`
		448	`....................`
		449	`.................... //cidla`
		450	`.................... #define RSENSOR 1 // Senzory na caru`
		451	`.................... #define LSENSOR 0`
		452	`.................... #define BUMPER PIN_C4 // sensor na cihlu`
		453	`....................`
		454	`.................... #define DIAG_SERVO PIN_B0 // Propojka pro diagnosticky mod`
		455	`.................... #define DIAG_SENSORS PIN_B1 // Propojka pro diagnosticky mod`
		456	`....................`
		457	`.................... #DEFINE SOUND_HI PIN_B3`
		458	`.................... #DEFINE SOUND_LO PIN_B2`
		459	`....................`
		460	`.................... char AXstring[40]; // Buffer pro prenos telemetrie`
		461	`....................`
		462	`.................... int tresholdL; // rozhodovaci uroven pro prave cidlo`
		463	`.................... int tresholdR; // rozhodovaci uroven pro prave cidlo`
		464	`.................... int movement; // smer minuleho pohybu`
		465	`.................... int line; // na ktere strane byla detekovana cara`
		466	`.................... unsigned int16 dira; // pocitadlo pro nalezeni preruseni cary`
		467	`....................`
		468	`.................... // Primitivni Pipani`
		469	`.................... void beep(unsigned int16 period, unsigned int16 length)`
		470	`.................... {`
		471	`.................... unsigned int16 nn;`
		472	`....................`
		473	`.................... for(nn=length; nn>0; nn--)`
		474	`*`
		475	`0024: MOVF 75,W`
		476	`0025: MOVWF 77`
		477	`0026: MOVF 74,W`
		478	`0027: MOVWF 76`
		479	`0028: MOVF 76,F`
		480	`0029: BTFSS 03.2`
		481	`002A: GOTO 02E`
		482	`002B: MOVF 77,F`
		483	`002C: BTFSC 03.2`
		484	`002D: GOTO 049`
		485	`.................... {`
		486	`.................... output_high(SOUND_HI);output_low(SOUND_LO);`
		487	`002E: BSF 03.5`
		488	`002F: BCF 06.3`
		489	`0030: BCF 03.5`
		490	`0031: BSF 06.3`
		491	`0032: BSF 03.5`
		492	`0033: BCF 06.2`
		493	`0034: BCF 03.5`
		494	`0035: BCF 06.2`
		495	`.................... delay_us(period);`
		496	`0036: MOVF 72,W`
		497	`0037: MOVWF 78`
		498	`0038: CALL 016`
		499	`.................... output_high(SOUND_LO);output_low(SOUND_HI);`
		500	`0039: BSF 03.5`
		501	`003A: BCF 06.2`
		502	`003B: BCF 03.5`
		503	`003C: BSF 06.2`
		504	`003D: BSF 03.5`
		505	`003E: BCF 06.3`
		506	`003F: BCF 03.5`
		507	`0040: BCF 06.3`
		508	`.................... delay_us(period);`
		509	`0041: MOVF 72,W`
		510	`0042: MOVWF 78`
		511	`0043: CALL 016`
		512	`.................... }`
		513	`0044: MOVF 76,W`
		514	`0045: BTFSC 03.2`
		515	`0046: DECF 77,F`
		516	`0047: DECF 76,F`
		517	`0048: GOTO 028`
		518	`0049: RETLW 00`
		519	`.................... }`
		520	`....................`
		521	`.................... // Diagnostika pohonu, hejbne vsema motorama ve vsech smerech`
		522	`.................... void diagnostika()`
		523	`.................... {`
		524	`.................... unsigned int16 n;`
		525	`....................`
		526	`.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku`
		527	`*`
		528	`014A: BSF 03.5`
		529	`014B: BSF 06.0`
		530	`014C: BCF 03.5`
		531	`014D: BTFSS 06.0`
		532	`014E: GOTO 275`
		533	`.................... {`
		534	`.................... for (n=500; n<800; n+=100)`
		535	`014F: MOVLW 01`
		536	`0150: MOVWF 6F`
		537	`0151: MOVLW F4`
		538	`0152: MOVWF 6E`
		539	`0153: MOVF 6F,W`
		540	`0154: SUBLW 03`
		541	`0155: BTFSS 03.0`
		542	`0156: GOTO 16B`
		543	`0157: BTFSS 03.2`
		544	`0158: GOTO 15D`
		545	`0159: MOVF 6E,W`
		546	`015A: SUBLW 1F`
		547	`015B: BTFSS 03.0`
		548	`015C: GOTO 16B`
		549	`.................... {`
		550	`.................... beep(n,n); //beep UP`
		551	`015D: MOVF 6F,W`
		552	`015E: MOVWF 73`
		553	`015F: MOVF 6E,W`
		554	`0160: MOVWF 72`
		555	`0161: MOVF 6F,W`
		556	`0162: MOVWF 75`
		557	`0163: MOVF 6E,W`
		558	`0164: MOVWF 74`
		559	`0165: CALL 024`
		560	`.................... };`
		561	`0166: MOVLW 64`
		562	`0167: ADDWF 6E,F`
		563	`0168: BTFSC 03.0`
		564	`0169: INCF 6F,F`
		565	`016A: GOTO 153`
		566	`.................... Delay_ms(1000);`
		567	`016B: MOVLW 04`
		568	`016C: MOVWF 72`
		569	`016D: MOVLW FA`
		570	`016E: MOVWF 73`
		571	`016F: CALL 04A`
		572	`0170: DECFSZ 72,F`
		573	`0171: GOTO 16D`
		574	`.................... //zastav vse`
		575	`.................... STOPL; STOPR;`
		576	`0172: BSF 03.5`
		577	`0173: BCF 06.6`
		578	`0174: BCF 03.5`
		579	`0175: BCF 06.6`
		580	`0176: BSF 03.5`
		581	`0177: BCF 06.7`
		582	`0178: BCF 03.5`
		583	`0179: BCF 06.7`
		584	`017A: BSF 03.5`
		585	`017B: BCF 06.4`
		586	`017C: BCF 03.5`
		587	`017D: BCF 06.4`
		588	`017E: BSF 03.5`
		589	`017F: BCF 06.5`
		590	`0180: BCF 03.5`
		591	`0181: BCF 06.5`
		592	`.................... //pravy pas`
		593	`.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		594	`0182: BSF 03.5`
		595	`0183: BCF 06.5`
		596	`0184: BCF 03.5`
		597	`0185: BCF 06.5`
		598	`0186: BSF 03.5`
		599	`0187: BCF 06.4`
		600	`0188: BCF 03.5`
		601	`0189: BSF 06.4`
		602	`018A: MOVLW 04`
		603	`018B: MOVWF 72`
		604	`018C: MOVLW FA`
		605	`018D: MOVWF 73`
		606	`018E: CALL 04A`
		607	`018F: DECFSZ 72,F`
		608	`0190: GOTO 18C`
		609	`0191: BSF 03.5`
		610	`0192: BCF 06.4`
		611	`0193: BCF 03.5`
		612	`0194: BCF 06.4`
		613	`0195: BSF 03.5`
		614	`0196: BCF 06.5`
		615	`0197: BCF 03.5`
		616	`0198: BCF 06.5`
		617	`0199: MOVLW 04`
		618	`019A: MOVWF 72`
		619	`019B: MOVLW FA`
		620	`019C: MOVWF 73`
		621	`019D: CALL 04A`
		622	`019E: DECFSZ 72,F`
		623	`019F: GOTO 19B`
		624	`.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		625	`01A0: BSF 03.5`
		626	`01A1: BCF 06.4`
		627	`01A2: BCF 03.5`
		628	`01A3: BCF 06.4`
		629	`01A4: BSF 03.5`
		630	`01A5: BCF 06.5`
		631	`01A6: BCF 03.5`
		632	`01A7: BSF 06.5`
		633	`01A8: MOVLW 04`
		634	`01A9: MOVWF 72`
		635	`01AA: MOVLW FA`
		636	`01AB: MOVWF 73`
		637	`01AC: CALL 04A`
		638	`01AD: DECFSZ 72,F`
		639	`01AE: GOTO 1AA`
		640	`01AF: BSF 03.5`
		641	`01B0: BCF 06.4`
		642	`01B1: BCF 03.5`
		643	`01B2: BCF 06.4`
		644	`01B3: BSF 03.5`
		645	`01B4: BCF 06.5`
		646	`01B5: BCF 03.5`
		647	`01B6: BCF 06.5`
		648	`01B7: MOVLW 04`
		649	`01B8: MOVWF 72`
		650	`01B9: MOVLW FA`
		651	`01BA: MOVWF 73`
		652	`01BB: CALL 04A`
		653	`01BC: DECFSZ 72,F`
		654	`01BD: GOTO 1B9`
		655	`.................... Beep(880,100); Delay_ms(1000);`
		656	`01BE: MOVLW 03`
		657	`01BF: MOVWF 73`
		658	`01C0: MOVLW 70`
		659	`01C1: MOVWF 72`
		660	`01C2: CLRF 75`
		661	`01C3: MOVLW 64`
		662	`01C4: MOVWF 74`
		663	`01C5: CALL 024`
		664	`01C6: MOVLW 04`
		665	`01C7: MOVWF 72`
		666	`01C8: MOVLW FA`
		667	`01C9: MOVWF 73`
		668	`01CA: CALL 04A`
		669	`01CB: DECFSZ 72,F`
		670	`01CC: GOTO 1C8`
		671	`.................... //levy pas`
		672	`.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		673	`01CD: BSF 03.5`
		674	`01CE: BCF 06.7`
		675	`01CF: BCF 03.5`
		676	`01D0: BCF 06.7`
		677	`01D1: BSF 03.5`
		678	`01D2: BCF 06.6`
		679	`01D3: BCF 03.5`
		680	`01D4: BSF 06.6`
		681	`01D5: MOVLW 04`
		682	`01D6: MOVWF 72`
		683	`01D7: MOVLW FA`
		684	`01D8: MOVWF 73`
		685	`01D9: CALL 04A`
		686	`01DA: DECFSZ 72,F`
		687	`01DB: GOTO 1D7`
		688	`01DC: BSF 03.5`
		689	`01DD: BCF 06.6`
		690	`01DE: BCF 03.5`
		691	`01DF: BCF 06.6`
		692	`01E0: BSF 03.5`
		693	`01E1: BCF 06.7`
		694	`01E2: BCF 03.5`
		695	`01E3: BCF 06.7`
		696	`01E4: MOVLW 04`
		697	`01E5: MOVWF 72`
		698	`01E6: MOVLW FA`
		699	`01E7: MOVWF 73`
		700	`01E8: CALL 04A`
		701	`01E9: DECFSZ 72,F`
		702	`01EA: GOTO 1E6`
		703	`.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		704	`01EB: BSF 03.5`
		705	`01EC: BCF 06.6`
		706	`01ED: BCF 03.5`
		707	`01EE: BCF 06.6`
		708	`01EF: BSF 03.5`
		709	`01F0: BCF 06.7`
		710	`01F1: BCF 03.5`
		711	`01F2: BSF 06.7`
		712	`01F3: MOVLW 04`
		713	`01F4: MOVWF 72`
		714	`01F5: MOVLW FA`
		715	`01F6: MOVWF 73`
		716	`01F7: CALL 04A`
		717	`01F8: DECFSZ 72,F`
		718	`01F9: GOTO 1F5`
		719	`01FA: BSF 03.5`
		720	`01FB: BCF 06.6`
		721	`01FC: BCF 03.5`
		722	`01FD: BCF 06.6`
		723	`01FE: BSF 03.5`
		724	`01FF: BCF 06.7`
		725	`0200: BCF 03.5`
		726	`0201: BCF 06.7`
		727	`0202: MOVLW 04`
		728	`0203: MOVWF 72`
		729	`0204: MOVLW FA`
		730	`0205: MOVWF 73`
		731	`0206: CALL 04A`
		732	`0207: DECFSZ 72,F`
		733	`0208: GOTO 204`
		734	`.................... Beep(880,100); Delay_ms(1000);`
		735	`0209: MOVLW 03`
		736	`020A: MOVWF 73`
		737	`020B: MOVLW 70`
		738	`020C: MOVWF 72`
		739	`020D: CLRF 75`
		740	`020E: MOVLW 64`
		741	`020F: MOVWF 74`
		742	`0210: CALL 024`
		743	`0211: MOVLW 04`
		744	`0212: MOVWF 72`
		745	`0213: MOVLW FA`
		746	`0214: MOVWF 73`
		747	`0215: CALL 04A`
		748	`0216: DECFSZ 72,F`
		749	`0217: GOTO 213`
		750	`.................... //oba pasy`
		751	`.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		752	`0218: BSF 03.5`
		753	`0219: BCF 06.7`
		754	`021A: BCF 03.5`
		755	`021B: BCF 06.7`
		756	`021C: BSF 03.5`
		757	`021D: BCF 06.6`
		758	`021E: BCF 03.5`
		759	`021F: BSF 06.6`
		760	`0220: BSF 03.5`
		761	`0221: BCF 06.5`
		762	`0222: BCF 03.5`
		763	`0223: BCF 06.5`
		764	`0224: BSF 03.5`
		765	`0225: BCF 06.4`
		766	`0226: BCF 03.5`
		767	`0227: BSF 06.4`
		768	`0228: MOVLW 04`
		769	`0229: MOVWF 72`
		770	`022A: MOVLW FA`
		771	`022B: MOVWF 73`
		772	`022C: CALL 04A`
		773	`022D: DECFSZ 72,F`
		774	`022E: GOTO 22A`
		775	`022F: BSF 03.5`
		776	`0230: BCF 06.6`
		777	`0231: BCF 03.5`
		778	`0232: BCF 06.6`
		779	`0233: BSF 03.5`
		780	`0234: BCF 06.7`
		781	`0235: BCF 03.5`
		782	`0236: BCF 06.7`
		783	`0237: BSF 03.5`
		784	`0238: BCF 06.4`
		785	`0239: BCF 03.5`
		786	`023A: BCF 06.4`
		787	`023B: BSF 03.5`
		788	`023C: BCF 06.5`
		789	`023D: BCF 03.5`
		790	`023E: BCF 06.5`
		791	`023F: MOVLW 04`
		792	`0240: MOVWF 72`
		793	`0241: MOVLW FA`
		794	`0242: MOVWF 73`
		795	`0243: CALL 04A`
		796	`0244: DECFSZ 72,F`
		797	`0245: GOTO 241`
		798	`.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		799	`0246: BSF 03.5`
		800	`0247: BCF 06.6`
		801	`0248: BCF 03.5`
		802	`0249: BCF 06.6`
		803	`024A: BSF 03.5`
		804	`024B: BCF 06.7`
		805	`024C: BCF 03.5`
		806	`024D: BSF 06.7`
		807	`024E: BSF 03.5`
		808	`024F: BCF 06.4`
		809	`0250: BCF 03.5`
		810	`0251: BCF 06.4`
		811	`0252: BSF 03.5`
		812	`0253: BCF 06.5`
		813	`0254: BCF 03.5`
		814	`0255: BSF 06.5`
		815	`0256: MOVLW 04`
		816	`0257: MOVWF 72`
		817	`0258: MOVLW FA`
		818	`0259: MOVWF 73`
		819	`025A: CALL 04A`
		820	`025B: DECFSZ 72,F`
		821	`025C: GOTO 258`
		822	`025D: BSF 03.5`
		823	`025E: BCF 06.6`
		824	`025F: BCF 03.5`
		825	`0260: BCF 06.6`
		826	`0261: BSF 03.5`
		827	`0262: BCF 06.7`
		828	`0263: BCF 03.5`
		829	`0264: BCF 06.7`
		830	`0265: BSF 03.5`
		831	`0266: BCF 06.4`
		832	`0267: BCF 03.5`
		833	`0268: BCF 06.4`
		834	`0269: BSF 03.5`
		835	`026A: BCF 06.5`
		836	`026B: BCF 03.5`
		837	`026C: BCF 06.5`
		838	`026D: MOVLW 04`
		839	`026E: MOVWF 72`
		840	`026F: MOVLW FA`
		841	`0270: MOVWF 73`
		842	`0271: CALL 04A`
		843	`0272: DECFSZ 72,F`
		844	`0273: GOTO 26F`
		845	`.................... };`
		846	`0274: GOTO 14A`
		847	`....................`
		848	`.................... while (input(DIAG_SENSORS))`
		849	`0275: BSF 03.5`
		850	`0276: BSF 06.1`
		851	`0277: BCF 03.5`
		852	`0278: BTFSS 06.1`
		853	`0279: GOTO 319`
		854	`.................... {`
		855	`.................... int ls, rs;`
		856	`.................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);}`
		857	`027A: BSF 3C.4`
		858	`027B: MOVF 3C,W`
		859	`027C: BSF 03.5`
		860	`027D: MOVWF 07`
		861	`027E: BCF 03.5`
		862	`027F: BTFSC 07.4`
		863	`0280: GOTO 28D`
		864	`0281: MOVLW 04`
		865	`0282: MOVWF 73`
		866	`0283: MOVLW 4C`
		867	`0284: MOVWF 72`
		868	`0285: CLRF 75`
		869	`0286: MOVLW 64`
		870	`0287: MOVWF 74`
		871	`0288: CALL 024`
		872	`0289: MOVLW 32`
		873	`028A: MOVWF 73`
		874	`028B: CALL 04A`
		875	`028C: GOTO 27A`
		876	`.................... set_adc_channel(RSENSOR);`
		877	`028D: MOVLW 08`
		878	`028E: MOVWF 21`
		879	`028F: MOVF 1F,W`
		880	`0290: ANDLW C7`
		881	`0291: IORWF 21,W`
		882	`0292: MOVWF 1F`
		883	`.................... Delay_us(20);`
		884	`0293: MOVLW 06`
		885	`0294: MOVWF 20`
		886	`0295: DECFSZ 20,F`
		887	`0296: GOTO 295`
		888	`0297: NOP`
		889	`.................... rs=read_adc();`
		890	`0298: BSF 1F.2`
		891	`0299: BTFSC 1F.2`
		892	`029A: GOTO 299`
		893	`029B: MOVF 1E,W`
		894	`029C: MOVWF 71`
		895	`.................... set_adc_channel(LSENSOR);`
		896	`029D: MOVLW 00`
		897	`029E: MOVWF 21`
		898	`029F: MOVF 1F,W`
		899	`02A0: ANDLW C7`
		900	`02A1: IORWF 21,W`
		901	`02A2: MOVWF 1F`
		902	`.................... Delay_us(20);`
		903	`02A3: MOVLW 06`
		904	`02A4: MOVWF 20`
		905	`02A5: DECFSZ 20,F`
		906	`02A6: GOTO 2A5`
		907	`02A7: NOP`
		908	`.................... ls=read_adc();`
		909	`02A8: BSF 1F.2`
		910	`02A9: BTFSC 1F.2`
		911	`02AA: GOTO 2A9`
		912	`02AB: MOVF 1E,W`
		913	`02AC: MOVWF 70`
		914	`.................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String.`
		915	`*`
		916	`0004: BCF 0A.0`
		917	`0005: BCF 0A.1`
		918	`0006: BCF 0A.2`
		919	`0007: ADDWF 02,F`
		920	`0008: RETLW 4C`
		921	`0009: RETLW 3A`
		922	`000A: RETLW 20`
		923	`000B: RETLW 25`
		924	`000C: RETLW 55`
		925	`000D: RETLW 20`
		926	`000E: RETLW 20`
		927	`000F: RETLW 52`
		928	`0010: RETLW 3A`
		929	`0011: RETLW 20`
		930	`0012: RETLW 25`
		931	`0013: RETLW 55`
		932	`0014: RETLW 00`
		933	`0015: RETLW 00`
		934	`*`
		935	`007C: MOVF 21,W`
		936	`007D: MOVF 73,W`
		937	`007E: MOVWF 75`
		938	`007F: MOVLW 64`
		939	`0080: MOVWF 76`
		940	`0081: CALL 067`
		941	`0082: MOVF 20,W`
		942	`0083: MOVWF 73`
		943	`0084: MOVF 21,W`
		944	`0085: MOVLW 30`
		945	`0086: BTFSS 03.2`
		946	`0087: GOTO 08F`
		947	`0088: BTFSC 74.0`
		948	`0089: BSF 74.3`
		949	`008A: BTFSC 74.3`
		950	`008B: GOTO 095`
		951	`008C: BTFSC 74.4`
		952	`008D: MOVLW 20`
		953	`008E: GOTO 091`
		954	`008F: BCF 74.3`
		955	`0090: BCF 74.4`
		956	`0091: ADDWF 21,F`
		957	`0092: MOVF 21,W`
		958	`0093: MOVWF 75`
		959	`0094: CALL 05F`
		960	`0095: MOVF 73,W`
		961	`0096: MOVWF 75`
		962	`0097: MOVLW 0A`
		963	`0098: MOVWF 76`
		964	`0099: CALL 067`
		965	`009A: MOVF 20,W`
		966	`009B: MOVWF 73`
		967	`009C: MOVF 21,W`
		968	`009D: MOVLW 30`
		969	`009E: BTFSS 03.2`
		970	`009F: GOTO 0A4`
		971	`00A0: BTFSC 74.3`
		972	`00A1: GOTO 0A8`
		973	`00A2: BTFSC 74.4`
		974	`00A3: MOVLW 20`
		975	`00A4: ADDWF 21,F`
		976	`00A5: MOVF 21,W`
		977	`00A6: MOVWF 75`
		978	`00A7: CALL 05F`
		979	`00A8: MOVLW 30`
		980	`00A9: ADDWF 73,F`
		981	`00AA: MOVF 73,W`
		982	`00AB: MOVWF 75`
		983	`00AC: CALL 05F`
		984	`00AD: RETLW 00`
		985	`*`
		986	`02AD: MOVLW 3D`
		987	`02AE: MOVWF 6B`
		988	`02AF: MOVLW 4C`
		989	`02B0: MOVWF 75`
		990	`02B1: CALL 05F`
		991	`02B2: MOVLW 3A`
		992	`02B3: MOVWF 75`
		993	`02B4: CALL 05F`
		994	`02B5: MOVLW 20`
		995	`02B6: MOVWF 75`
		996	`02B7: CALL 05F`
		997	`02B8: MOVF 70,W`
		998	`02B9: MOVWF 73`
		999	`02BA: MOVLW 18`
		1000	`02BB: MOVWF 74`
		1001	`02BC: CALL 07C`
		1002	`02BD: MOVLW 05`
		1003	`02BE: MOVWF 72`
		1004	`02BF: MOVF 72,W`
		1005	`02C0: CALL 004`
		1006	`02C1: INCF 72,F`
		1007	`02C2: MOVWF 75`
		1008	`02C3: CALL 05F`
		1009	`02C4: MOVLW 0A`
		1010	`02C5: SUBWF 72,W`
		1011	`02C6: BTFSS 03.2`
		1012	`02C7: GOTO 2BF`
		1013	`02C8: MOVF 71,W`
		1014	`02C9: MOVWF 73`
		1015	`02CA: MOVLW 18`
		1016	`02CB: MOVWF 74`
		1017	`02CC: CALL 07C`
		1018	`.................... SendPacket(&AXstring[0]);`
		1019	`02CD: MOVLW 3D`
		1020	`02CE: MOVWF 72`
		1021	`.................... delay_ms(1000);`
		1022	`*`
		1023	`0311: MOVLW 04`
		1024	`0312: MOVWF 72`
		1025	`0313: MOVLW FA`
		1026	`0314: MOVWF 73`
		1027	`0315: CALL 04A`
		1028	`0316: DECFSZ 72,F`
		1029	`0317: GOTO 313`
		1030	`.................... };`
		1031	`0318: GOTO 275`
		1032	`0319: BCF 0A.3`
		1033	`031A: GOTO 45E (RETURN)`
		1034	`.................... }`
		1035	`....................`
		1036	`.................... void cikcak()`
		1037	`.................... {`
		1038	`.................... int n;`
		1039	`.................... switch(movement) // podivej se na jednu stranu`
		1040	`*`
		1041	`0364: MOVLW 01`
		1042	`0365: SUBWF 67,W`
		1043	`0366: ADDLW FD`
		1044	`0367: BTFSC 03.0`
		1045	`0368: GOTO 3A4`
		1046	`0369: ADDLW 03`
		1047	`036A: GOTO 410`
		1048	`.................... {`
		1049	`.................... case L:`
		1050	`.................... FL;BR;`
		1051	`036B: BSF 03.5`
		1052	`036C: BCF 06.7`
		1053	`036D: BCF 03.5`
		1054	`036E: BCF 06.7`
		1055	`036F: BSF 03.5`
		1056	`0370: BCF 06.6`
		1057	`0371: BCF 03.5`
		1058	`0372: BSF 06.6`
		1059	`0373: BSF 03.5`
		1060	`0374: BCF 06.4`
		1061	`0375: BCF 03.5`
		1062	`0376: BCF 06.4`
		1063	`0377: BSF 03.5`
		1064	`0378: BCF 06.5`
		1065	`0379: BCF 03.5`
		1066	`037A: BSF 06.5`
		1067	`.................... movement=R;`
		1068	`037B: MOVLW 01`
		1069	`037C: MOVWF 67`
		1070	`.................... break;`
		1071	`037D: GOTO 3A4`
		1072	`.................... case R:`
		1073	`.................... FR;BL;`
		1074	`037E: BSF 03.5`
		1075	`037F: BCF 06.5`
		1076	`0380: BCF 03.5`
		1077	`0381: BCF 06.5`
		1078	`0382: BSF 03.5`
		1079	`0383: BCF 06.4`
		1080	`0384: BCF 03.5`
		1081	`0385: BSF 06.4`
		1082	`0386: BSF 03.5`
		1083	`0387: BCF 06.6`
		1084	`0388: BCF 03.5`
		1085	`0389: BCF 06.6`
		1086	`038A: BSF 03.5`
		1087	`038B: BCF 06.7`
		1088	`038C: BCF 03.5`
		1089	`038D: BSF 06.7`
		1090	`.................... movement=L;`
		1091	`038E: MOVLW 02`
		1092	`038F: MOVWF 67`
		1093	`.................... break;`
		1094	`0390: GOTO 3A4`
		1095	`.................... case S:`
		1096	`.................... FR;BL;`
		1097	`0391: BSF 03.5`
		1098	`0392: BCF 06.5`
		1099	`0393: BCF 03.5`
		1100	`0394: BCF 06.5`
		1101	`0395: BSF 03.5`
		1102	`0396: BCF 06.4`
		1103	`0397: BCF 03.5`
		1104	`0398: BSF 06.4`
		1105	`0399: BSF 03.5`
		1106	`039A: BCF 06.6`
		1107	`039B: BCF 03.5`
		1108	`039C: BCF 06.6`
		1109	`039D: BSF 03.5`
		1110	`039E: BCF 06.7`
		1111	`039F: BCF 03.5`
		1112	`03A0: BSF 06.7`
		1113	`.................... movement=L;`
		1114	`03A1: MOVLW 02`
		1115	`03A2: MOVWF 67`
		1116	`.................... break;`
		1117	`03A3: GOTO 3A4`
		1118	`.................... }`
		1119	`*`
		1120	`0410: BCF 0A.0`
		1121	`0411: BCF 0A.1`
		1122	`0412: BSF 0A.2`
		1123	`0413: ADDWF 02,F`
		1124	`0414: GOTO 37E`
		1125	`0415: GOTO 36B`
		1126	`0416: GOTO 391`
		1127	`.................... set_adc_channel(LSENSOR);`
		1128	`*`
		1129	`03A4: MOVLW 00`
		1130	`03A5: MOVWF 21`
		1131	`03A6: MOVF 1F,W`
		1132	`03A7: ANDLW C7`
		1133	`03A8: IORWF 21,W`
		1134	`03A9: MOVWF 1F`
		1135	`.................... Delay_us(10);`
		1136	`03AA: MOVLW 03`
		1137	`03AB: MOVWF 20`
		1138	`03AC: DECFSZ 20,F`
		1139	`03AD: GOTO 3AC`
		1140	`.................... while (tresholdL < read_adc()) // je tam cara??`
		1141	`03AE: BSF 1F.2`
		1142	`03AF: BTFSC 1F.2`
		1143	`03B0: GOTO 3AF`
		1144	`03B1: MOVF 1E,W`
		1145	`03B2: SUBWF 65,W`
		1146	`03B3: BTFSC 03.0`
		1147	`03B4: GOTO 3FC`
		1148	`.................... {`
		1149	`.................... if (n==50) // asi bude na druhe strane`
		1150	`03B5: MOVF 6E,W`
		1151	`03B6: SUBLW 32`
		1152	`03B7: BTFSS 03.2`
		1153	`03B8: GOTO 3F7`
		1154	`.................... {`
		1155	`.................... STOPR;STOPL;`
		1156	`03B9: BSF 03.5`
		1157	`03BA: BCF 06.4`
		1158	`03BB: BCF 03.5`
		1159	`03BC: BCF 06.4`
		1160	`03BD: BSF 03.5`
		1161	`03BE: BCF 06.5`
		1162	`03BF: BCF 03.5`
		1163	`03C0: BCF 06.5`
		1164	`03C1: BSF 03.5`
		1165	`03C2: BCF 06.6`
		1166	`03C3: BCF 03.5`
		1167	`03C4: BCF 06.6`
		1168	`03C5: BSF 03.5`
		1169	`03C6: BCF 06.7`
		1170	`03C7: BCF 03.5`
		1171	`03C8: BCF 06.7`
		1172	`.................... n=0;`
		1173	`03C9: CLRF 6E`
		1174	`.................... switch(movement)`
		1175	`03CA: MOVLW 01`
		1176	`03CB: SUBWF 67,W`
		1177	`03CC: ADDLW FE`
		1178	`03CD: BTFSC 03.0`
		1179	`03CE: GOTO 3F7`
		1180	`03CF: ADDLW 02`
		1181	`03D0: GOTO 417`
		1182	`.................... {`
		1183	`.................... case L:`
		1184	`.................... FL;BR;`
		1185	`03D1: BSF 03.5`
		1186	`03D2: BCF 06.7`
		1187	`03D3: BCF 03.5`
		1188	`03D4: BCF 06.7`
		1189	`03D5: BSF 03.5`
		1190	`03D6: BCF 06.6`
		1191	`03D7: BCF 03.5`
		1192	`03D8: BSF 06.6`
		1193	`03D9: BSF 03.5`
		1194	`03DA: BCF 06.4`
		1195	`03DB: BCF 03.5`
		1196	`03DC: BCF 06.4`
		1197	`03DD: BSF 03.5`
		1198	`03DE: BCF 06.5`
		1199	`03DF: BCF 03.5`
		1200	`03E0: BSF 06.5`
		1201	`.................... movement=R;`
		1202	`03E1: MOVLW 01`
		1203	`03E2: MOVWF 67`
		1204	`.................... break;`
		1205	`03E3: GOTO 3F7`
		1206	`.................... case R:`
		1207	`.................... FR;BL;`
		1208	`03E4: BSF 03.5`
		1209	`03E5: BCF 06.5`
		1210	`03E6: BCF 03.5`
		1211	`03E7: BCF 06.5`
		1212	`03E8: BSF 03.5`
		1213	`03E9: BCF 06.4`
		1214	`03EA: BCF 03.5`
		1215	`03EB: BSF 06.4`
		1216	`03EC: BSF 03.5`
		1217	`03ED: BCF 06.6`
		1218	`03EE: BCF 03.5`
		1219	`03EF: BCF 06.6`
		1220	`03F0: BSF 03.5`
		1221	`03F1: BCF 06.7`
		1222	`03F2: BCF 03.5`
		1223	`03F3: BSF 06.7`
		1224	`.................... movement=L;`
		1225	`03F4: MOVLW 02`
		1226	`03F5: MOVWF 67`
		1227	`.................... break;`
		1228	`03F6: GOTO 3F7`
		1229	`.................... }`
		1230	`*`
		1231	`0417: BCF 0A.0`
		1232	`0418: BCF 0A.1`
		1233	`0419: BSF 0A.2`
		1234	`041A: ADDWF 02,F`
		1235	`041B: GOTO 3E4`
		1236	`041C: GOTO 3D1`
		1237	`.................... }`
		1238	`.................... Delay_ms(5);`
		1239	`*`
		1240	`03F7: MOVLW 05`
		1241	`03F8: MOVWF 73`
		1242	`03F9: CALL 04A`
		1243	`.................... n++;`
		1244	`03FA: INCF 6E,F`
		1245	`.................... }`
		1246	`03FB: GOTO 3AE`
		1247	`.................... STOPL;STOPR; // nasli jsme caru`
		1248	`03FC: BSF 03.5`
		1249	`03FD: BCF 06.6`
		1250	`03FE: BCF 03.5`
		1251	`03FF: BCF 06.6`
		1252	`0400: BSF 03.5`
		1253	`0401: BCF 06.7`
		1254	`0402: BCF 03.5`
		1255	`0403: BCF 06.7`
		1256	`0404: BSF 03.5`
		1257	`0405: BCF 06.4`
		1258	`0406: BCF 03.5`
		1259	`0407: BCF 06.4`
		1260	`0408: BSF 03.5`
		1261	`0409: BCF 06.5`
		1262	`040A: BCF 03.5`
		1263	`040B: BCF 06.5`
		1264	`.................... line=S;`
		1265	`040C: MOVLW 03`
		1266	`040D: MOVWF 68`
		1267	`040E: BCF 0A.3`
		1268	`040F: GOTO 610 (RETURN)`
		1269	`.................... }`
		1270	`.................... void objizdka()`
		1271	`.................... {`
		1272	`.................... BL;BR;Delay_ms(300);`
		1273	`*`
		1274	`031B: BSF 03.5`
		1275	`031C: BCF 06.6`
		1276	`031D: BCF 03.5`
		1277	`031E: BCF 06.6`
		1278	`031F: BSF 03.5`
		1279	`0320: BCF 06.7`
		1280	`0321: BCF 03.5`
		1281	`0322: BSF 06.7`
		1282	`0323: BSF 03.5`
		1283	`0324: BCF 06.4`
		1284	`0325: BCF 03.5`
		1285	`0326: BCF 06.4`
		1286	`0327: BSF 03.5`
		1287	`0328: BCF 06.5`
		1288	`0329: BCF 03.5`
		1289	`032A: BSF 06.5`
		1290	`032B: MOVLW 02`
		1291	`032C: MOVWF 6E`
		1292	`032D: MOVLW 96`
		1293	`032E: MOVWF 73`
		1294	`032F: CALL 04A`
		1295	`0330: DECFSZ 6E,F`
		1296	`0331: GOTO 32D`
		1297	`.................... STOPR;STOPL;`
		1298	`0332: BSF 03.5`
		1299	`0333: BCF 06.4`
		1300	`0334: BCF 03.5`
		1301	`0335: BCF 06.4`
		1302	`0336: BSF 03.5`
		1303	`0337: BCF 06.5`
		1304	`0338: BCF 03.5`
		1305	`0339: BCF 06.5`
		1306	`033A: BSF 03.5`
		1307	`033B: BCF 06.6`
		1308	`033C: BCF 03.5`
		1309	`033D: BCF 06.6`
		1310	`033E: BSF 03.5`
		1311	`033F: BCF 06.7`
		1312	`0340: BCF 03.5`
		1313	`0341: BCF 06.7`
		1314	`.................... beep(1000,1000);`
		1315	`0342: MOVLW 03`
		1316	`0343: MOVWF 73`
		1317	`0344: MOVLW E8`
		1318	`0345: MOVWF 72`
		1319	`0346: MOVLW 03`
		1320	`0347: MOVWF 75`
		1321	`0348: MOVLW E8`
		1322	`0349: MOVWF 74`
		1323	`034A: CALL 024`
		1324	`.................... Delay_ms(500);`
		1325	`034B: MOVLW 02`
		1326	`034C: MOVWF 6E`
		1327	`034D: MOVLW FA`
		1328	`034E: MOVWF 73`
		1329	`034F: CALL 04A`
		1330	`0350: DECFSZ 6E,F`
		1331	`0351: GOTO 34D`
		1332	`.................... beep(1000,1000);`
		1333	`0352: MOVLW 03`
		1334	`0353: MOVWF 73`
		1335	`0354: MOVLW E8`
		1336	`0355: MOVWF 72`
		1337	`0356: MOVLW 03`
		1338	`0357: MOVWF 75`
		1339	`0358: MOVLW E8`
		1340	`0359: MOVWF 74`
		1341	`035A: CALL 024`
		1342	`.................... Delay_ms(1000);`
		1343	`035B: MOVLW 04`
		1344	`035C: MOVWF 6E`
		1345	`035D: MOVLW FA`
		1346	`035E: MOVWF 73`
		1347	`035F: CALL 04A`
		1348	`0360: DECFSZ 6E,F`
		1349	`0361: GOTO 35D`
		1350	`0362: BCF 0A.3`
		1351	`0363: GOTO 48A (RETURN)`
		1352	`....................`
		1353	`.................... }`
		1354	`.................... void kalibrace()`
		1355	`.................... {`
		1356	`.................... unsigned int16 i;`
		1357	`.................... int min;`
		1358	`.................... int max;`
		1359	`.................... int current;`
		1360	`.................... int treshold;`
		1361	`....................`
		1362	`.................... FL; BR; Delay_ms(130);`
		1363	`.................... chyba1:`
		1364	`.................... FR; BL; //kalibrace leveho cidla`
		1365	`.................... set_adc_channel(LSENSOR);`
		1366	`.................... Delay_us(20);`
		1367	`.................... min=max=read_adc();`
		1368	`.................... for (i=1;i<=500;i++)`
		1369	`.................... {`
		1370	`.................... current=read_adc();`
		1371	`.................... if (max < current) max=current;`
		1372	`.................... if (min > current) min=current;`
		1373	`.................... Delay_us(500);`
		1374	`.................... }`
		1375	`.................... FL; BR;`
		1376	`.................... for (i=1;i<=500;i++)`
		1377	`.................... {`
		1378	`.................... current=read_adc();`
		1379	`.................... if (max < current) max=current;`
		1380	`.................... if (min > current) min=current;`
		1381	`.................... Delay_us(500);`
		1382	`.................... }`
		1383	`.................... STOPL; STOPR; Delay_ms(200);`
		1384	`.................... if((max-min)<50) {Beep(1000,300); GOTO chyba1;}`
		1385	`.................... treshold=(max-min)>>1;`
		1386	`.................... tresholdL=treshold+min;`
		1387	`....................`
		1388	`.................... chyba2:`
		1389	`.................... FR; BL;`
		1390	`.................... set_adc_channel(RSENSOR);`
		1391	`.................... Delay_us(20);`
		1392	`.................... min=max=read_adc(); //naplneni min a max nejakou rozumnou hodnotou`
		1393	`.................... for (i=1;i<=500 ;i++)`
		1394	`.................... {`
		1395	`.................... current=read_adc();`
		1396	`.................... if (max < current) max=current; //zmereni minima a maxima`
		1397	`.................... if (min > current) min=current;`
		1398	`.................... Delay_us(500);`
		1399	`.................... }`
		1400	`.................... FL; BR;`
		1401	`.................... for (i=1;i<=500 ;i++)`
		1402	`.................... {`
		1403	`.................... current=read_adc();`
		1404	`.................... if (max < current) max=current; //zmereni minima a maxima`
		1405	`.................... if (min > current) min=current;`
		1406	`.................... Delay_us(500);`
		1407	`.................... }`
		1408	`.................... STOPL; STOPR; Delay_ms(200);`
		1409	`.................... if((max-min)<50) {Beep(1000,300); GOTO chyba2;}`
		1410	`.................... treshold=(max-min)>>1;`
		1411	`.................... tresholdR=treshold+min;`
		1412	`....................`
		1413	`.................... FR; BL;`
		1414	`.................... movement=L;`
		1415	`.................... set_adc_channel(LSENSOR);`
		1416	`.................... Delay_us(20);`
		1417	`.................... while (tresholdL < read_adc()) Delay_us(100);`
		1418	`.................... FL; BR; Delay_ms(50);`
		1419	`.................... STOPL; STOPR; Delay_ms(500);`
		1420	`.................... Beep(780,200);`
		1421	`.................... }`
		1422	`....................`
		1423	`.................... void main()`
		1424	`.................... {`
		1425	`.................... unsigned int16 rovne; // pocita delku rovne cary`
		1426	`*`
		1427	`041D: CLRF 04`
		1428	`041E: MOVLW 1F`
		1429	`041F: ANDWF 03,F`
		1430	`0420: MOVLW 07`
		1431	`0421: BSF 03.5`
		1432	`0422: MOVWF 1F`
		1433	`0423: MOVLW 82`
		1434	`0424: BCF 03.5`
		1435	`0425: MOVWF 25`
		1436	`0426: MOVLW 98`
		1437	`0427: MOVWF 26`
		1438	`0428: MOVWF 27`
		1439	`0429: MOVLW 40`
		1440	`042A: MOVWF 28`
		1441	`042B: MOVWF 29`
		1442	`042C: MOVWF 2A`
		1443	`042D: MOVLW 60`
		1444	`042E: MOVWF 2B`
		1445	`042F: MOVLW 86`
		1446	`0430: MOVWF 2C`
		1447	`0431: MOVLW B4`
		1448	`0432: MOVWF 2D`
		1449	`0433: MOVLW 60`
		1450	`0434: MOVWF 2E`
		1451	`0435: MOVLW A4`
		1452	`0436: MOVWF 2F`
		1453	`0437: MOVWF 30`
		1454	`0438: MOVWF 31`
		1455	`0439: MOVLW 61`
		1456	`043A: MOVWF 32`
		1457	`043B: MOVLW 03`
		1458	`043C: MOVWF 33`
		1459	`043D: MOVLW F0`
		1460	`043E: MOVWF 34`
		1461	`043F: MOVLW FF`
		1462	`0440: MOVWF 3C`
		1463	`0441: CLRF 6B`
		1464	`....................`
		1465	`.................... STOPL; STOPR;`
		1466	`0442: BSF 03.5`
		1467	`0443: BCF 06.6`
		1468	`0444: BCF 03.5`
		1469	`0445: BCF 06.6`
		1470	`0446: BSF 03.5`
		1471	`0447: BCF 06.7`
		1472	`0448: BCF 03.5`
		1473	`0449: BCF 06.7`
		1474	`044A: BSF 03.5`
		1475	`044B: BCF 06.4`
		1476	`044C: BCF 03.5`
		1477	`044D: BCF 06.4`
		1478	`044E: BSF 03.5`
		1479	`044F: BCF 06.5`
		1480	`0450: BCF 03.5`
		1481	`0451: BCF 06.5`
		1482	`....................`
		1483	`.................... setup_adc_ports(RA0_RA1_RA3_ANALOG);`
		1484	`0452: MOVLW 04`
		1485	`0453: BSF 03.5`
		1486	`0454: MOVWF 1F`
		1487	`.................... setup_adc(ADC_CLOCK_DIV_2);`
		1488	`0455: BCF 03.5`
		1489	`0456: MOVF 1F,W`
		1490	`0457: ANDLW 38`
		1491	`0458: IORLW 01`
		1492	`0459: MOVWF 1F`
		1493	`....................`
		1494	`.................... port_b_pullups(false);`
		1495	`045A: BSF 03.5`
		1496	`045B: BSF 01.7`
		1497	`....................`
		1498	`.................... diagnostika();`
		1499	`045C: BCF 03.5`
		1500	`045D: GOTO 14A`
		1501	`....................`
		1502	`.................... Beep(1000,200); //double beep`
		1503	`045E: MOVLW 03`
		1504	`045F: MOVWF 73`
		1505	`0460: MOVLW E8`
		1506	`0461: MOVWF 72`
		1507	`0462: CLRF 75`
		1508	`0463: MOVLW C8`
		1509	`0464: MOVWF 74`
		1510	`0465: CALL 024`
		1511	`.................... Delay_ms(50);`
		1512	`0466: MOVLW 32`
		1513	`0467: MOVWF 73`
		1514	`0468: CALL 04A`
		1515	`.................... Beep(1000,200);`
		1516	`0469: MOVLW 03`
		1517	`046A: MOVWF 73`
		1518	`046B: MOVLW E8`
		1519	`046C: MOVWF 72`
		1520	`046D: CLRF 75`
		1521	`046E: MOVLW C8`
		1522	`046F: MOVWF 74`
		1523	`0470: CALL 024`
		1524	`.................... Delay_ms(1000); // 1s`
		1525	`0471: MOVLW 04`
		1526	`0472: MOVWF 6E`
		1527	`0473: MOVLW FA`
		1528	`0474: MOVWF 73`
		1529	`0475: CALL 04A`
		1530	`0476: DECFSZ 6E,F`
		1531	`0477: GOTO 473`
		1532	`....................`
		1533	`.................... // kalibrace();`
		1534	`.................... tresholdl=tresholdr=80;`
		1535	`0478: MOVLW 50`
		1536	`0479: MOVWF 66`
		1537	`047A: MOVWF 65`
		1538	`.................... // FL; FR;`
		1539	`.................... movement=S;`
		1540	`047B: MOVLW 03`
		1541	`047C: MOVWF 67`
		1542	`.................... line=S;`
		1543	`047D: MOVWF 68`
		1544	`.................... dira=0;`
		1545	`047E: CLRF 6A`
		1546	`047F: CLRF 69`
		1547	`.................... rovne=0;`
		1548	`0480: CLRF 6D`
		1549	`0481: CLRF 6C`
		1550	`....................`
		1551	`.................... while(true)`
		1552	`.................... {`
		1553	`.................... if(!input(BUMPER)) objizdka();`
		1554	`0482: BSF 3C.4`
		1555	`0483: MOVF 3C,W`
		1556	`0484: BSF 03.5`
		1557	`0485: MOVWF 07`
		1558	`0486: BCF 03.5`
		1559	`0487: BTFSC 07.4`
		1560	`0488: GOTO 48A`
		1561	`0489: GOTO 31B`
		1562	`.................... line=0;`
		1563	`048A: CLRF 68`
		1564	`.................... set_adc_channel(RSENSOR); // podivej se jestli neni cara pod pravym cidlem`
		1565	`048B: MOVLW 08`
		1566	`048C: MOVWF 21`
		1567	`048D: MOVF 1F,W`
		1568	`048E: ANDLW C7`
		1569	`048F: IORWF 21,W`
		1570	`0490: MOVWF 1F`
		1571	`.................... Delay_us(10);`
		1572	`0491: MOVLW 03`
		1573	`0492: MOVWF 20`
		1574	`0493: DECFSZ 20,F`
		1575	`0494: GOTO 493`
		1576	`.................... if(tresholdR > read_adc())`
		1577	`0495: BSF 1F.2`
		1578	`0496: BTFSC 1F.2`
		1579	`0497: GOTO 496`
		1580	`0498: MOVF 1E,W`
		1581	`0499: SUBWF 66,W`
		1582	`049A: BTFSC 03.2`
		1583	`049B: GOTO 4A2`
		1584	`049C: BTFSS 03.0`
		1585	`049D: GOTO 4A2`
		1586	`.................... {`
		1587	`.................... dira=0;`
		1588	`049E: CLRF 6A`
		1589	`049F: CLRF 69`
		1590	`.................... line=R;`
		1591	`04A0: MOVLW 01`
		1592	`04A1: MOVWF 68`
		1593	`.................... }`
		1594	`.................... set_adc_channel(LSENSOR); // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym`
		1595	`04A2: MOVLW 00`
		1596	`04A3: MOVWF 21`
		1597	`04A4: MOVF 1F,W`
		1598	`04A5: ANDLW C7`
		1599	`04A6: IORWF 21,W`
		1600	`04A7: MOVWF 1F`
		1601	`.................... Delay_us(10);`
		1602	`04A8: MOVLW 03`
		1603	`04A9: MOVWF 20`
		1604	`04AA: DECFSZ 20,F`
		1605	`04AB: GOTO 4AA`
		1606	`.................... if(tresholdL > read_adc())`
		1607	`04AC: BSF 1F.2`
		1608	`04AD: BTFSC 1F.2`
		1609	`04AE: GOTO 4AD`
		1610	`04AF: MOVF 1E,W`
		1611	`04B0: SUBWF 65,W`
		1612	`04B1: BTFSC 03.2`
		1613	`04B2: GOTO 4B8`
		1614	`04B3: BTFSS 03.0`
		1615	`04B4: GOTO 4B8`
		1616	`.................... {`
		1617	`.................... dira=0;`
		1618	`04B5: CLRF 6A`
		1619	`04B6: CLRF 69`
		1620	`.................... line=line \| L;`
		1621	`04B7: BSF 68.1`
		1622	`.................... }`
		1623	`....................`
		1624	`.................... switch(line)`
		1625	`04B8: MOVF 68,W`
		1626	`04B9: MOVWF 20`
		1627	`04BA: MOVLW 03`
		1628	`04BB: SUBWF 20,W`
		1629	`04BC: BTFSC 03.2`
		1630	`04BD: GOTO 4C7`
		1631	`04BE: MOVLW 02`
		1632	`04BF: SUBWF 20,W`
		1633	`04C0: BTFSC 03.2`
		1634	`04C1: GOTO 4DA`
		1635	`04C2: MOVLW 01`
		1636	`04C3: SUBWF 20,W`
		1637	`04C4: BTFSC 03.2`
		1638	`04C5: GOTO 4ED`
		1639	`04C6: GOTO 500`
		1640	`.................... {`
		1641	`.................... case S:`
		1642	`.................... FR;FL;`
		1643	`04C7: BSF 03.5`
		1644	`04C8: BCF 06.5`
		1645	`04C9: BCF 03.5`
		1646	`04CA: BCF 06.5`
		1647	`04CB: BSF 03.5`
		1648	`04CC: BCF 06.4`
		1649	`04CD: BCF 03.5`
		1650	`04CE: BSF 06.4`
		1651	`04CF: BSF 03.5`
		1652	`04D0: BCF 06.7`
		1653	`04D1: BCF 03.5`
		1654	`04D2: BCF 06.7`
		1655	`04D3: BSF 03.5`
		1656	`04D4: BCF 06.6`
		1657	`04D5: BCF 03.5`
		1658	`04D6: BSF 06.6`
		1659	`.................... movement=S;`
		1660	`04D7: MOVLW 03`
		1661	`04D8: MOVWF 67`
		1662	`.................... continue;`
		1663	`04D9: GOTO 482`
		1664	`.................... case L:`
		1665	`.................... STOPL;`
		1666	`04DA: BSF 03.5`
		1667	`04DB: BCF 06.6`
		1668	`04DC: BCF 03.5`
		1669	`04DD: BCF 06.6`
		1670	`04DE: BSF 03.5`
		1671	`04DF: BCF 06.7`
		1672	`04E0: BCF 03.5`
		1673	`04E1: BCF 06.7`
		1674	`.................... FR;movement=L;`
		1675	`04E2: BSF 03.5`
		1676	`04E3: BCF 06.5`
		1677	`04E4: BCF 03.5`
		1678	`04E5: BCF 06.5`
		1679	`04E6: BSF 03.5`
		1680	`04E7: BCF 06.4`
		1681	`04E8: BCF 03.5`
		1682	`04E9: BSF 06.4`
		1683	`04EA: MOVLW 02`
		1684	`04EB: MOVWF 67`
		1685	`.................... continue;`
		1686	`04EC: GOTO 482`
		1687	`.................... case R:`
		1688	`.................... STOPR;`
		1689	`04ED: BSF 03.5`
		1690	`04EE: BCF 06.4`
		1691	`04EF: BCF 03.5`
		1692	`04F0: BCF 06.4`
		1693	`04F1: BSF 03.5`
		1694	`04F2: BCF 06.5`
		1695	`04F3: BCF 03.5`
		1696	`04F4: BCF 06.5`
		1697	`.................... FL;movement=R;`
		1698	`04F5: BSF 03.5`
		1699	`04F6: BCF 06.7`
		1700	`04F7: BCF 03.5`
		1701	`04F8: BCF 06.7`
		1702	`04F9: BSF 03.5`
		1703	`04FA: BCF 06.6`
		1704	`04FB: BCF 03.5`
		1705	`04FC: BSF 06.6`
		1706	`04FD: MOVLW 01`
		1707	`04FE: MOVWF 67`
		1708	`.................... continue;`
		1709	`04FF: GOTO 482`
		1710	`.................... default:`
		1711	`.................... }`
		1712	`....................`
		1713	`.................... if (dira==ODEZVA) // kdyz uz chvili jedeme po bile plose`
		1714	`0500: DECFSZ 69,W`
		1715	`0501: GOTO 54A`
		1716	`0502: MOVF 6A,F`
		1717	`0503: BTFSS 03.2`
		1718	`0504: GOTO 54A`
		1719	`.................... {`
		1720	`.................... //BR;BL;Delay_us(rovne >>= 5);`
		1721	`.................... rovne=0; //kdyz sme museli zatocit, uz neni rovna cara`
		1722	`0505: CLRF 6D`
		1723	`0506: CLRF 6C`
		1724	`....................`
		1725	`.................... switch (line) // musime zatocit`
		1726	`0507: MOVLW 01`
		1727	`0508: SUBWF 68,W`
		1728	`0509: ADDLW FE`
		1729	`050A: BTFSC 03.0`
		1730	`050B: GOTO 54A`
		1731	`050C: ADDLW 02`
		1732	`050D: GOTO 617`
		1733	`.................... {`
		1734	`.................... case L:`
		1735	`.................... BL;Delay_ms(BRZDENI);STOPL;`
		1736	`050E: BSF 03.5`
		1737	`050F: BCF 06.6`
		1738	`0510: BCF 03.5`
		1739	`0511: BCF 06.6`
		1740	`0512: BSF 03.5`
		1741	`0513: BCF 06.7`
		1742	`0514: BCF 03.5`
		1743	`0515: BSF 06.7`
		1744	`0516: MOVLW 64`
		1745	`0517: MOVWF 73`
		1746	`0518: CALL 04A`
		1747	`0519: BSF 03.5`
		1748	`051A: BCF 06.6`
		1749	`051B: BCF 03.5`
		1750	`051C: BCF 06.6`
		1751	`051D: BSF 03.5`
		1752	`051E: BCF 06.7`
		1753	`051F: BCF 03.5`
		1754	`0520: BCF 06.7`
		1755	`.................... FR;`
		1756	`0521: BSF 03.5`
		1757	`0522: BCF 06.5`
		1758	`0523: BCF 03.5`
		1759	`0524: BCF 06.5`
		1760	`0525: BSF 03.5`
		1761	`0526: BCF 06.4`
		1762	`0527: BCF 03.5`
		1763	`0528: BSF 06.4`
		1764	`.................... movement=L;`
		1765	`0529: MOVLW 02`
		1766	`052A: MOVWF 67`
		1767	`.................... break;`
		1768	`052B: GOTO 54A`
		1769	`.................... case R:`
		1770	`.................... BR;Delay_ms(BRZDENI);STOPR;`
		1771	`052C: BSF 03.5`
		1772	`052D: BCF 06.4`
		1773	`052E: BCF 03.5`
		1774	`052F: BCF 06.4`
		1775	`0530: BSF 03.5`
		1776	`0531: BCF 06.5`
		1777	`0532: BCF 03.5`
		1778	`0533: BSF 06.5`
		1779	`0534: MOVLW 64`
		1780	`0535: MOVWF 73`
		1781	`0536: CALL 04A`
		1782	`0537: BSF 03.5`
		1783	`0538: BCF 06.4`
		1784	`0539: BCF 03.5`
		1785	`053A: BCF 06.4`
		1786	`053B: BSF 03.5`
		1787	`053C: BCF 06.5`
		1788	`053D: BCF 03.5`
		1789	`053E: BCF 06.5`
		1790	`.................... FL;`
		1791	`053F: BSF 03.5`
		1792	`0540: BCF 06.7`
		1793	`0541: BCF 03.5`
		1794	`0542: BCF 06.7`
		1795	`0543: BSF 03.5`
		1796	`0544: BCF 06.6`
		1797	`0545: BCF 03.5`
		1798	`0546: BSF 06.6`
		1799	`.................... movement=R;`
		1800	`0547: MOVLW 01`
		1801	`0548: MOVWF 67`
		1802	`.................... break;`
		1803	`0549: GOTO 54A`
		1804	`.................... }`
		1805	`*`
		1806	`0617: BCF 0A.0`
		1807	`0618: BSF 0A.1`
		1808	`0619: BSF 0A.2`
		1809	`061A: ADDWF 02,F`
		1810	`061B: GOTO 52C`
		1811	`061C: GOTO 50E`
		1812	`.................... }`
		1813	`.................... if (dira==MEZERA) // kdyz zkoncila cara`
		1814	`*`
		1815	`054A: MOVF 69,W`
		1816	`054B: SUBLW 18`
		1817	`054C: BTFSS 03.2`
		1818	`054D: GOTO 612`
		1819	`054E: MOVF 6A,W`
		1820	`054F: SUBLW 15`
		1821	`0550: BTFSS 03.2`
		1822	`0551: GOTO 612`
		1823	`.................... {`
		1824	`.................... beep(800,500);`
		1825	`0552: MOVLW 03`
		1826	`0553: MOVWF 73`
		1827	`0554: MOVLW 20`
		1828	`0555: MOVWF 72`
		1829	`0556: MOVLW 01`
		1830	`0557: MOVWF 75`
		1831	`0558: MOVLW F4`
		1832	`0559: MOVWF 74`
		1833	`055A: CALL 024`
		1834	`.................... Delay_ms(50);`
		1835	`055B: MOVLW 32`
		1836	`055C: MOVWF 73`
		1837	`055D: CALL 04A`
		1838	`.................... beep(800,500);`
		1839	`055E: MOVLW 03`
		1840	`055F: MOVWF 73`
		1841	`0560: MOVLW 20`
		1842	`0561: MOVWF 72`
		1843	`0562: MOVLW 01`
		1844	`0563: MOVWF 75`
		1845	`0564: MOVLW F4`
		1846	`0565: MOVWF 74`
		1847	`0566: CALL 024`
		1848	`.................... switch (movement) //vrat se zpet na caru`
		1849	`0567: MOVLW 01`
		1850	`0568: SUBWF 67,W`
		1851	`0569: ADDLW FD`
		1852	`056A: BTFSC 03.0`
		1853	`056B: GOTO 5E6`
		1854	`056C: ADDLW 03`
		1855	`056D: GOTO 61D`
		1856	`.................... {`
		1857	`.................... case L:`
		1858	`.................... STOPL;STOPR;`
		1859	`056E: BSF 03.5`
		1860	`056F: BCF 06.6`
		1861	`0570: BCF 03.5`
		1862	`0571: BCF 06.6`
		1863	`0572: BSF 03.5`
		1864	`0573: BCF 06.7`
		1865	`0574: BCF 03.5`
		1866	`0575: BCF 06.7`
		1867	`0576: BSF 03.5`
		1868	`0577: BCF 06.4`
		1869	`0578: BCF 03.5`
		1870	`0579: BCF 06.4`
		1871	`057A: BSF 03.5`
		1872	`057B: BCF 06.5`
		1873	`057C: BCF 03.5`
		1874	`057D: BCF 06.5`
		1875	`.................... BR;Delay_ms(COUVANI);STOPR;`
		1876	`057E: BSF 03.5`
		1877	`057F: BCF 06.4`
		1878	`0580: BCF 03.5`
		1879	`0581: BCF 06.4`
		1880	`0582: BSF 03.5`
		1881	`0583: BCF 06.5`
		1882	`0584: BCF 03.5`
		1883	`0585: BSF 06.5`
		1884	`0586: MOVLW 08`
		1885	`0587: MOVWF 6E`
		1886	`0588: MOVLW C8`
		1887	`0589: MOVWF 73`
		1888	`058A: CALL 04A`
		1889	`058B: DECFSZ 6E,F`
		1890	`058C: GOTO 588`
		1891	`058D: BSF 03.5`
		1892	`058E: BCF 06.4`
		1893	`058F: BCF 03.5`
		1894	`0590: BCF 06.4`
		1895	`0591: BSF 03.5`
		1896	`0592: BCF 06.5`
		1897	`0593: BCF 03.5`
		1898	`0594: BCF 06.5`
		1899	`.................... break;`
		1900	`0595: GOTO 5E6`
		1901	`.................... case R:`
		1902	`.................... STOPL;STOPR;`
		1903	`0596: BSF 03.5`
		1904	`0597: BCF 06.6`
		1905	`0598: BCF 03.5`
		1906	`0599: BCF 06.6`
		1907	`059A: BSF 03.5`
		1908	`059B: BCF 06.7`
		1909	`059C: BCF 03.5`
		1910	`059D: BCF 06.7`
		1911	`059E: BSF 03.5`
		1912	`059F: BCF 06.4`
		1913	`05A0: BCF 03.5`
		1914	`05A1: BCF 06.4`
		1915	`05A2: BSF 03.5`
		1916	`05A3: BCF 06.5`
		1917	`05A4: BCF 03.5`
		1918	`05A5: BCF 06.5`
		1919	`.................... BL;Delay_ms(COUVANI);STOPL;`
		1920	`05A6: BSF 03.5`
		1921	`05A7: BCF 06.6`
		1922	`05A8: BCF 03.5`
		1923	`05A9: BCF 06.6`
		1924	`05AA: BSF 03.5`
		1925	`05AB: BCF 06.7`
		1926	`05AC: BCF 03.5`
		1927	`05AD: BSF 06.7`
		1928	`05AE: MOVLW 08`
		1929	`05AF: MOVWF 6E`
		1930	`05B0: MOVLW C8`
		1931	`05B1: MOVWF 73`
		1932	`05B2: CALL 04A`
		1933	`05B3: DECFSZ 6E,F`
		1934	`05B4: GOTO 5B0`
		1935	`05B5: BSF 03.5`
		1936	`05B6: BCF 06.6`
		1937	`05B7: BCF 03.5`
		1938	`05B8: BCF 06.6`
		1939	`05B9: BSF 03.5`
		1940	`05BA: BCF 06.7`
		1941	`05BB: BCF 03.5`
		1942	`05BC: BCF 06.7`
		1943	`.................... break;`
		1944	`05BD: GOTO 5E6`
		1945	`.................... case S:`
		1946	`.................... BL; BR; Delay_ms(COUVANI);`
		1947	`05BE: BSF 03.5`
		1948	`05BF: BCF 06.6`
		1949	`05C0: BCF 03.5`
		1950	`05C1: BCF 06.6`
		1951	`05C2: BSF 03.5`
		1952	`05C3: BCF 06.7`
		1953	`05C4: BCF 03.5`
		1954	`05C5: BSF 06.7`
		1955	`05C6: BSF 03.5`
		1956	`05C7: BCF 06.4`
		1957	`05C8: BCF 03.5`
		1958	`05C9: BCF 06.4`
		1959	`05CA: BSF 03.5`
		1960	`05CB: BCF 06.5`
		1961	`05CC: BCF 03.5`
		1962	`05CD: BSF 06.5`
		1963	`05CE: MOVLW 08`
		1964	`05CF: MOVWF 6E`
		1965	`05D0: MOVLW C8`
		1966	`05D1: MOVWF 73`
		1967	`05D2: CALL 04A`
		1968	`05D3: DECFSZ 6E,F`
		1969	`05D4: GOTO 5D0`
		1970	`.................... STOPL; STOPR;`
		1971	`05D5: BSF 03.5`
		1972	`05D6: BCF 06.6`
		1973	`05D7: BCF 03.5`
		1974	`05D8: BCF 06.6`
		1975	`05D9: BSF 03.5`
		1976	`05DA: BCF 06.7`
		1977	`05DB: BCF 03.5`
		1978	`05DC: BCF 06.7`
		1979	`05DD: BSF 03.5`
		1980	`05DE: BCF 06.4`
		1981	`05DF: BCF 03.5`
		1982	`05E0: BCF 06.4`
		1983	`05E1: BSF 03.5`
		1984	`05E2: BCF 06.5`
		1985	`05E3: BCF 03.5`
		1986	`05E4: BCF 06.5`
		1987	`.................... break;`
		1988	`05E5: GOTO 5E6`
		1989	`.................... }`
		1990	`*`
		1991	`061D: BCF 0A.0`
		1992	`061E: BSF 0A.1`
		1993	`061F: BSF 0A.2`
		1994	`0620: ADDWF 02,F`
		1995	`0621: GOTO 596`
		1996	`0622: GOTO 56E`
		1997	`0623: GOTO 5BE`
		1998	`....................`
		1999	`.................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara`
		2000	`*`
		2001	`05E6: BSF 03.5`
		2002	`05E7: BCF 06.5`
		2003	`05E8: BCF 03.5`
		2004	`05E9: BCF 06.5`
		2005	`05EA: BSF 03.5`
		2006	`05EB: BCF 06.4`
		2007	`05EC: BCF 03.5`
		2008	`05ED: BSF 06.4`
		2009	`05EE: BSF 03.5`
		2010	`05EF: BCF 06.7`
		2011	`05F0: BCF 03.5`
		2012	`05F1: BCF 06.7`
		2013	`05F2: BSF 03.5`
		2014	`05F3: BCF 06.6`
		2015	`05F4: BCF 03.5`
		2016	`05F5: BSF 06.6`
		2017	`05F6: MOVLW 02`
		2018	`05F7: MOVWF 6E`
		2019	`05F8: MOVLW C8`
		2020	`05F9: MOVWF 73`
		2021	`05FA: CALL 04A`
		2022	`05FB: DECFSZ 6E,F`
		2023	`05FC: GOTO 5F8`
		2024	`.................... STOPL; STOPR; movement=S;`
		2025	`05FD: BSF 03.5`
		2026	`05FE: BCF 06.6`
		2027	`05FF: BCF 03.5`
		2028	`0600: BCF 06.6`
		2029	`0601: BSF 03.5`
		2030	`0602: BCF 06.7`
		2031	`0603: BCF 03.5`
		2032	`0604: BCF 06.7`
		2033	`0605: BSF 03.5`
		2034	`0606: BCF 06.4`
		2035	`0607: BCF 03.5`
		2036	`0608: BCF 06.4`
		2037	`0609: BSF 03.5`
		2038	`060A: BCF 06.5`
		2039	`060B: BCF 03.5`
		2040	`060C: BCF 06.5`
		2041	`060D: MOVLW 03`
		2042	`060E: MOVWF 67`
		2043	`.................... cikcak(); // najdi caru`
		2044	`060F: GOTO 364`
		2045	`.................... dira=0;`
		2046	`0610: CLRF 6A`
		2047	`0611: CLRF 69`
		2048	`.................... }`
		2049	`.................... dira++;`
		2050	`0612: INCF 69,F`
		2051	`0613: BTFSC 03.2`
		2052	`0614: INCF 6A,F`
		2053	`.................... } // while(true)`
		2054	`0615: GOTO 482`
		2055	`.................... }`
		2056	`....................`
		2057	`0616: SLEEP`

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