| 0,0 → 1,111 |
|---|
| 'robot |
| |
| '#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H |
| |
| |
| #pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H |
| #pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L |
| #pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H |
| #pragma DATA _CONFIG3H, _CCP2MX_OFF_3H |
| #pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L |
| #pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L |
| #pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H |
| #pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L |
| #pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H |
| #pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L |
| #pragma DATA _CONFIG7H, _EBTRB_ON_7H |
| |
| #pragma CLOCK_FREQ 40000000 |
| |
| Function receive() As Byte |
| If ( (rcsta.OERR = 1) ) Then |
| rcsta.CREN = 0 |
| rcsta.CREN = 1 |
| End If |
| Do While (pir1.RCIF = 0) |
| Loop |
| receive = rcreg |
| |
| End Function |
| |
| Sub send(c As Byte) |
| Do while (pir1 & (1 << TXIF)) = 0 Loop |
| txreg = c |
| End Sub |
| |
| Sub main() |
| Dim motors As Byte |
| Dim sensors As Byte |
| Dim buttons As Byte |
| Dim leds As Byte |
| Dim count As Byte |
| Dim i As Long |
| |
| 'NASTAVENI IO |
| lata=0xFF |
| latb=0 |
| latc=0xFF |
| trisa=0xF0 |
| trisb=0x3F |
| trisc=0x9F |
| |
| 'VYPNOUT ADC |
| adcon1=0xC6 |
| adcon0=0xC0 |
| |
| 'UART 9600bps |
| spbrg=64 |
| txsta = txsta & ~(1 << BRGH) |
| txsta = txsta | (1 << TXEN) |
| rcsta = rcsta | (1 << CREN) |
| rcsta = rcsta | (1 << SPEN) |
| |
| motors = 0x00 |
| |
| do while (portb.0 = 1) |
| loop |
| |
| leds = 0xF0 |
| count = 400000 |
| |
| do while (count > 0) |
| count = count -1 |
| |
| if count < 300000 then |
| leds = leds | 1 |
| end if |
| if count < 200000 then |
| leds = leds | 2 |
| end if |
| if count < 100000 then |
| leds = leds | 4 |
| end if |
| lata = leds |
| loop |
| leds = 0xFF |
| lata = 0xFF |
| |
| |
| Do while 1 |
| |
| sensors =0xFF |
| sensors = Call receive() 'prijmi stav cidel senzoru |
| |
| If (!((sensors.0) and (sensors.1))) Then |
| motors = 0x77 |
| End If |
| |
| If (!(sensors.2)) Then |
| motors = 0xF7 |
| End If |
| |
| If (!(sensors.3)) Then |
| motors = 0x7F |
| End If |
| |
| lata = sensors |
| call send(motors) |
| |
| Loop |
| |
| End Sub |
| Property changes: |
|---|
| Added: svn:executable |
|---|
| +* |
|---|
| \ No newline at end of property |
|---|