WebSVN – svnkaklik – Blame – /roboti/istrobot/tank/main.LST

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 (2Cas/1000Freq 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 DurationFrequency2/1000`
		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	`....................`

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