WebSVN – svnkaklik – Blame – /roboti/istrobot/merkur/PIC16F88/MerkurU/tank.LST

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.221, 27853 18-VI-05 13:30`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST`
		4
		5	`ROM used: 1441 words (35%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 27 (15%) at main() level`
		8	`34 (19%) worst case`
		9	`Stack: 4 worst case (3 in main + 1 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 00`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 2D1`
		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 037`
		67	`.................... // Program pro predvadeni schopnosti robota Merkur`
		68	`.................... //------------------------------------------------`
		69	`....................`
		70	`.................... #include "tank.h"`
		71	`.................... #include <16F88.h>`
		72	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		73	`.................... #device PIC16F88`
		74	`.................... #list`
		75	`....................`
		76	`.................... #device adc=8`
		77	`.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO`
		78	`.................... #use delay(clock=4000000)`
		79	`*`
		80	`0042: MOVLW 12`
		81	`0043: SUBWF 3C,F`
		82	`0044: BTFSS 03.0`
		83	`0045: GOTO 054`
		84	`0046: MOVLW 3C`
		85	`0047: MOVWF 04`
		86	`0048: MOVLW FC`
		87	`0049: ANDWF 00,F`
		88	`004A: BCF 03.0`
		89	`004B: RRF 00,F`
		90	`004C: RRF 00,F`
		91	`004D: MOVF 00,W`
		92	`004E: BTFSC 03.2`
		93	`004F: GOTO 054`
		94	`0050: GOTO 052`
		95	`0051: NOP`
		96	`0052: DECFSZ 00,F`
		97	`0053: GOTO 051`
		98	`0054: RETLW 00`
		99	`*`
		100	`0073: MOVLW 37`
		101	`0074: MOVWF 04`
		102	`0075: MOVF 00,W`
		103	`0076: BTFSC 03.2`
		104	`0077: GOTO 087`
		105	`0078: MOVLW 01`
		106	`0079: MOVWF 78`
		107	`007A: CLRF 77`
		108	`007B: DECFSZ 77,F`
		109	`007C: GOTO 07B`
		110	`007D: DECFSZ 78,F`
		111	`007E: GOTO 07A`
		112	`007F: MOVLW 4A`
		113	`0080: MOVWF 77`
		114	`0081: DECFSZ 77,F`
		115	`0082: GOTO 081`
		116	`0083: NOP`
		117	`0084: NOP`
		118	`0085: DECFSZ 00,F`
		119	`0086: GOTO 078`
		120	`0087: RETLW 00`
		121	`....................`
		122	`....................`
		123	`....................`
		124	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		125	`.................... unsigned int8 line; // na ktere strane byla detekovana cara`
		126	`.................... unsigned int8 speed; // rychlost zataceni`
		127	`.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo`
		128	`.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku`
		129	`.................... int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus`
		130	`.................... int1 BW; // urcuje, jestli je cara cerno/bila nebo`
		131	`.................... // bilo/cerna (true = bila cara, cerny podklad)`
		132	`....................`
		133	`.................... // Konstanty pro dynamiku pohybu`
		134	`.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira`
		135	`.................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas`
		136	`.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni`
		137	`.................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas`
		138	`.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry`
		139	`.................... #define MAX_ROVINKA (255-FW_STREDNE)`
		140	`.................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd`
		141	`.................... #define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku`
		142	`....................`
		143	`.................... //motory //Napred vypnout potom zapnout!`
		144	`.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`
		145	`.................... #define FL output_low(PIN_B7); output_high(PIN_B6)`
		146	`.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`
		147	`.................... #define BL output_low(PIN_B6); output_high(PIN_B7)`
		148	`.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`
		149	`.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)`
		150	`....................`
		151	`.................... #define L 0b10 // left`
		152	`.................... #define R 0b01 // right`
		153	`.................... #define S 0b11 // straight`
		154	`....................`
		155	`.................... //cidla`
		156	`.................... #define RSENSOR (BW != C2OUT) // Senzory na caru`
		157	`.................... #define LSENSOR (BW != C1OUT)`
		158	`.................... #define BUMPER sAN2 // Senzor na cihlu`
		159	`....................`
		160	`.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod`
		161	`.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod`
		162	`.................... #define BARVY PIN_B1 // Propojka pro nastaveni barvy cary`
		163	`....................`
		164	`.................... #define SPEAKER PIN_B0 // vystup pro pipak`
		165	`....................`
		166	`.................... #define LED1 PIN_A4 // LEDky`
		167	`.................... #define LED2 PIN_A3`
		168	`.................... #define LED3 PIN_A7`
		169	`.................... #define LED4 PIN_A6`
		170	`....................`
		171	`.................... // makro pro PWM`
		172	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		173	`.................... {direction##motor;} else {stop##motor;}`
		174	`....................`
		175	`.................... #int_TIMER2`
		176	`.................... void TIMER2_isr() // obsluha zrychlovani`
		177	`.................... {`
		178	`.................... if (speed<255) speed++;`
		179	`*`
		180	`0037: INCFSZ 2B,W`
		181	`0038: GOTO 03A`
		182	`0039: GOTO 03B`
		183	`003A: INCF 2B,F`
		184	`.................... if (rovinka<MAX_ROVINKA) rovinka++;`
		185	`003B: MOVF 2D,W`
		186	`003C: SUBLW 40`
		187	`003D: BTFSC 03.0`
		188	`003E: INCF 2D,F`
		189	`.................... }`
		190	`....................`
		191	`.................... // Primitivni Pipani`
		192	`003F: BCF 0C.1`
		193	`0040: BCF 0A.3`
		194	`0041: GOTO 022`
		195	`.................... void beep(unsigned int16 period, unsigned int16 length)`
		196	`.................... {`
		197	`.................... unsigned int16 nn;`
		198	`....................`
		199	`.................... for(nn=length; nn>0; nn--)`
		200	`*`
		201	`0055: MOVF 39,W`
		202	`0056: MOVWF 3B`
		203	`0057: MOVF 38,W`
		204	`0058: MOVWF 3A`
		205	`0059: MOVF 3A,F`
		206	`005A: BTFSS 03.2`
		207	`005B: GOTO 05F`
		208	`005C: MOVF 3B,F`
		209	`005D: BTFSC 03.2`
		210	`005E: GOTO 072`
		211	`.................... {`
		212	`.................... output_high(SPEAKER);`
		213	`005F: BSF 03.5`
		214	`0060: BCF 06.0`
		215	`0061: BCF 03.5`
		216	`0062: BSF 06.0`
		217	`.................... delay_us(period);`
		218	`0063: MOVF 36,W`
		219	`0064: MOVWF 3C`
		220	`0065: CALL 042`
		221	`.................... output_low(SPEAKER);`
		222	`0066: BSF 03.5`
		223	`0067: BCF 06.0`
		224	`0068: BCF 03.5`
		225	`0069: BCF 06.0`
		226	`.................... delay_us(period);`
		227	`006A: MOVF 36,W`
		228	`006B: MOVWF 3C`
		229	`006C: CALL 042`
		230	`.................... }`
		231	`006D: MOVF 3A,W`
		232	`006E: BTFSC 03.2`
		233	`006F: DECF 3B,F`
		234	`0070: DECF 3A,F`
		235	`0071: GOTO 059`
		236	`.................... }`
		237	`0072: RETLW 00`
		238	`.................... /******************************************************************************/`
		239	`.................... void diagnostika()`
		240	`.................... {`
		241	`.................... unsigned int16 n;`
		242	`....................`
		243	`.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku`
		244	`.................... {`
		245	`*`
		246	`0088: BSF 03.5`
		247	`0089: BSF 06.3`
		248	`008A: BCF 03.5`
		249	`008B: BTFSS 06.3`
		250	`008C: GOTO 1B3`
		251	`.................... for (n=500; n<800; n+=100)`
		252	`008D: MOVLW 01`
		253	`008E: MOVWF 35`
		254	`008F: MOVLW F4`
		255	`0090: MOVWF 34`
		256	`0091: MOVF 35,W`
		257	`0092: SUBLW 03`
		258	`0093: BTFSS 03.0`
		259	`0094: GOTO 0A9`
		260	`0095: BTFSS 03.2`
		261	`0096: GOTO 09B`
		262	`0097: MOVF 34,W`
		263	`0098: SUBLW 1F`
		264	`0099: BTFSS 03.0`
		265	`009A: GOTO 0A9`
		266	`.................... {`
		267	`.................... beep(n,n); //beep UP`
		268	`009B: MOVF 35,W`
		269	`009C: MOVWF 37`
		270	`009D: MOVF 34,W`
		271	`009E: MOVWF 36`
		272	`009F: MOVF 35,W`
		273	`00A0: MOVWF 39`
		274	`00A1: MOVF 34,W`
		275	`00A2: MOVWF 38`
		276	`00A3: CALL 055`
		277	`.................... };`
		278	`00A4: MOVLW 64`
		279	`00A5: ADDWF 34,F`
		280	`00A6: BTFSC 03.0`
		281	`00A7: INCF 35,F`
		282	`00A8: GOTO 091`
		283	`.................... Delay_ms(1000);`
		284	`00A9: MOVLW 04`
		285	`00AA: MOVWF 36`
		286	`00AB: MOVLW FA`
		287	`00AC: MOVWF 37`
		288	`00AD: CALL 073`
		289	`00AE: DECFSZ 36,F`
		290	`00AF: GOTO 0AB`
		291	`.................... //zastav vse`
		292	`.................... STOPL; STOPR;`
		293	`00B0: BSF 03.5`
		294	`00B1: BCF 06.6`
		295	`00B2: BCF 03.5`
		296	`00B3: BCF 06.6`
		297	`00B4: BSF 03.5`
		298	`00B5: BCF 06.7`
		299	`00B6: BCF 03.5`
		300	`00B7: BCF 06.7`
		301	`00B8: BSF 03.5`
		302	`00B9: BCF 06.4`
		303	`00BA: BCF 03.5`
		304	`00BB: BCF 06.4`
		305	`00BC: BSF 03.5`
		306	`00BD: BCF 06.5`
		307	`00BE: BCF 03.5`
		308	`00BF: BCF 06.5`
		309	`.................... //pravy pas`
		310	`.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		311	`00C0: BSF 03.5`
		312	`00C1: BCF 06.5`
		313	`00C2: BCF 03.5`
		314	`00C3: BCF 06.5`
		315	`00C4: BSF 03.5`
		316	`00C5: BCF 06.4`
		317	`00C6: BCF 03.5`
		318	`00C7: BSF 06.4`
		319	`00C8: MOVLW 04`
		320	`00C9: MOVWF 36`
		321	`00CA: MOVLW FA`
		322	`00CB: MOVWF 37`
		323	`00CC: CALL 073`
		324	`00CD: DECFSZ 36,F`
		325	`00CE: GOTO 0CA`
		326	`00CF: BSF 03.5`
		327	`00D0: BCF 06.4`
		328	`00D1: BCF 03.5`
		329	`00D2: BCF 06.4`
		330	`00D3: BSF 03.5`
		331	`00D4: BCF 06.5`
		332	`00D5: BCF 03.5`
		333	`00D6: BCF 06.5`
		334	`00D7: MOVLW 04`
		335	`00D8: MOVWF 36`
		336	`00D9: MOVLW FA`
		337	`00DA: MOVWF 37`
		338	`00DB: CALL 073`
		339	`00DC: DECFSZ 36,F`
		340	`00DD: GOTO 0D9`
		341	`.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		342	`00DE: BSF 03.5`
		343	`00DF: BCF 06.4`
		344	`00E0: BCF 03.5`
		345	`00E1: BCF 06.4`
		346	`00E2: BSF 03.5`
		347	`00E3: BCF 06.5`
		348	`00E4: BCF 03.5`
		349	`00E5: BSF 06.5`
		350	`00E6: MOVLW 04`
		351	`00E7: MOVWF 36`
		352	`00E8: MOVLW FA`
		353	`00E9: MOVWF 37`
		354	`00EA: CALL 073`
		355	`00EB: DECFSZ 36,F`
		356	`00EC: GOTO 0E8`
		357	`00ED: BSF 03.5`
		358	`00EE: BCF 06.4`
		359	`00EF: BCF 03.5`
		360	`00F0: BCF 06.4`
		361	`00F1: BSF 03.5`
		362	`00F2: BCF 06.5`
		363	`00F3: BCF 03.5`
		364	`00F4: BCF 06.5`
		365	`00F5: MOVLW 04`
		366	`00F6: MOVWF 36`
		367	`00F7: MOVLW FA`
		368	`00F8: MOVWF 37`
		369	`00F9: CALL 073`
		370	`00FA: DECFSZ 36,F`
		371	`00FB: GOTO 0F7`
		372	`.................... Beep(880,100); Delay_ms(1000);`
		373	`00FC: MOVLW 03`
		374	`00FD: MOVWF 37`
		375	`00FE: MOVLW 70`
		376	`00FF: MOVWF 36`
		377	`0100: CLRF 39`
		378	`0101: MOVLW 64`
		379	`0102: MOVWF 38`
		380	`0103: CALL 055`
		381	`0104: MOVLW 04`
		382	`0105: MOVWF 36`
		383	`0106: MOVLW FA`
		384	`0107: MOVWF 37`
		385	`0108: CALL 073`
		386	`0109: DECFSZ 36,F`
		387	`010A: GOTO 106`
		388	`.................... //levy pas`
		389	`.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		390	`010B: BSF 03.5`
		391	`010C: BCF 06.7`
		392	`010D: BCF 03.5`
		393	`010E: BCF 06.7`
		394	`010F: BSF 03.5`
		395	`0110: BCF 06.6`
		396	`0111: BCF 03.5`
		397	`0112: BSF 06.6`
		398	`0113: MOVLW 04`
		399	`0114: MOVWF 36`
		400	`0115: MOVLW FA`
		401	`0116: MOVWF 37`
		402	`0117: CALL 073`
		403	`0118: DECFSZ 36,F`
		404	`0119: GOTO 115`
		405	`011A: BSF 03.5`
		406	`011B: BCF 06.6`
		407	`011C: BCF 03.5`
		408	`011D: BCF 06.6`
		409	`011E: BSF 03.5`
		410	`011F: BCF 06.7`
		411	`0120: BCF 03.5`
		412	`0121: BCF 06.7`
		413	`0122: MOVLW 04`
		414	`0123: MOVWF 36`
		415	`0124: MOVLW FA`
		416	`0125: MOVWF 37`
		417	`0126: CALL 073`
		418	`0127: DECFSZ 36,F`
		419	`0128: GOTO 124`
		420	`.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		421	`0129: BSF 03.5`
		422	`012A: BCF 06.6`
		423	`012B: BCF 03.5`
		424	`012C: BCF 06.6`
		425	`012D: BSF 03.5`
		426	`012E: BCF 06.7`
		427	`012F: BCF 03.5`
		428	`0130: BSF 06.7`
		429	`0131: MOVLW 04`
		430	`0132: MOVWF 36`
		431	`0133: MOVLW FA`
		432	`0134: MOVWF 37`
		433	`0135: CALL 073`
		434	`0136: DECFSZ 36,F`
		435	`0137: GOTO 133`
		436	`0138: BSF 03.5`
		437	`0139: BCF 06.6`
		438	`013A: BCF 03.5`
		439	`013B: BCF 06.6`
		440	`013C: BSF 03.5`
		441	`013D: BCF 06.7`
		442	`013E: BCF 03.5`
		443	`013F: BCF 06.7`
		444	`0140: MOVLW 04`
		445	`0141: MOVWF 36`
		446	`0142: MOVLW FA`
		447	`0143: MOVWF 37`
		448	`0144: CALL 073`
		449	`0145: DECFSZ 36,F`
		450	`0146: GOTO 142`
		451	`.................... Beep(880,100); Delay_ms(1000);`
		452	`0147: MOVLW 03`
		453	`0148: MOVWF 37`
		454	`0149: MOVLW 70`
		455	`014A: MOVWF 36`
		456	`014B: CLRF 39`
		457	`014C: MOVLW 64`
		458	`014D: MOVWF 38`
		459	`014E: CALL 055`
		460	`014F: MOVLW 04`
		461	`0150: MOVWF 36`
		462	`0151: MOVLW FA`
		463	`0152: MOVWF 37`
		464	`0153: CALL 073`
		465	`0154: DECFSZ 36,F`
		466	`0155: GOTO 151`
		467	`.................... //oba pasy`
		468	`.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		469	`0156: BSF 03.5`
		470	`0157: BCF 06.7`
		471	`0158: BCF 03.5`
		472	`0159: BCF 06.7`
		473	`015A: BSF 03.5`
		474	`015B: BCF 06.6`
		475	`015C: BCF 03.5`
		476	`015D: BSF 06.6`
		477	`015E: BSF 03.5`
		478	`015F: BCF 06.5`
		479	`0160: BCF 03.5`
		480	`0161: BCF 06.5`
		481	`0162: BSF 03.5`
		482	`0163: BCF 06.4`
		483	`0164: BCF 03.5`
		484	`0165: BSF 06.4`
		485	`0166: MOVLW 04`
		486	`0167: MOVWF 36`
		487	`0168: MOVLW FA`
		488	`0169: MOVWF 37`
		489	`016A: CALL 073`
		490	`016B: DECFSZ 36,F`
		491	`016C: GOTO 168`
		492	`016D: BSF 03.5`
		493	`016E: BCF 06.6`
		494	`016F: BCF 03.5`
		495	`0170: BCF 06.6`
		496	`0171: BSF 03.5`
		497	`0172: BCF 06.7`
		498	`0173: BCF 03.5`
		499	`0174: BCF 06.7`
		500	`0175: BSF 03.5`
		501	`0176: BCF 06.4`
		502	`0177: BCF 03.5`
		503	`0178: BCF 06.4`
		504	`0179: BSF 03.5`
		505	`017A: BCF 06.5`
		506	`017B: BCF 03.5`
		507	`017C: BCF 06.5`
		508	`017D: MOVLW 04`
		509	`017E: MOVWF 36`
		510	`017F: MOVLW FA`
		511	`0180: MOVWF 37`
		512	`0181: CALL 073`
		513	`0182: DECFSZ 36,F`
		514	`0183: GOTO 17F`
		515	`.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		516	`0184: BSF 03.5`
		517	`0185: BCF 06.6`
		518	`0186: BCF 03.5`
		519	`0187: BCF 06.6`
		520	`0188: BSF 03.5`
		521	`0189: BCF 06.7`
		522	`018A: BCF 03.5`
		523	`018B: BSF 06.7`
		524	`018C: BSF 03.5`
		525	`018D: BCF 06.4`
		526	`018E: BCF 03.5`
		527	`018F: BCF 06.4`
		528	`0190: BSF 03.5`
		529	`0191: BCF 06.5`
		530	`0192: BCF 03.5`
		531	`0193: BSF 06.5`
		532	`0194: MOVLW 04`
		533	`0195: MOVWF 36`
		534	`0196: MOVLW FA`
		535	`0197: MOVWF 37`
		536	`0198: CALL 073`
		537	`0199: DECFSZ 36,F`
		538	`019A: GOTO 196`
		539	`019B: BSF 03.5`
		540	`019C: BCF 06.6`
		541	`019D: BCF 03.5`
		542	`019E: BCF 06.6`
		543	`019F: BSF 03.5`
		544	`01A0: BCF 06.7`
		545	`01A1: BCF 03.5`
		546	`01A2: BCF 06.7`
		547	`01A3: BSF 03.5`
		548	`01A4: BCF 06.4`
		549	`01A5: BCF 03.5`
		550	`01A6: BCF 06.4`
		551	`01A7: BSF 03.5`
		552	`01A8: BCF 06.5`
		553	`01A9: BCF 03.5`
		554	`01AA: BCF 06.5`
		555	`01AB: MOVLW 04`
		556	`01AC: MOVWF 36`
		557	`01AD: MOVLW FA`
		558	`01AE: MOVWF 37`
		559	`01AF: CALL 073`
		560	`01B0: DECFSZ 36,F`
		561	`01B1: GOTO 1AD`
		562	`.................... };`
		563	`01B2: GOTO 088`
		564	`.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel`
		565	`.................... {`
		566	`01B3: BSF 03.5`
		567	`01B4: BSF 06.2`
		568	`01B5: BCF 03.5`
		569	`01B6: BTFSS 06.2`
		570	`01B7: GOTO 1F6`
		571	`.................... if (RSENSOR) beep(1000,200);`
		572	`01B8: CLRF 77`
		573	`01B9: BSF 03.5`
		574	`01BA: BTFSC 1C.7`
		575	`01BB: BSF 77.0`
		576	`01BC: BCF 03.5`
		577	`01BD: MOVF 2F,W`
		578	`01BE: XORWF 77,W`
		579	`01BF: ANDLW 01`
		580	`01C0: BTFSC 03.2`
		581	`01C1: GOTO 1CA`
		582	`01C2: MOVLW 03`
		583	`01C3: MOVWF 37`
		584	`01C4: MOVLW E8`
		585	`01C5: MOVWF 36`
		586	`01C6: CLRF 39`
		587	`01C7: MOVLW C8`
		588	`01C8: MOVWF 38`
		589	`01C9: CALL 055`
		590	`.................... Delay_ms(200);`
		591	`01CA: MOVLW C8`
		592	`01CB: MOVWF 37`
		593	`01CC: CALL 073`
		594	`.................... if (LSENSOR) beep(2000,300);`
		595	`01CD: CLRF 77`
		596	`01CE: BSF 03.5`
		597	`01CF: BTFSC 1C.6`
		598	`01D0: BSF 77.0`
		599	`01D1: BCF 03.5`
		600	`01D2: MOVF 2F,W`
		601	`01D3: XORWF 77,W`
		602	`01D4: ANDLW 01`
		603	`01D5: BTFSC 03.2`
		604	`01D6: GOTO 1E0`
		605	`01D7: MOVLW 07`
		606	`01D8: MOVWF 37`
		607	`01D9: MOVLW D0`
		608	`01DA: MOVWF 36`
		609	`01DB: MOVLW 01`
		610	`01DC: MOVWF 39`
		611	`01DD: MOVLW 2C`
		612	`01DE: MOVWF 38`
		613	`01DF: CALL 055`
		614	`.................... Delay_ms(200);`
		615	`01E0: MOVLW C8`
		616	`01E1: MOVWF 37`
		617	`01E2: CALL 073`
		618	`.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400);`
		619	`01E3: BTFSC 1F.2`
		620	`01E4: GOTO 1E3`
		621	`01E5: MOVF 1E,W`
		622	`01E6: SUBLW 7F`
		623	`01E7: BTFSS 03.0`
		624	`01E8: GOTO 1F2`
		625	`01E9: MOVLW 0B`
		626	`01EA: MOVWF 37`
		627	`01EB: MOVLW B8`
		628	`01EC: MOVWF 36`
		629	`01ED: MOVLW 01`
		630	`01EE: MOVWF 39`
		631	`01EF: MOVLW 90`
		632	`01F0: MOVWF 38`
		633	`01F1: CALL 055`
		634	`.................... Delay_ms(200);`
		635	`01F2: MOVLW C8`
		636	`01F3: MOVWF 37`
		637	`01F4: CALL 073`
		638	`.................... };`
		639	`01F5: GOTO 1B3`
		640	`.................... }`
		641	`01F6: BCF 0A.3`
		642	`01F7: GOTO 378 (RETURN)`
		643	`.................... ///////////////////////////////////////////////////////////////////////////////`
		644	`.................... void OtocSe() // otoci se zpet, kdyz je prekazka`
		645	`.................... {`
		646	`.................... unsigned int16 n;`
		647	`....................`
		648	`.................... BL; BR; // cukni zpatky`
		649	`01F8: BSF 03.5`
		650	`01F9: BCF 06.6`
		651	`01FA: BCF 03.5`
		652	`01FB: BCF 06.6`
		653	`01FC: BSF 03.5`
		654	`01FD: BCF 06.7`
		655	`01FE: BCF 03.5`
		656	`01FF: BSF 06.7`
		657	`0200: BSF 03.5`
		658	`0201: BCF 06.4`
		659	`0202: BCF 03.5`
		660	`0203: BCF 06.4`
		661	`0204: BSF 03.5`
		662	`0205: BCF 06.5`
		663	`0206: BCF 03.5`
		664	`0207: BSF 06.5`
		665	`.................... Delay_ms(200);`
		666	`0208: MOVLW C8`
		667	`0209: MOVWF 37`
		668	`020A: CALL 073`
		669	`.................... STOPR;STOPL;`
		670	`020B: BSF 03.5`
		671	`020C: BCF 06.4`
		672	`020D: BCF 03.5`
		673	`020E: BCF 06.4`
		674	`020F: BSF 03.5`
		675	`0210: BCF 06.5`
		676	`0211: BCF 03.5`
		677	`0212: BCF 06.5`
		678	`0213: BSF 03.5`
		679	`0214: BCF 06.6`
		680	`0215: BCF 03.5`
		681	`0216: BCF 06.6`
		682	`0217: BSF 03.5`
		683	`0218: BCF 06.7`
		684	`0219: BCF 03.5`
		685	`021A: BCF 06.7`
		686	`.................... beep(800,400);`
		687	`021B: MOVLW 03`
		688	`021C: MOVWF 37`
		689	`021D: MOVLW 20`
		690	`021E: MOVWF 36`
		691	`021F: MOVLW 01`
		692	`0220: MOVWF 39`
		693	`0221: MOVLW 90`
		694	`0222: MOVWF 38`
		695	`0223: CALL 055`
		696	`.................... beep(2000,1000);`
		697	`0224: MOVLW 07`
		698	`0225: MOVWF 37`
		699	`0226: MOVLW D0`
		700	`0227: MOVWF 36`
		701	`0228: MOVLW 03`
		702	`0229: MOVWF 39`
		703	`022A: MOVLW E8`
		704	`022B: MOVWF 38`
		705	`022C: CALL 055`
		706	`.................... output_low(LED4);`
		707	`022D: BSF 03.5`
		708	`022E: BCF 05.6`
		709	`022F: BCF 03.5`
		710	`0230: BCF 05.6`
		711	`.................... beep(900,400);`
		712	`0231: MOVLW 03`
		713	`0232: MOVWF 37`
		714	`0233: MOVLW 84`
		715	`0234: MOVWF 36`
		716	`0235: MOVLW 01`
		717	`0236: MOVWF 39`
		718	`0237: MOVLW 90`
		719	`0238: MOVWF 38`
		720	`0239: CALL 055`
		721	`.................... output_low(LED1);`
		722	`023A: BSF 03.5`
		723	`023B: BCF 05.4`
		724	`023C: BCF 03.5`
		725	`023D: BCF 05.4`
		726	`....................`
		727	`.................... BR; FL; Delay_ms(100); // otoc se 30° do prava`
		728	`023E: BSF 03.5`
		729	`023F: BCF 06.4`
		730	`0240: BCF 03.5`
		731	`0241: BCF 06.4`
		732	`0242: BSF 03.5`
		733	`0243: BCF 06.5`
		734	`0244: BCF 03.5`
		735	`0245: BSF 06.5`
		736	`0246: BSF 03.5`
		737	`0247: BCF 06.7`
		738	`0248: BCF 03.5`
		739	`0249: BCF 06.7`
		740	`024A: BSF 03.5`
		741	`024B: BCF 06.6`
		742	`024C: BCF 03.5`
		743	`024D: BSF 06.6`
		744	`024E: MOVLW 64`
		745	`024F: MOVWF 37`
		746	`0250: CALL 073`
		747	`.................... STOPL; STOPR;`
		748	`0251: BSF 03.5`
		749	`0252: BCF 06.6`
		750	`0253: BCF 03.5`
		751	`0254: BCF 06.6`
		752	`0255: BSF 03.5`
		753	`0256: BCF 06.7`
		754	`0257: BCF 03.5`
		755	`0258: BCF 06.7`
		756	`0259: BSF 03.5`
		757	`025A: BCF 06.4`
		758	`025B: BCF 03.5`
		759	`025C: BCF 06.4`
		760	`025D: BSF 03.5`
		761	`025E: BCF 06.5`
		762	`025F: BCF 03.5`
		763	`0260: BCF 06.5`
		764	`.................... beep(1000,1000);`
		765	`0261: MOVLW 03`
		766	`0262: MOVWF 37`
		767	`0263: MOVLW E8`
		768	`0264: MOVWF 36`
		769	`0265: MOVLW 03`
		770	`0266: MOVWF 39`
		771	`0267: MOVLW E8`
		772	`0268: MOVWF 38`
		773	`0269: CALL 055`
		774	`.................... output_low(LED3);`
		775	`026A: BSF 03.5`
		776	`026B: BCF 05.7`
		777	`026C: BCF 03.5`
		778	`026D: BCF 05.7`
		779	`....................`
		780	`.................... BR; FL;`
		781	`026E: BSF 03.5`
		782	`026F: BCF 06.4`
		783	`0270: BCF 03.5`
		784	`0271: BCF 06.4`
		785	`0272: BSF 03.5`
		786	`0273: BCF 06.5`
		787	`0274: BCF 03.5`
		788	`0275: BSF 06.5`
		789	`0276: BSF 03.5`
		790	`0277: BCF 06.7`
		791	`0278: BCF 03.5`
		792	`0279: BCF 06.7`
		793	`027A: BSF 03.5`
		794	`027B: BCF 06.6`
		795	`027C: BCF 03.5`
		796	`027D: BSF 06.6`
		797	`.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru`
		798	`027E: MOVLW 9C`
		799	`027F: MOVWF 35`
		800	`0280: MOVLW 40`
		801	`0281: MOVWF 34`
		802	`0282: MOVF 34,F`
		803	`0283: BTFSS 03.2`
		804	`0284: GOTO 288`
		805	`0285: MOVF 35,F`
		806	`0286: BTFSC 03.2`
		807	`0287: GOTO 2B0`
		808	`.................... {`
		809	`.................... line = RSENSOR; // cteni senzoru na caru`
		810	`0288: CLRF 77`
		811	`0289: BSF 03.5`
		812	`028A: BTFSC 1C.7`
		813	`028B: BSF 77.0`
		814	`028C: BCF 03.5`
		815	`028D: MOVF 2F,W`
		816	`028E: XORWF 77,W`
		817	`028F: ANDLW 01`
		818	`0290: BTFSS 03.2`
		819	`0291: GOTO 294`
		820	`0292: MOVLW 00`
		821	`0293: GOTO 295`
		822	`0294: MOVLW 01`
		823	`0295: MOVWF 2A`
		824	`.................... line \|= LSENSOR << 1;`
		825	`0296: CLRF 77`
		826	`0297: BSF 03.5`
		827	`0298: BTFSC 1C.6`
		828	`0299: BSF 77.0`
		829	`029A: BCF 03.5`
		830	`029B: MOVF 2F,W`
		831	`029C: XORWF 77,W`
		832	`029D: ANDLW 01`
		833	`029E: BTFSS 03.2`
		834	`029F: GOTO 2A2`
		835	`02A0: MOVLW 00`
		836	`02A1: GOTO 2A3`
		837	`02A2: MOVLW 01`
		838	`02A3: MOVWF 77`
		839	`02A4: BCF 03.0`
		840	`02A5: RLF 77,F`
		841	`02A6: MOVF 77,W`
		842	`02A7: IORWF 2A,F`
		843	`.................... if (line!=0) break;`
		844	`02A8: MOVF 2A,F`
		845	`02A9: BTFSS 03.2`
		846	`02AA: GOTO 2B0`
		847	`.................... }`
		848	`02AB: MOVF 34,W`
		849	`02AC: BTFSC 03.2`
		850	`02AD: DECF 35,F`
		851	`02AE: DECF 34,F`
		852	`02AF: GOTO 282`
		853	`.................... STOPR; STOPL;`
		854	`02B0: BSF 03.5`
		855	`02B1: BCF 06.4`
		856	`02B2: BCF 03.5`
		857	`02B3: BCF 06.4`
		858	`02B4: BSF 03.5`
		859	`02B5: BCF 06.5`
		860	`02B6: BCF 03.5`
		861	`02B7: BCF 06.5`
		862	`02B8: BSF 03.5`
		863	`02B9: BCF 06.6`
		864	`02BA: BCF 03.5`
		865	`02BB: BCF 06.6`
		866	`02BC: BSF 03.5`
		867	`02BD: BCF 06.7`
		868	`02BE: BCF 03.5`
		869	`02BF: BCF 06.7`
		870	`.................... output_high(LED1); output_high(LED3); output_high(LED4);`
		871	`02C0: BSF 03.5`
		872	`02C1: BCF 05.4`
		873	`02C2: BCF 03.5`
		874	`02C3: BSF 05.4`
		875	`02C4: BSF 03.5`
		876	`02C5: BCF 05.7`
		877	`02C6: BCF 03.5`
		878	`02C7: BSF 05.7`
		879	`02C8: BSF 03.5`
		880	`02C9: BCF 05.6`
		881	`02CA: BCF 03.5`
		882	`02CB: BSF 05.6`
		883	`....................`
		884	`.................... line=L; // caru jsme prejeli, tak je vlevo`
		885	`02CC: MOVLW 02`
		886	`02CD: MOVWF 2A`
		887	`.................... cirkus=0;`
		888	`02CE: CLRF 2E`
		889	`.................... }`
		890	`02CF: BCF 0A.3`
		891	`02D0: GOTO 3F1 (RETURN)`
		892	`....................`
		893	`....................`
		894	`.................... void main()`
		895	`.................... {`
		896	`02D1: CLRF 04`
		897	`02D2: MOVLW 1F`
		898	`02D3: ANDWF 03,F`
		899	`02D4: BSF 03.5`
		900	`02D5: BCF 1F.4`
		901	`02D6: BCF 1F.5`
		902	`02D7: MOVF 1B,W`
		903	`02D8: ANDLW 80`
		904	`02D9: MOVWF 1B`
		905	`02DA: MOVLW 07`
		906	`02DB: MOVWF 1C`
		907	`02DC: MOVF 1C,W`
		908	`02DD: BCF 03.5`
		909	`02DE: BCF 0D.6`
		910	`02DF: MOVLW 60`
		911	`02E0: BSF 03.5`
		912	`02E1: MOVWF 0F`
		913	`.................... unsigned int16 n; // pro FOR`
		914	`.................... unsigned int16 i;`
		915	`....................`
		916	`.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi`
		917	`02E2: BCF 06.6`
		918	`02E3: BCF 03.5`
		919	`02E4: BCF 06.6`
		920	`02E5: BSF 03.5`
		921	`02E6: BCF 06.7`
		922	`02E7: BCF 03.5`
		923	`02E8: BCF 06.7`
		924	`02E9: BSF 03.5`
		925	`02EA: BCF 06.4`
		926	`02EB: BCF 03.5`
		927	`02EC: BCF 06.4`
		928	`02ED: BSF 03.5`
		929	`02EE: BCF 06.5`
		930	`02EF: BCF 03.5`
		931	`02F0: BCF 06.5`
		932	`....................`
		933	`.................... setup_oscillator(OSC_4MHZ\|OSC_INTRC); // 4 MHz interni RC oscilator`
		934	`02F1: MOVLW 62`
		935	`02F2: BSF 03.5`
		936	`02F3: MOVWF 0F`
		937	`....................`
		938	`.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku`
		939	`02F4: BCF 01.7`
		940	`.................... setup_spi(FALSE);`
		941	`02F5: BCF 03.5`
		942	`02F6: BCF 14.5`
		943	`02F7: BSF 03.5`
		944	`02F8: BCF 06.2`
		945	`02F9: BSF 06.1`
		946	`02FA: BCF 06.4`
		947	`02FB: MOVLW 00`
		948	`02FC: BCF 03.5`
		949	`02FD: MOVWF 14`
		950	`02FE: BSF 03.5`
		951	`02FF: MOVWF 14`
		952	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1); // Casovac pro PWM`
		953	`0300: MOVF 01,W`
		954	`0301: ANDLW C7`
		955	`0302: IORLW 08`
		956	`0303: MOVWF 01`
		957	`....................`
		958	`.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci`
		959	`0304: MOVLW 48`
		960	`0305: MOVWF 78`
		961	`0306: IORLW 05`
		962	`0307: BCF 03.5`
		963	`0308: MOVWF 12`
		964	`0309: MOVLW FF`
		965	`030A: BSF 03.5`
		966	`030B: MOVWF 12`
		967	`.................... // preruseni kazdych 10ms`
		968	`.................... setup_adc_ports(BUMPER\|VSS_VDD); // nastaveni A/D prevodniku pro naraznik`
		969	`030C: BCF 1F.4`
		970	`030D: BCF 1F.5`
		971	`030E: MOVF 1B,W`
		972	`030F: ANDLW 80`
		973	`0310: IORLW 04`
		974	`0311: MOVWF 1B`
		975	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		976	`0312: BCF 1F.6`
		977	`0313: BCF 03.5`
		978	`0314: BSF 1F.6`
		979	`0315: BSF 1F.7`
		980	`0316: BSF 03.5`
		981	`0317: BCF 1F.7`
		982	`0318: BCF 03.5`
		983	`0319: BSF 1F.0`
		984	`.................... set_adc_channel(2);`
		985	`031A: MOVLW 10`
		986	`031B: MOVWF 78`
		987	`031C: MOVF 1F,W`
		988	`031D: ANDLW C7`
		989	`031E: IORWF 78,W`
		990	`031F: MOVWF 1F`
		991	`.................... setup_timer_1(T1_INTERNAL\|T1_DIV_BY_1); // Casovac pro naraznik`
		992	`0320: MOVLW 85`
		993	`0321: MOVWF 10`
		994	`.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);`
		995	`0322: BSF 03.5`
		996	`0323: BSF 06.3`
		997	`0324: MOVLW 0B`
		998	`0325: BCF 03.5`
		999	`0326: MOVWF 17`
		1000	`.................... CCP_1=(2^10)-1; // prevod kazdou 1ms`
		1001	`0327: CLRF 16`
		1002	`0328: MOVLW 07`
		1003	`0329: MOVWF 15`
		1004	`....................`
		1005	`.................... output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4);`
		1006	`032A: BSF 03.5`
		1007	`032B: BCF 05.4`
		1008	`032C: BCF 03.5`
		1009	`032D: BCF 05.4`
		1010	`032E: BSF 03.5`
		1011	`032F: BCF 05.3`
		1012	`0330: BCF 03.5`
		1013	`0331: BCF 05.3`
		1014	`0332: BSF 03.5`
		1015	`0333: BCF 05.7`
		1016	`0334: BCF 03.5`
		1017	`0335: BCF 05.7`
		1018	`0336: BSF 03.5`
		1019	`0337: BCF 05.6`
		1020	`0338: BCF 03.5`
		1021	`0339: BCF 05.6`
		1022	`....................`
		1023	`.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary`
		1024	`033A: MOVLW 02`
		1025	`033B: BSF 03.5`
		1026	`033C: MOVWF 1C`
		1027	`033D: MOVF 05,W`
		1028	`033E: IORLW 03`
		1029	`033F: MOVWF 05`
		1030	`0340: MOVLW 03`
		1031	`0341: MOVWF 77`
		1032	`0342: DECFSZ 77,F`
		1033	`0343: GOTO 342`
		1034	`0344: MOVF 1C,W`
		1035	`0345: BCF 03.5`
		1036	`0346: BCF 0D.6`
		1037	`.................... setup_vref(VREF_HIGH\|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd`
		1038	`0347: MOVLW 8F`
		1039	`0348: BSF 03.5`
		1040	`0349: MOVWF 1D`
		1041	`....................`
		1042	`.................... Beep(1000,200); //double beep`
		1043	`034A: MOVLW 03`
		1044	`034B: BCF 03.5`
		1045	`034C: MOVWF 37`
		1046	`034D: MOVLW E8`
		1047	`034E: MOVWF 36`
		1048	`034F: CLRF 39`
		1049	`0350: MOVLW C8`
		1050	`0351: MOVWF 38`
		1051	`0352: CALL 055`
		1052	`.................... Delay_ms(50);`
		1053	`0353: MOVLW 32`
		1054	`0354: MOVWF 37`
		1055	`0355: CALL 073`
		1056	`.................... Beep(1000,200);`
		1057	`0356: MOVLW 03`
		1058	`0357: MOVWF 37`
		1059	`0358: MOVLW E8`
		1060	`0359: MOVWF 36`
		1061	`035A: CLRF 39`
		1062	`035B: MOVLW C8`
		1063	`035C: MOVWF 38`
		1064	`035D: CALL 055`
		1065	`.................... Delay_ms(1000); // 1s`
		1066	`035E: MOVLW 04`
		1067	`035F: MOVWF 34`
		1068	`0360: MOVLW FA`
		1069	`0361: MOVWF 37`
		1070	`0362: CALL 073`
		1071	`0363: DECFSZ 34,F`
		1072	`0364: GOTO 360`
		1073	`....................`
		1074	`.................... // povoleni rizeni rychlosti zataceni pres preruseni`
		1075	`.................... enable_interrupts(INT_TIMER2);`
		1076	`0365: BSF 03.5`
		1077	`0366: BSF 0C.1`
		1078	`.................... enable_interrupts(GLOBAL);`
		1079	`0367: MOVLW C0`
		1080	`0368: BCF 03.5`
		1081	`0369: IORWF 0B,F`
		1082	`....................`
		1083	`.................... /---------------------------------------------------------------------------/`
		1084	`.................... sensors=S;`
		1085	`036A: MOVLW 03`
		1086	`036B: MOVWF 29`
		1087	`.................... line=S;`
		1088	`036C: MOVWF 2A`
		1089	`.................... last=S;`
		1090	`036D: MOVWF 2C`
		1091	`.................... cirkus=0;`
		1092	`036E: CLRF 2E`
		1093	`.................... // movement=S;`
		1094	`.................... speed=FW_POMALU;`
		1095	`036F: MOVLW AA`
		1096	`0370: MOVWF 2B`
		1097	`....................`
		1098	`.................... BW=input(BARVY); // Jaka ma byt barva cary?`
		1099	`0371: BSF 03.5`
		1100	`0372: BSF 06.1`
		1101	`0373: BCF 03.5`
		1102	`0374: BCF 2F.0`
		1103	`0375: BTFSC 06.1`
		1104	`0376: BSF 2F.0`
		1105	`.................... diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku`
		1106	`0377: GOTO 088`
		1107	`.................... Delay_ms(500);`
		1108	`0378: MOVLW 02`
		1109	`0379: MOVWF 34`
		1110	`037A: MOVLW FA`
		1111	`037B: MOVWF 37`
		1112	`037C: CALL 073`
		1113	`037D: DECFSZ 34,F`
		1114	`037E: GOTO 37A`
		1115	`....................`
		1116	`.................... output_high(LED1); Beep(1000,200); Delay_ms(500);`
		1117	`037F: BSF 03.5`
		1118	`0380: BCF 05.4`
		1119	`0381: BCF 03.5`
		1120	`0382: BSF 05.4`
		1121	`0383: MOVLW 03`
		1122	`0384: MOVWF 37`
		1123	`0385: MOVLW E8`
		1124	`0386: MOVWF 36`
		1125	`0387: CLRF 39`
		1126	`0388: MOVLW C8`
		1127	`0389: MOVWF 38`
		1128	`038A: CALL 055`
		1129	`038B: MOVLW 02`
		1130	`038C: MOVWF 34`
		1131	`038D: MOVLW FA`
		1132	`038E: MOVWF 37`
		1133	`038F: CALL 073`
		1134	`0390: DECFSZ 34,F`
		1135	`0391: GOTO 38D`
		1136	`.................... output_high(LED2); Beep(1000,200); Delay_ms(500);`
		1137	`0392: BSF 03.5`
		1138	`0393: BCF 05.3`
		1139	`0394: BCF 03.5`
		1140	`0395: BSF 05.3`
		1141	`0396: MOVLW 03`
		1142	`0397: MOVWF 37`
		1143	`0398: MOVLW E8`
		1144	`0399: MOVWF 36`
		1145	`039A: CLRF 39`
		1146	`039B: MOVLW C8`
		1147	`039C: MOVWF 38`
		1148	`039D: CALL 055`
		1149	`039E: MOVLW 02`
		1150	`039F: MOVWF 34`
		1151	`03A0: MOVLW FA`
		1152	`03A1: MOVWF 37`
		1153	`03A2: CALL 073`
		1154	`03A3: DECFSZ 34,F`
		1155	`03A4: GOTO 3A0`
		1156	`.................... output_high(LED3); Beep(1000,200); Delay_ms(500);`
		1157	`03A5: BSF 03.5`
		1158	`03A6: BCF 05.7`
		1159	`03A7: BCF 03.5`
		1160	`03A8: BSF 05.7`
		1161	`03A9: MOVLW 03`
		1162	`03AA: MOVWF 37`
		1163	`03AB: MOVLW E8`
		1164	`03AC: MOVWF 36`
		1165	`03AD: CLRF 39`
		1166	`03AE: MOVLW C8`
		1167	`03AF: MOVWF 38`
		1168	`03B0: CALL 055`
		1169	`03B1: MOVLW 02`
		1170	`03B2: MOVWF 34`
		1171	`03B3: MOVLW FA`
		1172	`03B4: MOVWF 37`
		1173	`03B5: CALL 073`
		1174	`03B6: DECFSZ 34,F`
		1175	`03B7: GOTO 3B3`
		1176	`.................... output_high(LED4); Beep(1000,200); Delay_ms(500);`
		1177	`03B8: BSF 03.5`
		1178	`03B9: BCF 05.6`
		1179	`03BA: BCF 03.5`
		1180	`03BB: BSF 05.6`
		1181	`03BC: MOVLW 03`
		1182	`03BD: MOVWF 37`
		1183	`03BE: MOVLW E8`
		1184	`03BF: MOVWF 36`
		1185	`03C0: CLRF 39`
		1186	`03C1: MOVLW C8`
		1187	`03C2: MOVWF 38`
		1188	`03C3: CALL 055`
		1189	`03C4: MOVLW 02`
		1190	`03C5: MOVWF 34`
		1191	`03C6: MOVLW FA`
		1192	`03C7: MOVWF 37`
		1193	`03C8: CALL 073`
		1194	`03C9: DECFSZ 34,F`
		1195	`03CA: GOTO 3C6`
		1196	`....................`
		1197	`.................... while(true) // hlavni smycka (jizda podle cary)`
		1198	`.................... {`
		1199	`.................... sensors = RSENSOR; // cteni senzoru na caru`
		1200	`03CB: CLRF 77`
		1201	`03CC: BSF 03.5`
		1202	`03CD: BTFSC 1C.7`
		1203	`03CE: BSF 77.0`
		1204	`03CF: BCF 03.5`
		1205	`03D0: MOVF 2F,W`
		1206	`03D1: XORWF 77,W`
		1207	`03D2: ANDLW 01`
		1208	`03D3: BTFSS 03.2`
		1209	`03D4: GOTO 3D7`
		1210	`03D5: MOVLW 00`
		1211	`03D6: GOTO 3D8`
		1212	`03D7: MOVLW 01`
		1213	`03D8: MOVWF 29`
		1214	`.................... sensors \|= LSENSOR << 1;`
		1215	`03D9: CLRF 77`
		1216	`03DA: BSF 03.5`
		1217	`03DB: BTFSC 1C.6`
		1218	`03DC: BSF 77.0`
		1219	`03DD: BCF 03.5`
		1220	`03DE: MOVF 2F,W`
		1221	`03DF: XORWF 77,W`
		1222	`03E0: ANDLW 01`
		1223	`03E1: BTFSS 03.2`
		1224	`03E2: GOTO 3E5`
		1225	`03E3: MOVLW 00`
		1226	`03E4: GOTO 3E6`
		1227	`03E5: MOVLW 01`
		1228	`03E6: MOVWF 77`
		1229	`03E7: BCF 03.0`
		1230	`03E8: RLF 77,F`
		1231	`03E9: MOVF 77,W`
		1232	`03EA: IORWF 29,F`
		1233	`....................`
		1234	`.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();`
		1235	`03EB: BTFSC 1F.2`
		1236	`03EC: GOTO 3EB`
		1237	`03ED: MOVF 1E,W`
		1238	`03EE: SUBLW 7F`
		1239	`03EF: BTFSC 03.0`
		1240	`03F0: GOTO 1F8`
		1241	`....................`
		1242	`.................... switch (sensors) // zatacej podle toho, kde vidis caru`
		1243	`.................... {`
		1244	`03F1: MOVF 29,W`
		1245	`03F2: XORLW 03`
		1246	`03F3: BTFSC 03.2`
		1247	`03F4: GOTO 3FC`
		1248	`03F5: XORLW 01`
		1249	`03F6: BTFSC 03.2`
		1250	`03F7: GOTO 431`
		1251	`03F8: XORLW 03`
		1252	`03F9: BTFSC 03.2`
		1253	`03FA: GOTO 468`
		1254	`03FB: GOTO 49F`
		1255	`.................... case S: // rovne`
		1256	`.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);`
		1257	`03FC: MOVF 01,W`
		1258	`03FD: MOVWF 34`
		1259	`03FE: MOVLW BE`
		1260	`03FF: ADDWF 2D,W`
		1261	`0400: SUBWF 34,W`
		1262	`0401: BTFSC 03.2`
		1263	`0402: GOTO 405`
		1264	`0403: BTFSC 03.0`
		1265	`0404: GOTO 40E`
		1266	`0405: BSF 03.5`
		1267	`0406: BCF 06.7`
		1268	`0407: BCF 03.5`
		1269	`0408: BCF 06.7`
		1270	`0409: BSF 03.5`
		1271	`040A: BCF 06.6`
		1272	`040B: BCF 03.5`
		1273	`040C: BSF 06.6`
		1274	`040D: GOTO 416`
		1275	`040E: BSF 03.5`
		1276	`040F: BCF 06.6`
		1277	`0410: BCF 03.5`
		1278	`0411: BCF 06.6`
		1279	`0412: BSF 03.5`
		1280	`0413: BCF 06.7`
		1281	`0414: BCF 03.5`
		1282	`0415: BCF 06.7`
		1283	`0416: MOVF 01,W`
		1284	`0417: MOVWF 34`
		1285	`0418: MOVLW BE`
		1286	`0419: ADDWF 2D,W`
		1287	`041A: SUBWF 34,W`
		1288	`041B: BTFSC 03.2`
		1289	`041C: GOTO 41F`
		1290	`041D: BTFSC 03.0`
		1291	`041E: GOTO 428`
		1292	`041F: BSF 03.5`
		1293	`0420: BCF 06.5`
		1294	`0421: BCF 03.5`
		1295	`0422: BCF 06.5`
		1296	`0423: BSF 03.5`
		1297	`0424: BCF 06.4`
		1298	`0425: BCF 03.5`
		1299	`0426: BSF 06.4`
		1300	`0427: GOTO 430`
		1301	`0428: BSF 03.5`
		1302	`0429: BCF 06.4`
		1303	`042A: BCF 03.5`
		1304	`042B: BCF 06.4`
		1305	`042C: BSF 03.5`
		1306	`042D: BCF 06.5`
		1307	`042E: BCF 03.5`
		1308	`042F: BCF 06.5`
		1309	`.................... continue;`
		1310	`0430: GOTO 3CB`
		1311	`.................... case L: // trochu vlevo`
		1312	`.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);`
		1313	`0431: MOVF 01,W`
		1314	`0432: MOVWF 34`
		1315	`0433: MOVLW AA`
		1316	`0434: ADDWF 2D,W`
		1317	`0435: SUBWF 34,W`
		1318	`0436: BTFSC 03.2`
		1319	`0437: GOTO 43A`
		1320	`0438: BTFSC 03.0`
		1321	`0439: GOTO 443`
		1322	`043A: BSF 03.5`
		1323	`043B: BCF 06.7`
		1324	`043C: BCF 03.5`
		1325	`043D: BCF 06.7`
		1326	`043E: BSF 03.5`
		1327	`043F: BCF 06.6`
		1328	`0440: BCF 03.5`
		1329	`0441: BSF 06.6`
		1330	`0442: GOTO 44B`
		1331	`0443: BSF 03.5`
		1332	`0444: BCF 06.6`
		1333	`0445: BCF 03.5`
		1334	`0446: BCF 06.6`
		1335	`0447: BSF 03.5`
		1336	`0448: BCF 06.7`
		1337	`0449: BCF 03.5`
		1338	`044A: BCF 06.7`
		1339	`044B: MOVF 01,W`
		1340	`044C: MOVWF 34`
		1341	`044D: MOVLW BE`
		1342	`044E: ADDWF 2D,W`
		1343	`044F: SUBWF 34,W`
		1344	`0450: BTFSC 03.2`
		1345	`0451: GOTO 454`
		1346	`0452: BTFSC 03.0`
		1347	`0453: GOTO 45D`
		1348	`0454: BSF 03.5`
		1349	`0455: BCF 06.5`
		1350	`0456: BCF 03.5`
		1351	`0457: BCF 06.5`
		1352	`0458: BSF 03.5`
		1353	`0459: BCF 06.4`
		1354	`045A: BCF 03.5`
		1355	`045B: BSF 06.4`
		1356	`045C: GOTO 465`
		1357	`045D: BSF 03.5`
		1358	`045E: BCF 06.4`
		1359	`045F: BCF 03.5`
		1360	`0460: BCF 06.4`
		1361	`0461: BSF 03.5`
		1362	`0462: BCF 06.5`
		1363	`0463: BCF 03.5`
		1364	`0464: BCF 06.5`
		1365	`.................... line=L;`
		1366	`0465: MOVLW 02`
		1367	`0466: MOVWF 2A`
		1368	`.................... continue;`
		1369	`0467: GOTO 3CB`
		1370	`.................... case R: // trochu vpravo`
		1371	`.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);`
		1372	`0468: MOVF 01,W`
		1373	`0469: MOVWF 34`
		1374	`046A: MOVLW AA`
		1375	`046B: ADDWF 2D,W`
		1376	`046C: SUBWF 34,W`
		1377	`046D: BTFSC 03.2`
		1378	`046E: GOTO 471`
		1379	`046F: BTFSC 03.0`
		1380	`0470: GOTO 47A`
		1381	`0471: BSF 03.5`
		1382	`0472: BCF 06.5`
		1383	`0473: BCF 03.5`
		1384	`0474: BCF 06.5`
		1385	`0475: BSF 03.5`
		1386	`0476: BCF 06.4`
		1387	`0477: BCF 03.5`
		1388	`0478: BSF 06.4`
		1389	`0479: GOTO 482`
		1390	`047A: BSF 03.5`
		1391	`047B: BCF 06.4`
		1392	`047C: BCF 03.5`
		1393	`047D: BCF 06.4`
		1394	`047E: BSF 03.5`
		1395	`047F: BCF 06.5`
		1396	`0480: BCF 03.5`
		1397	`0481: BCF 06.5`
		1398	`0482: MOVF 01,W`
		1399	`0483: MOVWF 34`
		1400	`0484: MOVLW BE`
		1401	`0485: ADDWF 2D,W`
		1402	`0486: SUBWF 34,W`
		1403	`0487: BTFSC 03.2`
		1404	`0488: GOTO 48B`
		1405	`0489: BTFSC 03.0`
		1406	`048A: GOTO 494`
		1407	`048B: BSF 03.5`
		1408	`048C: BCF 06.7`
		1409	`048D: BCF 03.5`
		1410	`048E: BCF 06.7`
		1411	`048F: BSF 03.5`
		1412	`0490: BCF 06.6`
		1413	`0491: BCF 03.5`
		1414	`0492: BSF 06.6`
		1415	`0493: GOTO 49C`
		1416	`0494: BSF 03.5`
		1417	`0495: BCF 06.6`
		1418	`0496: BCF 03.5`
		1419	`0497: BCF 06.6`
		1420	`0498: BSF 03.5`
		1421	`0499: BCF 06.7`
		1422	`049A: BCF 03.5`
		1423	`049B: BCF 06.7`
		1424	`.................... line=R;`
		1425	`049C: MOVLW 01`
		1426	`049D: MOVWF 2A`
		1427	`.................... continue;`
		1428	`049E: GOTO 3CB`
		1429	`.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal`
		1430	`.................... };`
		1431	`.................... rovinka=0;`
		1432	`049F: CLRF 2D`
		1433	`....................`
		1434	`.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu,`
		1435	`04A0: MOVF 2A,W`
		1436	`04A1: SUBWF 2C,W`
		1437	`04A2: BTFSC 03.2`
		1438	`04A3: GOTO 560`
		1439	`.................... // tak zabrzdi`
		1440	`.................... {`
		1441	`.................... output_bit(LED1, !input(LED1));`
		1442	`04A4: BSF 03.5`
		1443	`04A5: BSF 05.4`
		1444	`04A6: BCF 03.5`
		1445	`04A7: BTFSS 05.4`
		1446	`04A8: GOTO 4AB`
		1447	`04A9: BCF 05.4`
		1448	`04AA: GOTO 4AC`
		1449	`04AB: BSF 05.4`
		1450	`04AC: BSF 03.5`
		1451	`04AD: BCF 05.4`
		1452	`.................... last=line;`
		1453	`04AE: BCF 03.5`
		1454	`04AF: MOVF 2A,W`
		1455	`04B0: MOVWF 2C`
		1456	`.................... speed=FW_ZATACKA;`
		1457	`04B1: MOVLW C8`
		1458	`04B2: MOVWF 2B`
		1459	`.................... cirkus++;`
		1460	`04B3: INCF 2E,F`
		1461	`.................... if (cirkus>8)`
		1462	`04B4: MOVF 2E,W`
		1463	`04B5: SUBLW 08`
		1464	`04B6: BTFSC 03.0`
		1465	`04B7: GOTO 560`
		1466	`.................... {`
		1467	`.................... STOPL; STOPR;`
		1468	`04B8: BSF 03.5`
		1469	`04B9: BCF 06.6`
		1470	`04BA: BCF 03.5`
		1471	`04BB: BCF 06.6`
		1472	`04BC: BSF 03.5`
		1473	`04BD: BCF 06.7`
		1474	`04BE: BCF 03.5`
		1475	`04BF: BCF 06.7`
		1476	`04C0: BSF 03.5`
		1477	`04C1: BCF 06.4`
		1478	`04C2: BCF 03.5`
		1479	`04C3: BCF 06.4`
		1480	`04C4: BSF 03.5`
		1481	`04C5: BCF 06.5`
		1482	`04C6: BCF 03.5`
		1483	`04C7: BCF 06.5`
		1484	`.................... cirkus=0;`
		1485	`04C8: CLRF 2E`
		1486	`.................... disable_interrupts(GLOBAL);`
		1487	`04C9: BCF 0B.6`
		1488	`04CA: BCF 0B.7`
		1489	`04CB: BTFSC 0B.7`
		1490	`04CC: GOTO 4CA`
		1491	`.................... beep(1000,400);`
		1492	`04CD: MOVLW 03`
		1493	`04CE: MOVWF 37`
		1494	`04CF: MOVLW E8`
		1495	`04D0: MOVWF 36`
		1496	`04D1: MOVLW 01`
		1497	`04D2: MOVWF 39`
		1498	`04D3: MOVLW 90`
		1499	`04D4: MOVWF 38`
		1500	`04D5: CALL 055`
		1501	`.................... for(n=3000; n>3950; n--) beep(n,10);`
		1502	`04D6: MOVLW 0B`
		1503	`04D7: MOVWF 31`
		1504	`04D8: MOVLW B8`
		1505	`04D9: MOVWF 30`
		1506	`04DA: MOVF 31,W`
		1507	`04DB: SUBLW 0E`
		1508	`04DC: BTFSC 03.0`
		1509	`04DD: GOTO 4F2`
		1510	`04DE: XORLW FF`
		1511	`04DF: BTFSS 03.2`
		1512	`04E0: GOTO 4E5`
		1513	`04E1: MOVF 30,W`
		1514	`04E2: SUBLW 6E`
		1515	`04E3: BTFSC 03.0`
		1516	`04E4: GOTO 4F2`
		1517	`04E5: MOVF 31,W`
		1518	`04E6: MOVWF 37`
		1519	`04E7: MOVF 30,W`
		1520	`04E8: MOVWF 36`
		1521	`04E9: CLRF 39`
		1522	`04EA: MOVLW 0A`
		1523	`04EB: MOVWF 38`
		1524	`04EC: CALL 055`
		1525	`04ED: MOVF 30,W`
		1526	`04EE: BTFSC 03.2`
		1527	`04EF: DECF 31,F`
		1528	`04F0: DECF 30,F`
		1529	`04F1: GOTO 4DA`
		1530	`.................... output_low(LED1);`
		1531	`04F2: BSF 03.5`
		1532	`04F3: BCF 05.4`
		1533	`04F4: BCF 03.5`
		1534	`04F5: BCF 05.4`
		1535	`.................... beep(2000,200);`
		1536	`04F6: MOVLW 07`
		1537	`04F7: MOVWF 37`
		1538	`04F8: MOVLW D0`
		1539	`04F9: MOVWF 36`
		1540	`04FA: CLRF 39`
		1541	`04FB: MOVLW C8`
		1542	`04FC: MOVWF 38`
		1543	`04FD: CALL 055`
		1544	`.................... beep(900,400);`
		1545	`04FE: MOVLW 03`
		1546	`04FF: MOVWF 37`
		1547	`0500: MOVLW 84`
		1548	`0501: MOVWF 36`
		1549	`0502: MOVLW 01`
		1550	`0503: MOVWF 39`
		1551	`0504: MOVLW 90`
		1552	`0505: MOVWF 38`
		1553	`0506: CALL 055`
		1554	`.................... for(n=2950; n<3000; n++) beep(n,10);`
		1555	`0507: MOVLW 0B`
		1556	`0508: MOVWF 31`
		1557	`0509: MOVLW 86`
		1558	`050A: MOVWF 30`
		1559	`050B: MOVF 31,W`
		1560	`050C: SUBLW 0B`
		1561	`050D: BTFSS 03.0`
		1562	`050E: GOTO 521`
		1563	`050F: BTFSS 03.2`
		1564	`0510: GOTO 515`
		1565	`0511: MOVF 30,W`
		1566	`0512: SUBLW B7`
		1567	`0513: BTFSS 03.0`
		1568	`0514: GOTO 521`
		1569	`0515: MOVF 31,W`
		1570	`0516: MOVWF 37`
		1571	`0517: MOVF 30,W`
		1572	`0518: MOVWF 36`
		1573	`0519: CLRF 39`
		1574	`051A: MOVLW 0A`
		1575	`051B: MOVWF 38`
		1576	`051C: CALL 055`
		1577	`051D: INCF 30,F`
		1578	`051E: BTFSC 03.2`
		1579	`051F: INCF 31,F`
		1580	`0520: GOTO 50B`
		1581	`.................... output_low(LED2);`
		1582	`0521: BSF 03.5`
		1583	`0522: BCF 05.3`
		1584	`0523: BCF 03.5`
		1585	`0524: BCF 05.3`
		1586	`.................... output_high(LED1);`
		1587	`0525: BSF 03.5`
		1588	`0526: BCF 05.4`
		1589	`0527: BCF 03.5`
		1590	`0528: BSF 05.4`
		1591	`.................... beep(4000,400);`
		1592	`0529: MOVLW 0F`
		1593	`052A: MOVWF 37`
		1594	`052B: MOVLW A0`
		1595	`052C: MOVWF 36`
		1596	`052D: MOVLW 01`
		1597	`052E: MOVWF 39`
		1598	`052F: MOVLW 90`
		1599	`0530: MOVWF 38`
		1600	`0531: CALL 055`
		1601	`.................... beep(1000,100);`
		1602	`0532: MOVLW 03`
		1603	`0533: MOVWF 37`
		1604	`0534: MOVLW E8`
		1605	`0535: MOVWF 36`
		1606	`0536: CLRF 39`
		1607	`0537: MOVLW 64`
		1608	`0538: MOVWF 38`
		1609	`0539: CALL 055`
		1610	`.................... output_low(LED3);`
		1611	`053A: BSF 03.5`
		1612	`053B: BCF 05.7`
		1613	`053C: BCF 03.5`
		1614	`053D: BCF 05.7`
		1615	`.................... beep(3000,400);`
		1616	`053E: MOVLW 0B`
		1617	`053F: MOVWF 37`
		1618	`0540: MOVLW B8`
		1619	`0541: MOVWF 36`
		1620	`0542: MOVLW 01`
		1621	`0543: MOVWF 39`
		1622	`0544: MOVLW 90`
		1623	`0545: MOVWF 38`
		1624	`0546: CALL 055`
		1625	`.................... Delay_ms(1000);`
		1626	`0547: MOVLW 04`
		1627	`0548: MOVWF 34`
		1628	`0549: MOVLW FA`
		1629	`054A: MOVWF 37`
		1630	`054B: CALL 073`
		1631	`054C: DECFSZ 34,F`
		1632	`054D: GOTO 549`
		1633	`.................... output_high(LED1); output_high(LED2);`
		1634	`054E: BSF 03.5`
		1635	`054F: BCF 05.4`
		1636	`0550: BCF 03.5`
		1637	`0551: BSF 05.4`
		1638	`0552: BSF 03.5`
		1639	`0553: BCF 05.3`
		1640	`0554: BCF 03.5`
		1641	`0555: BSF 05.3`
		1642	`.................... output_high(LED3); output_high(LED4);`
		1643	`0556: BSF 03.5`
		1644	`0557: BCF 05.7`
		1645	`0558: BCF 03.5`
		1646	`0559: BSF 05.7`
		1647	`055A: BSF 03.5`
		1648	`055B: BCF 05.6`
		1649	`055C: BCF 03.5`
		1650	`055D: BSF 05.6`
		1651	`.................... enable_interrupts(GLOBAL);`
		1652	`055E: MOVLW C0`
		1653	`055F: IORWF 0B,F`
		1654	`.................... }`
		1655	`.................... };`
		1656	`....................`
		1657	`.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru`
		1658	`0560: MOVF 2A,W`
		1659	`0561: SUBLW 02`
		1660	`0562: BTFSS 03.2`
		1661	`0563: GOTO 582`
		1662	`.................... {`
		1663	`.................... STOPL;`
		1664	`0564: BSF 03.5`
		1665	`0565: BCF 06.6`
		1666	`0566: BCF 03.5`
		1667	`0567: BCF 06.6`
		1668	`0568: BSF 03.5`
		1669	`0569: BCF 06.7`
		1670	`056A: BCF 03.5`
		1671	`056B: BCF 06.7`
		1672	`.................... GO(R, F, speed);`
		1673	`056C: MOVF 01,W`
		1674	`056D: SUBWF 2B,W`
		1675	`056E: BTFSS 03.0`
		1676	`056F: GOTO 579`
		1677	`0570: BSF 03.5`
		1678	`0571: BCF 06.5`
		1679	`0572: BCF 03.5`
		1680	`0573: BCF 06.5`
		1681	`0574: BSF 03.5`
		1682	`0575: BCF 06.4`
		1683	`0576: BCF 03.5`
		1684	`0577: BSF 06.4`
		1685	`0578: GOTO 581`
		1686	`0579: BSF 03.5`
		1687	`057A: BCF 06.4`
		1688	`057B: BCF 03.5`
		1689	`057C: BCF 06.4`
		1690	`057D: BSF 03.5`
		1691	`057E: BCF 06.5`
		1692	`057F: BCF 03.5`
		1693	`0580: BCF 06.5`
		1694	`.................... }`
		1695	`.................... else`
		1696	`0581: GOTO 59F`
		1697	`.................... {`
		1698	`.................... STOPR;`
		1699	`0582: BSF 03.5`
		1700	`0583: BCF 06.4`
		1701	`0584: BCF 03.5`
		1702	`0585: BCF 06.4`
		1703	`0586: BSF 03.5`
		1704	`0587: BCF 06.5`
		1705	`0588: BCF 03.5`
		1706	`0589: BCF 06.5`
		1707	`.................... GO(L, F, speed);`
		1708	`058A: MOVF 01,W`
		1709	`058B: SUBWF 2B,W`
		1710	`058C: BTFSS 03.0`
		1711	`058D: GOTO 597`
		1712	`058E: BSF 03.5`
		1713	`058F: BCF 06.7`
		1714	`0590: BCF 03.5`
		1715	`0591: BCF 06.7`
		1716	`0592: BSF 03.5`
		1717	`0593: BCF 06.6`
		1718	`0594: BCF 03.5`
		1719	`0595: BSF 06.6`
		1720	`0596: GOTO 59F`
		1721	`0597: BSF 03.5`
		1722	`0598: BCF 06.6`
		1723	`0599: BCF 03.5`
		1724	`059A: BCF 06.6`
		1725	`059B: BSF 03.5`
		1726	`059C: BCF 06.7`
		1727	`059D: BCF 03.5`
		1728	`059E: BCF 06.7`
		1729	`.................... }`
		1730	`....................`
		1731	`.................... } // while(true)`
		1732	`059F: GOTO 3CB`
		1733	`.................... }`
		1734	`....................`
		1735	`....................`
		1736	`05A0: SLEEP`
		1737
		1738	`Configuration Fuses:`
		1739	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1740	`Word 2: 3FFC NOFCMEN NOIESO`

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