| 0,0 → 1,911 |
|---|
| CCS PCM C Compiler, Version 3.245, 27853 12-V-06 23:56 |
| |
| Filename: D:\KAKLIK\roboti\istrobot\3Orbis\vystava\main.lst |
| |
| ROM used: 646 words (16%) |
| Largest free fragment is 2048 |
| RAM used: 32 (18%) at main() level |
| 35 (20%) worst case |
| Stack: 3 worst case (1 in main + 2 for interrupts) |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 07D |
| 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 // 3 stupne zataceni |
| .................... #define BEAR2 25 |
| .................... #define BEAR3 45 |
| .................... #define R 100 // Rozumna rychlost |
| .................... #define R17 200 // X nasobek rozumne rychlosti |
| .................... #define PRED_CIHLOU 100 // rychlost pri dalkove detekci cihly |
| .................... #define L2 2 // cara vlevo |
| .................... #define L3 3 // cara vlevo |
| .................... #define S 0 // cara mezi sensory |
| .................... #define R2 -2 // cara vpravo |
| .................... #define R3 -3 // cara vpravo |
| .................... |
| .................... // servo |
| .................... #define SERVO PIN_B5 |
| .................... |
| .................... // kroutitka |
| .................... #define CERVENA 4 // AN4 |
| .................... #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 |
| .................... |
| .................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
| .................... signed int8 line = S; // na ktere strane byla detekovana cara |
| * |
| 008A: BCF 03.5 |
| 008B: CLRF 2B |
| .................... 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 |
| .................... void main() |
| .................... { |
| * |
| 007D: CLRF 04 |
| 007E: MOVLW 1F |
| 007F: ANDWF 03,F |
| 0080: MOVLW 70 |
| 0081: BSF 03.5 |
| 0082: MOVWF 0F |
| 0083: BCF 1F.4 |
| 0084: BCF 1F.5 |
| 0085: MOVF 1B,W |
| 0086: ANDLW 80 |
| 0087: MOVWF 1B |
| 0088: MOVLW 07 |
| 0089: 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 |
| * |
| 008C: BSF 03.5 |
| 008D: BCF 1F.4 |
| 008E: BCF 1F.5 |
| 008F: MOVF 1B,W |
| 0090: ANDLW 80 |
| 0091: IORLW 74 |
| 0092: MOVWF 1B |
| .................... setup_adc(ADC_CLOCK_INTERNAL); |
| 0093: BCF 1F.6 |
| 0094: BCF 03.5 |
| 0095: BSF 1F.6 |
| 0096: BSF 1F.7 |
| 0097: BSF 03.5 |
| 0098: BCF 1F.7 |
| 0099: BCF 03.5 |
| 009A: BSF 1F.0 |
| .................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); |
| 009B: BCF 14.5 |
| 009C: BSF 03.5 |
| 009D: BCF 06.2 |
| 009E: BSF 06.1 |
| 009F: BCF 06.4 |
| 00A0: MOVLW 31 |
| 00A1: BCF 03.5 |
| 00A2: MOVWF 14 |
| 00A3: MOVLW 00 |
| 00A4: BSF 03.5 |
| 00A5: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 00A6: MOVF 01,W |
| 00A7: ANDLW C7 |
| 00A8: IORLW 08 |
| 00A9: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED|T1_DIV_BY_8); |
| 00AA: MOVLW 30 |
| 00AB: BCF 03.5 |
| 00AC: MOVWF 10 |
| .................... setup_timer_2(T2_DIV_BY_16,140,16); |
| 00AD: MOVLW 78 |
| 00AE: MOVWF 78 |
| 00AF: IORLW 06 |
| 00B0: MOVWF 12 |
| 00B1: MOVLW 8C |
| 00B2: BSF 03.5 |
| 00B3: MOVWF 12 |
| .................... setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| 00B4: MOVLW 72 |
| 00B5: MOVWF 0F |
| .................... |
| .................... STOPR; STOPL; // zastav motory |
| 00B6: BCF 05.6 |
| 00B7: BCF 03.5 |
| 00B8: BCF 05.6 |
| 00B9: BSF 03.5 |
| 00BA: BCF 05.7 |
| 00BB: BCF 03.5 |
| 00BC: BCF 05.7 |
| 00BD: BSF 03.5 |
| 00BE: BCF 05.0 |
| 00BF: BCF 03.5 |
| 00C0: BCF 05.0 |
| 00C1: BSF 03.5 |
| 00C2: BCF 05.1 |
| 00C3: BCF 03.5 |
| 00C4: BCF 05.1 |
| .................... Lmotor=0;Rmotor=0; |
| 00C5: CLRF 31 |
| 00C6: CLRF 30 |
| 00C7: CLRF 33 |
| 00C8: CLRF 32 |
| .................... |
| .................... uhel = STRED; // nastav zadni kolecko na stred |
| 00C9: MOVLW 80 |
| 00CA: MOVWF 2C |
| .................... rovinka = 0; |
| 00CB: CLRF 2F |
| .................... |
| .................... enable_interrupts(INT_TIMER2); |
| 00CC: BSF 03.5 |
| 00CD: BSF 0C.1 |
| .................... enable_interrupts(GLOBAL); |
| 00CE: MOVLW C0 |
| 00CF: BCF 03.5 |
| 00D0: IORWF 0B,F |
| .................... |
| .................... output_low(IRTX); // zapni IR vysilac |
| 00D1: BSF 03.5 |
| 00D2: BCF 06.2 |
| 00D3: BCF 03.5 |
| 00D4: BCF 06.2 |
| .................... |
| .................... delay_ms(2000); // musime pockat na diagnostiku slave CPU |
| 00D5: MOVLW 08 |
| 00D6: MOVWF 39 |
| 00D7: MOVLW FA |
| 00D8: MOVWF 3A |
| 00D9: CALL 065 |
| 00DA: DECFSZ 39,F |
| 00DB: GOTO 0D7 |
| .................... |
| .................... //nastaveni rychlosti |
| .................... set_adc_channel(CERVENA); |
| 00DC: MOVLW 20 |
| 00DD: MOVWF 78 |
| 00DE: MOVF 1F,W |
| 00DF: ANDLW C7 |
| 00E0: IORWF 78,W |
| 00E1: MOVWF 1F |
| .................... |
| .................... Delay_ms(1); |
| 00E2: MOVLW 01 |
| 00E3: MOVWF 3A |
| 00E4: CALL 065 |
| .................... speed=R+(read_adc()>>2); // rychlost rovne +63; kroutitko dava 0-63 |
| 00E5: BSF 1F.2 |
| 00E6: BTFSC 1F.2 |
| 00E7: GOTO 0E6 |
| 00E8: MOVF 1E,W |
| 00E9: MOVWF 77 |
| 00EA: RRF 77,F |
| 00EB: RRF 77,F |
| 00EC: MOVLW 3F |
| 00ED: ANDWF 77,F |
| 00EE: MOVF 77,W |
| 00EF: ADDLW 64 |
| 00F0: MOVWF 2D |
| .................... set_adc_channel(MODRA); |
| 00F1: MOVLW 10 |
| 00F2: MOVWF 78 |
| 00F3: MOVF 1F,W |
| 00F4: ANDLW C7 |
| 00F5: IORWF 78,W |
| 00F6: MOVWF 1F |
| .................... Delay_ms(1); |
| 00F7: MOVLW 01 |
| 00F8: MOVWF 3A |
| 00F9: CALL 065 |
| .................... turn=speed-32+(read_adc()>>2); // rychlost toceni +-32; kroutitko dava 0-63 |
| 00FA: MOVLW 20 |
| 00FB: SUBWF 2D,W |
| 00FC: MOVWF 39 |
| 00FD: BSF 1F.2 |
| 00FE: BTFSC 1F.2 |
| 00FF: GOTO 0FE |
| 0100: MOVF 1E,W |
| 0101: MOVWF 77 |
| 0102: RRF 77,F |
| 0103: RRF 77,F |
| 0104: MOVLW 3F |
| 0105: ANDWF 77,F |
| 0106: MOVF 77,W |
| 0107: ADDWF 39,W |
| 0108: MOVWF 2E |
| .................... |
| .................... |
| .................... while(true) |
| .................... { |
| .................... |
| .................... GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor |
| 0109: MOVF 01,W |
| 010A: BTFSS 00.7 |
| 010B: GOTO 10F |
| 010C: BTFSS 31.7 |
| 010D: GOTO 117 |
| 010E: GOTO 111 |
| 010F: BTFSC 31.7 |
| 0110: GOTO 120 |
| 0111: MOVF 31,F |
| 0112: BTFSS 03.2 |
| 0113: GOTO 117 |
| 0114: SUBWF 30,W |
| 0115: BTFSS 03.0 |
| 0116: GOTO 120 |
| 0117: BSF 03.5 |
| 0118: BCF 05.1 |
| 0119: BCF 03.5 |
| 011A: BCF 05.1 |
| 011B: BSF 03.5 |
| 011C: BCF 05.0 |
| 011D: BCF 03.5 |
| 011E: BSF 05.0 |
| 011F: GOTO 128 |
| 0120: BSF 03.5 |
| 0121: BCF 05.0 |
| 0122: BCF 03.5 |
| 0123: BCF 05.0 |
| 0124: BSF 03.5 |
| 0125: BCF 05.1 |
| 0126: BCF 03.5 |
| 0127: BCF 05.1 |
| 0128: MOVF 01,W |
| 0129: BTFSS 00.7 |
| 012A: GOTO 12E |
| 012B: BTFSS 33.7 |
| 012C: GOTO 136 |
| 012D: GOTO 130 |
| 012E: BTFSC 33.7 |
| 012F: GOTO 13F |
| 0130: MOVF 33,F |
| 0131: BTFSS 03.2 |
| 0132: GOTO 136 |
| 0133: SUBWF 32,W |
| 0134: BTFSS 03.0 |
| 0135: GOTO 13F |
| 0136: BSF 03.5 |
| 0137: BCF 05.7 |
| 0138: BCF 03.5 |
| 0139: BCF 05.7 |
| 013A: BSF 03.5 |
| 013B: BCF 05.6 |
| 013C: BCF 03.5 |
| 013D: BSF 05.6 |
| 013E: GOTO 147 |
| 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: BCF 05.7 |
| .................... |
| .................... delay_us(2000); // cekani na SLAVE, nez pripravi data od cidel |
| 0147: CLRWDT |
| 0148: MOVLW 01 |
| 0149: MOVWF 3A |
| 014A: CALL 065 |
| 014B: MOVLW 09 |
| 014C: MOVWF 39 |
| 014D: CLRF 29 |
| 014E: BTFSC 0B.7 |
| 014F: BSF 29.7 |
| 0150: BCF 0B.7 |
| 0151: MOVLW 6D |
| 0152: MOVWF 3D |
| 0153: CALL 037 |
| 0154: BTFSC 29.7 |
| 0155: BSF 0B.7 |
| 0156: DECFSZ 39,F |
| 0157: GOTO 14D |
| .................... |
| .................... last_sensors=sensors; |
| 0158: MOVF 2A,W |
| 0159: MOVWF 37 |
| .................... |
| .................... output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| 015A: BSF 03.5 |
| 015B: BCF 06.0 |
| 015C: BCF 03.5 |
| 015D: BCF 06.0 |
| .................... sensors = spi_read(0); // cteni senzoru |
| 015E: MOVF 13,W |
| 015F: CLRF 13 |
| 0160: BSF 03.5 |
| 0161: BTFSC 14.0 |
| 0162: GOTO 165 |
| 0163: BCF 03.5 |
| 0164: GOTO 160 |
| 0165: BCF 03.5 |
| 0166: MOVF 13,W |
| 0167: MOVWF 2A |
| .................... sensors=~sensors; // neguj prijata data |
| 0168: COMF 2A,F |
| .................... output_high(STROBE); // zobraz data na posuvnem registru |
| 0169: BSF 03.5 |
| 016A: BCF 06.0 |
| 016B: BCF 03.5 |
| 016C: BSF 06.0 |
| .................... |
| .................... i=0; // havarijni kod |
| 016D: CLRF 35 |
| .................... for (n=0; n<=6; n++) |
| 016E: CLRF 34 |
| 016F: MOVF 34,W |
| 0170: SUBLW 06 |
| 0171: BTFSS 03.0 |
| 0172: GOTO 181 |
| .................... { |
| .................... if(bit_test(sensors,n)) i++; |
| 0173: MOVF 2A,W |
| 0174: MOVWF 77 |
| 0175: MOVF 34,W |
| 0176: MOVWF 78 |
| 0177: BTFSC 03.2 |
| 0178: GOTO 17D |
| 0179: BCF 03.0 |
| 017A: RRF 77,F |
| 017B: DECFSZ 78,F |
| 017C: GOTO 179 |
| 017D: BTFSC 77.0 |
| 017E: INCF 35,F |
| .................... } |
| 017F: INCF 34,F |
| 0180: GOTO 16F |
| .................... if (i>4) // zastavi, kdyz je cerno pod vice nez tremi cidly |
| 0181: MOVF 35,W |
| 0182: SUBLW 04 |
| 0183: BTFSC 03.0 |
| 0184: GOTO 1AD |
| .................... { |
| .................... BL; BR; |
| 0185: BSF 03.5 |
| 0186: BCF 05.0 |
| 0187: BCF 03.5 |
| 0188: BCF 05.0 |
| 0189: BSF 03.5 |
| 018A: BCF 05.1 |
| 018B: BCF 03.5 |
| 018C: BSF 05.1 |
| 018D: BSF 03.5 |
| 018E: BCF 05.6 |
| 018F: BCF 03.5 |
| 0190: BCF 05.6 |
| 0191: BSF 03.5 |
| 0192: BCF 05.7 |
| 0193: BCF 03.5 |
| 0194: BSF 05.7 |
| .................... delay_ms(300); |
| 0195: MOVLW 02 |
| 0196: MOVWF 39 |
| 0197: MOVLW 96 |
| 0198: MOVWF 3A |
| 0199: CALL 065 |
| 019A: DECFSZ 39,F |
| 019B: GOTO 197 |
| .................... STOPR; STOPL; |
| 019C: BSF 03.5 |
| 019D: BCF 05.6 |
| 019E: BCF 03.5 |
| 019F: BCF 05.6 |
| 01A0: BSF 03.5 |
| 01A1: BCF 05.7 |
| 01A2: BCF 03.5 |
| 01A3: BCF 05.7 |
| 01A4: BSF 03.5 |
| 01A5: BCF 05.0 |
| 01A6: BCF 03.5 |
| 01A7: BCF 05.0 |
| 01A8: BSF 03.5 |
| 01A9: BCF 05.1 |
| 01AA: BCF 03.5 |
| 01AB: BCF 05.1 |
| .................... While(true); |
| 01AC: GOTO 1AC |
| .................... }; |
| .................... |
| .................... if (bit_test(sensors,7)) // detekce cihly |
| 01AD: BTFSS 2A.7 |
| 01AE: GOTO 1D9 |
| .................... { |
| .................... BR;BL; |
| 01AF: BSF 03.5 |
| 01B0: BCF 05.6 |
| 01B1: BCF 03.5 |
| 01B2: BCF 05.6 |
| 01B3: BSF 03.5 |
| 01B4: BCF 05.7 |
| 01B5: BCF 03.5 |
| 01B6: BSF 05.7 |
| 01B7: BSF 03.5 |
| 01B8: BCF 05.0 |
| 01B9: BCF 03.5 |
| 01BA: BCF 05.0 |
| 01BB: BSF 03.5 |
| 01BC: BCF 05.1 |
| 01BD: BCF 03.5 |
| 01BE: BSF 05.1 |
| .................... Delay_ms(100); |
| 01BF: MOVLW 64 |
| 01C0: MOVWF 3A |
| 01C1: CALL 065 |
| .................... STOPR;STOPL; |
| 01C2: BSF 03.5 |
| 01C3: BCF 05.6 |
| 01C4: BCF 03.5 |
| 01C5: BCF 05.6 |
| 01C6: BSF 03.5 |
| 01C7: BCF 05.7 |
| 01C8: BCF 03.5 |
| 01C9: BCF 05.7 |
| 01CA: BSF 03.5 |
| 01CB: BCF 05.0 |
| 01CC: BCF 03.5 |
| 01CD: BCF 05.0 |
| 01CE: BSF 03.5 |
| 01CF: BCF 05.1 |
| 01D0: BCF 03.5 |
| 01D1: BCF 05.1 |
| .................... Delay_ms(1000); |
| 01D2: MOVLW 04 |
| 01D3: MOVWF 39 |
| 01D4: MOVLW FA |
| 01D5: MOVWF 3A |
| 01D6: CALL 065 |
| 01D7: DECFSZ 39,F |
| 01D8: GOTO 1D4 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| 01D9: BTFSS 2A.0 |
| 01DA: GOTO 1E7 |
| .................... { |
| .................... uhel=STRED - BEAR3; |
| 01DB: MOVLW 53 |
| 01DC: MOVWF 2C |
| .................... Lmotor=0; |
| 01DD: CLRF 31 |
| 01DE: CLRF 30 |
| .................... Rmotor=turn; |
| 01DF: CLRF 7A |
| 01E0: MOVF 2E,W |
| 01E1: MOVWF 32 |
| 01E2: MOVF 7A,W |
| 01E3: MOVWF 33 |
| .................... line=L3; |
| 01E4: MOVLW 03 |
| 01E5: MOVWF 2B |
| .................... continue; |
| 01E6: GOTO 109 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,6)) //......|// |
| 01E7: BTFSS 2A.6 |
| 01E8: GOTO 1F5 |
| .................... { |
| .................... uhel=STRED + BEAR3; |
| 01E9: MOVLW AD |
| 01EA: MOVWF 2C |
| .................... Rmotor=0; |
| 01EB: CLRF 33 |
| 01EC: CLRF 32 |
| .................... Lmotor=turn; |
| 01ED: CLRF 7A |
| 01EE: MOVF 2E,W |
| 01EF: MOVWF 30 |
| 01F0: MOVF 7A,W |
| 01F1: MOVWF 31 |
| .................... line=R3; |
| 01F2: MOVLW FD |
| 01F3: MOVWF 2B |
| .................... continue; |
| 01F4: GOTO 109 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,1)) //.|.....// |
| 01F5: BTFSS 2A.1 |
| 01F6: GOTO 207 |
| .................... { |
| .................... uhel=STRED - BEAR2; |
| 01F7: MOVLW 67 |
| 01F8: MOVWF 2C |
| .................... Lmotor=speed-70; |
| 01F9: MOVLW 46 |
| 01FA: SUBWF 2D,W |
| 01FB: CLRF 7A |
| 01FC: MOVWF 30 |
| 01FD: MOVF 7A,W |
| 01FE: MOVWF 31 |
| .................... Rmotor=speed; |
| 01FF: CLRF 7A |
| 0200: MOVF 2D,W |
| 0201: MOVWF 32 |
| 0202: MOVF 7A,W |
| 0203: MOVWF 33 |
| .................... line=L2; |
| 0204: MOVLW 02 |
| 0205: MOVWF 2B |
| .................... continue; |
| 0206: GOTO 109 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,5)) //.....|.// |
| 0207: BTFSS 2A.5 |
| 0208: GOTO 219 |
| .................... { |
| .................... uhel=STRED + BEAR2; |
| 0209: MOVLW 99 |
| 020A: MOVWF 2C |
| .................... Rmotor=speed-70; |
| 020B: MOVLW 46 |
| 020C: SUBWF 2D,W |
| 020D: CLRF 7A |
| 020E: MOVWF 32 |
| 020F: MOVF 7A,W |
| 0210: MOVWF 33 |
| .................... Lmotor=speed; |
| 0211: CLRF 7A |
| 0212: MOVF 2D,W |
| 0213: MOVWF 30 |
| 0214: MOVF 7A,W |
| 0215: MOVWF 31 |
| .................... line=R2; |
| 0216: MOVLW FE |
| 0217: MOVWF 2B |
| .................... continue; |
| 0218: GOTO 109 |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,2)) //..|....// |
| 0219: BTFSS 2A.2 |
| 021A: GOTO 22F |
| .................... { |
| .................... uhel=STRED - BEAR1; |
| 021B: MOVLW 76 |
| 021C: MOVWF 2C |
| .................... Lmotor=speed-20; |
| 021D: MOVLW 14 |
| 021E: SUBWF 2D,W |
| 021F: CLRF 7A |
| 0220: MOVWF 30 |
| 0221: MOVF 7A,W |
| 0222: MOVWF 31 |
| .................... Rmotor=speed; |
| 0223: CLRF 7A |
| 0224: MOVF 2D,W |
| 0225: MOVWF 32 |
| 0226: MOVF 7A,W |
| 0227: MOVWF 33 |
| .................... line=L2; |
| 0228: MOVLW 02 |
| 0229: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 022A: INCFSZ 2F,W |
| 022B: GOTO 22D |
| 022C: GOTO 22E |
| 022D: INCF 2F,F |
| .................... continue; |
| 022E: GOTO 109 |
| .................... } |
| .................... |
| .................... if (bit_test(sensors,4)) //....|..// |
| 022F: BTFSS 2A.4 |
| 0230: GOTO 245 |
| .................... { |
| .................... uhel=STRED + BEAR1; |
| 0231: MOVLW 8A |
| 0232: MOVWF 2C |
| .................... Rmotor=speed-20; |
| 0233: MOVLW 14 |
| 0234: SUBWF 2D,W |
| 0235: CLRF 7A |
| 0236: MOVWF 32 |
| 0237: MOVF 7A,W |
| 0238: MOVWF 33 |
| .................... Lmotor=speed; |
| 0239: CLRF 7A |
| 023A: MOVF 2D,W |
| 023B: MOVWF 30 |
| 023C: MOVF 7A,W |
| 023D: MOVWF 31 |
| .................... line=L2; |
| 023E: MOVLW 02 |
| 023F: MOVWF 2B |
| .................... if (rovinka<255) rovinka++; |
| 0240: INCFSZ 2F,W |
| 0241: GOTO 243 |
| 0242: GOTO 244 |
| 0243: INCF 2F,F |
| .................... continue; |
| 0244: GOTO 109 |
| .................... } |
| .................... |
| .................... if(bit_test(sensors,3)) //...|...// |
| 0245: BTFSS 2A.3 |
| 0246: GOTO 259 |
| .................... { |
| .................... uhel=STRED; |
| 0247: MOVLW 80 |
| 0248: MOVWF 2C |
| .................... Lmotor=speed; |
| 0249: CLRF 7A |
| 024A: MOVF 2D,W |
| 024B: MOVWF 30 |
| 024C: MOVF 7A,W |
| 024D: MOVWF 31 |
| .................... Rmotor=speed; |
| 024E: CLRF 7A |
| 024F: MOVF 2D,W |
| 0250: MOVWF 32 |
| 0251: MOVF 7A,W |
| 0252: MOVWF 33 |
| .................... line=S; |
| 0253: CLRF 2B |
| .................... if (rovinka < 255) rovinka++; |
| 0254: INCFSZ 2F,W |
| 0255: GOTO 257 |
| 0256: GOTO 258 |
| 0257: INCF 2F,F |
| .................... continue; |
| 0258: GOTO 109 |
| .................... } |
| .................... |
| .................... |
| .................... |
| .................... if ((L3==line) || (R3==line)) // Brzdeni pri vyjeti z trate |
| 0259: MOVF 2B,W |
| 025A: SUBLW 03 |
| 025B: BTFSC 03.2 |
| 025C: GOTO 261 |
| 025D: MOVF 2B,W |
| 025E: SUBLW FD |
| 025F: BTFSS 03.2 |
| 0260: GOTO 284 |
| .................... { |
| .................... if (rovinka>50) |
| 0261: MOVF 2F,W |
| 0262: SUBLW 32 |
| 0263: BTFSC 03.0 |
| 0264: GOTO 283 |
| .................... { |
| .................... BL; BR; |
| 0265: BSF 03.5 |
| 0266: BCF 05.0 |
| 0267: BCF 03.5 |
| 0268: BCF 05.0 |
| 0269: BSF 03.5 |
| 026A: BCF 05.1 |
| 026B: BCF 03.5 |
| 026C: BSF 05.1 |
| 026D: BSF 03.5 |
| 026E: BCF 05.6 |
| 026F: BCF 03.5 |
| 0270: BCF 05.6 |
| 0271: BSF 03.5 |
| 0272: BCF 05.7 |
| 0273: BCF 03.5 |
| 0274: BSF 05.7 |
| .................... Delay_ms(70); |
| 0275: MOVLW 46 |
| 0276: MOVWF 3A |
| 0277: CALL 065 |
| .................... if (rovinka > 250 || speed > 170) delay_ms(50); |
| 0278: MOVF 2F,W |
| 0279: SUBLW FA |
| 027A: BTFSS 03.0 |
| 027B: GOTO 280 |
| 027C: MOVF 2D,W |
| 027D: SUBLW AA |
| 027E: BTFSC 03.0 |
| 027F: GOTO 283 |
| 0280: MOVLW 32 |
| 0281: MOVWF 3A |
| 0282: CALL 065 |
| .................... }; |
| .................... rovinka=0; |
| 0283: CLRF 2F |
| .................... }; |
| .................... } |
| 0284: GOTO 109 |
| .................... } |
| 0285: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
| Word 2: 3FFC NOFCMEN NOIESO |