| 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 |