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6 kaklik 1 
// Prijimac
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#include "main.h"
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#include "..\..\common.h"
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#DEFINE  PRIJIMAC       PIN_A3      // pin na ktery je pripojen prijimac
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#DEFINE  SERVO_X        PIN_A2      // piny na ktere jsou pripojena serva
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#DEFINE  SERVO_Y        PIN_B0
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#DEFINE  DILEK          20           // jeden krok serva v mikrosekundach
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#bit  T0IF = 0xB.2   // int. flag od Timer0
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static int8   x = 16;     // poloha serv
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static int8   y = 16;
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int8  trim_x = 2;
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int8  trim_y = 2;
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boolean flag;      // priznak, ze doslo k preruseni prijmu ovladanim serv
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#int_TIMER0
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TIMER0_isr()
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{
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   int8 n;
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   flag = true;   // doslo k preruseni prijmu
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//   x = 15;
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//   y = 15;
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   output_high(SERVO_X);   // uvodni impuls 1ms
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   delay_ms(1);
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   for (n=trim_x; n>0; n--);
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   for (n=x; n>0; n--) Delay_us(DILEK);
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   output_low(SERVO_X);
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   output_high(SERVO_Y);
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   delay_ms(1);
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   for (n=trim_y; n>0; n--);
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   for (n=y; n>0; n--) Delay_us(DILEK);
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   output_low(SERVO_Y);
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}
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// output_high(PIN_B1);   // debug pin
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void main()
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{
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   int i;
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   int8 osa, data, check, suma;
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   setup_counters(RTCC_INTERNAL,RTCC_DIV_64);   // Preruseni po 16,3ms
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   enable_interrupts(INT_TIMER0);
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   enable_interrupts(global);
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loop:
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   flag = false;
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   // Cekej na uvodni ticho
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   for (i=SYNC; i>0; i--)
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   {
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      delay_us(IMPULS/4);
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      if (flag) goto loop;
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      if (!input(PRIJIMAC)) i=SYNC;
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   }
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   // Cekej na startovaci 1
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   while (input(PRIJIMAC)) if (flag) goto loop;
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   if (flag) goto loop;
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   // Posun na cteni prvniho datoveho bitu
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   delay_us(2*IMPULS+2*IMPULS/3);
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   // Cteme bity
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   for (i=8; i>0; i--)
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   {
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      data <<= 1;
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      if (input(PRIJIMAC)) data |= 1;
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      if (flag) goto loop;
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output_high(PIN_B1);   // debug pin
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      delay_us(2*IMPULS+15);
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output_low(PIN_B1);   // debug pin
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   }
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   // Cteme checksum
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   check = 0;
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   for (i=4; i>0; i--)
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   {
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      check <<= 1;
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      if (input(PRIJIMAC)) check |= 1;
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      if (flag) goto loop;
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output_high(PIN_B1);   // debug pin
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      delay_us(2*IMPULS+15);
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output_low(PIN_B1);   // debug pin
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   }
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   swap(data);          // kontrola kontrolniho souctu
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   suma = data & 0xF;
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   swap(data);
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   suma += data & 0xF;
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   suma++;
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   suma &= 0xF;
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   if (suma != check) goto loop;
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   osa = data >> 5;  // extrahuj z ramce cislo osy a hodnotu
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   data &= 0x1F;
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   switch(osa)
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   {
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      case OSA_X:
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         x=data;
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        break;
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      case OSA_y:
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         y=data;
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        break;
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   }
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   goto loop;
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}