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

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.221, 27853 27-IV-05 14:16`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.LST`
		4
		5	`ROM used: 1587 words (39%)`
		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 472`
		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 74`
		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 120 // 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 240 // rychlost vnejsiho kola pri zataceni`
		143	`.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas`
		144	`.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry`
		145	`.................... #define PRES_DIRU 300`
		146	`.................... #define MAX_ROVINKA (255-FW_STREDNE)`
		147	`.................... #define TRESHOLD 6 // 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 78`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		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 74`
		584	`01C4: CALL 088`
		585	`01C5: DECFSZ 73,F`
		586	`01C6: GOTO 1C2`
		587	`.................... };`
		588	`01C7: GOTO 09D`
		589	`.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel`
		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 520 (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(150);`
		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 96`
		849	`029A: MOVWF 74`
		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	`.................... BR; FL; Delay_ms(270); // otoc se 70° do prava`
		882	`02B5: BSF 03.5`
		883	`02B6: BCF 06.4`
		884	`02B7: BCF 03.5`
		885	`02B8: BCF 06.4`
		886	`02B9: BSF 03.5`
		887	`02BA: BCF 06.5`
		888	`02BB: BCF 03.5`
		889	`02BC: BSF 06.5`
		890	`02BD: BSF 03.5`
		891	`02BE: BCF 06.7`
		892	`02BF: BCF 03.5`
		893	`02C0: BCF 06.7`
		894	`02C1: BSF 03.5`
		895	`02C2: BCF 06.6`
		896	`02C3: BCF 03.5`
		897	`02C4: BSF 06.6`
		898	`02C5: MOVLW 02`
		899	`02C6: MOVWF 73`
		900	`02C7: MOVLW 87`
		901	`02C8: MOVWF 74`
		902	`02C9: CALL 088`
		903	`02CA: DECFSZ 73,F`
		904	`02CB: GOTO 2C7`
		905	`....................`
		906	`.................... FR; FL; Delay_ms(500); // popojed rovne`
		907	`02CC: BSF 03.5`
		908	`02CD: BCF 06.5`
		909	`02CE: BCF 03.5`
		910	`02CF: BCF 06.5`
		911	`02D0: BSF 03.5`
		912	`02D1: BCF 06.4`
		913	`02D2: BCF 03.5`
		914	`02D3: BSF 06.4`
		915	`02D4: BSF 03.5`
		916	`02D5: BCF 06.7`
		917	`02D6: BCF 03.5`
		918	`02D7: BCF 06.7`
		919	`02D8: BSF 03.5`
		920	`02D9: BCF 06.6`
		921	`02DA: BCF 03.5`
		922	`02DB: BSF 06.6`
		923	`02DC: MOVLW 02`
		924	`02DD: MOVWF 73`
		925	`02DE: MOVLW FA`
		926	`02DF: MOVWF 74`
		927	`02E0: CALL 088`
		928	`02E1: DECFSZ 73,F`
		929	`02E2: GOTO 2DE`
		930	`....................`
		931	`.................... BL; Delay_ms(30); // otoc se 90° do leva`
		932	`02E3: BSF 03.5`
		933	`02E4: BCF 06.6`
		934	`02E5: BCF 03.5`
		935	`02E6: BCF 06.6`
		936	`02E7: BSF 03.5`
		937	`02E8: BCF 06.7`
		938	`02E9: BCF 03.5`
		939	`02EA: BSF 06.7`
		940	`02EB: MOVLW 1E`
		941	`02EC: MOVWF 74`
		942	`02ED: CALL 088`
		943	`.................... STOPL; FR; Delay_ms(500);`
		944	`02EE: BSF 03.5`
		945	`02EF: BCF 06.6`
		946	`02F0: BCF 03.5`
		947	`02F1: BCF 06.6`
		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 06.5`
		954	`02F8: BCF 03.5`
		955	`02F9: BCF 06.5`
		956	`02FA: BSF 03.5`
		957	`02FB: BCF 06.4`
		958	`02FC: BCF 03.5`
		959	`02FD: BSF 06.4`
		960	`02FE: MOVLW 02`
		961	`02FF: MOVWF 73`
		962	`0300: MOVLW FA`
		963	`0301: MOVWF 74`
		964	`0302: CALL 088`
		965	`0303: DECFSZ 73,F`
		966	`0304: GOTO 300`
		967	`....................`
		968	`.................... FR; FL; Delay_ms(100); // popojed rovne na slepo`
		969	`0305: BSF 03.5`
		970	`0306: BCF 06.5`
		971	`0307: BCF 03.5`
		972	`0308: BCF 06.5`
		973	`0309: BSF 03.5`
		974	`030A: BCF 06.4`
		975	`030B: BCF 03.5`
		976	`030C: BSF 06.4`
		977	`030D: BSF 03.5`
		978	`030E: BCF 06.7`
		979	`030F: BCF 03.5`
		980	`0310: BCF 06.7`
		981	`0311: BSF 03.5`
		982	`0312: BCF 06.6`
		983	`0313: BCF 03.5`
		984	`0314: BSF 06.6`
		985	`0315: MOVLW 64`
		986	`0316: MOVWF 74`
		987	`0317: CALL 088`
		988	`.................... for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru`
		989	`0318: MOVLW 9C`
		990	`0319: MOVWF 72`
		991	`031A: MOVLW 40`
		992	`031B: MOVWF 71`
		993	`031C: MOVF 71,F`
		994	`031D: BTFSS 03.2`
		995	`031E: GOTO 322`
		996	`031F: MOVF 72,F`
		997	`0320: BTFSC 03.2`
		998	`0321: GOTO 33E`
		999	`.................... {`
		1000	`.................... line = RSENSOR; // cteni senzoru na caru`
		1001	`0322: CLRF 41`
		1002	`0323: BSF 03.5`
		1003	`0324: BTFSS 1C.7`
		1004	`0325: GOTO 329`
		1005	`0326: BCF 03.5`
		1006	`0327: INCF 41,F`
		1007	`0328: BSF 03.5`
		1008	`.................... line \|= LSENSOR << 1;`
		1009	`0329: MOVLW 00`
		1010	`032A: BTFSC 1C.6`
		1011	`032B: MOVLW 01`
		1012	`032C: MOVWF 77`
		1013	`032D: BCF 03.0`
		1014	`032E: RLF 77,F`
		1015	`032F: MOVF 77,W`
		1016	`0330: BCF 03.5`
		1017	`0331: IORWF 41,F`
		1018	`.................... if (line!=0) {Delay_ms(150); break;}`
		1019	`0332: MOVF 41,F`
		1020	`0333: BTFSC 03.2`
		1021	`0334: GOTO 339`
		1022	`0335: MOVLW 96`
		1023	`0336: MOVWF 74`
		1024	`0337: CALL 088`
		1025	`0338: GOTO 33E`
		1026	`.................... // Delay_ms(1);`
		1027	`.................... }`
		1028	`0339: MOVF 71,W`
		1029	`033A: BTFSC 03.2`
		1030	`033B: DECF 72,F`
		1031	`033C: DECF 71,F`
		1032	`033D: GOTO 31C`
		1033	`....................`
		1034	`.................... BR; FL; // otoc se 60° do prava`
		1035	`033E: BSF 03.5`
		1036	`033F: BCF 06.4`
		1037	`0340: BCF 03.5`
		1038	`0341: BCF 06.4`
		1039	`0342: BSF 03.5`
		1040	`0343: BCF 06.5`
		1041	`0344: BCF 03.5`
		1042	`0345: BSF 06.5`
		1043	`0346: BSF 03.5`
		1044	`0347: BCF 06.7`
		1045	`0348: BCF 03.5`
		1046	`0349: BCF 06.7`
		1047	`034A: BSF 03.5`
		1048	`034B: BCF 06.6`
		1049	`034C: BCF 03.5`
		1050	`034D: BSF 06.6`
		1051	`.................... for(n=40000;n>0;n--)`
		1052	`034E: MOVLW 9C`
		1053	`034F: MOVWF 72`
		1054	`0350: MOVLW 40`
		1055	`0351: MOVWF 71`
		1056	`0352: MOVF 71,F`
		1057	`0353: BTFSS 03.2`
		1058	`0354: GOTO 358`
		1059	`0355: MOVF 72,F`
		1060	`0356: BTFSC 03.2`
		1061	`0357: GOTO 370`
		1062	`.................... {`
		1063	`.................... line = RSENSOR; // cteni senzoru na caru`
		1064	`0358: CLRF 41`
		1065	`0359: BSF 03.5`
		1066	`035A: BTFSS 1C.7`
		1067	`035B: GOTO 35F`
		1068	`035C: BCF 03.5`
		1069	`035D: INCF 41,F`
		1070	`035E: BSF 03.5`
		1071	`.................... line \|= LSENSOR << 1;`
		1072	`035F: MOVLW 00`
		1073	`0360: BTFSC 1C.6`
		1074	`0361: MOVLW 01`
		1075	`0362: MOVWF 77`
		1076	`0363: BCF 03.0`
		1077	`0364: RLF 77,F`
		1078	`0365: MOVF 77,W`
		1079	`0366: BCF 03.5`
		1080	`0367: IORWF 41,F`
		1081	`.................... if (line!=0) break;`
		1082	`0368: MOVF 41,F`
		1083	`0369: BTFSS 03.2`
		1084	`036A: GOTO 370`
		1085	`.................... // Delay_ms(1);`
		1086	`.................... }`
		1087	`036B: MOVF 71,W`
		1088	`036C: BTFSC 03.2`
		1089	`036D: DECF 72,F`
		1090	`036E: DECF 71,F`
		1091	`036F: GOTO 352`
		1092	`.................... STOPR; STOPL;`
		1093	`0370: BSF 03.5`
		1094	`0371: BCF 06.4`
		1095	`0372: BCF 03.5`
		1096	`0373: BCF 06.4`
		1097	`0374: BSF 03.5`
		1098	`0375: BCF 06.5`
		1099	`0376: BCF 03.5`
		1100	`0377: BCF 06.5`
		1101	`0378: BSF 03.5`
		1102	`0379: BCF 06.6`
		1103	`037A: BCF 03.5`
		1104	`037B: BCF 06.6`
		1105	`037C: BSF 03.5`
		1106	`037D: BCF 06.7`
		1107	`037E: BCF 03.5`
		1108	`037F: BCF 06.7`
		1109	`....................`
		1110	`.................... movement=L; //R;`
		1111	`0380: MOVLW 02`
		1112	`0381: MOVWF 45`
		1113	`.................... cikcak();`
		1114	`0382: CALL 1FD`
		1115	`.................... dira=0;`
		1116	`0383: CLRF 46`
		1117	`.................... }`
		1118	`0384: BCF 0A.3`
		1119	`0385: GOTO 550 (RETURN)`
		1120	`.................... ///////////////////////////////////////////////////////////////////////////////`
		1121	`.................... void prejeddiru() // vyresi diru`
		1122	`.................... {`
		1123	`.................... unsigned int16 n;`
		1124	`.................... unsigned int8 speed_dira;`
		1125	`....................`
		1126	`.................... STOPL;STOPR;`
		1127	`0386: BSF 03.5`
		1128	`0387: BCF 06.6`
		1129	`0388: BCF 03.5`
		1130	`0389: BCF 06.6`
		1131	`038A: BSF 03.5`
		1132	`038B: BCF 06.7`
		1133	`038C: BCF 03.5`
		1134	`038D: BCF 06.7`
		1135	`038E: BSF 03.5`
		1136	`038F: BCF 06.4`
		1137	`0390: BCF 03.5`
		1138	`0391: BCF 06.4`
		1139	`0392: BSF 03.5`
		1140	`0393: BCF 06.5`
		1141	`0394: BCF 03.5`
		1142	`0395: BCF 06.5`
		1143	`.................... speed_dira=speed;`
		1144	`0396: MOVF 42,W`
		1145	`0397: MOVWF 73`
		1146	`.................... beep(1000,500);`
		1147	`0398: MOVLW 03`
		1148	`0399: MOVWF 75`
		1149	`039A: MOVLW E8`
		1150	`039B: MOVWF 74`
		1151	`039C: MOVLW 01`
		1152	`039D: MOVWF 7D`
		1153	`039E: MOVLW F4`
		1154	`039F: MOVWF 7C`
		1155	`03A0: CALL 05C`
		1156	`.................... switch (movement) //vrat se zpet na caru`
		1157	`.................... {`
		1158	`03A1: MOVF 45,W`
		1159	`03A2: XORLW 02`
		1160	`03A3: BTFSC 03.2`
		1161	`03A4: GOTO 3AC`
		1162	`03A5: XORLW 03`
		1163	`03A6: BTFSC 03.2`
		1164	`03A7: GOTO 3E4`
		1165	`03A8: XORLW 02`
		1166	`03A9: BTFSC 03.2`
		1167	`03AA: GOTO 41C`
		1168	`03AB: GOTO 41E`
		1169	`.................... case L:`
		1170	`.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);}`
		1171	`03AC: MOVLW 02`
		1172	`03AD: MOVWF 72`
		1173	`03AE: MOVLW EE`
		1174	`03AF: MOVWF 71`
		1175	`03B0: MOVF 71,F`
		1176	`03B1: BTFSS 03.2`
		1177	`03B2: GOTO 3B6`
		1178	`03B3: MOVF 72,F`
		1179	`03B4: BTFSC 03.2`
		1180	`03B5: GOTO 3D3`
		1181	`03B6: MOVF 01,W`
		1182	`03B7: SUBWF 73,W`
		1183	`03B8: BTFSS 03.0`
		1184	`03B9: GOTO 3C3`
		1185	`03BA: BSF 03.5`
		1186	`03BB: BCF 06.4`
		1187	`03BC: BCF 03.5`
		1188	`03BD: BCF 06.4`
		1189	`03BE: BSF 03.5`
		1190	`03BF: BCF 06.5`
		1191	`03C0: BCF 03.5`
		1192	`03C1: BSF 06.5`
		1193	`03C2: GOTO 3CB`
		1194	`03C3: BSF 03.5`
		1195	`03C4: BCF 06.4`
		1196	`03C5: BCF 03.5`
		1197	`03C6: BCF 06.4`
		1198	`03C7: BSF 03.5`
		1199	`03C8: BCF 06.5`
		1200	`03C9: BCF 03.5`
		1201	`03CA: BCF 06.5`
		1202	`03CB: MOVLW 01`
		1203	`03CC: MOVWF 74`
		1204	`03CD: CALL 088`
		1205	`03CE: MOVF 71,W`
		1206	`03CF: BTFSC 03.2`
		1207	`03D0: DECF 72,F`
		1208	`03D1: DECF 71,F`
		1209	`03D2: GOTO 3B0`
		1210	`.................... STOPL;STOPR;`
		1211	`03D3: BSF 03.5`
		1212	`03D4: BCF 06.6`
		1213	`03D5: BCF 03.5`
		1214	`03D6: BCF 06.6`
		1215	`03D7: BSF 03.5`
		1216	`03D8: BCF 06.7`
		1217	`03D9: BCF 03.5`
		1218	`03DA: BCF 06.7`
		1219	`03DB: BSF 03.5`
		1220	`03DC: BCF 06.4`
		1221	`03DD: BCF 03.5`
		1222	`03DE: BCF 06.4`
		1223	`03DF: BSF 03.5`
		1224	`03E0: BCF 06.5`
		1225	`03E1: BCF 03.5`
		1226	`03E2: BCF 06.5`
		1227	`.................... break;`
		1228	`03E3: GOTO 41E`
		1229	`.................... case R:`
		1230	`.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);}`
		1231	`03E4: MOVLW 02`
		1232	`03E5: MOVWF 72`
		1233	`03E6: MOVLW EE`
		1234	`03E7: MOVWF 71`
		1235	`03E8: MOVF 71,F`
		1236	`03E9: BTFSS 03.2`
		1237	`03EA: GOTO 3EE`
		1238	`03EB: MOVF 72,F`
		1239	`03EC: BTFSC 03.2`
		1240	`03ED: GOTO 40B`
		1241	`03EE: MOVF 01,W`
		1242	`03EF: SUBWF 73,W`
		1243	`03F0: BTFSS 03.0`
		1244	`03F1: GOTO 3FB`
		1245	`03F2: BSF 03.5`
		1246	`03F3: BCF 06.6`
		1247	`03F4: BCF 03.5`
		1248	`03F5: BCF 06.6`
		1249	`03F6: BSF 03.5`
		1250	`03F7: BCF 06.7`
		1251	`03F8: BCF 03.5`
		1252	`03F9: BSF 06.7`
		1253	`03FA: GOTO 403`
		1254	`03FB: BSF 03.5`
		1255	`03FC: BCF 06.6`
		1256	`03FD: BCF 03.5`
		1257	`03FE: BCF 06.6`
		1258	`03FF: BSF 03.5`
		1259	`0400: BCF 06.7`
		1260	`0401: BCF 03.5`
		1261	`0402: BCF 06.7`
		1262	`0403: MOVLW 01`
		1263	`0404: MOVWF 74`
		1264	`0405: CALL 088`
		1265	`0406: MOVF 71,W`
		1266	`0407: BTFSC 03.2`
		1267	`0408: DECF 72,F`
		1268	`0409: DECF 71,F`
		1269	`040A: GOTO 3E8`
		1270	`.................... STOPL;STOPR;`
		1271	`040B: BSF 03.5`
		1272	`040C: BCF 06.6`
		1273	`040D: BCF 03.5`
		1274	`040E: BCF 06.6`
		1275	`040F: BSF 03.5`
		1276	`0410: BCF 06.7`
		1277	`0411: BCF 03.5`
		1278	`0412: BCF 06.7`
		1279	`0413: BSF 03.5`
		1280	`0414: BCF 06.4`
		1281	`0415: BCF 03.5`
		1282	`0416: BCF 06.4`
		1283	`0417: BSF 03.5`
		1284	`0418: BCF 06.5`
		1285	`0419: BCF 03.5`
		1286	`041A: BCF 06.5`
		1287	`.................... break;`
		1288	`041B: GOTO 41E`
		1289	`.................... case S:`
		1290	`.................... goto sem;`
		1291	`041C: GOTO 45C`
		1292	`.................... break;`
		1293	`041D: GOTO 41E`
		1294	`.................... }`
		1295	`.................... beep(1000,500);`
		1296	`041E: MOVLW 03`
		1297	`041F: MOVWF 75`
		1298	`0420: MOVLW E8`
		1299	`0421: MOVWF 74`
		1300	`0422: MOVLW 01`
		1301	`0423: MOVWF 7D`
		1302	`0424: MOVLW F4`
		1303	`0425: MOVWF 7C`
		1304	`0426: CALL 05C`
		1305	`....................`
		1306	`.................... /*line=0;`
		1307	`.................... FR; BL; Delay_ms(400); // otoc se na caru`
		1308	`.................... beep(1000,500);`
		1309	`.................... while(line==0)`
		1310	`.................... {`
		1311	`.................... line = RSENSOR; // cteni senzoru na caru`
		1312	`.................... line \|= LSENSOR << 1;`
		1313	`.................... }`
		1314	`.................... FL;BR; Delay_ms(60); // zabrzdi`
		1315	`.................... STOPL; STOPR;`
		1316	`....................`
		1317	`.................... FL; BR; Delay_ms(700); // otacka 180 deg`
		1318	`.................... STOPL; STOPR;*/`
		1319	`....................`
		1320	`.................... FR;FL; //popojed rovne`
		1321	`0427: BSF 03.5`
		1322	`0428: BCF 06.5`
		1323	`0429: BCF 03.5`
		1324	`042A: BCF 06.5`
		1325	`042B: BSF 03.5`
		1326	`042C: BCF 06.4`
		1327	`042D: BCF 03.5`
		1328	`042E: BSF 06.4`
		1329	`042F: BSF 03.5`
		1330	`0430: BCF 06.7`
		1331	`0431: BCF 03.5`
		1332	`0432: BCF 06.7`
		1333	`0433: BSF 03.5`
		1334	`0434: BCF 06.6`
		1335	`0435: BCF 03.5`
		1336	`0436: BSF 06.6`
		1337	`.................... for(n=PRES_DIRU;n>0;n--)`
		1338	`0437: MOVLW 01`
		1339	`0438: MOVWF 72`
		1340	`0439: MOVLW 2C`
		1341	`043A: MOVWF 71`
		1342	`043B: MOVF 71,F`
		1343	`043C: BTFSS 03.2`
		1344	`043D: GOTO 441`
		1345	`043E: MOVF 72,F`
		1346	`043F: BTFSC 03.2`
		1347	`0440: GOTO 45C`
		1348	`.................... {`
		1349	`.................... line = RSENSOR; // cteni senzoru na caru`
		1350	`0441: CLRF 41`
		1351	`0442: BSF 03.5`
		1352	`0443: BTFSS 1C.7`
		1353	`0444: GOTO 448`
		1354	`0445: BCF 03.5`
		1355	`0446: INCF 41,F`
		1356	`0447: BSF 03.5`
		1357	`.................... line \|= LSENSOR << 1;`
		1358	`0448: MOVLW 00`
		1359	`0449: BTFSC 1C.6`
		1360	`044A: MOVLW 01`
		1361	`044B: MOVWF 77`
		1362	`044C: BCF 03.0`
		1363	`044D: RLF 77,F`
		1364	`044E: MOVF 77,W`
		1365	`044F: BCF 03.5`
		1366	`0450: IORWF 41,F`
		1367	`.................... if (line!=0) break;`
		1368	`0451: MOVF 41,F`
		1369	`0452: BTFSS 03.2`
		1370	`0453: GOTO 45C`
		1371	`.................... Delay_ms(1);`
		1372	`0454: MOVLW 01`
		1373	`0455: MOVWF 74`
		1374	`0456: CALL 088`
		1375	`.................... }`
		1376	`0457: MOVF 71,W`
		1377	`0458: BTFSC 03.2`
		1378	`0459: DECF 72,F`
		1379	`045A: DECF 71,F`
		1380	`045B: GOTO 43B`
		1381	`.................... sem:`
		1382	`.................... STOPL; STOPR;`
		1383	`045C: BSF 03.5`
		1384	`045D: BCF 06.6`
		1385	`045E: BCF 03.5`
		1386	`045F: BCF 06.6`
		1387	`0460: BSF 03.5`
		1388	`0461: BCF 06.7`
		1389	`0462: BCF 03.5`
		1390	`0463: BCF 06.7`
		1391	`0464: BSF 03.5`
		1392	`0465: BCF 06.4`
		1393	`0466: BCF 03.5`
		1394	`0467: BCF 06.4`
		1395	`0468: BSF 03.5`
		1396	`0469: BCF 06.5`
		1397	`046A: BCF 03.5`
		1398	`046B: BCF 06.5`
		1399	`.................... movement=S;`
		1400	`046C: MOVLW 03`
		1401	`046D: MOVWF 45`
		1402	`.................... cikcak(); // najdi caru`
		1403	`046E: CALL 1FD`
		1404	`.................... dira=0;`
		1405	`046F: CLRF 46`
		1406	`.................... }`
		1407	`0470: BCF 0A.3`
		1408	`0471: GOTO 5E6 (RETURN)`
		1409	`.................... ///////////////////////////////////////////////////////////////////////////////`
		1410	`.................... void main()`
		1411	`.................... {`
		1412	`0472: CLRF 04`
		1413	`0473: MOVLW 1F`
		1414	`0474: ANDWF 03,F`
		1415	`0475: BSF 03.5`
		1416	`0476: BCF 1F.4`
		1417	`0477: BCF 1F.5`
		1418	`0478: MOVF 1B,W`
		1419	`0479: ANDLW 80`
		1420	`047A: MOVWF 1B`
		1421	`047B: MOVLW 07`
		1422	`047C: MOVWF 1C`
		1423	`047D: MOVF 1C,W`
		1424	`047E: BCF 03.5`
		1425	`047F: BCF 0D.6`
		1426	`0480: MOVLW 60`
		1427	`0481: BSF 03.5`
		1428	`0482: MOVWF 0F`
		1429	`.................... unsigned int16 n; // pro FOR`
		1430	`....................`
		1431	`.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi`
		1432	`*`
		1433	`049F: BSF 03.5`
		1434	`04A0: BCF 06.6`
		1435	`04A1: BCF 03.5`
		1436	`04A2: BCF 06.6`
		1437	`04A3: BSF 03.5`
		1438	`04A4: BCF 06.7`
		1439	`04A5: BCF 03.5`
		1440	`04A6: BCF 06.7`
		1441	`04A7: BSF 03.5`
		1442	`04A8: BCF 06.4`
		1443	`04A9: BCF 03.5`
		1444	`04AA: BCF 06.4`
		1445	`04AB: BSF 03.5`
		1446	`04AC: BCF 06.5`
		1447	`04AD: BCF 03.5`
		1448	`04AE: BCF 06.5`
		1449	`....................`
		1450	`.................... setup_oscillator(OSC_4MHZ\|OSC_INTRC); // 4 MHz interni RC oscilator`
		1451	`04AF: MOVLW 62`
		1452	`04B0: BSF 03.5`
		1453	`04B1: MOVWF 0F`
		1454	`....................`
		1455	`.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku`
		1456	`04B2: BCF 01.7`
		1457	`.................... setup_spi(FALSE);`
		1458	`04B3: BCF 03.5`
		1459	`04B4: BCF 14.5`
		1460	`04B5: BSF 03.5`
		1461	`04B6: BCF 06.2`
		1462	`04B7: BSF 06.1`
		1463	`04B8: BCF 06.4`
		1464	`04B9: MOVLW 00`
		1465	`04BA: BCF 03.5`
		1466	`04BB: MOVWF 14`
		1467	`04BC: BSF 03.5`
		1468	`04BD: MOVWF 14`
		1469	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1); // Casovac pro PWM`
		1470	`04BE: MOVF 01,W`
		1471	`04BF: ANDLW C7`
		1472	`04C0: IORLW 08`
		1473	`04C1: MOVWF 01`
		1474	`....................`
		1475	`.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci`
		1476	`04C2: MOVLW 48`
		1477	`04C3: MOVWF 78`
		1478	`04C4: IORLW 05`
		1479	`04C5: BCF 03.5`
		1480	`04C6: MOVWF 12`
		1481	`04C7: MOVLW FF`
		1482	`04C8: BSF 03.5`
		1483	`04C9: MOVWF 12`
		1484	`.................... // preruseni kazdych 10ms`
		1485	`.................... setup_adc_ports(sAN2\|VSS_VDD); // nastaveni A/D prevodniku pro naraznik`
		1486	`04CA: BCF 1F.4`
		1487	`04CB: BCF 1F.5`
		1488	`04CC: MOVF 1B,W`
		1489	`04CD: ANDLW 80`
		1490	`04CE: IORLW 04`
		1491	`04CF: MOVWF 1B`
		1492	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		1493	`04D0: BCF 1F.6`
		1494	`04D1: BCF 03.5`
		1495	`04D2: BSF 1F.6`
		1496	`04D3: BSF 1F.7`
		1497	`04D4: BSF 03.5`
		1498	`04D5: BCF 1F.7`
		1499	`04D6: BCF 03.5`
		1500	`04D7: BSF 1F.0`
		1501	`.................... set_adc_channel(2);`
		1502	`04D8: MOVLW 10`
		1503	`04D9: MOVWF 78`
		1504	`04DA: MOVF 1F,W`
		1505	`04DB: ANDLW C7`
		1506	`04DC: IORWF 78,W`
		1507	`04DD: MOVWF 1F`
		1508	`.................... setup_timer_1(T1_INTERNAL\|T1_DIV_BY_1); // Casovac pro naraznik`
		1509	`04DE: MOVLW 85`
		1510	`04DF: MOVWF 10`
		1511	`.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);`
		1512	`04E0: BSF 03.5`
		1513	`04E1: BSF 06.3`
		1514	`04E2: MOVLW 0B`
		1515	`04E3: BCF 03.5`
		1516	`04E4: MOVWF 17`
		1517	`.................... CCP_1=(2^10)-1; // prevod kazdou 1ms`
		1518	`04E5: CLRF 16`
		1519	`04E6: MOVLW 07`
		1520	`04E7: MOVWF 15`
		1521	`....................`
		1522	`.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary`
		1523	`04E8: MOVLW 02`
		1524	`04E9: BSF 03.5`
		1525	`04EA: MOVWF 1C`
		1526	`04EB: MOVF 05,W`
		1527	`04EC: IORLW 03`
		1528	`04ED: MOVWF 05`
		1529	`04EE: MOVLW 03`
		1530	`04EF: MOVWF 77`
		1531	`04F0: DECFSZ 77,F`
		1532	`04F1: GOTO 4F0`
		1533	`04F2: MOVF 1C,W`
		1534	`04F3: BCF 03.5`
		1535	`04F4: BCF 0D.6`
		1536	`.................... setup_vref(VREF_HIGH\|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd`
		1537	`04F5: MOVLW 86`
		1538	`04F6: BSF 03.5`
		1539	`04F7: MOVWF 1D`
		1540	`....................`
		1541	`.................... Beep(1000,200); //double beep`
		1542	`04F8: MOVLW 03`
		1543	`04F9: MOVWF 75`
		1544	`04FA: MOVLW E8`
		1545	`04FB: MOVWF 74`
		1546	`04FC: CLRF 7D`
		1547	`04FD: MOVLW C8`
		1548	`04FE: MOVWF 7C`
		1549	`04FF: BCF 03.5`
		1550	`0500: CALL 05C`
		1551	`.................... Delay_ms(50);`
		1552	`0501: MOVLW 32`
		1553	`0502: MOVWF 74`
		1554	`0503: CALL 088`
		1555	`.................... Beep(1000,200);`
		1556	`0504: MOVLW 03`
		1557	`0505: MOVWF 75`
		1558	`0506: MOVLW E8`
		1559	`0507: MOVWF 74`
		1560	`0508: CLRF 7D`
		1561	`0509: MOVLW C8`
		1562	`050A: MOVWF 7C`
		1563	`050B: CALL 05C`
		1564	`.................... Delay_ms(1000); // 1s`
		1565	`050C: MOVLW 04`
		1566	`050D: MOVWF 71`
		1567	`050E: MOVLW FA`
		1568	`050F: MOVWF 74`
		1569	`0510: CALL 088`
		1570	`0511: DECFSZ 71,F`
		1571	`0512: GOTO 50E`
		1572	`....................`
		1573	`.................... // povoleni rizeni rychlosti zataceni pres preruseni`
		1574	`.................... enable_interrupts(INT_TIMER2);`
		1575	`0513: BSF 03.5`
		1576	`0514: BSF 0C.1`
		1577	`.................... enable_interrupts(GLOBAL);`
		1578	`0515: MOVLW C0`
		1579	`0516: BCF 03.5`
		1580	`0517: IORWF 0B,F`
		1581	`....................`
		1582	`.................... /---------------------------------------------------------------------------/`
		1583	`.................... sensors=S;`
		1584	`0518: MOVLW 03`
		1585	`0519: MOVWF 40`
		1586	`.................... line=S;`
		1587	`051A: MOVWF 41`
		1588	`.................... last=S;`
		1589	`051B: MOVWF 44`
		1590	`.................... movement=S;`
		1591	`051C: MOVWF 45`
		1592	`.................... speed=FW_POMALU;`
		1593	`051D: MOVLW E6`
		1594	`051E: MOVWF 42`
		1595	`....................`
		1596	`.................... diagnostika();`
		1597	`051F: GOTO 09D`
		1598	`.................... //cikcak(); // toc se, abys nasel caru`
		1599	`.................... Delay_ms(500);`
		1600	`0520: MOVLW 02`
		1601	`0521: MOVWF 71`
		1602	`0522: MOVLW FA`
		1603	`0523: MOVWF 74`
		1604	`0524: CALL 088`
		1605	`0525: DECFSZ 71,F`
		1606	`0526: GOTO 522`
		1607	`.................... Beep(1000,200);`
		1608	`0527: MOVLW 03`
		1609	`0528: MOVWF 75`
		1610	`0529: MOVLW E8`
		1611	`052A: MOVWF 74`
		1612	`052B: CLRF 7D`
		1613	`052C: MOVLW C8`
		1614	`052D: MOVWF 7C`
		1615	`052E: CALL 05C`
		1616	`.................... Delay_ms(500);`
		1617	`052F: MOVLW 02`
		1618	`0530: MOVWF 71`
		1619	`0531: MOVLW FA`
		1620	`0532: MOVWF 74`
		1621	`0533: CALL 088`
		1622	`0534: DECFSZ 71,F`
		1623	`0535: GOTO 531`
		1624	`....................`
		1625	`.................... while(true) // hlavni smycka (jizda podle cary)`
		1626	`.................... {`
		1627	`.................... sensors = RSENSOR; // cteni senzoru na caru`
		1628	`0536: CLRF 40`
		1629	`0537: BSF 03.5`
		1630	`0538: BTFSS 1C.7`
		1631	`0539: GOTO 53D`
		1632	`053A: BCF 03.5`
		1633	`053B: INCF 40,F`
		1634	`053C: BSF 03.5`
		1635	`.................... sensors \|= LSENSOR << 1;`
		1636	`053D: MOVLW 00`
		1637	`053E: BTFSC 1C.6`
		1638	`053F: MOVLW 01`
		1639	`0540: MOVWF 77`
		1640	`0541: BCF 03.0`
		1641	`0542: RLF 77,F`
		1642	`0543: MOVF 77,W`
		1643	`0544: BCF 03.5`
		1644	`0545: IORWF 40,F`
		1645	`....................`
		1646	`.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka();`
		1647	`0546: BTFSC 1F.2`
		1648	`0547: GOTO 546`
		1649	`0548: MOVF 1E,W`
		1650	`0549: SUBLW 7F`
		1651	`054A: BTFSS 03.0`
		1652	`054B: GOTO 550`
		1653	`054C: MOVF 46,W`
		1654	`054D: SUBLW 32`
		1655	`054E: BTFSC 03.0`
		1656	`054F: GOTO 289`
		1657	`....................`
		1658	`.................... switch (sensors) // zatacej podle toho, kde vidis caru`
		1659	`.................... {`
		1660	`0550: MOVF 40,W`
		1661	`0551: XORLW 03`
		1662	`0552: BTFSC 03.2`
		1663	`0553: GOTO 55B`
		1664	`0554: XORLW 01`
		1665	`0555: BTFSC 03.2`
		1666	`0556: GOTO 56F`
		1667	`0557: XORLW 03`
		1668	`0558: BTFSC 03.2`
		1669	`0559: GOTO 5A8`
		1670	`055A: GOTO 5E1`
		1671	`.................... case S: // rovne`
		1672	`.................... FL; FR; // pokud se jede dlouho rovne, tak pridej`
		1673	`055B: BSF 03.5`
		1674	`055C: BCF 06.7`
		1675	`055D: BCF 03.5`
		1676	`055E: BCF 06.7`
		1677	`055F: BSF 03.5`
		1678	`0560: BCF 06.6`
		1679	`0561: BCF 03.5`
		1680	`0562: BSF 06.6`
		1681	`0563: BSF 03.5`
		1682	`0564: BCF 06.5`
		1683	`0565: BCF 03.5`
		1684	`0566: BCF 06.5`
		1685	`0567: BSF 03.5`
		1686	`0568: BCF 06.4`
		1687	`0569: BCF 03.5`
		1688	`056A: BSF 06.4`
		1689	`.................... dira=0;`
		1690	`056B: CLRF 46`
		1691	`.................... movement=S;`
		1692	`056C: MOVLW 03`
		1693	`056D: MOVWF 45`
		1694	`.................... continue;`
		1695	`056E: GOTO 536`
		1696	`.................... case L: // trochu vlevo`
		1697	`.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);`
		1698	`056F: MOVF 01,W`
		1699	`0570: MOVWF 71`
		1700	`0571: MOVLW E6`
		1701	`0572: ADDWF 43,W`
		1702	`0573: SUBWF 71,W`
		1703	`0574: BTFSC 03.2`
		1704	`0575: GOTO 578`
		1705	`0576: BTFSC 03.0`
		1706	`0577: GOTO 581`
		1707	`0578: BSF 03.5`
		1708	`0579: BCF 06.7`
		1709	`057A: BCF 03.5`
		1710	`057B: BCF 06.7`
		1711	`057C: BSF 03.5`
		1712	`057D: BCF 06.6`
		1713	`057E: BCF 03.5`
		1714	`057F: BSF 06.6`
		1715	`0580: GOTO 589`
		1716	`0581: BSF 03.5`
		1717	`0582: BCF 06.6`
		1718	`0583: BCF 03.5`
		1719	`0584: BCF 06.6`
		1720	`0585: BSF 03.5`
		1721	`0586: BCF 06.7`
		1722	`0587: BCF 03.5`
		1723	`0588: BCF 06.7`
		1724	`0589: MOVF 01,W`
		1725	`058A: MOVWF 71`
		1726	`058B: MOVLW F0`
		1727	`058C: ADDWF 43,W`
		1728	`058D: SUBWF 71,W`
		1729	`058E: BTFSC 03.2`
		1730	`058F: GOTO 592`
		1731	`0590: BTFSC 03.0`
		1732	`0591: GOTO 59B`
		1733	`0592: BSF 03.5`
		1734	`0593: BCF 06.5`
		1735	`0594: BCF 03.5`
		1736	`0595: BCF 06.5`
		1737	`0596: BSF 03.5`
		1738	`0597: BCF 06.4`
		1739	`0598: BCF 03.5`
		1740	`0599: BSF 06.4`
		1741	`059A: GOTO 5A3`
		1742	`059B: BSF 03.5`
		1743	`059C: BCF 06.4`
		1744	`059D: BCF 03.5`
		1745	`059E: BCF 06.4`
		1746	`059F: BSF 03.5`
		1747	`05A0: BCF 06.5`
		1748	`05A1: BCF 03.5`
		1749	`05A2: BCF 06.5`
		1750	`.................... line=L;`
		1751	`05A3: MOVLW 02`
		1752	`05A4: MOVWF 41`
		1753	`.................... dira=0;`
		1754	`05A5: CLRF 46`
		1755	`.................... movement=L;`
		1756	`05A6: MOVWF 45`
		1757	`.................... continue;`
		1758	`05A7: GOTO 536`
		1759	`.................... case R: // trochu vpravo`
		1760	`.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);`
		1761	`05A8: MOVF 01,W`
		1762	`05A9: MOVWF 71`
		1763	`05AA: MOVLW E6`
		1764	`05AB: ADDWF 43,W`
		1765	`05AC: SUBWF 71,W`
		1766	`05AD: BTFSC 03.2`
		1767	`05AE: GOTO 5B1`
		1768	`05AF: BTFSC 03.0`
		1769	`05B0: GOTO 5BA`
		1770	`05B1: BSF 03.5`
		1771	`05B2: BCF 06.5`
		1772	`05B3: BCF 03.5`
		1773	`05B4: BCF 06.5`
		1774	`05B5: BSF 03.5`
		1775	`05B6: BCF 06.4`
		1776	`05B7: BCF 03.5`
		1777	`05B8: BSF 06.4`
		1778	`05B9: GOTO 5C2`
		1779	`05BA: BSF 03.5`
		1780	`05BB: BCF 06.4`
		1781	`05BC: BCF 03.5`
		1782	`05BD: BCF 06.4`
		1783	`05BE: BSF 03.5`
		1784	`05BF: BCF 06.5`
		1785	`05C0: BCF 03.5`
		1786	`05C1: BCF 06.5`
		1787	`05C2: MOVF 01,W`
		1788	`05C3: MOVWF 71`
		1789	`05C4: MOVLW F0`
		1790	`05C5: ADDWF 43,W`
		1791	`05C6: SUBWF 71,W`
		1792	`05C7: BTFSC 03.2`
		1793	`05C8: GOTO 5CB`
		1794	`05C9: BTFSC 03.0`
		1795	`05CA: GOTO 5D4`
		1796	`05CB: BSF 03.5`
		1797	`05CC: BCF 06.7`
		1798	`05CD: BCF 03.5`
		1799	`05CE: BCF 06.7`
		1800	`05CF: BSF 03.5`
		1801	`05D0: BCF 06.6`
		1802	`05D1: BCF 03.5`
		1803	`05D2: BSF 06.6`
		1804	`05D3: GOTO 5DC`
		1805	`05D4: BSF 03.5`
		1806	`05D5: BCF 06.6`
		1807	`05D6: BCF 03.5`
		1808	`05D7: BCF 06.6`
		1809	`05D8: BSF 03.5`
		1810	`05D9: BCF 06.7`
		1811	`05DA: BCF 03.5`
		1812	`05DB: BCF 06.7`
		1813	`.................... line=R;`
		1814	`05DC: MOVLW 01`
		1815	`05DD: MOVWF 41`
		1816	`.................... dira=0;`
		1817	`05DE: CLRF 46`
		1818	`.................... movement=R;`
		1819	`05DF: MOVWF 45`
		1820	`.................... continue;`
		1821	`05E0: GOTO 536`
		1822	`.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal`
		1823	`.................... }`
		1824	`.................... rovinka=0;`
		1825	`05E1: CLRF 43`
		1826	`.................... if (dira>=T_DIRA) prejeddiru();`
		1827	`05E2: MOVF 46,W`
		1828	`05E3: SUBLW 77`
		1829	`05E4: BTFSS 03.0`
		1830	`05E5: GOTO 386`
		1831	`.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi`
		1832	`05E6: MOVF 41,W`
		1833	`05E7: SUBWF 44,W`
		1834	`05E8: BTFSC 03.2`
		1835	`05E9: GOTO 5EE`
		1836	`.................... {`
		1837	`.................... last=line;`
		1838	`05EA: MOVF 41,W`
		1839	`05EB: MOVWF 44`
		1840	`.................... speed=FW_ZATACKA;`
		1841	`05EC: MOVLW F0`
		1842	`05ED: MOVWF 42`
		1843	`.................... }`
		1844	`.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru`
		1845	`05EE: MOVF 41,W`
		1846	`05EF: SUBLW 02`
		1847	`05F0: BTFSS 03.2`
		1848	`05F1: GOTO 612`
		1849	`.................... {`
		1850	`.................... STOPL;`
		1851	`05F2: BSF 03.5`
		1852	`05F3: BCF 06.6`
		1853	`05F4: BCF 03.5`
		1854	`05F5: BCF 06.6`
		1855	`05F6: BSF 03.5`
		1856	`05F7: BCF 06.7`
		1857	`05F8: BCF 03.5`
		1858	`05F9: BCF 06.7`
		1859	`.................... GO(R, F, speed);`
		1860	`05FA: MOVF 01,W`
		1861	`05FB: SUBWF 42,W`
		1862	`05FC: BTFSS 03.0`
		1863	`05FD: GOTO 607`
		1864	`05FE: BSF 03.5`
		1865	`05FF: BCF 06.5`
		1866	`0600: BCF 03.5`
		1867	`0601: BCF 06.5`
		1868	`0602: BSF 03.5`
		1869	`0603: BCF 06.4`
		1870	`0604: BCF 03.5`
		1871	`0605: BSF 06.4`
		1872	`0606: GOTO 60F`
		1873	`0607: BSF 03.5`
		1874	`0608: BCF 06.4`
		1875	`0609: BCF 03.5`
		1876	`060A: BCF 06.4`
		1877	`060B: BSF 03.5`
		1878	`060C: BCF 06.5`
		1879	`060D: BCF 03.5`
		1880	`060E: BCF 06.5`
		1881	`.................... movement=L;`
		1882	`060F: MOVLW 02`
		1883	`0610: MOVWF 45`
		1884	`.................... }`
		1885	`.................... else`
		1886	`0611: GOTO 631`
		1887	`.................... {`
		1888	`.................... STOPR;`
		1889	`0612: BSF 03.5`
		1890	`0613: BCF 06.4`
		1891	`0614: BCF 03.5`
		1892	`0615: BCF 06.4`
		1893	`0616: BSF 03.5`
		1894	`0617: BCF 06.5`
		1895	`0618: BCF 03.5`
		1896	`0619: BCF 06.5`
		1897	`.................... GO(L, F, speed);`
		1898	`061A: MOVF 01,W`
		1899	`061B: SUBWF 42,W`
		1900	`061C: BTFSS 03.0`
		1901	`061D: GOTO 627`
		1902	`061E: BSF 03.5`
		1903	`061F: BCF 06.7`
		1904	`0620: BCF 03.5`
		1905	`0621: BCF 06.7`
		1906	`0622: BSF 03.5`
		1907	`0623: BCF 06.6`
		1908	`0624: BCF 03.5`
		1909	`0625: BSF 06.6`
		1910	`0626: GOTO 62F`
		1911	`0627: BSF 03.5`
		1912	`0628: BCF 06.6`
		1913	`0629: BCF 03.5`
		1914	`062A: BCF 06.6`
		1915	`062B: BSF 03.5`
		1916	`062C: BCF 06.7`
		1917	`062D: BCF 03.5`
		1918	`062E: BCF 06.7`
		1919	`.................... movement=R;`
		1920	`062F: MOVLW 01`
		1921	`0630: MOVWF 45`
		1922	`.................... }`
		1923	`.................... } // while(true)`
		1924	`0631: GOTO 536`
		1925	`.................... }`
		1926	`....................`
		1927	`....................`
		1928	`0632: SLEEP`
		1929
		1930	`Configuration Fuses:`
		1931	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1932	`Word 2: 3FFC NOFCMEN NOIESO`

Subversion Repositories svnkaklik

(root)/roboti/istrobot/merkur/PIC16F88/turn_R/tank.LST @ 378 – Rev