| 0,0 → 1,1695 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 25-IV-06 20:23 |
| |
| Filename: D:\KAKLIK\programy\PIC_C\roboti\3Orbis\main.lst |
| |
| ROM used: 1149 words (28%) |
| Largest free fragment is 2048 |
| RAM used: 32 (18%) at main() level |
| 35 (20%) worst case |
| Stack: 5 worst case (3 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 261 |
| 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 00.1 |
| 001F: GOTO 022 |
| 0020: BTFSC 0C.1 |
| 0021: GOTO 035 |
| 0022: MOVF 22,W |
| 0023: MOVWF 04 |
| 0024: MOVF 23,W |
| 0025: MOVWF 77 |
| 0026: MOVF 24,W |
| 0027: MOVWF 78 |
| 0028: MOVF 25,W |
| 0029: MOVWF 79 |
| 002A: MOVF 26,W |
| 002B: MOVWF 7A |
| 002C: MOVF 27,W |
| 002D: MOVWF 7B |
| 002E: MOVF 28,W |
| 002F: MOVWF 0A |
| 0030: SWAPF 21,W |
| 0031: MOVWF 03 |
| 0032: SWAPF 7F,F |
| 0033: SWAPF 7F,W |
| 0034: RETFIE |
| 0035: BCF 0A.3 |
| 0036: GOTO 047 |
| .................... #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) |
| 0037: MOVLW 08 |
| 0038: SUBWF 3D,F |
| 0039: BTFSS 03.0 |
| 003A: GOTO 046 |
| 003B: MOVLW 3D |
| 003C: MOVWF 04 |
| 003D: BCF 03.0 |
| 003E: RRF 00,F |
| 003F: MOVF 00,W |
| 0040: BTFSC 03.2 |
| 0041: GOTO 046 |
| 0042: GOTO 044 |
| 0043: CLRWDT |
| 0044: DECFSZ 00,F |
| 0045: GOTO 043 |
| 0046: RETLW 00 |
| * |
| 0065: MOVLW 3A |
| 0066: MOVWF 04 |
| 0067: MOVF 00,W |
| 0068: BTFSC 03.2 |
| 0069: GOTO 07C |
| 006A: MOVLW 02 |
| 006B: MOVWF 78 |
| 006C: MOVLW BF |
| 006D: MOVWF 77 |
| 006E: CLRWDT |
| 006F: DECFSZ 77,F |
| 0070: GOTO 06E |
| 0071: DECFSZ 78,F |
| 0072: GOTO 06C |
| 0073: MOVLW 96 |
| 0074: MOVWF 77 |
| 0075: DECFSZ 77,F |
| 0076: GOTO 075 |
| 0077: NOP |
| 0078: NOP |
| 0079: CLRWDT |
| 007A: DECFSZ 00,F |
| 007B: GOTO 06A |
| 007C: 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//25 |
| .................... #define BEAR3 45//45 |
| .................... #define R 100 // Rozumna rychlost |
| .................... #define R17 200 // X nasobek rozumne rychlosti |
| .................... //#define L1 1 // cara vlevo |
| .................... #define L2 2 // cara vlevo |
| .................... #define L3 3 // cara vlevo |
| .................... #define S 0 // cara 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 4 // AN4 |
| .................... //#define CERNA 5 // AN5 |
| .................... //#define ZELENA 6 // AN6 |
| .................... #define MODRA 2 // AN2 |
| .................... |
| .................... // 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 |
| * |
| 026E: BCF 03.5 |
| 026F: 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 |
| .................... |
| .................... 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_TIMER2 |
| .................... TIMER2_isr() // ovladani serva |
| .................... { |
| .................... unsigned int8 n; |
| .................... |
| .................... output_high(SERVO); |
| * |
| 0047: BSF 03.5 |
| 0048: BCF 06.5 |
| 0049: BCF 03.5 |
| 004A: BSF 06.5 |
| .................... delay_us(1000); |
| 004B: CLRWDT |
| 004C: MOVLW 09 |
| 004D: MOVWF 3C |
| 004E: MOVLW 6D |
| 004F: MOVWF 3D |
| 0050: CALL 037 |
| 0051: DECFSZ 3C,F |
| 0052: GOTO 04E |
| .................... for(n=uhel; n>0; n--) Delay_us(2); |
| 0053: MOVF 2C,W |
| 0054: MOVWF 3B |
| 0055: MOVF 3B,F |
| 0056: BTFSC 03.2 |
| 0057: GOTO 05E |
| 0058: CLRWDT |
| 0059: NOP |
| 005A: NOP |
| 005B: NOP |
| 005C: DECF 3B,F |
| 005D: GOTO 055 |
| .................... output_low(SERVO); |
| 005E: BSF 03.5 |
| 005F: BCF 06.5 |
| 0060: BCF 03.5 |
| 0061: BCF 06.5 |
| .................... } |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| 0062: BCF 0C.1 |
| 0063: BCF 0A.3 |
| 0064: GOTO 022 |
| .................... 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 |
| .................... } |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... #include ".\objizdka_centrovani.c" |
| .................... #define DOLEVA 0 |
| .................... #define DOPRAVA 1 |
| .................... |
| .................... void cikcak() |
| .................... { |
| .................... unsigned int8 i; |
| .................... |
| .................... uhel=KOLMO1; |
| * |
| 007D: MOVLW E1 |
| 007E: MOVWF 2C |
| .................... Delay_ms(100); |
| 007F: MOVLW 64 |
| 0080: MOVWF 3A |
| 0081: CALL 065 |
| .................... if (line==L2) line=L3; |
| 0082: MOVF 2B,W |
| 0083: SUBLW 02 |
| 0084: BTFSS 03.2 |
| 0085: GOTO 088 |
| 0086: MOVLW 03 |
| 0087: MOVWF 2B |
| .................... if (line==S) line=L3; |
| 0088: MOVF 2B,F |
| 0089: BTFSS 03.2 |
| 008A: GOTO 08D |
| 008B: MOVLW 03 |
| 008C: MOVWF 2B |
| .................... if (line==R2) line=R3; |
| 008D: MOVF 2B,W |
| 008E: SUBLW FE |
| 008F: BTFSS 03.2 |
| 0090: GOTO 093 |
| 0091: MOVLW FD |
| 0092: MOVWF 2B |
| .................... |
| .................... Delay_ms(3); |
| 0093: MOVLW 03 |
| 0094: MOVWF 3A |
| 0095: CALL 065 |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 0096: BSF 03.5 |
| 0097: BCF 06.0 |
| 0098: BCF 03.5 |
| 0099: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 009A: MOVF 13,W |
| 009B: CLRF 13 |
| 009C: BSF 03.5 |
| 009D: BTFSC 14.0 |
| 009E: GOTO 0A1 |
| 009F: BCF 03.5 |
| 00A0: GOTO 09C |
| 00A1: BCF 03.5 |
| 00A2: MOVF 13,W |
| 00A3: MOVWF 2A |
| .................... sensors=~sensors; |
| 00A4: COMF 2A,F |
| .................... output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| 00A5: BSF 03.5 |
| 00A6: BCF 06.0 |
| 00A7: BCF 03.5 |
| 00A8: BSF 06.0 |
| .................... |
| .................... while(!bit_test(sensors,3)) |
| .................... { |
| 00A9: BTFSC 2A.3 |
| 00AA: GOTO 171 |
| .................... while(true) |
| .................... { |
| .................... Delay_ms(3); |
| 00AB: MOVLW 03 |
| 00AC: MOVWF 3A |
| 00AD: CALL 065 |
| .................... |
| .................... if (line==L3) |
| 00AE: MOVF 2B,W |
| 00AF: SUBLW 03 |
| 00B0: BTFSS 03.2 |
| 00B1: GOTO 0DC |
| .................... { |
| .................... GO(L,B,160);GO(R,F,160); |
| 00B2: MOVF 01,W |
| 00B3: SUBLW A0 |
| 00B4: BTFSS 03.0 |
| 00B5: GOTO 0BF |
| 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: GOTO 0C7 |
| 00BF: BSF 03.5 |
| 00C0: BCF 05.0 |
| 00C1: BCF 03.5 |
| 00C2: BCF 05.0 |
| 00C3: BSF 03.5 |
| 00C4: BCF 05.1 |
| 00C5: BCF 03.5 |
| 00C6: BCF 05.1 |
| 00C7: MOVF 01,W |
| 00C8: SUBLW A0 |
| 00C9: BTFSS 03.0 |
| 00CA: GOTO 0D4 |
| 00CB: BSF 03.5 |
| 00CC: BCF 05.7 |
| 00CD: BCF 03.5 |
| 00CE: BCF 05.7 |
| 00CF: BSF 03.5 |
| 00D0: BCF 05.6 |
| 00D1: BCF 03.5 |
| 00D2: BSF 05.6 |
| 00D3: GOTO 0DC |
| 00D4: BSF 03.5 |
| 00D5: BCF 05.6 |
| 00D6: BCF 03.5 |
| 00D7: BCF 05.6 |
| 00D8: BSF 03.5 |
| 00D9: BCF 05.7 |
| 00DA: BCF 03.5 |
| 00DB: BCF 05.7 |
| .................... }; |
| .................... if (line==R3) |
| 00DC: MOVF 2B,W |
| 00DD: SUBLW FD |
| 00DE: BTFSS 03.2 |
| 00DF: GOTO 10A |
| .................... { |
| .................... GO(R,B,160);GO(L,F,160); |
| 00E0: MOVF 01,W |
| 00E1: SUBLW A0 |
| 00E2: BTFSS 03.0 |
| 00E3: GOTO 0ED |
| 00E4: BSF 03.5 |
| 00E5: BCF 05.6 |
| 00E6: BCF 03.5 |
| 00E7: BCF 05.6 |
| 00E8: BSF 03.5 |
| 00E9: BCF 05.7 |
| 00EA: BCF 03.5 |
| 00EB: BSF 05.7 |
| 00EC: GOTO 0F5 |
| 00ED: BSF 03.5 |
| 00EE: BCF 05.6 |
| 00EF: BCF 03.5 |
| 00F0: BCF 05.6 |
| 00F1: BSF 03.5 |
| 00F2: BCF 05.7 |
| 00F3: BCF 03.5 |
| 00F4: BCF 05.7 |
| 00F5: MOVF 01,W |
| 00F6: SUBLW A0 |
| 00F7: BTFSS 03.0 |
| 00F8: GOTO 102 |
| 00F9: BSF 03.5 |
| 00FA: BCF 05.1 |
| 00FB: BCF 03.5 |
| 00FC: BCF 05.1 |
| 00FD: BSF 03.5 |
| 00FE: BCF 05.0 |
| 00FF: BCF 03.5 |
| 0100: BSF 05.0 |
| 0101: GOTO 10A |
| 0102: BSF 03.5 |
| 0103: BCF 05.0 |
| 0104: BCF 03.5 |
| 0105: BCF 05.0 |
| 0106: BSF 03.5 |
| 0107: BCF 05.1 |
| 0108: BCF 03.5 |
| 0109: BCF 05.1 |
| .................... }; |
| .................... if (line==S) {STOPL;STOPR; i++;} |
| 010A: MOVF 2B,F |
| 010B: BTFSS 03.2 |
| 010C: GOTO 11F |
| 010D: BSF 03.5 |
| 010E: BCF 05.0 |
| 010F: BCF 03.5 |
| 0110: BCF 05.0 |
| 0111: BSF 03.5 |
| 0112: BCF 05.1 |
| 0113: BCF 03.5 |
| 0114: BCF 05.1 |
| 0115: BSF 03.5 |
| 0116: BCF 05.6 |
| 0117: BCF 03.5 |
| 0118: BCF 05.6 |
| 0119: BSF 03.5 |
| 011A: BCF 05.7 |
| 011B: BCF 03.5 |
| 011C: BCF 05.7 |
| 011D: INCF 39,F |
| .................... else i=0; |
| 011E: GOTO 120 |
| 011F: CLRF 39 |
| .................... |
| .................... if (i>=100) break; |
| 0120: MOVF 39,W |
| 0121: SUBLW 63 |
| 0122: BTFSS 03.0 |
| 0123: GOTO 15A |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 0124: BSF 03.5 |
| 0125: BCF 06.0 |
| 0126: BCF 03.5 |
| 0127: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0128: MOVF 13,W |
| 0129: CLRF 13 |
| 012A: BSF 03.5 |
| 012B: BTFSC 14.0 |
| 012C: GOTO 12F |
| 012D: BCF 03.5 |
| 012E: GOTO 12A |
| 012F: BCF 03.5 |
| 0130: MOVF 13,W |
| 0131: MOVWF 2A |
| .................... sensors=~sensors; |
| 0132: COMF 2A,F |
| .................... output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| 0133: BSF 03.5 |
| 0134: BCF 06.0 |
| 0135: BCF 03.5 |
| 0136: BSF 06.0 |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 0137: BTFSS 2A.3 |
| 0138: GOTO 13B |
| .................... { |
| .................... line=S; |
| 0139: CLRF 2B |
| .................... continue; |
| 013A: GOTO 0AB |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 013B: BTFSS 2A.0 |
| 013C: GOTO 140 |
| .................... { |
| .................... line=L3; |
| 013D: MOVLW 03 |
| 013E: MOVWF 2B |
| .................... continue; |
| 013F: GOTO 0AB |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 0140: BTFSS 2A.6 |
| 0141: GOTO 145 |
| .................... { |
| .................... line=R3; |
| 0142: MOVLW FD |
| 0143: MOVWF 2B |
| .................... continue; |
| 0144: GOTO 0AB |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 0145: BTFSS 2A.1 |
| 0146: GOTO 14A |
| .................... { |
| .................... line=L3; |
| 0147: MOVLW 03 |
| 0148: MOVWF 2B |
| .................... continue; |
| 0149: GOTO 0AB |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 014A: BTFSS 2A.5 |
| 014B: GOTO 14F |
| .................... { |
| .................... line=R3; |
| 014C: MOVLW FD |
| 014D: MOVWF 2B |
| .................... continue; |
| 014E: GOTO 0AB |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 014F: BTFSS 2A.2 |
| 0150: GOTO 154 |
| .................... { |
| .................... line=L3; |
| 0151: MOVLW 03 |
| 0152: MOVWF 2B |
| .................... continue; |
| 0153: GOTO 0AB |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 0154: BTFSS 2A.4 |
| 0155: GOTO 159 |
| .................... { |
| .................... line=R3; |
| 0156: MOVLW FD |
| 0157: MOVWF 2B |
| .................... continue; |
| 0158: GOTO 0AB |
| .................... } |
| .................... } |
| 0159: GOTO 0AB |
| .................... delay_ms(100); |
| 015A: MOVLW 64 |
| 015B: MOVWF 3A |
| 015C: CALL 065 |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 015D: BSF 03.5 |
| 015E: BCF 06.0 |
| 015F: BCF 03.5 |
| 0160: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0161: MOVF 13,W |
| 0162: CLRF 13 |
| 0163: BSF 03.5 |
| 0164: BTFSC 14.0 |
| 0165: GOTO 168 |
| 0166: BCF 03.5 |
| 0167: GOTO 163 |
| 0168: BCF 03.5 |
| 0169: MOVF 13,W |
| 016A: MOVWF 2A |
| .................... sensors=~sensors; |
| 016B: COMF 2A,F |
| .................... output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| 016C: BSF 03.5 |
| 016D: BCF 06.0 |
| 016E: BCF 03.5 |
| 016F: BSF 06.0 |
| .................... } |
| 0170: GOTO 0A9 |
| .................... } |
| 0171: RETLW 00 |
| .................... |
| .................... /* |
| .................... void cikcak() |
| .................... { |
| .................... short int movement; |
| .................... unsigned int8 n,i=0; |
| .................... |
| .................... if(uhel>=STRED) |
| .................... { |
| .................... uhel=KOLMO1; |
| .................... Delay_ms(100); |
| .................... } |
| .................... |
| .................... if(uhel<=STRED) |
| .................... { |
| .................... uhel=KOLMO2; |
| .................... Delay_ms(100); |
| .................... } |
| .................... |
| .................... |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... Delay_ms(5); |
| .................... |
| .................... if ((sensors & 0b11100000)!=0) movement=DOPRAVA; |
| .................... |
| .................... while(i<=100) |
| .................... { |
| .................... while(!bit_test(sensors,3)) |
| .................... { |
| .................... if(DOPRAVA == movement) |
| .................... { |
| .................... FR;BL; |
| .................... movement=DOLEVA; |
| .................... n=0; |
| .................... //if ((sensors & 0b11100000)!=0) line=L1; |
| .................... //if ((sensors & 0b00001110)!=0) line=R1; |
| .................... //if ((sensors & 0b00010000)!=0) line=S; |
| .................... |
| .................... for(n=0; n<=100; n++) |
| .................... { |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... Delay_ms(5); // cekani na SLAVE nez pripravi data od cidel |
| .................... if(bit_test(sensors,3)) break; |
| .................... else i=0; |
| .................... } |
| .................... STOPL;STOPR; |
| .................... } |
| .................... |
| .................... if(DOLEVA == movement) |
| .................... { |
| .................... FL;BR; |
| .................... movement=DOPRAVA; |
| .................... n=0; |
| .................... |
| .................... for(n=0; n<=100; n++) |
| .................... { |
| .................... sensors = spi_read(0); |
| .................... sensors =~ sensors; |
| .................... Delay_ms(5); |
| .................... if(bit_test(sensors,3)) break; |
| .................... else i=0; |
| .................... } |
| .................... STOPL;STOPR; |
| .................... } |
| .................... sensors = spi_read(0); // cteni senzoru |
| .................... sensors=~sensors; |
| .................... Delay_ms(5); |
| .................... } |
| .................... i++; |
| .................... } |
| .................... } |
| .................... */ |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void objizdka() |
| .................... { |
| .................... BL;FR; |
| 0172: BSF 03.5 |
| 0173: BCF 05.0 |
| 0174: BCF 03.5 |
| 0175: BCF 05.0 |
| 0176: BSF 03.5 |
| 0177: BCF 05.1 |
| 0178: BCF 03.5 |
| 0179: BSF 05.1 |
| 017A: BSF 03.5 |
| 017B: BCF 05.7 |
| 017C: BCF 03.5 |
| 017D: BCF 05.7 |
| 017E: BSF 03.5 |
| 017F: BCF 05.6 |
| 0180: BCF 03.5 |
| 0181: BSF 05.6 |
| .................... Delay_ms(300); |
| 0182: MOVLW 02 |
| 0183: MOVWF 39 |
| 0184: MOVLW 96 |
| 0185: MOVWF 3A |
| 0186: CALL 065 |
| 0187: DECFSZ 39,F |
| 0188: GOTO 184 |
| .................... FL;BR; |
| 0189: BSF 03.5 |
| 018A: BCF 05.1 |
| 018B: BCF 03.5 |
| 018C: BCF 05.1 |
| 018D: BSF 03.5 |
| 018E: BCF 05.0 |
| 018F: BCF 03.5 |
| 0190: BSF 05.0 |
| 0191: BSF 03.5 |
| 0192: BCF 05.6 |
| 0193: BCF 03.5 |
| 0194: BCF 05.6 |
| 0195: BSF 03.5 |
| 0196: BCF 05.7 |
| 0197: BCF 03.5 |
| 0198: BSF 05.7 |
| .................... Delay_ms(100); |
| 0199: MOVLW 64 |
| 019A: MOVWF 3A |
| 019B: CALL 065 |
| .................... STOPL;STOPR; |
| 019C: BSF 03.5 |
| 019D: BCF 05.0 |
| 019E: BCF 03.5 |
| 019F: BCF 05.0 |
| 01A0: BSF 03.5 |
| 01A1: BCF 05.1 |
| 01A2: BCF 03.5 |
| 01A3: BCF 05.1 |
| 01A4: BSF 03.5 |
| 01A5: BCF 05.6 |
| 01A6: BCF 03.5 |
| 01A7: BCF 05.6 |
| 01A8: BSF 03.5 |
| 01A9: BCF 05.7 |
| 01AA: BCF 03.5 |
| 01AB: BCF 05.7 |
| .................... |
| .................... uhel=STRED; |
| 01AC: MOVLW 80 |
| 01AD: MOVWF 2C |
| .................... FL;FR; |
| 01AE: BSF 03.5 |
| 01AF: BCF 05.1 |
| 01B0: BCF 03.5 |
| 01B1: BCF 05.1 |
| 01B2: BSF 03.5 |
| 01B3: BCF 05.0 |
| 01B4: BCF 03.5 |
| 01B5: BSF 05.0 |
| 01B6: BSF 03.5 |
| 01B7: BCF 05.7 |
| 01B8: BCF 03.5 |
| 01B9: BCF 05.7 |
| 01BA: BSF 03.5 |
| 01BB: BCF 05.6 |
| 01BC: BCF 03.5 |
| 01BD: BSF 05.6 |
| .................... Delay_ms(500); // rovne |
| 01BE: MOVLW 02 |
| 01BF: MOVWF 39 |
| 01C0: MOVLW FA |
| 01C1: MOVWF 3A |
| 01C2: CALL 065 |
| 01C3: DECFSZ 39,F |
| 01C4: GOTO 1C0 |
| .................... |
| .................... uhel=STRED+55; |
| 01C5: MOVLW B7 |
| 01C6: MOVWF 2C |
| .................... STOPR;FL; |
| 01C7: BSF 03.5 |
| 01C8: BCF 05.6 |
| 01C9: BCF 03.5 |
| 01CA: BCF 05.6 |
| 01CB: BSF 03.5 |
| 01CC: BCF 05.7 |
| 01CD: BCF 03.5 |
| 01CE: BCF 05.7 |
| 01CF: BSF 03.5 |
| 01D0: BCF 05.1 |
| 01D1: BCF 03.5 |
| 01D2: BCF 05.1 |
| 01D3: BSF 03.5 |
| 01D4: BCF 05.0 |
| 01D5: BCF 03.5 |
| 01D6: BSF 05.0 |
| .................... Delay_ms(190); // doprava |
| 01D7: MOVLW BE |
| 01D8: MOVWF 3A |
| 01D9: CALL 065 |
| .................... |
| .................... uhel=STRED; |
| 01DA: MOVLW 80 |
| 01DB: MOVWF 2C |
| .................... FR;FL; |
| 01DC: BSF 03.5 |
| 01DD: BCF 05.7 |
| 01DE: BCF 03.5 |
| 01DF: BCF 05.7 |
| 01E0: BSF 03.5 |
| 01E1: BCF 05.6 |
| 01E2: BCF 03.5 |
| 01E3: BSF 05.6 |
| 01E4: BSF 03.5 |
| 01E5: BCF 05.1 |
| 01E6: BCF 03.5 |
| 01E7: BCF 05.1 |
| 01E8: BSF 03.5 |
| 01E9: BCF 05.0 |
| 01EA: BCF 03.5 |
| 01EB: BSF 05.0 |
| .................... Delay_ms(500); // rovne |
| 01EC: MOVLW 02 |
| 01ED: MOVWF 39 |
| 01EE: MOVLW FA |
| 01EF: MOVWF 3A |
| 01F0: CALL 065 |
| 01F1: DECFSZ 39,F |
| 01F2: GOTO 1EE |
| .................... |
| .................... uhel=STRED+55; |
| 01F3: MOVLW B7 |
| 01F4: MOVWF 2C |
| .................... FL;STOPR; |
| 01F5: BSF 03.5 |
| 01F6: BCF 05.1 |
| 01F7: BCF 03.5 |
| 01F8: BCF 05.1 |
| 01F9: BSF 03.5 |
| 01FA: BCF 05.0 |
| 01FB: BCF 03.5 |
| 01FC: BSF 05.0 |
| 01FD: BSF 03.5 |
| 01FE: BCF 05.6 |
| 01FF: BCF 03.5 |
| 0200: BCF 05.6 |
| 0201: BSF 03.5 |
| 0202: BCF 05.7 |
| 0203: BCF 03.5 |
| 0204: BCF 05.7 |
| .................... Delay_ms(200); // doprava |
| 0205: MOVLW C8 |
| 0206: MOVWF 3A |
| 0207: CALL 065 |
| .................... |
| .................... uhel=STRED; |
| 0208: MOVLW 80 |
| 0209: MOVWF 2C |
| .................... FR;FL; |
| 020A: BSF 03.5 |
| 020B: BCF 05.7 |
| 020C: BCF 03.5 |
| 020D: BCF 05.7 |
| 020E: BSF 03.5 |
| 020F: BCF 05.6 |
| 0210: BCF 03.5 |
| 0211: BSF 05.6 |
| 0212: BSF 03.5 |
| 0213: BCF 05.1 |
| 0214: BCF 03.5 |
| 0215: BCF 05.1 |
| 0216: BSF 03.5 |
| 0217: BCF 05.0 |
| 0218: BCF 03.5 |
| 0219: BSF 05.0 |
| .................... Delay_ms(150); // rovne |
| 021A: MOVLW 96 |
| 021B: MOVWF 3A |
| 021C: CALL 065 |
| .................... |
| .................... While((sensors & 0b11111110)!=0) //dokud neni cara |
| .................... { |
| 021D: MOVF 2A,W |
| 021E: ANDLW FE |
| 021F: BTFSC 03.2 |
| 0220: GOTO 230 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0221: MOVF 13,W |
| 0222: CLRF 13 |
| 0223: BSF 03.5 |
| 0224: BTFSC 14.0 |
| 0225: GOTO 228 |
| 0226: BCF 03.5 |
| 0227: GOTO 223 |
| 0228: BCF 03.5 |
| 0229: MOVF 13,W |
| 022A: MOVWF 2A |
| .................... sensors=~sensors; |
| 022B: COMF 2A,F |
| .................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| 022C: MOVLW 04 |
| 022D: MOVWF 3A |
| 022E: CALL 065 |
| .................... } |
| 022F: GOTO 21D |
| .................... BL;BR; |
| 0230: BSF 03.5 |
| 0231: BCF 05.0 |
| 0232: BCF 03.5 |
| 0233: BCF 05.0 |
| 0234: BSF 03.5 |
| 0235: BCF 05.1 |
| 0236: BCF 03.5 |
| 0237: BSF 05.1 |
| 0238: BSF 03.5 |
| 0239: BCF 05.6 |
| 023A: BCF 03.5 |
| 023B: BCF 05.6 |
| 023C: BSF 03.5 |
| 023D: BCF 05.7 |
| 023E: BCF 03.5 |
| 023F: BSF 05.7 |
| .................... Delay_ms(400); |
| 0240: MOVLW 02 |
| 0241: MOVWF 39 |
| 0242: MOVLW C8 |
| 0243: MOVWF 3A |
| 0244: CALL 065 |
| 0245: DECFSZ 39,F |
| 0246: GOTO 242 |
| .................... |
| .................... uhel=STRED-55; |
| 0247: MOVLW 49 |
| 0248: MOVWF 2C |
| .................... FR;STOPL; // doleva |
| 0249: BSF 03.5 |
| 024A: BCF 05.7 |
| 024B: BCF 03.5 |
| 024C: BCF 05.7 |
| 024D: BSF 03.5 |
| 024E: BCF 05.6 |
| 024F: BCF 03.5 |
| 0250: BSF 05.6 |
| 0251: BSF 03.5 |
| 0252: BCF 05.0 |
| 0253: BCF 03.5 |
| 0254: BCF 05.0 |
| 0255: BSF 03.5 |
| 0256: BCF 05.1 |
| 0257: BCF 03.5 |
| 0258: BCF 05.1 |
| .................... delay_ms(250); |
| 0259: MOVLW FA |
| 025A: MOVWF 3A |
| 025B: CALL 065 |
| .................... |
| .................... line=L3; |
| 025C: MOVLW 03 |
| 025D: MOVWF 2B |
| .................... cikcak(); |
| 025E: CALL 07D |
| .................... } |
| 025F: BCF 0A.3 |
| 0260: GOTO 3D2 (RETURN) |
| .................... |
| .................... |
| .................... //////////////////////////////////////////////////////////////////////////////// |
| .................... void main() |
| .................... { |
| 0261: CLRF 04 |
| 0262: MOVLW 1F |
| 0263: ANDWF 03,F |
| 0264: MOVLW 70 |
| 0265: BSF 03.5 |
| 0266: MOVWF 0F |
| 0267: BCF 1F.4 |
| 0268: BCF 1F.5 |
| 0269: MOVF 1B,W |
| 026A: ANDLW 80 |
| 026B: MOVWF 1B |
| 026C: MOVLW 07 |
| 026D: MOVWF 1C |
| .................... |
| .................... unsigned int8 n; |
| .................... unsigned int8 i,j; |
| .................... unsigned int8 last_sensors; |
| .................... unsigned int8 RozumnaRychlost; |
| .................... |
| .................... setup_adc_ports(sAN5|sAN2|sAN4|sAN6|VSS_VDD); // AD pro kroutitka |
| * |
| 0270: BSF 03.5 |
| 0271: BCF 1F.4 |
| 0272: BCF 1F.5 |
| 0273: MOVF 1B,W |
| 0274: ANDLW 80 |
| 0275: IORLW 74 |
| 0276: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 0277: BCF 1F.6 |
| 0278: BCF 03.5 |
| 0279: BSF 1F.6 |
| 027A: BSF 1F.7 |
| 027B: BSF 03.5 |
| 027C: BCF 1F.7 |
| 027D: BCF 03.5 |
| 027E: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
| 027F: BCF 14.5 |
| 0280: BSF 03.5 |
| 0281: BCF 06.2 |
| 0282: BSF 06.1 |
| 0283: BCF 06.4 |
| 0284: MOVLW 31 |
| 0285: BCF 03.5 |
| 0286: MOVWF 14 |
| 0287: MOVLW 00 |
| 0288: BSF 03.5 |
| 0289: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 028A: MOVF 01,W |
| 028B: ANDLW C7 |
| 028C: IORLW 08 |
| 028D: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8); |
| 028E: MOVLW 30 |
| 028F: BCF 03.5 |
| 0290: MOVWF 10 |
| .................... setup_timer_2(T2_DIV_BY_16,140,16); |
| 0291: MOVLW 78 |
| 0292: MOVWF 78 |
| 0293: IORLW 06 |
| 0294: MOVWF 12 |
| 0295: MOVLW 8C |
| 0296: BSF 03.5 |
| 0297: MOVWF 12 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 0298: MOVLW 72 |
| 0299: MOVWF 0F |
| .................... |
| .................... STOPR; STOPL; // zastav motory |
| 029A: BCF 05.6 |
| 029B: BCF 03.5 |
| 029C: BCF 05.6 |
| 029D: BSF 03.5 |
| 029E: BCF 05.7 |
| 029F: BCF 03.5 |
| 02A0: BCF 05.7 |
| 02A1: BSF 03.5 |
| 02A2: BCF 05.0 |
| 02A3: BCF 03.5 |
| 02A4: BCF 05.0 |
| 02A5: BSF 03.5 |
| 02A6: BCF 05.1 |
| 02A7: BCF 03.5 |
| 02A8: BCF 05.1 |
| .................... Lmotor=0;Rmotor=0; |
| 02A9: CLRF 31 |
| 02AA: CLRF 30 |
| 02AB: CLRF 33 |
| 02AC: CLRF 32 |
| .................... |
| .................... uhel = STRED; // nastav zadni kolecko na stred |
| 02AD: MOVLW 80 |
| 02AE: MOVWF 2C |
| .................... rovinka = 0; |
| 02AF: CLRF 2F |
| .................... |
| .................... enable_interrupts(INT_TIMER2); |
| 02B0: BSF 03.5 |
| 02B1: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 02B2: MOVLW C0 |
| 02B3: BCF 03.5 |
| 02B4: IORWF 0B,F |
| .................... |
| .................... output_low(IRTX); // zapni IR vysilac |
| 02B5: BSF 03.5 |
| 02B6: BCF 06.2 |
| 02B7: BCF 03.5 |
| 02B8: BCF 06.2 |
| .................... |
| .................... delay_ms(2000); // musime pockat na diagnostiku slave CPU |
| 02B9: MOVLW 08 |
| 02BA: MOVWF 39 |
| 02BB: MOVLW FA |
| 02BC: MOVWF 3A |
| 02BD: CALL 065 |
| 02BE: DECFSZ 39,F |
| 02BF: GOTO 2BB |
| .................... |
| .................... //nastaveni rychlosti |
| .................... set_adc_channel(CERVENA); |
| 02C0: MOVLW 20 |
| 02C1: MOVWF 78 |
| 02C2: MOVF 1F,W |
| 02C3: ANDLW C7 |
| 02C4: IORWF 78,W |
| 02C5: MOVWF 1F |
| .................... |
| .................... Delay_ms(1); |
| 02C6: MOVLW 01 |
| 02C7: MOVWF 3A |
| 02C8: CALL 065 |
| .................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63 |
| 02C9: BSF 1F.2 |
| 02CA: BTFSC 1F.2 |
| 02CB: GOTO 2CA |
| 02CC: MOVF 1E,W |
| 02CD: MOVWF 77 |
| 02CE: RRF 77,F |
| 02CF: RRF 77,F |
| 02D0: MOVLW 3F |
| 02D1: ANDWF 77,F |
| 02D2: MOVF 77,W |
| 02D3: ADDLW 64 |
| 02D4: MOVWF 2D |
| .................... set_adc_channel(MODRA); |
| 02D5: MOVLW 10 |
| 02D6: MOVWF 78 |
| 02D7: MOVF 1F,W |
| 02D8: ANDLW C7 |
| 02D9: IORWF 78,W |
| 02DA: MOVWF 1F |
| .................... Delay_ms(1); |
| 02DB: MOVLW 01 |
| 02DC: MOVWF 3A |
| 02DD: CALL 065 |
| .................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63 |
| 02DE: MOVLW 20 |
| 02DF: SUBWF 2D,W |
| 02E0: MOVWF 39 |
| 02E1: BSF 1F.2 |
| 02E2: BTFSC 1F.2 |
| 02E3: GOTO 2E2 |
| 02E4: MOVF 1E,W |
| 02E5: MOVWF 77 |
| 02E6: RRF 77,F |
| 02E7: RRF 77,F |
| 02E8: MOVLW 3F |
| 02E9: ANDWF 77,F |
| 02EA: MOVF 77,W |
| 02EB: ADDWF 39,W |
| 02EC: MOVWF 2E |
| .................... |
| .................... RozumnaRychlost=speed; |
| 02ED: MOVF 2D,W |
| 02EE: MOVWF 38 |
| .................... |
| .................... while(true) |
| .................... { |
| .................... |
| .................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
| 02EF: MOVF 01,W |
| 02F0: BTFSS 00.7 |
| 02F1: GOTO 2F5 |
| 02F2: BTFSS 31.7 |
| 02F3: GOTO 2FD |
| 02F4: GOTO 2F7 |
| 02F5: BTFSC 31.7 |
| 02F6: GOTO 306 |
| 02F7: MOVF 31,F |
| 02F8: BTFSS 03.2 |
| 02F9: GOTO 2FD |
| 02FA: SUBWF 30,W |
| 02FB: BTFSS 03.0 |
| 02FC: GOTO 306 |
| 02FD: BSF 03.5 |
| 02FE: BCF 05.1 |
| 02FF: BCF 03.5 |
| 0300: BCF 05.1 |
| 0301: BSF 03.5 |
| 0302: BCF 05.0 |
| 0303: BCF 03.5 |
| 0304: BSF 05.0 |
| 0305: GOTO 30E |
| 0306: BSF 03.5 |
| 0307: BCF 05.0 |
| 0308: BCF 03.5 |
| 0309: BCF 05.0 |
| 030A: BSF 03.5 |
| 030B: BCF 05.1 |
| 030C: BCF 03.5 |
| 030D: BCF 05.1 |
| 030E: MOVF 01,W |
| 030F: BTFSS 00.7 |
| 0310: GOTO 314 |
| 0311: BTFSS 33.7 |
| 0312: GOTO 31C |
| 0313: GOTO 316 |
| 0314: BTFSC 33.7 |
| 0315: GOTO 325 |
| 0316: MOVF 33,F |
| 0317: BTFSS 03.2 |
| 0318: GOTO 31C |
| 0319: SUBWF 32,W |
| 031A: BTFSS 03.0 |
| 031B: GOTO 325 |
| 031C: BSF 03.5 |
| 031D: BCF 05.7 |
| 031E: BCF 03.5 |
| 031F: BCF 05.7 |
| 0320: BSF 03.5 |
| 0321: BCF 05.6 |
| 0322: BCF 03.5 |
| 0323: BSF 05.6 |
| 0324: GOTO 32D |
| 0325: BSF 03.5 |
| 0326: BCF 05.6 |
| 0327: BCF 03.5 |
| 0328: BCF 05.6 |
| 0329: BSF 03.5 |
| 032A: BCF 05.7 |
| 032B: BCF 03.5 |
| 032C: BCF 05.7 |
| .................... |
| .................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel |
| 032D: CLRWDT |
| 032E: MOVLW 01 |
| 032F: MOVWF 3A |
| 0330: CALL 065 |
| 0331: MOVLW 09 |
| 0332: MOVWF 39 |
| 0333: CLRF 29 |
| 0334: BTFSC 0B.7 |
| 0335: BSF 29.7 |
| 0336: BCF 0B.7 |
| 0337: MOVLW 6D |
| 0338: MOVWF 3D |
| 0339: CALL 037 |
| 033A: BTFSC 29.7 |
| 033B: BSF 0B.7 |
| 033C: DECFSZ 39,F |
| 033D: GOTO 333 |
| .................... |
| .................... last_sensors=sensors; |
| 033E: MOVF 2A,W |
| 033F: MOVWF 37 |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 0340: BSF 03.5 |
| 0341: BCF 06.0 |
| 0342: BCF 03.5 |
| 0343: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 0344: MOVF 13,W |
| 0345: CLRF 13 |
| 0346: BSF 03.5 |
| 0347: BTFSC 14.0 |
| 0348: GOTO 34B |
| 0349: BCF 03.5 |
| 034A: GOTO 346 |
| 034B: BCF 03.5 |
| 034C: MOVF 13,W |
| 034D: MOVWF 2A |
| .................... sensors=~sensors; // neguj prijata data |
| 034E: COMF 2A,F |
| .................... output_high(STROBE); // zobraz data na posuvnem registru |
| 034F: BSF 03.5 |
| 0350: BCF 06.0 |
| 0351: BCF 03.5 |
| 0352: BSF 06.0 |
| .................... |
| .................... i=0; // havarijni kod |
| 0353: CLRF 35 |
| .................... for (n=0; n<=6; n++) |
| 0354: CLRF 34 |
| 0355: MOVF 34,W |
| 0356: SUBLW 06 |
| 0357: BTFSS 03.0 |
| 0358: GOTO 367 |
| .................... { |
| .................... if(bit_test(sensors,n)) i++; |
| 0359: MOVF 2A,W |
| 035A: MOVWF 77 |
| 035B: MOVF 34,W |
| 035C: MOVWF 78 |
| 035D: BTFSC 03.2 |
| 035E: GOTO 363 |
| 035F: BCF 03.0 |
| 0360: RRF 77,F |
| 0361: DECFSZ 78,F |
| 0362: GOTO 35F |
| 0363: BTFSC 77.0 |
| 0364: INCF 35,F |
| .................... } |
| 0365: INCF 34,F |
| 0366: GOTO 355 |
| .................... if (i>3) // zastavi, kdyz je cerno pod vice nez tremi cidly |
| 0367: MOVF 35,W |
| 0368: SUBLW 03 |
| 0369: BTFSC 03.0 |
| 036A: GOTO 393 |
| .................... { |
| .................... BL; BR; |
| 036B: BSF 03.5 |
| 036C: BCF 05.0 |
| 036D: BCF 03.5 |
| 036E: BCF 05.0 |
| 036F: BSF 03.5 |
| 0370: BCF 05.1 |
| 0371: BCF 03.5 |
| 0372: BSF 05.1 |
| 0373: BSF 03.5 |
| 0374: BCF 05.6 |
| 0375: BCF 03.5 |
| 0376: BCF 05.6 |
| 0377: BSF 03.5 |
| 0378: BCF 05.7 |
| 0379: BCF 03.5 |
| 037A: BSF 05.7 |
| .................... delay_ms(300); |
| 037B: MOVLW 02 |
| 037C: MOVWF 39 |
| 037D: MOVLW 96 |
| 037E: MOVWF 3A |
| 037F: CALL 065 |
| 0380: DECFSZ 39,F |
| 0381: GOTO 37D |
| .................... STOPR; STOPL; |
| 0382: BSF 03.5 |
| 0383: BCF 05.6 |
| 0384: BCF 03.5 |
| 0385: BCF 05.6 |
| 0386: BSF 03.5 |
| 0387: BCF 05.7 |
| 0388: BCF 03.5 |
| 0389: BCF 05.7 |
| 038A: BSF 03.5 |
| 038B: BCF 05.0 |
| 038C: BCF 03.5 |
| 038D: BCF 05.0 |
| 038E: BSF 03.5 |
| 038F: BCF 05.1 |
| 0390: BCF 03.5 |
| 0391: BCF 05.1 |
| .................... While(true); |
| 0392: GOTO 392 |
| .................... }; |
| .................... |
| .................... if (!input(CIHLA)) // dalkova detekce cihly |
| 0393: BSF 03.5 |
| 0394: BSF 05.3 |
| 0395: BCF 03.5 |
| 0396: BTFSC 05.3 |
| 0397: GOTO 39B |
| .................... { |
| .................... speed=100; |
| 0398: MOVLW 64 |
| 0399: MOVWF 2D |
| .................... } |
| .................... else |
| 039A: GOTO 39D |
| .................... { |
| .................... speed=RozumnaRychlost; |
| 039B: MOVF 38,W |
| 039C: MOVWF 2D |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,7)) // detekce cihly |
| 039D: BTFSS 2A.7 |
| 039E: GOTO 3D2 |
| .................... { |
| .................... BR;BL; |
| 039F: BSF 03.5 |
| 03A0: BCF 05.6 |
| 03A1: BCF 03.5 |
| 03A2: BCF 05.6 |
| 03A3: BSF 03.5 |
| 03A4: BCF 05.7 |
| 03A5: BCF 03.5 |
| 03A6: BSF 05.7 |
| 03A7: BSF 03.5 |
| 03A8: BCF 05.0 |
| 03A9: BCF 03.5 |
| 03AA: BCF 05.0 |
| 03AB: BSF 03.5 |
| 03AC: BCF 05.1 |
| 03AD: BCF 03.5 |
| 03AE: BSF 05.1 |
| .................... Delay_ms(400); |
| 03AF: MOVLW 02 |
| 03B0: MOVWF 39 |
| 03B1: MOVLW C8 |
| 03B2: MOVWF 3A |
| 03B3: CALL 065 |
| 03B4: DECFSZ 39,F |
| 03B5: GOTO 3B1 |
| .................... STOPR;STOPL; |
| 03B6: BSF 03.5 |
| 03B7: BCF 05.6 |
| 03B8: BCF 03.5 |
| 03B9: BCF 05.6 |
| 03BA: BSF 03.5 |
| 03BB: BCF 05.7 |
| 03BC: BCF 03.5 |
| 03BD: BCF 05.7 |
| 03BE: BSF 03.5 |
| 03BF: BCF 05.0 |
| 03C0: BCF 03.5 |
| 03C1: BCF 05.0 |
| 03C2: BSF 03.5 |
| 03C3: BCF 05.1 |
| 03C4: BCF 03.5 |
| 03C5: BCF 05.1 |
| .................... Delay_ms(100); |
| 03C6: MOVLW 64 |
| 03C7: MOVWF 3A |
| 03C8: CALL 065 |
| .................... cikcak(); |
| 03C9: CALL 07D |
| .................... delay_ms(500); |
| 03CA: MOVLW 02 |
| 03CB: MOVWF 39 |
| 03CC: MOVLW FA |
| 03CD: MOVWF 3A |
| 03CE: CALL 065 |
| 03CF: DECFSZ 39,F |
| 03D0: GOTO 3CC |
| .................... objizdka(); // objede cihlu |
| 03D1: GOTO 172 |
| .................... } |
| .................... |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 03D2: BTFSS 2A.3 |
| 03D3: GOTO 3E6 |
| .................... { |
| .................... uhel=STRED; |
| 03D4: MOVLW 80 |
| 03D5: MOVWF 2C |
| .................... Lmotor=speed; |
| 03D6: CLRF 7A |
| 03D7: MOVF 2D,W |
| 03D8: MOVWF 30 |
| 03D9: MOVF 7A,W |
| 03DA: MOVWF 31 |
| .................... Rmotor=speed; |
| 03DB: CLRF 7A |
| 03DC: MOVF 2D,W |
| 03DD: MOVWF 32 |
| 03DE: MOVF 7A,W |
| 03DF: MOVWF 33 |
| .................... line=S; |
| 03E0: CLRF 2B |
| .................... if (rovinka < 255) rovinka++; |
| 03E1: INCFSZ 2F,W |
| 03E2: GOTO 3E4 |
| 03E3: GOTO 3E5 |
| 03E4: INCF 2F,F |
| .................... // if (speed > R) speed--; |
| .................... continue; |
| 03E5: GOTO 2EF |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 03E6: BTFSS 2A.0 |
| 03E7: GOTO 3F4 |
| .................... { |
| .................... uhel=STRED - BEAR3; |
| 03E8: MOVLW 53 |
| 03E9: MOVWF 2C |
| .................... Lmotor=0; |
| 03EA: CLRF 31 |
| 03EB: CLRF 30 |
| .................... Rmotor=turn; |
| 03EC: CLRF 7A |
| 03ED: MOVF 2E,W |
| 03EE: MOVWF 32 |
| 03EF: MOVF 7A,W |
| 03F0: MOVWF 33 |
| .................... line=L3; |
| 03F1: MOVLW 03 |
| 03F2: MOVWF 2B |
| .................... // if (speed > R) speed--; |
| .................... continue; |
| 03F3: GOTO 2EF |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 03F4: BTFSS 2A.6 |
| 03F5: GOTO 402 |
| .................... { |
| .................... uhel=STRED + BEAR3; |
| 03F6: MOVLW AD |
| 03F7: MOVWF 2C |
| .................... Rmotor=0; |
| 03F8: CLRF 33 |
| 03F9: CLRF 32 |
| .................... Lmotor=turn; |
| 03FA: CLRF 7A |
| 03FB: MOVF 2E,W |
| 03FC: MOVWF 30 |
| 03FD: MOVF 7A,W |
| 03FE: MOVWF 31 |
| .................... line=R3; |
| 03FF: MOVLW FD |
| 0400: MOVWF 2B |
| .................... // if (speed > R) speed--; |
| .................... continue; |
| 0401: GOTO 2EF |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 0402: BTFSS 2A.1 |
| 0403: GOTO 414 |
| .................... { |
| .................... uhel=STRED - BEAR2; |
| 0404: MOVLW 67 |
| 0405: MOVWF 2C |
| .................... Lmotor=speed-50; |
| 0406: MOVLW 32 |
| 0407: SUBWF 2D,W |
| 0408: CLRF 7A |
| 0409: MOVWF 30 |
| 040A: MOVF 7A,W |
| 040B: MOVWF 31 |
| .................... Rmotor=speed; |
| 040C: CLRF 7A |
| 040D: MOVF 2D,W |
| 040E: MOVWF 32 |
| 040F: MOVF 7A,W |
| 0410: MOVWF 33 |
| .................... line=L2; |
| 0411: MOVLW 02 |
| 0412: MOVWF 2B |
| .................... // if (speed > R) speed--; |
| .................... continue; |
| 0413: GOTO 2EF |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 0414: BTFSS 2A.5 |
| 0415: GOTO 426 |
| .................... { |
| .................... uhel=STRED + BEAR2; |
| 0416: MOVLW 99 |
| 0417: MOVWF 2C |
| .................... Rmotor=speed-50; |
| 0418: MOVLW 32 |
| 0419: SUBWF 2D,W |
| 041A: CLRF 7A |
| 041B: MOVWF 32 |
| 041C: MOVF 7A,W |
| 041D: MOVWF 33 |
| .................... Lmotor=speed; |
| 041E: CLRF 7A |
| 041F: MOVF 2D,W |
| 0420: MOVWF 30 |
| 0421: MOVF 7A,W |
| 0422: MOVWF 31 |
| .................... line=R2; |
| 0423: MOVLW FE |
| 0424: MOVWF 2B |
| .................... // if (speed > R) speed--; |
| .................... continue; |
| 0425: GOTO 2EF |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 0426: BTFSS 2A.2 |
| 0427: GOTO 43B |
| .................... { |
| .................... uhel=STRED - BEAR1; |
| 0428: MOVLW 76 |
| 0429: MOVWF 2C |
| .................... Lmotor=speed; |
| 042A: CLRF 7A |
| 042B: MOVF 2D,W |
| 042C: MOVWF 30 |
| 042D: MOVF 7A,W |
| 042E: MOVWF 31 |
| .................... Rmotor=speed; |
| 042F: CLRF 7A |
| 0430: MOVF 2D,W |
| 0431: MOVWF 32 |
| 0432: MOVF 7A,W |
| 0433: MOVWF 33 |
| .................... line=L2; |
| 0434: MOVLW 02 |
| 0435: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 0436: INCFSZ 2F,W |
| 0437: GOTO 439 |
| 0438: GOTO 43A |
| 0439: INCF 2F,F |
| .................... // if (speed > R) speed--; |
| .................... continue; |
| 043A: GOTO 2EF |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 043B: BTFSS 2A.4 |
| 043C: GOTO 450 |
| .................... { |
| .................... uhel=STRED + BEAR1; |
| 043D: MOVLW 8A |
| 043E: MOVWF 2C |
| .................... Rmotor=speed; |
| 043F: CLRF 7A |
| 0440: MOVF 2D,W |
| 0441: MOVWF 32 |
| 0442: MOVF 7A,W |
| 0443: MOVWF 33 |
| .................... Lmotor=speed; |
| 0444: CLRF 7A |
| 0445: MOVF 2D,W |
| 0446: MOVWF 30 |
| 0447: MOVF 7A,W |
| 0448: MOVWF 31 |
| .................... line=L2; |
| 0449: MOVLW 02 |
| 044A: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 044B: INCFSZ 2F,W |
| 044C: GOTO 44E |
| 044D: GOTO 44F |
| 044E: INCF 2F,F |
| .................... // if (speed > R) speed--; |
| .................... continue; |
| 044F: GOTO 2EF |
| .................... } |
| .................... |
| .................... |
| .................... if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate |
| 0450: MOVF 2B,W |
| 0451: SUBLW 03 |
| 0452: BTFSC 03.2 |
| 0453: GOTO 458 |
| 0454: MOVF 2B,W |
| 0455: SUBLW FD |
| 0456: BTFSS 03.2 |
| 0457: GOTO 47B |
| .................... { |
| .................... if (rovinka>50) |
| 0458: MOVF 2F,W |
| 0459: SUBLW 32 |
| 045A: BTFSC 03.0 |
| 045B: GOTO 47A |
| .................... { |
| .................... BL; BR; |
| 045C: BSF 03.5 |
| 045D: BCF 05.0 |
| 045E: BCF 03.5 |
| 045F: BCF 05.0 |
| 0460: BSF 03.5 |
| 0461: BCF 05.1 |
| 0462: BCF 03.5 |
| 0463: BSF 05.1 |
| 0464: BSF 03.5 |
| 0465: BCF 05.6 |
| 0466: BCF 03.5 |
| 0467: BCF 05.6 |
| 0468: BSF 03.5 |
| 0469: BCF 05.7 |
| 046A: BCF 03.5 |
| 046B: BSF 05.7 |
| .................... Delay_ms(100); |
| 046C: MOVLW 64 |
| 046D: MOVWF 3A |
| 046E: CALL 065 |
| .................... if (rovinka > 250 || speed > 170) delay_ms(50); |
| 046F: MOVF 2F,W |
| 0470: SUBLW FA |
| 0471: BTFSS 03.0 |
| 0472: GOTO 477 |
| 0473: MOVF 2D,W |
| 0474: SUBLW AA |
| 0475: BTFSC 03.0 |
| 0476: GOTO 47A |
| 0477: MOVLW 32 |
| 0478: MOVWF 3A |
| 0479: CALL 065 |
| .................... }; |
| .................... rovinka=0; |
| 047A: CLRF 2F |
| .................... // speed=R17; |
| .................... }; |
| .................... } |
| 047B: GOTO 2EF |
| .................... } |
| 047C: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |