0,0 → 1,1625 |
CCS PCM C Compiler, Version 3.245, 27853 30-IV-06 21:17 |
|
Filename: D:\KAKLIK\programy\PIC_C\roboti\3Orbis\main.lst |
|
ROM used: 1154 words (28%) |
Largest free fragment is 2048 |
RAM used: 32 (18%) at main() level |
35 (20%) worst case |
Stack: 5 worst case (3 in main + 2 for interrupts) |
|
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 26C |
0003: NOP |
0004: MOVWF 7F |
0005: SWAPF 03,W |
0006: CLRF 03 |
0007: MOVWF 21 |
0008: MOVF 7F,W |
0009: MOVWF 20 |
000A: MOVF 0A,W |
000B: MOVWF 28 |
000C: CLRF 0A |
000D: SWAPF 20,F |
000E: MOVF 04,W |
000F: MOVWF 22 |
0010: MOVF 77,W |
0011: MOVWF 23 |
0012: MOVF 78,W |
0013: MOVWF 24 |
0014: MOVF 79,W |
0015: MOVWF 25 |
0016: MOVF 7A,W |
0017: MOVWF 26 |
0018: MOVF 7B,W |
0019: MOVWF 27 |
001A: BCF 03.7 |
001B: BCF 03.5 |
001C: MOVLW 8C |
001D: MOVWF 04 |
001E: BTFSS 00.1 |
001F: GOTO 022 |
0020: BTFSC 0C.1 |
0021: GOTO 035 |
0022: MOVF 22,W |
0023: MOVWF 04 |
0024: MOVF 23,W |
0025: MOVWF 77 |
0026: MOVF 24,W |
0027: MOVWF 78 |
0028: MOVF 25,W |
0029: MOVWF 79 |
002A: MOVF 26,W |
002B: MOVWF 7A |
002C: MOVF 27,W |
002D: MOVWF 7B |
002E: MOVF 28,W |
002F: MOVWF 0A |
0030: SWAPF 21,W |
0031: MOVWF 03 |
0032: SWAPF 7F,F |
0033: SWAPF 7F,W |
0034: RETFIE |
0035: BCF 0A.3 |
0036: GOTO 047 |
.................... #include ".\main.h" |
.................... #include <16F88.h> |
.................... //////// Standard Header file for the PIC16F88 device //////////////// |
.................... #device PIC16F88 |
.................... #list |
.................... |
.................... #device adc=8 |
.................... |
.................... #FUSES NOWDT //No Watch Dog Timer |
.................... #FUSES INTRC_IO |
.................... #FUSES NOPUT //No Power Up Timer |
.................... #FUSES MCLR //Master Clear pin enabled |
.................... #FUSES NOBROWNOUT //Reset when brownout detected |
.................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18) |
.................... #FUSES NOCPD //No EE protection |
.................... #FUSES NOWRT //Program memory not write protected |
.................... #FUSES NODEBUG //No Debug mode for ICD |
.................... #FUSES NOPROTECT //Code not protected from reading |
.................... #FUSES NOFCMEN //Fail-safe clock monitor enabled |
.................... #FUSES NOIESO //Internal External Switch Over mode enabled |
.................... |
.................... #use delay(clock=8000000,RESTART_WDT) |
0037: MOVLW 08 |
0038: SUBWF 3D,F |
0039: BTFSS 03.0 |
003A: GOTO 046 |
003B: MOVLW 3D |
003C: MOVWF 04 |
003D: BCF 03.0 |
003E: RRF 00,F |
003F: MOVF 00,W |
0040: BTFSC 03.2 |
0041: GOTO 046 |
0042: GOTO 044 |
0043: CLRWDT |
0044: DECFSZ 00,F |
0045: GOTO 043 |
0046: RETLW 00 |
* |
0065: MOVLW 3A |
0066: MOVWF 04 |
0067: MOVF 00,W |
0068: BTFSC 03.2 |
0069: GOTO 07C |
006A: MOVLW 02 |
006B: MOVWF 78 |
006C: MOVLW BF |
006D: MOVWF 77 |
006E: CLRWDT |
006F: DECFSZ 77,F |
0070: GOTO 06E |
0071: DECFSZ 78,F |
0072: GOTO 06C |
0073: MOVLW 96 |
0074: MOVWF 77 |
0075: DECFSZ 77,F |
0076: GOTO 075 |
0077: NOP |
0078: NOP |
0079: CLRWDT |
007A: DECFSZ 00,F |
007B: GOTO 06A |
007C: RETLW 00 |
.................... |
.................... |
.................... |
.................... #define KOLMO1 225 // predni kolecko sroubem dopredu |
.................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu |
.................... #define STRED 128 // sredni poloha zataceciho kolecka |
.................... #define BEAR1 10//10 // 3 stupne zataceni |
.................... #define BEAR2 25//25 |
.................... #define BEAR3 45//45 |
.................... #define R 100 // Rozumna rychlost |
.................... #define R17 200 // X nasobek rozumne rychlosti |
.................... #define PRED_CIHLOU 100 // rychlost pri dalkove detekci cihly |
.................... //#define L1 1 // cara vlevo |
.................... #define L2 2 // cara vlevo |
.................... #define L3 3 // cara vlevo |
.................... #define S 0 // cara mezi sensory |
.................... //#define R1 -1 // cara vpravo |
.................... #define R2 -2 // cara vpravo |
.................... #define R3 -3 // cara vpravo |
.................... |
.................... // servo |
.................... #define SERVO PIN_B5 |
.................... |
.................... // kroutitka |
.................... #define CERVENA 4 // AN4 |
.................... //#define CERNA 5 // AN5 |
.................... //#define ZELENA 6 // AN6 |
.................... #define MODRA 2 // AN2 |
.................... |
.................... // IR |
.................... #define IRTX PIN_B2 |
.................... #define CIHLA PIN_A3 |
.................... |
.................... //motory |
.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred |
.................... #define FL output_low(PIN_A1); output_high(PIN_A0) |
.................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad |
.................... #define BL output_low(PIN_A0); output_high(PIN_A1) |
.................... #define STOPR output_low(PIN_A6);output_low(PIN_A7) |
.................... #define STOPL output_low(PIN_A0);output_low(PIN_A1) |
.................... |
.................... //HID |
.................... #define LED1 PIN_B1 //oranzova |
.................... #define LED2 PIN_B2 //zluta |
.................... |
.................... #define STROBE PIN_B0 |
.................... //#define SW1 PIN_A2 // Motory On/off |
.................... |
.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
.................... signed int8 line = S; // na ktere strane byla detekovana cara |
* |
0279: BCF 03.5 |
027A: CLRF 2B |
.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni |
.................... unsigned int8 speed; // maximalni povolena rychlost |
.................... unsigned int8 turn; // rychlost toceni |
.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky |
.................... |
.................... signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem |
.................... signed int16 Rmotor; // a pravem motoru |
.................... |
.................... // makro pro PWM pro motory |
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
.................... {direction##motor;} else {stop##motor;} |
.................... //////////////////////////////////////////////////////////////////////////////// |
.................... #int_TIMER2 |
.................... TIMER2_isr() // ovladani serva |
.................... { |
.................... unsigned int8 n; |
.................... |
.................... output_high(SERVO); |
* |
0047: BSF 03.5 |
0048: BCF 06.5 |
0049: BCF 03.5 |
004A: BSF 06.5 |
.................... delay_us(1000); |
004B: CLRWDT |
004C: MOVLW 09 |
004D: MOVWF 3C |
004E: MOVLW 6D |
004F: MOVWF 3D |
0050: CALL 037 |
0051: DECFSZ 3C,F |
0052: GOTO 04E |
.................... for(n=uhel; n>0; n--) Delay_us(2); |
0053: MOVF 2C,W |
0054: MOVWF 3B |
0055: MOVF 3B,F |
0056: BTFSC 03.2 |
0057: GOTO 05E |
0058: CLRWDT |
0059: NOP |
005A: NOP |
005B: NOP |
005C: DECF 3B,F |
005D: GOTO 055 |
.................... output_low(SERVO); |
005E: BSF 03.5 |
005F: BCF 06.5 |
0060: BCF 03.5 |
0061: BCF 06.5 |
.................... } |
.................... |
.................... //////////////////////////////////////////////////////////////////////////////// |
0062: BCF 0C.1 |
0063: BCF 0A.3 |
0064: GOTO 022 |
.................... int8 IRcheck() // potvrdi detekci cihly |
.................... { |
.................... output_high(IRTX); // vypne vysilac IR |
.................... delay_ms(10); |
.................... |
.................... output_low(STROBE); |
.................... sensors = spi_read(0); // cteni senzoru |
.................... sensors=~sensors; |
.................... output_high(STROBE); |
.................... |
.................... if(bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
.................... { |
.................... output_low(IRTX); // zapne vysilac IR |
.................... delay_ms(10); |
.................... |
.................... output_low(STROBE); |
.................... sensors = spi_read(0); // cteni senzoru |
.................... sensors=~sensors; |
.................... output_high(STROBE); |
.................... |
.................... if(!bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
.................... { |
.................... output_high(IRTX); // vypne vysilac IR |
.................... delay_ms(10); |
.................... |
.................... output_low(STROBE); |
.................... sensors = spi_read(0); // cteni senzoru |
.................... sensors=~sensors; |
.................... output_high(STROBE); |
.................... |
.................... output_low(IRTX); // zapne vysilac IR |
.................... |
.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla |
.................... } |
.................... }; |
.................... output_low(IRTX); // zapne vysilac IR |
.................... return 0; // vrat 0, kdyz je detekovano ruseni |
.................... } |
.................... //////////////////////////////////////////////////////////////////////////////// |
.................... #include ".\objizdka_centrovani_R.c" |
.................... #define DOLEVA 0 |
.................... #define DOPRAVA 1 |
.................... |
.................... void cikcak() |
.................... { |
.................... unsigned int8 i=0; |
* |
007D: CLRF 39 |
.................... |
.................... uhel=KOLMO1; // aby se dalo tocit na miste |
007E: MOVLW E1 |
007F: MOVWF 2C |
.................... Delay_ms(100); |
0080: MOVLW 64 |
0081: MOVWF 3A |
0082: CALL 065 |
.................... |
.................... if (line==L2) line=L3; // poznamenej, kde byla cara pred brzdenim |
0083: MOVF 2B,W |
0084: SUBLW 02 |
0085: BTFSS 03.2 |
0086: GOTO 089 |
0087: MOVLW 03 |
0088: MOVWF 2B |
.................... if (line==S) line=L3; |
0089: MOVF 2B,F |
008A: BTFSS 03.2 |
008B: GOTO 08E |
008C: MOVLW 03 |
008D: MOVWF 2B |
.................... if (line==R2) line=R3; |
008E: MOVF 2B,W |
008F: SUBLW FE |
0090: BTFSS 03.2 |
0091: GOTO 094 |
0092: MOVLW FD |
0093: MOVWF 2B |
.................... |
.................... Delay_ms(3); // prodleva na cteni senzoru pred prenosem |
0094: MOVLW 03 |
0095: MOVWF 3A |
0096: CALL 065 |
.................... |
.................... output_low(STROBE); // zapni zobrazovani na posuvnem registru |
0097: BSF 03.5 |
0098: BCF 06.0 |
0099: BCF 03.5 |
009A: BCF 06.0 |
.................... sensors = spi_read(0); // cteni senzoru |
009B: MOVF 13,W |
009C: CLRF 13 |
009D: BSF 03.5 |
009E: BTFSC 14.0 |
009F: GOTO 0A2 |
00A0: BCF 03.5 |
00A1: GOTO 09D |
00A2: BCF 03.5 |
00A3: MOVF 13,W |
00A4: MOVWF 2A |
.................... sensors=~sensors; |
00A5: COMF 2A,F |
.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru |
00A6: BSF 03.5 |
00A7: BCF 06.0 |
00A8: BCF 03.5 |
00A9: BSF 06.0 |
.................... |
.................... while(true) |
.................... { |
.................... Delay_ms(3); |
00AA: MOVLW 03 |
00AB: MOVWF 3A |
00AC: CALL 065 |
.................... |
.................... if (line==L3) |
00AD: MOVF 2B,W |
00AE: SUBLW 03 |
00AF: BTFSS 03.2 |
00B0: GOTO 0DB |
.................... { |
.................... GO(L,B,160);GO(R,F,160); |
00B1: MOVF 01,W |
00B2: SUBLW A0 |
00B3: BTFSS 03.0 |
00B4: GOTO 0BE |
00B5: BSF 03.5 |
00B6: BCF 05.0 |
00B7: BCF 03.5 |
00B8: BCF 05.0 |
00B9: BSF 03.5 |
00BA: BCF 05.1 |
00BB: BCF 03.5 |
00BC: BSF 05.1 |
00BD: GOTO 0C6 |
00BE: BSF 03.5 |
00BF: BCF 05.0 |
00C0: BCF 03.5 |
00C1: BCF 05.0 |
00C2: BSF 03.5 |
00C3: BCF 05.1 |
00C4: BCF 03.5 |
00C5: BCF 05.1 |
00C6: MOVF 01,W |
00C7: SUBLW A0 |
00C8: BTFSS 03.0 |
00C9: GOTO 0D3 |
00CA: BSF 03.5 |
00CB: BCF 05.7 |
00CC: BCF 03.5 |
00CD: BCF 05.7 |
00CE: BSF 03.5 |
00CF: BCF 05.6 |
00D0: BCF 03.5 |
00D1: BSF 05.6 |
00D2: GOTO 0DB |
00D3: BSF 03.5 |
00D4: BCF 05.6 |
00D5: BCF 03.5 |
00D6: BCF 05.6 |
00D7: BSF 03.5 |
00D8: BCF 05.7 |
00D9: BCF 03.5 |
00DA: BCF 05.7 |
.................... }; |
.................... if (line==R3) |
00DB: MOVF 2B,W |
00DC: SUBLW FD |
00DD: BTFSS 03.2 |
00DE: GOTO 109 |
.................... { |
.................... GO(R,B,160);GO(L,F,160); |
00DF: MOVF 01,W |
00E0: SUBLW A0 |
00E1: BTFSS 03.0 |
00E2: GOTO 0EC |
00E3: BSF 03.5 |
00E4: BCF 05.6 |
00E5: BCF 03.5 |
00E6: BCF 05.6 |
00E7: BSF 03.5 |
00E8: BCF 05.7 |
00E9: BCF 03.5 |
00EA: BSF 05.7 |
00EB: GOTO 0F4 |
00EC: BSF 03.5 |
00ED: BCF 05.6 |
00EE: BCF 03.5 |
00EF: BCF 05.6 |
00F0: BSF 03.5 |
00F1: BCF 05.7 |
00F2: BCF 03.5 |
00F3: BCF 05.7 |
00F4: MOVF 01,W |
00F5: SUBLW A0 |
00F6: BTFSS 03.0 |
00F7: GOTO 101 |
00F8: BSF 03.5 |
00F9: BCF 05.1 |
00FA: BCF 03.5 |
00FB: BCF 05.1 |
00FC: BSF 03.5 |
00FD: BCF 05.0 |
00FE: BCF 03.5 |
00FF: BSF 05.0 |
0100: GOTO 109 |
0101: BSF 03.5 |
0102: BCF 05.0 |
0103: BCF 03.5 |
0104: BCF 05.0 |
0105: BSF 03.5 |
0106: BCF 05.1 |
0107: BCF 03.5 |
0108: BCF 05.1 |
.................... }; |
.................... if (line==S) {STOPL;STOPR; i++;} else i=0; |
0109: MOVF 2B,F |
010A: BTFSS 03.2 |
010B: GOTO 11E |
010C: BSF 03.5 |
010D: BCF 05.0 |
010E: BCF 03.5 |
010F: BCF 05.0 |
0110: BSF 03.5 |
0111: BCF 05.1 |
0112: BCF 03.5 |
0113: BCF 05.1 |
0114: BSF 03.5 |
0115: BCF 05.6 |
0116: BCF 03.5 |
0117: BCF 05.6 |
0118: BSF 03.5 |
0119: BCF 05.7 |
011A: BCF 03.5 |
011B: BCF 05.7 |
011C: INCF 39,F |
011D: GOTO 11F |
011E: CLRF 39 |
.................... |
.................... if (i>=100) break; // pokud je dostatecne dlouho cara vprostred, vypadni |
011F: MOVF 39,W |
0120: SUBLW 63 |
0121: BTFSS 03.0 |
0122: GOTO 159 |
.................... |
.................... output_low(STROBE); // zapni zobrazovani na posuvnem registru |
0123: BSF 03.5 |
0124: BCF 06.0 |
0125: BCF 03.5 |
0126: BCF 06.0 |
.................... sensors = spi_read(0); // cteni senzoru |
0127: MOVF 13,W |
0128: CLRF 13 |
0129: BSF 03.5 |
012A: BTFSC 14.0 |
012B: GOTO 12E |
012C: BCF 03.5 |
012D: GOTO 129 |
012E: BCF 03.5 |
012F: MOVF 13,W |
0130: MOVWF 2A |
.................... sensors=~sensors; |
0131: COMF 2A,F |
.................... output_high(STROBE); // vypni zobrazovani na posuvnem registru |
0132: BSF 03.5 |
0133: BCF 06.0 |
0134: BCF 03.5 |
0135: BSF 06.0 |
.................... |
.................... if(bit_test(sensors,3)) //...|...// |
0136: BTFSS 2A.3 |
0137: GOTO 13A |
.................... { |
.................... line=S; |
0138: CLRF 2B |
.................... continue; |
0139: GOTO 0AA |
.................... } |
.................... |
.................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
013A: BTFSS 2A.0 |
013B: GOTO 13F |
.................... { |
.................... line=L3; |
013C: MOVLW 03 |
013D: MOVWF 2B |
.................... continue; |
013E: GOTO 0AA |
.................... } |
.................... |
.................... if(bit_test(sensors,6)) //......|// |
013F: BTFSS 2A.6 |
0140: GOTO 144 |
.................... { |
.................... line=R3; |
0141: MOVLW FD |
0142: MOVWF 2B |
.................... continue; |
0143: GOTO 0AA |
.................... } |
.................... |
.................... if(bit_test(sensors,1)) //.|.....// |
0144: BTFSS 2A.1 |
0145: GOTO 149 |
.................... { |
.................... line=L3; |
0146: MOVLW 03 |
0147: MOVWF 2B |
.................... continue; |
0148: GOTO 0AA |
.................... } |
.................... |
.................... if(bit_test(sensors,5)) //.....|.// |
0149: BTFSS 2A.5 |
014A: GOTO 14E |
.................... { |
.................... line=R3; |
014B: MOVLW FD |
014C: MOVWF 2B |
.................... continue; |
014D: GOTO 0AA |
.................... } |
.................... |
.................... if (bit_test(sensors,2)) //..|....// |
014E: BTFSS 2A.2 |
014F: GOTO 153 |
.................... { |
.................... line=L3; |
0150: MOVLW 03 |
0151: MOVWF 2B |
.................... continue; |
0152: GOTO 0AA |
.................... } |
.................... |
.................... if (bit_test(sensors,4)) //....|..// |
0153: BTFSS 2A.4 |
0154: GOTO 158 |
.................... { |
.................... line=R3; |
0155: MOVLW FD |
0156: MOVWF 2B |
.................... continue; |
0157: GOTO 0AA |
.................... } |
.................... } |
0158: GOTO 0AA |
.................... } |
0159: RETLW 00 |
.................... //////////////////////////////////////////////////////////////////////////////// |
.................... void objizdka() |
.................... { |
.................... FL;BR; // doprava 90 |
015A: BSF 03.5 |
015B: BCF 05.1 |
015C: BCF 03.5 |
015D: BCF 05.1 |
015E: BSF 03.5 |
015F: BCF 05.0 |
0160: BCF 03.5 |
0161: BSF 05.0 |
0162: BSF 03.5 |
0163: BCF 05.6 |
0164: BCF 03.5 |
0165: BCF 05.6 |
0166: BSF 03.5 |
0167: BCF 05.7 |
0168: BCF 03.5 |
0169: BSF 05.7 |
.................... Delay_ms(300); |
016A: MOVLW 02 |
016B: MOVWF 39 |
016C: MOVLW 96 |
016D: MOVWF 3A |
016E: CALL 065 |
016F: DECFSZ 39,F |
0170: GOTO 16C |
.................... BL;FR; // brzdi z toceni |
0171: BSF 03.5 |
0172: BCF 05.0 |
0173: BCF 03.5 |
0174: BCF 05.0 |
0175: BSF 03.5 |
0176: BCF 05.1 |
0177: BCF 03.5 |
0178: BSF 05.1 |
0179: BSF 03.5 |
017A: BCF 05.7 |
017B: BCF 03.5 |
017C: BCF 05.7 |
017D: BSF 03.5 |
017E: BCF 05.6 |
017F: BCF 03.5 |
0180: BSF 05.6 |
.................... Delay_ms(100); |
0181: MOVLW 64 |
0182: MOVWF 3A |
0183: CALL 065 |
.................... STOPL;STOPR; |
0184: BSF 03.5 |
0185: BCF 05.0 |
0186: BCF 03.5 |
0187: BCF 05.0 |
0188: BSF 03.5 |
0189: BCF 05.1 |
018A: BCF 03.5 |
018B: BCF 05.1 |
018C: BSF 03.5 |
018D: BCF 05.6 |
018E: BCF 03.5 |
018F: BCF 05.6 |
0190: BSF 03.5 |
0191: BCF 05.7 |
0192: BCF 03.5 |
0193: BCF 05.7 |
.................... |
.................... uhel=STRED; |
0194: MOVLW 80 |
0195: MOVWF 2C |
.................... FL;FR; |
0196: BSF 03.5 |
0197: BCF 05.1 |
0198: BCF 03.5 |
0199: BCF 05.1 |
019A: BSF 03.5 |
019B: BCF 05.0 |
019C: BCF 03.5 |
019D: BSF 05.0 |
019E: BSF 03.5 |
019F: BCF 05.7 |
01A0: BCF 03.5 |
01A1: BCF 05.7 |
01A2: BSF 03.5 |
01A3: BCF 05.6 |
01A4: BCF 03.5 |
01A5: BSF 05.6 |
.................... Delay_ms(380); // rovne |
01A6: MOVLW 02 |
01A7: MOVWF 39 |
01A8: MOVLW BE |
01A9: MOVWF 3A |
01AA: CALL 065 |
01AB: DECFSZ 39,F |
01AC: GOTO 1A8 |
.................... |
.................... uhel=STRED-55; |
01AD: MOVLW 49 |
01AE: MOVWF 2C |
.................... STOPL;FR; |
01AF: BSF 03.5 |
01B0: BCF 05.0 |
01B1: BCF 03.5 |
01B2: BCF 05.0 |
01B3: BSF 03.5 |
01B4: BCF 05.1 |
01B5: BCF 03.5 |
01B6: BCF 05.1 |
01B7: BSF 03.5 |
01B8: BCF 05.7 |
01B9: BCF 03.5 |
01BA: BCF 05.7 |
01BB: BSF 03.5 |
01BC: BCF 05.6 |
01BD: BCF 03.5 |
01BE: BSF 05.6 |
.................... Delay_ms(190); // doleva |
01BF: MOVLW BE |
01C0: MOVWF 3A |
01C1: CALL 065 |
.................... |
.................... uhel=STRED; |
01C2: MOVLW 80 |
01C3: MOVWF 2C |
.................... FR;FL; |
01C4: BSF 03.5 |
01C5: BCF 05.7 |
01C6: BCF 03.5 |
01C7: BCF 05.7 |
01C8: BSF 03.5 |
01C9: BCF 05.6 |
01CA: BCF 03.5 |
01CB: BSF 05.6 |
01CC: BSF 03.5 |
01CD: BCF 05.1 |
01CE: BCF 03.5 |
01CF: BCF 05.1 |
01D0: BSF 03.5 |
01D1: BCF 05.0 |
01D2: BCF 03.5 |
01D3: BSF 05.0 |
.................... Delay_ms(300); // rovne |
01D4: MOVLW 02 |
01D5: MOVWF 39 |
01D6: MOVLW 96 |
01D7: MOVWF 3A |
01D8: CALL 065 |
01D9: DECFSZ 39,F |
01DA: GOTO 1D6 |
.................... |
.................... uhel=STRED-55; |
01DB: MOVLW 49 |
01DC: MOVWF 2C |
.................... FR;STOPL; |
01DD: BSF 03.5 |
01DE: BCF 05.7 |
01DF: BCF 03.5 |
01E0: BCF 05.7 |
01E1: BSF 03.5 |
01E2: BCF 05.6 |
01E3: BCF 03.5 |
01E4: BSF 05.6 |
01E5: BSF 03.5 |
01E6: BCF 05.0 |
01E7: BCF 03.5 |
01E8: BCF 05.0 |
01E9: BSF 03.5 |
01EA: BCF 05.1 |
01EB: BCF 03.5 |
01EC: BCF 05.1 |
.................... Delay_ms(190); // doleva |
01ED: MOVLW BE |
01EE: MOVWF 3A |
01EF: CALL 065 |
.................... |
.................... uhel=STRED; |
01F0: MOVLW 80 |
01F1: MOVWF 2C |
.................... FR;FL; |
01F2: BSF 03.5 |
01F3: BCF 05.7 |
01F4: BCF 03.5 |
01F5: BCF 05.7 |
01F6: BSF 03.5 |
01F7: BCF 05.6 |
01F8: BCF 03.5 |
01F9: BSF 05.6 |
01FA: BSF 03.5 |
01FB: BCF 05.1 |
01FC: BCF 03.5 |
01FD: BCF 05.1 |
01FE: BSF 03.5 |
01FF: BCF 05.0 |
0200: BCF 03.5 |
0201: BSF 05.0 |
.................... Delay_ms(100); // rovne |
0202: MOVLW 64 |
0203: MOVWF 3A |
0204: CALL 065 |
.................... |
.................... While((sensors & 0b11111110)!=0) //dokud neni cara |
.................... { |
0205: MOVF 2A,W |
0206: ANDLW FE |
0207: BTFSC 03.2 |
0208: GOTO 218 |
.................... sensors = spi_read(0); // cteni senzoru |
0209: MOVF 13,W |
020A: CLRF 13 |
020B: BSF 03.5 |
020C: BTFSC 14.0 |
020D: GOTO 210 |
020E: BCF 03.5 |
020F: GOTO 20B |
0210: BCF 03.5 |
0211: MOVF 13,W |
0212: MOVWF 2A |
.................... sensors=~sensors; |
0213: COMF 2A,F |
.................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel |
0214: MOVLW 03 |
0215: MOVWF 3A |
0216: CALL 065 |
.................... } |
0217: GOTO 205 |
.................... BL;BR; // zabrzdi |
0218: BSF 03.5 |
0219: BCF 05.0 |
021A: BCF 03.5 |
021B: BCF 05.0 |
021C: BSF 03.5 |
021D: BCF 05.1 |
021E: BCF 03.5 |
021F: BSF 05.1 |
0220: BSF 03.5 |
0221: BCF 05.6 |
0222: BCF 03.5 |
0223: BCF 05.6 |
0224: BSF 03.5 |
0225: BCF 05.7 |
0226: BCF 03.5 |
0227: BSF 05.7 |
.................... Delay_ms(250); |
0228: MOVLW FA |
0229: MOVWF 3A |
022A: CALL 065 |
.................... |
.................... uhel=KOLMO1; |
022B: MOVLW E1 |
022C: MOVWF 2C |
.................... FL;BR; // doprava |
022D: BSF 03.5 |
022E: BCF 05.1 |
022F: BCF 03.5 |
0230: BCF 05.1 |
0231: BSF 03.5 |
0232: BCF 05.0 |
0233: BCF 03.5 |
0234: BSF 05.0 |
0235: BSF 03.5 |
0236: BCF 05.6 |
0237: BCF 03.5 |
0238: BCF 05.6 |
0239: BSF 03.5 |
023A: BCF 05.7 |
023B: BCF 03.5 |
023C: BSF 05.7 |
.................... While((sensors & 0b11111110)!=0) //dokud neni cara |
.................... { |
023D: MOVF 2A,W |
023E: ANDLW FE |
023F: BTFSC 03.2 |
0240: GOTO 250 |
.................... sensors = spi_read(0); // cteni senzoru |
0241: MOVF 13,W |
0242: CLRF 13 |
0243: BSF 03.5 |
0244: BTFSC 14.0 |
0245: GOTO 248 |
0246: BCF 03.5 |
0247: GOTO 243 |
0248: BCF 03.5 |
0249: MOVF 13,W |
024A: MOVWF 2A |
.................... sensors=~sensors; |
024B: COMF 2A,F |
.................... Delay_ms(3); // cekani na SLAVE nez pripravi data od cidel |
024C: MOVLW 03 |
024D: MOVWF 3A |
024E: CALL 065 |
.................... } |
024F: GOTO 23D |
.................... STOPL;STOPR; // zabrzdi |
0250: BSF 03.5 |
0251: BCF 05.0 |
0252: BCF 03.5 |
0253: BCF 05.0 |
0254: BSF 03.5 |
0255: BCF 05.1 |
0256: BCF 03.5 |
0257: BCF 05.1 |
0258: BSF 03.5 |
0259: BCF 05.6 |
025A: BCF 03.5 |
025B: BCF 05.6 |
025C: BSF 03.5 |
025D: BCF 05.7 |
025E: BCF 03.5 |
025F: BCF 05.7 |
.................... Delay_ms(300); |
0260: MOVLW 02 |
0261: MOVWF 39 |
0262: MOVLW 96 |
0263: MOVWF 3A |
0264: CALL 065 |
0265: DECFSZ 39,F |
0266: GOTO 262 |
.................... // delay_ms(250); |
.................... |
.................... line=R3; |
0267: MOVLW FD |
0268: MOVWF 2B |
.................... cikcak(); |
0269: CALL 07D |
.................... } |
026A: BCF 0A.3 |
026B: GOTO 3CF (RETURN) |
.................... |
.................... |
.................... //////////////////////////////////////////////////////////////////////////////// |
.................... void main() |
.................... { |
026C: CLRF 04 |
026D: MOVLW 1F |
026E: ANDWF 03,F |
026F: MOVLW 70 |
0270: BSF 03.5 |
0271: MOVWF 0F |
0272: BCF 1F.4 |
0273: BCF 1F.5 |
0274: MOVF 1B,W |
0275: ANDLW 80 |
0276: MOVWF 1B |
0277: MOVLW 07 |
0278: MOVWF 1C |
.................... |
.................... unsigned int8 n; |
.................... unsigned int8 i,j; |
.................... unsigned int8 last_sensors; |
.................... unsigned int8 RozumnaRychlost; |
.................... |
.................... setup_adc_ports(sAN5|sAN2|sAN4|sAN6|VSS_VDD); // AD pro kroutitka |
* |
027B: BSF 03.5 |
027C: BCF 1F.4 |
027D: BCF 1F.5 |
027E: MOVF 1B,W |
027F: ANDLW 80 |
0280: IORLW 74 |
0281: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
0282: BCF 1F.6 |
0283: BCF 03.5 |
0284: BSF 1F.6 |
0285: BSF 1F.7 |
0286: BSF 03.5 |
0287: BCF 1F.7 |
0288: BCF 03.5 |
0289: BSF 1F.0 |
.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
028A: BCF 14.5 |
028B: BSF 03.5 |
028C: BCF 06.2 |
028D: BSF 06.1 |
028E: BCF 06.4 |
028F: MOVLW 31 |
0290: BCF 03.5 |
0291: MOVWF 14 |
0292: MOVLW 00 |
0293: BSF 03.5 |
0294: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
0295: MOVF 01,W |
0296: ANDLW C7 |
0297: IORLW 08 |
0298: MOVWF 01 |
.................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8); |
0299: MOVLW 30 |
029A: BCF 03.5 |
029B: MOVWF 10 |
.................... setup_timer_2(T2_DIV_BY_16,140,16); |
029C: MOVLW 78 |
029D: MOVWF 78 |
029E: IORLW 06 |
029F: MOVWF 12 |
02A0: MOVLW 8C |
02A1: BSF 03.5 |
02A2: MOVWF 12 |
.................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
02A3: MOVLW 72 |
02A4: MOVWF 0F |
.................... |
.................... STOPR; STOPL; // zastav motory |
02A5: BCF 05.6 |
02A6: BCF 03.5 |
02A7: BCF 05.6 |
02A8: BSF 03.5 |
02A9: BCF 05.7 |
02AA: BCF 03.5 |
02AB: BCF 05.7 |
02AC: BSF 03.5 |
02AD: BCF 05.0 |
02AE: BCF 03.5 |
02AF: BCF 05.0 |
02B0: BSF 03.5 |
02B1: BCF 05.1 |
02B2: BCF 03.5 |
02B3: BCF 05.1 |
.................... Lmotor=0;Rmotor=0; |
02B4: CLRF 31 |
02B5: CLRF 30 |
02B6: CLRF 33 |
02B7: CLRF 32 |
.................... |
.................... uhel = STRED; // nastav zadni kolecko na stred |
02B8: MOVLW 80 |
02B9: MOVWF 2C |
.................... rovinka = 0; |
02BA: CLRF 2F |
.................... |
.................... enable_interrupts(INT_TIMER2); |
02BB: BSF 03.5 |
02BC: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
02BD: MOVLW C0 |
02BE: BCF 03.5 |
02BF: IORWF 0B,F |
.................... |
.................... output_low(IRTX); // zapni IR vysilac |
02C0: BSF 03.5 |
02C1: BCF 06.2 |
02C2: BCF 03.5 |
02C3: BCF 06.2 |
.................... |
.................... delay_ms(2000); // musime pockat na diagnostiku slave CPU |
02C4: MOVLW 08 |
02C5: MOVWF 39 |
02C6: MOVLW FA |
02C7: MOVWF 3A |
02C8: CALL 065 |
02C9: DECFSZ 39,F |
02CA: GOTO 2C6 |
.................... |
.................... //nastaveni rychlosti |
.................... set_adc_channel(CERVENA); |
02CB: MOVLW 20 |
02CC: MOVWF 78 |
02CD: MOVF 1F,W |
02CE: ANDLW C7 |
02CF: IORWF 78,W |
02D0: MOVWF 1F |
.................... |
.................... Delay_ms(1); |
02D1: MOVLW 01 |
02D2: MOVWF 3A |
02D3: CALL 065 |
.................... RozumnaRychlost=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63 |
02D4: BSF 1F.2 |
02D5: BTFSC 1F.2 |
02D6: GOTO 2D5 |
02D7: MOVF 1E,W |
02D8: MOVWF 77 |
02D9: RRF 77,F |
02DA: RRF 77,F |
02DB: MOVLW 3F |
02DC: ANDWF 77,F |
02DD: MOVF 77,W |
02DE: ADDLW 64 |
02DF: MOVWF 38 |
.................... set_adc_channel(MODRA); |
02E0: MOVLW 10 |
02E1: MOVWF 78 |
02E2: MOVF 1F,W |
02E3: ANDLW C7 |
02E4: IORWF 78,W |
02E5: MOVWF 1F |
.................... Delay_ms(1); |
02E6: MOVLW 01 |
02E7: MOVWF 3A |
02E8: CALL 065 |
.................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63 |
02E9: MOVLW 20 |
02EA: SUBWF 2D,W |
02EB: MOVWF 39 |
02EC: BSF 1F.2 |
02ED: BTFSC 1F.2 |
02EE: GOTO 2ED |
02EF: MOVF 1E,W |
02F0: MOVWF 77 |
02F1: RRF 77,F |
02F2: RRF 77,F |
02F3: MOVLW 3F |
02F4: ANDWF 77,F |
02F5: MOVF 77,W |
02F6: ADDWF 39,W |
02F7: MOVWF 2E |
.................... |
.................... speed=R17; |
02F8: MOVLW C8 |
02F9: MOVWF 2D |
.................... |
.................... while(true) |
.................... { |
.................... |
.................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
02FA: MOVF 01,W |
02FB: BTFSS 00.7 |
02FC: GOTO 300 |
02FD: BTFSS 31.7 |
02FE: GOTO 308 |
02FF: GOTO 302 |
0300: BTFSC 31.7 |
0301: GOTO 311 |
0302: MOVF 31,F |
0303: BTFSS 03.2 |
0304: GOTO 308 |
0305: SUBWF 30,W |
0306: BTFSS 03.0 |
0307: GOTO 311 |
0308: BSF 03.5 |
0309: BCF 05.1 |
030A: BCF 03.5 |
030B: BCF 05.1 |
030C: BSF 03.5 |
030D: BCF 05.0 |
030E: BCF 03.5 |
030F: BSF 05.0 |
0310: GOTO 319 |
0311: BSF 03.5 |
0312: BCF 05.0 |
0313: BCF 03.5 |
0314: BCF 05.0 |
0315: BSF 03.5 |
0316: BCF 05.1 |
0317: BCF 03.5 |
0318: BCF 05.1 |
0319: MOVF 01,W |
031A: BTFSS 00.7 |
031B: GOTO 31F |
031C: BTFSS 33.7 |
031D: GOTO 327 |
031E: GOTO 321 |
031F: BTFSC 33.7 |
0320: GOTO 330 |
0321: MOVF 33,F |
0322: BTFSS 03.2 |
0323: GOTO 327 |
0324: SUBWF 32,W |
0325: BTFSS 03.0 |
0326: GOTO 330 |
0327: BSF 03.5 |
0328: BCF 05.7 |
0329: BCF 03.5 |
032A: BCF 05.7 |
032B: BSF 03.5 |
032C: BCF 05.6 |
032D: BCF 03.5 |
032E: BSF 05.6 |
032F: GOTO 338 |
0330: BSF 03.5 |
0331: BCF 05.6 |
0332: BCF 03.5 |
0333: BCF 05.6 |
0334: BSF 03.5 |
0335: BCF 05.7 |
0336: BCF 03.5 |
0337: BCF 05.7 |
.................... |
.................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel |
0338: CLRWDT |
0339: MOVLW 01 |
033A: MOVWF 3A |
033B: CALL 065 |
033C: MOVLW 09 |
033D: MOVWF 39 |
033E: CLRF 29 |
033F: BTFSC 0B.7 |
0340: BSF 29.7 |
0341: BCF 0B.7 |
0342: MOVLW 6D |
0343: MOVWF 3D |
0344: CALL 037 |
0345: BTFSC 29.7 |
0346: BSF 0B.7 |
0347: DECFSZ 39,F |
0348: GOTO 33E |
.................... |
.................... last_sensors=sensors; |
0349: MOVF 2A,W |
034A: MOVWF 37 |
.................... |
.................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
034B: BSF 03.5 |
034C: BCF 06.0 |
034D: BCF 03.5 |
034E: BCF 06.0 |
.................... sensors = spi_read(0); // cteni senzoru |
034F: MOVF 13,W |
0350: CLRF 13 |
0351: BSF 03.5 |
0352: BTFSC 14.0 |
0353: GOTO 356 |
0354: BCF 03.5 |
0355: GOTO 351 |
0356: BCF 03.5 |
0357: MOVF 13,W |
0358: MOVWF 2A |
.................... sensors=~sensors; // neguj prijata data |
0359: COMF 2A,F |
.................... output_high(STROBE); // zobraz data na posuvnem registru |
035A: BSF 03.5 |
035B: BCF 06.0 |
035C: BCF 03.5 |
035D: BSF 06.0 |
.................... |
.................... i=0; // havarijni kod |
035E: CLRF 35 |
.................... for (n=0; n<=6; n++) |
035F: CLRF 34 |
0360: MOVF 34,W |
0361: SUBLW 06 |
0362: BTFSS 03.0 |
0363: GOTO 372 |
.................... { |
.................... if(bit_test(sensors,n)) i++; |
0364: MOVF 2A,W |
0365: MOVWF 77 |
0366: MOVF 34,W |
0367: MOVWF 78 |
0368: BTFSC 03.2 |
0369: GOTO 36E |
036A: BCF 03.0 |
036B: RRF 77,F |
036C: DECFSZ 78,F |
036D: GOTO 36A |
036E: BTFSC 77.0 |
036F: INCF 35,F |
.................... } |
0370: INCF 34,F |
0371: GOTO 360 |
.................... if (i>4) // zastavi, kdyz je cerno pod vice nez tremi cidly |
0372: MOVF 35,W |
0373: SUBLW 04 |
0374: BTFSC 03.0 |
0375: GOTO 39E |
.................... { |
.................... BL; BR; |
0376: BSF 03.5 |
0377: BCF 05.0 |
0378: BCF 03.5 |
0379: BCF 05.0 |
037A: BSF 03.5 |
037B: BCF 05.1 |
037C: BCF 03.5 |
037D: BSF 05.1 |
037E: BSF 03.5 |
037F: BCF 05.6 |
0380: BCF 03.5 |
0381: BCF 05.6 |
0382: BSF 03.5 |
0383: BCF 05.7 |
0384: BCF 03.5 |
0385: BSF 05.7 |
.................... delay_ms(300); |
0386: MOVLW 02 |
0387: MOVWF 39 |
0388: MOVLW 96 |
0389: MOVWF 3A |
038A: CALL 065 |
038B: DECFSZ 39,F |
038C: GOTO 388 |
.................... STOPR; STOPL; |
038D: BSF 03.5 |
038E: BCF 05.6 |
038F: BCF 03.5 |
0390: BCF 05.6 |
0391: BSF 03.5 |
0392: BCF 05.7 |
0393: BCF 03.5 |
0394: BCF 05.7 |
0395: BSF 03.5 |
0396: BCF 05.0 |
0397: BCF 03.5 |
0398: BCF 05.0 |
0399: BSF 03.5 |
039A: BCF 05.1 |
039B: BCF 03.5 |
039C: BCF 05.1 |
.................... While(true); |
039D: GOTO 39D |
.................... }; |
.................... |
.................... /* |
.................... if (!input(CIHLA)) // dalkova detekce cihly |
.................... { |
.................... speed=PRED_CIHLOU; |
.................... } |
.................... else |
.................... { |
.................... speed=RozumnaRychlost; |
.................... } |
.................... */ |
.................... if (bit_test(sensors,7)) // detekce cihly |
039E: BTFSS 2A.7 |
039F: GOTO 3CF |
.................... { |
.................... BR;BL; |
03A0: BSF 03.5 |
03A1: BCF 05.6 |
03A2: BCF 03.5 |
03A3: BCF 05.6 |
03A4: BSF 03.5 |
03A5: BCF 05.7 |
03A6: BCF 03.5 |
03A7: BSF 05.7 |
03A8: BSF 03.5 |
03A9: BCF 05.0 |
03AA: BCF 03.5 |
03AB: BCF 05.0 |
03AC: BSF 03.5 |
03AD: BCF 05.1 |
03AE: BCF 03.5 |
03AF: BSF 05.1 |
.................... Delay_ms(400); |
03B0: MOVLW 02 |
03B1: MOVWF 39 |
03B2: MOVLW C8 |
03B3: MOVWF 3A |
03B4: CALL 065 |
03B5: DECFSZ 39,F |
03B6: GOTO 3B2 |
.................... STOPR;STOPL; |
03B7: BSF 03.5 |
03B8: BCF 05.6 |
03B9: BCF 03.5 |
03BA: BCF 05.6 |
03BB: BSF 03.5 |
03BC: BCF 05.7 |
03BD: BCF 03.5 |
03BE: BCF 05.7 |
03BF: BSF 03.5 |
03C0: BCF 05.0 |
03C1: BCF 03.5 |
03C2: BCF 05.0 |
03C3: BSF 03.5 |
03C4: BCF 05.1 |
03C5: BCF 03.5 |
03C6: BCF 05.1 |
.................... // if (1==IRcheck()) // kontrola, jestli nebylo rusene cidlo |
.................... { |
.................... Delay_ms(100); |
03C7: MOVLW 64 |
03C8: MOVWF 3A |
03C9: CALL 065 |
.................... cikcak(); |
03CA: CALL 07D |
.................... delay_ms(100); |
03CB: MOVLW 64 |
03CC: MOVWF 3A |
03CD: CALL 065 |
.................... objizdka(); // objede cihlu |
03CE: GOTO 15A |
.................... } |
.................... } |
.................... |
.................... if (speed > RozumnaRychlost) speed--; // postupne zpomaleni na Roz. Rychl. |
03CF: MOVF 2D,W |
03D0: SUBWF 38,W |
03D1: BTFSS 03.0 |
03D2: DECF 2D,F |
.................... |
.................... if(bit_test(sensors,3)) //...|...// |
03D3: BTFSS 2A.3 |
03D4: GOTO 3E7 |
.................... { |
.................... uhel=STRED; |
03D5: MOVLW 80 |
03D6: MOVWF 2C |
.................... Lmotor=speed; |
03D7: CLRF 7A |
03D8: MOVF 2D,W |
03D9: MOVWF 30 |
03DA: MOVF 7A,W |
03DB: MOVWF 31 |
.................... Rmotor=speed; |
03DC: CLRF 7A |
03DD: MOVF 2D,W |
03DE: MOVWF 32 |
03DF: MOVF 7A,W |
03E0: MOVWF 33 |
.................... line=S; |
03E1: CLRF 2B |
.................... if (rovinka < 255) rovinka++; |
03E2: INCFSZ 2F,W |
03E3: GOTO 3E5 |
03E4: GOTO 3E6 |
03E5: INCF 2F,F |
.................... continue; |
03E6: GOTO 2FA |
.................... } |
.................... |
.................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
03E7: BTFSS 2A.0 |
03E8: GOTO 3F5 |
.................... { |
.................... uhel=STRED - BEAR3; |
03E9: MOVLW 53 |
03EA: MOVWF 2C |
.................... Lmotor=0; |
03EB: CLRF 31 |
03EC: CLRF 30 |
.................... Rmotor=turn; |
03ED: CLRF 7A |
03EE: MOVF 2E,W |
03EF: MOVWF 32 |
03F0: MOVF 7A,W |
03F1: MOVWF 33 |
.................... line=L3; |
03F2: MOVLW 03 |
03F3: MOVWF 2B |
.................... continue; |
03F4: GOTO 2FA |
.................... } |
.................... |
.................... if(bit_test(sensors,6)) //......|// |
03F5: BTFSS 2A.6 |
03F6: GOTO 403 |
.................... { |
.................... uhel=STRED + BEAR3; |
03F7: MOVLW AD |
03F8: MOVWF 2C |
.................... Rmotor=0; |
03F9: CLRF 33 |
03FA: CLRF 32 |
.................... Lmotor=turn; |
03FB: CLRF 7A |
03FC: MOVF 2E,W |
03FD: MOVWF 30 |
03FE: MOVF 7A,W |
03FF: MOVWF 31 |
.................... line=R3; |
0400: MOVLW FD |
0401: MOVWF 2B |
.................... continue; |
0402: GOTO 2FA |
.................... } |
.................... |
.................... if(bit_test(sensors,1)) //.|.....// |
0403: BTFSS 2A.1 |
0404: GOTO 415 |
.................... { |
.................... uhel=STRED - BEAR2; |
0405: MOVLW 67 |
0406: MOVWF 2C |
.................... Lmotor=speed-70; |
0407: MOVLW 46 |
0408: SUBWF 2D,W |
0409: CLRF 7A |
040A: MOVWF 30 |
040B: MOVF 7A,W |
040C: MOVWF 31 |
.................... Rmotor=speed; |
040D: CLRF 7A |
040E: MOVF 2D,W |
040F: MOVWF 32 |
0410: MOVF 7A,W |
0411: MOVWF 33 |
.................... line=L2; |
0412: MOVLW 02 |
0413: MOVWF 2B |
.................... continue; |
0414: GOTO 2FA |
.................... } |
.................... |
.................... if(bit_test(sensors,5)) //.....|.// |
0415: BTFSS 2A.5 |
0416: GOTO 427 |
.................... { |
.................... uhel=STRED + BEAR2; |
0417: MOVLW 99 |
0418: MOVWF 2C |
.................... Rmotor=speed-70; |
0419: MOVLW 46 |
041A: SUBWF 2D,W |
041B: CLRF 7A |
041C: MOVWF 32 |
041D: MOVF 7A,W |
041E: MOVWF 33 |
.................... Lmotor=speed; |
041F: CLRF 7A |
0420: MOVF 2D,W |
0421: MOVWF 30 |
0422: MOVF 7A,W |
0423: MOVWF 31 |
.................... line=R2; |
0424: MOVLW FE |
0425: MOVWF 2B |
.................... continue; |
0426: GOTO 2FA |
.................... } |
.................... |
.................... if (bit_test(sensors,2)) //..|....// |
0427: BTFSS 2A.2 |
0428: GOTO 43D |
.................... { |
.................... uhel=STRED - BEAR1; |
0429: MOVLW 76 |
042A: MOVWF 2C |
.................... Lmotor=speed-20; |
042B: MOVLW 14 |
042C: SUBWF 2D,W |
042D: CLRF 7A |
042E: MOVWF 30 |
042F: MOVF 7A,W |
0430: MOVWF 31 |
.................... Rmotor=speed; |
0431: CLRF 7A |
0432: MOVF 2D,W |
0433: MOVWF 32 |
0434: MOVF 7A,W |
0435: MOVWF 33 |
.................... line=L2; |
0436: MOVLW 02 |
0437: MOVWF 2B |
.................... if (rovinka<255) rovinka++; |
0438: INCFSZ 2F,W |
0439: GOTO 43B |
043A: GOTO 43C |
043B: INCF 2F,F |
.................... continue; |
043C: GOTO 2FA |
.................... } |
.................... |
.................... if (bit_test(sensors,4)) //....|..// |
043D: BTFSS 2A.4 |
043E: GOTO 453 |
.................... { |
.................... uhel=STRED + BEAR1; |
043F: MOVLW 8A |
0440: MOVWF 2C |
.................... Rmotor=speed-20; |
0441: MOVLW 14 |
0442: SUBWF 2D,W |
0443: CLRF 7A |
0444: MOVWF 32 |
0445: MOVF 7A,W |
0446: MOVWF 33 |
.................... Lmotor=speed; |
0447: CLRF 7A |
0448: MOVF 2D,W |
0449: MOVWF 30 |
044A: MOVF 7A,W |
044B: MOVWF 31 |
.................... line=L2; |
044C: MOVLW 02 |
044D: MOVWF 2B |
.................... if (rovinka<255) rovinka++; |
044E: INCFSZ 2F,W |
044F: GOTO 451 |
0450: GOTO 452 |
0451: INCF 2F,F |
.................... continue; |
0452: GOTO 2FA |
.................... } |
.................... |
.................... |
.................... if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate |
0453: MOVF 2B,W |
0454: SUBLW 03 |
0455: BTFSC 03.2 |
0456: GOTO 45B |
0457: MOVF 2B,W |
0458: SUBLW FD |
0459: BTFSS 03.2 |
045A: GOTO 480 |
.................... { |
.................... if (rovinka>50) |
045B: MOVF 2F,W |
045C: SUBLW 32 |
045D: BTFSC 03.0 |
045E: GOTO 47D |
.................... { |
.................... BL; BR; |
045F: BSF 03.5 |
0460: BCF 05.0 |
0461: BCF 03.5 |
0462: BCF 05.0 |
0463: BSF 03.5 |
0464: BCF 05.1 |
0465: BCF 03.5 |
0466: BSF 05.1 |
0467: BSF 03.5 |
0468: BCF 05.6 |
0469: BCF 03.5 |
046A: BCF 05.6 |
046B: BSF 03.5 |
046C: BCF 05.7 |
046D: BCF 03.5 |
046E: BSF 05.7 |
.................... Delay_ms(100); |
046F: MOVLW 64 |
0470: MOVWF 3A |
0471: CALL 065 |
.................... if (rovinka > 250 || speed > 170) delay_ms(50); |
0472: MOVF 2F,W |
0473: SUBLW FA |
0474: BTFSS 03.0 |
0475: GOTO 47A |
0476: MOVF 2D,W |
0477: SUBLW AA |
0478: BTFSC 03.0 |
0479: GOTO 47D |
047A: MOVLW 32 |
047B: MOVWF 3A |
047C: CALL 065 |
.................... }; |
.................... rovinka=0; |
047D: CLRF 2F |
.................... speed=R17; |
047E: MOVLW C8 |
047F: MOVWF 2D |
.................... }; |
.................... } |
0480: GOTO 2FA |
.................... } |
0481: SLEEP |
|
Configuration Fuses: |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
Word 2: 3FFC NOFCMEN NOIESO |