| 0,0 → 1,130 |
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| '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 leds As Byte |
| Dim leds1 As Byte |
| Dim buttons 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) |
| |
| |
| leds = 0xFF |
| leds1 = 0x0F |
| |
| motors = 0x00 |
| |
| Do while 1 |
| |
| buttons = portb |
| |
| If (buttons.1)=0 Then |
| i=0 |
| leds1 = leds1 - 1 |
| lata = leds1 |
| Do while i <= 500000 |
| i=i+1 |
| loop |
| motors = motors + 0x11 |
| |
| elseif (buttons.4)=0 Then |
| i=0 |
| leds1 = leds1 + 1 |
| lata = leds1 |
| Do while i <= 500000 |
| i=i+1 |
| loop |
| motors = motors - 0x11 |
| End If |
| |
| leds = 0xFF |
| sensors =0xFF |
| sensors = Call receive() 'prijmi stav cidel senzoru |
| 'Bity v bajtu sensors |
| 'BIT3=LEVE SPODNI, BIT2=PRAVE SPODNI, BIT1=LEVE PREDNI, BIT0=PRAVE PREDNI |
| 'prislusny bit v nule znamena aktivni senzor |
| If (sensors.0)=0 Then |
| 'pravy predni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 1) 'led sviti, kdyz se ji bit znuluje |
| End If |
| |
| If (sensors.1)=0 Then |
| 'levy predni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 2) 'led sviti, kdyz se ji bit znuluje |
| End If |
| |
| If (sensors.2)=0 Then |
| 'pravy spodni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 0) 'led sviti, kdyz se ji bit znuluje |
| End If |
| |
| If (sensors.3)=0 Then |
| 'levy spodni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 3) 'led sviti, kdyz se ji bit znuluje |
| End If |
| |
| |
| lata = leds |
| call send(motors) |
| |
| |
| Loop |
| |
| |
| End Sub |
| Property changes: |
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| Added: svn:executable |
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| +* |
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| \ No newline at end of property |
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