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

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.221, 27853 20-V-05 13:52`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.LST`
		4
		5	`ROM used: 1232 words (30%)`
		6	`Largest free fragment is 2048`
		7	`RAM used: 65 (37%) at main() level`
		8	`73 (42%) 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 28E`
		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	`0042: MOVLW 12`
		78	`0043: SUBWF 63,F`
		79	`0044: BTFSS 03.0`
		80	`0045: GOTO 054`
		81	`0046: MOVLW 63`
		82	`0047: MOVWF 04`
		83	`0048: MOVLW FC`
		84	`0049: ANDWF 00,F`
		85	`004A: BCF 03.0`
		86	`004B: RRF 00,F`
		87	`004C: RRF 00,F`
		88	`004D: MOVF 00,W`
		89	`004E: BTFSC 03.2`
		90	`004F: GOTO 054`
		91	`0050: GOTO 052`
		92	`0051: NOP`
		93	`0052: DECFSZ 00,F`
		94	`0053: GOTO 051`
		95	`0054: RETLW 00`
		96	`*`
		97	`007B: MOVLW 5E`
		98	`007C: MOVWF 04`
		99	`007D: MOVF 00,W`
		100	`007E: BTFSC 03.2`
		101	`007F: GOTO 08F`
		102	`0080: MOVLW 01`
		103	`0081: MOVWF 78`
		104	`0082: CLRF 77`
		105	`0083: DECFSZ 77,F`
		106	`0084: GOTO 083`
		107	`0085: DECFSZ 78,F`
		108	`0086: GOTO 082`
		109	`0087: MOVLW 4A`
		110	`0088: MOVWF 77`
		111	`0089: DECFSZ 77,F`
		112	`008A: GOTO 089`
		113	`008B: NOP`
		114	`008C: NOP`
		115	`008D: DECFSZ 00,F`
		116	`008E: GOTO 080`
		117	`008F: RETLW 00`
		118	`....................`
		119	`....................`
		120	`....................`
		121	`.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru`
		122	`.................... unsigned int8 line; // na ktere strane byla detekovana cara`
		123	`.................... unsigned int8 speed; // rychlost zataceni`
		124	`.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo`
		125	`.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku`
		126	`.................... int cirkus;`
		127	`....................`
		128	`.................... // Konstanty pro dynamiku pohybu`
		129	`.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira`
		130	`.................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas`
		131	`.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni`
		132	`.................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas`
		133	`.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry`
		134	`.................... #define MAX_ROVINKA (255-FW_STREDNE)`
		135	`.................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd`
		136	`.................... #define BUMPER_TRESHOLD 128`
		137	`....................`
		138	`.................... //motory //Napred vypnout potom zapnout!`
		139	`.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`
		140	`.................... #define FL output_low(PIN_B7); output_high(PIN_B6)`
		141	`.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`
		142	`.................... #define BL output_low(PIN_B6); output_high(PIN_B7)`
		143	`.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`
		144	`.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)`
		145	`....................`
		146	`.................... #define L 0b10 // left`
		147	`.................... #define R 0b01 // right`
		148	`.................... #define S 0b11 // straight`
		149	`....................`
		150	`.................... //cidla`
		151	`.................... #define RSENSOR !C2OUT // Senzory na caru`
		152	`.................... #define LSENSOR !C1OUT`
		153	`.................... #define BUMPER PIN_A4 // Senzor na cihlu`
		154	`....................`
		155	`.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod`
		156	`.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod`
		157	`....................`
		158	`.................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak`
		159	`.................... #DEFINE SOUND_LO PIN_A7`
		160	`....................`
		161	`.................... char AXstring[40]; // Buffer pro prenos telemetrie`
		162	`....................`
		163	`.................... // makro pro PWM`
		164	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		165	`.................... {direction##motor;} else {stop##motor;}`
		166	`....................`
		167	`.................... #int_TIMER2`
		168	`.................... void TIMER2_isr()`
		169	`.................... {`
		170	`.................... if (speed<255) speed++;`
		171	`*`
		172	`0037: INCFSZ 2B,W`
		173	`0038: GOTO 03A`
		174	`0039: GOTO 03B`
		175	`003A: INCF 2B,F`
		176	`.................... if (rovinka<MAX_ROVINKA) rovinka++;`
		177	`003B: MOVF 2D,W`
		178	`003C: SUBLW 40`
		179	`003D: BTFSC 03.0`
		180	`003E: INCF 2D,F`
		181	`.................... }`
		182	`.................... // Primitivni Pipani`
		183	`003F: BCF 0C.1`
		184	`0040: BCF 0A.3`
		185	`0041: GOTO 022`
		186	`.................... void beep(unsigned int16 period, unsigned int16 length)`
		187	`.................... {`
		188	`.................... unsigned int16 nn;`
		189	`....................`
		190	`.................... for(nn=length; nn>0; nn--)`
		191	`*`
		192	`0055: MOVF 60,W`
		193	`0056: MOVWF 62`
		194	`0057: MOVF 5F,W`
		195	`0058: MOVWF 61`
		196	`0059: MOVF 61,F`
		197	`005A: BTFSS 03.2`
		198	`005B: GOTO 05F`
		199	`005C: MOVF 62,F`
		200	`005D: BTFSC 03.2`
		201	`005E: GOTO 07A`
		202	`.................... {`
		203	`.................... output_high(SOUND_HI);output_low(SOUND_LO);`
		204	`005F: BSF 03.5`
		205	`0060: BCF 05.6`
		206	`0061: BCF 03.5`
		207	`0062: BSF 05.6`
		208	`0063: BSF 03.5`
		209	`0064: BCF 05.7`
		210	`0065: BCF 03.5`
		211	`0066: BCF 05.7`
		212	`.................... delay_us(period);`
		213	`0067: MOVF 5D,W`
		214	`0068: MOVWF 63`
		215	`0069: CALL 042`
		216	`.................... output_high(SOUND_LO);output_low(SOUND_HI);`
		217	`006A: BSF 03.5`
		218	`006B: BCF 05.7`
		219	`006C: BCF 03.5`
		220	`006D: BSF 05.7`
		221	`006E: BSF 03.5`
		222	`006F: BCF 05.6`
		223	`0070: BCF 03.5`
		224	`0071: BCF 05.6`
		225	`.................... delay_us(period);`
		226	`0072: MOVF 5D,W`
		227	`0073: MOVWF 63`
		228	`0074: CALL 042`
		229	`.................... }`
		230	`0075: MOVF 61,W`
		231	`0076: BTFSC 03.2`
		232	`0077: DECF 62,F`
		233	`0078: DECF 61,F`
		234	`0079: GOTO 059`
		235	`.................... }`
		236	`007A: RETLW 00`
		237	`.................... /******************************************************************************/`
		238	`.................... void diagnostika()`
		239	`.................... {`
		240	`.................... unsigned int16 n;`
		241	`....................`
		242	`.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku`
		243	`.................... {`
		244	`*`
		245	`0090: BSF 03.5`
		246	`0091: BSF 06.3`
		247	`0092: BCF 03.5`
		248	`0093: BTFSS 06.3`
		249	`0094: GOTO 1BB`
		250	`.................... for (n=500; n<800; n+=100)`
		251	`0095: MOVLW 01`
		252	`0096: MOVWF 5C`
		253	`0097: MOVLW F4`
		254	`0098: MOVWF 5B`
		255	`0099: MOVF 5C,W`
		256	`009A: SUBLW 03`
		257	`009B: BTFSS 03.0`
		258	`009C: GOTO 0B1`
		259	`009D: BTFSS 03.2`
		260	`009E: GOTO 0A3`
		261	`009F: MOVF 5B,W`
		262	`00A0: SUBLW 1F`
		263	`00A1: BTFSS 03.0`
		264	`00A2: GOTO 0B1`
		265	`.................... {`
		266	`.................... beep(n,n); //beep UP`
		267	`00A3: MOVF 5C,W`
		268	`00A4: MOVWF 5E`
		269	`00A5: MOVF 5B,W`
		270	`00A6: MOVWF 5D`
		271	`00A7: MOVF 5C,W`
		272	`00A8: MOVWF 60`
		273	`00A9: MOVF 5B,W`
		274	`00AA: MOVWF 5F`
		275	`00AB: CALL 055`
		276	`.................... };`
		277	`00AC: MOVLW 64`
		278	`00AD: ADDWF 5B,F`
		279	`00AE: BTFSC 03.0`
		280	`00AF: INCF 5C,F`
		281	`00B0: GOTO 099`
		282	`.................... Delay_ms(1000);`
		283	`00B1: MOVLW 04`
		284	`00B2: MOVWF 5D`
		285	`00B3: MOVLW FA`
		286	`00B4: MOVWF 5E`
		287	`00B5: CALL 07B`
		288	`00B6: DECFSZ 5D,F`
		289	`00B7: GOTO 0B3`
		290	`.................... //zastav vse`
		291	`.................... STOPL; STOPR;`
		292	`00B8: BSF 03.5`
		293	`00B9: BCF 06.6`
		294	`00BA: BCF 03.5`
		295	`00BB: BCF 06.6`
		296	`00BC: BSF 03.5`
		297	`00BD: BCF 06.7`
		298	`00BE: BCF 03.5`
		299	`00BF: BCF 06.7`
		300	`00C0: BSF 03.5`
		301	`00C1: BCF 06.4`
		302	`00C2: BCF 03.5`
		303	`00C3: BCF 06.4`
		304	`00C4: BSF 03.5`
		305	`00C5: BCF 06.5`
		306	`00C6: BCF 03.5`
		307	`00C7: BCF 06.5`
		308	`.................... //pravy pas`
		309	`.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		310	`00C8: BSF 03.5`
		311	`00C9: BCF 06.5`
		312	`00CA: BCF 03.5`
		313	`00CB: BCF 06.5`
		314	`00CC: BSF 03.5`
		315	`00CD: BCF 06.4`
		316	`00CE: BCF 03.5`
		317	`00CF: BSF 06.4`
		318	`00D0: MOVLW 04`
		319	`00D1: MOVWF 5D`
		320	`00D2: MOVLW FA`
		321	`00D3: MOVWF 5E`
		322	`00D4: CALL 07B`
		323	`00D5: DECFSZ 5D,F`
		324	`00D6: GOTO 0D2`
		325	`00D7: BSF 03.5`
		326	`00D8: BCF 06.4`
		327	`00D9: BCF 03.5`
		328	`00DA: BCF 06.4`
		329	`00DB: BSF 03.5`
		330	`00DC: BCF 06.5`
		331	`00DD: BCF 03.5`
		332	`00DE: BCF 06.5`
		333	`00DF: MOVLW 04`
		334	`00E0: MOVWF 5D`
		335	`00E1: MOVLW FA`
		336	`00E2: MOVWF 5E`
		337	`00E3: CALL 07B`
		338	`00E4: DECFSZ 5D,F`
		339	`00E5: GOTO 0E1`
		340	`.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		341	`00E6: BSF 03.5`
		342	`00E7: BCF 06.4`
		343	`00E8: BCF 03.5`
		344	`00E9: BCF 06.4`
		345	`00EA: BSF 03.5`
		346	`00EB: BCF 06.5`
		347	`00EC: BCF 03.5`
		348	`00ED: BSF 06.5`
		349	`00EE: MOVLW 04`
		350	`00EF: MOVWF 5D`
		351	`00F0: MOVLW FA`
		352	`00F1: MOVWF 5E`
		353	`00F2: CALL 07B`
		354	`00F3: DECFSZ 5D,F`
		355	`00F4: GOTO 0F0`
		356	`00F5: BSF 03.5`
		357	`00F6: BCF 06.4`
		358	`00F7: BCF 03.5`
		359	`00F8: BCF 06.4`
		360	`00F9: BSF 03.5`
		361	`00FA: BCF 06.5`
		362	`00FB: BCF 03.5`
		363	`00FC: BCF 06.5`
		364	`00FD: MOVLW 04`
		365	`00FE: MOVWF 5D`
		366	`00FF: MOVLW FA`
		367	`0100: MOVWF 5E`
		368	`0101: CALL 07B`
		369	`0102: DECFSZ 5D,F`
		370	`0103: GOTO 0FF`
		371	`.................... Beep(880,100); Delay_ms(1000);`
		372	`0104: MOVLW 03`
		373	`0105: MOVWF 5E`
		374	`0106: MOVLW 70`
		375	`0107: MOVWF 5D`
		376	`0108: CLRF 60`
		377	`0109: MOVLW 64`
		378	`010A: MOVWF 5F`
		379	`010B: CALL 055`
		380	`010C: MOVLW 04`
		381	`010D: MOVWF 5D`
		382	`010E: MOVLW FA`
		383	`010F: MOVWF 5E`
		384	`0110: CALL 07B`
		385	`0111: DECFSZ 5D,F`
		386	`0112: GOTO 10E`
		387	`.................... //levy pas`
		388	`.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		389	`0113: BSF 03.5`
		390	`0114: BCF 06.7`
		391	`0115: BCF 03.5`
		392	`0116: BCF 06.7`
		393	`0117: BSF 03.5`
		394	`0118: BCF 06.6`
		395	`0119: BCF 03.5`
		396	`011A: BSF 06.6`
		397	`011B: MOVLW 04`
		398	`011C: MOVWF 5D`
		399	`011D: MOVLW FA`
		400	`011E: MOVWF 5E`
		401	`011F: CALL 07B`
		402	`0120: DECFSZ 5D,F`
		403	`0121: GOTO 11D`
		404	`0122: BSF 03.5`
		405	`0123: BCF 06.6`
		406	`0124: BCF 03.5`
		407	`0125: BCF 06.6`
		408	`0126: BSF 03.5`
		409	`0127: BCF 06.7`
		410	`0128: BCF 03.5`
		411	`0129: BCF 06.7`
		412	`012A: MOVLW 04`
		413	`012B: MOVWF 5D`
		414	`012C: MOVLW FA`
		415	`012D: MOVWF 5E`
		416	`012E: CALL 07B`
		417	`012F: DECFSZ 5D,F`
		418	`0130: GOTO 12C`
		419	`.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		420	`0131: BSF 03.5`
		421	`0132: BCF 06.6`
		422	`0133: BCF 03.5`
		423	`0134: BCF 06.6`
		424	`0135: BSF 03.5`
		425	`0136: BCF 06.7`
		426	`0137: BCF 03.5`
		427	`0138: BSF 06.7`
		428	`0139: MOVLW 04`
		429	`013A: MOVWF 5D`
		430	`013B: MOVLW FA`
		431	`013C: MOVWF 5E`
		432	`013D: CALL 07B`
		433	`013E: DECFSZ 5D,F`
		434	`013F: GOTO 13B`
		435	`0140: BSF 03.5`
		436	`0141: BCF 06.6`
		437	`0142: BCF 03.5`
		438	`0143: BCF 06.6`
		439	`0144: BSF 03.5`
		440	`0145: BCF 06.7`
		441	`0146: BCF 03.5`
		442	`0147: BCF 06.7`
		443	`0148: MOVLW 04`
		444	`0149: MOVWF 5D`
		445	`014A: MOVLW FA`
		446	`014B: MOVWF 5E`
		447	`014C: CALL 07B`
		448	`014D: DECFSZ 5D,F`
		449	`014E: GOTO 14A`
		450	`.................... Beep(880,100); Delay_ms(1000);`
		451	`014F: MOVLW 03`
		452	`0150: MOVWF 5E`
		453	`0151: MOVLW 70`
		454	`0152: MOVWF 5D`
		455	`0153: CLRF 60`
		456	`0154: MOVLW 64`
		457	`0155: MOVWF 5F`
		458	`0156: CALL 055`
		459	`0157: MOVLW 04`
		460	`0158: MOVWF 5D`
		461	`0159: MOVLW FA`
		462	`015A: MOVWF 5E`
		463	`015B: CALL 07B`
		464	`015C: DECFSZ 5D,F`
		465	`015D: GOTO 159`
		466	`.................... //oba pasy`
		467	`.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		468	`015E: BSF 03.5`
		469	`015F: BCF 06.7`
		470	`0160: BCF 03.5`
		471	`0161: BCF 06.7`
		472	`0162: BSF 03.5`
		473	`0163: BCF 06.6`
		474	`0164: BCF 03.5`
		475	`0165: BSF 06.6`
		476	`0166: BSF 03.5`
		477	`0167: BCF 06.5`
		478	`0168: BCF 03.5`
		479	`0169: BCF 06.5`
		480	`016A: BSF 03.5`
		481	`016B: BCF 06.4`
		482	`016C: BCF 03.5`
		483	`016D: BSF 06.4`
		484	`016E: MOVLW 04`
		485	`016F: MOVWF 5D`
		486	`0170: MOVLW FA`
		487	`0171: MOVWF 5E`
		488	`0172: CALL 07B`
		489	`0173: DECFSZ 5D,F`
		490	`0174: GOTO 170`
		491	`0175: BSF 03.5`
		492	`0176: BCF 06.6`
		493	`0177: BCF 03.5`
		494	`0178: BCF 06.6`
		495	`0179: BSF 03.5`
		496	`017A: BCF 06.7`
		497	`017B: BCF 03.5`
		498	`017C: BCF 06.7`
		499	`017D: BSF 03.5`
		500	`017E: BCF 06.4`
		501	`017F: BCF 03.5`
		502	`0180: BCF 06.4`
		503	`0181: BSF 03.5`
		504	`0182: BCF 06.5`
		505	`0183: BCF 03.5`
		506	`0184: BCF 06.5`
		507	`0185: MOVLW 04`
		508	`0186: MOVWF 5D`
		509	`0187: MOVLW FA`
		510	`0188: MOVWF 5E`
		511	`0189: CALL 07B`
		512	`018A: DECFSZ 5D,F`
		513	`018B: GOTO 187`
		514	`.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		515	`018C: BSF 03.5`
		516	`018D: BCF 06.6`
		517	`018E: BCF 03.5`
		518	`018F: BCF 06.6`
		519	`0190: BSF 03.5`
		520	`0191: BCF 06.7`
		521	`0192: BCF 03.5`
		522	`0193: BSF 06.7`
		523	`0194: BSF 03.5`
		524	`0195: BCF 06.4`
		525	`0196: BCF 03.5`
		526	`0197: BCF 06.4`
		527	`0198: BSF 03.5`
		528	`0199: BCF 06.5`
		529	`019A: BCF 03.5`
		530	`019B: BSF 06.5`
		531	`019C: MOVLW 04`
		532	`019D: MOVWF 5D`
		533	`019E: MOVLW FA`
		534	`019F: MOVWF 5E`
		535	`01A0: CALL 07B`
		536	`01A1: DECFSZ 5D,F`
		537	`01A2: GOTO 19E`
		538	`01A3: BSF 03.5`
		539	`01A4: BCF 06.6`
		540	`01A5: BCF 03.5`
		541	`01A6: BCF 06.6`
		542	`01A7: BSF 03.5`
		543	`01A8: BCF 06.7`
		544	`01A9: BCF 03.5`
		545	`01AA: BCF 06.7`
		546	`01AB: BSF 03.5`
		547	`01AC: BCF 06.4`
		548	`01AD: BCF 03.5`
		549	`01AE: BCF 06.4`
		550	`01AF: BSF 03.5`
		551	`01B0: BCF 06.5`
		552	`01B1: BCF 03.5`
		553	`01B2: BCF 06.5`
		554	`01B3: MOVLW 04`
		555	`01B4: MOVWF 5D`
		556	`01B5: MOVLW FA`
		557	`01B6: MOVWF 5E`
		558	`01B7: CALL 07B`
		559	`01B8: DECFSZ 5D,F`
		560	`01B9: GOTO 1B5`
		561	`.................... };`
		562	`01BA: GOTO 090`
		563	`.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel`
		564	`.................... {`
		565	`01BB: BSF 03.5`
		566	`01BC: BSF 06.2`
		567	`01BD: BCF 03.5`
		568	`01BE: BTFSS 06.2`
		569	`01BF: GOTO 1EE`
		570	`.................... if (RSENSOR) beep(1000,1000);`
		571	`01C0: BSF 03.5`
		572	`01C1: BTFSC 1C.7`
		573	`01C2: GOTO 1CE`
		574	`01C3: MOVLW 03`
		575	`01C4: BCF 03.5`
		576	`01C5: MOVWF 5E`
		577	`01C6: MOVLW E8`
		578	`01C7: MOVWF 5D`
		579	`01C8: MOVLW 03`
		580	`01C9: MOVWF 60`
		581	`01CA: MOVLW E8`
		582	`01CB: MOVWF 5F`
		583	`01CC: CALL 055`
		584	`01CD: BSF 03.5`
		585	`.................... if (LSENSOR) beep(2000,2000);`
		586	`01CE: BTFSC 1C.6`
		587	`01CF: GOTO 1DB`
		588	`01D0: MOVLW 07`
		589	`01D1: BCF 03.5`
		590	`01D2: MOVWF 5E`
		591	`01D3: MOVLW D0`
		592	`01D4: MOVWF 5D`
		593	`01D5: MOVLW 07`
		594	`01D6: MOVWF 60`
		595	`01D7: MOVLW D0`
		596	`01D8: MOVWF 5F`
		597	`01D9: CALL 055`
		598	`01DA: BSF 03.5`
		599	`.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000);`
		600	`01DB: BCF 03.5`
		601	`01DC: BTFSS 1F.2`
		602	`01DD: GOTO 1E0`
		603	`01DE: BSF 03.5`
		604	`01DF: GOTO 1DB`
		605	`01E0: MOVF 1E,W`
		606	`01E1: SUBLW 7F`
		607	`01E2: BTFSS 03.0`
		608	`01E3: GOTO 1ED`
		609	`01E4: MOVLW 0B`
		610	`01E5: MOVWF 5E`
		611	`01E6: MOVLW B8`
		612	`01E7: MOVWF 5D`
		613	`01E8: MOVLW 0B`
		614	`01E9: MOVWF 60`
		615	`01EA: MOVLW B8`
		616	`01EB: MOVWF 5F`
		617	`01EC: CALL 055`
		618	`.................... };`
		619	`01ED: GOTO 1BB`
		620	`.................... }`
		621	`01EE: BCF 0A.3`
		622	`01EF: GOTO 31F (RETURN)`
		623	`.................... ///////////////////////////////////////////////////////////////////////////////`
		624	`.................... void OtocSe() // otoci se zpet, kdyz je prekazka`
		625	`.................... {`
		626	`.................... unsigned int16 n;`
		627	`....................`
		628	`.................... BR;BL;`
		629	`01F0: BSF 03.5`
		630	`01F1: BCF 06.4`
		631	`01F2: BCF 03.5`
		632	`01F3: BCF 06.4`
		633	`01F4: BSF 03.5`
		634	`01F5: BCF 06.5`
		635	`01F6: BCF 03.5`
		636	`01F7: BSF 06.5`
		637	`01F8: BSF 03.5`
		638	`01F9: BCF 06.6`
		639	`01FA: BCF 03.5`
		640	`01FB: BCF 06.6`
		641	`01FC: BSF 03.5`
		642	`01FD: BCF 06.7`
		643	`01FE: BCF 03.5`
		644	`01FF: BSF 06.7`
		645	`.................... beep(800,400);`
		646	`0200: MOVLW 03`
		647	`0201: MOVWF 5E`
		648	`0202: MOVLW 20`
		649	`0203: MOVWF 5D`
		650	`0204: MOVLW 01`
		651	`0205: MOVWF 60`
		652	`0206: MOVLW 90`
		653	`0207: MOVWF 5F`
		654	`0208: CALL 055`
		655	`.................... beep(2000,1000);`
		656	`0209: MOVLW 07`
		657	`020A: MOVWF 5E`
		658	`020B: MOVLW D0`
		659	`020C: MOVWF 5D`
		660	`020D: MOVLW 03`
		661	`020E: MOVWF 60`
		662	`020F: MOVLW E8`
		663	`0210: MOVWF 5F`
		664	`0211: CALL 055`
		665	`.................... beep(900,400);`
		666	`0212: MOVLW 03`
		667	`0213: MOVWF 5E`
		668	`0214: MOVLW 84`
		669	`0215: MOVWF 5D`
		670	`0216: MOVLW 01`
		671	`0217: MOVWF 60`
		672	`0218: MOVLW 90`
		673	`0219: MOVWF 5F`
		674	`021A: CALL 055`
		675	`....................`
		676	`.................... BR; FL; Delay_ms(50); // otoc se 30° do prava`
		677	`021B: BSF 03.5`
		678	`021C: BCF 06.4`
		679	`021D: BCF 03.5`
		680	`021E: BCF 06.4`
		681	`021F: BSF 03.5`
		682	`0220: BCF 06.5`
		683	`0221: BCF 03.5`
		684	`0222: BSF 06.5`
		685	`0223: BSF 03.5`
		686	`0224: BCF 06.7`
		687	`0225: BCF 03.5`
		688	`0226: BCF 06.7`
		689	`0227: BSF 03.5`
		690	`0228: BCF 06.6`
		691	`0229: BCF 03.5`
		692	`022A: BSF 06.6`
		693	`022B: MOVLW 32`
		694	`022C: MOVWF 5E`
		695	`022D: CALL 07B`
		696	`.................... STOPL; STOPR;`
		697	`022E: BSF 03.5`
		698	`022F: BCF 06.6`
		699	`0230: BCF 03.5`
		700	`0231: BCF 06.6`
		701	`0232: BSF 03.5`
		702	`0233: BCF 06.7`
		703	`0234: BCF 03.5`
		704	`0235: BCF 06.7`
		705	`0236: BSF 03.5`
		706	`0237: BCF 06.4`
		707	`0238: BCF 03.5`
		708	`0239: BCF 06.4`
		709	`023A: BSF 03.5`
		710	`023B: BCF 06.5`
		711	`023C: BCF 03.5`
		712	`023D: BCF 06.5`
		713	`.................... beep(1000,1000);`
		714	`023E: MOVLW 03`
		715	`023F: MOVWF 5E`
		716	`0240: MOVLW E8`
		717	`0241: MOVWF 5D`
		718	`0242: MOVLW 03`
		719	`0243: MOVWF 60`
		720	`0244: MOVLW E8`
		721	`0245: MOVWF 5F`
		722	`0246: CALL 055`
		723	`....................`
		724	`.................... BR; FL;`
		725	`0247: BSF 03.5`
		726	`0248: BCF 06.4`
		727	`0249: BCF 03.5`
		728	`024A: BCF 06.4`
		729	`024B: BSF 03.5`
		730	`024C: BCF 06.5`
		731	`024D: BCF 03.5`
		732	`024E: BSF 06.5`
		733	`024F: BSF 03.5`
		734	`0250: BCF 06.7`
		735	`0251: BCF 03.5`
		736	`0252: BCF 06.7`
		737	`0253: BSF 03.5`
		738	`0254: BCF 06.6`
		739	`0255: BCF 03.5`
		740	`0256: BSF 06.6`
		741	`.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru`
		742	`0257: MOVLW 9C`
		743	`0258: MOVWF 5C`
		744	`0259: MOVLW 40`
		745	`025A: MOVWF 5B`
		746	`025B: MOVF 5B,F`
		747	`025C: BTFSS 03.2`
		748	`025D: GOTO 261`
		749	`025E: MOVF 5C,F`
		750	`025F: BTFSC 03.2`
		751	`0260: GOTO 279`
		752	`.................... {`
		753	`.................... line = RSENSOR; // cteni senzoru na caru`
		754	`0261: CLRF 2A`
		755	`0262: BSF 03.5`
		756	`0263: BTFSC 1C.7`
		757	`0264: GOTO 268`
		758	`0265: BCF 03.5`
		759	`0266: INCF 2A,F`
		760	`0267: BSF 03.5`
		761	`.................... line \|= LSENSOR << 1;`
		762	`0268: MOVLW 00`
		763	`0269: BTFSS 1C.6`
		764	`026A: MOVLW 01`
		765	`026B: MOVWF 77`
		766	`026C: BCF 03.0`
		767	`026D: RLF 77,F`
		768	`026E: MOVF 77,W`
		769	`026F: BCF 03.5`
		770	`0270: IORWF 2A,F`
		771	`.................... if (line!=0) break;`
		772	`0271: MOVF 2A,F`
		773	`0272: BTFSS 03.2`
		774	`0273: GOTO 279`
		775	`.................... }`
		776	`0274: MOVF 5B,W`
		777	`0275: BTFSC 03.2`
		778	`0276: DECF 5C,F`
		779	`0277: DECF 5B,F`
		780	`0278: GOTO 25B`
		781	`.................... STOPR; STOPL;`
		782	`0279: BSF 03.5`
		783	`027A: BCF 06.4`
		784	`027B: BCF 03.5`
		785	`027C: BCF 06.4`
		786	`027D: BSF 03.5`
		787	`027E: BCF 06.5`
		788	`027F: BCF 03.5`
		789	`0280: BCF 06.5`
		790	`0281: BSF 03.5`
		791	`0282: BCF 06.6`
		792	`0283: BCF 03.5`
		793	`0284: BCF 06.6`
		794	`0285: BSF 03.5`
		795	`0286: BCF 06.7`
		796	`0287: BCF 03.5`
		797	`0288: BCF 06.7`
		798	`....................`
		799	`.................... line=L; // caru jsme prejeli, tak je vlevo`
		800	`0289: MOVLW 02`
		801	`028A: MOVWF 2A`
		802	`.................... cirkus=0;`
		803	`028B: CLRF 2E`
		804	`.................... }`
		805	`028C: BCF 0A.3`
		806	`028D: GOTO 34B (RETURN)`
		807	`....................`
		808	`....................`
		809	`.................... void main()`
		810	`.................... {`
		811	`028E: CLRF 04`
		812	`028F: MOVLW 1F`
		813	`0290: ANDWF 03,F`
		814	`0291: BSF 03.5`
		815	`0292: BCF 1F.4`
		816	`0293: BCF 1F.5`
		817	`0294: MOVF 1B,W`
		818	`0295: ANDLW 80`
		819	`0296: MOVWF 1B`
		820	`0297: MOVLW 07`
		821	`0298: MOVWF 1C`
		822	`0299: MOVF 1C,W`
		823	`029A: BCF 03.5`
		824	`029B: BCF 0D.6`
		825	`029C: MOVLW 60`
		826	`029D: BSF 03.5`
		827	`029E: MOVWF 0F`
		828	`.................... unsigned int16 n; // pro FOR`
		829	`.................... unsigned int16 i;`
		830	`....................`
		831	`.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi`
		832	`029F: BCF 06.6`
		833	`02A0: BCF 03.5`
		834	`02A1: BCF 06.6`
		835	`02A2: BSF 03.5`
		836	`02A3: BCF 06.7`
		837	`02A4: BCF 03.5`
		838	`02A5: BCF 06.7`
		839	`02A6: BSF 03.5`
		840	`02A7: BCF 06.4`
		841	`02A8: BCF 03.5`
		842	`02A9: BCF 06.4`
		843	`02AA: BSF 03.5`
		844	`02AB: BCF 06.5`
		845	`02AC: BCF 03.5`
		846	`02AD: BCF 06.5`
		847	`....................`
		848	`.................... setup_oscillator(OSC_4MHZ\|OSC_INTRC); // 4 MHz interni RC oscilator`
		849	`02AE: MOVLW 62`
		850	`02AF: BSF 03.5`
		851	`02B0: MOVWF 0F`
		852	`....................`
		853	`.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku`
		854	`02B1: BCF 01.7`
		855	`.................... setup_spi(FALSE);`
		856	`02B2: BCF 03.5`
		857	`02B3: BCF 14.5`
		858	`02B4: BSF 03.5`
		859	`02B5: BCF 06.2`
		860	`02B6: BSF 06.1`
		861	`02B7: BCF 06.4`
		862	`02B8: MOVLW 00`
		863	`02B9: BCF 03.5`
		864	`02BA: MOVWF 14`
		865	`02BB: BSF 03.5`
		866	`02BC: MOVWF 14`
		867	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1); // Casovac pro PWM`
		868	`02BD: MOVF 01,W`
		869	`02BE: ANDLW C7`
		870	`02BF: IORLW 08`
		871	`02C0: MOVWF 01`
		872	`....................`
		873	`.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci`
		874	`02C1: MOVLW 48`
		875	`02C2: MOVWF 78`
		876	`02C3: IORLW 05`
		877	`02C4: BCF 03.5`
		878	`02C5: MOVWF 12`
		879	`02C6: MOVLW FF`
		880	`02C7: BSF 03.5`
		881	`02C8: MOVWF 12`
		882	`.................... // preruseni kazdych 10ms`
		883	`.................... setup_adc_ports(sAN2\|VSS_VDD); // nastaveni A/D prevodniku pro naraznik`
		884	`02C9: BCF 1F.4`
		885	`02CA: BCF 1F.5`
		886	`02CB: MOVF 1B,W`
		887	`02CC: ANDLW 80`
		888	`02CD: IORLW 04`
		889	`02CE: MOVWF 1B`
		890	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		891	`02CF: BCF 1F.6`
		892	`02D0: BCF 03.5`
		893	`02D1: BSF 1F.6`
		894	`02D2: BSF 1F.7`
		895	`02D3: BSF 03.5`
		896	`02D4: BCF 1F.7`
		897	`02D5: BCF 03.5`
		898	`02D6: BSF 1F.0`
		899	`.................... set_adc_channel(2);`
		900	`02D7: MOVLW 10`
		901	`02D8: MOVWF 78`
		902	`02D9: MOVF 1F,W`
		903	`02DA: ANDLW C7`
		904	`02DB: IORWF 78,W`
		905	`02DC: MOVWF 1F`
		906	`.................... setup_timer_1(T1_INTERNAL\|T1_DIV_BY_1); // Casovac pro naraznik`
		907	`02DD: MOVLW 85`
		908	`02DE: MOVWF 10`
		909	`.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);`
		910	`02DF: BSF 03.5`
		911	`02E0: BSF 06.3`
		912	`02E1: MOVLW 0B`
		913	`02E2: BCF 03.5`
		914	`02E3: MOVWF 17`
		915	`.................... CCP_1=(2^10)-1; // prevod kazdou 1ms`
		916	`02E4: CLRF 16`
		917	`02E5: MOVLW 07`
		918	`02E6: MOVWF 15`
		919	`....................`
		920	`.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary`
		921	`02E7: MOVLW 02`
		922	`02E8: BSF 03.5`
		923	`02E9: MOVWF 1C`
		924	`02EA: MOVF 05,W`
		925	`02EB: IORLW 03`
		926	`02EC: MOVWF 05`
		927	`02ED: MOVLW 03`
		928	`02EE: MOVWF 77`
		929	`02EF: DECFSZ 77,F`
		930	`02F0: GOTO 2EF`
		931	`02F1: MOVF 1C,W`
		932	`02F2: BCF 03.5`
		933	`02F3: BCF 0D.6`
		934	`.................... setup_vref(VREF_HIGH\|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd`
		935	`02F4: MOVLW 8F`
		936	`02F5: BSF 03.5`
		937	`02F6: MOVWF 1D`
		938	`....................`
		939	`.................... Beep(1000,200); //double beep`
		940	`02F7: MOVLW 03`
		941	`02F8: BCF 03.5`
		942	`02F9: MOVWF 5E`
		943	`02FA: MOVLW E8`
		944	`02FB: MOVWF 5D`
		945	`02FC: CLRF 60`
		946	`02FD: MOVLW C8`
		947	`02FE: MOVWF 5F`
		948	`02FF: CALL 055`
		949	`.................... Delay_ms(50);`
		950	`0300: MOVLW 32`
		951	`0301: MOVWF 5E`
		952	`0302: CALL 07B`
		953	`.................... Beep(1000,200);`
		954	`0303: MOVLW 03`
		955	`0304: MOVWF 5E`
		956	`0305: MOVLW E8`
		957	`0306: MOVWF 5D`
		958	`0307: CLRF 60`
		959	`0308: MOVLW C8`
		960	`0309: MOVWF 5F`
		961	`030A: CALL 055`
		962	`.................... Delay_ms(1000); // 1s`
		963	`030B: MOVLW 04`
		964	`030C: MOVWF 5B`
		965	`030D: MOVLW FA`
		966	`030E: MOVWF 5E`
		967	`030F: CALL 07B`
		968	`0310: DECFSZ 5B,F`
		969	`0311: GOTO 30D`
		970	`....................`
		971	`.................... // povoleni rizeni rychlosti zataceni pres preruseni`
		972	`.................... enable_interrupts(INT_TIMER2);`
		973	`0312: BSF 03.5`
		974	`0313: BSF 0C.1`
		975	`.................... enable_interrupts(GLOBAL);`
		976	`0314: MOVLW C0`
		977	`0315: BCF 03.5`
		978	`0316: IORWF 0B,F`
		979	`....................`
		980	`.................... /---------------------------------------------------------------------------/`
		981	`.................... sensors=S;`
		982	`0317: MOVLW 03`
		983	`0318: MOVWF 29`
		984	`.................... line=S;`
		985	`0319: MOVWF 2A`
		986	`.................... last=S;`
		987	`031A: MOVWF 2C`
		988	`.................... cirkus=0;`
		989	`031B: CLRF 2E`
		990	`.................... // movement=S;`
		991	`.................... speed=FW_POMALU;`
		992	`031C: MOVLW AA`
		993	`031D: MOVWF 2B`
		994	`....................`
		995	`.................... diagnostika();`
		996	`031E: GOTO 090`
		997	`.................... Delay_ms(500);`
		998	`031F: MOVLW 02`
		999	`0320: MOVWF 5B`
		1000	`0321: MOVLW FA`
		1001	`0322: MOVWF 5E`
		1002	`0323: CALL 07B`
		1003	`0324: DECFSZ 5B,F`
		1004	`0325: GOTO 321`
		1005	`.................... Beep(1000,200);`
		1006	`0326: MOVLW 03`
		1007	`0327: MOVWF 5E`
		1008	`0328: MOVLW E8`
		1009	`0329: MOVWF 5D`
		1010	`032A: CLRF 60`
		1011	`032B: MOVLW C8`
		1012	`032C: MOVWF 5F`
		1013	`032D: CALL 055`
		1014	`.................... Delay_ms(500);`
		1015	`032E: MOVLW 02`
		1016	`032F: MOVWF 5B`
		1017	`0330: MOVLW FA`
		1018	`0331: MOVWF 5E`
		1019	`0332: CALL 07B`
		1020	`0333: DECFSZ 5B,F`
		1021	`0334: GOTO 330`
		1022	`....................`
		1023	`.................... while(true) // hlavni smycka (jizda podle cary)`
		1024	`.................... {`
		1025	`.................... sensors = RSENSOR; // cteni senzoru na caru`
		1026	`0335: CLRF 29`
		1027	`0336: BSF 03.5`
		1028	`0337: BTFSC 1C.7`
		1029	`0338: GOTO 33C`
		1030	`0339: BCF 03.5`
		1031	`033A: INCF 29,F`
		1032	`033B: BSF 03.5`
		1033	`.................... sensors \|= LSENSOR << 1;`
		1034	`033C: MOVLW 00`
		1035	`033D: BTFSS 1C.6`
		1036	`033E: MOVLW 01`
		1037	`033F: MOVWF 77`
		1038	`0340: BCF 03.0`
		1039	`0341: RLF 77,F`
		1040	`0342: MOVF 77,W`
		1041	`0343: BCF 03.5`
		1042	`0344: IORWF 29,F`
		1043	`....................`
		1044	`.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();`
		1045	`0345: BTFSC 1F.2`
		1046	`0346: GOTO 345`
		1047	`0347: MOVF 1E,W`
		1048	`0348: SUBLW 7F`
		1049	`0349: BTFSC 03.0`
		1050	`034A: GOTO 1F0`
		1051	`....................`
		1052	`.................... switch (sensors) // zatacej podle toho, kde vidis caru`
		1053	`.................... {`
		1054	`034B: MOVF 29,W`
		1055	`034C: XORLW 03`
		1056	`034D: BTFSC 03.2`
		1057	`034E: GOTO 356`
		1058	`034F: XORLW 01`
		1059	`0350: BTFSC 03.2`
		1060	`0351: GOTO 38B`
		1061	`0352: XORLW 03`
		1062	`0353: BTFSC 03.2`
		1063	`0354: GOTO 3C2`
		1064	`0355: GOTO 3F9`
		1065	`.................... case S: // rovne`
		1066	`.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);`
		1067	`0356: MOVF 01,W`
		1068	`0357: MOVWF 5B`
		1069	`0358: MOVLW BE`
		1070	`0359: ADDWF 2D,W`
		1071	`035A: SUBWF 5B,W`
		1072	`035B: BTFSC 03.2`
		1073	`035C: GOTO 35F`
		1074	`035D: BTFSC 03.0`
		1075	`035E: GOTO 368`
		1076	`035F: BSF 03.5`
		1077	`0360: BCF 06.7`
		1078	`0361: BCF 03.5`
		1079	`0362: BCF 06.7`
		1080	`0363: BSF 03.5`
		1081	`0364: BCF 06.6`
		1082	`0365: BCF 03.5`
		1083	`0366: BSF 06.6`
		1084	`0367: GOTO 370`
		1085	`0368: BSF 03.5`
		1086	`0369: BCF 06.6`
		1087	`036A: BCF 03.5`
		1088	`036B: BCF 06.6`
		1089	`036C: BSF 03.5`
		1090	`036D: BCF 06.7`
		1091	`036E: BCF 03.5`
		1092	`036F: BCF 06.7`
		1093	`0370: MOVF 01,W`
		1094	`0371: MOVWF 5B`
		1095	`0372: MOVLW BE`
		1096	`0373: ADDWF 2D,W`
		1097	`0374: SUBWF 5B,W`
		1098	`0375: BTFSC 03.2`
		1099	`0376: GOTO 379`
		1100	`0377: BTFSC 03.0`
		1101	`0378: GOTO 382`
		1102	`0379: BSF 03.5`
		1103	`037A: BCF 06.5`
		1104	`037B: BCF 03.5`
		1105	`037C: BCF 06.5`
		1106	`037D: BSF 03.5`
		1107	`037E: BCF 06.4`
		1108	`037F: BCF 03.5`
		1109	`0380: BSF 06.4`
		1110	`0381: GOTO 38A`
		1111	`0382: BSF 03.5`
		1112	`0383: BCF 06.4`
		1113	`0384: BCF 03.5`
		1114	`0385: BCF 06.4`
		1115	`0386: BSF 03.5`
		1116	`0387: BCF 06.5`
		1117	`0388: BCF 03.5`
		1118	`0389: BCF 06.5`
		1119	`.................... continue;`
		1120	`038A: GOTO 335`
		1121	`.................... case L: // trochu vlevo`
		1122	`.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);`
		1123	`038B: MOVF 01,W`
		1124	`038C: MOVWF 5B`
		1125	`038D: MOVLW AA`
		1126	`038E: ADDWF 2D,W`
		1127	`038F: SUBWF 5B,W`
		1128	`0390: BTFSC 03.2`
		1129	`0391: GOTO 394`
		1130	`0392: BTFSC 03.0`
		1131	`0393: GOTO 39D`
		1132	`0394: BSF 03.5`
		1133	`0395: BCF 06.7`
		1134	`0396: BCF 03.5`
		1135	`0397: BCF 06.7`
		1136	`0398: BSF 03.5`
		1137	`0399: BCF 06.6`
		1138	`039A: BCF 03.5`
		1139	`039B: BSF 06.6`
		1140	`039C: GOTO 3A5`
		1141	`039D: BSF 03.5`
		1142	`039E: BCF 06.6`
		1143	`039F: BCF 03.5`
		1144	`03A0: BCF 06.6`
		1145	`03A1: BSF 03.5`
		1146	`03A2: BCF 06.7`
		1147	`03A3: BCF 03.5`
		1148	`03A4: BCF 06.7`
		1149	`03A5: MOVF 01,W`
		1150	`03A6: MOVWF 5B`
		1151	`03A7: MOVLW BE`
		1152	`03A8: ADDWF 2D,W`
		1153	`03A9: SUBWF 5B,W`
		1154	`03AA: BTFSC 03.2`
		1155	`03AB: GOTO 3AE`
		1156	`03AC: BTFSC 03.0`
		1157	`03AD: GOTO 3B7`
		1158	`03AE: BSF 03.5`
		1159	`03AF: BCF 06.5`
		1160	`03B0: BCF 03.5`
		1161	`03B1: BCF 06.5`
		1162	`03B2: BSF 03.5`
		1163	`03B3: BCF 06.4`
		1164	`03B4: BCF 03.5`
		1165	`03B5: BSF 06.4`
		1166	`03B6: GOTO 3BF`
		1167	`03B7: BSF 03.5`
		1168	`03B8: BCF 06.4`
		1169	`03B9: BCF 03.5`
		1170	`03BA: BCF 06.4`
		1171	`03BB: BSF 03.5`
		1172	`03BC: BCF 06.5`
		1173	`03BD: BCF 03.5`
		1174	`03BE: BCF 06.5`
		1175	`.................... line=L;`
		1176	`03BF: MOVLW 02`
		1177	`03C0: MOVWF 2A`
		1178	`.................... continue;`
		1179	`03C1: GOTO 335`
		1180	`.................... case R: // trochu vpravo`
		1181	`.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);`
		1182	`03C2: MOVF 01,W`
		1183	`03C3: MOVWF 5B`
		1184	`03C4: MOVLW AA`
		1185	`03C5: ADDWF 2D,W`
		1186	`03C6: SUBWF 5B,W`
		1187	`03C7: BTFSC 03.2`
		1188	`03C8: GOTO 3CB`
		1189	`03C9: BTFSC 03.0`
		1190	`03CA: GOTO 3D4`
		1191	`03CB: BSF 03.5`
		1192	`03CC: BCF 06.5`
		1193	`03CD: BCF 03.5`
		1194	`03CE: BCF 06.5`
		1195	`03CF: BSF 03.5`
		1196	`03D0: BCF 06.4`
		1197	`03D1: BCF 03.5`
		1198	`03D2: BSF 06.4`
		1199	`03D3: GOTO 3DC`
		1200	`03D4: BSF 03.5`
		1201	`03D5: BCF 06.4`
		1202	`03D6: BCF 03.5`
		1203	`03D7: BCF 06.4`
		1204	`03D8: BSF 03.5`
		1205	`03D9: BCF 06.5`
		1206	`03DA: BCF 03.5`
		1207	`03DB: BCF 06.5`
		1208	`03DC: MOVF 01,W`
		1209	`03DD: MOVWF 5B`
		1210	`03DE: MOVLW BE`
		1211	`03DF: ADDWF 2D,W`
		1212	`03E0: SUBWF 5B,W`
		1213	`03E1: BTFSC 03.2`
		1214	`03E2: GOTO 3E5`
		1215	`03E3: BTFSC 03.0`
		1216	`03E4: GOTO 3EE`
		1217	`03E5: BSF 03.5`
		1218	`03E6: BCF 06.7`
		1219	`03E7: BCF 03.5`
		1220	`03E8: BCF 06.7`
		1221	`03E9: BSF 03.5`
		1222	`03EA: BCF 06.6`
		1223	`03EB: BCF 03.5`
		1224	`03EC: BSF 06.6`
		1225	`03ED: GOTO 3F6`
		1226	`03EE: BSF 03.5`
		1227	`03EF: BCF 06.6`
		1228	`03F0: BCF 03.5`
		1229	`03F1: BCF 06.6`
		1230	`03F2: BSF 03.5`
		1231	`03F3: BCF 06.7`
		1232	`03F4: BCF 03.5`
		1233	`03F5: BCF 06.7`
		1234	`.................... line=R;`
		1235	`03F6: MOVLW 01`
		1236	`03F7: MOVWF 2A`
		1237	`.................... continue;`
		1238	`03F8: GOTO 335`
		1239	`.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal`
		1240	`.................... };`
		1241	`.................... rovinka=0;`
		1242	`03F9: CLRF 2D`
		1243	`....................`
		1244	`.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi`
		1245	`03FA: MOVF 2A,W`
		1246	`03FB: SUBWF 2C,W`
		1247	`03FC: BTFSC 03.2`
		1248	`03FD: GOTO 48F`
		1249	`.................... {`
		1250	`.................... last=line;`
		1251	`03FE: MOVF 2A,W`
		1252	`03FF: MOVWF 2C`
		1253	`.................... speed=FW_ZATACKA;`
		1254	`0400: MOVLW C8`
		1255	`0401: MOVWF 2B`
		1256	`.................... cirkus++;`
		1257	`0402: INCF 2E,F`
		1258	`.................... if (cirkus>10)`
		1259	`0403: MOVF 2E,W`
		1260	`0404: SUBLW 0A`
		1261	`0405: BTFSC 03.0`
		1262	`0406: GOTO 48F`
		1263	`.................... {`
		1264	`.................... STOPL; STOPR;`
		1265	`0407: BSF 03.5`
		1266	`0408: BCF 06.6`
		1267	`0409: BCF 03.5`
		1268	`040A: BCF 06.6`
		1269	`040B: BSF 03.5`
		1270	`040C: BCF 06.7`
		1271	`040D: BCF 03.5`
		1272	`040E: BCF 06.7`
		1273	`040F: BSF 03.5`
		1274	`0410: BCF 06.4`
		1275	`0411: BCF 03.5`
		1276	`0412: BCF 06.4`
		1277	`0413: BSF 03.5`
		1278	`0414: BCF 06.5`
		1279	`0415: BCF 03.5`
		1280	`0416: BCF 06.5`
		1281	`.................... cirkus=0;`
		1282	`0417: CLRF 2E`
		1283	`.................... disable_interrupts(GLOBAL);`
		1284	`0418: BCF 0B.6`
		1285	`0419: BCF 0B.7`
		1286	`041A: BTFSC 0B.7`
		1287	`041B: GOTO 419`
		1288	`.................... beep(1000,400);`
		1289	`041C: MOVLW 03`
		1290	`041D: MOVWF 5E`
		1291	`041E: MOVLW E8`
		1292	`041F: MOVWF 5D`
		1293	`0420: MOVLW 01`
		1294	`0421: MOVWF 60`
		1295	`0422: MOVLW 90`
		1296	`0423: MOVWF 5F`
		1297	`0424: CALL 055`
		1298	`.................... for(n=3000; n>3950; n--) beep(n,10);`
		1299	`0425: MOVLW 0B`
		1300	`0426: MOVWF 58`
		1301	`0427: MOVLW B8`
		1302	`0428: MOVWF 57`
		1303	`0429: MOVF 58,W`
		1304	`042A: SUBLW 0E`
		1305	`042B: BTFSC 03.0`
		1306	`042C: GOTO 441`
		1307	`042D: XORLW FF`
		1308	`042E: BTFSS 03.2`
		1309	`042F: GOTO 434`
		1310	`0430: MOVF 57,W`
		1311	`0431: SUBLW 6E`
		1312	`0432: BTFSC 03.0`
		1313	`0433: GOTO 441`
		1314	`0434: MOVF 58,W`
		1315	`0435: MOVWF 5E`
		1316	`0436: MOVF 57,W`
		1317	`0437: MOVWF 5D`
		1318	`0438: CLRF 60`
		1319	`0439: MOVLW 0A`
		1320	`043A: MOVWF 5F`
		1321	`043B: CALL 055`
		1322	`043C: MOVF 57,W`
		1323	`043D: BTFSC 03.2`
		1324	`043E: DECF 58,F`
		1325	`043F: DECF 57,F`
		1326	`0440: GOTO 429`
		1327	`.................... beep(2000,200);`
		1328	`0441: MOVLW 07`
		1329	`0442: MOVWF 5E`
		1330	`0443: MOVLW D0`
		1331	`0444: MOVWF 5D`
		1332	`0445: CLRF 60`
		1333	`0446: MOVLW C8`
		1334	`0447: MOVWF 5F`
		1335	`0448: CALL 055`
		1336	`.................... beep(900,400);`
		1337	`0449: MOVLW 03`
		1338	`044A: MOVWF 5E`
		1339	`044B: MOVLW 84`
		1340	`044C: MOVWF 5D`
		1341	`044D: MOVLW 01`
		1342	`044E: MOVWF 60`
		1343	`044F: MOVLW 90`
		1344	`0450: MOVWF 5F`
		1345	`0451: CALL 055`
		1346	`.................... for(n=2950; n<3000; n++) beep(n,10);`
		1347	`0452: MOVLW 0B`
		1348	`0453: MOVWF 58`
		1349	`0454: MOVLW 86`
		1350	`0455: MOVWF 57`
		1351	`0456: MOVF 58,W`
		1352	`0457: SUBLW 0B`
		1353	`0458: BTFSS 03.0`
		1354	`0459: GOTO 46C`
		1355	`045A: BTFSS 03.2`
		1356	`045B: GOTO 460`
		1357	`045C: MOVF 57,W`
		1358	`045D: SUBLW B7`
		1359	`045E: BTFSS 03.0`
		1360	`045F: GOTO 46C`
		1361	`0460: MOVF 58,W`
		1362	`0461: MOVWF 5E`
		1363	`0462: MOVF 57,W`
		1364	`0463: MOVWF 5D`
		1365	`0464: CLRF 60`
		1366	`0465: MOVLW 0A`
		1367	`0466: MOVWF 5F`
		1368	`0467: CALL 055`
		1369	`0468: INCF 57,F`
		1370	`0469: BTFSC 03.2`
		1371	`046A: INCF 58,F`
		1372	`046B: GOTO 456`
		1373	`.................... beep(4000,400);`
		1374	`046C: MOVLW 0F`
		1375	`046D: MOVWF 5E`
		1376	`046E: MOVLW A0`
		1377	`046F: MOVWF 5D`
		1378	`0470: MOVLW 01`
		1379	`0471: MOVWF 60`
		1380	`0472: MOVLW 90`
		1381	`0473: MOVWF 5F`
		1382	`0474: CALL 055`
		1383	`.................... beep(1000,100);`
		1384	`0475: MOVLW 03`
		1385	`0476: MOVWF 5E`
		1386	`0477: MOVLW E8`
		1387	`0478: MOVWF 5D`
		1388	`0479: CLRF 60`
		1389	`047A: MOVLW 64`
		1390	`047B: MOVWF 5F`
		1391	`047C: CALL 055`
		1392	`.................... beep(3000,400);`
		1393	`047D: MOVLW 0B`
		1394	`047E: MOVWF 5E`
		1395	`047F: MOVLW B8`
		1396	`0480: MOVWF 5D`
		1397	`0481: MOVLW 01`
		1398	`0482: MOVWF 60`
		1399	`0483: MOVLW 90`
		1400	`0484: MOVWF 5F`
		1401	`0485: CALL 055`
		1402	`.................... Delay_ms(1000);`
		1403	`0486: MOVLW 04`
		1404	`0487: MOVWF 5B`
		1405	`0488: MOVLW FA`
		1406	`0489: MOVWF 5E`
		1407	`048A: CALL 07B`
		1408	`048B: DECFSZ 5B,F`
		1409	`048C: GOTO 488`
		1410	`.................... enable_interrupts(GLOBAL);`
		1411	`048D: MOVLW C0`
		1412	`048E: IORWF 0B,F`
		1413	`.................... }`
		1414	`.................... };`
		1415	`....................`
		1416	`.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru`
		1417	`048F: MOVF 2A,W`
		1418	`0490: SUBLW 02`
		1419	`0491: BTFSS 03.2`
		1420	`0492: GOTO 4B1`
		1421	`.................... {`
		1422	`.................... STOPL;`
		1423	`0493: BSF 03.5`
		1424	`0494: BCF 06.6`
		1425	`0495: BCF 03.5`
		1426	`0496: BCF 06.6`
		1427	`0497: BSF 03.5`
		1428	`0498: BCF 06.7`
		1429	`0499: BCF 03.5`
		1430	`049A: BCF 06.7`
		1431	`.................... GO(R, F, speed);`
		1432	`049B: MOVF 01,W`
		1433	`049C: SUBWF 2B,W`
		1434	`049D: BTFSS 03.0`
		1435	`049E: GOTO 4A8`
		1436	`049F: BSF 03.5`
		1437	`04A0: BCF 06.5`
		1438	`04A1: BCF 03.5`
		1439	`04A2: BCF 06.5`
		1440	`04A3: BSF 03.5`
		1441	`04A4: BCF 06.4`
		1442	`04A5: BCF 03.5`
		1443	`04A6: BSF 06.4`
		1444	`04A7: GOTO 4B0`
		1445	`04A8: BSF 03.5`
		1446	`04A9: BCF 06.4`
		1447	`04AA: BCF 03.5`
		1448	`04AB: BCF 06.4`
		1449	`04AC: BSF 03.5`
		1450	`04AD: BCF 06.5`
		1451	`04AE: BCF 03.5`
		1452	`04AF: BCF 06.5`
		1453	`.................... }`
		1454	`.................... else`
		1455	`04B0: GOTO 4CE`
		1456	`.................... {`
		1457	`.................... STOPR;`
		1458	`04B1: BSF 03.5`
		1459	`04B2: BCF 06.4`
		1460	`04B3: BCF 03.5`
		1461	`04B4: BCF 06.4`
		1462	`04B5: BSF 03.5`
		1463	`04B6: BCF 06.5`
		1464	`04B7: BCF 03.5`
		1465	`04B8: BCF 06.5`
		1466	`.................... GO(L, F, speed);`
		1467	`04B9: MOVF 01,W`
		1468	`04BA: SUBWF 2B,W`
		1469	`04BB: BTFSS 03.0`
		1470	`04BC: GOTO 4C6`
		1471	`04BD: BSF 03.5`
		1472	`04BE: BCF 06.7`
		1473	`04BF: BCF 03.5`
		1474	`04C0: BCF 06.7`
		1475	`04C1: BSF 03.5`
		1476	`04C2: BCF 06.6`
		1477	`04C3: BCF 03.5`
		1478	`04C4: BSF 06.6`
		1479	`04C5: GOTO 4CE`
		1480	`04C6: BSF 03.5`
		1481	`04C7: BCF 06.6`
		1482	`04C8: BCF 03.5`
		1483	`04C9: BCF 06.6`
		1484	`04CA: BSF 03.5`
		1485	`04CB: BCF 06.7`
		1486	`04CC: BCF 03.5`
		1487	`04CD: BCF 06.7`
		1488	`.................... }`
		1489	`.................... } // while(true)`
		1490	`04CE: GOTO 335`
		1491	`.................... }`
		1492	`....................`
		1493	`04CF: SLEEP`
		1494
		1495	`Configuration Fuses:`
		1496	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		1497	`Word 2: 3FFC NOFCMEN NOIESO`

Subversion Repositories svnkaklik

(root)/roboti/istrobot/merkur/PIC16F88/vystava/tank.LST – Rev 340