Subversion Repositories svnkaklik

Rev

Go to most recent revision | Details | Last modification | View Log

Rev Author Line No. Line
2 kaklik 1
CCS PCW C Compiler, Version 3.110, 15448
2
 
3
               Filename: d:\kaklik\programy\pic_c\robot\tank\main.LST
4
 
5
               ROM used: 893 (22%)
6
                         Largest free fragment is 2048
7
               RAM used: 82 (43%) at main() level
8
                         101 (53%) worst case
9
               Stack:    3 locations
10
 
11
*
12
0000:  MOVLW  00
13
0001:  MOVWF  0A
14
0002:  GOTO   2CB
15
0003:  NOP
16
....................  #include "D:\@KAKLIK\programy\PIC_C\robot\tank\main.h" 
17
....................  #include <16F873.h> 
18
....................  //////// Standard Header file for the PIC16F873 device ////////////////  
19
.................... #device PIC16F873  
20
.................... #list  
21
....................  
22
.................... #use delay(clock=4000000)  
23
00A8:  MOVLW  73
24
00A9:  MOVWF  04
25
00AA:  MOVF   00,W
26
00AB:  BTFSC  03.2
27
00AC:  GOTO   0BC
28
00AD:  MOVLW  01
29
00AE:  MOVWF  21
30
00AF:  CLRF   20
31
00B0:  DECFSZ 20,F
32
00B1:  GOTO   0B0
33
00B2:  DECFSZ 21,F
34
00B3:  GOTO   0AF
35
00B4:  MOVLW  4A
36
00B5:  MOVWF  20
37
00B6:  DECFSZ 20,F
38
00B7:  GOTO   0B6
39
00B8:  NOP
40
00B9:  NOP
41
00BA:  DECFSZ 00,F
42
00BB:  GOTO   0AD
43
00BC:  RETLW  00
44
.................... #fuses XT,NOWDT,NOLVP  
45
....................   
46
....................  
47
....................   
48
.................... //motory  
49
.................... #define FR         output_high(PIN_B4);output_low(PIN_B5)  // Vpred  
50
.................... #define FL         output_high(PIN_B6);output_low(PIN_B7)  
51
.................... #define BR         output_high(PIN_B5);output_low(PIN_B4)  // Vzad  
52
.................... #define BL         output_high(PIN_B7);output_low(PIN_B6)  
53
.................... #define STOPR      output_low(PIN_B4);output_low(PIN_B5)  
54
.................... #define STOPL      output_low(PIN_B6);output_low(PIN_B7)  
55
....................   
56
.................... //cidla  
57
.................... #define RSENSOR    1   // Senzory na caru  
58
.................... #define LSENSOR    0  
59
.................... //#define BUMPER     SENSOR_2   // Senzor na cihlu  
60
....................   
61
.................... //human interface  
62
.................... #DEFINE LED        PIN_A2  
63
....................   
64
.................... #DEFINE SOUND_HI   PIN_B2  
65
.................... #DEFINE SOUND_LO   PIN_B3  
66
.................... #include "sound.c" 
67
....................  // Knihovna pro generovani hudebnich zvuku dane frekvence a delky nebo  
68
.................... // dane noty temperovaneho ladeni a delky.  
69
.................... //  
70
.................... // Pro gnerovani nepouziva zadnou podporu HW, vse se generuje ciste SW.  
71
.................... //  
72
.................... // (c)miho 2003  
73
.................... //  
74
.................... // Historie  
75
.................... // 1.00 Uvodni verze  
76
.................... //  
77
....................   
78
....................   
79
.................... // Konfiguracni parametry  
80
.................... //#define SOUND_HI     PIN_xx          // Pozitivni vystup  
81
.................... //#define SOUND_LO     PIN_xx          // Komplementarni vystup  
82
.................... #ifndef SOUND_REZIE  
83
.................... #define SOUND_REZIE  72                // Piskvorcova konstanta zahrnuje celkovou rezii ve smycce  
84
.................... #endif  
85
.................... #ifndef SOUND_CLOCK  
86
.................... #define SOUND_CLOCK  4000000           // Frelvence krystalu v Hz  
87
.................... #endif  
88
....................   
89
....................   
90
.................... // Definice hudebnich tonu (not) pro proceduru SoundNote()  
91
.................... #define SOUND_C     0  
92
.................... #define SOUND_Cis   1  
93
.................... #define SOUND_D     2  
94
.................... #define SOUND_Dis   3  
95
.................... #define SOUND_E     4  
96
.................... #define SOUND_F     5  
97
.................... #define SOUND_Fis   6  
98
.................... #define SOUND_G     7  
99
.................... #define SOUND_Gis   8  
100
.................... #define SOUND_A     9  
101
.................... #define SOUND_Ais   10  
102
.................... #define SOUND_H     11  
103
.................... #define SOUND_Space 12                 // Pomlka  
104
....................   
105
....................   
106
.................... // Prototypy verejnych procedur  
107
....................   
108
.................... void SoundBeep(unsigned int16 Frequency, unsigned int16 Duration);  
109
.................... // Predava se frekvence v Hz a doba trvani v ms (0 znamena ticho)  
110
....................   
111
.................... void SoundNote(unsigned int8 Note, Octave, unsigned int16 Duration);  
112
.................... // Predava se cislo noty (0 je C), posunuti v oktavach (0 nejnizsi ton,  
113
.................... // SOUND_Space je ticho), doba trvani v ms  
114
....................   
115
.................... // Alternativni makra pro generovani konstatnich tonu  
116
.................... // SoundBeepMacro(Frequency, Duration) - frekvence nesmi byt 0  
117
.................... // SoundNoteMacro(Note, Octave, Duration) - nepodporuje SOUND_Space  
118
.................... // SoundSpaceMacro(Duration) - hraje ticho  
119
....................   
120
.................... // Privatni cast  
121
....................   
122
....................   
123
.................... #ORG 0x100, 0x128                      // Aby skok nebyl pres hranici 0x100  
124
.................... void DelaySpecial(unsigned int16 Time)  
125
.................... // Pomocna procedura pro mereni spozdeni s granularitou 1 instrukcni takt  
126
.................... // Cas v instrukcnich cyklech, skutecny cas je vetsi o _konstantni_ rezii  
127
.................... // Maximalni cas je 65536 us  
128
.................... {  
129
....................    unsigned int8 TimeHi;               // Pro pristup k horni casti Time  
130
....................   
131
....................       *0x0A = LABEL_ADDRESS(Next)>>8;  // Nastav PCLATH  
132
*
133
0100:  MOVLW  01
134
0101:  MOVWF  23
135
0102:  MOVLW  0A
136
0103:  MOVWF  7E
137
0104:  MOVF   23,W
138
0105:  MOVWF  0A
139
....................    #asm  
140
....................       movf     Time,w                  // Zpracuj nejnizsi 3 bity  
141
0106:  MOVF   7B,W
142
....................       xorlw    7                       // Pro hodnotu 0 skakej pres vsechny nopy  
143
0107:  XORLW  07
144
....................       andlw    7                       // Ber jen spodni 3 bity  
145
0108:  ANDLW  07
146
....................       addwf    2,f                     // Preskoc zadny az vsech 8 nopu (2 je PCL)  
147
0109:  ADDWF  02,F
148
....................    Next:  
149
....................       nop                              // Spozdeni s granularitou 1 takt  
150
010A:  NOP
151
....................       nop  
152
010B:  NOP
153
....................       nop  
154
010C:  NOP
155
....................       nop  
156
010D:  NOP
157
....................       nop  
158
010E:  NOP
159
....................       nop  
160
010F:  NOP
161
....................       nop  
162
0110:  NOP
163
....................       nop  
164
....................    #endasm  
165
0111:  NOP
166
....................    Time = Time >> 3;                   // Zahod spodni 3 bity  
167
0112:  RRF    7C,F
168
0113:  RRF    7B,F
169
0114:  RRF    7C,F
170
0115:  RRF    7B,F
171
0116:  RRF    7C,F
172
0117:  RRF    7B,F
173
0118:  MOVLW  1F
174
0119:  ANDWF  7C,F
175
....................    TimeHi=Time>>8;                     // Oddel horni cast citace  
176
011A:  MOVF   7C,W
177
011B:  MOVWF  7D
178
....................    Time++;                             // Korekce na casovani typu dcfsz  
179
011C:  INCF   7B,F
180
011D:  BTFSC  03.2
181
011E:  INCF   7C,F
182
....................    TimeHi++;  
183
011F:  INCF   7D,F
184
....................    #asm  
185
....................    Loop:  
186
....................       nop                              // Smycka musi trvat 8 taktu  
187
0120:  NOP
188
....................       nop                              //   a ma 16 bitu dlouhy citac  
189
0121:  NOP
190
....................       nop  
191
0122:  NOP
192
....................       decfsz   Time  
193
0123:  DECFSZ 7B,F
194
....................       goto     Next1  
195
0124:  GOTO   126
196
....................       decfsz   TimeHi  
197
0125:  DECFSZ 7D,F
198
....................    Next1:  
199
....................       goto     Loop  
200
....................    #endasm  
201
0126:  GOTO   120
202
0127:  RETLW  00
203
....................   
204
.................... }  
205
....................   
206
....................   
207
.................... unsigned int32 SoundCount;             // Pocet pulperid geneovaneho signalu  
208
.................... unsigned int32 SoundPeriod;            // Delka pulperiody v us (zmensene o SOUND_REZIE)  
209
....................   
210
....................   
211
.................... void SoundLoop()  
212
.................... // Pomocna funkce - hlavni zvukova smycka  
213
.................... {  
214
....................    int1 Data;  
215
....................    unsigned int16 i;  
216
....................   
217
....................    for(i=SoundCount;i>0;i--)           // Pocet pulperiod  
218
*
219
019F:  MOVF   26,W
220
01A0:  MOVWF  78
221
01A1:  MOVF   25,W
222
01A2:  MOVWF  77
223
01A3:  MOVF   77,F
224
01A4:  BTFSS  03.2
225
01A5:  GOTO   1A9
226
01A6:  MOVF   78,F
227
01A7:  BTFSC  03.2
228
01A8:  GOTO   1C9
229
....................    {  
230
....................       output_bit(SOUND_HI,Data);       // Nastav vystup  
231
01A9:  BTFSC  76.0
232
01AA:  GOTO   1AD
233
01AB:  BCF    06.2
234
01AC:  GOTO   1AE
235
01AD:  BSF    06.2
236
01AE:  BSF    03.5
237
01AF:  BCF    06.2
238
....................       output_bit(SOUND_LO,~Data);  
239
01B0:  BCF    03.5
240
01B1:  BTFSS  76.0
241
01B2:  GOTO   1B5
242
01B3:  BCF    06.3
243
01B4:  GOTO   1B6
244
01B5:  BSF    06.3
245
01B6:  BSF    03.5
246
01B7:  BCF    06.3
247
....................       Data=~Data;                      // Otoc stav vystupu  
248
01B8:  MOVLW  01
249
01B9:  BCF    03.5
250
01BA:  XORWF  76,F
251
....................       DelaySpecial(SoundPeriod);       // Pockej po dobu plperiody  
252
01BB:  MOVF   2A,W
253
01BC:  MOVWF  7A
254
01BD:  MOVF   29,W
255
01BE:  MOVWF  79
256
01BF:  MOVF   2A,W
257
01C0:  MOVWF  7C
258
01C1:  MOVF   29,W
259
01C2:  MOVWF  7B
260
01C3:  CALL   100
261
....................    }  
262
01C4:  MOVF   77,W
263
01C5:  BTFSC  03.2
264
01C6:  DECF   78,F
265
01C7:  DECF   77,F
266
01C8:  GOTO   1A3
267
.................... }  
268
....................   
269
....................   
270
.................... void SoundBeep(unsigned int16 Frequency, unsigned int16 Duration)  
271
.................... // Predava se frekvence v Hz a doba trvani v ms (0 znamena ticho)  
272
.................... // Rozumne frekvence jsou v rozsahu cca 10Hz az 5000Hz pro krystal 4MHz,  
273
.................... // cas do cca 5s (2*Cas/1000*Freq musi byt < nez 65536)  
274
.................... {  
275
....................    if (Frequency==0)  
276
*
277
0129:  MOVF   72,F
278
012A:  BTFSS  03.2
279
012B:  GOTO   140
280
012C:  MOVF   73,F
281
012D:  BTFSS  03.2
282
012E:  GOTO   140
283
....................    {  
284
....................       for(;Duration>0;Duration--)  
285
012F:  MOVF   74,F
286
0130:  BTFSS  03.2
287
0131:  GOTO   135
288
0132:  MOVF   75,F
289
0133:  BTFSC  03.2
290
0134:  GOTO   13F
291
....................       {  
292
....................          DelaySpecial(1000);           // Zhruba 1ms  
293
0135:  MOVLW  03
294
0136:  MOVWF  7C
295
0137:  MOVLW  E8
296
0138:  MOVWF  7B
297
0139:  CALL   100
298
....................       }  
299
013A:  MOVF   74,W
300
013B:  BTFSC  03.2
301
013C:  DECF   75,F
302
013D:  DECF   74,F
303
013E:  GOTO   12F
304
....................       return;  
305
013F:  GOTO   1C9
306
....................    }  
307
....................   
308
....................    SoundPeriod=(SOUND_CLOCK/4/2)/Frequency-SOUND_REZIE;  
309
0140:  CLRF   79
310
0141:  MOVLW  07
311
0142:  MOVWF  78
312
0143:  MOVLW  A1
313
0144:  MOVWF  77
314
0145:  MOVLW  20
315
0146:  MOVWF  76
316
0147:  CLRF   7D
317
0148:  CLRF   7C
318
0149:  MOVF   73,W
319
014A:  MOVWF  7B
320
014B:  MOVF   72,W
321
014C:  MOVWF  7A
322
014D:  CALL   004
323
014E:  MOVF   23,W
324
014F:  MOVWF  79
325
0150:  MOVF   22,W
326
0151:  MOVWF  78
327
0152:  MOVF   21,W
328
0153:  MOVWF  77
329
0154:  MOVF   20,W
330
0155:  MOVWF  76
331
0156:  MOVLW  48
332
0157:  SUBWF  76,W
333
0158:  MOVWF  29
334
0159:  MOVF   77,W
335
015A:  MOVWF  2A
336
015B:  MOVLW  00
337
015C:  BTFSS  03.0
338
015D:  MOVLW  01
339
015E:  SUBWF  2A,F
340
015F:  MOVF   78,W
341
0160:  MOVWF  2B
342
0161:  MOVLW  00
343
0162:  BTFSS  03.0
344
0163:  MOVLW  01
345
0164:  SUBWF  2B,F
346
0165:  MOVF   79,W
347
0166:  MOVWF  2C
348
0167:  MOVLW  00
349
0168:  BTFSS  03.0
350
0169:  MOVLW  01
351
016A:  SUBWF  2C,F
352
....................   
353
....................    SoundCount=Duration;                // Vypocet poctu pulperiod signalu Duration*Frequency*2/1000  
354
016B:  CLRF   28
355
016C:  CLRF   27
356
016D:  MOVF   75,W
357
016E:  MOVWF  26
358
016F:  MOVF   74,W
359
0170:  MOVWF  25
360
....................    SoundCount*=Frequency;  
361
0171:  MOVF   28,W
362
0172:  MOVWF  79
363
0173:  MOVF   27,W
364
0174:  MOVWF  78
365
0175:  MOVF   26,W
366
0176:  MOVWF  77
367
0177:  MOVF   25,W
368
0178:  MOVWF  76
369
0179:  CLRF   7D
370
017A:  CLRF   7C
371
017B:  MOVF   73,W
372
017C:  MOVWF  7B
373
017D:  MOVF   72,W
374
017E:  MOVWF  7A
375
017F:  GOTO   066
376
0180:  MOVF   23,W
377
0181:  MOVWF  28
378
0182:  MOVF   22,W
379
0183:  MOVWF  27
380
0184:  MOVF   21,W
381
0185:  MOVWF  26
382
0186:  MOVF   20,W
383
0187:  MOVWF  25
384
....................    SoundCount/=500;  
385
0188:  MOVF   28,W
386
0189:  MOVWF  79
387
018A:  MOVF   27,W
388
018B:  MOVWF  78
389
018C:  MOVF   26,W
390
018D:  MOVWF  77
391
018E:  MOVF   25,W
392
018F:  MOVWF  76
393
0190:  CLRF   7D
394
0191:  CLRF   7C
395
0192:  MOVLW  01
396
0193:  MOVWF  7B
397
0194:  MOVLW  F4
398
0195:  MOVWF  7A
399
0196:  CALL   004
400
0197:  MOVF   23,W
401
0198:  MOVWF  28
402
0199:  MOVF   22,W
403
019A:  MOVWF  27
404
019B:  MOVF   21,W
405
019C:  MOVWF  26
406
019D:  MOVF   20,W
407
019E:  MOVWF  25
408
....................   
409
....................    SoundLoop();                         // Pozor pouzivaji se globalni parametry  
410
*
411
01C9:  RETLW  00
412
.................... }  
413
....................   
414
.................... // Definice casu pulperody pro nejnizsi oktavu, v mikrosekundach  
415
.................... // Periody tonu v dalsich oktavach se ziskavaji rotaci vpravo  
416
.................... #define SOUND_Peri_C    (30578*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 30578us  
417
.................... #define SOUND_Peri_Cis  (28862*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 28862us  
418
.................... #define SOUND_Peri_D    (27242*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 27242us  
419
.................... #define SOUND_Peri_Dis  (25713*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 25713us  
420
.................... #define SOUND_Peri_E    (24270*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 24270us  
421
.................... #define SOUND_Peri_F    (22908*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 22908us  
422
.................... #define SOUND_Peri_Fis  (21622*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 21622us  
423
.................... #define SOUND_Peri_G    (20408*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 20408us  
424
.................... #define SOUND_Peri_Gis  (19263*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 19263us  
425
.................... #define SOUND_Peri_A    (18182*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 18182us  
426
.................... #define SOUND_Peri_Ais  (17161*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 17161us  
427
.................... #define SOUND_Peri_H    (16198*(SOUND_CLOCK/1000)/1000/4/2)       // Perioda 16198us  
428
....................   
429
.................... #if SOUND_Peri_C > 65535  
430
.................... #error "Sound Clock too high (Note C requires delay > 65535 cycles)"  
431
.................... #endif  
432
....................   
433
.................... const int16 Table[12] = SOUND_Peri_C,     SOUND_Peri_Cis,   SOUND_Peri_D,     SOUND_Peri_Dis,  
434
....................                         SOUND_Peri_E,     SOUND_Peri_F,     SOUND_Peri_Fis,   SOUND_Peri_G,  
435
....................                         SOUND_Peri_Gis,   SOUND_Peri_A,     SOUND_Peri_Ais,   SOUND_Peri_H;  
436
....................   
437
.................... void SoundNote(unsigned int8 Note, Octave, unsigned int16 Duration)  
438
.................... // Predava se cislo noty (0 je C), posunuti v oktavach (0 nejnizsi ton)  
439
.................... // doba trvani v ms (0 znamena ticho)  
440
.................... // Zahraje zadanou notu v zadane oktave dane delky  
441
.................... {  
442
....................   
443
....................    if (Note==SOUND_Space)  
444
....................    {  
445
....................       for(;Duration>0;Duration--)  
446
....................          DelaySpecial(1000);           // Zhruba 1ms  
447
....................       return;  
448
....................    }  
449
....................   
450
....................    SoundPeriod=(Table[Note]>>Octave)-0;   // Zde je chyba prekladace, nula musi zusat  
451
....................   
452
....................    SoundCount=Duration;  
453
....................    SoundCount*=1000;  
454
....................    SoundCount/=SoundPeriod;  
455
....................   
456
....................    SoundPeriod=SoundPeriod-SOUND_REZIE;  
457
....................   
458
....................    SoundLoop();                         // Pozor pouzivaji se globalni parametry  
459
.................... }  
460
....................   
461
....................   
462
.................... // Sada maker, ktera neobsahuji slozity vypocet a jsou  
463
.................... // tedy vhodna pro jednoduche pipnuti. Parametry jsou stejne  
464
.................... // jako o funkci.  
465
.................... #define SoundBeepMacro(F,D)                     \  
466
....................    SoundPeriod=SOUND_CLOCK/4/2/F-SOUND_REZIE;   \  
467
....................    SoundCount=D*F/500;                          \  
468
....................    SoundLoop();  
469
....................   
470
.................... #define SoundNoteMacro(N,O,D)                   \  
471
....................    SoundPeriod=(Table[N]>>O)-SOUND_REZIE;       \  
472
....................    SoundCount=D*1000/(Table[N]>>O);             \  
473
....................    SoundLoop();  
474
....................   
475
.................... #define SoundPauseMacro(D)                      \  
476
....................    {                                            \  
477
....................       #if D>255                                 \  
478
....................       unsigned int16 i=D;                       \  
479
....................       #else                                     \  
480
....................       unsigned int8  i=D;                       \  
481
....................       #endif                                    \  
482
....................       for(;i>0;i--)                             \  
483
....................       {                                         \  
484
....................          DelaySpecial(1000);                    \  
485
....................       }                                         \  
486
....................    }  
487
....................  
488
....................   
489
.................... #DEFINE TXo        PIN_C0     // Vysilac  
490
.................... #include "C:\library\kaklik\CCS\AX25.c"             // Podprogram pro prenos telemetrie 
491
....................  //#define  PTT PIN_A2                 // PTT control  
492
.................... //#define  TXo PIN_C0                 // To the transmitter modulator  
493
.................... #define  PERIODAH delay_us(222)     // Halfperiod H 222;78/1200     500;430/500  
494
.................... #define  TAILH delay_us(78)  
495
.................... #define  PERIODAL delay_us(412)     // Halfperiod L 412;345/1200    1000;880/500  
496
.................... #define  TAILL delay_us(345)  
497
.................... #byte    STATUS = 3                 // CPUs status register  
498
....................   
499
.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1,  0x60,  
500
....................                      'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61,  
501
....................                      0x03, 0xF0};  
502
....................   
503
.................... boolean bit;  
504
.................... int fcslo, fcshi;    // variabloes for calculating FCS (CRC)  
505
.................... int stuff;           // stuff counter for extra 0  
506
.................... int flag_flag;       // if it is sending flag (7E)  
507
.................... int fcs_flag;        // if it is sending Frame Check Sequence  
508
.................... int i;               // for for  
509
....................   
510
.................... void flipout()       //flips the state of output pin a_1  
511
.................... {  
512
.................... 	stuff = 0;        //since this is a 0, reset the stuff counter  
513
.................... 	if (bit)  
514
....................    {  
515
....................      bit=FALSE;      //if the state of the pin was low, make it high.  
516
....................    }  
517
....................    else  
518
....................    {  
519
....................      bit=TRUE;	  	   //if the state of the pin was high make it low  
520
....................    }  
521
.................... }  
522
....................   
523
.................... void fcsbit(byte tbyte)  
524
.................... {  
525
.................... #asm  
526
....................    BCF    STATUS,0  
527
....................    RRF    fcshi,F             // rotates the entire 16 bits  
528
....................    RRF    fcslo,F			      // to the right  
529
.................... #endasm  
530
....................    if (((STATUS & 0x01)^(tbyte)) ==0x01)  
531
....................    {  
532
....................          fcshi = fcshi^0x84;  
533
....................          fcslo = fcslo^0x08;  
534
....................    }  
535
.................... }  
536
....................   
537
.................... void SendBit ()  
538
.................... {  
539
.................... 	if (bit)  
540
....................    {  
541
....................       output_high(TXo);  
542
....................       PERIODAH;  
543
....................       output_low(TXo);  
544
....................       PERIODAH;  
545
....................       output_high(TXo);  
546
....................       PERIODAH;  
547
....................       output_low(TXo);  
548
....................       TAILH;  
549
....................     }  
550
....................     else  
551
....................     {  
552
....................       output_high(TXo);  
553
....................       PERIODAL;  
554
....................       output_low(TXo);  
555
....................       TAILL;  
556
....................     };  
557
.................... }  
558
....................   
559
.................... void SendByte (byte inbyte)  
560
.................... {  
561
....................    int k, bt;  
562
....................   
563
....................    for (k=0;k<8;k++)    //do the following for each of the 8 bits in the byte  
564
....................    {  
565
....................      bt = inbyte & 0x01;            //strip off the rightmost bit of the byte to be sent (inbyte)  
566
....................      if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt);    //do FCS calc, but only if this  
567
.................... 						                                                //is not a flag or fcs byte  
568
....................      if (bt == 0)  
569
....................      {  
570
....................        flipout();  
571
....................      }  			               // if this bit is a zero, flip the output state  
572
....................      else  
573
....................      {                          			      //otherwise if it is a 1, do the following:  
574
....................        if (flag_flag == FALSE) stuff++;      //increment the count of consequtive 1's  
575
....................        if ((flag_flag == FALSE) & (stuff == 5))  
576
....................        {       //stuff an extra 0, if 5 1's in a row  
577
....................          SendBit();  
578
....................          flipout();               //flip the output state to stuff a 0  
579
....................        }//end of if  
580
....................      }//end of else  
581
....................      // delay_us(850);				 //introduces a delay that creates 1200 baud  
582
....................      SendBit();  
583
....................      inbyte = inbyte>>1;          //go to the next bit in the byte  
584
....................    }//end of for  
585
.................... }//end of SendByte  
586
....................   
587
.................... void SendPacket(char *data)  
588
.................... {  
589
....................     bit=FALSE;  
590
....................   
591
....................    fcslo=fcshi=0xFF;       //The 2 FCS Bytes are initialized to FF  
592
....................    stuff = 0;              //The variable stuff counts the number of 1's in a row. When it gets to 5  
593
.................... 		                     // it is time to stuff a 0.  
594
....................   
595
.................... //   output_low(PTT);        // Blinking LED  
596
.................... //   delay_ms(1000);  
597
.................... //   output_high(PTT);  
598
....................   
599
....................    flag_flag = TRUE;       //The variable flag is true if you are transmitted flags (7E's) false otherwise.  
600
....................    fcs_flag = FALSE;       //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise.  
601
....................   
602
....................    for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes.  Adjust length for txdelay  
603
....................                                        //each flag takes approx 6.7 ms  
604
....................    flag_flag = FALSE;      //done sending flags  
605
....................   
606
....................    for(i=0; i<16; i++) SendByte(SendData[i]);      //send the packet bytes  
607
....................   
608
....................    for(i=0; 0 != *data; i++)  
609
....................    {  
610
....................       SendByte(*data);     //send the packet bytes  
611
....................       data++;  
612
....................    };  
613
....................   
614
....................    fcs_flag = TRUE;       	//about to send the FCS bytes  
615
....................    fcslo =fcslo^0xff;      //must XOR them with FF before sending  
616
....................    fcshi = fcshi^0xff;  
617
....................    SendByte(fcslo);        //send the low byte of fcs  
618
....................    SendByte(fcshi);        //send the high byte of fcs  
619
....................    fcs_flag = FALSE;		   //done sending FCS  
620
....................    flag_flag = TRUE;  		//about to send flags  
621
....................    SendByte(0x7e);         // Send a flag to end packet  
622
.................... }  
623
....................   
624
....................   
625
....................   
626
....................  
627
....................   
628
.................... //program  
629
.................... #define MEZERA     38         // jak se muze jet dlouho bez cary  
630
.................... #define COUVEJ     700         // kolik se ma couvat po detekci diry  
631
.................... #define CIKCAK     40         // kolik se ma jet cik/cak  
632
.................... #define PRES_DIRU  350         // jak predpokladame velkou diru  
633
.................... #define TRESHOLD   50  
634
....................   
635
.................... #define L 0  // left  
636
.................... #define R 1  // right  
637
.................... #define S 2  // straight  
638
....................   
639
.................... char AXstring[40];            // Buffer pro prenos telemetrie  
640
....................   
641
.................... int movement;     // smer minuleho pohybu  
642
.................... int line;         // na ktere strane byla detekovana cara  
643
.................... int dira;         // pocitadlo pro nalezeni preruseni cary  
644
.................... int n;            // pomocna promena pro cyklus FOR  
645
....................   
646
.................... void cik_cak()   // Hledani cary  
647
.................... {  
648
....................   n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry  
649
....................   switch(movement)  // zmenime smer zataceni  
650
....................   {  
651
....................    case L:  
652
....................         FL;STOPR;          // doprava  
653
....................         movement=R;        // poznamenej kam jedem  
654
....................         line=L;            // kdyz prejedem, tak bude cara vlevo  
655
....................      break;  
656
....................    case R:  
657
....................         FR;STOPL;           // doleva  
658
....................         movement=L;        // poznamenej kam jedem  
659
....................         line=R;            // kdyz prejedem, tak bude cara vpravo  
660
....................      break;  
661
....................   }  
662
....................   
663
....................   while(true)   // jed cik-cak, dokud nenajdes caru  
664
....................   {  
665
....................     set_adc_channel(RSENSOR);  
666
....................     if (TRESHOLD > read_adc())   // je cara ?? 
667
....................     {  
668
....................          STOPL;  
669
....................          STOPR;  
670
....................          break;  
671
....................     };  
672
....................     if (CIKCAK < n++)  // Jedeme uz dost dlouho cik??Pak jed cak.  
673
....................     {  
674
....................        n=0;  
675
....................        STOPL;  
676
....................        STOPR;  
677
....................        switch(movement)     // zmenime smer zataceni  
678
....................        {  
679
....................          case L:  
680
....................               FL;          // doprava  
681
....................               movement=R;        // poznamenej kam jedem  
682
....................               line=L;            // kdyz prejedem, tak bude cara vlevo  
683
....................            break;  
684
....................          case R:  
685
....................               FR;           // doleva  
686
....................               movement=L;        // poznamenej kam jedem  
687
....................               line=R;            // kdyz prejedem, tak bude cara vpravo  
688
....................            break;  
689
....................        }  
690
....................     }  
691
....................   }  
692
.................... }  
693
....................   
694
....................   
695
.................... void diagnostika()  
696
.................... {  
697
....................    int n;  
698
....................   
699
....................    while (input(PIN_C4))  
700
01CA:  BSF    44.4
701
01CB:  MOVF   44,W
702
01CC:  BSF    03.5
703
01CD:  MOVWF  07
704
01CE:  BCF    03.5
705
01CF:  BTFSS  07.4
706
01D0:  GOTO   2C9
707
....................    {  
708
....................   
709
....................       for (n=500; n<5000; n+=100)  
710
01D1:  MOVLW  F4
711
01D2:  MOVWF  71
712
....................       {  
713
....................          SoundBeep(n,50);                        //beep  
714
01D3:  CLRF   73
715
01D4:  MOVF   71,W
716
01D5:  MOVWF  72
717
01D6:  CLRF   75
718
01D7:  MOVLW  32
719
01D8:  MOVWF  74
720
01D9:  CALL   129
721
....................       };  
722
01DA:  MOVLW  64
723
01DB:  ADDWF  71,F
724
01DC:  GOTO   1D3
725
....................       Delay_ms(1000);  
726
01DD:  MOVLW  04
727
01DE:  MOVWF  72
728
01DF:  MOVLW  FA
729
01E0:  MOVWF  73
730
01E1:  CALL   0A8
731
01E2:  DECFSZ 72,F
732
01E3:  GOTO   1DF
733
....................   
734
....................       STOPL;                     //zastav vse  
735
01E4:  BSF    03.5
736
01E5:  BCF    06.6
737
01E6:  BCF    03.5
738
01E7:  BCF    06.6
739
01E8:  BSF    03.5
740
01E9:  BCF    06.7
741
01EA:  BCF    03.5
742
01EB:  BCF    06.7
743
....................       STOPR;  
744
01EC:  BSF    03.5
745
01ED:  BCF    06.4
746
01EE:  BCF    03.5
747
01EF:  BCF    06.4
748
01F0:  BSF    03.5
749
01F1:  BCF    06.5
750
01F2:  BCF    03.5
751
01F3:  BCF    06.5
752
....................   
753
....................       FR;                        //pravy pas  
754
01F4:  BSF    03.5
755
01F5:  BCF    06.4
756
01F6:  BCF    03.5
757
01F7:  BSF    06.4
758
01F8:  BSF    03.5
759
01F9:  BCF    06.5
760
01FA:  BCF    03.5
761
01FB:  BCF    06.5
762
....................       Delay_ms(1000);  
763
01FC:  MOVLW  04
764
01FD:  MOVWF  72
765
01FE:  MOVLW  FA
766
01FF:  MOVWF  73
767
0200:  CALL   0A8
768
0201:  DECFSZ 72,F
769
0202:  GOTO   1FE
770
....................       STOPR;  
771
0203:  BSF    03.5
772
0204:  BCF    06.4
773
0205:  BCF    03.5
774
0206:  BCF    06.4
775
0207:  BSF    03.5
776
0208:  BCF    06.5
777
0209:  BCF    03.5
778
020A:  BCF    06.5
779
....................       Delay_ms(1000);  
780
020B:  MOVLW  04
781
020C:  MOVWF  72
782
020D:  MOVLW  FA
783
020E:  MOVWF  73
784
020F:  CALL   0A8
785
0210:  DECFSZ 72,F
786
0211:  GOTO   20D
787
....................       BR;  
788
0212:  BSF    03.5
789
0213:  BCF    06.5
790
0214:  BCF    03.5
791
0215:  BSF    06.5
792
0216:  BSF    03.5
793
0217:  BCF    06.4
794
0218:  BCF    03.5
795
0219:  BCF    06.4
796
....................       Delay_ms(1000);  
797
021A:  MOVLW  04
798
021B:  MOVWF  72
799
021C:  MOVLW  FA
800
021D:  MOVWF  73
801
021E:  CALL   0A8
802
021F:  DECFSZ 72,F
803
0220:  GOTO   21C
804
....................       STOPR;  
805
0221:  BSF    03.5
806
0222:  BCF    06.4
807
0223:  BCF    03.5
808
0224:  BCF    06.4
809
0225:  BSF    03.5
810
0226:  BCF    06.5
811
0227:  BCF    03.5
812
0228:  BCF    06.5
813
....................       Delay_ms(1000);  
814
0229:  MOVLW  04
815
022A:  MOVWF  72
816
022B:  MOVLW  FA
817
022C:  MOVWF  73
818
022D:  CALL   0A8
819
022E:  DECFSZ 72,F
820
022F:  GOTO   22B
821
....................   
822
....................       FL;                        //levy pas  
823
0230:  BSF    03.5
824
0231:  BCF    06.6
825
0232:  BCF    03.5
826
0233:  BSF    06.6
827
0234:  BSF    03.5
828
0235:  BCF    06.7
829
0236:  BCF    03.5
830
0237:  BCF    06.7
831
....................       Delay_ms(1000);  
832
0238:  MOVLW  04
833
0239:  MOVWF  72
834
023A:  MOVLW  FA
835
023B:  MOVWF  73
836
023C:  CALL   0A8
837
023D:  DECFSZ 72,F
838
023E:  GOTO   23A
839
....................       STOPL;  
840
023F:  BSF    03.5
841
0240:  BCF    06.6
842
0241:  BCF    03.5
843
0242:  BCF    06.6
844
0243:  BSF    03.5
845
0244:  BCF    06.7
846
0245:  BCF    03.5
847
0246:  BCF    06.7
848
....................       Delay_ms(1000);  
849
0247:  MOVLW  04
850
0248:  MOVWF  72
851
0249:  MOVLW  FA
852
024A:  MOVWF  73
853
024B:  CALL   0A8
854
024C:  DECFSZ 72,F
855
024D:  GOTO   249
856
....................       BL;  
857
024E:  BSF    03.5
858
024F:  BCF    06.7
859
0250:  BCF    03.5
860
0251:  BSF    06.7
861
0252:  BSF    03.5
862
0253:  BCF    06.6
863
0254:  BCF    03.5
864
0255:  BCF    06.6
865
....................       Delay_ms(1000);  
866
0256:  MOVLW  04
867
0257:  MOVWF  72
868
0258:  MOVLW  FA
869
0259:  MOVWF  73
870
025A:  CALL   0A8
871
025B:  DECFSZ 72,F
872
025C:  GOTO   258
873
....................       STOPL;  
874
025D:  BSF    03.5
875
025E:  BCF    06.6
876
025F:  BCF    03.5
877
0260:  BCF    06.6
878
0261:  BSF    03.5
879
0262:  BCF    06.7
880
0263:  BCF    03.5
881
0264:  BCF    06.7
882
....................       Delay_ms(1000);  
883
0265:  MOVLW  04
884
0266:  MOVWF  72
885
0267:  MOVLW  FA
886
0268:  MOVWF  73
887
0269:  CALL   0A8
888
026A:  DECFSZ 72,F
889
026B:  GOTO   267
890
....................   
891
....................       FL;                        //oba pasy  
892
026C:  BSF    03.5
893
026D:  BCF    06.6
894
026E:  BCF    03.5
895
026F:  BSF    06.6
896
0270:  BSF    03.5
897
0271:  BCF    06.7
898
0272:  BCF    03.5
899
0273:  BCF    06.7
900
....................       FR;  
901
0274:  BSF    03.5
902
0275:  BCF    06.4
903
0276:  BCF    03.5
904
0277:  BSF    06.4
905
0278:  BSF    03.5
906
0279:  BCF    06.5
907
027A:  BCF    03.5
908
027B:  BCF    06.5
909
....................       Delay_ms(1000);  
910
027C:  MOVLW  04
911
027D:  MOVWF  72
912
027E:  MOVLW  FA
913
027F:  MOVWF  73
914
0280:  CALL   0A8
915
0281:  DECFSZ 72,F
916
0282:  GOTO   27E
917
....................       STOPL;  
918
0283:  BSF    03.5
919
0284:  BCF    06.6
920
0285:  BCF    03.5
921
0286:  BCF    06.6
922
0287:  BSF    03.5
923
0288:  BCF    06.7
924
0289:  BCF    03.5
925
028A:  BCF    06.7
926
....................       STOPR;  
927
028B:  BSF    03.5
928
028C:  BCF    06.4
929
028D:  BCF    03.5
930
028E:  BCF    06.4
931
028F:  BSF    03.5
932
0290:  BCF    06.5
933
0291:  BCF    03.5
934
0292:  BCF    06.5
935
....................       Delay_ms(1000);  
936
0293:  MOVLW  04
937
0294:  MOVWF  72
938
0295:  MOVLW  FA
939
0296:  MOVWF  73
940
0297:  CALL   0A8
941
0298:  DECFSZ 72,F
942
0299:  GOTO   295
943
....................       BL;  
944
029A:  BSF    03.5
945
029B:  BCF    06.7
946
029C:  BCF    03.5
947
029D:  BSF    06.7
948
029E:  BSF    03.5
949
029F:  BCF    06.6
950
02A0:  BCF    03.5
951
02A1:  BCF    06.6
952
....................       BR;  
953
02A2:  BSF    03.5
954
02A3:  BCF    06.5
955
02A4:  BCF    03.5
956
02A5:  BSF    06.5
957
02A6:  BSF    03.5
958
02A7:  BCF    06.4
959
02A8:  BCF    03.5
960
02A9:  BCF    06.4
961
....................       Delay_ms(1000);  
962
02AA:  MOVLW  04
963
02AB:  MOVWF  72
964
02AC:  MOVLW  FA
965
02AD:  MOVWF  73
966
02AE:  CALL   0A8
967
02AF:  DECFSZ 72,F
968
02B0:  GOTO   2AC
969
....................       STOPL;  
970
02B1:  BSF    03.5
971
02B2:  BCF    06.6
972
02B3:  BCF    03.5
973
02B4:  BCF    06.6
974
02B5:  BSF    03.5
975
02B6:  BCF    06.7
976
02B7:  BCF    03.5
977
02B8:  BCF    06.7
978
....................       STOPR;  
979
02B9:  BSF    03.5
980
02BA:  BCF    06.4
981
02BB:  BCF    03.5
982
02BC:  BCF    06.4
983
02BD:  BSF    03.5
984
02BE:  BCF    06.5
985
02BF:  BCF    03.5
986
02C0:  BCF    06.5
987
....................       Delay_ms(1000);  
988
02C1:  MOVLW  04
989
02C2:  MOVWF  72
990
02C3:  MOVLW  FA
991
02C4:  MOVWF  73
992
02C5:  CALL   0A8
993
02C6:  DECFSZ 72,F
994
02C7:  GOTO   2C3
995
....................    }  
996
02C8:  GOTO   1CA
997
02C9:  BCF    0A.3
998
02CA:  GOTO   2F0 (RETURN)
999
.................... }  
1000
....................   
1001
.................... void main()  
1002
.................... {  
1003
02CB:  CLRF   04
1004
02CC:  MOVLW  1F
1005
02CD:  ANDWF  03,F
1006
02CE:  MOVLW  07
1007
02CF:  BSF    03.5
1008
02D0:  MOVWF  1F
1009
02D1:  MOVLW  82
1010
02D2:  BCF    03.5
1011
02D3:  MOVWF  2D
1012
02D4:  MOVLW  98
1013
02D5:  MOVWF  2E
1014
02D6:  MOVWF  2F
1015
02D7:  MOVLW  40
1016
02D8:  MOVWF  30
1017
02D9:  MOVWF  31
1018
02DA:  MOVWF  32
1019
02DB:  MOVLW  60
1020
02DC:  MOVWF  33
1021
02DD:  MOVLW  86
1022
02DE:  MOVWF  34
1023
02DF:  MOVLW  B4
1024
02E0:  MOVWF  35
1025
02E1:  MOVLW  60
1026
02E2:  MOVWF  36
1027
02E3:  MOVLW  A4
1028
02E4:  MOVWF  37
1029
02E5:  MOVWF  38
1030
02E6:  MOVWF  39
1031
02E7:  MOVLW  61
1032
02E8:  MOVWF  3A
1033
02E9:  MOVLW  03
1034
02EA:  MOVWF  3B
1035
02EB:  MOVLW  F0
1036
02EC:  MOVWF  3C
1037
02ED:  MOVLW  FF
1038
02EE:  MOVWF  44
1039
....................   diagnostika();  
1040
02EF:  GOTO   1CA
1041
....................   
1042
....................   SoundBeep(640,200);                        //beep  
1043
02F0:  MOVLW  02
1044
02F1:  MOVWF  73
1045
02F2:  MOVLW  80
1046
02F3:  MOVWF  72
1047
02F4:  CLRF   75
1048
02F5:  MOVLW  C8
1049
02F6:  MOVWF  74
1050
02F7:  CALL   129
1051
....................   Delay_ms(50);  
1052
02F8:  MOVLW  32
1053
02F9:  MOVWF  73
1054
02FA:  CALL   0A8
1055
....................   SoundBeep(640,200);  
1056
02FB:  MOVLW  02
1057
02FC:  MOVWF  73
1058
02FD:  MOVLW  80
1059
02FE:  MOVWF  72
1060
02FF:  CLRF   75
1061
0300:  MOVLW  C8
1062
0301:  MOVWF  74
1063
0302:  CALL   129
1064
....................   
1065
....................   setup_adc_ports(RA0_RA1_RA3_ANALOG);  
1066
0303:  MOVLW  04
1067
0304:  BSF    03.5
1068
0305:  MOVWF  1F
1069
....................   setup_adc(ADC_CLOCK_DIV_2);  
1070
0306:  BCF    03.5
1071
0307:  MOVF   1F,W
1072
0308:  ANDLW  38
1073
0309:  IORLW  01
1074
030A:  MOVWF  1F
1075
....................   Delay_ms(1000); // 1s  
1076
030B:  MOVLW  04
1077
030C:  MOVWF  71
1078
030D:  MOVLW  FA
1079
030E:  MOVWF  73
1080
030F:  CALL   0A8
1081
0310:  DECFSZ 71,F
1082
0311:  GOTO   30D
1083
....................   
1084
....................   movement=R;  
1085
0312:  MOVLW  01
1086
0313:  MOVWF  6D
1087
....................   line=S;  
1088
0314:  MOVLW  02
1089
0315:  MOVWF  6E
1090
....................   dira=0;  
1091
0316:  CLRF   6F
1092
....................   
1093
....................   //cik_cak();    // toc se, abys nasel caru  
1094
....................   FL; FR;         // vpred  
1095
0317:  BSF    03.5
1096
0318:  BCF    06.6
1097
0319:  BCF    03.5
1098
031A:  BSF    06.6
1099
031B:  BSF    03.5
1100
031C:  BCF    06.7
1101
031D:  BCF    03.5
1102
031E:  BCF    06.7
1103
031F:  BSF    03.5
1104
0320:  BCF    06.4
1105
0321:  BCF    03.5
1106
0322:  BSF    06.4
1107
0323:  BSF    03.5
1108
0324:  BCF    06.5
1109
0325:  BCF    03.5
1110
0326:  BCF    06.5
1111
....................   
1112
....................                                                    // Sledovani cary  
1113
....................   while(true)  
1114
....................   {  
1115
.................... snimani:  
1116
....................     set_adc_channel(RSENSOR);  
1117
0327:  MOVLW  08
1118
0328:  MOVWF  21
1119
0329:  MOVF   1F,W
1120
032A:  ANDLW  C7
1121
032B:  IORWF  21,W
1122
032C:  MOVWF  1F
1123
....................     Delay_us(2);  
1124
032D:  NOP
1125
032E:  NOP
1126
....................     if (TRESHOLD > read_adc())    // Cara pod pravym senzorem  
1127
032F:  BSF    1F.2
1128
0330:  BTFSC  1F.2
1129
0331:  GOTO   330
1130
0332:  MOVF   1E,W
1131
0333:  SUBLW  31
1132
0334:  BTFSS  03.0
1133
0335:  GOTO   34A
1134
....................     {  
1135
....................       dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru  
1136
0336:  CLRF   6F
1137
....................       line=R;    // zaznamenej, kdes videl caru  
1138
0337:  MOVLW  01
1139
0338:  MOVWF  6E
1140
....................       FL;FR;  
1141
0339:  BSF    03.5
1142
033A:  BCF    06.6
1143
033B:  BCF    03.5
1144
033C:  BSF    06.6
1145
033D:  BSF    03.5
1146
033E:  BCF    06.7
1147
033F:  BCF    03.5
1148
0340:  BCF    06.7
1149
0341:  BSF    03.5
1150
0342:  BCF    06.4
1151
0343:  BCF    03.5
1152
0344:  BSF    06.4
1153
0345:  BSF    03.5
1154
0346:  BCF    06.5
1155
0347:  BCF    03.5
1156
0348:  BCF    06.5
1157
....................       goto snimani;  
1158
0349:  GOTO   327
1159
....................     }  
1160
....................   
1161
....................     set_adc_channel(LSENSOR);  
1162
034A:  MOVLW  00
1163
034B:  MOVWF  21
1164
034C:  MOVF   1F,W
1165
034D:  ANDLW  C7
1166
034E:  IORWF  21,W
1167
034F:  MOVWF  1F
1168
....................     Delay_us(2);  
1169
0350:  NOP
1170
0351:  NOP
1171
....................     if (TRESHOLD > read_adc())    // Cara pod levym senzorem  
1172
0352:  BSF    1F.2
1173
0353:  BTFSC  1F.2
1174
0354:  GOTO   353
1175
0355:  MOVF   1E,W
1176
0356:  SUBLW  31
1177
0357:  BTFSS  03.0
1178
0358:  GOTO   36C
1179
....................     {  
1180
....................       dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru  
1181
0359:  CLRF   6F
1182
....................       line=L;    // zaznamenej, kdes videl caru  
1183
035A:  CLRF   6E
1184
....................       FL;FR;  
1185
035B:  BSF    03.5
1186
035C:  BCF    06.6
1187
035D:  BCF    03.5
1188
035E:  BSF    06.6
1189
035F:  BSF    03.5
1190
0360:  BCF    06.7
1191
0361:  BCF    03.5
1192
0362:  BCF    06.7
1193
0363:  BSF    03.5
1194
0364:  BCF    06.4
1195
0365:  BCF    03.5
1196
0366:  BSF    06.4
1197
0367:  BSF    03.5
1198
0368:  BCF    06.5
1199
0369:  BCF    03.5
1200
036A:  BCF    06.5
1201
....................       goto snimani;  
1202
036B:  GOTO   327
1203
....................     }  
1204
....................   
1205
....................     // oba senzory mimo caru  
1206
....................     if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat  
1207
036C:  MOVF   6F,F
1208
036D:  BTFSS  03.2
1209
036E:  GOTO   3BF
1210
....................                  // v ostatnich cyklech nedelame nic (pro urychleni snimani)  
1211
....................     {  
1212
.................... STOPL;  
1213
036F:  BSF    03.5
1214
0370:  BCF    06.6
1215
0371:  BCF    03.5
1216
0372:  BCF    06.6
1217
0373:  BSF    03.5
1218
0374:  BCF    06.7
1219
0375:  BCF    03.5
1220
0376:  BCF    06.7
1221
.................... STOPR;  
1222
0377:  BSF    03.5
1223
0378:  BCF    06.4
1224
0379:  BCF    03.5
1225
037A:  BCF    06.4
1226
037B:  BSF    03.5
1227
037C:  BCF    06.5
1228
037D:  BCF    03.5
1229
037E:  BCF    06.5
1230
.................... BL;  
1231
037F:  BSF    03.5
1232
0380:  BCF    06.7
1233
0381:  BCF    03.5
1234
0382:  BSF    06.7
1235
0383:  BSF    03.5
1236
0384:  BCF    06.6
1237
0385:  BCF    03.5
1238
0386:  BCF    06.6
1239
.................... BR;  
1240
0387:  BSF    03.5
1241
0388:  BCF    06.5
1242
0389:  BCF    03.5
1243
038A:  BSF    06.5
1244
038B:  BSF    03.5
1245
038C:  BCF    06.4
1246
038D:  BCF    03.5
1247
038E:  BCF    06.4
1248
.................... Delay_ms(20);  
1249
038F:  MOVLW  14
1250
0390:  MOVWF  73
1251
0391:  CALL   0A8
1252
.................... STOPL;  
1253
0392:  BSF    03.5
1254
0393:  BCF    06.6
1255
0394:  BCF    03.5
1256
0395:  BCF    06.6
1257
0396:  BSF    03.5
1258
0397:  BCF    06.7
1259
0398:  BCF    03.5
1260
0399:  BCF    06.7
1261
.................... STOPR;  
1262
039A:  BSF    03.5
1263
039B:  BCF    06.4
1264
039C:  BCF    03.5
1265
039D:  BCF    06.4
1266
039E:  BSF    03.5
1267
039F:  BCF    06.5
1268
03A0:  BCF    03.5
1269
03A1:  BCF    06.5
1270
.................... Delay_ms(200);  
1271
03A2:  MOVLW  C8
1272
03A3:  MOVWF  73
1273
03A4:  CALL   0A8
1274
....................                            // kdyz nevidis caru, tak jed tam, kdes ji videl naposled  
1275
....................       if(line==L)  
1276
03A5:  MOVF   6E,F
1277
03A6:  BTFSS  03.2
1278
03A7:  GOTO   3B1
1279
....................       {  
1280
....................         // doleva  
1281
.................... //      STOPL;  
1282
....................       FR;  
1283
03A8:  BSF    03.5
1284
03A9:  BCF    06.4
1285
03AA:  BCF    03.5
1286
03AB:  BSF    06.4
1287
03AC:  BSF    03.5
1288
03AD:  BCF    06.5
1289
03AE:  BCF    03.5
1290
03AF:  BCF    06.5
1291
....................         movement=L;    // poznamenej kam jedes  
1292
03B0:  CLRF   6D
1293
....................       }  
1294
....................       if(line==R)  
1295
03B1:  DECFSZ 6E,W
1296
03B2:  GOTO   3BD
1297
....................       {  
1298
....................         // doprava  
1299
.................... //     STOPR;  
1300
....................         FL;  
1301
03B3:  BSF    03.5
1302
03B4:  BCF    06.6
1303
03B5:  BCF    03.5
1304
03B6:  BSF    06.6
1305
03B7:  BSF    03.5
1306
03B8:  BCF    06.7
1307
03B9:  BCF    03.5
1308
03BA:  BCF    06.7
1309
....................         movement=R;    // poznamenej kam jedes  
1310
03BB:  MOVLW  01
1311
03BC:  MOVWF  6D
1312
....................       }  
1313
....................       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo  
1314
03BD:  INCF   6F,F
1315
....................       goto snimani; // co nejrychleji se vrat na snimani cary  
1316
03BE:  GOTO   327
1317
....................     }  
1318
....................   
1319
....................     /*if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?? 
1320
....................     {  
1321
....................       dira=0;  
1322
....................       switch(movement)  // kam se jelo ?? 
1323
....................       {  
1324
....................        case L:  
1325
....................             BR;      // couvej doprava  
1326
....................             Delay_ms(COUVEJ);  
1327
....................             movement=R;  
1328
....................          break;  
1329
....................        case R:  
1330
....................             BL;       // couvej doleva  
1331
....................             Delay_ms(COUVEJ);  
1332
....................             movement=L;  
1333
....................          break;  
1334
....................       }  
1335
....................       STOP();                    // konec couvani  
1336
....................       FL; FR;                  // rovne pres diru  
1337
....................       Delay_ms(PRES_DIRU);  
1338
....................       STOP();  
1339
....................       cik_cak();                // najdi caru  
1340
....................       FR; FL;                  // vpred  
1341
....................     } // dira*/  
1342
....................   
1343
....................   } // while(true)  
1344
03BF:  GOTO   327
1345
....................   
1346
.................... }  
1347
....................   
1348
03C0:  SLEEP
1349
.................... /*void objizdka()  
1350
.................... {  
1351
....................   BL; BR;                 // zacouvej  
1352
....................   Delay_ms(150);  
1353
....................   STOP();  
1354
....................   
1355
....................   cik_cak();               // vyrovnej se na caru  
1356
....................   cik_cak();               // radeji 3x, aby se vyrovnaly setrvacne sily  
1357
....................   cik_cak();  
1358
....................   
1359
....................   BL; FR; Delay_ms(220);               // vlevo  
1360
....................   STOP();  
1361
....................   FL; FR; Delay_ms(650);               // rovne  
1362
....................   STOP();  
1363
....................   FL; BR; Delay_ms(220);               // vpravo  
1364
....................   STOP();  
1365
....................   FL; FR; Delay_ms(770);               // rovne  
1366
....................   STOP();  
1367
....................   FL; BR; Delay_ms(210);               // vpravo  
1368
....................   STOP();  
1369
....................   FL; FR;  
1370
....................   Delay_ms(200);                       // kousek rovne  
1371
....................   // rovne, dokud nenarazis na caru  
1372
....................   while(input(RSENSOR));     // pravej senzor, protoze cihla je vpravo  
1373
....................   STOP();  
1374
....................   BL; FR;                         // toc se doleva, dokud nenarazis na caru  
1375
....................   while(input(LSENSOR));     // levej senzor, protoze cara je urcite vlevo  
1376
....................   STOP();  
1377
....................   line=R;      // caru predpokladame vpravo, kdybysme ji prejeli  
1378
....................   dira=0;  
1379
....................   FL; FR;                         // vpred  
1380
.................... }*/  
1381
....................