WebSVN – svnkaklik – Blame – /roboti/istrobot/merkur/PIC16F88/turn

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 21:32`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LST`
		4
		5	`ROM used: 1705 words (42%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 87 (50%) at main() level`
		8	`98 (56%) 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 4E8`
		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	`.................... #include "tank.h"`
		68	`.................... #include <16F88.h>`
		69	`.................... //////// Standard Header file for the PIC16F88 device ////////////////`
		70	`.................... #device PIC16F88`
		71	`.................... #list`
		72	`....................`
		73	`.................... #device adc=8`
		74	`.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO`
		75	`.................... #use delay(clock=4000000)`
		76	`*`
		77	`0047: MOVLW 12`
		78	`0048: BSF 03.5`
		79	`0049: SUBWF 22,F`
		80	`004A: BTFSS 03.0`
		81	`004B: GOTO 05A`
		82	`004C: MOVLW A2`
		83	`004D: MOVWF 04`
		84	`004E: MOVLW FC`
		85	`004F: ANDWF 00,F`
		86	`0050: BCF 03.0`
		87	`0051: RRF 00,F`
		88	`0052: RRF 00,F`
		89	`0053: MOVF 00,W`
		90	`0054: BTFSC 03.2`
		91	`0055: GOTO 05A`
		92	`0056: GOTO 058`
		93	`0057: NOP`
		94	`0058: DECFSZ 00,F`
		95	`0059: GOTO 057`
		96	`005A: BCF 03.5`
		97	`005B: RETLW 00`
		98	`*`
		99	`0088: MOVLW 75`
		100	`0089: MOVWF 04`
		101	`008A: MOVF 00,W`
		102	`008B: BTFSC 03.2`
		103	`008C: GOTO 09C`
		104	`008D: MOVLW 01`
		105	`008E: MOVWF 78`
		106	`008F: CLRF 77`
		107	`0090: DECFSZ 77,F`
		108	`0091: GOTO 090`
		109	`0092: DECFSZ 78,F`
		110	`0093: GOTO 08F`
		111	`0094: MOVLW 4A`
		112	`0095: MOVWF 77`
		113	`0096: DECFSZ 77,F`
		114	`0097: GOTO 096`
		115	`0098: NOP`
		116	`0099: NOP`
		117	`009A: DECFSZ 00,F`
		118	`009B: GOTO 08D`
		119	`009C: RETLW 00`
		120	`....................`
		121	`....................`
		122	`....................`
		123	`.................... #define DEBUG`
		124	`....................`
		125	`.................... #define TXo PIN_A3 // To the transmitter modulator`
		126	`.................... #include "AX25.c" // podprogram pro prenos telemetrie`
		127	`.................... #list`
		128	`....................`
		129	`....................`
		130	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		131	`.................... unsigned int8 line; // na ktere strane byla detekovana cara`
		132	`.................... unsigned int8 speed; // rychlost zataceni`
		133	`.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku`
		134	`.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo`
		135	`.................... unsigned int8 movement; // obsahuje aktualni smer zataceni`
		136	`.................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara`
		137	`....................`
		138	`.................... // Konstanty pro dynamiku pohybu`
		139	`.................... #define T_DIRA 87 // po jakem case zataceni se detekuje dira`
		140	`.................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku`
		141	`.................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas`
		142	`.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni`
		143	`.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas`
		144	`.................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry`
		145	`.................... #define PRES_DIRU 250`
		146	`.................... #define MAX_ROVINKA (255-FW_STREDNE)`
		147	`.................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd`
		148	`.................... #define BUMPER_TRESHOLD 128`
		149	`.................... #define CIK_CAK 30000`
		150	`.................... #define T_CIHLA 50 // perioda detekce cihly`
		151	`....................`
		152	`.................... //motory //Napred vypnout potom zapnout!`
		153	`.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`
		154	`.................... #define FL output_low(PIN_B7); output_high(PIN_B6)`
		155	`.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`
		156	`.................... #define BL output_low(PIN_B6); output_high(PIN_B7)`
		157	`.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`
		158	`.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)`
		159	`....................`
		160	`.................... #define L 0b10 // left`
		161	`.................... #define R 0b01 // right`
		162	`.................... #define S 0b11 // straight`
		163	`....................`
		164	`.................... //cidla`
		165	`.................... #define RSENSOR C2OUT // Senzory na caru`
		166	`.................... #define LSENSOR C1OUT`
		167	`.................... #define BUMPER PIN_A4 // Senzor na cihlu`
		168	`....................`
		169	`.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod`
		170	`.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod`
		171	`....................`
		172	`.................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak`
		173	`.................... #DEFINE SOUND_LO PIN_A7`
		174	`....................`
		175	`.................... char AXstring[40]; // Buffer pro prenos telemetrie`
		176	`....................`
		177	`.................... // makro pro PWM`
		178	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		179	`.................... {direction##motor;} else {stop##motor;}`
		180	`....................`
		181	`.................... #int_TIMER2`
		182	`.................... void TIMER2_isr()`
		183	`.................... {`
		184	`.................... if (speed<255) speed+=INC_SPEED;`
		185	`*`
		186	`0037: INCFSZ 42,W`
		187	`0038: GOTO 03A`
		188	`0039: GOTO 03C`
		189	`003A: MOVLW 01`
		190	`003B: ADDWF 42,F`
		191	`.................... if (rovinka<MAX_ROVINKA) rovinka++;`
		192	`003C: MOVF 43,W`
		193	`003D: SUBLW 0E`
		194	`003E: BTFSC 03.0`
		195	`003F: INCF 43,F`
		196	`.................... if (dira<=T_DIRA) dira++;`
		197	`0040: MOVF 46,W`
		198	`0041: SUBLW 57`
		199	`0042: BTFSC 03.0`
		200	`0043: INCF 46,F`
		201	`.................... }`
		202	`.................... // Primitivni Pipani`
		203	`0044: BCF 0C.1`
		204	`0045: BCF 0A.3`
		205	`0046: GOTO 022`
		206	`.................... void beep(unsigned int16 period, unsigned int16 length)`
		207	`.................... {`
		208	`.................... unsigned int16 nn;`
		209	`....................`
		210	`.................... for(nn=length; nn>0; nn--)`
		211	`*`
		212	`005C: MOVF 7D,W`
		213	`005D: BSF 03.5`
		214	`005E: MOVWF 21`
		215	`005F: MOVF 7C,W`
		216	`0060: MOVWF 20`
		217	`0061: MOVF 20,F`
		218	`0062: BTFSS 03.2`
		219	`0063: GOTO 067`
		220	`0064: MOVF 21,F`
		221	`0065: BTFSC 03.2`
		222	`0066: GOTO 086`
		223	`.................... {`
		224	`.................... output_high(SOUND_HI);output_low(SOUND_LO);`
		225	`0067: BCF 05.6`
		226	`0068: BCF 03.5`
		227	`0069: BSF 05.6`
		228	`006A: BSF 03.5`
		229	`006B: BCF 05.7`
		230	`006C: BCF 03.5`
		231	`006D: BCF 05.7`
		232	`.................... delay_us(period);`
		233	`006E: MOVF 74,W`
		234	`006F: BSF 03.5`
		235	`0070: MOVWF 22`
		236	`0071: BCF 03.5`
		237	`0072: CALL 047`
		238	`.................... output_high(SOUND_LO);output_low(SOUND_HI);`
		239	`0073: BSF 03.5`
		240	`0074: BCF 05.7`
		241	`0075: BCF 03.5`
		242	`0076: BSF 05.7`
		243	`0077: BSF 03.5`
		244	`0078: BCF 05.6`
		245	`0079: BCF 03.5`
		246	`007A: BCF 05.6`
		247	`.................... delay_us(period);`
		248	`007B: MOVF 74,W`
		249	`007C: BSF 03.5`
		250	`007D: MOVWF 22`
		251	`007E: BCF 03.5`
		252	`007F: CALL 047`
		253	`.................... }`
		254	`0080: BSF 03.5`
		255	`0081: MOVF 20,W`
		256	`0082: BTFSC 03.2`
		257	`0083: DECF 21,F`
		258	`0084: DECF 20,F`
		259	`0085: GOTO 061`
		260	`.................... }`
		261	`0086: BCF 03.5`
		262	`0087: RETLW 00`
		263	`.................... /******************************************************************************/`
		264	`.................... void diagnostika()`
		265	`.................... {`
		266	`.................... unsigned int16 n;`
		267	`....................`
		268	`.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku`
		269	`.................... {`
		270	`*`
		271	`009D: BSF 03.5`
		272	`009E: BSF 06.3`
		273	`009F: BCF 03.5`
		274	`00A0: BTFSS 06.3`
		275	`00A1: GOTO 1C8`
		276	`.................... for (n=500; n<800; n+=100)`
		277	`00A2: MOVLW 01`
		278	`00A3: MOVWF 72`
		279	`00A4: MOVLW F4`
		280	`00A5: MOVWF 71`
		281	`00A6: MOVF 72,W`
		282	`00A7: SUBLW 03`
		283	`00A8: BTFSS 03.0`
		284	`00A9: GOTO 0BE`
		285	`00AA: BTFSS 03.2`
		286	`00AB: GOTO 0B0`
		287	`00AC: MOVF 71,W`
		288	`00AD: SUBLW 1F`
		289	`00AE: BTFSS 03.0`
		290	`00AF: GOTO 0BE`
		291	`.................... {`
		292	`.................... beep(n,n); //beep UP`
		293	`00B0: MOVF 72,W`
		294	`00B1: MOVWF 75`
		295	`00B2: MOVF 71,W`
		296	`00B3: MOVWF 74`
		297	`00B4: MOVF 72,W`
		298	`00B5: MOVWF 7D`
		299	`00B6: MOVF 71,W`
		300	`00B7: MOVWF 7C`
		301	`00B8: CALL 05C`
		302	`.................... };`
		303	`00B9: MOVLW 64`
		304	`00BA: ADDWF 71,F`
		305	`00BB: BTFSC 03.0`
		306	`00BC: INCF 72,F`
		307	`00BD: GOTO 0A6`
		308	`.................... Delay_ms(1000);`
		309	`00BE: MOVLW 04`
		310	`00BF: MOVWF 73`
		311	`00C0: MOVLW FA`
		312	`00C1: MOVWF 75`
		313	`00C2: CALL 088`
		314	`00C3: DECFSZ 73,F`
		315	`00C4: GOTO 0C0`
		316	`.................... //zastav vse`
		317	`.................... STOPL; STOPR;`
		318	`00C5: BSF 03.5`
		319	`00C6: BCF 06.6`
		320	`00C7: BCF 03.5`
		321	`00C8: BCF 06.6`
		322	`00C9: BSF 03.5`
		323	`00CA: BCF 06.7`
		324	`00CB: BCF 03.5`
		325	`00CC: BCF 06.7`
		326	`00CD: BSF 03.5`
		327	`00CE: BCF 06.4`
		328	`00CF: BCF 03.5`
		329	`00D0: BCF 06.4`
		330	`00D1: BSF 03.5`
		331	`00D2: BCF 06.5`
		332	`00D3: BCF 03.5`
		333	`00D4: BCF 06.5`
		334	`.................... //pravy pas`
		335	`.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		336	`00D5: BSF 03.5`
		337	`00D6: BCF 06.5`
		338	`00D7: BCF 03.5`
		339	`00D8: BCF 06.5`
		340	`00D9: BSF 03.5`
		341	`00DA: BCF 06.4`
		342	`00DB: BCF 03.5`
		343	`00DC: BSF 06.4`
		344	`00DD: MOVLW 04`
		345	`00DE: MOVWF 73`
		346	`00DF: MOVLW FA`
		347	`00E0: MOVWF 75`
		348	`00E1: CALL 088`
		349	`00E2: DECFSZ 73,F`
		350	`00E3: GOTO 0DF`
		351	`00E4: BSF 03.5`
		352	`00E5: BCF 06.4`
		353	`00E6: BCF 03.5`
		354	`00E7: BCF 06.4`
		355	`00E8: BSF 03.5`
		356	`00E9: BCF 06.5`
		357	`00EA: BCF 03.5`
		358	`00EB: BCF 06.5`
		359	`00EC: MOVLW 04`
		360	`00ED: MOVWF 73`
		361	`00EE: MOVLW FA`
		362	`00EF: MOVWF 75`
		363	`00F0: CALL 088`
		364	`00F1: DECFSZ 73,F`
		365	`00F2: GOTO 0EE`
		366	`.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		367	`00F3: BSF 03.5`
		368	`00F4: BCF 06.4`
		369	`00F5: BCF 03.5`
		370	`00F6: BCF 06.4`
		371	`00F7: BSF 03.5`
		372	`00F8: BCF 06.5`
		373	`00F9: BCF 03.5`
		374	`00FA: BSF 06.5`
		375	`00FB: MOVLW 04`
		376	`00FC: MOVWF 73`
		377	`00FD: MOVLW FA`
		378	`00FE: MOVWF 75`
		379	`00FF: CALL 088`
		380	`0100: DECFSZ 73,F`
		381	`0101: GOTO 0FD`
		382	`0102: BSF 03.5`
		383	`0103: BCF 06.4`
		384	`0104: BCF 03.5`
		385	`0105: BCF 06.4`
		386	`0106: BSF 03.5`
		387	`0107: BCF 06.5`
		388	`0108: BCF 03.5`
		389	`0109: BCF 06.5`
		390	`010A: MOVLW 04`
		391	`010B: MOVWF 73`
		392	`010C: MOVLW FA`
		393	`010D: MOVWF 75`
		394	`010E: CALL 088`
		395	`010F: DECFSZ 73,F`
		396	`0110: GOTO 10C`
		397	`.................... Beep(880,100); Delay_ms(1000);`
		398	`0111: MOVLW 03`
		399	`0112: MOVWF 75`
		400	`0113: MOVLW 70`
		401	`0114: MOVWF 74`
		402	`0115: CLRF 7D`
		403	`0116: MOVLW 64`
		404	`0117: MOVWF 7C`
		405	`0118: CALL 05C`
		406	`0119: MOVLW 04`
		407	`011A: MOVWF 73`
		408	`011B: MOVLW FA`
		409	`011C: MOVWF 75`
		410	`011D: CALL 088`
		411	`011E: DECFSZ 73,F`
		412	`011F: GOTO 11B`
		413	`.................... //levy pas`
		414	`.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		415	`0120: BSF 03.5`
		416	`0121: BCF 06.7`
		417	`0122: BCF 03.5`
		418	`0123: BCF 06.7`
		419	`0124: BSF 03.5`
		420	`0125: BCF 06.6`
		421	`0126: BCF 03.5`
		422	`0127: BSF 06.6`
		423	`0128: MOVLW 04`
		424	`0129: MOVWF 73`
		425	`012A: MOVLW FA`
		426	`012B: MOVWF 75`
		427	`012C: CALL 088`
		428	`012D: DECFSZ 73,F`
		429	`012E: GOTO 12A`
		430	`012F: BSF 03.5`
		431	`0130: BCF 06.6`
		432	`0131: BCF 03.5`
		433	`0132: BCF 06.6`
		434	`0133: BSF 03.5`
		435	`0134: BCF 06.7`
		436	`0135: BCF 03.5`
		437	`0136: BCF 06.7`
		438	`0137: MOVLW 04`
		439	`0138: MOVWF 73`
		440	`0139: MOVLW FA`
		441	`013A: MOVWF 75`
		442	`013B: CALL 088`
		443	`013C: DECFSZ 73,F`
		444	`013D: GOTO 139`
		445	`.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		446	`013E: BSF 03.5`
		447	`013F: BCF 06.6`
		448	`0140: BCF 03.5`
		449	`0141: BCF 06.6`
		450	`0142: BSF 03.5`
		451	`0143: BCF 06.7`
		452	`0144: BCF 03.5`
		453	`0145: BSF 06.7`
		454	`0146: MOVLW 04`
		455	`0147: MOVWF 73`
		456	`0148: MOVLW FA`
		457	`0149: MOVWF 75`
		458	`014A: CALL 088`
		459	`014B: DECFSZ 73,F`
		460	`014C: GOTO 148`
		461	`014D: BSF 03.5`
		462	`014E: BCF 06.6`
		463	`014F: BCF 03.5`
		464	`0150: BCF 06.6`
		465	`0151: BSF 03.5`
		466	`0152: BCF 06.7`
		467	`0153: BCF 03.5`
		468	`0154: BCF 06.7`
		469	`0155: MOVLW 04`
		470	`0156: MOVWF 73`
		471	`0157: MOVLW FA`
		472	`0158: MOVWF 75`
		473	`0159: CALL 088`
		474	`015A: DECFSZ 73,F`
		475	`015B: GOTO 157`
		476	`.................... Beep(880,100); Delay_ms(1000);`
		477	`015C: MOVLW 03`
		478	`015D: MOVWF 75`
		479	`015E: MOVLW 70`
		480	`015F: MOVWF 74`
		481	`0160: CLRF 7D`
		482	`0161: MOVLW 64`
		483	`0162: MOVWF 7C`
		484	`0163: CALL 05C`
		485	`0164: MOVLW 04`
		486	`0165: MOVWF 73`
		487	`0166: MOVLW FA`
		488	`0167: MOVWF 75`
		489	`0168: CALL 088`
		490	`0169: DECFSZ 73,F`
		491	`016A: GOTO 166`
		492	`.................... //oba pasy`
		493	`.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		494	`016B: BSF 03.5`
		495	`016C: BCF 06.7`
		496	`016D: BCF 03.5`
		497	`016E: BCF 06.7`
		498	`016F: BSF 03.5`
		499	`0170: BCF 06.6`
		500	`0171: BCF 03.5`
		501	`0172: BSF 06.6`
		502	`0173: BSF 03.5`
		503	`0174: BCF 06.5`
		504	`0175: BCF 03.5`
		505	`0176: BCF 06.5`
		506	`0177: BSF 03.5`
		507	`0178: BCF 06.4`
		508	`0179: BCF 03.5`
		509	`017A: BSF 06.4`
		510	`017B: MOVLW 04`
		511	`017C: MOVWF 73`
		512	`017D: MOVLW FA`
		513	`017E: MOVWF 75`
		514	`017F: CALL 088`
		515	`0180: DECFSZ 73,F`
		516	`0181: GOTO 17D`
		517	`0182: BSF 03.5`
		518	`0183: BCF 06.6`
		519	`0184: BCF 03.5`
		520	`0185: BCF 06.6`
		521	`0186: BSF 03.5`
		522	`0187: BCF 06.7`
		523	`0188: BCF 03.5`
		524	`0189: BCF 06.7`
		525	`018A: BSF 03.5`
		526	`018B: BCF 06.4`
		527	`018C: BCF 03.5`
		528	`018D: BCF 06.4`
		529	`018E: BSF 03.5`
		530	`018F: BCF 06.5`
		531	`0190: BCF 03.5`
		532	`0191: BCF 06.5`
		533	`0192: MOVLW 04`
		534	`0193: MOVWF 73`
		535	`0194: MOVLW FA`
		536	`0195: MOVWF 75`
		537	`0196: CALL 088`
		538	`0197: DECFSZ 73,F`
		539	`0198: GOTO 194`
		540	`.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		541	`0199: BSF 03.5`
		542	`019A: BCF 06.6`
		543	`019B: BCF 03.5`
		544	`019C: BCF 06.6`
		545	`019D: BSF 03.5`
		546	`019E: BCF 06.7`
		547	`019F: BCF 03.5`
		548	`01A0: BSF 06.7`
		549	`01A1: BSF 03.5`
		550	`01A2: BCF 06.4`
		551	`01A3: BCF 03.5`
		552	`01A4: BCF 06.4`
		553	`01A5: BSF 03.5`
		554	`01A6: BCF 06.5`
		555	`01A7: BCF 03.5`
		556	`01A8: BSF 06.5`
		557	`01A9: MOVLW 04`
		558	`01AA: MOVWF 73`
		559	`01AB: MOVLW FA`
		560	`01AC: MOVWF 75`
		561	`01AD: CALL 088`
		562	`01AE: DECFSZ 73,F`
		563	`01AF: GOTO 1AB`
		564	`01B0: BSF 03.5`
		565	`01B1: BCF 06.6`
		566	`01B2: BCF 03.5`
		567	`01B3: BCF 06.6`
		568	`01B4: BSF 03.5`
		569	`01B5: BCF 06.7`
		570	`01B6: BCF 03.5`
		571	`01B7: BCF 06.7`
		572	`01B8: BSF 03.5`
		573	`01B9: BCF 06.4`
		574	`01BA: BCF 03.5`
		575	`01BB: BCF 06.4`
		576	`01BC: BSF 03.5`
		577	`01BD: BCF 06.5`
		578	`01BE: BCF 03.5`
		579	`01BF: BCF 06.5`
		580	`01C0: MOVLW 04`
		581	`01C1: MOVWF 73`
		582	`01C2: MOVLW FA`
		583	`01C3: MOVWF 75`
		584	`01C4: CALL 088`
		585	`01C5: DECFSZ 73,F`
		586	`01C6: GOTO 1C2`
		587	`.................... };`
		588	`01C7: GOTO 09D`
		589	`.................... while (input(DIAG_SENSORS))`
		590	`.................... {`
		591	`01C8: BSF 03.5`
		592	`01C9: BSF 06.2`
		593	`01CA: BCF 03.5`
		594	`01CB: BTFSS 06.2`
		595	`01CC: GOTO 1FB`
		596	`.................... if (RSENSOR) beep(900,500);`
		597	`01CD: BSF 03.5`
		598	`01CE: BTFSS 1C.7`
		599	`01CF: GOTO 1DB`
		600	`01D0: MOVLW 03`
		601	`01D1: MOVWF 75`
		602	`01D2: MOVLW 84`
		603	`01D3: MOVWF 74`
		604	`01D4: MOVLW 01`
		605	`01D5: MOVWF 7D`
		606	`01D6: MOVLW F4`
		607	`01D7: MOVWF 7C`
		608	`01D8: BCF 03.5`
		609	`01D9: CALL 05C`
		610	`01DA: BSF 03.5`
		611	`.................... if (LSENSOR) beep(800,500);`
		612	`01DB: BTFSS 1C.6`
		613	`01DC: GOTO 1E8`
		614	`01DD: MOVLW 03`
		615	`01DE: MOVWF 75`
		616	`01DF: MOVLW 20`
		617	`01E0: MOVWF 74`
		618	`01E1: MOVLW 01`
		619	`01E2: MOVWF 7D`
		620	`01E3: MOVLW F4`
		621	`01E4: MOVWF 7C`
		622	`01E5: BCF 03.5`
		623	`01E6: CALL 05C`
		624	`01E7: BSF 03.5`
		625	`.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500);`
		626	`01E8: BCF 03.5`
		627	`01E9: BTFSS 1F.2`
		628	`01EA: GOTO 1ED`
		629	`01EB: BSF 03.5`
		630	`01EC: GOTO 1E8`
		631	`01ED: MOVF 1E,W`
		632	`01EE: SUBLW 7F`
		633	`01EF: BTFSS 03.0`
		634	`01F0: GOTO 1FA`
		635	`01F1: MOVLW 03`
		636	`01F2: MOVWF 75`
		637	`01F3: MOVLW E8`
		638	`01F4: MOVWF 74`
		639	`01F5: MOVLW 01`
		640	`01F6: MOVWF 7D`
		641	`01F7: MOVLW F4`
		642	`01F8: MOVWF 7C`
		643	`01F9: CALL 05C`
		644	`.................... };`
		645	`01FA: GOTO 1C8`
		646	`.................... }`
		647	`01FB: BCF 0A.3`
		648	`01FC: GOTO 596 (RETURN)`
		649	`.................... ///////////////////////////////////////////////////////////////////////////////`
		650	`.................... void cikcak()`
		651	`.................... {`
		652	`.................... unsigned int16 n;`
		653	`.................... sem1:`
		654	`.................... n=CIK_CAK;`
		655	`01FD: MOVLW 75`
		656	`01FE: MOVWF 75`
		657	`01FF: MOVLW 30`
		658	`0200: MOVWF 74`
		659	`.................... while (0==RSENSOR\|\|LSENSOR) // zkontroluj caru`
		660	`.................... {`
		661	`0201: MOVLW 00`
		662	`0202: BSF 03.5`
		663	`0203: BTFSC 1C.7`
		664	`0204: MOVLW 01`
		665	`0205: XORLW 00`
		666	`0206: BTFSC 03.2`
		667	`0207: GOTO 20A`
		668	`0208: BTFSS 1C.6`
		669	`0209: GOTO 264`
		670	`.................... if (n==CIK_CAK) // zmen smer zataceni`
		671	`020A: MOVF 74,W`
		672	`020B: SUBLW 30`
		673	`020C: BTFSS 03.2`
		674	`020D: GOTO 25E`
		675	`020E: MOVF 75,W`
		676	`020F: SUBLW 75`
		677	`0210: BTFSS 03.2`
		678	`0211: GOTO 25E`
		679	`.................... {`
		680	`.................... n=0;`
		681	`0212: CLRF 75`
		682	`0213: CLRF 74`
		683	`.................... switch(movement)`
		684	`.................... {`
		685	`0214: BCF 03.5`
		686	`0215: MOVF 45,W`
		687	`0216: XORLW 02`
		688	`0217: BTFSC 03.2`
		689	`0218: GOTO 220`
		690	`0219: XORLW 03`
		691	`021A: BTFSC 03.2`
		692	`021B: GOTO 233`
		693	`021C: XORLW 02`
		694	`021D: BTFSC 03.2`
		695	`021E: GOTO 246`
		696	`021F: GOTO 25D`
		697	`.................... case L:`
		698	`.................... FL;BR;`
		699	`0220: BSF 03.5`
		700	`0221: BCF 06.7`
		701	`0222: BCF 03.5`
		702	`0223: BCF 06.7`
		703	`0224: BSF 03.5`
		704	`0225: BCF 06.6`
		705	`0226: BCF 03.5`
		706	`0227: BSF 06.6`
		707	`0228: BSF 03.5`
		708	`0229: BCF 06.4`
		709	`022A: BCF 03.5`
		710	`022B: BCF 06.4`
		711	`022C: BSF 03.5`
		712	`022D: BCF 06.5`
		713	`022E: BCF 03.5`
		714	`022F: BSF 06.5`
		715	`.................... movement=R;`
		716	`0230: MOVLW 01`
		717	`0231: MOVWF 45`
		718	`.................... break;`
		719	`0232: GOTO 25D`
		720	`.................... case R:`
		721	`.................... FR;BL;`
		722	`0233: BSF 03.5`
		723	`0234: BCF 06.5`
		724	`0235: BCF 03.5`
		725	`0236: BCF 06.5`
		726	`0237: BSF 03.5`
		727	`0238: BCF 06.4`
		728	`0239: BCF 03.5`
		729	`023A: BSF 06.4`
		730	`023B: BSF 03.5`
		731	`023C: BCF 06.6`
		732	`023D: BCF 03.5`
		733	`023E: BCF 06.6`
		734	`023F: BSF 03.5`
		735	`0240: BCF 06.7`
		736	`0241: BCF 03.5`
		737	`0242: BSF 06.7`
		738	`.................... movement=L;`
		739	`0243: MOVLW 02`
		740	`0244: MOVWF 45`
		741	`.................... break;`
		742	`0245: GOTO 25D`
		743	`.................... case S:`
		744	`.................... FL;BR;`
		745	`0246: BSF 03.5`
		746	`0247: BCF 06.7`
		747	`0248: BCF 03.5`
		748	`0249: BCF 06.7`
		749	`024A: BSF 03.5`
		750	`024B: BCF 06.6`
		751	`024C: BCF 03.5`
		752	`024D: BSF 06.6`
		753	`024E: BSF 03.5`
		754	`024F: BCF 06.4`
		755	`0250: BCF 03.5`
		756	`0251: BCF 06.4`
		757	`0252: BSF 03.5`
		758	`0253: BCF 06.5`
		759	`0254: BCF 03.5`
		760	`0255: BSF 06.5`
		761	`.................... movement=R;`
		762	`0256: MOVLW 01`
		763	`0257: MOVWF 45`
		764	`.................... n=CIK_CAK/2;`
		765	`0258: MOVLW 3A`
		766	`0259: MOVWF 75`
		767	`025A: MOVLW 98`
		768	`025B: MOVWF 74`
		769	`.................... break;`
		770	`025C: GOTO 25D`
		771	`025D: BSF 03.5`
		772	`.................... }`
		773	`.................... }`
		774	`.................... n++;`
		775	`025E: INCF 74,F`
		776	`025F: BTFSC 03.2`
		777	`0260: INCF 75,F`
		778	`.................... }`
		779	`0261: BCF 03.5`
		780	`0262: GOTO 201`
		781	`0263: BSF 03.5`
		782	`.................... STOPL;STOPR;`
		783	`0264: BCF 06.6`
		784	`0265: BCF 03.5`
		785	`0266: BCF 06.6`
		786	`0267: BSF 03.5`
		787	`0268: BCF 06.7`
		788	`0269: BCF 03.5`
		789	`026A: BCF 06.7`
		790	`026B: BSF 03.5`
		791	`026C: BCF 06.4`
		792	`026D: BCF 03.5`
		793	`026E: BCF 06.4`
		794	`026F: BSF 03.5`
		795	`0270: BCF 06.5`
		796	`0271: BCF 03.5`
		797	`0272: BCF 06.5`
		798	`.................... line = RSENSOR; // cteni senzoru na caru`
		799	`0273: CLRF 41`
		800	`0274: BSF 03.5`
		801	`0275: BTFSS 1C.7`
		802	`0276: GOTO 27A`
		803	`0277: BCF 03.5`
		804	`0278: INCF 41,F`
		805	`0279: BSF 03.5`
		806	`.................... line \|= LSENSOR << 1;`
		807	`027A: MOVLW 00`
		808	`027B: BTFSC 1C.6`
		809	`027C: MOVLW 01`
		810	`027D: MOVWF 77`
		811	`027E: BCF 03.0`
		812	`027F: RLF 77,F`
		813	`0280: MOVF 77,W`
		814	`0281: BCF 03.5`
		815	`0282: IORWF 41,F`
		816	`.................... if (line==0) goto sem1;`
		817	`0283: MOVF 41,F`
		818	`0284: BTFSC 03.2`
		819	`0285: GOTO 1FD`
		820	`.................... // nasli jsme caru`
		821	`.................... line=S;`
		822	`0286: MOVLW 03`
		823	`0287: MOVWF 41`
		824	`.................... }`
		825	`0288: RETLW 00`
		826	`.................... ///////////////////////////////////////////////////////////////////////////////`
		827	`.................... void objizdka() // objede cihlu`
		828	`.................... {`
		829	`.................... unsigned int16 n;`
		830	`....................`
		831	`.................... BL;BR;Delay_ms(200);`
		832	`0289: BSF 03.5`
		833	`028A: BCF 06.6`
		834	`028B: BCF 03.5`
		835	`028C: BCF 06.6`
		836	`028D: BSF 03.5`
		837	`028E: BCF 06.7`
		838	`028F: BCF 03.5`
		839	`0290: BSF 06.7`
		840	`0291: BSF 03.5`
		841	`0292: BCF 06.4`
		842	`0293: BCF 03.5`
		843	`0294: BCF 06.4`
		844	`0295: BSF 03.5`
		845	`0296: BCF 06.5`
		846	`0297: BCF 03.5`
		847	`0298: BSF 06.5`
		848	`0299: MOVLW C8`
		849	`029A: MOVWF 75`
		850	`029B: CALL 088`
		851	`.................... STOPR;STOPL;`
		852	`029C: BSF 03.5`
		853	`029D: BCF 06.4`
		854	`029E: BCF 03.5`
		855	`029F: BCF 06.4`
		856	`02A0: BSF 03.5`
		857	`02A1: BCF 06.5`
		858	`02A2: BCF 03.5`
		859	`02A3: BCF 06.5`
		860	`02A4: BSF 03.5`
		861	`02A5: BCF 06.6`
		862	`02A6: BCF 03.5`
		863	`02A7: BCF 06.6`
		864	`02A8: BSF 03.5`
		865	`02A9: BCF 06.7`
		866	`02AA: BCF 03.5`
		867	`02AB: BCF 06.7`
		868	`.................... beep(900,1000);`
		869	`02AC: MOVLW 03`
		870	`02AD: MOVWF 75`
		871	`02AE: MOVLW 84`
		872	`02AF: MOVWF 74`
		873	`02B0: MOVLW 03`
		874	`02B1: MOVWF 7D`
		875	`02B2: MOVLW E8`
		876	`02B3: MOVWF 7C`
		877	`02B4: CALL 05C`
		878	`.................... // movement=S;`
		879	`.................... //cikcak();`
		880	`....................`
		881	`.................... BL; FR; Delay_ms(215); // otoc se 70° do leva`
		882	`02B5: BSF 03.5`
		883	`02B6: BCF 06.6`
		884	`02B7: BCF 03.5`
		885	`02B8: BCF 06.6`
		886	`02B9: BSF 03.5`
		887	`02BA: BCF 06.7`
		888	`02BB: BCF 03.5`
		889	`02BC: BSF 06.7`
		890	`02BD: BSF 03.5`
		891	`02BE: BCF 06.5`
		892	`02BF: BCF 03.5`
		893	`02C0: BCF 06.5`
		894	`02C1: BSF 03.5`
		895	`02C2: BCF 06.4`
		896	`02C3: BCF 03.5`
		897	`02C4: BSF 06.4`
		898	`02C5: MOVLW D7`
		899	`02C6: MOVWF 75`
		900	`02C7: CALL 088`
		901	`....................`
		902	`.................... FR; FL; Delay_ms(600); // popojed rovne`
		903	`02C8: BSF 03.5`
		904	`02C9: BCF 06.5`
		905	`02CA: BCF 03.5`
		906	`02CB: BCF 06.5`
		907	`02CC: BSF 03.5`
		908	`02CD: BCF 06.4`
		909	`02CE: BCF 03.5`
		910	`02CF: BSF 06.4`
		911	`02D0: BSF 03.5`
		912	`02D1: BCF 06.7`
		913	`02D2: BCF 03.5`
		914	`02D3: BCF 06.7`
		915	`02D4: BSF 03.5`
		916	`02D5: BCF 06.6`
		917	`02D6: BCF 03.5`
		918	`02D7: BSF 06.6`
		919	`02D8: MOVLW 03`
		920	`02D9: MOVWF 73`
		921	`02DA: MOVLW C8`
		922	`02DB: MOVWF 75`
		923	`02DC: CALL 088`
		924	`02DD: DECFSZ 73,F`
		925	`02DE: GOTO 2DA`
		926	`....................`
		927	`.................... BR; Delay_ms(50); // otoc se 90° do prava`
		928	`02DF: BSF 03.5`
		929	`02E0: BCF 06.4`
		930	`02E1: BCF 03.5`
		931	`02E2: BCF 06.4`
		932	`02E3: BSF 03.5`
		933	`02E4: BCF 06.5`
		934	`02E5: BCF 03.5`
		935	`02E6: BSF 06.5`
		936	`02E7: MOVLW 32`
		937	`02E8: MOVWF 75`
		938	`02E9: CALL 088`
		939	`.................... STOPR; FL; Delay_ms(600);`
		940	`02EA: BSF 03.5`
		941	`02EB: BCF 06.4`
		942	`02EC: BCF 03.5`
		943	`02ED: BCF 06.4`
		944	`02EE: BSF 03.5`
		945	`02EF: BCF 06.5`
		946	`02F0: BCF 03.5`
		947	`02F1: BCF 06.5`
		948	`02F2: BSF 03.5`
		949	`02F3: BCF 06.7`
		950	`02F4: BCF 03.5`
		951	`02F5: BCF 06.7`
		952	`02F6: BSF 03.5`
		953	`02F7: BCF 06.6`
		954	`02F8: BCF 03.5`
		955	`02F9: BSF 06.6`
		956	`02FA: MOVLW 03`
		957	`02FB: MOVWF 73`
		958	`02FC: MOVLW C8`
		959	`02FD: MOVWF 75`
		960	`02FE: CALL 088`
		961	`02FF: DECFSZ 73,F`
		962	`0300: GOTO 2FC`
		963	`....................`
		964	`.................... FR; FL; Delay_ms(100); // popojed rovne na slepo`
		965	`0301: BSF 03.5`
		966	`0302: BCF 06.5`
		967	`0303: BCF 03.5`
		968	`0304: BCF 06.5`
		969	`0305: BSF 03.5`
		970	`0306: BCF 06.4`
		971	`0307: BCF 03.5`
		972	`0308: BSF 06.4`
		973	`0309: BSF 03.5`
		974	`030A: BCF 06.7`
		975	`030B: BCF 03.5`
		976	`030C: BCF 06.7`
		977	`030D: BSF 03.5`
		978	`030E: BCF 06.6`
		979	`030F: BCF 03.5`
		980	`0310: BSF 06.6`
		981	`0311: MOVLW 64`
		982	`0312: MOVWF 75`
		983	`0313: CALL 088`
		984	`.................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru`
		985	`0314: MOVLW 02`
		986	`0315: MOVWF 72`
		987	`0316: MOVLW 58`
		988	`0317: MOVWF 71`
		989	`0318: MOVF 71,F`
		990	`0319: BTFSS 03.2`
		991	`031A: GOTO 31E`
		992	`031B: MOVF 72,F`
		993	`031C: BTFSC 03.2`
		994	`031D: GOTO 33D`
		995	`.................... {`
		996	`.................... line = RSENSOR; // cteni senzoru na caru`
		997	`031E: CLRF 41`
		998	`031F: BSF 03.5`
		999	`0320: BTFSS 1C.7`
		1000	`0321: GOTO 325`
		1001	`0322: BCF 03.5`
		1002	`0323: INCF 41,F`
		1003	`0324: BSF 03.5`
		1004	`.................... line \|= LSENSOR << 1;`
		1005	`0325: MOVLW 00`
		1006	`0326: BTFSC 1C.6`
		1007	`0327: MOVLW 01`
		1008	`0328: MOVWF 77`
		1009	`0329: BCF 03.0`
		1010	`032A: RLF 77,F`
		1011	`032B: MOVF 77,W`
		1012	`032C: BCF 03.5`
		1013	`032D: IORWF 41,F`
		1014	`.................... if (line!=0) {Delay_ms(50); break;} // kdyz narazis na caru, za chvili zastav`
		1015	`032E: MOVF 41,F`
		1016	`032F: BTFSC 03.2`
		1017	`0330: GOTO 335`
		1018	`0331: MOVLW 32`
		1019	`0332: MOVWF 75`
		1020	`0333: CALL 088`
		1021	`0334: GOTO 33D`
		1022	`.................... Delay_ms(1);`
		1023	`0335: MOVLW 01`
		1024	`0336: MOVWF 75`
		1025	`0337: CALL 088`
		1026	`.................... }`
		1027	`0338: MOVF 71,W`
		1028	`0339: BTFSC 03.2`
		1029	`033A: DECF 72,F`
		1030	`033B: DECF 71,F`
		1031	`033C: GOTO 318`
		1032	`....................`
		1033	`.................... BL; // otoc se 60° do leva`
		1034	`033D: BSF 03.5`
		1035	`033E: BCF 06.6`
		1036	`033F: BCF 03.5`
		1037	`0340: BCF 06.6`
		1038	`0341: BSF 03.5`
		1039	`0342: BCF 06.7`
		1040	`0343: BCF 03.5`
		1041	`0344: BSF 06.7`
		1042	`.................... for(n=600;n>0;n--)`
		1043	`0345: MOVLW 02`
		1044	`0346: MOVWF 72`
		1045	`0347: MOVLW 58`
		1046	`0348: MOVWF 71`
		1047	`0349: MOVF 71,F`
		1048	`034A: BTFSS 03.2`
		1049	`034B: GOTO 34F`
		1050	`034C: MOVF 72,F`
		1051	`034D: BTFSC 03.2`
		1052	`034E: GOTO 36A`
		1053	`.................... {`
		1054	`.................... line = RSENSOR; // cteni senzoru na caru`
		1055	`034F: CLRF 41`
		1056	`0350: BSF 03.5`
		1057	`0351: BTFSS 1C.7`
		1058	`0352: GOTO 356`
		1059	`0353: BCF 03.5`
		1060	`0354: INCF 41,F`
		1061	`0355: BSF 03.5`
		1062	`.................... line \|= LSENSOR << 1;`
		1063	`0356: MOVLW 00`
		1064	`0357: BTFSC 1C.6`
		1065	`0358: MOVLW 01`
		1066	`0359: MOVWF 77`
		1067	`035A: BCF 03.0`
		1068	`035B: RLF 77,F`
		1069	`035C: MOVF 77,W`
		1070	`035D: BCF 03.5`
		1071	`035E: IORWF 41,F`
		1072	`.................... if (line!=0) break;`
		1073	`035F: MOVF 41,F`
		1074	`0360: BTFSS 03.2`
		1075	`0361: GOTO 36A`
		1076	`.................... Delay_ms(1);`
		1077	`0362: MOVLW 01`
		1078	`0363: MOVWF 75`
		1079	`0364: CALL 088`
		1080	`.................... }`
		1081	`0365: MOVF 71,W`
		1082	`0366: BTFSC 03.2`
		1083	`0367: DECF 72,F`
		1084	`0368: DECF 71,F`
		1085	`0369: GOTO 349`
		1086	`.................... STOPR; STOPL;`
		1087	`036A: BSF 03.5`
		1088	`036B: BCF 06.4`
		1089	`036C: BCF 03.5`
		1090	`036D: BCF 06.4`
		1091	`036E: BSF 03.5`
		1092	`036F: BCF 06.5`
		1093	`0370: BCF 03.5`
		1094	`0371: BCF 06.5`
		1095	`0372: BSF 03.5`
		1096	`0373: BCF 06.6`
		1097	`0374: BCF 03.5`
		1098	`0375: BCF 06.6`
		1099	`0376: BSF 03.5`
		1100	`0377: BCF 06.7`
		1101	`0378: BCF 03.5`
		1102	`0379: BCF 06.7`
		1103	`....................`
		1104	`.................... movement=R;`
		1105	`037A: MOVLW 01`
		1106	`037B: MOVWF 45`
		1107	`.................... cikcak();`
		1108	`037C: CALL 1FD`
		1109	`.................... dira=0;`
		1110	`037D: CLRF 46`
		1111	`.................... }`
		1112	`037E: BCF 0A.3`
		1113	`037F: GOTO 5C6 (RETURN)`
		1114	`.................... ///////////////////////////////////////////////////////////////////////////////`
		1115	`.................... void prejeddiru() // vyresi diru`
		1116	`.................... {`
		1117	`.................... unsigned int16 n;`
		1118	`.................... unsigned int8 speed_dira;`
		1119	`....................`
		1120	`.................... STOPL;STOPR;`
		1121	`0380: BSF 03.5`
		1122	`0381: BCF 06.6`
		1123	`0382: BCF 03.5`
		1124	`0383: BCF 06.6`
		1125	`0384: BSF 03.5`
		1126	`0385: BCF 06.7`
		1127	`0386: BCF 03.5`
		1128	`0387: BCF 06.7`
		1129	`0388: BSF 03.5`
		1130	`0389: BCF 06.4`
		1131	`038A: BCF 03.5`
		1132	`038B: BCF 06.4`
		1133	`038C: BSF 03.5`
		1134	`038D: BCF 06.5`
		1135	`038E: BCF 03.5`
		1136	`038F: BCF 06.5`
		1137	`.................... speed_dira=speed;`
		1138	`0390: MOVF 42,W`
		1139	`0391: MOVWF 73`
		1140	`.................... beep(1000,500);`
		1141	`0392: MOVLW 03`
		1142	`0393: MOVWF 75`
		1143	`0394: MOVLW E8`
		1144	`0395: MOVWF 74`
		1145	`0396: MOVLW 01`
		1146	`0397: MOVWF 7D`
		1147	`0398: MOVLW F4`
		1148	`0399: MOVWF 7C`
		1149	`039A: CALL 05C`
		1150	`.................... switch (movement) //vrat se zpet na caru`
		1151	`.................... {`
		1152	`039B: MOVF 45,W`
		1153	`039C: XORLW 02`
		1154	`039D: BTFSC 03.2`
		1155	`039E: GOTO 3A6`
		1156	`039F: XORLW 03`
		1157	`03A0: BTFSC 03.2`
		1158	`03A1: GOTO 3DE`
		1159	`03A2: XORLW 02`
		1160	`03A3: BTFSC 03.2`
		1161	`03A4: GOTO 416`
		1162	`03A5: GOTO 418`
		1163	`.................... case L:`
		1164	`.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);}`
		1165	`03A6: MOVLW 02`
		1166	`03A7: MOVWF 72`
		1167	`03A8: MOVLW 58`
		1168	`03A9: MOVWF 71`
		1169	`03AA: MOVF 71,F`
		1170	`03AB: BTFSS 03.2`
		1171	`03AC: GOTO 3B0`
		1172	`03AD: MOVF 72,F`
		1173	`03AE: BTFSC 03.2`
		1174	`03AF: GOTO 3CD`
		1175	`03B0: MOVF 01,W`
		1176	`03B1: SUBWF 73,W`
		1177	`03B2: BTFSS 03.0`
		1178	`03B3: GOTO 3BD`
		1179	`03B4: BSF 03.5`
		1180	`03B5: BCF 06.4`
		1181	`03B6: BCF 03.5`
		1182	`03B7: BCF 06.4`
		1183	`03B8: BSF 03.5`
		1184	`03B9: BCF 06.5`
		1185	`03BA: BCF 03.5`
		1186	`03BB: BSF 06.5`
		1187	`03BC: GOTO 3C5`
		1188	`03BD: BSF 03.5`
		1189	`03BE: BCF 06.4`
		1190	`03BF: BCF 03.5`
		1191	`03C0: BCF 06.4`
		1192	`03C1: BSF 03.5`
		1193	`03C2: BCF 06.5`
		1194	`03C3: BCF 03.5`
		1195	`03C4: BCF 06.5`
		1196	`03C5: MOVLW 01`
		1197	`03C6: MOVWF 75`
		1198	`03C7: CALL 088`
		1199	`03C8: MOVF 71,W`
		1200	`03C9: BTFSC 03.2`
		1201	`03CA: DECF 72,F`
		1202	`03CB: DECF 71,F`
		1203	`03CC: GOTO 3AA`
		1204	`.................... STOPL;STOPR;`
		1205	`03CD: BSF 03.5`
		1206	`03CE: BCF 06.6`
		1207	`03CF: BCF 03.5`
		1208	`03D0: BCF 06.6`
		1209	`03D1: BSF 03.5`
		1210	`03D2: BCF 06.7`
		1211	`03D3: BCF 03.5`
		1212	`03D4: BCF 06.7`
		1213	`03D5: BSF 03.5`
		1214	`03D6: BCF 06.4`
		1215	`03D7: BCF 03.5`
		1216	`03D8: BCF 06.4`
		1217	`03D9: BSF 03.5`
		1218	`03DA: BCF 06.5`
		1219	`03DB: BCF 03.5`
		1220	`03DC: BCF 06.5`
		1221	`.................... break;`
		1222	`03DD: GOTO 418`
		1223	`.................... case R:`
		1224	`.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);}`
		1225	`03DE: MOVLW 02`
		1226	`03DF: MOVWF 72`
		1227	`03E0: MOVLW 58`
		1228	`03E1: MOVWF 71`
		1229	`03E2: MOVF 71,F`
		1230	`03E3: BTFSS 03.2`
		1231	`03E4: GOTO 3E8`
		1232	`03E5: MOVF 72,F`
		1233	`03E6: BTFSC 03.2`
		1234	`03E7: GOTO 405`
		1235	`03E8: MOVF 01,W`
		1236	`03E9: SUBWF 73,W`
		1237	`03EA: BTFSS 03.0`
		1238	`03EB: GOTO 3F5`
		1239	`03EC: BSF 03.5`
		1240	`03ED: BCF 06.6`
		1241	`03EE: BCF 03.5`
		1242	`03EF: BCF 06.6`
		1243	`03F0: BSF 03.5`
		1244	`03F1: BCF 06.7`
		1245	`03F2: BCF 03.5`
		1246	`03F3: BSF 06.7`
		1247	`03F4: GOTO 3FD`
		1248	`03F5: BSF 03.5`
		1249	`03F6: BCF 06.6`
		1250	`03F7: BCF 03.5`
		1251	`03F8: BCF 06.6`
		1252	`03F9: BSF 03.5`
		1253	`03FA: BCF 06.7`
		1254	`03FB: BCF 03.5`
		1255	`03FC: BCF 06.7`
		1256	`03FD: MOVLW 01`
		1257	`03FE: MOVWF 75`
		1258	`03FF: CALL 088`
		1259	`0400: MOVF 71,W`
		1260	`0401: BTFSC 03.2`
		1261	`0402: DECF 72,F`
		1262	`0403: DECF 71,F`
		1263	`0404: GOTO 3E2`
		1264	`.................... STOPL;STOPR;`
		1265	`0405: BSF 03.5`
		1266	`0406: BCF 06.6`
		1267	`0407: BCF 03.5`
		1268	`0408: BCF 06.6`
		1269	`0409: BSF 03.5`
		1270	`040A: BCF 06.7`
		1271	`040B: BCF 03.5`
		1272	`040C: BCF 06.7`
		1273	`040D: BSF 03.5`
		1274	`040E: BCF 06.4`
		1275	`040F: BCF 03.5`
		1276	`0410: BCF 06.4`
		1277	`0411: BSF 03.5`
		1278	`0412: BCF 06.5`
		1279	`0413: BCF 03.5`
		1280	`0414: BCF 06.5`
		1281	`.................... break;`
		1282	`0415: GOTO 418`
		1283	`.................... case S:`
		1284	`.................... goto sem;`
		1285	`0416: GOTO 4D2`
		1286	`.................... break;`
		1287	`0417: GOTO 418`
		1288	`.................... }`
		1289	`.................... beep(800,500);`
		1290	`0418: MOVLW 03`
		1291	`0419: MOVWF 75`
		1292	`041A: MOVLW 20`
		1293	`041B: MOVWF 74`
		1294	`041C: MOVLW 01`
		1295	`041D: MOVWF 7D`
		1296	`041E: MOVLW F4`
		1297	`041F: MOVWF 7C`
		1298	`0420: CALL 05C`
		1299	`....................`
		1300	`.................... line=0;`
		1301	`0421: CLRF 41`
		1302	`.................... FR; BL; Delay_ms(300); // otoc se na caru`
		1303	`0422: BSF 03.5`
		1304	`0423: BCF 06.5`
		1305	`0424: BCF 03.5`
		1306	`0425: BCF 06.5`
		1307	`0426: BSF 03.5`
		1308	`0427: BCF 06.4`
		1309	`0428: BCF 03.5`
		1310	`0429: BSF 06.4`
		1311	`042A: BSF 03.5`
		1312	`042B: BCF 06.6`
		1313	`042C: BCF 03.5`
		1314	`042D: BCF 06.6`
		1315	`042E: BSF 03.5`
		1316	`042F: BCF 06.7`
		1317	`0430: BCF 03.5`
		1318	`0431: BSF 06.7`
		1319	`0432: MOVLW 02`
		1320	`0433: MOVWF 74`
		1321	`0434: MOVLW 96`
		1322	`0435: MOVWF 75`
		1323	`0436: CALL 088`
		1324	`0437: DECFSZ 74,F`
		1325	`0438: GOTO 434`
		1326	`.................... while(line==0)`
		1327	`.................... {`
		1328	`0439: MOVF 41,F`
		1329	`043A: BTFSS 03.2`
		1330	`043B: GOTO 44D`
		1331	`.................... line = RSENSOR; // cteni senzoru na caru`
		1332	`043C: CLRF 41`
		1333	`043D: BSF 03.5`
		1334	`043E: BTFSS 1C.7`
		1335	`043F: GOTO 443`
		1336	`0440: BCF 03.5`
		1337	`0441: INCF 41,F`
		1338	`0442: BSF 03.5`
		1339	`.................... line \|= LSENSOR << 1;`
		1340	`0443: MOVLW 00`
		1341	`0444: BTFSC 1C.6`
		1342	`0445: MOVLW 01`
		1343	`0446: MOVWF 77`
		1344	`0447: BCF 03.0`
		1345	`0448: RLF 77,F`
		1346	`0449: MOVF 77,W`
		1347	`044A: BCF 03.5`
		1348	`044B: IORWF 41,F`
		1349	`.................... }`
		1350	`044C: GOTO 439`
		1351	`.................... FL;BR; Delay_ms(60);`
		1352	`044D: BSF 03.5`
		1353	`044E: BCF 06.7`
		1354	`044F: BCF 03.5`
		1355	`0450: BCF 06.7`
		1356	`0451: BSF 03.5`
		1357	`0452: BCF 06.6`
		1358	`0453: BCF 03.5`
		1359	`0454: BSF 06.6`
		1360	`0455: BSF 03.5`
		1361	`0456: BCF 06.4`
		1362	`0457: BCF 03.5`
		1363	`0458: BCF 06.4`
		1364	`0459: BSF 03.5`
		1365	`045A: BCF 06.5`
		1366	`045B: BCF 03.5`
		1367	`045C: BSF 06.5`
		1368	`045D: MOVLW 3C`
		1369	`045E: MOVWF 75`
		1370	`045F: CALL 088`
		1371	`.................... STOPL; STOPR;`
		1372	`0460: BSF 03.5`
		1373	`0461: BCF 06.6`
		1374	`0462: BCF 03.5`
		1375	`0463: BCF 06.6`
		1376	`0464: BSF 03.5`
		1377	`0465: BCF 06.7`
		1378	`0466: BCF 03.5`
		1379	`0467: BCF 06.7`
		1380	`0468: BSF 03.5`
		1381	`0469: BCF 06.4`
		1382	`046A: BCF 03.5`
		1383	`046B: BCF 06.4`
		1384	`046C: BSF 03.5`
		1385	`046D: BCF 06.5`
		1386	`046E: BCF 03.5`
		1387	`046F: BCF 06.5`
		1388	`....................`
		1389	`.................... FL; BR; Delay_ms(500);`
		1390	`0470: BSF 03.5`
		1391	`0471: BCF 06.7`
		1392	`0472: BCF 03.5`
		1393	`0473: BCF 06.7`
		1394	`0474: BSF 03.5`
		1395	`0475: BCF 06.6`
		1396	`0476: BCF 03.5`
		1397	`0477: BSF 06.6`
		1398	`0478: BSF 03.5`
		1399	`0479: BCF 06.4`
		1400	`047A: BCF 03.5`
		1401	`047B: BCF 06.4`
		1402	`047C: BSF 03.5`
		1403	`047D: BCF 06.5`
		1404	`047E: BCF 03.5`
		1405	`047F: BSF 06.5`
		1406	`0480: MOVLW 02`
		1407	`0481: MOVWF 74`
		1408	`0482: MOVLW FA`
		1409	`0483: MOVWF 75`
		1410	`0484: CALL 088`
		1411	`0485: DECFSZ 74,F`
		1412	`0486: GOTO 482`
		1413	`.................... STOPL; STOPR;`
		1414	`0487: BSF 03.5`
		1415	`0488: BCF 06.6`
		1416	`0489: BCF 03.5`
		1417	`048A: BCF 06.6`
		1418	`048B: BSF 03.5`
		1419	`048C: BCF 06.7`
		1420	`048D: BCF 03.5`
		1421	`048E: BCF 06.7`
		1422	`048F: BSF 03.5`
		1423	`0490: BCF 06.4`
		1424	`0491: BCF 03.5`
		1425	`0492: BCF 06.4`
		1426	`0493: BSF 03.5`
		1427	`0494: BCF 06.5`
		1428	`0495: BCF 03.5`
		1429	`0496: BCF 06.5`
		1430	`....................`
		1431	`.................... Delay_ms(1000);`
		1432	`0497: MOVLW 04`
		1433	`0498: MOVWF 74`
		1434	`0499: MOVLW FA`
		1435	`049A: MOVWF 75`
		1436	`049B: CALL 088`
		1437	`049C: DECFSZ 74,F`
		1438	`049D: GOTO 499`
		1439	`....................`
		1440	`.................... FR;FL; //popojed rovne`
		1441	`049E: BSF 03.5`
		1442	`049F: BCF 06.5`
		1443	`04A0: BCF 03.5`
		1444	`04A1: BCF 06.5`
		1445	`04A2: BSF 03.5`
		1446	`04A3: BCF 06.4`
		1447	`04A4: BCF 03.5`
		1448	`04A5: BSF 06.4`
		1449	`04A6: BSF 03.5`
		1450	`04A7: BCF 06.7`
		1451	`04A8: BCF 03.5`
		1452	`04A9: BCF 06.7`
		1453	`04AA: BSF 03.5`
		1454	`04AB: BCF 06.6`
		1455	`04AC: BCF 03.5`
		1456	`04AD: BSF 06.6`
		1457	`.................... for(n=PRES_DIRU;n>0;n--)`
		1458	`04AE: CLRF 72`
		1459	`04AF: MOVLW FA`
		1460	`04B0: MOVWF 71`
		1461	`04B1: MOVF 71,F`
		1462	`04B2: BTFSS 03.2`
		1463	`04B3: GOTO 4B7`
		1464	`04B4: MOVF 72,F`
		1465	`04B5: BTFSC 03.2`
		1466	`04B6: GOTO 4D2`
		1467	`.................... {`
		1468	`.................... line = RSENSOR; // cteni senzoru na caru`
		1469	`04B7: CLRF 41`
		1470	`04B8: BSF 03.5`
		1471	`04B9: BTFSS 1C.7`
		1472	`04BA: GOTO 4BE`
		1473	`04BB: BCF 03.5`
		1474	`04BC: INCF 41,F`
		1475	`04BD: BSF 03.5`
		1476	`.................... line \|= LSENSOR << 1;`
		1477	`04BE: MOVLW 00`
		1478	`04BF: BTFSC 1C.6`
		1479	`04C0: MOVLW 01`
		1480	`04C1: MOVWF 77`
		1481	`04C2: BCF 03.0`
		1482	`04C3: RLF 77,F`
		1483	`04C4: MOVF 77,W`
		1484	`04C5: BCF 03.5`
		1485	`04C6: IORWF 41,F`
		1486	`.................... if (line!=0) break;`
		1487	`04C7: MOVF 41,F`
		1488	`04C8: BTFSS 03.2`
		1489	`04C9: GOTO 4D2`
		1490	`.................... Delay_ms(1);`
		1491	`04CA: MOVLW 01`
		1492	`04CB: MOVWF 75`
		1493	`04CC: CALL 088`
		1494	`.................... }`
		1495	`04CD: MOVF 71,W`
		1496	`04CE: BTFSC 03.2`
		1497	`04CF: DECF 72,F`
		1498	`04D0: DECF 71,F`
		1499	`04D1: GOTO 4B1`
		1500	`.................... sem:`
		1501	`.................... STOPL; STOPR;`
		1502	`04D2: BSF 03.5`
		1503	`04D3: BCF 06.6`
		1504	`04D4: BCF 03.5`
		1505	`04D5: BCF 06.6`
		1506	`04D6: BSF 03.5`
		1507	`04D7: BCF 06.7`
		1508	`04D8: BCF 03.5`
		1509	`04D9: BCF 06.7`
		1510	`04DA: BSF 03.5`
		1511	`04DB: BCF 06.4`
		1512	`04DC: BCF 03.5`
		1513	`04DD: BCF 06.4`
		1514	`04DE: BSF 03.5`
		1515	`04DF: BCF 06.5`
		1516	`04E0: BCF 03.5`
		1517	`04E1: BCF 06.5`
		1518	`.................... movement=S;`
		1519	`04E2: MOVLW 03`
		1520	`04E3: MOVWF 45`
		1521	`.................... cikcak(); // najdi caru`
		1522	`04E4: CALL 1FD`
		1523	`.................... dira=0;`
		1524	`04E5: CLRF 46`
		1525	`.................... }`
		1526	`04E6: BCF 0A.3`
		1527	`04E7: GOTO 65C (RETURN)`
		1528	`.................... ///////////////////////////////////////////////////////////////////////////////`
		1529	`.................... void main()`
		1530	`.................... {`
		1531	`04E8: CLRF 04`
		1532	`04E9: MOVLW 1F`
		1533	`04EA: ANDWF 03,F`
		1534	`04EB: BSF 03.5`
		1535	`04EC: BCF 1F.4`
		1536	`04ED: BCF 1F.5`
		1537	`04EE: MOVF 1B,W`
		1538	`04EF: ANDLW 80`
		1539	`04F0: MOVWF 1B`
		1540	`04F1: MOVLW 07`
		1541	`04F2: MOVWF 1C`
		1542	`04F3: MOVF 1C,W`
		1543	`04F4: BCF 03.5`
		1544	`04F5: BCF 0D.6`
		1545	`04F6: MOVLW 60`
		1546	`04F7: BSF 03.5`
		1547	`04F8: MOVWF 0F`
		1548	`.................... unsigned int16 n; // pro FOR`
		1549	`....................`
		1550	`.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi`
		1551	`*`
		1552	`0515: BSF 03.5`
		1553	`0516: BCF 06.6`
		1554	`0517: BCF 03.5`
		1555	`0518: BCF 06.6`
		1556	`0519: BSF 03.5`
		1557	`051A: BCF 06.7`
		1558	`051B: BCF 03.5`
		1559	`051C: BCF 06.7`
		1560	`051D: BSF 03.5`
		1561	`051E: BCF 06.4`
		1562	`051F: BCF 03.5`
		1563	`0520: BCF 06.4`
		1564	`0521: BSF 03.5`
		1565	`0522: BCF 06.5`
		1566	`0523: BCF 03.5`
		1567	`0524: BCF 06.5`
		1568	`....................`
		1569	`.................... setup_oscillator(OSC_4MHZ\|OSC_INTRC); // 4 MHz interni RC oscilator`
		1570	`0525: MOVLW 62`
		1571	`0526: BSF 03.5`
		1572	`0527: MOVWF 0F`
		1573	`....................`
		1574	`.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku`
		1575	`0528: BCF 01.7`
		1576	`.................... setup_spi(FALSE);`
		1577	`0529: BCF 03.5`
		1578	`052A: BCF 14.5`
		1579	`052B: BSF 03.5`
		1580	`052C: BCF 06.2`
		1581	`052D: BSF 06.1`
		1582	`052E: BCF 06.4`
		1583	`052F: MOVLW 00`
		1584	`0530: BCF 03.5`
		1585	`0531: MOVWF 14`
		1586	`0532: BSF 03.5`
		1587	`0533: MOVWF 14`
		1588	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1); // Casovac pro PWM`
		1589	`0534: MOVF 01,W`
		1590	`0535: ANDLW C7`
		1591	`0536: IORLW 08`
		1592	`0537: MOVWF 01`
		1593	`....................`
		1594	`.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci`
		1595	`0538: MOVLW 48`
		1596	`0539: MOVWF 78`
		1597	`053A: IORLW 05`
		1598	`053B: BCF 03.5`
		1599	`053C: MOVWF 12`
		1600	`053D: MOVLW FF`
		1601	`053E: BSF 03.5`
		1602	`053F: MOVWF 12`
		1603	`.................... // preruseni kazdych 10ms`
		1604	`.................... setup_adc_ports(sAN2\|VSS_VDD); // nastaveni A/D prevodniku pro naraznik`
		1605	`0540: BCF 1F.4`
		1606	`0541: BCF 1F.5`
		1607	`0542: MOVF 1B,W`
		1608	`0543: ANDLW 80`
		1609	`0544: IORLW 04`
		1610	`0545: MOVWF 1B`
		1611	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		1612	`0546: BCF 1F.6`
		1613	`0547: BCF 03.5`
		1614	`0548: BSF 1F.6`
		1615	`0549: BSF 1F.7`
		1616	`054A: BSF 03.5`
		1617	`054B: BCF 1F.7`
		1618	`054C: BCF 03.5`
		1619	`054D: BSF 1F.0`
		1620	`.................... set_adc_channel(2);`
		1621	`054E: MOVLW 10`
		1622	`054F: MOVWF 78`
		1623	`0550: MOVF 1F,W`
		1624	`0551: ANDLW C7`
		1625	`0552: IORWF 78,W`
		1626	`0553: MOVWF 1F`
		1627	`.................... setup_timer_1(T1_INTERNAL\|T1_DIV_BY_1); // Casovac pro naraznik`
		1628	`0554: MOVLW 85`
		1629	`0555: MOVWF 10`
		1630	`.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);`
		1631	`0556: BSF 03.5`
		1632	`0557: BSF 06.3`
		1633	`0558: MOVLW 0B`
		1634	`0559: BCF 03.5`
		1635	`055A: MOVWF 17`
		1636	`.................... CCP_1=(2^10)-1; // prevod kazdou 1ms`
		1637	`055B: CLRF 16`
		1638	`055C: MOVLW 07`
		1639	`055D: MOVWF 15`
		1640	`....................`
		1641	`.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary`
		1642	`055E: MOVLW 02`
		1643	`055F: BSF 03.5`
		1644	`0560: MOVWF 1C`
		1645	`0561: MOVF 05,W`
		1646	`0562: IORLW 03`
		1647	`0563: MOVWF 05`
		1648	`0564: MOVLW 03`
		1649	`0565: MOVWF 77`
		1650	`0566: DECFSZ 77,F`
		1651	`0567: GOTO 566`
		1652	`0568: MOVF 1C,W`
		1653	`0569: BCF 03.5`
		1654	`056A: BCF 0D.6`
		1655	`.................... setup_vref(VREF_HIGH\|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd`
		1656	`056B: MOVLW 8A`
		1657	`056C: BSF 03.5`
		1658	`056D: MOVWF 1D`
		1659	`....................`
		1660	`.................... Beep(1000,200); //double beep`
		1661	`056E: MOVLW 03`
		1662	`056F: MOVWF 75`
		1663	`0570: MOVLW E8`
		1664	`0571: MOVWF 74`
		1665	`0572: CLRF 7D`
		1666	`0573: MOVLW C8`
		1667	`0574: MOVWF 7C`
		1668	`0575: BCF 03.5`
		1669	`0576: CALL 05C`
		1670	`.................... Delay_ms(50);`
		1671	`0577: MOVLW 32`
		1672	`0578: MOVWF 75`
		1673	`0579: CALL 088`
		1674	`.................... Beep(1000,200);`
		1675	`057A: MOVLW 03`
		1676	`057B: MOVWF 75`
		1677	`057C: MOVLW E8`
		1678	`057D: MOVWF 74`
		1679	`057E: CLRF 7D`
		1680	`057F: MOVLW C8`
		1681	`0580: MOVWF 7C`
		1682	`0581: CALL 05C`
		1683	`.................... Delay_ms(1000); // 1s`
		1684	`0582: MOVLW 04`
		1685	`0583: MOVWF 71`
		1686	`0584: MOVLW FA`
		1687	`0585: MOVWF 75`
		1688	`0586: CALL 088`
		1689	`0587: DECFSZ 71,F`
		1690	`0588: GOTO 584`
		1691	`....................`
		1692	`.................... // povoleni rizeni rychlosti zataceni pres preruseni`
		1693	`.................... enable_interrupts(INT_TIMER2);`
		1694	`0589: BSF 03.5`
		1695	`058A: BSF 0C.1`
		1696	`.................... enable_interrupts(GLOBAL);`
		1697	`058B: MOVLW C0`
		1698	`058C: BCF 03.5`
		1699	`058D: IORWF 0B,F`
		1700	`....................`
		1701	`.................... /---------------------------------------------------------------------------/`
		1702	`.................... sensors=S;`
		1703	`058E: MOVLW 03`
		1704	`058F: MOVWF 40`
		1705	`.................... line=S;`
		1706	`0590: MOVWF 41`
		1707	`.................... last=S;`
		1708	`0591: MOVWF 44`
		1709	`.................... movement=S;`
		1710	`0592: MOVWF 45`
		1711	`.................... speed=FW_POMALU;`
		1712	`0593: MOVLW E6`
		1713	`0594: MOVWF 42`
		1714	`....................`
		1715	`.................... diagnostika();`
		1716	`0595: GOTO 09D`
		1717	`.................... // cikcak(); // toc se, abys nasel caru`
		1718	`.................... Delay_ms(500);`
		1719	`0596: MOVLW 02`
		1720	`0597: MOVWF 71`
		1721	`0598: MOVLW FA`
		1722	`0599: MOVWF 75`
		1723	`059A: CALL 088`
		1724	`059B: DECFSZ 71,F`
		1725	`059C: GOTO 598`
		1726	`.................... Beep(1000,200);`
		1727	`059D: MOVLW 03`
		1728	`059E: MOVWF 75`
		1729	`059F: MOVLW E8`
		1730	`05A0: MOVWF 74`
		1731	`05A1: CLRF 7D`
		1732	`05A2: MOVLW C8`
		1733	`05A3: MOVWF 7C`
		1734	`05A4: CALL 05C`
		1735	`.................... Delay_ms(500);`
		1736	`05A5: MOVLW 02`
		1737	`05A6: MOVWF 71`
		1738	`05A7: MOVLW FA`
		1739	`05A8: MOVWF 75`
		1740	`05A9: CALL 088`
		1741	`05AA: DECFSZ 71,F`
		1742	`05AB: GOTO 5A7`
		1743	`....................`
		1744	`.................... while(true) // hlavni smycka (jizda podle cary)`
		1745	`.................... {`
		1746	`.................... sensors = RSENSOR; // cteni senzoru na caru`
		1747	`05AC: CLRF 40`
		1748	`05AD: BSF 03.5`
		1749	`05AE: BTFSS 1C.7`
		1750	`05AF: GOTO 5B3`
		1751	`05B0: BCF 03.5`
		1752	`05B1: INCF 40,F`
		1753	`05B2: BSF 03.5`
		1754	`.................... sensors \|= LSENSOR << 1;`
		1755	`05B3: MOVLW 00`
		1756	`05B4: BTFSC 1C.6`
		1757	`05B5: MOVLW 01`
		1758	`05B6: MOVWF 77`
		1759	`05B7: BCF 03.0`
		1760	`05B8: RLF 77,F`
		1761	`05B9: MOVF 77,W`
		1762	`05BA: BCF 03.5`
		1763	`05BB: IORWF 40,F`
		1764	`....................`
		1765	`.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka();`
		1766	`05BC: BTFSC 1F.2`
		1767	`05BD: GOTO 5BC`
		1768	`05BE: MOVF 1E,W`
		1769	`05BF: SUBLW 7F`
		1770	`05C0: BTFSS 03.0`
		1771	`05C1: GOTO 5C6`
		1772	`05C2: MOVF 46,W`
		1773	`05C3: SUBLW 32`
		1774	`05C4: BTFSC 03.0`
		1775	`05C5: GOTO 289`
		1776	`....................`
		1777	`.................... switch (sensors) // zatacej podle toho, kde vidis caru`
		1778	`.................... {`
		1779	`05C6: MOVF 40,W`
		1780	`05C7: XORLW 03`
		1781	`05C8: BTFSC 03.2`
		1782	`05C9: GOTO 5D1`
		1783	`05CA: XORLW 01`
		1784	`05CB: BTFSC 03.2`
		1785	`05CC: GOTO 5E5`
		1786	`05CD: XORLW 03`
		1787	`05CE: BTFSC 03.2`
		1788	`05CF: GOTO 61E`
		1789	`05D0: GOTO 657`
		1790	`.................... case S: // rovne`
		1791	`.................... FL; FR; // pokud se jede dlouho rovne, tak pridej`
		1792	`05D1: BSF 03.5`
		1793	`05D2: BCF 06.7`
		1794	`05D3: BCF 03.5`
		1795	`05D4: BCF 06.7`
		1796	`05D5: BSF 03.5`
		1797	`05D6: BCF 06.6`
		1798	`05D7: BCF 03.5`
		1799	`05D8: BSF 06.6`
		1800	`05D9: BSF 03.5`
		1801	`05DA: BCF 06.5`
		1802	`05DB: BCF 03.5`
		1803	`05DC: BCF 06.5`
		1804	`05DD: BSF 03.5`
		1805	`05DE: BCF 06.4`
		1806	`05DF: BCF 03.5`
		1807	`05E0: BSF 06.4`
		1808	`.................... dira=0;`
		1809	`05E1: CLRF 46`
		1810	`.................... movement=S;`
		1811	`05E2: MOVLW 03`
		1812	`05E3: MOVWF 45`
		1813	`.................... continue;`
		1814	`05E4: GOTO 5AC`
		1815	`.................... case L: // trochu vlevo`
		1816	`.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);`
		1817	`05E5: MOVF 01,W`
		1818	`05E6: MOVWF 71`
		1819	`05E7: MOVLW E6`
		1820	`05E8: ADDWF 43,W`
		1821	`05E9: SUBWF 71,W`
		1822	`05EA: BTFSC 03.2`
		1823	`05EB: GOTO 5EE`
		1824	`05EC: BTFSC 03.0`
		1825	`05ED: GOTO 5F7`
		1826	`05EE: BSF 03.5`
		1827	`05EF: BCF 06.7`
		1828	`05F0: BCF 03.5`
		1829	`05F1: BCF 06.7`
		1830	`05F2: BSF 03.5`
		1831	`05F3: BCF 06.6`
		1832	`05F4: BCF 03.5`
		1833	`05F5: BSF 06.6`
		1834	`05F6: GOTO 5FF`
		1835	`05F7: BSF 03.5`
		1836	`05F8: BCF 06.6`
		1837	`05F9: BCF 03.5`
		1838	`05FA: BCF 06.6`
		1839	`05FB: BSF 03.5`
		1840	`05FC: BCF 06.7`
		1841	`05FD: BCF 03.5`
		1842	`05FE: BCF 06.7`
		1843	`05FF: MOVF 01,W`
		1844	`0600: MOVWF 71`
		1845	`0601: MOVLW F0`
		1846	`0602: ADDWF 43,W`
		1847	`0603: SUBWF 71,W`
		1848	`0604: BTFSC 03.2`
		1849	`0605: GOTO 608`
		1850	`0606: BTFSC 03.0`
		1851	`0607: GOTO 611`
		1852	`0608: BSF 03.5`
		1853	`0609: BCF 06.5`
		1854	`060A: BCF 03.5`
		1855	`060B: BCF 06.5`
		1856	`060C: BSF 03.5`
		1857	`060D: BCF 06.4`
		1858	`060E: BCF 03.5`
		1859	`060F: BSF 06.4`
		1860	`0610: GOTO 619`
		1861	`0611: BSF 03.5`
		1862	`0612: BCF 06.4`
		1863	`0613: BCF 03.5`
		1864	`0614: BCF 06.4`
		1865	`0615: BSF 03.5`
		1866	`0616: BCF 06.5`
		1867	`0617: BCF 03.5`
		1868	`0618: BCF 06.5`
		1869	`.................... line=L;`
		1870	`0619: MOVLW 02`
		1871	`061A: MOVWF 41`
		1872	`.................... dira=0;`
		1873	`061B: CLRF 46`
		1874	`.................... movement=L;`
		1875	`061C: MOVWF 45`
		1876	`.................... continue;`
		1877	`061D: GOTO 5AC`
		1878	`.................... case R: // trochu vpravo`
		1879	`.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);`
		1880	`061E: MOVF 01,W`
		1881	`061F: MOVWF 71`
		1882	`0620: MOVLW E6`
		1883	`0621: ADDWF 43,W`
		1884	`0622: SUBWF 71,W`
		1885	`0623: BTFSC 03.2`
		1886	`0624: GOTO 627`
		1887	`0625: BTFSC 03.0`
		1888	`0626: GOTO 630`
		1889	`0627: BSF 03.5`
		1890	`0628: BCF 06.5`
		1891	`0629: BCF 03.5`
		1892	`062A: BCF 06.5`
		1893	`062B: BSF 03.5`
		1894	`062C: BCF 06.4`
		1895	`062D: BCF 03.5`
		1896	`062E: BSF 06.4`
		1897	`062F: GOTO 638`
		1898	`0630: BSF 03.5`
		1899	`0631: BCF 06.4`
		1900	`0632: BCF 03.5`
		1901	`0633: BCF 06.4`
		1902	`0634: BSF 03.5`
		1903	`0635: BCF 06.5`
		1904	`0636: BCF 03.5`
		1905	`0637: BCF 06.5`
		1906	`0638: MOVF 01,W`
		1907	`0639: MOVWF 71`
		1908	`063A: MOVLW F0`
		1909	`063B: ADDWF 43,W`
		1910	`063C: SUBWF 71,W`
		1911	`063D: BTFSC 03.2`
		1912	`063E: GOTO 641`
		1913	`063F: BTFSC 03.0`
		1914	`0640: GOTO 64A`
		1915	`0641: BSF 03.5`
		1916	`0642: BCF 06.7`
		1917	`0643: BCF 03.5`
		1918	`0644: BCF 06.7`
		1919	`0645: BSF 03.5`
		1920	`0646: BCF 06.6`
		1921	`0647: BCF 03.5`
		1922	`0648: BSF 06.6`
		1923	`0649: GOTO 652`
		1924	`064A: BSF 03.5`
		1925	`064B: BCF 06.6`
		1926	`064C: BCF 03.5`
		1927	`064D: BCF 06.6`
		1928	`064E: BSF 03.5`
		1929	`064F: BCF 06.7`
		1930	`0650: BCF 03.5`
		1931	`0651: BCF 06.7`
		1932	`.................... line=R;`
		1933	`0652: MOVLW 01`
		1934	`0653: MOVWF 41`
		1935	`.................... dira=0;`
		1936	`0654: CLRF 46`
		1937	`.................... movement=R;`
		1938	`0655: MOVWF 45`
		1939	`.................... continue;`
		1940	`0656: GOTO 5AC`
		1941	`.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal`
		1942	`.................... }`
		1943	`.................... rovinka=0;`
		1944	`0657: CLRF 43`
		1945	`.................... if (dira>=T_DIRA) prejeddiru();`
		1946	`0658: MOVF 46,W`
		1947	`0659: SUBLW 56`
		1948	`065A: BTFSS 03.0`
		1949	`065B: GOTO 380`
		1950	`.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi`
		1951	`065C: MOVF 41,W`
		1952	`065D: SUBWF 44,W`
		1953	`065E: BTFSC 03.2`
		1954	`065F: GOTO 664`
		1955	`.................... {`
		1956	`.................... last=line;`
		1957	`0660: MOVF 41,W`
		1958	`0661: MOVWF 44`
		1959	`.................... speed=FW_ZATACKA;`
		1960	`0662: MOVLW C8`
		1961	`0663: MOVWF 42`
		1962	`.................... }`
		1963	`.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru`
		1964	`0664: MOVF 41,W`
		1965	`0665: SUBLW 02`
		1966	`0666: BTFSS 03.2`
		1967	`0667: GOTO 688`
		1968	`.................... {`
		1969	`.................... STOPL;`
		1970	`0668: BSF 03.5`
		1971	`0669: BCF 06.6`
		1972	`066A: BCF 03.5`
		1973	`066B: BCF 06.6`
		1974	`066C: BSF 03.5`
		1975	`066D: BCF 06.7`
		1976	`066E: BCF 03.5`
		1977	`066F: BCF 06.7`
		1978	`.................... GO(R, F, speed);`
		1979	`0670: MOVF 01,W`
		1980	`0671: SUBWF 42,W`
		1981	`0672: BTFSS 03.0`
		1982	`0673: GOTO 67D`
		1983	`0674: BSF 03.5`
		1984	`0675: BCF 06.5`
		1985	`0676: BCF 03.5`
		1986	`0677: BCF 06.5`
		1987	`0678: BSF 03.5`
		1988	`0679: BCF 06.4`
		1989	`067A: BCF 03.5`
		1990	`067B: BSF 06.4`
		1991	`067C: GOTO 685`
		1992	`067D: BSF 03.5`
		1993	`067E: BCF 06.4`
		1994	`067F: BCF 03.5`
		1995	`0680: BCF 06.4`
		1996	`0681: BSF 03.5`
		1997	`0682: BCF 06.5`
		1998	`0683: BCF 03.5`
		1999	`0684: BCF 06.5`
		2000	`.................... movement=L;`
		2001	`0685: MOVLW 02`
		2002	`0686: MOVWF 45`
		2003	`.................... }`
		2004	`.................... else`
		2005	`0687: GOTO 6A7`
		2006	`.................... {`
		2007	`.................... STOPR;`
		2008	`0688: BSF 03.5`
		2009	`0689: BCF 06.4`
		2010	`068A: BCF 03.5`
		2011	`068B: BCF 06.4`
		2012	`068C: BSF 03.5`
		2013	`068D: BCF 06.5`
		2014	`068E: BCF 03.5`
		2015	`068F: BCF 06.5`
		2016	`.................... GO(L, F, speed);`
		2017	`0690: MOVF 01,W`
		2018	`0691: SUBWF 42,W`
		2019	`0692: BTFSS 03.0`
		2020	`0693: GOTO 69D`
		2021	`0694: BSF 03.5`
		2022	`0695: BCF 06.7`
		2023	`0696: BCF 03.5`
		2024	`0697: BCF 06.7`
		2025	`0698: BSF 03.5`
		2026	`0699: BCF 06.6`
		2027	`069A: BCF 03.5`
		2028	`069B: BSF 06.6`
		2029	`069C: GOTO 6A5`
		2030	`069D: BSF 03.5`
		2031	`069E: BCF 06.6`
		2032	`069F: BCF 03.5`
		2033	`06A0: BCF 06.6`
		2034	`06A1: BSF 03.5`
		2035	`06A2: BCF 06.7`
		2036	`06A3: BCF 03.5`
		2037	`06A4: BCF 06.7`
		2038	`.................... movement=R;`
		2039	`06A5: MOVLW 01`
		2040	`06A6: MOVWF 45`
		2041	`.................... }`
		2042	`.................... } // while(true)`
		2043	`06A7: GOTO 5AC`
		2044	`.................... }`
		2045	`....................`
		2046	`....................`
		2047	`06A8: SLEEP`
		2048
		2049	`Configuration Fuses:`
		2050	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		2051	`Word 2: 3FFC NOFCMEN NOIESO`

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