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

Rev	Author	Line No.	Line
2	kaklik	1	`CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 01:36`
		2
		3	`Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.LST`
		4
		5	`ROM used: 2140 words (52%)`
		6	`Largest free fragment is 1570`
		7	`RAM used: 89 (51%) at main() level`
		8	`101 (58%) worst case`
		9	`Stack: 4 worst case (3 in main + 1 for interrupts)`
		10
		11	`*`
		12	`0000: MOVLW 08`
		13	`0001: MOVWF 0A`
		14	`0002: GOTO 000`
		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 049`
		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	`005C: MOVLW 12`
		78	`005D: BSF 03.5`
		79	`005E: SUBWF 24,F`
		80	`005F: BTFSS 03.0`
		81	`0060: GOTO 06F`
		82	`0061: MOVLW A4`
		83	`0062: MOVWF 04`
		84	`0063: MOVLW FC`
		85	`0064: ANDWF 00,F`
		86	`0065: BCF 03.0`
		87	`0066: RRF 00,F`
		88	`0067: RRF 00,F`
		89	`0068: MOVF 00,W`
		90	`0069: BTFSC 03.2`
		91	`006A: GOTO 06F`
		92	`006B: GOTO 06D`
		93	`006C: NOP`
		94	`006D: DECFSZ 00,F`
		95	`006E: GOTO 06C`
		96	`006F: BCF 03.5`
		97	`0070: RETLW 00`
		98	`*`
		99	`009D: MOVLW 7D`
		100	`009E: MOVWF 04`
		101	`009F: MOVF 00,W`
		102	`00A0: BTFSC 03.2`
		103	`00A1: GOTO 0B1`
		104	`00A2: MOVLW 01`
		105	`00A3: MOVWF 78`
		106	`00A4: CLRF 77`
		107	`00A5: DECFSZ 77,F`
		108	`00A6: GOTO 0A5`
		109	`00A7: DECFSZ 78,F`
		110	`00A8: GOTO 0A4`
		111	`00A9: MOVLW 4A`
		112	`00AA: MOVWF 77`
		113	`00AB: DECFSZ 77,F`
		114	`00AC: GOTO 0AB`
		115	`00AD: NOP`
		116	`00AE: NOP`
		117	`00AF: DECFSZ 00,F`
		118	`00B0: GOTO 0A2`
		119	`00B1: 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	`.................... unsigned int8 cihla; // urcuje za jak dlouho muze byt znova detekovana cihla`
		138	`....................`
		139	`.................... // Konstanty pro dynamiku pohybu`
		140	`.................... #define T_DIRA 85 // po jakem case zataceni se detekuje dira`
		141	`.................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku`
		142	`.................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas`
		143	`.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni`
		144	`.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas`
		145	`.................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry`
		146	`.................... #define PRES_DIRU 150`
		147	`.................... #define MAX_ROVINKA (255-FW_STREDNE)`
		148	`.................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd`
		149	`.................... #define BUMPER_TRESHOLD 128`
		150	`.................... #define CIK_CAK 20000`
		151	`.................... #define T_CIHLA 100 // perioda detekce cihly`
		152	`....................`
		153	`.................... //motory //Napred vypnout potom zapnout!`
		154	`.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`
		155	`.................... #define FL output_low(PIN_B7); output_high(PIN_B6)`
		156	`.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`
		157	`.................... #define BL output_low(PIN_B6); output_high(PIN_B7)`
		158	`.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`
		159	`.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)`
		160	`....................`
		161	`.................... #define L 0b10 // left`
		162	`.................... #define R 0b01 // right`
		163	`.................... #define S 0b11 // straight`
		164	`....................`
		165	`.................... //cidla`
		166	`.................... #define RSENSOR C2OUT // Senzory na caru`
		167	`.................... #define LSENSOR C1OUT`
		168	`.................... #define BUMPER PIN_A4 // Senzor na cihlu`
		169	`....................`
		170	`.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod`
		171	`.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod`
		172	`....................`
		173	`.................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak`
		174	`.................... #DEFINE SOUND_LO PIN_A7`
		175	`....................`
		176	`.................... char AXstring[40]; // Buffer pro prenos telemetrie`
		177	`....................`
		178	`.................... // makro pro PWM`
		179	`.................... #define GO(motor, direction, power) if(get_timer0()<=power) \`
		180	`.................... {direction##motor;} else {stop##motor;}`
		181	`....................`
		182	`.................... #int_TIMER2`
		183	`.................... void TIMER2_isr()`
		184	`.................... {`
		185	`.................... if (speed<255) speed+=INC_SPEED;`
		186	`*`
		187	`0049: INCFSZ 42,W`
		188	`004A: GOTO 04C`
		189	`004B: GOTO 04E`
		190	`004C: MOVLW 01`
		191	`004D: ADDWF 42,F`
		192	`.................... if (rovinka<MAX_ROVINKA) rovinka++;`
		193	`004E: MOVF 43,W`
		194	`004F: SUBLW 0E`
		195	`0050: BTFSC 03.0`
		196	`0051: INCF 43,F`
		197	`.................... if (dira<=T_DIRA) dira++;`
		198	`0052: MOVF 46,W`
		199	`0053: SUBLW 55`
		200	`0054: BTFSC 03.0`
		201	`0055: INCF 46,F`
		202	`.................... if (cihla>0) cihla--;`
		203	`0056: MOVF 47,F`
		204	`0057: BTFSS 03.2`
		205	`0058: DECF 47,F`
		206	`.................... }`
		207	`.................... // Primitivni Pipani`
		208	`0059: BCF 0C.1`
		209	`005A: BCF 0A.3`
		210	`005B: GOTO 022`
		211	`.................... void beep(unsigned int16 period, unsigned int16 length)`
		212	`.................... {`
		213	`.................... unsigned int16 nn;`
		214	`....................`
		215	`.................... for(nn=length; nn>0; nn--)`
		216	`*`
		217	`0071: BSF 03.5`
		218	`0072: MOVF 21,W`
		219	`0073: MOVWF 23`
		220	`0074: MOVF 20,W`
		221	`0075: MOVWF 22`
		222	`0076: MOVF 22,F`
		223	`0077: BTFSS 03.2`
		224	`0078: GOTO 07C`
		225	`0079: MOVF 23,F`
		226	`007A: BTFSC 03.2`
		227	`007B: GOTO 09B`
		228	`.................... {`
		229	`.................... output_high(SOUND_HI);output_low(SOUND_LO);`
		230	`007C: BCF 05.6`
		231	`007D: BCF 03.5`
		232	`007E: BSF 05.6`
		233	`007F: BSF 03.5`
		234	`0080: BCF 05.7`
		235	`0081: BCF 03.5`
		236	`0082: BCF 05.7`
		237	`.................... delay_us(period);`
		238	`0083: MOVF 7C,W`
		239	`0084: BSF 03.5`
		240	`0085: MOVWF 24`
		241	`0086: BCF 03.5`
		242	`0087: CALL 05C`
		243	`.................... output_high(SOUND_LO);output_low(SOUND_HI);`
		244	`0088: BSF 03.5`
		245	`0089: BCF 05.7`
		246	`008A: BCF 03.5`
		247	`008B: BSF 05.7`
		248	`008C: BSF 03.5`
		249	`008D: BCF 05.6`
		250	`008E: BCF 03.5`
		251	`008F: BCF 05.6`
		252	`.................... delay_us(period);`
		253	`0090: MOVF 7C,W`
		254	`0091: BSF 03.5`
		255	`0092: MOVWF 24`
		256	`0093: BCF 03.5`
		257	`0094: CALL 05C`
		258	`.................... }`
		259	`0095: BSF 03.5`
		260	`0096: MOVF 22,W`
		261	`0097: BTFSC 03.2`
		262	`0098: DECF 23,F`
		263	`0099: DECF 22,F`
		264	`009A: GOTO 076`
		265	`.................... }`
		266	`009B: BCF 03.5`
		267	`009C: RETLW 00`
		268	`.................... /******************************************************************************/`
		269	`.................... void diagnostika()`
		270	`.................... {`
		271	`.................... unsigned int16 n;`
		272	`....................`
		273	`.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku`
		274	`.................... {`
		275	`*`
		276	`01D1: BSF 03.5`
		277	`01D2: BSF 06.3`
		278	`01D3: BCF 03.5`
		279	`01D4: BTFSS 06.3`
		280	`01D5: GOTO 302`
		281	`.................... for (n=500; n<800; n+=100)`
		282	`01D6: MOVLW 01`
		283	`01D7: MOVWF 74`
		284	`01D8: MOVLW F4`
		285	`01D9: MOVWF 73`
		286	`01DA: MOVF 74,W`
		287	`01DB: SUBLW 03`
		288	`01DC: BTFSS 03.0`
		289	`01DD: GOTO 1F4`
		290	`01DE: BTFSS 03.2`
		291	`01DF: GOTO 1E4`
		292	`01E0: MOVF 73,W`
		293	`01E1: SUBLW 1F`
		294	`01E2: BTFSS 03.0`
		295	`01E3: GOTO 1F4`
		296	`.................... {`
		297	`.................... beep(n,n); //beep UP`
		298	`01E4: MOVF 74,W`
		299	`01E5: MOVWF 7D`
		300	`01E6: MOVF 73,W`
		301	`01E7: MOVWF 7C`
		302	`01E8: MOVF 74,W`
		303	`01E9: BSF 03.5`
		304	`01EA: MOVWF 21`
		305	`01EB: MOVF 73,W`
		306	`01EC: MOVWF 20`
		307	`01ED: BCF 03.5`
		308	`01EE: CALL 071`
		309	`.................... };`
		310	`01EF: MOVLW 64`
		311	`01F0: ADDWF 73,F`
		312	`01F1: BTFSC 03.0`
		313	`01F2: INCF 74,F`
		314	`01F3: GOTO 1DA`
		315	`.................... Delay_ms(1000);`
		316	`01F4: MOVLW 04`
		317	`01F5: MOVWF 7C`
		318	`01F6: MOVLW FA`
		319	`01F7: MOVWF 7D`
		320	`01F8: CALL 09D`
		321	`01F9: DECFSZ 7C,F`
		322	`01FA: GOTO 1F6`
		323	`.................... //zastav vse`
		324	`.................... STOPL; STOPR;`
		325	`01FB: BSF 03.5`
		326	`01FC: BCF 06.6`
		327	`01FD: BCF 03.5`
		328	`01FE: BCF 06.6`
		329	`01FF: BSF 03.5`
		330	`0200: BCF 06.7`
		331	`0201: BCF 03.5`
		332	`0202: BCF 06.7`
		333	`0203: BSF 03.5`
		334	`0204: BCF 06.4`
		335	`0205: BCF 03.5`
		336	`0206: BCF 06.4`
		337	`0207: BSF 03.5`
		338	`0208: BCF 06.5`
		339	`0209: BCF 03.5`
		340	`020A: BCF 06.5`
		341	`.................... //pravy pas`
		342	`.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		343	`020B: BSF 03.5`
		344	`020C: BCF 06.5`
		345	`020D: BCF 03.5`
		346	`020E: BCF 06.5`
		347	`020F: BSF 03.5`
		348	`0210: BCF 06.4`
		349	`0211: BCF 03.5`
		350	`0212: BSF 06.4`
		351	`0213: MOVLW 04`
		352	`0214: MOVWF 7C`
		353	`0215: MOVLW FA`
		354	`0216: MOVWF 7D`
		355	`0217: CALL 09D`
		356	`0218: DECFSZ 7C,F`
		357	`0219: GOTO 215`
		358	`021A: BSF 03.5`
		359	`021B: BCF 06.4`
		360	`021C: BCF 03.5`
		361	`021D: BCF 06.4`
		362	`021E: BSF 03.5`
		363	`021F: BCF 06.5`
		364	`0220: BCF 03.5`
		365	`0221: BCF 06.5`
		366	`0222: MOVLW 04`
		367	`0223: MOVWF 7C`
		368	`0224: MOVLW FA`
		369	`0225: MOVWF 7D`
		370	`0226: CALL 09D`
		371	`0227: DECFSZ 7C,F`
		372	`0228: GOTO 224`
		373	`.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);`
		374	`0229: BSF 03.5`
		375	`022A: BCF 06.4`
		376	`022B: BCF 03.5`
		377	`022C: BCF 06.4`
		378	`022D: BSF 03.5`
		379	`022E: BCF 06.5`
		380	`022F: BCF 03.5`
		381	`0230: BSF 06.5`
		382	`0231: MOVLW 04`
		383	`0232: MOVWF 7C`
		384	`0233: MOVLW FA`
		385	`0234: MOVWF 7D`
		386	`0235: CALL 09D`
		387	`0236: DECFSZ 7C,F`
		388	`0237: GOTO 233`
		389	`0238: BSF 03.5`
		390	`0239: BCF 06.4`
		391	`023A: BCF 03.5`
		392	`023B: BCF 06.4`
		393	`023C: BSF 03.5`
		394	`023D: BCF 06.5`
		395	`023E: BCF 03.5`
		396	`023F: BCF 06.5`
		397	`0240: MOVLW 04`
		398	`0241: MOVWF 7C`
		399	`0242: MOVLW FA`
		400	`0243: MOVWF 7D`
		401	`0244: CALL 09D`
		402	`0245: DECFSZ 7C,F`
		403	`0246: GOTO 242`
		404	`.................... Beep(880,100); Delay_ms(1000);`
		405	`0247: MOVLW 03`
		406	`0248: MOVWF 7D`
		407	`0249: MOVLW 70`
		408	`024A: MOVWF 7C`
		409	`024B: BSF 03.5`
		410	`024C: CLRF 21`
		411	`024D: MOVLW 64`
		412	`024E: MOVWF 20`
		413	`024F: BCF 03.5`
		414	`0250: CALL 071`
		415	`0251: MOVLW 04`
		416	`0252: MOVWF 7C`
		417	`0253: MOVLW FA`
		418	`0254: MOVWF 7D`
		419	`0255: CALL 09D`
		420	`0256: DECFSZ 7C,F`
		421	`0257: GOTO 253`
		422	`.................... //levy pas`
		423	`.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		424	`0258: BSF 03.5`
		425	`0259: BCF 06.7`
		426	`025A: BCF 03.5`
		427	`025B: BCF 06.7`
		428	`025C: BSF 03.5`
		429	`025D: BCF 06.6`
		430	`025E: BCF 03.5`
		431	`025F: BSF 06.6`
		432	`0260: MOVLW 04`
		433	`0261: MOVWF 7C`
		434	`0262: MOVLW FA`
		435	`0263: MOVWF 7D`
		436	`0264: CALL 09D`
		437	`0265: DECFSZ 7C,F`
		438	`0266: GOTO 262`
		439	`0267: BSF 03.5`
		440	`0268: BCF 06.6`
		441	`0269: BCF 03.5`
		442	`026A: BCF 06.6`
		443	`026B: BSF 03.5`
		444	`026C: BCF 06.7`
		445	`026D: BCF 03.5`
		446	`026E: BCF 06.7`
		447	`026F: MOVLW 04`
		448	`0270: MOVWF 7C`
		449	`0271: MOVLW FA`
		450	`0272: MOVWF 7D`
		451	`0273: CALL 09D`
		452	`0274: DECFSZ 7C,F`
		453	`0275: GOTO 271`
		454	`.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);`
		455	`0276: BSF 03.5`
		456	`0277: BCF 06.6`
		457	`0278: BCF 03.5`
		458	`0279: BCF 06.6`
		459	`027A: BSF 03.5`
		460	`027B: BCF 06.7`
		461	`027C: BCF 03.5`
		462	`027D: BSF 06.7`
		463	`027E: MOVLW 04`
		464	`027F: MOVWF 7C`
		465	`0280: MOVLW FA`
		466	`0281: MOVWF 7D`
		467	`0282: CALL 09D`
		468	`0283: DECFSZ 7C,F`
		469	`0284: GOTO 280`
		470	`0285: BSF 03.5`
		471	`0286: BCF 06.6`
		472	`0287: BCF 03.5`
		473	`0288: BCF 06.6`
		474	`0289: BSF 03.5`
		475	`028A: BCF 06.7`
		476	`028B: BCF 03.5`
		477	`028C: BCF 06.7`
		478	`028D: MOVLW 04`
		479	`028E: MOVWF 7C`
		480	`028F: MOVLW FA`
		481	`0290: MOVWF 7D`
		482	`0291: CALL 09D`
		483	`0292: DECFSZ 7C,F`
		484	`0293: GOTO 28F`
		485	`.................... Beep(880,100); Delay_ms(1000);`
		486	`0294: MOVLW 03`
		487	`0295: MOVWF 7D`
		488	`0296: MOVLW 70`
		489	`0297: MOVWF 7C`
		490	`0298: BSF 03.5`
		491	`0299: CLRF 21`
		492	`029A: MOVLW 64`
		493	`029B: MOVWF 20`
		494	`029C: BCF 03.5`
		495	`029D: CALL 071`
		496	`029E: MOVLW 04`
		497	`029F: MOVWF 7C`
		498	`02A0: MOVLW FA`
		499	`02A1: MOVWF 7D`
		500	`02A2: CALL 09D`
		501	`02A3: DECFSZ 7C,F`
		502	`02A4: GOTO 2A0`
		503	`.................... //oba pasy`
		504	`.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		505	`02A5: BSF 03.5`
		506	`02A6: BCF 06.7`
		507	`02A7: BCF 03.5`
		508	`02A8: BCF 06.7`
		509	`02A9: BSF 03.5`
		510	`02AA: BCF 06.6`
		511	`02AB: BCF 03.5`
		512	`02AC: BSF 06.6`
		513	`02AD: BSF 03.5`
		514	`02AE: BCF 06.5`
		515	`02AF: BCF 03.5`
		516	`02B0: BCF 06.5`
		517	`02B1: BSF 03.5`
		518	`02B2: BCF 06.4`
		519	`02B3: BCF 03.5`
		520	`02B4: BSF 06.4`
		521	`02B5: MOVLW 04`
		522	`02B6: MOVWF 7C`
		523	`02B7: MOVLW FA`
		524	`02B8: MOVWF 7D`
		525	`02B9: CALL 09D`
		526	`02BA: DECFSZ 7C,F`
		527	`02BB: GOTO 2B7`
		528	`02BC: BSF 03.5`
		529	`02BD: BCF 06.6`
		530	`02BE: BCF 03.5`
		531	`02BF: BCF 06.6`
		532	`02C0: BSF 03.5`
		533	`02C1: BCF 06.7`
		534	`02C2: BCF 03.5`
		535	`02C3: BCF 06.7`
		536	`02C4: BSF 03.5`
		537	`02C5: BCF 06.4`
		538	`02C6: BCF 03.5`
		539	`02C7: BCF 06.4`
		540	`02C8: BSF 03.5`
		541	`02C9: BCF 06.5`
		542	`02CA: BCF 03.5`
		543	`02CB: BCF 06.5`
		544	`02CC: MOVLW 04`
		545	`02CD: MOVWF 7C`
		546	`02CE: MOVLW FA`
		547	`02CF: MOVWF 7D`
		548	`02D0: CALL 09D`
		549	`02D1: DECFSZ 7C,F`
		550	`02D2: GOTO 2CE`
		551	`.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
		552	`02D3: BSF 03.5`
		553	`02D4: BCF 06.6`
		554	`02D5: BCF 03.5`
		555	`02D6: BCF 06.6`
		556	`02D7: BSF 03.5`
		557	`02D8: BCF 06.7`
		558	`02D9: BCF 03.5`
		559	`02DA: BSF 06.7`
		560	`02DB: BSF 03.5`
		561	`02DC: BCF 06.4`
		562	`02DD: BCF 03.5`
		563	`02DE: BCF 06.4`
		564	`02DF: BSF 03.5`
		565	`02E0: BCF 06.5`
		566	`02E1: BCF 03.5`
		567	`02E2: BSF 06.5`
		568	`02E3: MOVLW 04`
		569	`02E4: MOVWF 7C`
		570	`02E5: MOVLW FA`
		571	`02E6: MOVWF 7D`
		572	`02E7: CALL 09D`
		573	`02E8: DECFSZ 7C,F`
		574	`02E9: GOTO 2E5`
		575	`02EA: BSF 03.5`
		576	`02EB: BCF 06.6`
		577	`02EC: BCF 03.5`
		578	`02ED: BCF 06.6`
		579	`02EE: BSF 03.5`
		580	`02EF: BCF 06.7`
		581	`02F0: BCF 03.5`
		582	`02F1: BCF 06.7`
		583	`02F2: BSF 03.5`
		584	`02F3: BCF 06.4`
		585	`02F4: BCF 03.5`
		586	`02F5: BCF 06.4`
		587	`02F6: BSF 03.5`
		588	`02F7: BCF 06.5`
		589	`02F8: BCF 03.5`
		590	`02F9: BCF 06.5`
		591	`02FA: MOVLW 04`
		592	`02FB: MOVWF 7C`
		593	`02FC: MOVLW FA`
		594	`02FD: MOVWF 7D`
		595	`02FE: CALL 09D`
		596	`02FF: DECFSZ 7C,F`
		597	`0300: GOTO 2FC`
		598	`.................... };`
		599	`0301: GOTO 1D1`
		600	`.................... while (input(DIAG_SENSORS))`
		601	`.................... {`
		602	`0302: BSF 03.5`
		603	`0303: BSF 06.2`
		604	`0304: BCF 03.5`
		605	`0305: BTFSS 06.2`
		606	`0306: GOTO 3C2`
		607	`.................... int ls, rs;`
		608	`.................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);}`
		609	`0307: BSF 03.5`
		610	`0308: BSF 05.4`
		611	`0309: BCF 03.5`
		612	`030A: BTFSC 05.4`
		613	`030B: GOTO 31A`
		614	`030C: MOVLW 04`
		615	`030D: MOVWF 7D`
		616	`030E: MOVLW 4C`
		617	`030F: MOVWF 7C`
		618	`0310: BSF 03.5`
		619	`0311: CLRF 21`
		620	`0312: MOVLW 64`
		621	`0313: MOVWF 20`
		622	`0314: BCF 03.5`
		623	`0315: CALL 071`
		624	`0316: MOVLW 32`
		625	`0317: MOVWF 7D`
		626	`0318: CALL 09D`
		627	`0319: GOTO 307`
		628	`.................... set_adc_channel(RSENSOR);`
		629	`031A: MOVLW 00`
		630	`031B: BSF 03.5`
		631	`031C: BTFSC 1C.7`
		632	`031D: MOVLW 01`
		633	`031E: MOVWF 7C`
		634	`031F: RLF 7C,W`
		635	`0320: MOVWF 77`
		636	`0321: RLF 77,F`
		637	`0322: RLF 77,F`
		638	`0323: MOVLW F8`
		639	`0324: ANDWF 77,F`
		640	`0325: BCF 03.5`
		641	`0326: MOVF 1F,W`
		642	`0327: ANDLW C7`
		643	`0328: IORWF 77,W`
		644	`0329: MOVWF 1F`
		645	`.................... Delay_us(20);`
		646	`032A: MOVLW 06`
		647	`032B: MOVWF 77`
		648	`032C: DECFSZ 77,F`
		649	`032D: GOTO 32C`
		650	`032E: NOP`
		651	`.................... rs=read_adc();`
		652	`032F: BSF 1F.2`
		653	`0330: BTFSC 1F.2`
		654	`0331: GOTO 330`
		655	`0332: MOVF 1E,W`
		656	`0333: MOVWF 76`
		657	`.................... set_adc_channel(LSENSOR);`
		658	`0334: MOVLW 00`
		659	`0335: BSF 03.5`
		660	`0336: BTFSC 1C.6`
		661	`0337: MOVLW 01`
		662	`0338: MOVWF 7C`
		663	`0339: RLF 7C,W`
		664	`033A: MOVWF 77`
		665	`033B: RLF 77,F`
		666	`033C: RLF 77,F`
		667	`033D: MOVLW F8`
		668	`033E: ANDWF 77,F`
		669	`033F: BCF 03.5`
		670	`0340: MOVF 1F,W`
		671	`0341: ANDLW C7`
		672	`0342: IORWF 77,W`
		673	`0343: MOVWF 1F`
		674	`.................... Delay_us(20);`
		675	`0344: MOVLW 06`
		676	`0345: MOVWF 77`
		677	`0346: DECFSZ 77,F`
		678	`0347: GOTO 346`
		679	`0348: NOP`
		680	`.................... ls=read_adc();`
		681	`0349: BSF 1F.2`
		682	`034A: BTFSC 1F.2`
		683	`034B: GOTO 34A`
		684	`034C: MOVF 1E,W`
		685	`034D: MOVWF 75`
		686	`.................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String.`
		687	`034E: MOVLW 48`
		688	`034F: MOVWF 70`
		689	`0350: MOVLW 4C`
		690	`0351: BSF 03.5`
		691	`0352: MOVWF 20`
		692	`0353: BCF 03.5`
		693	`0354: CALL 0B2`
		694	`0355: MOVLW 3A`
		695	`0356: BSF 03.5`
		696	`0357: MOVWF 20`
		697	`0358: BCF 03.5`
		698	`0359: CALL 0B2`
		699	`035A: MOVLW 20`
		700	`035B: BSF 03.5`
		701	`035C: MOVWF 20`
		702	`035D: BCF 03.5`
		703	`035E: CALL 0B2`
		704	`035F: MOVF 75,W`
		705	`0360: MOVWF 7D`
		706	`0361: MOVLW 18`
		707	`0362: MOVWF 7E`
		708	`0363: CALL 0D3`
		709	`0364: MOVLW 05`
		710	`0365: MOVWF 7C`
		711	`0366: MOVF 7C,W`
		712	`0367: CALL 037`
		713	`0368: INCF 7C,F`
		714	`0369: MOVWF 77`
		715	`036A: BSF 03.5`
		716	`036B: MOVWF 20`
		717	`036C: BCF 03.5`
		718	`036D: CALL 0B2`
		719	`036E: MOVLW 0A`
		720	`036F: SUBWF 7C,W`
		721	`0370: BTFSS 03.2`
		722	`0371: GOTO 366`
		723	`0372: MOVF 76,W`
		724	`0373: MOVWF 7D`
		725	`0374: MOVLW 18`
		726	`0375: MOVWF 7E`
		727	`0376: CALL 0D3`
		728	`*`
		729	`082D: CLRF 70`
		730	`.................... SendPacket(&AXstring[0]);`
		731	`*`
		732	`0377: MOVLW 48`
		733	`0378: MOVWF 7C`
		734	`.................... delay_ms(1000);`
		735	`*`
		736	`03BA: MOVLW 04`
		737	`03BB: MOVWF 7C`
		738	`03BC: MOVLW FA`
		739	`03BD: MOVWF 7D`
		740	`03BE: CALL 09D`
		741	`03BF: DECFSZ 7C,F`
		742	`03C0: GOTO 3BC`
		743	`.................... };`
		744	`03C1: GOTO 302`
		745	`.................... }`
		746	`03C2: BSF 0A.3`
		747	`03C3: GOTO 0BA (RETURN)`
		748	`.................... ///////////////////////////////////////////////////////////////////////////////`
		749	`.................... void cikcak()`
		750	`.................... {`
		751	`.................... unsigned int16 n;`
		752	`....................`
		753	`.................... line = RSENSOR; // cteni senzoru na caru`
		754	`03C4: CLRF 41`
		755	`03C5: BSF 03.5`
		756	`03C6: BTFSS 1C.7`
		757	`03C7: GOTO 3CB`
		758	`03C8: BCF 03.5`
		759	`03C9: INCF 41,F`
		760	`03CA: BSF 03.5`
		761	`.................... line \|= LSENSOR << 1;`
		762	`03CB: MOVLW 00`
		763	`03CC: BTFSC 1C.6`
		764	`03CD: MOVLW 01`
		765	`03CE: MOVWF 77`
		766	`03CF: BCF 03.0`
		767	`03D0: RLF 77,F`
		768	`03D1: MOVF 77,W`
		769	`03D2: BCF 03.5`
		770	`03D3: IORWF 41,F`
		771	`.................... if (line!=0) return;`
		772	`03D4: MOVF 41,F`
		773	`03D5: BTFSS 03.2`
		774	`03D6: GOTO 4B1`
		775	`....................`
		776	`.................... n=0;`
		777	`03D7: CLRF 76`
		778	`03D8: CLRF 75`
		779	`.................... switch(movement) // podivej se na druhou stranu nez se jelo`
		780	`.................... {`
		781	`03D9: MOVF 45,W`
		782	`03DA: XORLW 02`
		783	`03DB: BTFSC 03.2`
		784	`03DC: GOTO 3E4`
		785	`03DD: XORLW 03`
		786	`03DE: BTFSC 03.2`
		787	`03DF: GOTO 3F7`
		788	`03E0: XORLW 02`
		789	`03E1: BTFSC 03.2`
		790	`03E2: GOTO 40A`
		791	`03E3: GOTO 421`
		792	`.................... case L:`
		793	`.................... FL;BR;`
		794	`03E4: BSF 03.5`
		795	`03E5: BCF 06.7`
		796	`03E6: BCF 03.5`
		797	`03E7: BCF 06.7`
		798	`03E8: BSF 03.5`
		799	`03E9: BCF 06.6`
		800	`03EA: BCF 03.5`
		801	`03EB: BSF 06.6`
		802	`03EC: BSF 03.5`
		803	`03ED: BCF 06.4`
		804	`03EE: BCF 03.5`
		805	`03EF: BCF 06.4`
		806	`03F0: BSF 03.5`
		807	`03F1: BCF 06.5`
		808	`03F2: BCF 03.5`
		809	`03F3: BSF 06.5`
		810	`.................... movement=R;`
		811	`03F4: MOVLW 01`
		812	`03F5: MOVWF 45`
		813	`.................... break;`
		814	`03F6: GOTO 421`
		815	`.................... case R:`
		816	`.................... FR;BL;`
		817	`03F7: BSF 03.5`
		818	`03F8: BCF 06.5`
		819	`03F9: BCF 03.5`
		820	`03FA: BCF 06.5`
		821	`03FB: BSF 03.5`
		822	`03FC: BCF 06.4`
		823	`03FD: BCF 03.5`
		824	`03FE: BSF 06.4`
		825	`03FF: BSF 03.5`
		826	`0400: BCF 06.6`
		827	`0401: BCF 03.5`
		828	`0402: BCF 06.6`
		829	`0403: BSF 03.5`
		830	`0404: BCF 06.7`
		831	`0405: BCF 03.5`
		832	`0406: BSF 06.7`
		833	`.................... movement=L;`
		834	`0407: MOVLW 02`
		835	`0408: MOVWF 45`
		836	`.................... break;`
		837	`0409: GOTO 421`
		838	`.................... case S:`
		839	`.................... FL;BR;`
		840	`040A: BSF 03.5`
		841	`040B: BCF 06.7`
		842	`040C: BCF 03.5`
		843	`040D: BCF 06.7`
		844	`040E: BSF 03.5`
		845	`040F: BCF 06.6`
		846	`0410: BCF 03.5`
		847	`0411: BSF 06.6`
		848	`0412: BSF 03.5`
		849	`0413: BCF 06.4`
		850	`0414: BCF 03.5`
		851	`0415: BCF 06.4`
		852	`0416: BSF 03.5`
		853	`0417: BCF 06.5`
		854	`0418: BCF 03.5`
		855	`0419: BSF 06.5`
		856	`.................... movement=R;`
		857	`041A: MOVLW 01`
		858	`041B: MOVWF 45`
		859	`.................... n=CIK_CAK/2;`
		860	`041C: MOVLW 27`
		861	`041D: MOVWF 76`
		862	`041E: MOVLW 10`
		863	`041F: MOVWF 75`
		864	`.................... break;`
		865	`0420: GOTO 421`
		866	`.................... }`
		867	`.................... while (0==(RSENSOR\|LSENSOR)) // zkontroluj caru`
		868	`.................... {`
		869	`0421: MOVLW 00`
		870	`0422: BSF 03.5`
		871	`0423: BTFSC 1C.7`
		872	`0424: MOVLW 01`
		873	`0425: MOVWF 7C`
		874	`0426: MOVLW 00`
		875	`0427: BTFSC 1C.6`
		876	`0428: MOVLW 01`
		877	`0429: IORWF 7C,W`
		878	`042A: XORLW 00`
		879	`042B: BTFSS 03.2`
		880	`042C: GOTO 46D`
		881	`.................... if (n==CIK_CAK) // zmen smer zataceni`
		882	`042D: MOVF 75,W`
		883	`042E: SUBLW 20`
		884	`042F: BTFSS 03.2`
		885	`0430: GOTO 467`
		886	`0431: MOVF 76,W`
		887	`0432: SUBLW 4E`
		888	`0433: BTFSS 03.2`
		889	`0434: GOTO 467`
		890	`.................... {`
		891	`.................... n=0;`
		892	`0435: CLRF 76`
		893	`0436: CLRF 75`
		894	`.................... switch(movement)`
		895	`.................... {`
		896	`0437: BCF 03.5`
		897	`0438: MOVF 45,W`
		898	`0439: XORLW 02`
		899	`043A: BTFSC 03.2`
		900	`043B: GOTO 440`
		901	`043C: XORLW 03`
		902	`043D: BTFSC 03.2`
		903	`043E: GOTO 453`
		904	`043F: GOTO 466`
		905	`.................... case L:`
		906	`.................... FL;BR;`
		907	`0440: BSF 03.5`
		908	`0441: BCF 06.7`
		909	`0442: BCF 03.5`
		910	`0443: BCF 06.7`
		911	`0444: BSF 03.5`
		912	`0445: BCF 06.6`
		913	`0446: BCF 03.5`
		914	`0447: BSF 06.6`
		915	`0448: BSF 03.5`
		916	`0449: BCF 06.4`
		917	`044A: BCF 03.5`
		918	`044B: BCF 06.4`
		919	`044C: BSF 03.5`
		920	`044D: BCF 06.5`
		921	`044E: BCF 03.5`
		922	`044F: BSF 06.5`
		923	`.................... movement=R;`
		924	`0450: MOVLW 01`
		925	`0451: MOVWF 45`
		926	`.................... break;`
		927	`0452: GOTO 466`
		928	`.................... case R:`
		929	`.................... FR;BL;`
		930	`0453: BSF 03.5`
		931	`0454: BCF 06.5`
		932	`0455: BCF 03.5`
		933	`0456: BCF 06.5`
		934	`0457: BSF 03.5`
		935	`0458: BCF 06.4`
		936	`0459: BCF 03.5`
		937	`045A: BSF 06.4`
		938	`045B: BSF 03.5`
		939	`045C: BCF 06.6`
		940	`045D: BCF 03.5`
		941	`045E: BCF 06.6`
		942	`045F: BSF 03.5`
		943	`0460: BCF 06.7`
		944	`0461: BCF 03.5`
		945	`0462: BSF 06.7`
		946	`.................... movement=L;`
		947	`0463: MOVLW 02`
		948	`0464: MOVWF 45`
		949	`.................... break;`
		950	`0465: GOTO 466`
		951	`0466: BSF 03.5`
		952	`.................... }`
		953	`.................... }`
		954	`.................... n++;`
		955	`0467: INCF 75,F`
		956	`0468: BTFSC 03.2`
		957	`0469: INCF 76,F`
		958	`.................... }`
		959	`046A: BCF 03.5`
		960	`046B: GOTO 421`
		961	`046C: BSF 03.5`
		962	`.................... switch(movement)`
		963	`.................... {`
		964	`046D: BCF 03.5`
		965	`046E: MOVF 45,W`
		966	`046F: XORLW 02`
		967	`0470: BTFSC 03.2`
		968	`0471: GOTO 476`
		969	`0472: XORLW 03`
		970	`0473: BTFSC 03.2`
		971	`0474: GOTO 489`
		972	`0475: GOTO 49C`
		973	`.................... case L:`
		974	`.................... FL;BR;`
		975	`0476: BSF 03.5`
		976	`0477: BCF 06.7`
		977	`0478: BCF 03.5`
		978	`0479: BCF 06.7`
		979	`047A: BSF 03.5`
		980	`047B: BCF 06.6`
		981	`047C: BCF 03.5`
		982	`047D: BSF 06.6`
		983	`047E: BSF 03.5`
		984	`047F: BCF 06.4`
		985	`0480: BCF 03.5`
		986	`0481: BCF 06.4`
		987	`0482: BSF 03.5`
		988	`0483: BCF 06.5`
		989	`0484: BCF 03.5`
		990	`0485: BSF 06.5`
		991	`.................... movement=R;`
		992	`0486: MOVLW 01`
		993	`0487: MOVWF 45`
		994	`.................... break;`
		995	`0488: GOTO 49C`
		996	`.................... case R:`
		997	`.................... FR;BL;`
		998	`0489: BSF 03.5`
		999	`048A: BCF 06.5`
		1000	`048B: BCF 03.5`
		1001	`048C: BCF 06.5`
		1002	`048D: BSF 03.5`
		1003	`048E: BCF 06.4`
		1004	`048F: BCF 03.5`
		1005	`0490: BSF 06.4`
		1006	`0491: BSF 03.5`
		1007	`0492: BCF 06.6`
		1008	`0493: BCF 03.5`
		1009	`0494: BCF 06.6`
		1010	`0495: BSF 03.5`
		1011	`0496: BCF 06.7`
		1012	`0497: BCF 03.5`
		1013	`0498: BSF 06.7`
		1014	`.................... movement=L;`
		1015	`0499: MOVLW 02`
		1016	`049A: MOVWF 45`
		1017	`.................... break;`
		1018	`049B: GOTO 49C`
		1019	`.................... }`
		1020	`.................... Delay_ms(50);`
		1021	`049C: MOVLW 32`
		1022	`049D: MOVWF 7D`
		1023	`049E: CALL 09D`
		1024	`.................... STOPL;STOPR; // nasli jsme caru`
		1025	`049F: BSF 03.5`
		1026	`04A0: BCF 06.6`
		1027	`04A1: BCF 03.5`
		1028	`04A2: BCF 06.6`
		1029	`04A3: BSF 03.5`
		1030	`04A4: BCF 06.7`
		1031	`04A5: BCF 03.5`
		1032	`04A6: BCF 06.7`
		1033	`04A7: BSF 03.5`
		1034	`04A8: BCF 06.4`
		1035	`04A9: BCF 03.5`
		1036	`04AA: BCF 06.4`
		1037	`04AB: BSF 03.5`
		1038	`04AC: BCF 06.5`
		1039	`04AD: BCF 03.5`
		1040	`04AE: BCF 06.5`
		1041	`.................... line=S;`
		1042	`04AF: MOVLW 03`
		1043	`04B0: MOVWF 41`
		1044	`.................... }`
		1045	`04B1: RETLW 00`
		1046	`.................... ///////////////////////////////////////////////////////////////////////////////`
		1047	`.................... void objizdka() // objede cihlu`
		1048	`.................... {`
		1049	`.................... unsigned int16 n;`
		1050	`....................`
		1051	`.................... BL;BR;Delay_ms(200);`
		1052	`04B2: BSF 03.5`
		1053	`04B3: BCF 06.6`
		1054	`04B4: BCF 03.5`
		1055	`04B5: BCF 06.6`
		1056	`04B6: BSF 03.5`
		1057	`04B7: BCF 06.7`
		1058	`04B8: BCF 03.5`
		1059	`04B9: BSF 06.7`
		1060	`04BA: BSF 03.5`
		1061	`04BB: BCF 06.4`
		1062	`04BC: BCF 03.5`
		1063	`04BD: BCF 06.4`
		1064	`04BE: BSF 03.5`
		1065	`04BF: BCF 06.5`
		1066	`04C0: BCF 03.5`
		1067	`04C1: BSF 06.5`
		1068	`04C2: MOVLW C8`
		1069	`04C3: MOVWF 7D`
		1070	`04C4: CALL 09D`
		1071	`.................... STOPR;STOPL;`
		1072	`04C5: BSF 03.5`
		1073	`04C6: BCF 06.4`
		1074	`04C7: BCF 03.5`
		1075	`04C8: BCF 06.4`
		1076	`04C9: BSF 03.5`
		1077	`04CA: BCF 06.5`
		1078	`04CB: BCF 03.5`
		1079	`04CC: BCF 06.5`
		1080	`04CD: BSF 03.5`
		1081	`04CE: BCF 06.6`
		1082	`04CF: BCF 03.5`
		1083	`04D0: BCF 06.6`
		1084	`04D1: BSF 03.5`
		1085	`04D2: BCF 06.7`
		1086	`04D3: BCF 03.5`
		1087	`04D4: BCF 06.7`
		1088	`.................... beep(900,1000);`
		1089	`04D5: MOVLW 03`
		1090	`04D6: MOVWF 7D`
		1091	`04D7: MOVLW 84`
		1092	`04D8: MOVWF 7C`
		1093	`04D9: MOVLW 03`
		1094	`04DA: BSF 03.5`
		1095	`04DB: MOVWF 21`
		1096	`04DC: MOVLW E8`
		1097	`04DD: MOVWF 20`
		1098	`04DE: BCF 03.5`
		1099	`04DF: CALL 071`
		1100	`.................... movement=S;`
		1101	`04E0: MOVLW 03`
		1102	`04E1: MOVWF 45`
		1103	`.................... cikcak();`
		1104	`04E2: CALL 3C4`
		1105	`....................`
		1106	`.................... BR; FL; Delay_ms(215); // otoc se 70° do prava`
		1107	`04E3: BSF 03.5`
		1108	`04E4: BCF 06.4`
		1109	`04E5: BCF 03.5`
		1110	`04E6: BCF 06.4`
		1111	`04E7: BSF 03.5`
		1112	`04E8: BCF 06.5`
		1113	`04E9: BCF 03.5`
		1114	`04EA: BSF 06.5`
		1115	`04EB: BSF 03.5`
		1116	`04EC: BCF 06.7`
		1117	`04ED: BCF 03.5`
		1118	`04EE: BCF 06.7`
		1119	`04EF: BSF 03.5`
		1120	`04F0: BCF 06.6`
		1121	`04F1: BCF 03.5`
		1122	`04F2: BSF 06.6`
		1123	`04F3: MOVLW D7`
		1124	`04F4: MOVWF 7D`
		1125	`04F5: CALL 09D`
		1126	`....................`
		1127	`.................... FR; FL; Delay_ms(600); // popojed rovne`
		1128	`04F6: BSF 03.5`
		1129	`04F7: BCF 06.5`
		1130	`04F8: BCF 03.5`
		1131	`04F9: BCF 06.5`
		1132	`04FA: BSF 03.5`
		1133	`04FB: BCF 06.4`
		1134	`04FC: BCF 03.5`
		1135	`04FD: BSF 06.4`
		1136	`04FE: BSF 03.5`
		1137	`04FF: BCF 06.7`
		1138	`0500: BCF 03.5`
		1139	`0501: BCF 06.7`
		1140	`0502: BSF 03.5`
		1141	`0503: BCF 06.6`
		1142	`0504: BCF 03.5`
		1143	`0505: BSF 06.6`
		1144	`0506: MOVLW 03`
		1145	`0507: MOVWF 75`
		1146	`0508: MOVLW C8`
		1147	`0509: MOVWF 7D`
		1148	`050A: CALL 09D`
		1149	`050B: DECFSZ 75,F`
		1150	`050C: GOTO 508`
		1151	`....................`
		1152	`.................... BL; Delay_ms(50); // otoc se 90° do leva`
		1153	`050D: BSF 03.5`
		1154	`050E: BCF 06.6`
		1155	`050F: BCF 03.5`
		1156	`0510: BCF 06.6`
		1157	`0511: BSF 03.5`
		1158	`0512: BCF 06.7`
		1159	`0513: BCF 03.5`
		1160	`0514: BSF 06.7`
		1161	`0515: MOVLW 32`
		1162	`0516: MOVWF 7D`
		1163	`0517: CALL 09D`
		1164	`.................... STOPL; FR; Delay_ms(550);`
		1165	`0518: BSF 03.5`
		1166	`0519: BCF 06.6`
		1167	`051A: BCF 03.5`
		1168	`051B: BCF 06.6`
		1169	`051C: BSF 03.5`
		1170	`051D: BCF 06.7`
		1171	`051E: BCF 03.5`
		1172	`051F: BCF 06.7`
		1173	`0520: BSF 03.5`
		1174	`0521: BCF 06.5`
		1175	`0522: BCF 03.5`
		1176	`0523: BCF 06.5`
		1177	`0524: BSF 03.5`
		1178	`0525: BCF 06.4`
		1179	`0526: BCF 03.5`
		1180	`0527: BSF 06.4`
		1181	`0528: MOVLW 05`
		1182	`0529: MOVWF 75`
		1183	`052A: MOVLW 6E`
		1184	`052B: MOVWF 7D`
		1185	`052C: CALL 09D`
		1186	`052D: DECFSZ 75,F`
		1187	`052E: GOTO 52A`
		1188	`....................`
		1189	`.................... FR; FL; Delay_ms(100); // popojed rovne na slepo`
		1190	`052F: BSF 03.5`
		1191	`0530: BCF 06.5`
		1192	`0531: BCF 03.5`
		1193	`0532: BCF 06.5`
		1194	`0533: BSF 03.5`
		1195	`0534: BCF 06.4`
		1196	`0535: BCF 03.5`
		1197	`0536: BSF 06.4`
		1198	`0537: BSF 03.5`
		1199	`0538: BCF 06.7`
		1200	`0539: BCF 03.5`
		1201	`053A: BCF 06.7`
		1202	`053B: BSF 03.5`
		1203	`053C: BCF 06.6`
		1204	`053D: BCF 03.5`
		1205	`053E: BSF 06.6`
		1206	`053F: MOVLW 64`
		1207	`0540: MOVWF 7D`
		1208	`0541: CALL 09D`
		1209	`.................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru`
		1210	`0542: MOVLW 02`
		1211	`0543: MOVWF 74`
		1212	`0544: MOVLW 58`
		1213	`0545: MOVWF 73`
		1214	`0546: MOVF 73,F`
		1215	`0547: BTFSS 03.2`
		1216	`0548: GOTO 54C`
		1217	`0549: MOVF 74,F`
		1218	`054A: BTFSC 03.2`
		1219	`054B: GOTO 56B`
		1220	`.................... {`
		1221	`.................... line = RSENSOR; // cteni senzoru na caru`
		1222	`054C: CLRF 41`
		1223	`054D: BSF 03.5`
		1224	`054E: BTFSS 1C.7`
		1225	`054F: GOTO 553`
		1226	`0550: BCF 03.5`
		1227	`0551: INCF 41,F`
		1228	`0552: BSF 03.5`
		1229	`.................... line \|= LSENSOR << 1;`
		1230	`0553: MOVLW 00`
		1231	`0554: BTFSC 1C.6`
		1232	`0555: MOVLW 01`
		1233	`0556: MOVWF 77`
		1234	`0557: BCF 03.0`
		1235	`0558: RLF 77,F`
		1236	`0559: MOVF 77,W`
		1237	`055A: BCF 03.5`
		1238	`055B: IORWF 41,F`
		1239	`.................... if (line!=0) {Delay_ms(50); break;}`
		1240	`055C: MOVF 41,F`
		1241	`055D: BTFSC 03.2`
		1242	`055E: GOTO 563`
		1243	`055F: MOVLW 32`
		1244	`0560: MOVWF 7D`
		1245	`0561: CALL 09D`
		1246	`0562: GOTO 56B`
		1247	`.................... Delay_ms(1);`
		1248	`0563: MOVLW 01`
		1249	`0564: MOVWF 7D`
		1250	`0565: CALL 09D`
		1251	`.................... }`
		1252	`0566: MOVF 73,W`
		1253	`0567: BTFSC 03.2`
		1254	`0568: DECF 74,F`
		1255	`0569: DECF 73,F`
		1256	`056A: GOTO 546`
		1257	`....................`
		1258	`.................... BR; // otoc se 60° do prava`
		1259	`056B: BSF 03.5`
		1260	`056C: BCF 06.4`
		1261	`056D: BCF 03.5`
		1262	`056E: BCF 06.4`
		1263	`056F: BSF 03.5`
		1264	`0570: BCF 06.5`
		1265	`0571: BCF 03.5`
		1266	`0572: BSF 06.5`
		1267	`.................... for(n=600;n>0;n--)`
		1268	`0573: MOVLW 02`
		1269	`0574: MOVWF 74`
		1270	`0575: MOVLW 58`
		1271	`0576: MOVWF 73`
		1272	`0577: MOVF 73,F`
		1273	`0578: BTFSS 03.2`
		1274	`0579: GOTO 57D`
		1275	`057A: MOVF 74,F`
		1276	`057B: BTFSC 03.2`
		1277	`057C: GOTO 598`
		1278	`.................... {`
		1279	`.................... line = RSENSOR; // cteni senzoru na caru`
		1280	`057D: CLRF 41`
		1281	`057E: BSF 03.5`
		1282	`057F: BTFSS 1C.7`
		1283	`0580: GOTO 584`
		1284	`0581: BCF 03.5`
		1285	`0582: INCF 41,F`
		1286	`0583: BSF 03.5`
		1287	`.................... line \|= LSENSOR << 1;`
		1288	`0584: MOVLW 00`
		1289	`0585: BTFSC 1C.6`
		1290	`0586: MOVLW 01`
		1291	`0587: MOVWF 77`
		1292	`0588: BCF 03.0`
		1293	`0589: RLF 77,F`
		1294	`058A: MOVF 77,W`
		1295	`058B: BCF 03.5`
		1296	`058C: IORWF 41,F`
		1297	`.................... if (line!=0) break;`
		1298	`058D: MOVF 41,F`
		1299	`058E: BTFSS 03.2`
		1300	`058F: GOTO 598`
		1301	`.................... Delay_ms(1);`
		1302	`0590: MOVLW 01`
		1303	`0591: MOVWF 7D`
		1304	`0592: CALL 09D`
		1305	`.................... }`
		1306	`0593: MOVF 73,W`
		1307	`0594: BTFSC 03.2`
		1308	`0595: DECF 74,F`
		1309	`0596: DECF 73,F`
		1310	`0597: GOTO 577`
		1311	`.................... STOPR; STOPL;`
		1312	`0598: BSF 03.5`
		1313	`0599: BCF 06.4`
		1314	`059A: BCF 03.5`
		1315	`059B: BCF 06.4`
		1316	`059C: BSF 03.5`
		1317	`059D: BCF 06.5`
		1318	`059E: BCF 03.5`
		1319	`059F: BCF 06.5`
		1320	`05A0: BSF 03.5`
		1321	`05A1: BCF 06.6`
		1322	`05A2: BCF 03.5`
		1323	`05A3: BCF 06.6`
		1324	`05A4: BSF 03.5`
		1325	`05A5: BCF 06.7`
		1326	`05A6: BCF 03.5`
		1327	`05A7: BCF 06.7`
		1328	`....................`
		1329	`.................... movement=R;`
		1330	`05A8: MOVLW 01`
		1331	`05A9: MOVWF 45`
		1332	`.................... cikcak();`
		1333	`05AA: CALL 3C4`
		1334	`.................... cihla=T_DIRA;`
		1335	`05AB: MOVLW 55`
		1336	`05AC: MOVWF 47`
		1337	`.................... dira=0;`
		1338	`05AD: CLRF 46`
		1339	`.................... }`
		1340	`05AE: BSF 0A.3`
		1341	`05AF: GOTO 0F7 (RETURN)`
		1342	`.................... ///////////////////////////////////////////////////////////////////////////////`
		1343	`.................... void prejeddiru() // vyresi diru`
		1344	`.................... {`
		1345	`.................... unsigned int16 n;`
		1346	`....................`
		1347	`.................... STOPL;STOPR;`
		1348	`05B0: BSF 03.5`
		1349	`05B1: BCF 06.6`
		1350	`05B2: BCF 03.5`
		1351	`05B3: BCF 06.6`
		1352	`05B4: BSF 03.5`
		1353	`05B5: BCF 06.7`
		1354	`05B6: BCF 03.5`
		1355	`05B7: BCF 06.7`
		1356	`05B8: BSF 03.5`
		1357	`05B9: BCF 06.4`
		1358	`05BA: BCF 03.5`
		1359	`05BB: BCF 06.4`
		1360	`05BC: BSF 03.5`
		1361	`05BD: BCF 06.5`
		1362	`05BE: BCF 03.5`
		1363	`05BF: BCF 06.5`
		1364	`.................... beep(800,500);`
		1365	`05C0: MOVLW 03`
		1366	`05C1: MOVWF 7D`
		1367	`05C2: MOVLW 20`
		1368	`05C3: MOVWF 7C`
		1369	`05C4: MOVLW 01`
		1370	`05C5: BSF 03.5`
		1371	`05C6: MOVWF 21`
		1372	`05C7: MOVLW F4`
		1373	`05C8: MOVWF 20`
		1374	`05C9: BCF 03.5`
		1375	`05CA: CALL 071`
		1376	`.................... switch (movement) //vrat se zpet na caru`
		1377	`.................... {`
		1378	`05CB: MOVF 45,W`
		1379	`05CC: XORLW 02`
		1380	`05CD: BTFSC 03.2`
		1381	`05CE: GOTO 5D6`
		1382	`05CF: XORLW 03`
		1383	`05D0: BTFSC 03.2`
		1384	`05D1: GOTO 60E`
		1385	`05D2: XORLW 02`
		1386	`05D3: BTFSC 03.2`
		1387	`05D4: GOTO 646`
		1388	`05D5: GOTO 648`
		1389	`.................... case L:`
		1390	`.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed); Delay_ms(1);}`
		1391	`05D6: MOVLW 02`
		1392	`05D7: MOVWF 74`
		1393	`05D8: MOVLW 58`
		1394	`05D9: MOVWF 73`
		1395	`05DA: MOVF 73,F`
		1396	`05DB: BTFSS 03.2`
		1397	`05DC: GOTO 5E0`
		1398	`05DD: MOVF 74,F`
		1399	`05DE: BTFSC 03.2`
		1400	`05DF: GOTO 5FD`
		1401	`05E0: MOVF 01,W`
		1402	`05E1: SUBWF 42,W`
		1403	`05E2: BTFSS 03.0`
		1404	`05E3: GOTO 5ED`
		1405	`05E4: BSF 03.5`
		1406	`05E5: BCF 06.4`
		1407	`05E6: BCF 03.5`
		1408	`05E7: BCF 06.4`
		1409	`05E8: BSF 03.5`
		1410	`05E9: BCF 06.5`
		1411	`05EA: BCF 03.5`
		1412	`05EB: BSF 06.5`
		1413	`05EC: GOTO 5F5`
		1414	`05ED: BSF 03.5`
		1415	`05EE: BCF 06.4`
		1416	`05EF: BCF 03.5`
		1417	`05F0: BCF 06.4`
		1418	`05F1: BSF 03.5`
		1419	`05F2: BCF 06.5`
		1420	`05F3: BCF 03.5`
		1421	`05F4: BCF 06.5`
		1422	`05F5: MOVLW 01`
		1423	`05F6: MOVWF 7D`
		1424	`05F7: CALL 09D`
		1425	`05F8: MOVF 73,W`
		1426	`05F9: BTFSC 03.2`
		1427	`05FA: DECF 74,F`
		1428	`05FB: DECF 73,F`
		1429	`05FC: GOTO 5DA`
		1430	`.................... STOPL;STOPR;`
		1431	`05FD: BSF 03.5`
		1432	`05FE: BCF 06.6`
		1433	`05FF: BCF 03.5`
		1434	`0600: BCF 06.6`
		1435	`0601: BSF 03.5`
		1436	`0602: BCF 06.7`
		1437	`0603: BCF 03.5`
		1438	`0604: BCF 06.7`
		1439	`0605: BSF 03.5`
		1440	`0606: BCF 06.4`
		1441	`0607: BCF 03.5`
		1442	`0608: BCF 06.4`
		1443	`0609: BSF 03.5`
		1444	`060A: BCF 06.5`
		1445	`060B: BCF 03.5`
		1446	`060C: BCF 06.5`
		1447	`.................... break;`
		1448	`060D: GOTO 648`
		1449	`.................... case R:`
		1450	`.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed); Delay_ms(1);}`
		1451	`060E: MOVLW 02`
		1452	`060F: MOVWF 74`
		1453	`0610: MOVLW 58`
		1454	`0611: MOVWF 73`
		1455	`0612: MOVF 73,F`
		1456	`0613: BTFSS 03.2`
		1457	`0614: GOTO 618`
		1458	`0615: MOVF 74,F`
		1459	`0616: BTFSC 03.2`
		1460	`0617: GOTO 635`
		1461	`0618: MOVF 01,W`
		1462	`0619: SUBWF 42,W`
		1463	`061A: BTFSS 03.0`
		1464	`061B: GOTO 625`
		1465	`061C: BSF 03.5`
		1466	`061D: BCF 06.6`
		1467	`061E: BCF 03.5`
		1468	`061F: BCF 06.6`
		1469	`0620: BSF 03.5`
		1470	`0621: BCF 06.7`
		1471	`0622: BCF 03.5`
		1472	`0623: BSF 06.7`
		1473	`0624: GOTO 62D`
		1474	`0625: BSF 03.5`
		1475	`0626: BCF 06.6`
		1476	`0627: BCF 03.5`
		1477	`0628: BCF 06.6`
		1478	`0629: BSF 03.5`
		1479	`062A: BCF 06.7`
		1480	`062B: BCF 03.5`
		1481	`062C: BCF 06.7`
		1482	`062D: MOVLW 01`
		1483	`062E: MOVWF 7D`
		1484	`062F: CALL 09D`
		1485	`0630: MOVF 73,W`
		1486	`0631: BTFSC 03.2`
		1487	`0632: DECF 74,F`
		1488	`0633: DECF 73,F`
		1489	`0634: GOTO 612`
		1490	`.................... STOPL;STOPR;`
		1491	`0635: BSF 03.5`
		1492	`0636: BCF 06.6`
		1493	`0637: BCF 03.5`
		1494	`0638: BCF 06.6`
		1495	`0639: BSF 03.5`
		1496	`063A: BCF 06.7`
		1497	`063B: BCF 03.5`
		1498	`063C: BCF 06.7`
		1499	`063D: BSF 03.5`
		1500	`063E: BCF 06.4`
		1501	`063F: BCF 03.5`
		1502	`0640: BCF 06.4`
		1503	`0641: BSF 03.5`
		1504	`0642: BCF 06.5`
		1505	`0643: BCF 03.5`
		1506	`0644: BCF 06.5`
		1507	`.................... break;`
		1508	`0645: GOTO 648`
		1509	`.................... case S:`
		1510	`.................... goto sem;`
		1511	`0646: GOTO 666`
		1512	`.................... break;`
		1513	`0647: GOTO 648`
		1514	`.................... }`
		1515	`.................... beep(800,500);`
		1516	`0648: MOVLW 03`
		1517	`0649: MOVWF 7D`
		1518	`064A: MOVLW 20`
		1519	`064B: MOVWF 7C`
		1520	`064C: MOVLW 01`
		1521	`064D: BSF 03.5`
		1522	`064E: MOVWF 21`
		1523	`064F: MOVLW F4`
		1524	`0650: MOVWF 20`
		1525	`0651: BCF 03.5`
		1526	`0652: CALL 071`
		1527	`.................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara`
		1528	`0653: BSF 03.5`
		1529	`0654: BCF 06.5`
		1530	`0655: BCF 03.5`
		1531	`0656: BCF 06.5`
		1532	`0657: BSF 03.5`
		1533	`0658: BCF 06.4`
		1534	`0659: BCF 03.5`
		1535	`065A: BSF 06.4`
		1536	`065B: BSF 03.5`
		1537	`065C: BCF 06.7`
		1538	`065D: BCF 03.5`
		1539	`065E: BCF 06.7`
		1540	`065F: BSF 03.5`
		1541	`0660: BCF 06.6`
		1542	`0661: BCF 03.5`
		1543	`0662: BSF 06.6`
		1544	`0663: MOVLW 96`
		1545	`0664: MOVWF 7D`
		1546	`0665: CALL 09D`
		1547	`.................... sem:`
		1548	`.................... STOPL; STOPR;`
		1549	`0666: BSF 03.5`
		1550	`0667: BCF 06.6`
		1551	`0668: BCF 03.5`
		1552	`0669: BCF 06.6`
		1553	`066A: BSF 03.5`
		1554	`066B: BCF 06.7`
		1555	`066C: BCF 03.5`
		1556	`066D: BCF 06.7`
		1557	`066E: BSF 03.5`
		1558	`066F: BCF 06.4`
		1559	`0670: BCF 03.5`
		1560	`0671: BCF 06.4`
		1561	`0672: BSF 03.5`
		1562	`0673: BCF 06.5`
		1563	`0674: BCF 03.5`
		1564	`0675: BCF 06.5`
		1565	`.................... movement=S;`
		1566	`0676: MOVLW 03`
		1567	`0677: MOVWF 45`
		1568	`.................... cikcak(); // najdi caru`
		1569	`0678: CALL 3C4`
		1570	`.................... cihla=T_DIRA;`
		1571	`0679: MOVLW 55`
		1572	`067A: MOVWF 47`
		1573	`.................... dira=0;`
		1574	`067B: CLRF 46`
		1575	`.................... }`
		1576	`067C: BSF 0A.3`
		1577	`067D: GOTO 190 (RETURN)`
		1578	`.................... ///////////////////////////////////////////////////////////////////////////////`
		1579	`.................... void main()`
		1580	`.................... {`
		1581	`*`
		1582	`0800: CLRF 04`
		1583	`0801: MOVLW 1F`
		1584	`0802: ANDWF 03,F`
		1585	`0803: BSF 03.5`
		1586	`0804: BCF 1F.4`
		1587	`0805: BCF 1F.5`
		1588	`0806: MOVF 1B,W`
		1589	`0807: ANDLW 80`
		1590	`0808: MOVWF 1B`
		1591	`0809: MOVLW 07`
		1592	`080A: MOVWF 1C`
		1593	`080B: MOVF 1C,W`
		1594	`080C: BCF 03.5`
		1595	`080D: BCF 0D.6`
		1596	`080E: MOVLW 60`
		1597	`080F: BSF 03.5`
		1598	`0810: MOVWF 0F`
		1599	`.................... unsigned int16 n; // pro FOR`
		1600	`....................`
		1601	`.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi`
		1602	`*`
		1603	`082E: BSF 03.5`
		1604	`082F: BCF 06.6`
		1605	`0830: BCF 03.5`
		1606	`0831: BCF 06.6`
		1607	`0832: BSF 03.5`
		1608	`0833: BCF 06.7`
		1609	`0834: BCF 03.5`
		1610	`0835: BCF 06.7`
		1611	`0836: BSF 03.5`
		1612	`0837: BCF 06.4`
		1613	`0838: BCF 03.5`
		1614	`0839: BCF 06.4`
		1615	`083A: BSF 03.5`
		1616	`083B: BCF 06.5`
		1617	`083C: BCF 03.5`
		1618	`083D: BCF 06.5`
		1619	`....................`
		1620	`.................... setup_oscillator(OSC_4MHZ\|OSC_INTRC); // 4 MHz interni RC oscilator`
		1621	`083E: MOVLW 62`
		1622	`083F: BSF 03.5`
		1623	`0840: MOVWF 0F`
		1624	`....................`
		1625	`.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku`
		1626	`0841: BCF 01.7`
		1627	`.................... setup_spi(FALSE);`
		1628	`0842: BCF 03.5`
		1629	`0843: BCF 14.5`
		1630	`0844: BSF 03.5`
		1631	`0845: BCF 06.2`
		1632	`0846: BSF 06.1`
		1633	`0847: BCF 06.4`
		1634	`0848: MOVLW 00`
		1635	`0849: BCF 03.5`
		1636	`084A: MOVWF 14`
		1637	`084B: BSF 03.5`
		1638	`084C: MOVWF 14`
		1639	`.................... setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1); // Casovac pro PWM`
		1640	`084D: MOVF 01,W`
		1641	`084E: ANDLW C7`
		1642	`084F: IORLW 08`
		1643	`0850: MOVWF 01`
		1644	`....................`
		1645	`.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci`
		1646	`0851: MOVLW 48`
		1647	`0852: MOVWF 78`
		1648	`0853: IORLW 05`
		1649	`0854: BCF 03.5`
		1650	`0855: MOVWF 12`
		1651	`0856: MOVLW FF`
		1652	`0857: BSF 03.5`
		1653	`0858: MOVWF 12`
		1654	`.................... // preruseni kazdych 10ms`
		1655	`.................... setup_adc_ports(sAN2\|VSS_VDD); // nastaveni A/D prevodniku pro naraznik`
		1656	`0859: BCF 1F.4`
		1657	`085A: BCF 1F.5`
		1658	`085B: MOVF 1B,W`
		1659	`085C: ANDLW 80`
		1660	`085D: IORLW 04`
		1661	`085E: MOVWF 1B`
		1662	`.................... setup_adc(ADC_CLOCK_INTERNAL);`
		1663	`085F: BCF 1F.6`
		1664	`0860: BCF 03.5`
		1665	`0861: BSF 1F.6`
		1666	`0862: BSF 1F.7`
		1667	`0863: BSF 03.5`
		1668	`0864: BCF 1F.7`
		1669	`0865: BCF 03.5`
		1670	`0866: BSF 1F.0`
		1671	`.................... set_adc_channel(2);`
		1672	`0867: MOVLW 10`
		1673	`0868: MOVWF 78`
		1674	`0869: MOVF 1F,W`
		1675	`086A: ANDLW C7`
		1676	`086B: IORWF 78,W`
		1677	`086C: MOVWF 1F`
		1678	`.................... setup_timer_1(T1_INTERNAL\|T1_DIV_BY_1); // Casovac pro naraznik`
		1679	`086D: MOVLW 85`
		1680	`086E: MOVWF 10`
		1681	`.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);`
		1682	`086F: BSF 03.5`
		1683	`0870: BSF 06.3`
		1684	`0871: MOVLW 0B`
		1685	`0872: BCF 03.5`
		1686	`0873: MOVWF 17`
		1687	`.................... CCP_1=(2^10)-1; // prevod kazdou 1ms`
		1688	`0874: CLRF 16`
		1689	`0875: MOVLW 07`
		1690	`0876: MOVWF 15`
		1691	`....................`
		1692	`.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary`
		1693	`0877: MOVLW 02`
		1694	`0878: BSF 03.5`
		1695	`0879: MOVWF 1C`
		1696	`087A: MOVF 05,W`
		1697	`087B: IORLW 03`
		1698	`087C: MOVWF 05`
		1699	`087D: MOVLW 03`
		1700	`087E: MOVWF 77`
		1701	`087F: DECFSZ 77,F`
		1702	`0880: GOTO 07F`
		1703	`0881: MOVF 1C,W`
		1704	`0882: BCF 03.5`
		1705	`0883: BCF 0D.6`
		1706	`.................... setup_vref(VREF_HIGH\|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd`
		1707	`0884: MOVLW 8A`
		1708	`0885: BSF 03.5`
		1709	`0886: MOVWF 1D`
		1710	`....................`
		1711	`.................... Beep(1000,200); //double beep`
		1712	`0887: MOVLW 03`
		1713	`0888: MOVWF 7D`
		1714	`0889: MOVLW E8`
		1715	`088A: MOVWF 7C`
		1716	`088B: CLRF 21`
		1717	`088C: MOVLW C8`
		1718	`088D: MOVWF 20`
		1719	`088E: BCF 0A.3`
		1720	`088F: BCF 03.5`
		1721	`0890: CALL 071`
		1722	`0891: BSF 0A.3`
		1723	`.................... Delay_ms(50);`
		1724	`0892: MOVLW 32`
		1725	`0893: MOVWF 7D`
		1726	`0894: BCF 0A.3`
		1727	`0895: CALL 09D`
		1728	`0896: BSF 0A.3`
		1729	`.................... Beep(1000,200);`
		1730	`0897: MOVLW 03`
		1731	`0898: MOVWF 7D`
		1732	`0899: MOVLW E8`
		1733	`089A: MOVWF 7C`
		1734	`089B: BSF 03.5`
		1735	`089C: CLRF 21`
		1736	`089D: MOVLW C8`
		1737	`089E: MOVWF 20`
		1738	`089F: BCF 0A.3`
		1739	`08A0: BCF 03.5`
		1740	`08A1: CALL 071`
		1741	`08A2: BSF 0A.3`
		1742	`.................... Delay_ms(1000); // 1s`
		1743	`08A3: MOVLW 04`
		1744	`08A4: MOVWF 73`
		1745	`08A5: MOVLW FA`
		1746	`08A6: MOVWF 7D`
		1747	`08A7: BCF 0A.3`
		1748	`08A8: CALL 09D`
		1749	`08A9: BSF 0A.3`
		1750	`08AA: DECFSZ 73,F`
		1751	`08AB: GOTO 0A5`
		1752	`....................`
		1753	`.................... // povoleni rizeni rychlosti zataceni pres preruseni`
		1754	`.................... enable_interrupts(INT_TIMER2);`
		1755	`08AC: BSF 03.5`
		1756	`08AD: BSF 0C.1`
		1757	`.................... enable_interrupts(GLOBAL);`
		1758	`08AE: MOVLW C0`
		1759	`08AF: BCF 03.5`
		1760	`08B0: IORWF 0B,F`
		1761	`....................`
		1762	`.................... /---------------------------------------------------------------------------/`
		1763	`.................... sensors=S;`
		1764	`08B1: MOVLW 03`
		1765	`08B2: MOVWF 40`
		1766	`.................... line=S;`
		1767	`08B3: MOVWF 41`
		1768	`.................... last=S;`
		1769	`08B4: MOVWF 44`
		1770	`.................... movement=S;`
		1771	`08B5: MOVWF 45`
		1772	`.................... speed=FW_POMALU;`
		1773	`08B6: MOVLW E6`
		1774	`08B7: MOVWF 42`
		1775	`....................`
		1776	`.................... diagnostika();`
		1777	`08B8: BCF 0A.3`
		1778	`08B9: GOTO 1D1`
		1779	`08BA: BSF 0A.3`
		1780	`.................... cikcak(); // toc se, abys nasel caru`
		1781	`08BB: BCF 0A.3`
		1782	`08BC: CALL 3C4`
		1783	`08BD: BSF 0A.3`
		1784	`.................... Delay_ms(500);`
		1785	`08BE: MOVLW 02`
		1786	`08BF: MOVWF 73`
		1787	`08C0: MOVLW FA`
		1788	`08C1: MOVWF 7D`
		1789	`08C2: BCF 0A.3`
		1790	`08C3: CALL 09D`
		1791	`08C4: BSF 0A.3`
		1792	`08C5: DECFSZ 73,F`
		1793	`08C6: GOTO 0C0`
		1794	`.................... Beep(1000,200);`
		1795	`08C7: MOVLW 03`
		1796	`08C8: MOVWF 7D`
		1797	`08C9: MOVLW E8`
		1798	`08CA: MOVWF 7C`
		1799	`08CB: BSF 03.5`
		1800	`08CC: CLRF 21`
		1801	`08CD: MOVLW C8`
		1802	`08CE: MOVWF 20`
		1803	`08CF: BCF 0A.3`
		1804	`08D0: BCF 03.5`
		1805	`08D1: CALL 071`
		1806	`08D2: BSF 0A.3`
		1807	`.................... Delay_ms(500);`
		1808	`08D3: MOVLW 02`
		1809	`08D4: MOVWF 73`
		1810	`08D5: MOVLW FA`
		1811	`08D6: MOVWF 7D`
		1812	`08D7: BCF 0A.3`
		1813	`08D8: CALL 09D`
		1814	`08D9: BSF 0A.3`
		1815	`08DA: DECFSZ 73,F`
		1816	`08DB: GOTO 0D5`
		1817	`....................`
		1818	`.................... while(true) // hlavni smycka (jizda podle cary)`
		1819	`.................... {`
		1820	`.................... sensors = RSENSOR; // cteni senzoru na caru`
		1821	`08DC: CLRF 40`
		1822	`08DD: BSF 03.5`
		1823	`08DE: BTFSS 1C.7`
		1824	`08DF: GOTO 0E3`
		1825	`08E0: BCF 03.5`
		1826	`08E1: INCF 40,F`
		1827	`08E2: BSF 03.5`
		1828	`.................... sensors \|= LSENSOR << 1;`
		1829	`08E3: MOVLW 00`
		1830	`08E4: BTFSC 1C.6`
		1831	`08E5: MOVLW 01`
		1832	`08E6: MOVWF 77`
		1833	`08E7: BCF 03.0`
		1834	`08E8: RLF 77,F`
		1835	`08E9: MOVF 77,W`
		1836	`08EA: BCF 03.5`
		1837	`08EB: IORWF 40,F`
		1838	`....................`
		1839	`.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (cihla==0)) objizdka();`
		1840	`08EC: BTFSC 1F.2`
		1841	`08ED: GOTO 0EC`
		1842	`08EE: MOVF 1E,W`
		1843	`08EF: SUBLW 7F`
		1844	`08F0: BTFSS 03.0`
		1845	`08F1: GOTO 0F8`
		1846	`08F2: MOVF 47,F`
		1847	`08F3: BTFSS 03.2`
		1848	`08F4: GOTO 0F8`
		1849	`08F5: BCF 0A.3`
		1850	`08F6: GOTO 4B2`
		1851	`08F7: BSF 0A.3`
		1852	`....................`
		1853	`.................... switch (sensors) // zatacej podle toho, kde vidis caru`
		1854	`.................... {`
		1855	`08F8: MOVF 40,W`
		1856	`08F9: XORLW 03`
		1857	`08FA: BTFSC 03.2`
		1858	`08FB: GOTO 103`
		1859	`08FC: XORLW 01`
		1860	`08FD: BTFSC 03.2`
		1861	`08FE: GOTO 117`
		1862	`08FF: XORLW 03`
		1863	`0900: BTFSC 03.2`
		1864	`0901: GOTO 150`
		1865	`0902: GOTO 189`
		1866	`.................... case S: // rovne`
		1867	`.................... FL; FR; // pokud se jede dlouho rovne, tak pridej`
		1868	`0903: BSF 03.5`
		1869	`0904: BCF 06.7`
		1870	`0905: BCF 03.5`
		1871	`0906: BCF 06.7`
		1872	`0907: BSF 03.5`
		1873	`0908: BCF 06.6`
		1874	`0909: BCF 03.5`
		1875	`090A: BSF 06.6`
		1876	`090B: BSF 03.5`
		1877	`090C: BCF 06.5`
		1878	`090D: BCF 03.5`
		1879	`090E: BCF 06.5`
		1880	`090F: BSF 03.5`
		1881	`0910: BCF 06.4`
		1882	`0911: BCF 03.5`
		1883	`0912: BSF 06.4`
		1884	`.................... dira=0;`
		1885	`0913: CLRF 46`
		1886	`.................... movement=S;`
		1887	`0914: MOVLW 03`
		1888	`0915: MOVWF 45`
		1889	`.................... continue;`
		1890	`0916: GOTO 0DC`
		1891	`.................... case L: // trochu vlevo`
		1892	`.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);`
		1893	`0917: MOVF 01,W`
		1894	`0918: MOVWF 73`
		1895	`0919: MOVLW E6`
		1896	`091A: ADDWF 43,W`
		1897	`091B: SUBWF 73,W`
		1898	`091C: BTFSC 03.2`
		1899	`091D: GOTO 120`
		1900	`091E: BTFSC 03.0`
		1901	`091F: GOTO 129`
		1902	`0920: BSF 03.5`
		1903	`0921: BCF 06.7`
		1904	`0922: BCF 03.5`
		1905	`0923: BCF 06.7`
		1906	`0924: BSF 03.5`
		1907	`0925: BCF 06.6`
		1908	`0926: BCF 03.5`
		1909	`0927: BSF 06.6`
		1910	`0928: GOTO 131`
		1911	`0929: BSF 03.5`
		1912	`092A: BCF 06.6`
		1913	`092B: BCF 03.5`
		1914	`092C: BCF 06.6`
		1915	`092D: BSF 03.5`
		1916	`092E: BCF 06.7`
		1917	`092F: BCF 03.5`
		1918	`0930: BCF 06.7`
		1919	`0931: MOVF 01,W`
		1920	`0932: MOVWF 73`
		1921	`0933: MOVLW F0`
		1922	`0934: ADDWF 43,W`
		1923	`0935: SUBWF 73,W`
		1924	`0936: BTFSC 03.2`
		1925	`0937: GOTO 13A`
		1926	`0938: BTFSC 03.0`
		1927	`0939: GOTO 143`
		1928	`093A: BSF 03.5`
		1929	`093B: BCF 06.5`
		1930	`093C: BCF 03.5`
		1931	`093D: BCF 06.5`
		1932	`093E: BSF 03.5`
		1933	`093F: BCF 06.4`
		1934	`0940: BCF 03.5`
		1935	`0941: BSF 06.4`
		1936	`0942: GOTO 14B`
		1937	`0943: BSF 03.5`
		1938	`0944: BCF 06.4`
		1939	`0945: BCF 03.5`
		1940	`0946: BCF 06.4`
		1941	`0947: BSF 03.5`
		1942	`0948: BCF 06.5`
		1943	`0949: BCF 03.5`
		1944	`094A: BCF 06.5`
		1945	`.................... line=L;`
		1946	`094B: MOVLW 02`
		1947	`094C: MOVWF 41`
		1948	`.................... dira=0;`
		1949	`094D: CLRF 46`
		1950	`.................... movement=L;`
		1951	`094E: MOVWF 45`
		1952	`.................... continue;`
		1953	`094F: GOTO 0DC`
		1954	`.................... case R: // trochu vpravo`
		1955	`.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);`
		1956	`0950: MOVF 01,W`
		1957	`0951: MOVWF 73`
		1958	`0952: MOVLW E6`
		1959	`0953: ADDWF 43,W`
		1960	`0954: SUBWF 73,W`
		1961	`0955: BTFSC 03.2`
		1962	`0956: GOTO 159`
		1963	`0957: BTFSC 03.0`
		1964	`0958: GOTO 162`
		1965	`0959: BSF 03.5`
		1966	`095A: BCF 06.5`
		1967	`095B: BCF 03.5`
		1968	`095C: BCF 06.5`
		1969	`095D: BSF 03.5`
		1970	`095E: BCF 06.4`
		1971	`095F: BCF 03.5`
		1972	`0960: BSF 06.4`
		1973	`0961: GOTO 16A`
		1974	`0962: BSF 03.5`
		1975	`0963: BCF 06.4`
		1976	`0964: BCF 03.5`
		1977	`0965: BCF 06.4`
		1978	`0966: BSF 03.5`
		1979	`0967: BCF 06.5`
		1980	`0968: BCF 03.5`
		1981	`0969: BCF 06.5`
		1982	`096A: MOVF 01,W`
		1983	`096B: MOVWF 73`
		1984	`096C: MOVLW F0`
		1985	`096D: ADDWF 43,W`
		1986	`096E: SUBWF 73,W`
		1987	`096F: BTFSC 03.2`
		1988	`0970: GOTO 173`
		1989	`0971: BTFSC 03.0`
		1990	`0972: GOTO 17C`
		1991	`0973: BSF 03.5`
		1992	`0974: BCF 06.7`
		1993	`0975: BCF 03.5`
		1994	`0976: BCF 06.7`
		1995	`0977: BSF 03.5`
		1996	`0978: BCF 06.6`
		1997	`0979: BCF 03.5`
		1998	`097A: BSF 06.6`
		1999	`097B: GOTO 184`
		2000	`097C: BSF 03.5`
		2001	`097D: BCF 06.6`
		2002	`097E: BCF 03.5`
		2003	`097F: BCF 06.6`
		2004	`0980: BSF 03.5`
		2005	`0981: BCF 06.7`
		2006	`0982: BCF 03.5`
		2007	`0983: BCF 06.7`
		2008	`.................... line=R;`
		2009	`0984: MOVLW 01`
		2010	`0985: MOVWF 41`
		2011	`.................... dira=0;`
		2012	`0986: CLRF 46`
		2013	`.................... movement=R;`
		2014	`0987: MOVWF 45`
		2015	`.................... continue;`
		2016	`0988: GOTO 0DC`
		2017	`.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal`
		2018	`.................... }`
		2019	`.................... rovinka=0;`
		2020	`0989: CLRF 43`
		2021	`.................... if (dira>=T_DIRA) prejeddiru();`
		2022	`098A: MOVF 46,W`
		2023	`098B: SUBLW 54`
		2024	`098C: BTFSC 03.0`
		2025	`098D: GOTO 191`
		2026	`098E: BCF 0A.3`
		2027	`098F: GOTO 5B0`
		2028	`0990: BSF 0A.3`
		2029	`.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi`
		2030	`0991: MOVF 41,W`
		2031	`0992: SUBWF 44,W`
		2032	`0993: BTFSC 03.2`
		2033	`0994: GOTO 199`
		2034	`.................... {`
		2035	`.................... last=line;`
		2036	`0995: MOVF 41,W`
		2037	`0996: MOVWF 44`
		2038	`.................... speed=FW_ZATACKA;`
		2039	`0997: MOVLW C8`
		2040	`0998: MOVWF 42`
		2041	`.................... }`
		2042	`.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru`
		2043	`0999: MOVF 41,W`
		2044	`099A: SUBLW 02`
		2045	`099B: BTFSS 03.2`
		2046	`099C: GOTO 1BD`
		2047	`.................... {`
		2048	`.................... STOPL;`
		2049	`099D: BSF 03.5`
		2050	`099E: BCF 06.6`
		2051	`099F: BCF 03.5`
		2052	`09A0: BCF 06.6`
		2053	`09A1: BSF 03.5`
		2054	`09A2: BCF 06.7`
		2055	`09A3: BCF 03.5`
		2056	`09A4: BCF 06.7`
		2057	`.................... GO(R, F, speed);`
		2058	`09A5: MOVF 01,W`
		2059	`09A6: SUBWF 42,W`
		2060	`09A7: BTFSS 03.0`
		2061	`09A8: GOTO 1B2`
		2062	`09A9: BSF 03.5`
		2063	`09AA: BCF 06.5`
		2064	`09AB: BCF 03.5`
		2065	`09AC: BCF 06.5`
		2066	`09AD: BSF 03.5`
		2067	`09AE: BCF 06.4`
		2068	`09AF: BCF 03.5`
		2069	`09B0: BSF 06.4`
		2070	`09B1: GOTO 1BA`
		2071	`09B2: BSF 03.5`
		2072	`09B3: BCF 06.4`
		2073	`09B4: BCF 03.5`
		2074	`09B5: BCF 06.4`
		2075	`09B6: BSF 03.5`
		2076	`09B7: BCF 06.5`
		2077	`09B8: BCF 03.5`
		2078	`09B9: BCF 06.5`
		2079	`.................... movement=L;`
		2080	`09BA: MOVLW 02`
		2081	`09BB: MOVWF 45`
		2082	`.................... }`
		2083	`.................... else`
		2084	`09BC: GOTO 1DC`
		2085	`.................... {`
		2086	`.................... STOPR;`
		2087	`09BD: BSF 03.5`
		2088	`09BE: BCF 06.4`
		2089	`09BF: BCF 03.5`
		2090	`09C0: BCF 06.4`
		2091	`09C1: BSF 03.5`
		2092	`09C2: BCF 06.5`
		2093	`09C3: BCF 03.5`
		2094	`09C4: BCF 06.5`
		2095	`.................... GO(L, F, speed);`
		2096	`09C5: MOVF 01,W`
		2097	`09C6: SUBWF 42,W`
		2098	`09C7: BTFSS 03.0`
		2099	`09C8: GOTO 1D2`
		2100	`09C9: BSF 03.5`
		2101	`09CA: BCF 06.7`
		2102	`09CB: BCF 03.5`
		2103	`09CC: BCF 06.7`
		2104	`09CD: BSF 03.5`
		2105	`09CE: BCF 06.6`
		2106	`09CF: BCF 03.5`
		2107	`09D0: BSF 06.6`
		2108	`09D1: GOTO 1DA`
		2109	`09D2: BSF 03.5`
		2110	`09D3: BCF 06.6`
		2111	`09D4: BCF 03.5`
		2112	`09D5: BCF 06.6`
		2113	`09D6: BSF 03.5`
		2114	`09D7: BCF 06.7`
		2115	`09D8: BCF 03.5`
		2116	`09D9: BCF 06.7`
		2117	`.................... movement=R;`
		2118	`09DA: MOVLW 01`
		2119	`09DB: MOVWF 45`
		2120	`.................... }`
		2121	`.................... } // while(true)`
		2122	`09DC: GOTO 0DC`
		2123	`.................... }`
		2124	`....................`
		2125	`....................`
		2126	`09DD: SLEEP`
		2127
		2128	`Configuration Fuses:`
		2129	`Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO`
		2130	`Word 2: 3FFC NOFCMEN NOIESO`

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