| 0,0 → 1,315 |
|---|
| CCS PCW C Compiler, Version 3.110, 15448 |
| |
| Filename: d:\@kaklik\programy\pic_c\robot\auto\main.LST |
| |
| ROM used: 188 (18%) |
| Largest free fragment is 836 |
| RAM used: 4 (11%) at main() level |
| 5 (14%) worst case |
| Stack: 2 locations |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 071 |
| 0003: NOP |
| .................... #include "D:\@Kaklik\programy\PIC_C\robot\auto\main.h" |
| .................... #include <16C84.h> |
| .................... //////// Standard Header file for the PIC16C84 device //////////////// |
| .................... #device PIC16C84 |
| .................... #list |
| .................... |
| .................... #use delay(clock=4000000) |
| 0004: MOVLW 10 |
| 0005: MOVWF 04 |
| 0006: MOVF 00,W |
| 0007: BTFSC 03.2 |
| 0008: GOTO 018 |
| 0009: MOVLW 01 |
| 000A: MOVWF 0D |
| 000B: CLRF 0C |
| 000C: DECFSZ 0C,F |
| 000D: GOTO 00C |
| 000E: DECFSZ 0D,F |
| 000F: GOTO 00B |
| 0010: MOVLW 4A |
| 0011: MOVWF 0C |
| 0012: DECFSZ 0C,F |
| 0013: GOTO 012 |
| 0014: NOP |
| 0015: NOP |
| 0016: DECFSZ 00,F |
| 0017: GOTO 009 |
| 0018: RETLW 00 |
| .................... #fuses XT,NOWDT |
| .................... |
| .................... |
| .................... |
| .................... #DEFINE CIDLO1L PIN_B0 |
| .................... #DEFINE CIDLO1R PIN_B1 |
| .................... #DEFINE CIDLO2L PIN_B2 |
| .................... #DEFINE CIDLO2R PIN_B3 |
| .................... |
| .................... #DEFINE RELE1 PIN_B5 |
| .................... #DEFINE RELE2 PIN_B6 |
| .................... #DEFINE MOTOR1 PIN_B4 |
| .................... #DEFINE MOTOR2 PIN_A0 |
| .................... #DEFINE MOTOR2a PIN_A1 |
| .................... |
| .................... #DEFINE LASER PIN_A2 |
| .................... |
| .................... #DEFINE L 0 |
| .................... #DEFINE R 1 |
| .................... |
| .................... int cara; |
| .................... int movement; |
| .................... |
| .................... void left() |
| .................... { |
| .................... output_high(RELE1); |
| * |
| 0041: BSF 03.5 |
| 0042: BCF 06.5 |
| 0043: BCF 03.5 |
| 0044: BSF 06.5 |
| .................... output_high(RELE2); |
| 0045: BSF 03.5 |
| 0046: BCF 06.6 |
| 0047: BCF 03.5 |
| 0048: BSF 06.6 |
| .................... delay_ms(100); |
| 0049: MOVLW 64 |
| 004A: MOVWF 10 |
| 004B: CALL 004 |
| .................... output_high(MOTOR1); |
| 004C: BSF 03.5 |
| 004D: BCF 06.4 |
| 004E: BCF 03.5 |
| 004F: BSF 06.4 |
| .................... output_high(MOTOR2); |
| 0050: BSF 03.5 |
| 0051: BCF 05.0 |
| 0052: BCF 03.5 |
| 0053: BSF 05.0 |
| .................... output_high(MOTOR2a); |
| 0054: BSF 03.5 |
| 0055: BCF 05.1 |
| 0056: BCF 03.5 |
| 0057: BSF 05.1 |
| 0058: GOTO 0A4 (RETURN) |
| .................... } |
| .................... |
| .................... void right() |
| .................... { |
| .................... output_low(RELE1); |
| 0059: BSF 03.5 |
| 005A: BCF 06.5 |
| 005B: BCF 03.5 |
| 005C: BCF 06.5 |
| .................... output_low(RELE2); |
| 005D: BSF 03.5 |
| 005E: BCF 06.6 |
| 005F: BCF 03.5 |
| 0060: BCF 06.6 |
| .................... delay_ms(100); |
| 0061: MOVLW 64 |
| 0062: MOVWF 10 |
| 0063: CALL 004 |
| .................... output_high(MOTOR1); |
| 0064: BSF 03.5 |
| 0065: BCF 06.4 |
| 0066: BCF 03.5 |
| 0067: BSF 06.4 |
| .................... output_high(MOTOR2); |
| 0068: BSF 03.5 |
| 0069: BCF 05.0 |
| 006A: BCF 03.5 |
| 006B: BSF 05.0 |
| .................... output_high(MOTOR2a); |
| 006C: BSF 03.5 |
| 006D: BCF 05.1 |
| 006E: BCF 03.5 |
| 006F: BSF 05.1 |
| 0070: GOTO 0B1 (RETURN) |
| .................... } |
| .................... |
| .................... void rovne() |
| .................... { |
| .................... output_low(RELE1); // oba motory vpred |
| * |
| 0029: BSF 03.5 |
| 002A: BCF 06.5 |
| 002B: BCF 03.5 |
| 002C: BCF 06.5 |
| .................... output_high(RELE2); |
| 002D: BSF 03.5 |
| 002E: BCF 06.6 |
| 002F: BCF 03.5 |
| 0030: BSF 06.6 |
| .................... delay_ms(100); |
| 0031: MOVLW 64 |
| 0032: MOVWF 10 |
| 0033: CALL 004 |
| .................... output_high(MOTOR1); |
| 0034: BSF 03.5 |
| 0035: BCF 06.4 |
| 0036: BCF 03.5 |
| 0037: BSF 06.4 |
| .................... output_high(MOTOR2); |
| 0038: BSF 03.5 |
| 0039: BCF 05.0 |
| 003A: BCF 03.5 |
| 003B: BSF 05.0 |
| .................... output_high(MOTOR2a); |
| 003C: BSF 03.5 |
| 003D: BCF 05.1 |
| 003E: BCF 03.5 |
| 003F: BSF 05.1 |
| 0040: RETLW 00 |
| .................... } |
| .................... |
| .................... void stop() |
| .................... { |
| .................... output_low(MOTOR1); |
| * |
| 0019: BSF 03.5 |
| 001A: BCF 06.4 |
| 001B: BCF 03.5 |
| 001C: BCF 06.4 |
| .................... output_low(MOTOR2); |
| 001D: BSF 03.5 |
| 001E: BCF 05.0 |
| 001F: BCF 03.5 |
| 0020: BCF 05.0 |
| .................... output_low(MOTOR2a); |
| 0021: BSF 03.5 |
| 0022: BCF 05.1 |
| 0023: BCF 03.5 |
| 0024: BCF 05.1 |
| .................... delay_ms(100); |
| 0025: MOVLW 64 |
| 0026: MOVWF 10 |
| 0027: CALL 004 |
| 0028: RETLW 00 |
| .................... } |
| .................... |
| .................... |
| .................... void main() |
| .................... { |
| * |
| 0071: CLRF 04 |
| 0072: MOVLW 1F |
| 0073: ANDWF 03,F |
| .................... cara=L; |
| 0074: CLRF 0E |
| .................... movement=R; |
| 0075: MOVLW 01 |
| 0076: MOVWF 0F |
| .................... output_low(RELE1); // oba motory vpred |
| 0077: BSF 03.5 |
| 0078: BCF 06.5 |
| 0079: BCF 03.5 |
| 007A: BCF 06.5 |
| .................... output_high(RELE2); |
| 007B: BSF 03.5 |
| 007C: BCF 06.6 |
| 007D: BCF 03.5 |
| 007E: BSF 06.6 |
| .................... delay_ms(100); |
| 007F: MOVLW 64 |
| 0080: MOVWF 10 |
| 0081: CALL 004 |
| .................... while (true) |
| .................... { |
| .................... if (!input(CIDLO1R)) cara=R; // cara vpravo |
| 0082: BSF 03.5 |
| 0083: BSF 06.1 |
| 0084: BCF 03.5 |
| 0085: BTFSC 06.1 |
| 0086: GOTO 089 |
| 0087: MOVLW 01 |
| 0088: MOVWF 0E |
| .................... if (!input(CIDLO1L)) cara=L; // cara vlevo |
| 0089: BSF 03.5 |
| 008A: BSF 06.0 |
| 008B: BCF 03.5 |
| 008C: BTFSC 06.0 |
| 008D: GOTO 08F |
| 008E: CLRF 0E |
| .................... |
| .................... |
| .................... if (cara != movement) |
| 008F: MOVF 0F,W |
| 0090: SUBWF 0E,W |
| 0091: BTFSC 03.2 |
| 0092: GOTO 0B4 |
| .................... { |
| .................... switch(cara) |
| 0093: MOVF 0E,W |
| 0094: ADDLW FE |
| 0095: BTFSC 03.0 |
| 0096: GOTO 0B4 |
| 0097: ADDLW 02 |
| 0098: GOTO 0B6 |
| .................... { |
| .................... case L: |
| .................... output_high(LASER); |
| 0099: BSF 03.5 |
| 009A: BCF 05.2 |
| 009B: BCF 03.5 |
| 009C: BSF 05.2 |
| .................... stop(); |
| 009D: CALL 019 |
| .................... rovne(); |
| 009E: CALL 029 |
| .................... delay_ms(100); |
| 009F: MOVLW 64 |
| 00A0: MOVWF 10 |
| 00A1: CALL 004 |
| .................... stop(); |
| 00A2: CALL 019 |
| .................... left(); |
| 00A3: GOTO 041 |
| .................... movement=L; |
| 00A4: CLRF 0F |
| .................... break; |
| 00A5: GOTO 0B4 |
| .................... |
| .................... case R: |
| .................... stop(); |
| 00A6: CALL 019 |
| .................... rovne(); |
| 00A7: CALL 029 |
| .................... delay_ms(100); |
| 00A8: MOVLW 64 |
| 00A9: MOVWF 10 |
| 00AA: CALL 004 |
| .................... output_low(LASER); |
| 00AB: BSF 03.5 |
| 00AC: BCF 05.2 |
| 00AD: BCF 03.5 |
| 00AE: BCF 05.2 |
| .................... stop(); |
| 00AF: CALL 019 |
| .................... right(); |
| 00B0: GOTO 059 |
| .................... movement=R; |
| 00B1: MOVLW 01 |
| 00B2: MOVWF 0F |
| .................... break; |
| 00B3: GOTO 0B4 |
| .................... } |
| * |
| 00B6: BCF 0A.0 |
| 00B7: BCF 0A.1 |
| 00B8: BCF 0A.2 |
| 00B9: ADDWF 02,F |
| 00BA: GOTO 099 |
| 00BB: GOTO 0A6 |
| .................... } |
| .................... } |
| * |
| 00B4: GOTO 082 |
| .................... } |
| .................... |
| 00B5: SLEEP |