| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.BAK |
|---|
| 0,0 → 1,342 |
| #include ".\main.h" |
| #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//27 |
| #define BEAR3 45 |
| #define R 100 // Rozumna rychlost |
| #define R17 255 // X nasobek rozumne rychlosti |
| #define DOZNIVANI 10 |
| #define L1 1 // cara vlevo |
| #define L2 2 // cara vlevo |
| #define L3 3 // cara vlevo |
| #define S 0 // casa 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 5 // AN5 |
| #define CERNA 2 // AN2 |
| #define ZELENA 4 // AN4 |
| #define MODRA 6 // AN6 |
| // 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 |
| //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 |
| short int preteceni; // flag preteceni timeru1 |
| 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_TIMER1 |
| TIMER1_isr() |
| { |
| preteceni = true; |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| #int_TIMER2 |
| TIMER2_isr() // ovladani serva |
| { |
| unsigned int8 n; |
| output_high(SERVO); |
| delay_us(1000); |
| for(n=uhel; n>0; n--) Delay_us(2); |
| output_low(SERVO); |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| short int IRcheck() // potvrdi detekci cihly |
| { |
| output_high(IRTX); // vypne vysilac IR |
| delay_ms(100); |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); |
| if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| { |
| output_low(IRTX); // zapne vysilac IR |
| delay_ms(100); |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); |
| if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| { |
| output_high(IRTX); // vypne vysilac IR |
| delay_ms(100); |
| 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 |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| void objizdka() |
| { |
| int8 shure=0; |
| unsigned int16 n; |
| BR;BL; |
| Delay_ms(400); |
| STOPR;STOPL; |
| // toceni na miste dokud nezmizi cihla |
| //------------------------------------ |
| uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota |
| Delay_ms(100); |
| BL;FR; |
| Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle |
| While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru |
| { |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| } |
| STOPL; STOPR; |
| for (n=0;n<1000;n++) // vystred se na hranu cihly |
| { |
| if(!input(CIHLA)) |
| { |
| GO(L,B,180);GO(R,F,160); // zapni motory PWM podle promenych Lmotor a Rmotor |
| } else |
| { |
| GO(L,F,180);GO(R,B,160); // zapni motory PWM podle promenych Lmotor a Rmotor |
| }; |
| delay_ms(1); |
| } |
| STOPR;STOPL; |
| uhel=STRED; // dopredu |
| delay_ms(100); |
| FR; FL; |
| delay_ms(500); |
| BL;BR; |
| delay_ms(200); |
| STOPL;STOPR; |
| uhel=STRED+BEAR3; // doprava |
| delay_ms(100); |
| FL; |
| delay_ms(400); |
| uhel=STRED+BEAR2; // min doprava |
| FL;FR; |
| delay_ms(100); |
| uhel=STRED+BEAR1; // jeste min doprava |
| FL;FR; |
| delay_ms(200); |
| While((sensors & 0b01111111)!=0) //dokud neni cara |
| { |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| } |
| BL; BR; |
| delay_ms(400); |
| uhel=STRED-BEAR3; // doleva |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| unsigned int8 n; |
| unsigned int8 i,v; |
| unsigned int8 last_sensors; |
| setup_adc_ports(sAN5|sAN2|sAN4|sAN6|VSS_VDD); // AD pro kroutitka |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED|T1_DIV_BY_8); |
| setup_timer_2(T2_DIV_BY_16,140,16); |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| STOPR; STOPL; // zastav motory |
| Lmotor=0;Rmotor=0; |
| uhel = STRED; // nastav zadni kolecko na stred |
| rovinka = 0; |
| enable_interrupts(INT_TIMER2); |
| enable_interrupts(GLOBAL); |
| output_low(IRTX); // zapni IR vysilac |
| delay_ms(1500); // musime pockat na diagnostiku slave CPU |
| //nastaveni rychlosti |
| set_adc_channel(CERVENA); |
| Delay_ms(1); |
| speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63 |
| set_adc_channel(MODRA); |
| Delay_ms(1); |
| turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63 |
| while(true) |
| { |
| GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
| delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel |
| output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); // zobraz data na posuvnem registru |
| i=0; // havarijni kod |
| for (n=0; n<=6; n++) |
| { |
| if(bit_test(sensors,n)) i++; |
| } |
| if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly |
| { |
| BL; BR; |
| delay_ms(300); |
| STOPR; STOPL; |
| While(true); |
| }; |
| if(bit_test(sensors,7)) // detekce cihly |
| { |
| objizdka(); // objede cihlu |
| } |
| if(bit_test(sensors,3)) //...|...// |
| { |
| uhel=STRED; |
| if (rovinka<50) |
| { |
| Lmotor=R17; |
| Rmotor=R17; |
| } |
| else |
| { |
| Lmotor=speed; |
| Rmotor=speed; |
| }; |
| line=S; |
| if (rovinka < 255) rovinka++; |
| continue; |
| } |
| if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| { |
| uhel=STRED - BEAR3; |
| Lmotor=0; |
| Rmotor=turn; |
| line=L3; |
| continue; |
| } |
| if(bit_test(sensors,6)) //......|// |
| { |
| uhel=STRED + BEAR3; |
| Rmotor=0; |
| Lmotor=turn; |
| line=R3; |
| continue; |
| } |
| if(bit_test(sensors,1)) //.|.....// |
| { |
| uhel=STRED - BEAR2; |
| Lmotor=speed-50; |
| Rmotor=speed; |
| line=L2; |
| continue; |
| } |
| if(bit_test(sensors,5)) //.....|.// |
| { |
| uhel=STRED + BEAR2; |
| Rmotor=speed-50; |
| Lmotor=speed; |
| line=R2; |
| continue; |
| } |
| if (bit_test(sensors,2)) //..|....// |
| { |
| uhel=STRED - BEAR1; |
| Lmotor=speed; |
| Rmotor=speed; |
| line=L1; |
| if (rovinka<255) rovinka++; |
| continue; |
| } |
| if (bit_test(sensors,4)) //....|..// |
| { |
| uhel=STRED + BEAR1; |
| Rmotor=speed; |
| Lmotor=speed; |
| line=R1; |
| if (rovinka<255) rovinka++; |
| continue; |
| } |
| if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate |
| { |
| if (rovinka>50) |
| { |
| BL; BR; |
| Delay_ms(100); |
| if (rovinka>250) delay_ms(50); |
| }; |
| rovinka=0; |
| }; |
| } |
| } |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.HEX |
|---|
| 0,0 → 1,130 |
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| ;PIC16F88 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.LST |
|---|
| 0,0 → 1,1399 |
| CCS PCM C Compiler, Version 3.245, 27853 23-IV-06 20:13 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
| ROM used: 1012 words (25%) |
| Largest free fragment is 2048 |
| RAM used: 32 (18%) at main() level |
| 38 (22%) worst case |
| Stack: 4 worst case (2 in main + 2 for interrupts) |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 212 |
| 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 00.0 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.0 |
| 0021: GOTO 03B |
| 0022: MOVLW 8C |
| 0023: MOVWF 04 |
| 0024: BTFSS 00.1 |
| 0025: GOTO 028 |
| 0026: BTFSC 0C.1 |
| 0027: GOTO 03D |
| 0028: MOVF 22,W |
| 0029: MOVWF 04 |
| 002A: MOVF 23,W |
| 002B: MOVWF 77 |
| 002C: MOVF 24,W |
| 002D: MOVWF 78 |
| 002E: MOVF 25,W |
| 002F: MOVWF 79 |
| 0030: MOVF 26,W |
| 0031: MOVWF 7A |
| 0032: MOVF 27,W |
| 0033: MOVWF 7B |
| 0034: MOVF 28,W |
| 0035: MOVWF 0A |
| 0036: SWAPF 21,W |
| 0037: MOVWF 03 |
| 0038: SWAPF 7F,F |
| 0039: SWAPF 7F,W |
| 003A: RETFIE |
| 003B: BCF 0A.3 |
| 003C: GOTO 03F |
| 003D: BCF 0A.3 |
| 003E: GOTO 053 |
| .................... #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) |
| * |
| 0043: MOVLW 08 |
| 0044: SUBWF 40,F |
| 0045: BTFSS 03.0 |
| 0046: GOTO 052 |
| 0047: MOVLW 40 |
| 0048: MOVWF 04 |
| 0049: BCF 03.0 |
| 004A: RRF 00,F |
| 004B: MOVF 00,W |
| 004C: BTFSC 03.2 |
| 004D: GOTO 052 |
| 004E: GOTO 050 |
| 004F: CLRWDT |
| 0050: DECFSZ 00,F |
| 0051: GOTO 04F |
| 0052: RETLW 00 |
| * |
| 0071: MOVLW 3D |
| 0072: MOVWF 04 |
| 0073: MOVF 00,W |
| 0074: BTFSC 03.2 |
| 0075: GOTO 088 |
| 0076: MOVLW 02 |
| 0077: MOVWF 78 |
| 0078: MOVLW BF |
| 0079: MOVWF 77 |
| 007A: CLRWDT |
| 007B: DECFSZ 77,F |
| 007C: GOTO 07A |
| 007D: DECFSZ 78,F |
| 007E: GOTO 078 |
| 007F: MOVLW 96 |
| 0080: MOVWF 77 |
| 0081: DECFSZ 77,F |
| 0082: GOTO 081 |
| 0083: NOP |
| 0084: NOP |
| 0085: CLRWDT |
| 0086: DECFSZ 00,F |
| 0087: GOTO 076 |
| 0088: 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//27 |
| .................... #define BEAR3 45 |
| .................... #define R 100 // Rozumna rychlost |
| .................... #define R17 255 // X nasobek rozumne rychlosti |
| .................... #define DOZNIVANI 10 |
| .................... #define L1 1 // cara vlevo |
| .................... #define L2 2 // cara vlevo |
| .................... #define L3 3 // cara vlevo |
| .................... #define S 0 // casa 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 5 // AN5 |
| .................... #define CERNA 2 // AN2 |
| .................... #define ZELENA 4 // AN4 |
| .................... #define MODRA 6 // AN6 |
| .................... |
| .................... // 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 |
| * |
| 021F: BCF 03.5 |
| 0220: 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 |
| .................... |
| .................... short int preteceni; // flag preteceni timeru1 |
| .................... |
| .................... 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_TIMER1 |
| .................... TIMER1_isr() |
| .................... { |
| .................... preteceni = true; |
| * |
| 003F: BSF 30.0 |
| .................... } |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| 0040: BCF 0C.0 |
| 0041: BCF 0A.3 |
| 0042: GOTO 028 |
| .................... #int_TIMER2 |
| .................... TIMER2_isr() // ovladani serva |
| .................... { |
| .................... unsigned int8 n; |
| .................... |
| .................... output_high(SERVO); |
| * |
| 0053: BSF 03.5 |
| 0054: BCF 06.5 |
| 0055: BCF 03.5 |
| 0056: BSF 06.5 |
| .................... delay_us(1000); |
| 0057: CLRWDT |
| 0058: MOVLW 09 |
| 0059: MOVWF 3F |
| 005A: MOVLW 6D |
| 005B: MOVWF 40 |
| 005C: CALL 043 |
| 005D: DECFSZ 3F,F |
| 005E: GOTO 05A |
| .................... for(n=uhel; n>0; n--) Delay_us(2); |
| 005F: MOVF 2C,W |
| 0060: MOVWF 3E |
| 0061: MOVF 3E,F |
| 0062: BTFSC 03.2 |
| 0063: GOTO 06A |
| 0064: CLRWDT |
| 0065: NOP |
| 0066: NOP |
| 0067: NOP |
| 0068: DECF 3E,F |
| 0069: GOTO 061 |
| .................... output_low(SERVO); |
| 006A: BSF 03.5 |
| 006B: BCF 06.5 |
| 006C: BCF 03.5 |
| 006D: BCF 06.5 |
| .................... } |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| 006E: BCF 0C.1 |
| 006F: BCF 0A.3 |
| 0070: GOTO 028 |
| .................... short int IRcheck() // potvrdi detekci cihly |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... delay_ms(100); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| .................... { |
| .................... output_low(IRTX); // zapne vysilac IR |
| .................... delay_ms(100); |
| .................... |
| .................... output_low(STROBE); |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... output_high(STROBE); |
| .................... |
| .................... if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| .................... { |
| .................... output_high(IRTX); // vypne vysilac IR |
| .................... delay_ms(100); |
| .................... |
| .................... 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 |
| .................... } |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void objizdka() |
| .................... { |
| .................... int8 shure=0; |
| * |
| 0089: CLRF 39 |
| .................... unsigned int16 n; |
| .................... |
| .................... BR;BL; |
| 008A: BSF 03.5 |
| 008B: BCF 05.6 |
| 008C: BCF 03.5 |
| 008D: BCF 05.6 |
| 008E: BSF 03.5 |
| 008F: BCF 05.7 |
| 0090: BCF 03.5 |
| 0091: BSF 05.7 |
| 0092: BSF 03.5 |
| 0093: BCF 05.0 |
| 0094: BCF 03.5 |
| 0095: BCF 05.0 |
| 0096: BSF 03.5 |
| 0097: BCF 05.1 |
| 0098: BCF 03.5 |
| 0099: BSF 05.1 |
| .................... Delay_ms(400); |
| 009A: MOVLW 02 |
| 009B: MOVWF 3C |
| 009C: MOVLW C8 |
| 009D: MOVWF 3D |
| 009E: CALL 071 |
| 009F: DECFSZ 3C,F |
| 00A0: GOTO 09C |
| .................... STOPR;STOPL; |
| 00A1: BSF 03.5 |
| 00A2: BCF 05.6 |
| 00A3: BCF 03.5 |
| 00A4: BCF 05.6 |
| 00A5: BSF 03.5 |
| 00A6: BCF 05.7 |
| 00A7: BCF 03.5 |
| 00A8: BCF 05.7 |
| 00A9: BSF 03.5 |
| 00AA: BCF 05.0 |
| 00AB: BCF 03.5 |
| 00AC: BCF 05.0 |
| 00AD: BSF 03.5 |
| 00AE: BCF 05.1 |
| 00AF: BCF 03.5 |
| 00B0: BCF 05.1 |
| .................... |
| .................... // toceni na miste dokud nezmizi cihla |
| .................... //------------------------------------ |
| .................... uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota |
| 00B1: MOVLW E1 |
| 00B2: MOVWF 2C |
| .................... Delay_ms(100); |
| 00B3: MOVLW 64 |
| 00B4: MOVWF 3D |
| 00B5: CALL 071 |
| .................... BL;FR; |
| 00B6: BSF 03.5 |
| 00B7: BCF 05.0 |
| 00B8: BCF 03.5 |
| 00B9: BCF 05.0 |
| 00BA: BSF 03.5 |
| 00BB: BCF 05.1 |
| 00BC: BCF 03.5 |
| 00BD: BSF 05.1 |
| 00BE: BSF 03.5 |
| 00BF: BCF 05.7 |
| 00C0: BCF 03.5 |
| 00C1: BCF 05.7 |
| 00C2: BSF 03.5 |
| 00C3: BCF 05.6 |
| 00C4: BCF 03.5 |
| 00C5: BSF 05.6 |
| .................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle |
| 00C6: MOVLW C8 |
| 00C7: MOVWF 3D |
| 00C8: CALL 071 |
| .................... |
| .................... While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru |
| .................... { |
| 00C9: BTFSS 2A.7 |
| 00CA: GOTO 0DA |
| .................... sensors = spi_read(0); // cteni senzoru |
| 00CB: MOVF 13,W |
| 00CC: CLRF 13 |
| 00CD: BSF 03.5 |
| 00CE: BTFSC 14.0 |
| 00CF: GOTO 0D2 |
| 00D0: BCF 03.5 |
| 00D1: GOTO 0CD |
| 00D2: BCF 03.5 |
| 00D3: MOVF 13,W |
| 00D4: MOVWF 2A |
| .................... sensors=~sensors; |
| 00D5: COMF 2A,F |
| .................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| 00D6: MOVLW 04 |
| 00D7: MOVWF 3D |
| 00D8: CALL 071 |
| .................... } |
| 00D9: GOTO 0C9 |
| .................... STOPL; STOPR; |
| 00DA: BSF 03.5 |
| 00DB: BCF 05.0 |
| 00DC: BCF 03.5 |
| 00DD: BCF 05.0 |
| 00DE: BSF 03.5 |
| 00DF: BCF 05.1 |
| 00E0: BCF 03.5 |
| 00E1: BCF 05.1 |
| 00E2: BSF 03.5 |
| 00E3: BCF 05.6 |
| 00E4: BCF 03.5 |
| 00E5: BCF 05.6 |
| 00E6: BSF 03.5 |
| 00E7: BCF 05.7 |
| 00E8: BCF 03.5 |
| 00E9: BCF 05.7 |
| .................... |
| .................... for (n=0;n<1000;n++) // vystred se na hranu cihly |
| 00EA: CLRF 3B |
| 00EB: CLRF 3A |
| 00EC: MOVF 3B,W |
| 00ED: SUBLW 03 |
| 00EE: BTFSS 03.0 |
| 00EF: GOTO 157 |
| 00F0: BTFSS 03.2 |
| 00F1: GOTO 0F6 |
| 00F2: MOVF 3A,W |
| 00F3: SUBLW E7 |
| 00F4: BTFSS 03.0 |
| 00F5: GOTO 157 |
| .................... { |
| .................... if(!input(CIHLA)) |
| 00F6: BSF 03.5 |
| 00F7: BSF 05.3 |
| 00F8: BCF 03.5 |
| 00F9: BTFSC 05.3 |
| 00FA: GOTO 126 |
| .................... { |
| .................... GO(L,B,180);GO(R,F,160); // zapni motory PWM podle promenych Lmotor a Rmotor |
| 00FB: MOVF 01,W |
| 00FC: SUBLW B4 |
| 00FD: BTFSS 03.0 |
| 00FE: GOTO 108 |
| 00FF: BSF 03.5 |
| 0100: BCF 05.0 |
| 0101: BCF 03.5 |
| 0102: BCF 05.0 |
| 0103: BSF 03.5 |
| 0104: BCF 05.1 |
| 0105: BCF 03.5 |
| 0106: BSF 05.1 |
| 0107: GOTO 110 |
| 0108: BSF 03.5 |
| 0109: BCF 05.0 |
| 010A: BCF 03.5 |
| 010B: BCF 05.0 |
| 010C: BSF 03.5 |
| 010D: BCF 05.1 |
| 010E: BCF 03.5 |
| 010F: BCF 05.1 |
| 0110: MOVF 01,W |
| 0111: SUBLW A0 |
| 0112: BTFSS 03.0 |
| 0113: GOTO 11D |
| 0114: BSF 03.5 |
| 0115: BCF 05.7 |
| 0116: BCF 03.5 |
| 0117: BCF 05.7 |
| 0118: BSF 03.5 |
| 0119: BCF 05.6 |
| 011A: BCF 03.5 |
| 011B: BSF 05.6 |
| 011C: GOTO 125 |
| 011D: BSF 03.5 |
| 011E: BCF 05.6 |
| 011F: BCF 03.5 |
| 0120: BCF 05.6 |
| 0121: BSF 03.5 |
| 0122: BCF 05.7 |
| 0123: BCF 03.5 |
| 0124: BCF 05.7 |
| .................... } else |
| 0125: GOTO 150 |
| .................... { |
| .................... GO(L,F,180);GO(R,B,160); // zapni motory PWM podle promenych Lmotor a Rmotor |
| 0126: MOVF 01,W |
| 0127: SUBLW B4 |
| 0128: BTFSS 03.0 |
| 0129: GOTO 133 |
| 012A: BSF 03.5 |
| 012B: BCF 05.1 |
| 012C: BCF 03.5 |
| 012D: BCF 05.1 |
| 012E: BSF 03.5 |
| 012F: BCF 05.0 |
| 0130: BCF 03.5 |
| 0131: BSF 05.0 |
| 0132: GOTO 13B |
| 0133: BSF 03.5 |
| 0134: BCF 05.0 |
| 0135: BCF 03.5 |
| 0136: BCF 05.0 |
| 0137: BSF 03.5 |
| 0138: BCF 05.1 |
| 0139: BCF 03.5 |
| 013A: BCF 05.1 |
| 013B: MOVF 01,W |
| 013C: SUBLW A0 |
| 013D: BTFSS 03.0 |
| 013E: GOTO 148 |
| 013F: BSF 03.5 |
| 0140: BCF 05.6 |
| 0141: BCF 03.5 |
| 0142: BCF 05.6 |
| 0143: BSF 03.5 |
| 0144: BCF 05.7 |
| 0145: BCF 03.5 |
| 0146: BSF 05.7 |
| 0147: GOTO 150 |
| 0148: BSF 03.5 |
| 0149: BCF 05.6 |
| 014A: BCF 03.5 |
| 014B: BCF 05.6 |
| 014C: BSF 03.5 |
| 014D: BCF 05.7 |
| 014E: BCF 03.5 |
| 014F: BCF 05.7 |
| .................... }; |
| .................... delay_ms(1); |
| 0150: MOVLW 01 |
| 0151: MOVWF 3D |
| 0152: CALL 071 |
| .................... } |
| 0153: INCF 3A,F |
| 0154: BTFSC 03.2 |
| 0155: INCF 3B,F |
| 0156: GOTO 0EC |
| .................... STOPR;STOPL; |
| 0157: BSF 03.5 |
| 0158: BCF 05.6 |
| 0159: BCF 03.5 |
| 015A: BCF 05.6 |
| 015B: BSF 03.5 |
| 015C: BCF 05.7 |
| 015D: BCF 03.5 |
| 015E: BCF 05.7 |
| 015F: BSF 03.5 |
| 0160: BCF 05.0 |
| 0161: BCF 03.5 |
| 0162: BCF 05.0 |
| 0163: BSF 03.5 |
| 0164: BCF 05.1 |
| 0165: BCF 03.5 |
| 0166: BCF 05.1 |
| .................... |
| .................... uhel=STRED; // dopredu |
| 0167: MOVLW 80 |
| 0168: MOVWF 2C |
| .................... delay_ms(100); |
| 0169: MOVLW 64 |
| 016A: MOVWF 3D |
| 016B: CALL 071 |
| .................... FR; FL; |
| 016C: BSF 03.5 |
| 016D: BCF 05.7 |
| 016E: BCF 03.5 |
| 016F: BCF 05.7 |
| 0170: BSF 03.5 |
| 0171: BCF 05.6 |
| 0172: BCF 03.5 |
| 0173: BSF 05.6 |
| 0174: BSF 03.5 |
| 0175: BCF 05.1 |
| 0176: BCF 03.5 |
| 0177: BCF 05.1 |
| 0178: BSF 03.5 |
| 0179: BCF 05.0 |
| 017A: BCF 03.5 |
| 017B: BSF 05.0 |
| .................... delay_ms(500); |
| 017C: MOVLW 02 |
| 017D: MOVWF 3C |
| 017E: MOVLW FA |
| 017F: MOVWF 3D |
| 0180: CALL 071 |
| 0181: DECFSZ 3C,F |
| 0182: GOTO 17E |
| .................... BL;BR; |
| 0183: BSF 03.5 |
| 0184: BCF 05.0 |
| 0185: BCF 03.5 |
| 0186: BCF 05.0 |
| 0187: BSF 03.5 |
| 0188: BCF 05.1 |
| 0189: BCF 03.5 |
| 018A: BSF 05.1 |
| 018B: BSF 03.5 |
| 018C: BCF 05.6 |
| 018D: BCF 03.5 |
| 018E: BCF 05.6 |
| 018F: BSF 03.5 |
| 0190: BCF 05.7 |
| 0191: BCF 03.5 |
| 0192: BSF 05.7 |
| .................... delay_ms(200); |
| 0193: MOVLW C8 |
| 0194: MOVWF 3D |
| 0195: CALL 071 |
| .................... STOPL;STOPR; |
| 0196: BSF 03.5 |
| 0197: BCF 05.0 |
| 0198: BCF 03.5 |
| 0199: BCF 05.0 |
| 019A: BSF 03.5 |
| 019B: BCF 05.1 |
| 019C: BCF 03.5 |
| 019D: BCF 05.1 |
| 019E: BSF 03.5 |
| 019F: BCF 05.6 |
| 01A0: BCF 03.5 |
| 01A1: BCF 05.6 |
| 01A2: BSF 03.5 |
| 01A3: BCF 05.7 |
| 01A4: BCF 03.5 |
| 01A5: BCF 05.7 |
| .................... |
| .................... uhel=STRED+BEAR3; // doprava |
| 01A6: MOVLW AD |
| 01A7: MOVWF 2C |
| .................... delay_ms(100); |
| 01A8: MOVLW 64 |
| 01A9: MOVWF 3D |
| 01AA: CALL 071 |
| .................... FL; |
| 01AB: BSF 03.5 |
| 01AC: BCF 05.1 |
| 01AD: BCF 03.5 |
| 01AE: BCF 05.1 |
| 01AF: BSF 03.5 |
| 01B0: BCF 05.0 |
| 01B1: BCF 03.5 |
| 01B2: BSF 05.0 |
| .................... delay_ms(400); |
| 01B3: MOVLW 02 |
| 01B4: MOVWF 3C |
| 01B5: MOVLW C8 |
| 01B6: MOVWF 3D |
| 01B7: CALL 071 |
| 01B8: DECFSZ 3C,F |
| 01B9: GOTO 1B5 |
| .................... uhel=STRED+BEAR2; // min doprava |
| 01BA: MOVLW 99 |
| 01BB: MOVWF 2C |
| .................... FL;FR; |
| 01BC: BSF 03.5 |
| 01BD: BCF 05.1 |
| 01BE: BCF 03.5 |
| 01BF: BCF 05.1 |
| 01C0: BSF 03.5 |
| 01C1: BCF 05.0 |
| 01C2: BCF 03.5 |
| 01C3: BSF 05.0 |
| 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 |
| .................... delay_ms(100); |
| 01CC: MOVLW 64 |
| 01CD: MOVWF 3D |
| 01CE: CALL 071 |
| .................... uhel=STRED+BEAR1; // jeste min doprava |
| 01CF: MOVLW 8A |
| 01D0: MOVWF 2C |
| .................... FL;FR; |
| 01D1: BSF 03.5 |
| 01D2: BCF 05.1 |
| 01D3: BCF 03.5 |
| 01D4: BCF 05.1 |
| 01D5: BSF 03.5 |
| 01D6: BCF 05.0 |
| 01D7: BCF 03.5 |
| 01D8: BSF 05.0 |
| 01D9: BSF 03.5 |
| 01DA: BCF 05.7 |
| 01DB: BCF 03.5 |
| 01DC: BCF 05.7 |
| 01DD: BSF 03.5 |
| 01DE: BCF 05.6 |
| 01DF: BCF 03.5 |
| 01E0: BSF 05.6 |
| .................... delay_ms(200); |
| 01E1: MOVLW C8 |
| 01E2: MOVWF 3D |
| 01E3: CALL 071 |
| .................... While((sensors & 0b01111111)!=0) //dokud neni cara |
| .................... { |
| 01E4: MOVF 2A,W |
| 01E5: ANDLW 7F |
| 01E6: BTFSC 03.2 |
| 01E7: GOTO 1F7 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 01E8: MOVF 13,W |
| 01E9: CLRF 13 |
| 01EA: BSF 03.5 |
| 01EB: BTFSC 14.0 |
| 01EC: GOTO 1EF |
| 01ED: BCF 03.5 |
| 01EE: GOTO 1EA |
| 01EF: BCF 03.5 |
| 01F0: MOVF 13,W |
| 01F1: MOVWF 2A |
| .................... sensors=~sensors; |
| 01F2: COMF 2A,F |
| .................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| 01F3: MOVLW 04 |
| 01F4: MOVWF 3D |
| 01F5: CALL 071 |
| .................... } |
| 01F6: GOTO 1E4 |
| .................... BL; BR; |
| 01F7: BSF 03.5 |
| 01F8: BCF 05.0 |
| 01F9: BCF 03.5 |
| 01FA: BCF 05.0 |
| 01FB: BSF 03.5 |
| 01FC: BCF 05.1 |
| 01FD: BCF 03.5 |
| 01FE: BSF 05.1 |
| 01FF: BSF 03.5 |
| 0200: BCF 05.6 |
| 0201: BCF 03.5 |
| 0202: BCF 05.6 |
| 0203: BSF 03.5 |
| 0204: BCF 05.7 |
| 0205: BCF 03.5 |
| 0206: BSF 05.7 |
| .................... delay_ms(400); |
| 0207: MOVLW 02 |
| 0208: MOVWF 3C |
| 0209: MOVLW C8 |
| 020A: MOVWF 3D |
| 020B: CALL 071 |
| 020C: DECFSZ 3C,F |
| 020D: GOTO 209 |
| .................... |
| .................... uhel=STRED-BEAR3; // doleva |
| 020E: MOVLW 53 |
| 020F: MOVWF 2C |
| .................... } |
| 0210: BCF 0A.3 |
| 0211: GOTO 343 (RETURN) |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 0212: CLRF 04 |
| 0213: MOVLW 1F |
| 0214: ANDWF 03,F |
| 0215: MOVLW 70 |
| 0216: BSF 03.5 |
| 0217: MOVWF 0F |
| 0218: BCF 1F.4 |
| 0219: BCF 1F.5 |
| 021A: MOVF 1B,W |
| 021B: ANDLW 80 |
| 021C: MOVWF 1B |
| 021D: MOVLW 07 |
| 021E: MOVWF 1C |
| .................... |
| .................... unsigned int8 n; |
| .................... unsigned int8 i,v; |
| .................... unsigned int8 last_sensors; |
| .................... |
| .................... setup_adc_ports(sAN5|sAN2|sAN4|sAN6|VSS_VDD); // AD pro kroutitka |
| * |
| 0221: BSF 03.5 |
| 0222: BCF 1F.4 |
| 0223: BCF 1F.5 |
| 0224: MOVF 1B,W |
| 0225: ANDLW 80 |
| 0226: IORLW 74 |
| 0227: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 0228: BCF 1F.6 |
| 0229: BCF 03.5 |
| 022A: BSF 1F.6 |
| 022B: BSF 1F.7 |
| 022C: BSF 03.5 |
| 022D: BCF 1F.7 |
| 022E: BCF 03.5 |
| 022F: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
| 0230: BCF 14.5 |
| 0231: BSF 03.5 |
| 0232: BCF 06.2 |
| 0233: BSF 06.1 |
| 0234: BCF 06.4 |
| 0235: MOVLW 31 |
| 0236: BCF 03.5 |
| 0237: MOVWF 14 |
| 0238: MOVLW 00 |
| 0239: BSF 03.5 |
| 023A: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 023B: MOVF 01,W |
| 023C: ANDLW C7 |
| 023D: IORLW 08 |
| 023E: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8); |
| 023F: MOVLW 30 |
| 0240: BCF 03.5 |
| 0241: MOVWF 10 |
| .................... setup_timer_2(T2_DIV_BY_16,140,16); |
| 0242: MOVLW 78 |
| 0243: MOVWF 78 |
| 0244: IORLW 06 |
| 0245: MOVWF 12 |
| 0246: MOVLW 8C |
| 0247: BSF 03.5 |
| 0248: MOVWF 12 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 0249: MOVLW 72 |
| 024A: MOVWF 0F |
| .................... |
| .................... STOPR; STOPL; // zastav motory |
| 024B: BCF 05.6 |
| 024C: BCF 03.5 |
| 024D: BCF 05.6 |
| 024E: BSF 03.5 |
| 024F: BCF 05.7 |
| 0250: BCF 03.5 |
| 0251: BCF 05.7 |
| 0252: BSF 03.5 |
| 0253: BCF 05.0 |
| 0254: BCF 03.5 |
| 0255: BCF 05.0 |
| 0256: BSF 03.5 |
| 0257: BCF 05.1 |
| 0258: BCF 03.5 |
| 0259: BCF 05.1 |
| .................... Lmotor=0;Rmotor=0; |
| 025A: CLRF 32 |
| 025B: CLRF 31 |
| 025C: CLRF 34 |
| 025D: CLRF 33 |
| .................... |
| .................... uhel = STRED; // nastav zadni kolecko na stred |
| 025E: MOVLW 80 |
| 025F: MOVWF 2C |
| .................... rovinka = 0; |
| 0260: CLRF 2F |
| .................... |
| .................... enable_interrupts(INT_TIMER2); |
| 0261: BSF 03.5 |
| 0262: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 0263: MOVLW C0 |
| 0264: BCF 03.5 |
| 0265: IORWF 0B,F |
| .................... |
| .................... output_low(IRTX); // zapni IR vysilac |
| 0266: BSF 03.5 |
| 0267: BCF 06.2 |
| 0268: BCF 03.5 |
| 0269: BCF 06.2 |
| .................... |
| .................... delay_ms(1500); // musime pockat na diagnostiku slave CPU |
| 026A: MOVLW 06 |
| 026B: MOVWF 39 |
| 026C: MOVLW FA |
| 026D: MOVWF 3D |
| 026E: CALL 071 |
| 026F: DECFSZ 39,F |
| 0270: GOTO 26C |
| .................... |
| .................... //nastaveni rychlosti |
| .................... set_adc_channel(CERVENA); |
| 0271: MOVLW 28 |
| 0272: MOVWF 78 |
| 0273: MOVF 1F,W |
| 0274: ANDLW C7 |
| 0275: IORWF 78,W |
| 0276: MOVWF 1F |
| .................... Delay_ms(1); |
| 0277: MOVLW 01 |
| 0278: MOVWF 3D |
| 0279: CALL 071 |
| .................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63 |
| 027A: BSF 1F.2 |
| 027B: BTFSC 1F.2 |
| 027C: GOTO 27B |
| 027D: MOVF 1E,W |
| 027E: MOVWF 77 |
| 027F: RRF 77,F |
| 0280: RRF 77,F |
| 0281: MOVLW 3F |
| 0282: ANDWF 77,F |
| 0283: MOVF 77,W |
| 0284: ADDLW 64 |
| 0285: MOVWF 2D |
| .................... set_adc_channel(MODRA); |
| 0286: MOVLW 30 |
| 0287: MOVWF 78 |
| 0288: MOVF 1F,W |
| 0289: ANDLW C7 |
| 028A: IORWF 78,W |
| 028B: MOVWF 1F |
| .................... Delay_ms(1); |
| 028C: MOVLW 01 |
| 028D: MOVWF 3D |
| 028E: CALL 071 |
| .................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63 |
| 028F: MOVLW 20 |
| 0290: SUBWF 2D,W |
| 0291: MOVWF 39 |
| 0292: BSF 1F.2 |
| 0293: BTFSC 1F.2 |
| 0294: GOTO 293 |
| 0295: MOVF 1E,W |
| 0296: MOVWF 77 |
| 0297: RRF 77,F |
| 0298: RRF 77,F |
| 0299: MOVLW 3F |
| 029A: ANDWF 77,F |
| 029B: MOVF 77,W |
| 029C: ADDWF 39,W |
| 029D: MOVWF 2E |
| .................... while(true) |
| .................... { |
| .................... |
| .................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
| 029E: MOVF 01,W |
| 029F: BTFSS 00.7 |
| 02A0: GOTO 2A4 |
| 02A1: BTFSS 32.7 |
| 02A2: GOTO 2AC |
| 02A3: GOTO 2A6 |
| 02A4: BTFSC 32.7 |
| 02A5: GOTO 2B5 |
| 02A6: MOVF 32,F |
| 02A7: BTFSS 03.2 |
| 02A8: GOTO 2AC |
| 02A9: SUBWF 31,W |
| 02AA: BTFSS 03.0 |
| 02AB: GOTO 2B5 |
| 02AC: BSF 03.5 |
| 02AD: BCF 05.1 |
| 02AE: BCF 03.5 |
| 02AF: BCF 05.1 |
| 02B0: BSF 03.5 |
| 02B1: BCF 05.0 |
| 02B2: BCF 03.5 |
| 02B3: BSF 05.0 |
| 02B4: GOTO 2BD |
| 02B5: BSF 03.5 |
| 02B6: BCF 05.0 |
| 02B7: BCF 03.5 |
| 02B8: BCF 05.0 |
| 02B9: BSF 03.5 |
| 02BA: BCF 05.1 |
| 02BB: BCF 03.5 |
| 02BC: BCF 05.1 |
| 02BD: MOVF 01,W |
| 02BE: BTFSS 00.7 |
| 02BF: GOTO 2C3 |
| 02C0: BTFSS 34.7 |
| 02C1: GOTO 2CB |
| 02C2: GOTO 2C5 |
| 02C3: BTFSC 34.7 |
| 02C4: GOTO 2D4 |
| 02C5: MOVF 34,F |
| 02C6: BTFSS 03.2 |
| 02C7: GOTO 2CB |
| 02C8: SUBWF 33,W |
| 02C9: BTFSS 03.0 |
| 02CA: GOTO 2D4 |
| 02CB: BSF 03.5 |
| 02CC: BCF 05.7 |
| 02CD: BCF 03.5 |
| 02CE: BCF 05.7 |
| 02CF: BSF 03.5 |
| 02D0: BCF 05.6 |
| 02D1: BCF 03.5 |
| 02D2: BSF 05.6 |
| 02D3: GOTO 2DC |
| 02D4: BSF 03.5 |
| 02D5: BCF 05.6 |
| 02D6: BCF 03.5 |
| 02D7: BCF 05.6 |
| 02D8: BSF 03.5 |
| 02D9: BCF 05.7 |
| 02DA: BCF 03.5 |
| 02DB: BCF 05.7 |
| .................... |
| .................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel |
| 02DC: CLRWDT |
| 02DD: MOVLW 01 |
| 02DE: MOVWF 3D |
| 02DF: CALL 071 |
| 02E0: MOVLW 09 |
| 02E1: MOVWF 39 |
| 02E2: CLRF 29 |
| 02E3: BTFSC 0B.7 |
| 02E4: BSF 29.7 |
| 02E5: BCF 0B.7 |
| 02E6: MOVLW 6D |
| 02E7: MOVWF 40 |
| 02E8: CALL 043 |
| 02E9: BTFSC 29.7 |
| 02EA: BSF 0B.7 |
| 02EB: DECFSZ 39,F |
| 02EC: GOTO 2E2 |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 02ED: BSF 03.5 |
| 02EE: BCF 06.0 |
| 02EF: BCF 03.5 |
| 02F0: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 02F1: MOVF 13,W |
| 02F2: CLRF 13 |
| 02F3: BSF 03.5 |
| 02F4: BTFSC 14.0 |
| 02F5: GOTO 2F8 |
| 02F6: BCF 03.5 |
| 02F7: GOTO 2F3 |
| 02F8: BCF 03.5 |
| 02F9: MOVF 13,W |
| 02FA: MOVWF 2A |
| .................... sensors=~sensors; |
| 02FB: COMF 2A,F |
| .................... output_high(STROBE); // zobraz data na posuvnem registru |
| 02FC: BSF 03.5 |
| 02FD: BCF 06.0 |
| 02FE: BCF 03.5 |
| 02FF: BSF 06.0 |
| .................... |
| .................... i=0; // havarijni kod |
| 0300: CLRF 36 |
| .................... for (n=0; n<=6; n++) |
| 0301: CLRF 35 |
| 0302: MOVF 35,W |
| 0303: SUBLW 06 |
| 0304: BTFSS 03.0 |
| 0305: GOTO 314 |
| .................... { |
| .................... if(bit_test(sensors,n)) i++; |
| 0306: MOVF 2A,W |
| 0307: MOVWF 77 |
| 0308: MOVF 35,W |
| 0309: MOVWF 78 |
| 030A: BTFSC 03.2 |
| 030B: GOTO 310 |
| 030C: BCF 03.0 |
| 030D: RRF 77,F |
| 030E: DECFSZ 78,F |
| 030F: GOTO 30C |
| 0310: BTFSC 77.0 |
| 0311: INCF 36,F |
| .................... } |
| 0312: INCF 35,F |
| 0313: GOTO 302 |
| .................... if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly |
| 0314: MOVF 36,W |
| 0315: SUBLW 03 |
| 0316: BTFSC 03.0 |
| 0317: GOTO 340 |
| .................... { |
| .................... BL; BR; |
| 0318: BSF 03.5 |
| 0319: BCF 05.0 |
| 031A: BCF 03.5 |
| 031B: BCF 05.0 |
| 031C: BSF 03.5 |
| 031D: BCF 05.1 |
| 031E: BCF 03.5 |
| 031F: BSF 05.1 |
| 0320: BSF 03.5 |
| 0321: BCF 05.6 |
| 0322: BCF 03.5 |
| 0323: BCF 05.6 |
| 0324: BSF 03.5 |
| 0325: BCF 05.7 |
| 0326: BCF 03.5 |
| 0327: BSF 05.7 |
| .................... delay_ms(300); |
| 0328: MOVLW 02 |
| 0329: MOVWF 39 |
| 032A: MOVLW 96 |
| 032B: MOVWF 3D |
| 032C: CALL 071 |
| 032D: DECFSZ 39,F |
| 032E: GOTO 32A |
| .................... STOPR; STOPL; |
| 032F: BSF 03.5 |
| 0330: BCF 05.6 |
| 0331: BCF 03.5 |
| 0332: BCF 05.6 |
| 0333: BSF 03.5 |
| 0334: BCF 05.7 |
| 0335: BCF 03.5 |
| 0336: BCF 05.7 |
| 0337: BSF 03.5 |
| 0338: BCF 05.0 |
| 0339: BCF 03.5 |
| 033A: BCF 05.0 |
| 033B: BSF 03.5 |
| 033C: BCF 05.1 |
| 033D: BCF 03.5 |
| 033E: BCF 05.1 |
| .................... While(true); |
| 033F: GOTO 33F |
| .................... }; |
| .................... |
| .................... if(bit_test(sensors,7)) // detekce cihly |
| 0340: BTFSS 2A.7 |
| 0341: GOTO 343 |
| .................... { |
| .................... objizdka(); // objede cihlu |
| 0342: GOTO 089 |
| .................... } |
| .................... |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 0343: BTFSS 2A.3 |
| 0344: GOTO 361 |
| .................... { |
| .................... uhel=STRED; |
| 0345: MOVLW 80 |
| 0346: MOVWF 2C |
| .................... if (rovinka<50) |
| 0347: MOVF 2F,W |
| 0348: SUBLW 31 |
| 0349: BTFSS 03.0 |
| 034A: GOTO 351 |
| .................... { |
| .................... Lmotor=R17; |
| 034B: CLRF 32 |
| 034C: MOVLW FF |
| 034D: MOVWF 31 |
| .................... Rmotor=R17; |
| 034E: CLRF 34 |
| 034F: MOVWF 33 |
| .................... } |
| .................... else |
| 0350: GOTO 35B |
| .................... { |
| .................... Lmotor=speed; |
| 0351: CLRF 7A |
| 0352: MOVF 2D,W |
| 0353: MOVWF 31 |
| 0354: MOVF 7A,W |
| 0355: MOVWF 32 |
| .................... Rmotor=speed; |
| 0356: CLRF 7A |
| 0357: MOVF 2D,W |
| 0358: MOVWF 33 |
| 0359: MOVF 7A,W |
| 035A: MOVWF 34 |
| .................... }; |
| .................... line=S; |
| 035B: CLRF 2B |
| .................... if (rovinka < 255) rovinka++; |
| 035C: INCFSZ 2F,W |
| 035D: GOTO 35F |
| 035E: GOTO 360 |
| 035F: INCF 2F,F |
| .................... continue; |
| 0360: GOTO 29E |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 0361: BTFSS 2A.0 |
| 0362: GOTO 36F |
| .................... { |
| .................... uhel=STRED - BEAR3; |
| 0363: MOVLW 53 |
| 0364: MOVWF 2C |
| .................... Lmotor=0; |
| 0365: CLRF 32 |
| 0366: CLRF 31 |
| .................... Rmotor=turn; |
| 0367: CLRF 7A |
| 0368: MOVF 2E,W |
| 0369: MOVWF 33 |
| 036A: MOVF 7A,W |
| 036B: MOVWF 34 |
| .................... line=L3; |
| 036C: MOVLW 03 |
| 036D: MOVWF 2B |
| .................... continue; |
| 036E: GOTO 29E |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 036F: BTFSS 2A.6 |
| 0370: GOTO 37D |
| .................... { |
| .................... uhel=STRED + BEAR3; |
| 0371: MOVLW AD |
| 0372: MOVWF 2C |
| .................... Rmotor=0; |
| 0373: CLRF 34 |
| 0374: CLRF 33 |
| .................... Lmotor=turn; |
| 0375: CLRF 7A |
| 0376: MOVF 2E,W |
| 0377: MOVWF 31 |
| 0378: MOVF 7A,W |
| 0379: MOVWF 32 |
| .................... line=R3; |
| 037A: MOVLW FD |
| 037B: MOVWF 2B |
| .................... continue; |
| 037C: GOTO 29E |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 037D: BTFSS 2A.1 |
| 037E: GOTO 38F |
| .................... { |
| .................... uhel=STRED - BEAR2; |
| 037F: MOVLW 67 |
| 0380: MOVWF 2C |
| .................... Lmotor=speed-50; |
| 0381: MOVLW 32 |
| 0382: SUBWF 2D,W |
| 0383: CLRF 7A |
| 0384: MOVWF 31 |
| 0385: MOVF 7A,W |
| 0386: MOVWF 32 |
| .................... Rmotor=speed; |
| 0387: CLRF 7A |
| 0388: MOVF 2D,W |
| 0389: MOVWF 33 |
| 038A: MOVF 7A,W |
| 038B: MOVWF 34 |
| .................... line=L2; |
| 038C: MOVLW 02 |
| 038D: MOVWF 2B |
| .................... continue; |
| 038E: GOTO 29E |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 038F: BTFSS 2A.5 |
| 0390: GOTO 3A1 |
| .................... { |
| .................... uhel=STRED + BEAR2; |
| 0391: MOVLW 99 |
| 0392: MOVWF 2C |
| .................... Rmotor=speed-50; |
| 0393: MOVLW 32 |
| 0394: SUBWF 2D,W |
| 0395: CLRF 7A |
| 0396: MOVWF 33 |
| 0397: MOVF 7A,W |
| 0398: MOVWF 34 |
| .................... Lmotor=speed; |
| 0399: CLRF 7A |
| 039A: MOVF 2D,W |
| 039B: MOVWF 31 |
| 039C: MOVF 7A,W |
| 039D: MOVWF 32 |
| .................... line=R2; |
| 039E: MOVLW FE |
| 039F: MOVWF 2B |
| .................... continue; |
| 03A0: GOTO 29E |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 03A1: BTFSS 2A.2 |
| 03A2: GOTO 3B6 |
| .................... { |
| .................... uhel=STRED - BEAR1; |
| 03A3: MOVLW 76 |
| 03A4: MOVWF 2C |
| .................... Lmotor=speed; |
| 03A5: CLRF 7A |
| 03A6: MOVF 2D,W |
| 03A7: MOVWF 31 |
| 03A8: MOVF 7A,W |
| 03A9: MOVWF 32 |
| .................... Rmotor=speed; |
| 03AA: CLRF 7A |
| 03AB: MOVF 2D,W |
| 03AC: MOVWF 33 |
| 03AD: MOVF 7A,W |
| 03AE: MOVWF 34 |
| .................... line=L1; |
| 03AF: MOVLW 01 |
| 03B0: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 03B1: INCFSZ 2F,W |
| 03B2: GOTO 3B4 |
| 03B3: GOTO 3B5 |
| 03B4: INCF 2F,F |
| .................... continue; |
| 03B5: GOTO 29E |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 03B6: BTFSS 2A.4 |
| 03B7: GOTO 3CB |
| .................... { |
| .................... uhel=STRED + BEAR1; |
| 03B8: MOVLW 8A |
| 03B9: MOVWF 2C |
| .................... Rmotor=speed; |
| 03BA: CLRF 7A |
| 03BB: MOVF 2D,W |
| 03BC: MOVWF 33 |
| 03BD: MOVF 7A,W |
| 03BE: MOVWF 34 |
| .................... Lmotor=speed; |
| 03BF: CLRF 7A |
| 03C0: MOVF 2D,W |
| 03C1: MOVWF 31 |
| 03C2: MOVF 7A,W |
| 03C3: MOVWF 32 |
| .................... line=R1; |
| 03C4: MOVLW FF |
| 03C5: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 03C6: INCFSZ 2F,W |
| 03C7: GOTO 3C9 |
| 03C8: GOTO 3CA |
| 03C9: INCF 2F,F |
| .................... continue; |
| 03CA: GOTO 29E |
| .................... } |
| .................... |
| .................... |
| .................... if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate |
| 03CB: MOVF 2B,W |
| 03CC: SUBLW 03 |
| 03CD: BTFSC 03.2 |
| 03CE: GOTO 3D3 |
| 03CF: MOVF 2B,W |
| 03D0: SUBLW FD |
| 03D1: BTFSS 03.2 |
| 03D2: GOTO 3F2 |
| .................... { |
| .................... if (rovinka>50) |
| 03D3: MOVF 2F,W |
| 03D4: SUBLW 32 |
| 03D5: BTFSC 03.0 |
| 03D6: GOTO 3F1 |
| .................... { |
| .................... BL; BR; |
| 03D7: BSF 03.5 |
| 03D8: BCF 05.0 |
| 03D9: BCF 03.5 |
| 03DA: BCF 05.0 |
| 03DB: BSF 03.5 |
| 03DC: BCF 05.1 |
| 03DD: BCF 03.5 |
| 03DE: BSF 05.1 |
| 03DF: BSF 03.5 |
| 03E0: BCF 05.6 |
| 03E1: BCF 03.5 |
| 03E2: BCF 05.6 |
| 03E3: BSF 03.5 |
| 03E4: BCF 05.7 |
| 03E5: BCF 03.5 |
| 03E6: BSF 05.7 |
| .................... Delay_ms(100); |
| 03E7: MOVLW 64 |
| 03E8: MOVWF 3D |
| 03E9: CALL 071 |
| .................... if (rovinka>250) delay_ms(50); |
| 03EA: MOVF 2F,W |
| 03EB: SUBLW FA |
| 03EC: BTFSC 03.0 |
| 03ED: GOTO 3F1 |
| 03EE: MOVLW 32 |
| 03EF: MOVWF 3D |
| 03F0: CALL 071 |
| .................... }; |
| .................... rovinka=0; |
| 03F1: CLRF 2F |
| .................... }; |
| .................... } |
| 03F2: GOTO 29E |
| .................... } |
| 03F3: SLEEP |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.PJT |
|---|
| 0,0 → 1,41 |
| [PROJECT] |
| Target=main.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [main.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=main.c |
| [Windows] |
| 0=0000 main.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.h |
| 4= |
| 5= |
| [Units] |
| Count=1 |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c (main) |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.SYM |
|---|
| 0,0 → 1,75 |
| 015 CCP_1_LOW |
| 015-016 CCP_1 |
| 016 CCP_1_HIGH |
| 020 @INTERRUPT_AREA |
| 021 @INTERRUPT_AREA |
| 022 @INTERRUPT_AREA |
| 023 @INTERRUPT_AREA |
| 024 @INTERRUPT_AREA |
| 025 @INTERRUPT_AREA |
| 026 @INTERRUPT_AREA |
| 027 @INTERRUPT_AREA |
| 028 @INTERRUPT_AREA |
| 029 @INTERRUPT_AREA |
| 02A sensors |
| 02B line |
| 02C uhel |
| 02D speed |
| 02E turn |
| 02F rovinka |
| 030.0 preteceni |
| 031-032 Lmotor |
| 033-034 Rmotor |
| 035 main.n |
| 036 main.i |
| 037 main.v |
| 038 main.last_sensors |
| 039 objizdka.shure |
| 039 main.@SCRATCH |
| 03A-03B objizdka.n |
| 03A main.@SCRATCH |
| 03C objizdka.@SCRATCH |
| 03D @delay_ms1.P1 |
| 03E TIMER2_isr.n |
| 03F TIMER2_isr.@SCRATCH |
| 040 @delay_us1.P1 |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0071 @delay_ms1 |
| 0043 @delay_us1 |
| 003F TIMER1_isr |
| 0053 TIMER2_isr |
| 0089 objizdka |
| 0212 main |
| 0212 @cinit |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.h |
| C:\Program Files\PICC\devices\16F88.h |
| Units: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c (main) |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.hex |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.sym |
| List: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.sta |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.c |
|---|
| 0,0 → 1,342 |
| #include ".\main.h" |
| #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//27 |
| #define BEAR3 45 |
| #define R 100 // Rozumna rychlost |
| #define R17 255 // X nasobek rozumne rychlosti |
| #define DOZNIVANI 10 |
| #define L1 1 // cara vlevo |
| #define L2 2 // cara vlevo |
| #define L3 3 // cara vlevo |
| #define S 0 // casa 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 5 // AN5 |
| #define CERNA 2 // AN2 |
| #define ZELENA 4 // AN4 |
| #define MODRA 6 // AN6 |
| // 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 |
| //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 |
| short int preteceni; // flag preteceni timeru1 |
| 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_TIMER1 |
| TIMER1_isr() |
| { |
| preteceni = true; |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| #int_TIMER2 |
| TIMER2_isr() // ovladani serva |
| { |
| unsigned int8 n; |
| output_high(SERVO); |
| delay_us(1000); |
| for(n=uhel; n>0; n--) Delay_us(2); |
| output_low(SERVO); |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| short int IRcheck() // potvrdi detekci cihly |
| { |
| output_high(IRTX); // vypne vysilac IR |
| delay_ms(100); |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); |
| if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal |
| { |
| output_low(IRTX); // zapne vysilac IR |
| delay_ms(100); |
| output_low(STROBE); |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); |
| if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla |
| { |
| output_high(IRTX); // vypne vysilac IR |
| delay_ms(100); |
| 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 |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| void objizdka() |
| { |
| int8 shure=0; |
| unsigned int16 n; |
| BR;BL; |
| Delay_ms(400); |
| STOPR;STOPL; |
| // toceni na miste dokud nezmizi cihla |
| //------------------------------------ |
| uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota |
| Delay_ms(100); |
| BL;FR; |
| Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle |
| While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru |
| { |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| } |
| STOPL; STOPR; |
| for (n=0;n<1000;n++) // vystred se na hranu cihly |
| { |
| if(!input(CIHLA)) |
| { |
| GO(L,B,180);GO(R,F,160); // zapni motory PWM podle promenych Lmotor a Rmotor |
| } else |
| { |
| GO(L,F,180);GO(R,B,160); // zapni motory PWM podle promenych Lmotor a Rmotor |
| }; |
| delay_ms(1); |
| } |
| STOPR;STOPL; |
| uhel=STRED; // dopredu |
| delay_ms(100); |
| FR; FL; |
| delay_ms(500); |
| BL;BR; |
| delay_ms(200); |
| STOPL;STOPR; |
| uhel=STRED+BEAR3; // doprava |
| delay_ms(100); |
| FL; |
| delay_ms(400); |
| uhel=STRED+BEAR2; // min doprava |
| FL;FR; |
| delay_ms(100); |
| uhel=STRED+BEAR1; // jeste min doprava |
| FL;FR; |
| delay_ms(200); |
| While((sensors & 0b01111111)!=0) //dokud neni cara |
| { |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| } |
| BL; BR; |
| delay_ms(400); |
| uhel=STRED-BEAR3; // doleva |
| } |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| unsigned int8 n; |
| unsigned int8 i,v; |
| unsigned int8 last_sensors; |
| setup_adc_ports(sAN5|sAN2|sAN4|sAN6|VSS_VDD); // AD pro kroutitka |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED|T1_DIV_BY_8); |
| setup_timer_2(T2_DIV_BY_16,140,16); |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| STOPR; STOPL; // zastav motory |
| Lmotor=0;Rmotor=0; |
| uhel = STRED; // nastav zadni kolecko na stred |
| rovinka = 0; |
| enable_interrupts(INT_TIMER2); |
| enable_interrupts(GLOBAL); |
| output_low(IRTX); // zapni IR vysilac |
| delay_ms(1500); // musime pockat na diagnostiku slave CPU |
| //nastaveni rychlosti |
| set_adc_channel(CERVENA); |
| Delay_ms(1); |
| speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63 |
| set_adc_channel(MODRA); |
| Delay_ms(1); |
| turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63 |
| while(true) |
| { |
| GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
| delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel |
| output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); // zobraz data na posuvnem registru |
| i=0; // havarijni kod |
| for (n=0; n<=6; n++) |
| { |
| if(bit_test(sensors,n)) i++; |
| } |
| if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly |
| { |
| BL; BR; |
| delay_ms(300); |
| STOPR; STOPL; |
| While(true); |
| }; |
| if(bit_test(sensors,7)) // detekce cihly |
| { |
| objizdka(); // objede cihlu |
| } |
| if(bit_test(sensors,3)) //...|...// |
| { |
| uhel=STRED; |
| if (rovinka<50) |
| { |
| Lmotor=R17; |
| Rmotor=R17; |
| } |
| else |
| { |
| Lmotor=speed; |
| Rmotor=speed; |
| }; |
| line=S; |
| if (rovinka < 255) rovinka++; |
| continue; |
| } |
| if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| { |
| uhel=STRED - BEAR3; |
| Lmotor=0; |
| Rmotor=turn; |
| line=L3; |
| continue; |
| } |
| if(bit_test(sensors,6)) //......|// |
| { |
| uhel=STRED + BEAR3; |
| Rmotor=0; |
| Lmotor=turn; |
| line=R3; |
| continue; |
| } |
| if(bit_test(sensors,1)) //.|.....// |
| { |
| uhel=STRED - BEAR2; |
| Lmotor=speed-50; |
| Rmotor=speed; |
| line=L2; |
| continue; |
| } |
| if(bit_test(sensors,5)) //.....|.// |
| { |
| uhel=STRED + BEAR2; |
| Rmotor=speed-50; |
| Lmotor=speed; |
| line=R2; |
| continue; |
| } |
| if (bit_test(sensors,2)) //..|....// |
| { |
| uhel=STRED - BEAR1; |
| Lmotor=speed; |
| Rmotor=speed; |
| line=L1; |
| if (rovinka<255) rovinka++; |
| continue; |
| } |
| if (bit_test(sensors,4)) //....|..// |
| { |
| uhel=STRED + BEAR1; |
| Rmotor=speed; |
| Lmotor=speed; |
| line=R1; |
| if (rovinka<255) rovinka++; |
| continue; |
| } |
| if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate |
| { |
| if (rovinka>50) |
| { |
| BL; BR; |
| Delay_ms(100); |
| if (rovinka>250) delay_ms(50); |
| }; |
| rovinka=0; |
| }; |
| } |
| } |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.err |
|---|
| 0,0 → 1,2 |
| No Errors |
| 0 Errors, 0 Warnings. |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.h |
|---|
| 0,0 → 1,18 |
| #include <16F88.h> |
| #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) |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.sta |
|---|
| 0,0 → 1,34 |
| ROM used: 1012 (25%) |
| 1012 (25%) including unused fragments |
| 2 Average locations per line |
| 3 Average locations per statement |
| RAM used: 32 (18%) at main() level |
| 38 (22%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 343 291 100 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.c |
| 19 0 0 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.h |
| 279 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 1282 582 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 24 2 1 @delay_ms1 |
| 0 16 2 1 @delay_us1 |
| 0 4 0 0 TIMER1_isr |
| 0 30 3 2 TIMER2_isr |
| 0 393 39 4 objizdka |
| 0 482 48 6 main |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-0003E 59 0 |
| 0003F-007FF 949 1036 |
| 00800-00FFF 0 2048 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/master/main.tre |
|---|
| 0,0 → 1,29 |
| ÀÄmain |
| ÃÄmain 0/482 Ram=6 |
| ³ ÃÄ??0?? |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÃÄ@delay_us1 0/16 Ram=1 |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÃÄobjizdka 0/393 Ram=4 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ³ ÀÄ@delay_ms1 0/24 Ram=1 |
| ³ ÃÄ@delay_ms1 0/24 Ram=1 |
| ³ ÀÄ@delay_ms1 0/24 Ram=1 |
| ÃÄTIMER1_isr 0/4 Ram=0 |
| ÀÄTIMER2_isr 0/30 Ram=2 |
| ÀÄ@delay_us1 0/16 Ram=1 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.BAK |
|---|
| 0,0 → 1,159 |
| #include ".\cidla.h" |
| //#include <stdlib.h> |
| #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) |
| #define IRRX PIN_B0 |
| #define TRESHOLD_MAX 60 // rozhodovaci uroven pro cidla cerna/bila |
| #define TRESHOLD_MIN 40 |
| #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| unsigned int8 radius; // co cidla vidi |
| unsigned int8 last_radius; // rozsah |
| unsigned int8 last_cidla; // co cidla videla minule |
| unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| //tuning |
| /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| //Vystup PWM je na PIN_B3 |
| //////////////////////////////////////////////////////////////////////////////// |
| void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| { |
| unsigned int8 i,n; |
| for(n=0;n<=3;n++) |
| { |
| for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| } |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| int8 cidla; |
| unsigned int8 a; |
| unsigned int8 n; |
| setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| last_cidla=0b00001000; |
| // diagnostika |
| printf("\n\r"); |
| Delay_ms(100); |
| printf("***\n\r"); |
| Delay_ms(100); |
| for (n=0; n<=6; n++) |
| { |
| set_adc_channel(n); |
| Delay_ms(100); |
| a=read_adc(); |
| printf("sensor %u - %u\n\r",n,a); |
| } |
| shure=0; |
| while(true) |
| { |
| set_adc_channel(0); |
| cidla=0; |
| Delay_us(10); |
| a=read_adc(); |
| set_adc_channel(1); |
| if(a<TRESHOLD_MAX) //hystereze cidel |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000001); |
| } |
| else cidla |= 0b00000001; |
| } |
| a=read_adc(); |
| set_adc_channel(2); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000010); |
| } |
| else cidla |= 0b00000010; |
| } |
| a=read_adc(); |
| set_adc_channel(3); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000100); |
| } |
| else cidla |= 0b00000100; |
| } |
| a=read_adc(); |
| set_adc_channel(4); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00001000); |
| } |
| else cidla |= 0b00001000; |
| } |
| a=read_adc(); |
| set_adc_channel(5); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00010000); |
| } |
| else cidla |= 0b00010000; |
| } |
| a=read_adc(); |
| set_adc_channel(6); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00100000); |
| } |
| else cidla |= 0b00100000; |
| } |
| a=read_adc(); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |=(last_cidla & 0b01000000); |
| } |
| else cidla |= 0b01000000; |
| } |
| last_cidla=cidla; |
| if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| if (shure>CIHLA) cidla|=0b10000000; |
| cidla=~cidla; |
| spi_write(cidla); |
| } |
| } |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.HEX |
|---|
| 0,0 → 1,71 |
| :1000000000308A00B12800000A108A100A11820705 |
| :100010000A340D3400340A108A100A1182072A3477 |
| :100020002A342A340A340D3400340A108A100A1192 |
| :100030008207733465346E3473346F347234203411 |
| :100040002534753420342D342034253475340A3465 |
| :100050000D34003483168611831286110830F8009F |
| :10006000000000000000F8174428F813AA0C031839 |
| :100070008615031C8611781744287813F80B362848 |
| :1000800000000000000086151C308400840B462808 |
| :10009000000000006400F81B3528781B3D28003460 |
| :1000A000273084000008031966280130F800BF30AB |
| :1000B000F7006400F70B5928F80B57284A30F7006F |
| :1000C000F70B602800006400800B552800342B08D3 |
| :1000D000F8012A0203186F282A08F7007B28F70185 |
| :1000E0000830AC00AA0DF70D2B0877020318F700B3 |
| :1000F000F80DAC0B7228003478082808AA00643088 |
| :10010000AB0067207708A80078083030031D8F28DF |
| :10011000A91C9628A9199628291A20309228A911D5 |
| :1001200029122914F8077808AA002A202808AA000A |
| :100130000A30AB0067207708A80078083030031D2C |
| :10014000A728A919AB28291CAB28291A2030F807A1 |
| :100150007808AA002A203030A8072808AA002A20F8 |
| :10016000003484011F308305603083168F008611B0 |
| :100170008312861583161F129F121B0880399B005D |
| :1001800007309C001F129F121B0880397F389B008C |
| :100190001F1383121F179F1783169F1383121F1499 |
| :1001A00094128316061186140616353083129400B5 |
| :1001B0004030831694000108C73908388100831243 |
| :1001C00090010030F8009200003083169200073052 |
| :1001D0009C00050864000230F700F70BED280000D2 |
| :1001E00000001C0883120D1383169D010830831232 |
| :1001F000A100A200A7012708042000380319042940 |
| :10020000A70AAA002A20FB286430A7005020A701D3 |
| :1002100027080B20003803191129A70AAA002A2051 |
| :1002200008296430A7005020A6012608063C031CBC |
| :100230005129260DF700F70DF70DF830F7051F08C7 |
| :10024000C73977049F006430A70050201F151F197D |
| :1002500027291E08A500A70127081520A70AF700CF |
| :10026000AA002A2007302702031D2C292608A800EF |
| :100270001B30A9007C202030AA002A202D30AA00A3 |
| :100280002A202030AA002A202508A8001B30A90017 |
| :100290007C200A30AA002A200D30AA002A20A60AB3 |
| :1002A0001529A3010030F8001F08C73978049F0002 |
| :1002B000A40164000230F700F70B5C290000000085 |
| :1002C0001F151F1961291E08A5000830F8001F0816 |
| :1002D000C73978049F002508453C031C7829250868 |
| :1002E000323C0318772922080139A4047829241400 |
| :1002F0001F151F1979291E08A5001030F8001F08C6 |
| :10030000C73978049F002508453C031C902925081F |
| :10031000323C03188F2922080239A4049029A4141E |
| :100320001F151F1991291E08A5001830F8001F0875 |
| :10033000C73978049F002508453C031CA8292508D7 |
| :10034000323C0318A72922080439A404A82924153B |
| :100350001F151F19A9291E08A5002030F8001F0825 |
| :10036000C73978049F002508453C031CC02925088F |
| :10037000323C0318BF2922080839A404C029A41557 |
| :100380001F151F19C1291E08A5002830F8001F08D5 |
| :10039000C73978049F002508453C031CD829250847 |
| :1003A000323C0318D72922081039A404D82924166E |
| :1003B0001F151F19D9291E08A5003030F8001F0885 |
| :1003C000C73978049F002508453C031CF0292508FF |
| :1003D000323C0318EF2922082039A404F029A4167E |
| :1003E0001F151F19F1291E08A5002508453C031CEF |
| :1003F000022A2508323C0318012A22084039A404A5 |
| :10040000022A24172408A200831606148312061851 |
| :100410000E2A230F0C2A0D2AA30A0F2AA301230850 |
| :100420000A3C031CA417A40924089300831614187B |
| :0C0430001B2A8312162A83125229630033 |
| :04400E00383FFC3FFC |
| :00000001FF |
| ;PIC16F88 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.LST |
|---|
| 0,0 → 1,617 |
| CCS PCM C Compiler, Version 3.245, 27853 23-IV-06 01:20 |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst |
| ROM used: 542 words (13%) |
| Largest free fragment is 2048 |
| RAM used: 13 (7%) at main() level |
| 18 (10%) worst case |
| Stack: 2 locations |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 0B1 |
| 0003: NOP |
| .................... #include ".\cidla.h" |
| .................... #include <16F88.h> |
| .................... //////// Standard Header file for the PIC16F88 device //////////////// |
| .................... #device PIC16F88 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| .................... #use delay(clock=4000000,RESTART_WDT) |
| * |
| 0050: MOVLW 27 |
| 0051: MOVWF 04 |
| 0052: MOVF 00,W |
| 0053: BTFSC 03.2 |
| 0054: GOTO 066 |
| 0055: MOVLW 01 |
| 0056: MOVWF 78 |
| 0057: MOVLW BF |
| 0058: MOVWF 77 |
| 0059: CLRWDT |
| 005A: DECFSZ 77,F |
| 005B: GOTO 059 |
| 005C: DECFSZ 78,F |
| 005D: GOTO 057 |
| 005E: MOVLW 4A |
| 005F: MOVWF 77 |
| 0060: DECFSZ 77,F |
| 0061: GOTO 060 |
| 0062: NOP |
| 0063: CLRWDT |
| 0064: DECFSZ 00,F |
| 0065: GOTO 055 |
| 0066: RETLW 00 |
| .................... |
| .................... |
| .................... //#include <stdlib.h> |
| .................... |
| .................... #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) |
| * |
| 002A: BSF 03.5 |
| 002B: BCF 06.3 |
| 002C: BCF 03.5 |
| 002D: BCF 06.3 |
| 002E: MOVLW 08 |
| 002F: MOVWF 78 |
| 0030: NOP |
| 0031: NOP |
| 0032: NOP |
| 0033: BSF 78.7 |
| 0034: GOTO 044 |
| 0035: BCF 78.7 |
| 0036: RRF 2A,F |
| 0037: BTFSC 03.0 |
| 0038: BSF 06.3 |
| 0039: BTFSS 03.0 |
| 003A: BCF 06.3 |
| 003B: BSF 78.6 |
| 003C: GOTO 044 |
| 003D: BCF 78.6 |
| 003E: DECFSZ 78,F |
| 003F: GOTO 036 |
| 0040: NOP |
| 0041: NOP |
| 0042: NOP |
| 0043: BSF 06.3 |
| 0044: MOVLW 1C |
| 0045: MOVWF 04 |
| 0046: DECFSZ 04,F |
| 0047: GOTO 046 |
| 0048: NOP |
| 0049: NOP |
| 004A: CLRWDT |
| 004B: BTFSC 78.7 |
| 004C: GOTO 035 |
| 004D: BTFSC 78.6 |
| 004E: GOTO 03D |
| 004F: RETLW 00 |
| .................... |
| .................... #define IRRX PIN_B0 |
| .................... |
| .................... #define TRESHOLD_MAX 70 // rozhodovaci uroven pro cidla cerna/bila |
| .................... #define TRESHOLD_MIN 50 |
| .................... #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| .................... |
| .................... unsigned int8 radius; // co cidla vidi |
| .................... unsigned int8 last_radius; // rozsah |
| .................... unsigned int8 last_cidla; // co cidla videla minule |
| .................... unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| .................... |
| .................... //tuning |
| .................... /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| .................... |
| .................... //Vystup PWM je na PIN_B3 |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| .................... { |
| .................... unsigned int8 i,n; |
| .................... for(n=0;n<=3;n++) |
| .................... { |
| .................... for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| .................... for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| .................... } |
| .................... } |
| .................... */ |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| * |
| 00B1: CLRF 04 |
| 00B2: MOVLW 1F |
| 00B3: ANDWF 03,F |
| 00B4: MOVLW 60 |
| 00B5: BSF 03.5 |
| 00B6: MOVWF 0F |
| 00B7: BCF 06.3 |
| 00B8: BCF 03.5 |
| 00B9: BSF 06.3 |
| 00BA: BSF 03.5 |
| 00BB: BCF 1F.4 |
| 00BC: BCF 1F.5 |
| 00BD: MOVF 1B,W |
| 00BE: ANDLW 80 |
| 00BF: MOVWF 1B |
| 00C0: MOVLW 07 |
| 00C1: MOVWF 1C |
| .................... int8 cidla; |
| .................... unsigned int8 a; |
| .................... unsigned int8 n; |
| .................... |
| .................... setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| 00C2: BCF 1F.4 |
| 00C3: BCF 1F.5 |
| 00C4: MOVF 1B,W |
| 00C5: ANDLW 80 |
| 00C6: IORLW 7F |
| 00C7: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 00C8: BCF 1F.6 |
| 00C9: BCF 03.5 |
| 00CA: BSF 1F.6 |
| 00CB: BSF 1F.7 |
| 00CC: BSF 03.5 |
| 00CD: BCF 1F.7 |
| 00CE: BCF 03.5 |
| 00CF: BSF 1F.0 |
| .................... setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| 00D0: BCF 14.5 |
| 00D1: BSF 03.5 |
| 00D2: BCF 06.2 |
| 00D3: BSF 06.1 |
| 00D4: BSF 06.4 |
| 00D5: MOVLW 35 |
| 00D6: BCF 03.5 |
| 00D7: MOVWF 14 |
| 00D8: MOVLW 40 |
| 00D9: BSF 03.5 |
| 00DA: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 00DB: MOVF 01,W |
| 00DC: ANDLW C7 |
| 00DD: IORLW 08 |
| 00DE: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 00DF: BCF 03.5 |
| 00E0: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 00E1: MOVLW 00 |
| 00E2: MOVWF 78 |
| 00E3: MOVWF 12 |
| 00E4: MOVLW 00 |
| 00E5: BSF 03.5 |
| 00E6: MOVWF 12 |
| .................... setup_comparator(NC_NC_NC_NC); |
| 00E7: MOVLW 07 |
| 00E8: MOVWF 1C |
| 00E9: MOVF 05,W |
| 00EA: CLRWDT |
| 00EB: MOVLW 02 |
| 00EC: MOVWF 77 |
| 00ED: DECFSZ 77,F |
| 00EE: GOTO 0ED |
| 00EF: NOP |
| 00F0: NOP |
| 00F1: MOVF 1C,W |
| 00F2: BCF 03.5 |
| 00F3: BCF 0D.6 |
| .................... setup_vref(FALSE); |
| 00F4: BSF 03.5 |
| 00F5: CLRF 1D |
| .................... |
| .................... last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| 00F6: MOVLW 08 |
| 00F7: BCF 03.5 |
| 00F8: MOVWF 21 |
| .................... last_cidla=0b00001000; |
| 00F9: MOVWF 22 |
| .................... |
| .................... // diagnostika |
| .................... printf("\n\r"); |
| 00FA: CLRF 27 |
| 00FB: MOVF 27,W |
| 00FC: CALL 004 |
| 00FD: IORLW 00 |
| 00FE: BTFSC 03.2 |
| 00FF: GOTO 104 |
| 0100: INCF 27,F |
| 0101: MOVWF 2A |
| 0102: CALL 02A |
| 0103: GOTO 0FB |
| .................... Delay_ms(100); |
| 0104: MOVLW 64 |
| 0105: MOVWF 27 |
| 0106: CALL 050 |
| .................... printf("***\n\r"); |
| 0107: CLRF 27 |
| 0108: MOVF 27,W |
| 0109: CALL 00B |
| 010A: IORLW 00 |
| 010B: BTFSC 03.2 |
| 010C: GOTO 111 |
| 010D: INCF 27,F |
| 010E: MOVWF 2A |
| 010F: CALL 02A |
| 0110: GOTO 108 |
| .................... Delay_ms(100); |
| 0111: MOVLW 64 |
| 0112: MOVWF 27 |
| 0113: CALL 050 |
| .................... for (n=0; n<=6; n++) |
| 0114: CLRF 26 |
| 0115: MOVF 26,W |
| 0116: SUBLW 06 |
| 0117: BTFSS 03.0 |
| 0118: GOTO 151 |
| .................... { |
| .................... set_adc_channel(n); |
| 0119: RLF 26,W |
| 011A: MOVWF 77 |
| 011B: RLF 77,F |
| 011C: RLF 77,F |
| 011D: MOVLW F8 |
| 011E: ANDWF 77,F |
| 011F: MOVF 1F,W |
| 0120: ANDLW C7 |
| 0121: IORWF 77,W |
| 0122: MOVWF 1F |
| .................... Delay_ms(100); |
| 0123: MOVLW 64 |
| 0124: MOVWF 27 |
| 0125: CALL 050 |
| .................... a=read_adc(); |
| 0126: BSF 1F.2 |
| 0127: BTFSC 1F.2 |
| 0128: GOTO 127 |
| 0129: MOVF 1E,W |
| 012A: MOVWF 25 |
| .................... printf("sensor %u - %u\n\r",n,a); |
| 012B: CLRF 27 |
| 012C: MOVF 27,W |
| 012D: CALL 015 |
| 012E: INCF 27,F |
| 012F: MOVWF 77 |
| 0130: MOVWF 2A |
| 0131: CALL 02A |
| 0132: MOVLW 07 |
| 0133: SUBWF 27,W |
| 0134: BTFSS 03.2 |
| 0135: GOTO 12C |
| 0136: MOVF 26,W |
| 0137: MOVWF 28 |
| 0138: MOVLW 1B |
| 0139: MOVWF 29 |
| 013A: CALL 07C |
| 013B: MOVLW 20 |
| 013C: MOVWF 2A |
| 013D: CALL 02A |
| 013E: MOVLW 2D |
| 013F: MOVWF 2A |
| 0140: CALL 02A |
| 0141: MOVLW 20 |
| 0142: MOVWF 2A |
| 0143: CALL 02A |
| 0144: MOVF 25,W |
| 0145: MOVWF 28 |
| 0146: MOVLW 1B |
| 0147: MOVWF 29 |
| 0148: CALL 07C |
| 0149: MOVLW 0A |
| 014A: MOVWF 2A |
| 014B: CALL 02A |
| 014C: MOVLW 0D |
| 014D: MOVWF 2A |
| 014E: CALL 02A |
| .................... } |
| 014F: INCF 26,F |
| 0150: GOTO 115 |
| .................... |
| .................... shure=0; |
| 0151: CLRF 23 |
| .................... while(true) |
| .................... { |
| .................... set_adc_channel(0); |
| 0152: MOVLW 00 |
| 0153: MOVWF 78 |
| 0154: MOVF 1F,W |
| 0155: ANDLW C7 |
| 0156: IORWF 78,W |
| 0157: MOVWF 1F |
| .................... cidla=0; |
| 0158: CLRF 24 |
| .................... Delay_us(10); |
| 0159: CLRWDT |
| 015A: MOVLW 02 |
| 015B: MOVWF 77 |
| 015C: DECFSZ 77,F |
| 015D: GOTO 15C |
| 015E: NOP |
| 015F: NOP |
| .................... a=read_adc(); |
| 0160: BSF 1F.2 |
| 0161: BTFSC 1F.2 |
| 0162: GOTO 161 |
| 0163: MOVF 1E,W |
| 0164: MOVWF 25 |
| .................... |
| .................... set_adc_channel(1); |
| 0165: MOVLW 08 |
| 0166: MOVWF 78 |
| 0167: MOVF 1F,W |
| 0168: ANDLW C7 |
| 0169: IORWF 78,W |
| 016A: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) //hystereze cidel |
| 016B: MOVF 25,W |
| 016C: SUBLW 45 |
| 016D: BTFSS 03.0 |
| 016E: GOTO 178 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 016F: MOVF 25,W |
| 0170: SUBLW 32 |
| 0171: BTFSC 03.0 |
| 0172: GOTO 177 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000001); |
| 0173: MOVF 22,W |
| 0174: ANDLW 01 |
| 0175: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000001; |
| 0176: GOTO 178 |
| 0177: BSF 24.0 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 0178: BSF 1F.2 |
| 0179: BTFSC 1F.2 |
| 017A: GOTO 179 |
| 017B: MOVF 1E,W |
| 017C: MOVWF 25 |
| .................... |
| .................... set_adc_channel(2); |
| 017D: MOVLW 10 |
| 017E: MOVWF 78 |
| 017F: MOVF 1F,W |
| 0180: ANDLW C7 |
| 0181: IORWF 78,W |
| 0182: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 0183: MOVF 25,W |
| 0184: SUBLW 45 |
| 0185: BTFSS 03.0 |
| 0186: GOTO 190 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 0187: MOVF 25,W |
| 0188: SUBLW 32 |
| 0189: BTFSC 03.0 |
| 018A: GOTO 18F |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000010); |
| 018B: MOVF 22,W |
| 018C: ANDLW 02 |
| 018D: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000010; |
| 018E: GOTO 190 |
| 018F: BSF 24.1 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 0190: BSF 1F.2 |
| 0191: BTFSC 1F.2 |
| 0192: GOTO 191 |
| 0193: MOVF 1E,W |
| 0194: MOVWF 25 |
| .................... |
| .................... set_adc_channel(3); |
| 0195: MOVLW 18 |
| 0196: MOVWF 78 |
| 0197: MOVF 1F,W |
| 0198: ANDLW C7 |
| 0199: IORWF 78,W |
| 019A: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 019B: MOVF 25,W |
| 019C: SUBLW 45 |
| 019D: BTFSS 03.0 |
| 019E: GOTO 1A8 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 019F: MOVF 25,W |
| 01A0: SUBLW 32 |
| 01A1: BTFSC 03.0 |
| 01A2: GOTO 1A7 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00000100); |
| 01A3: MOVF 22,W |
| 01A4: ANDLW 04 |
| 01A5: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00000100; |
| 01A6: GOTO 1A8 |
| 01A7: BSF 24.2 |
| .................... } |
| .................... |
| .................... a=read_adc(); |
| 01A8: BSF 1F.2 |
| 01A9: BTFSC 1F.2 |
| 01AA: GOTO 1A9 |
| 01AB: MOVF 1E,W |
| 01AC: MOVWF 25 |
| .................... |
| .................... set_adc_channel(4); |
| 01AD: MOVLW 20 |
| 01AE: MOVWF 78 |
| 01AF: MOVF 1F,W |
| 01B0: ANDLW C7 |
| 01B1: IORWF 78,W |
| 01B2: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 01B3: MOVF 25,W |
| 01B4: SUBLW 45 |
| 01B5: BTFSS 03.0 |
| 01B6: GOTO 1C0 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01B7: MOVF 25,W |
| 01B8: SUBLW 32 |
| 01B9: BTFSC 03.0 |
| 01BA: GOTO 1BF |
| .................... { |
| .................... cidla |= (last_cidla & 0b00001000); |
| 01BB: MOVF 22,W |
| 01BC: ANDLW 08 |
| 01BD: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00001000; |
| 01BE: GOTO 1C0 |
| 01BF: BSF 24.3 |
| .................... } |
| .................... a=read_adc(); |
| 01C0: BSF 1F.2 |
| 01C1: BTFSC 1F.2 |
| 01C2: GOTO 1C1 |
| 01C3: MOVF 1E,W |
| 01C4: MOVWF 25 |
| .................... |
| .................... set_adc_channel(5); |
| 01C5: MOVLW 28 |
| 01C6: MOVWF 78 |
| 01C7: MOVF 1F,W |
| 01C8: ANDLW C7 |
| 01C9: IORWF 78,W |
| 01CA: MOVWF 1F |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 01CB: MOVF 25,W |
| 01CC: SUBLW 45 |
| 01CD: BTFSS 03.0 |
| 01CE: GOTO 1D8 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01CF: MOVF 25,W |
| 01D0: SUBLW 32 |
| 01D1: BTFSC 03.0 |
| 01D2: GOTO 1D7 |
| .................... { |
| .................... cidla |= (last_cidla & 0b00010000); |
| 01D3: MOVF 22,W |
| 01D4: ANDLW 10 |
| 01D5: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00010000; |
| 01D6: GOTO 1D8 |
| 01D7: BSF 24.4 |
| .................... } |
| .................... a=read_adc(); |
| 01D8: BSF 1F.2 |
| 01D9: BTFSC 1F.2 |
| 01DA: GOTO 1D9 |
| 01DB: MOVF 1E,W |
| 01DC: MOVWF 25 |
| .................... |
| .................... set_adc_channel(6); |
| 01DD: MOVLW 30 |
| 01DE: MOVWF 78 |
| 01DF: MOVF 1F,W |
| 01E0: ANDLW C7 |
| 01E1: IORWF 78,W |
| 01E2: MOVWF 1F |
| .................... if(a<TRESHOLD_MAX) |
| 01E3: MOVF 25,W |
| 01E4: SUBLW 45 |
| 01E5: BTFSS 03.0 |
| 01E6: GOTO 1F0 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01E7: MOVF 25,W |
| 01E8: SUBLW 32 |
| 01E9: BTFSC 03.0 |
| 01EA: GOTO 1EF |
| .................... { |
| .................... cidla |= (last_cidla & 0b00100000); |
| 01EB: MOVF 22,W |
| 01EC: ANDLW 20 |
| 01ED: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b00100000; |
| 01EE: GOTO 1F0 |
| 01EF: BSF 24.5 |
| .................... } |
| .................... a=read_adc(); |
| 01F0: BSF 1F.2 |
| 01F1: BTFSC 1F.2 |
| 01F2: GOTO 1F1 |
| 01F3: MOVF 1E,W |
| 01F4: MOVWF 25 |
| .................... |
| .................... if(a<TRESHOLD_MAX) |
| 01F5: MOVF 25,W |
| 01F6: SUBLW 45 |
| 01F7: BTFSS 03.0 |
| 01F8: GOTO 202 |
| .................... { |
| .................... if(a>TRESHOLD_MIN) |
| 01F9: MOVF 25,W |
| 01FA: SUBLW 32 |
| 01FB: BTFSC 03.0 |
| 01FC: GOTO 201 |
| .................... { |
| .................... cidla |=(last_cidla & 0b01000000); |
| 01FD: MOVF 22,W |
| 01FE: ANDLW 40 |
| 01FF: IORWF 24,F |
| .................... } |
| .................... else cidla |= 0b01000000; |
| 0200: GOTO 202 |
| 0201: BSF 24.6 |
| .................... } |
| .................... |
| .................... last_cidla=cidla; |
| 0202: MOVF 24,W |
| 0203: MOVWF 22 |
| .................... |
| .................... if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| 0204: BSF 03.5 |
| 0205: BSF 06.0 |
| 0206: BCF 03.5 |
| 0207: BTFSC 06.0 |
| 0208: GOTO 20E |
| 0209: INCFSZ 23,W |
| 020A: GOTO 20C |
| 020B: GOTO 20D |
| 020C: INCF 23,F |
| 020D: GOTO 20F |
| 020E: CLRF 23 |
| .................... if (shure>CIHLA) cidla|=0b10000000; |
| 020F: MOVF 23,W |
| 0210: SUBLW 0A |
| 0211: BTFSS 03.0 |
| 0212: BSF 24.7 |
| .................... |
| .................... cidla=~cidla; |
| 0213: COMF 24,F |
| .................... spi_write(cidla); |
| 0214: MOVF 24,W |
| 0215: MOVWF 13 |
| 0216: BSF 03.5 |
| 0217: BTFSC 14.0 |
| 0218: GOTO 21B |
| 0219: BCF 03.5 |
| 021A: GOTO 216 |
| .................... } |
| 021B: BCF 03.5 |
| 021C: GOTO 152 |
| .................... } |
| 021D: SLEEP |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.PJT |
|---|
| 0,0 → 1,44 |
| [PROJECT] |
| Target=cidla.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [cidla.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=cidla.c |
| [Windows] |
| 0=0000 cidla.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| 2=C:\Program Files\PICC\devices\16F88.h |
| 3=C:\Program Files\PICC\drivers\stdlib.h |
| 4=C:\Program Files\PICC\drivers\stddef.h |
| 5=C:\Program Files\PICC\drivers\string.h |
| 6=C:\Program Files\PICC\drivers\ctype.h |
| 7=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| 8= |
| [Units] |
| Count=1 |
| 1=D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c (main) |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.SYM |
|---|
| 0,0 → 1,60 |
| 015 CCP_1_LOW |
| 015-016 CCP_1 |
| 016 CCP_1_HIGH |
| 020 radius |
| 021 last_radius |
| 022 last_cidla |
| 023 shure |
| 024 main.cidla |
| 025 main.a |
| 026 main.n |
| 027 @delay_ms1.P1 |
| 027 main.@SCRATCH |
| 028 @PRINTF_U_9600_51_41.P1 |
| 029 @PRINTF_U_9600_51_41.P1 |
| 02A @PUTCHAR_1_.P1 |
| 02A @DIV88.P2 |
| 02B @DIV88.P1 |
| 02C @DIV88.@SCRATCH |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 079 @SCRATCH |
| 07A @SCRATCH |
| 07B @SCRATCH |
| 09C.6 C1OUT |
| 09C.7 C2OUT |
| 0050 @delay_ms1 |
| 002A @PUTCHAR_1_ |
| 00B1 main |
| 0004 @const10061 |
| 000B @const10066 |
| 0015 @const10079 |
| 0067 @DIV88 |
| 007C @PRINTF_U_9600_51_41 |
| 00B1 @cinit |
| Project Files: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| C:\Program Files\PICC\devices\16F88.h |
| Units: |
| D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c (main) |
| Compiler Settings: |
| Processor: PIC16F88 |
| Pointer Size: 8 |
| ADC Range: 0-255 |
| Opt Level: 9 |
| Short,Int,Long: 1,8,16 |
| Output Files: |
| Errors: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.err |
| INHX8: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.hex |
| Symbols: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.sym |
| List: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.lst |
| Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.cof |
| Call Tree: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.tre |
| Statistics: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.sta |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.c |
|---|
| 0,0 → 1,159 |
| #include ".\cidla.h" |
| //#include <stdlib.h> |
| #use rs232(baud=9600,parity=N,xmit=PIN_B3,bits=8,restart_wdt) |
| #define IRRX PIN_B0 |
| #define TRESHOLD_MAX 70 // rozhodovaci uroven pro cidla cerna/bila |
| #define TRESHOLD_MIN 50 |
| #define CIHLA 10 // doba, po kterou musi byt detekovana cihla |
| unsigned int8 radius; // co cidla vidi |
| unsigned int8 last_radius; // rozsah |
| unsigned int8 last_cidla; // co cidla videla minule |
| unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla |
| //tuning |
| /*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM |
| //Vystup PWM je na PIN_B3 |
| //////////////////////////////////////////////////////////////////////////////// |
| void pulzovani() // postupne rozsvecuje a zhasina podsvetleni |
| { |
| unsigned int8 i,n; |
| for(n=0;n<=3;n++) |
| { |
| for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani |
| for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani |
| } |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| void main() |
| { |
| int8 cidla; |
| unsigned int8 a; |
| unsigned int8 n; |
| setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| last_radius=0b00001000; // minimalni rozsah snimani od stredu |
| last_cidla=0b00001000; |
| // diagnostika |
| printf("\n\r"); |
| Delay_ms(100); |
| printf("***\n\r"); |
| Delay_ms(100); |
| for (n=0; n<=6; n++) |
| { |
| set_adc_channel(n); |
| Delay_ms(100); |
| a=read_adc(); |
| printf("sensor %u - %u\n\r",n,a); |
| } |
| shure=0; |
| while(true) |
| { |
| set_adc_channel(0); |
| cidla=0; |
| Delay_us(10); |
| a=read_adc(); |
| set_adc_channel(1); |
| if(a<TRESHOLD_MAX) //hystereze cidel |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000001); |
| } |
| else cidla |= 0b00000001; |
| } |
| a=read_adc(); |
| set_adc_channel(2); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000010); |
| } |
| else cidla |= 0b00000010; |
| } |
| a=read_adc(); |
| set_adc_channel(3); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00000100); |
| } |
| else cidla |= 0b00000100; |
| } |
| a=read_adc(); |
| set_adc_channel(4); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00001000); |
| } |
| else cidla |= 0b00001000; |
| } |
| a=read_adc(); |
| set_adc_channel(5); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00010000); |
| } |
| else cidla |= 0b00010000; |
| } |
| a=read_adc(); |
| set_adc_channel(6); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |= (last_cidla & 0b00100000); |
| } |
| else cidla |= 0b00100000; |
| } |
| a=read_adc(); |
| if(a<TRESHOLD_MAX) |
| { |
| if(a>TRESHOLD_MIN) |
| { |
| cidla |=(last_cidla & 0b01000000); |
| } |
| else cidla |= 0b01000000; |
| } |
| last_cidla=cidla; |
| if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;}; |
| if (shure>CIHLA) cidla|=0b10000000; |
| cidla=~cidla; |
| spi_write(cidla); |
| } |
| } |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.err |
|---|
| 0,0 → 1,2 |
| No Errors |
| 0 Errors, 0 Warnings. |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.h |
|---|
| 0,0 → 1,5 |
| #include <16F88.h> |
| #device adc=8 |
| #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
| #use delay(clock=4000000,RESTART_WDT) |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.sta |
|---|
| 0,0 → 1,35 |
| ROM used: 542 (13%) |
| 542 (13%) including unused fragments |
| 1 Average locations per line |
| 6 Average locations per statement |
| RAM used: 13 (7%) at main() level |
| 18 (10%) worst case |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 160 93 100 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.c |
| 6 0 0 D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\cidla\cidla.h |
| 279 0 0 C:\Program Files\PICC\devices\16F88.h |
| ----- ----- |
| 890 186 Total |
| Page ROM % RAM Functions: |
| ---- --- --- --- ---------- |
| 0 23 4 1 @delay_ms1 |
| 0 38 7 1 @PUTCHAR_1_ |
| 0 365 67 4 main |
| 0 7 1 0 @const10061 |
| 0 10 2 0 @const10066 |
| 0 21 4 0 @const10079 |
| 0 21 4 3 @DIV88 |
| 0 53 10 2 @PRINTF_U_9600_51_41 |
| Segment Used Free |
| --------- ---- ---- |
| 00000-00003 4 0 |
| 00004-007FF 538 1506 |
| 00800-00FFF 0 2048 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/cidla.tre |
|---|
| 0,0 → 1,29 |
| ÀÄcidla |
| ÀÄmain 0/365 Ram=4 |
| ÃÄ??0?? |
| ÃÄ@const10061 0/7 Ram=0 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@delay_ms1 0/23 Ram=1 |
| ÃÄ@const10066 0/10 Ram=0 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@delay_ms1 0/23 Ram=1 |
| ÃÄ@delay_ms1 0/23 Ram=1 |
| ÃÄ@const10079 0/21 Ram=0 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PRINTF_U_9600_51_41 0/53 Ram=2 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PRINTF_U_9600_51_41 0/53 Ram=2 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÃÄ@DIV88 0/21 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/38 Ram=1 |
| ÀÄ@PUTCHAR_1_ 0/38 Ram=1 |
| /roboti/istrobot/3Orbis/bak/08 2.funkcni/slave/macro.ini |
|---|