| 0,0 → 1,2057 |
|---|
| CCS PCW C Compiler, Version 3.110, 15448 |
| |
| Filename: d:\kaklik\programy\pic_c\roboti\merkur\main.LST |
| |
| ROM used: 1572 (38%) |
| Largest free fragment is 2048 |
| RAM used: 79 (41%) at main() level |
| 90 (47%) worst case |
| Stack: 3 locations |
| |
| * |
| 0000: MOVLW 00 |
| 0001: MOVWF 0A |
| 0002: GOTO 41D |
| 0003: NOP |
| .................... #include "main.h" |
| .................... #include <16F873.h> |
| .................... //////// Standard Header file for the PIC16F873 device //////////////// |
| .................... #device PIC16F873 |
| .................... #list |
| .................... |
| .................... #device adc=8 |
| .................... #use delay(clock=4000000) |
| * |
| 0016: MOVLW 78 |
| 0017: MOVWF 04 |
| 0018: MOVLW FC |
| 0019: ANDWF 00,F |
| 001A: RRF 00,F |
| 001B: RRF 00,F |
| 001C: MOVF 00,W |
| 001D: BTFSC 03.2 |
| 001E: GOTO 023 |
| 001F: GOTO 021 |
| 0020: NOP |
| 0021: DECFSZ 00,F |
| 0022: GOTO 020 |
| 0023: RETLW 00 |
| * |
| 004A: MOVLW 73 |
| 004B: MOVWF 04 |
| 004C: MOVF 00,W |
| 004D: BTFSC 03.2 |
| 004E: GOTO 05E |
| 004F: MOVLW 01 |
| 0050: MOVWF 21 |
| 0051: CLRF 20 |
| 0052: DECFSZ 20,F |
| 0053: GOTO 052 |
| 0054: DECFSZ 21,F |
| 0055: GOTO 051 |
| 0056: MOVLW 4A |
| 0057: MOVWF 20 |
| 0058: DECFSZ 20,F |
| 0059: GOTO 058 |
| 005A: NOP |
| 005B: NOP |
| 005C: DECFSZ 00,F |
| 005D: GOTO 04F |
| 005E: RETLW 00 |
| .................... #fuses XT,NOWDT,NOLVP |
| .................... |
| .................... |
| .................... |
| .................... #define TXo PIN_C3 // To the transmitter modulator |
| .................... #include "AX25.c" // podprogram pro prenos telemetrie |
| .................... //#define PTT PIN_A2 // PTT control |
| .................... //#define TXo PIN_C0 // To the transmitter modulator |
| .................... #define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500 |
| .................... #define TAILH delay_us(78) |
| .................... #define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500 |
| .................... #define TAILL delay_us(345) |
| .................... #byte STATUS = 3 // CPUs status register |
| .................... |
| .................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60, |
| .................... 'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61, |
| .................... 0x03, 0xF0}; |
| .................... |
| .................... boolean bit; |
| .................... int fcslo, fcshi; // variabloes for calculating FCS (CRC) |
| .................... int stuff; // stuff counter for extra 0 |
| .................... int flag_flag; // if it is sending flag (7E) |
| .................... int fcs_flag; // if it is sending Frame Check Sequence |
| .................... int i; // for for |
| .................... |
| .................... void flipout() //flips the state of output pin a_1 |
| .................... { |
| .................... stuff = 0; //since this is a 0, reset the stuff counter |
| * |
| 00AE: CLRF 38 |
| .................... if (bit) |
| 00AF: BTFSS 35.0 |
| 00B0: GOTO 0B3 |
| .................... { |
| .................... bit=FALSE; //if the state of the pin was low, make it high. |
| 00B1: BCF 35.0 |
| .................... } |
| .................... else |
| 00B2: GOTO 0B4 |
| .................... { |
| .................... bit=TRUE; //if the state of the pin was high make it low |
| 00B3: BSF 35.0 |
| .................... } |
| 00B4: RETLW 00 |
| .................... } |
| .................... |
| .................... void fcsbit(byte tbyte) |
| .................... { |
| .................... #asm |
| .................... BCF STATUS,0 |
| * |
| 011A: BCF 03.0 |
| .................... RRF fcshi,F // rotates the entire 16 bits |
| 011B: RRF 37,F |
| .................... RRF fcslo,F // to the right |
| .................... #endasm |
| 011C: RRF 36,F |
| .................... if (((STATUS & 0x01)^(tbyte)) ==0x01) |
| 011D: MOVF 03,W |
| 011E: ANDLW 01 |
| 011F: XORWF 77,W |
| 0120: SUBLW 01 |
| 0121: BTFSS 03.2 |
| 0122: GOTO 127 |
| .................... { |
| .................... fcshi = fcshi^0x84; |
| 0123: MOVLW 84 |
| 0124: XORWF 37,F |
| .................... fcslo = fcslo^0x08; |
| 0125: MOVLW 08 |
| 0126: XORWF 36,F |
| .................... } |
| .................... } |
| .................... |
| .................... void SendBit () |
| .................... { |
| .................... if (bit) |
| * |
| 00B5: BTFSS 35.0 |
| 00B6: GOTO 0E8 |
| .................... { |
| .................... output_high(TXo); |
| 00B7: BCF 3C.3 |
| 00B8: MOVF 3C,W |
| 00B9: BSF 03.5 |
| 00BA: MOVWF 07 |
| 00BB: BCF 03.5 |
| 00BC: BSF 07.3 |
| .................... PERIODAH; |
| 00BD: MOVLW 49 |
| 00BE: MOVWF 20 |
| 00BF: DECFSZ 20,F |
| 00C0: GOTO 0BF |
| 00C1: NOP |
| 00C2: NOP |
| .................... output_low(TXo); |
| 00C3: BCF 3C.3 |
| 00C4: MOVF 3C,W |
| 00C5: BSF 03.5 |
| 00C6: MOVWF 07 |
| 00C7: BCF 03.5 |
| 00C8: BCF 07.3 |
| .................... PERIODAH; |
| 00C9: MOVLW 49 |
| 00CA: MOVWF 20 |
| 00CB: DECFSZ 20,F |
| 00CC: GOTO 0CB |
| 00CD: NOP |
| 00CE: NOP |
| .................... output_high(TXo); |
| 00CF: BCF 3C.3 |
| 00D0: MOVF 3C,W |
| 00D1: BSF 03.5 |
| 00D2: MOVWF 07 |
| 00D3: BCF 03.5 |
| 00D4: BSF 07.3 |
| .................... PERIODAH; |
| 00D5: MOVLW 49 |
| 00D6: MOVWF 20 |
| 00D7: DECFSZ 20,F |
| 00D8: GOTO 0D7 |
| 00D9: NOP |
| 00DA: NOP |
| .................... output_low(TXo); |
| 00DB: BCF 3C.3 |
| 00DC: MOVF 3C,W |
| 00DD: BSF 03.5 |
| 00DE: MOVWF 07 |
| 00DF: BCF 03.5 |
| 00E0: BCF 07.3 |
| .................... TAILH; |
| 00E1: MOVLW 19 |
| 00E2: MOVWF 20 |
| 00E3: DECFSZ 20,F |
| 00E4: GOTO 0E3 |
| 00E5: NOP |
| 00E6: NOP |
| .................... } |
| .................... else |
| 00E7: GOTO 0FE |
| .................... { |
| .................... output_high(TXo); |
| 00E8: BCF 3C.3 |
| 00E9: MOVF 3C,W |
| 00EA: BSF 03.5 |
| 00EB: MOVWF 07 |
| 00EC: BCF 03.5 |
| 00ED: BSF 07.3 |
| .................... PERIODAL; |
| 00EE: MOVLW 89 |
| 00EF: MOVWF 20 |
| 00F0: DECFSZ 20,F |
| 00F1: GOTO 0F0 |
| .................... output_low(TXo); |
| 00F2: BCF 3C.3 |
| 00F3: MOVF 3C,W |
| 00F4: BSF 03.5 |
| 00F5: MOVWF 07 |
| 00F6: BCF 03.5 |
| 00F7: BCF 07.3 |
| .................... TAILL; |
| 00F8: MOVLW 72 |
| 00F9: MOVWF 20 |
| 00FA: DECFSZ 20,F |
| 00FB: GOTO 0FA |
| 00FC: NOP |
| 00FD: NOP |
| .................... }; |
| 00FE: RETLW 00 |
| .................... } |
| .................... |
| .................... void SendByte (byte inbyte) |
| .................... { |
| .................... int k, bt; |
| .................... |
| .................... for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte |
| 00FF: CLRF 75 |
| 0100: MOVF 75,W |
| 0101: SUBLW 07 |
| 0102: BTFSS 03.0 |
| 0103: GOTO 149 |
| .................... { |
| .................... bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte) |
| 0104: MOVF 74,W |
| 0105: ANDLW 01 |
| 0106: MOVWF 76 |
| .................... if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this |
| 0107: MOVF 3A,F |
| 0108: BTFSC 03.2 |
| 0109: GOTO 10C |
| 010A: MOVLW 00 |
| 010B: GOTO 10D |
| 010C: MOVLW 01 |
| 010D: MOVWF 77 |
| 010E: MOVF 39,F |
| 010F: BTFSC 03.2 |
| 0110: GOTO 113 |
| 0111: MOVLW 00 |
| 0112: GOTO 114 |
| 0113: MOVLW 01 |
| 0114: ANDWF 77,W |
| 0115: XORLW 00 |
| 0116: BTFSC 03.2 |
| 0117: GOTO 127 |
| 0118: MOVF 76,W |
| 0119: MOVWF 77 |
| .................... //is not a flag or fcs byte |
| .................... if (bt == 0) |
| * |
| 0127: MOVF 76,F |
| 0128: BTFSS 03.2 |
| 0129: GOTO 12C |
| .................... { |
| .................... flipout(); |
| 012A: CALL 0AE |
| .................... } // if this bit is a zero, flip the output state |
| .................... else |
| 012B: GOTO 144 |
| .................... { //otherwise if it is a 1, do the following: |
| .................... if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's |
| 012C: MOVF 39,F |
| 012D: BTFSS 03.2 |
| 012E: GOTO 130 |
| 012F: INCF 38,F |
| .................... if ((flag_flag == FALSE) & (stuff == 5)) |
| 0130: MOVF 39,F |
| 0131: BTFSC 03.2 |
| 0132: GOTO 135 |
| 0133: MOVLW 00 |
| 0134: GOTO 136 |
| 0135: MOVLW 01 |
| 0136: MOVWF 77 |
| 0137: MOVF 38,W |
| 0138: SUBLW 05 |
| 0139: BTFSC 03.2 |
| 013A: GOTO 13D |
| 013B: MOVLW 00 |
| 013C: GOTO 13E |
| 013D: MOVLW 01 |
| 013E: ANDWF 77,W |
| 013F: XORLW 00 |
| 0140: BTFSC 03.2 |
| 0141: GOTO 144 |
| .................... { //stuff an extra 0, if 5 1's in a row |
| .................... SendBit(); |
| 0142: CALL 0B5 |
| .................... flipout(); //flip the output state to stuff a 0 |
| 0143: CALL 0AE |
| .................... }//end of if |
| .................... }//end of else |
| .................... // delay_us(850); //introduces a delay that creates 1200 baud |
| .................... SendBit(); |
| 0144: CALL 0B5 |
| .................... inbyte = inbyte>>1; //go to the next bit in the byte |
| 0145: BCF 03.0 |
| 0146: RRF 74,F |
| .................... }//end of for |
| 0147: INCF 75,F |
| 0148: GOTO 100 |
| 0149: RETLW 00 |
| .................... }//end of SendByte |
| .................... |
| .................... void SendPacket(char *data) |
| .................... { |
| .................... bit=FALSE; |
| * |
| 02CF: BCF 35.0 |
| .................... |
| .................... fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF |
| 02D0: MOVLW FF |
| 02D1: MOVWF 37 |
| 02D2: MOVWF 36 |
| .................... stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5 |
| 02D3: CLRF 38 |
| .................... // it is time to stuff a 0. |
| .................... |
| .................... // output_low(PTT); // Blinking LED |
| .................... // delay_ms(1000); |
| .................... // output_high(PTT); |
| .................... |
| .................... flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise. |
| 02D4: MOVLW 01 |
| 02D5: MOVWF 39 |
| .................... fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. |
| 02D6: CLRF 3A |
| .................... |
| .................... for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay |
| 02D7: CLRF 3B |
| 02D8: MOVF 3B,W |
| 02D9: SUBLW 09 |
| 02DA: BTFSS 03.0 |
| 02DB: GOTO 2E1 |
| 02DC: MOVLW 7E |
| 02DD: MOVWF 74 |
| 02DE: CALL 0FF |
| 02DF: INCF 3B,F |
| 02E0: GOTO 2D8 |
| .................... //each flag takes approx 6.7 ms |
| .................... flag_flag = FALSE; //done sending flags |
| 02E1: CLRF 39 |
| .................... |
| .................... for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes |
| 02E2: CLRF 3B |
| 02E3: MOVF 3B,W |
| 02E4: SUBLW 0F |
| 02E5: BTFSS 03.0 |
| 02E6: GOTO 2F0 |
| 02E7: MOVLW 25 |
| 02E8: ADDWF 3B,W |
| 02E9: MOVWF 04 |
| 02EA: MOVF 00,W |
| 02EB: MOVWF 73 |
| 02EC: MOVWF 74 |
| 02ED: CALL 0FF |
| 02EE: INCF 3B,F |
| 02EF: GOTO 2E3 |
| .................... |
| .................... for(i=0; 0 != *data; i++) |
| 02F0: CLRF 3B |
| 02F1: MOVF 72,W |
| 02F2: MOVWF 04 |
| 02F3: MOVF 00,W |
| 02F4: XORLW 00 |
| 02F5: BTFSC 03.2 |
| 02F6: GOTO 300 |
| .................... { |
| .................... SendByte(*data); //send the packet bytes |
| 02F7: MOVF 72,W |
| 02F8: MOVWF 04 |
| 02F9: MOVF 00,W |
| 02FA: MOVWF 73 |
| 02FB: MOVWF 74 |
| 02FC: CALL 0FF |
| .................... data++; |
| 02FD: INCF 72,F |
| .................... }; |
| 02FE: INCF 3B,F |
| 02FF: GOTO 2F1 |
| .................... |
| .................... fcs_flag = TRUE; //about to send the FCS bytes |
| 0300: MOVLW 01 |
| 0301: MOVWF 3A |
| .................... fcslo =fcslo^0xff; //must XOR them with FF before sending |
| 0302: MOVLW FF |
| 0303: XORWF 36,F |
| .................... fcshi = fcshi^0xff; |
| 0304: XORWF 37,F |
| .................... SendByte(fcslo); //send the low byte of fcs |
| 0305: MOVF 36,W |
| 0306: MOVWF 74 |
| 0307: CALL 0FF |
| .................... SendByte(fcshi); //send the high byte of fcs |
| 0308: MOVF 37,W |
| 0309: MOVWF 74 |
| 030A: CALL 0FF |
| .................... fcs_flag = FALSE; //done sending FCS |
| 030B: CLRF 3A |
| .................... flag_flag = TRUE; //about to send flags |
| 030C: MOVLW 01 |
| 030D: MOVWF 39 |
| .................... SendByte(0x7e); // Send a flag to end packet |
| 030E: MOVLW 7E |
| 030F: MOVWF 74 |
| 0310: CALL 0FF |
| .................... } |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... //motory //Napred vypnout potom zapnout! |
| .................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
| .................... #define FL output_low(PIN_B7); output_high(PIN_B6) |
| .................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
| .................... #define BL output_low(PIN_B6); output_high(PIN_B7) |
| .................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) |
| .................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
| .................... |
| .................... #define L 0b10 // left |
| .................... #define R 0b01 // right |
| .................... #define S 0b11 // straight |
| .................... |
| .................... #define COUVANI 1600 // couvnuti po zjisteni diry |
| .................... #define MEZERA 5400 // za jak dlouho bude ztracena cara |
| .................... #define PRES_DIRU 400 // velikost mezery v care |
| .................... #define ODEZVA 1 // za jak dlouho po opusteni cary se ma zacit zatacet |
| .................... #define BRZDENI 100 // doba (v ms) ptrebna k zastaveni jednoho motoru |
| .................... |
| .................... //cidla |
| .................... #define RSENSOR 1 // Senzory na caru |
| .................... #define LSENSOR 0 |
| .................... #define BUMPER PIN_C4 // sensor na cihlu |
| .................... |
| .................... #define DIAG_SERVO PIN_B0 // Propojka pro diagnosticky mod |
| .................... #define DIAG_SENSORS PIN_B1 // Propojka pro diagnosticky mod |
| .................... |
| .................... #DEFINE SOUND_HI PIN_B3 |
| .................... #DEFINE SOUND_LO PIN_B2 |
| .................... |
| .................... char AXstring[40]; // Buffer pro prenos telemetrie |
| .................... |
| .................... int tresholdL; // rozhodovaci uroven pro prave cidlo |
| .................... int tresholdR; // rozhodovaci uroven pro prave cidlo |
| .................... int movement; // smer minuleho pohybu |
| .................... int line; // na ktere strane byla detekovana cara |
| .................... unsigned int16 dira; // pocitadlo pro nalezeni preruseni cary |
| .................... |
| .................... // Primitivni Pipani |
| .................... void beep(unsigned int16 period, unsigned int16 length) |
| .................... { |
| .................... unsigned int16 nn; |
| .................... |
| .................... for(nn=length; nn>0; nn--) |
| * |
| 0024: MOVF 75,W |
| 0025: MOVWF 77 |
| 0026: MOVF 74,W |
| 0027: MOVWF 76 |
| 0028: MOVF 76,F |
| 0029: BTFSS 03.2 |
| 002A: GOTO 02E |
| 002B: MOVF 77,F |
| 002C: BTFSC 03.2 |
| 002D: GOTO 049 |
| .................... { |
| .................... output_high(SOUND_HI);output_low(SOUND_LO); |
| 002E: BSF 03.5 |
| 002F: BCF 06.3 |
| 0030: BCF 03.5 |
| 0031: BSF 06.3 |
| 0032: BSF 03.5 |
| 0033: BCF 06.2 |
| 0034: BCF 03.5 |
| 0035: BCF 06.2 |
| .................... delay_us(period); |
| 0036: MOVF 72,W |
| 0037: MOVWF 78 |
| 0038: CALL 016 |
| .................... output_high(SOUND_LO);output_low(SOUND_HI); |
| 0039: BSF 03.5 |
| 003A: BCF 06.2 |
| 003B: BCF 03.5 |
| 003C: BSF 06.2 |
| 003D: BSF 03.5 |
| 003E: BCF 06.3 |
| 003F: BCF 03.5 |
| 0040: BCF 06.3 |
| .................... delay_us(period); |
| 0041: MOVF 72,W |
| 0042: MOVWF 78 |
| 0043: CALL 016 |
| .................... } |
| 0044: MOVF 76,W |
| 0045: BTFSC 03.2 |
| 0046: DECF 77,F |
| 0047: DECF 76,F |
| 0048: GOTO 028 |
| 0049: RETLW 00 |
| .................... } |
| .................... |
| .................... // Diagnostika pohonu, hejbne vsema motorama ve vsech smerech |
| .................... void diagnostika() |
| .................... { |
| .................... unsigned int16 n; |
| .................... |
| .................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
| * |
| 014A: BSF 03.5 |
| 014B: BSF 06.0 |
| 014C: BCF 03.5 |
| 014D: BTFSS 06.0 |
| 014E: GOTO 275 |
| .................... { |
| .................... for (n=500; n<800; n+=100) |
| 014F: MOVLW 01 |
| 0150: MOVWF 6F |
| 0151: MOVLW F4 |
| 0152: MOVWF 6E |
| 0153: MOVF 6F,W |
| 0154: SUBLW 03 |
| 0155: BTFSS 03.0 |
| 0156: GOTO 16B |
| 0157: BTFSS 03.2 |
| 0158: GOTO 15D |
| 0159: MOVF 6E,W |
| 015A: SUBLW 1F |
| 015B: BTFSS 03.0 |
| 015C: GOTO 16B |
| .................... { |
| .................... beep(n,n); //beep UP |
| 015D: MOVF 6F,W |
| 015E: MOVWF 73 |
| 015F: MOVF 6E,W |
| 0160: MOVWF 72 |
| 0161: MOVF 6F,W |
| 0162: MOVWF 75 |
| 0163: MOVF 6E,W |
| 0164: MOVWF 74 |
| 0165: CALL 024 |
| .................... }; |
| 0166: MOVLW 64 |
| 0167: ADDWF 6E,F |
| 0168: BTFSC 03.0 |
| 0169: INCF 6F,F |
| 016A: GOTO 153 |
| .................... Delay_ms(1000); |
| 016B: MOVLW 04 |
| 016C: MOVWF 72 |
| 016D: MOVLW FA |
| 016E: MOVWF 73 |
| 016F: CALL 04A |
| 0170: DECFSZ 72,F |
| 0171: GOTO 16D |
| .................... //zastav vse |
| .................... STOPL; STOPR; |
| 0172: BSF 03.5 |
| 0173: BCF 06.6 |
| 0174: BCF 03.5 |
| 0175: BCF 06.6 |
| 0176: BSF 03.5 |
| 0177: BCF 06.7 |
| 0178: BCF 03.5 |
| 0179: BCF 06.7 |
| 017A: BSF 03.5 |
| 017B: BCF 06.4 |
| 017C: BCF 03.5 |
| 017D: BCF 06.4 |
| 017E: BSF 03.5 |
| 017F: BCF 06.5 |
| 0180: BCF 03.5 |
| 0181: BCF 06.5 |
| .................... //pravy pas |
| .................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 0182: BSF 03.5 |
| 0183: BCF 06.5 |
| 0184: BCF 03.5 |
| 0185: BCF 06.5 |
| 0186: BSF 03.5 |
| 0187: BCF 06.4 |
| 0188: BCF 03.5 |
| 0189: BSF 06.4 |
| 018A: MOVLW 04 |
| 018B: MOVWF 72 |
| 018C: MOVLW FA |
| 018D: MOVWF 73 |
| 018E: CALL 04A |
| 018F: DECFSZ 72,F |
| 0190: GOTO 18C |
| 0191: BSF 03.5 |
| 0192: BCF 06.4 |
| 0193: BCF 03.5 |
| 0194: BCF 06.4 |
| 0195: BSF 03.5 |
| 0196: BCF 06.5 |
| 0197: BCF 03.5 |
| 0198: BCF 06.5 |
| 0199: MOVLW 04 |
| 019A: MOVWF 72 |
| 019B: MOVLW FA |
| 019C: MOVWF 73 |
| 019D: CALL 04A |
| 019E: DECFSZ 72,F |
| 019F: GOTO 19B |
| .................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
| 01A0: BSF 03.5 |
| 01A1: BCF 06.4 |
| 01A2: BCF 03.5 |
| 01A3: BCF 06.4 |
| 01A4: BSF 03.5 |
| 01A5: BCF 06.5 |
| 01A6: BCF 03.5 |
| 01A7: BSF 06.5 |
| 01A8: MOVLW 04 |
| 01A9: MOVWF 72 |
| 01AA: MOVLW FA |
| 01AB: MOVWF 73 |
| 01AC: CALL 04A |
| 01AD: DECFSZ 72,F |
| 01AE: GOTO 1AA |
| 01AF: BSF 03.5 |
| 01B0: BCF 06.4 |
| 01B1: BCF 03.5 |
| 01B2: BCF 06.4 |
| 01B3: BSF 03.5 |
| 01B4: BCF 06.5 |
| 01B5: BCF 03.5 |
| 01B6: BCF 06.5 |
| 01B7: MOVLW 04 |
| 01B8: MOVWF 72 |
| 01B9: MOVLW FA |
| 01BA: MOVWF 73 |
| 01BB: CALL 04A |
| 01BC: DECFSZ 72,F |
| 01BD: GOTO 1B9 |
| .................... Beep(880,100); Delay_ms(1000); |
| 01BE: MOVLW 03 |
| 01BF: MOVWF 73 |
| 01C0: MOVLW 70 |
| 01C1: MOVWF 72 |
| 01C2: CLRF 75 |
| 01C3: MOVLW 64 |
| 01C4: MOVWF 74 |
| 01C5: CALL 024 |
| 01C6: MOVLW 04 |
| 01C7: MOVWF 72 |
| 01C8: MOVLW FA |
| 01C9: MOVWF 73 |
| 01CA: CALL 04A |
| 01CB: DECFSZ 72,F |
| 01CC: GOTO 1C8 |
| .................... //levy pas |
| .................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 01CD: BSF 03.5 |
| 01CE: BCF 06.7 |
| 01CF: BCF 03.5 |
| 01D0: BCF 06.7 |
| 01D1: BSF 03.5 |
| 01D2: BCF 06.6 |
| 01D3: BCF 03.5 |
| 01D4: BSF 06.6 |
| 01D5: MOVLW 04 |
| 01D6: MOVWF 72 |
| 01D7: MOVLW FA |
| 01D8: MOVWF 73 |
| 01D9: CALL 04A |
| 01DA: DECFSZ 72,F |
| 01DB: GOTO 1D7 |
| 01DC: BSF 03.5 |
| 01DD: BCF 06.6 |
| 01DE: BCF 03.5 |
| 01DF: BCF 06.6 |
| 01E0: BSF 03.5 |
| 01E1: BCF 06.7 |
| 01E2: BCF 03.5 |
| 01E3: BCF 06.7 |
| 01E4: MOVLW 04 |
| 01E5: MOVWF 72 |
| 01E6: MOVLW FA |
| 01E7: MOVWF 73 |
| 01E8: CALL 04A |
| 01E9: DECFSZ 72,F |
| 01EA: GOTO 1E6 |
| .................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
| 01EB: BSF 03.5 |
| 01EC: BCF 06.6 |
| 01ED: BCF 03.5 |
| 01EE: BCF 06.6 |
| 01EF: BSF 03.5 |
| 01F0: BCF 06.7 |
| 01F1: BCF 03.5 |
| 01F2: BSF 06.7 |
| 01F3: MOVLW 04 |
| 01F4: MOVWF 72 |
| 01F5: MOVLW FA |
| 01F6: MOVWF 73 |
| 01F7: CALL 04A |
| 01F8: DECFSZ 72,F |
| 01F9: GOTO 1F5 |
| 01FA: BSF 03.5 |
| 01FB: BCF 06.6 |
| 01FC: BCF 03.5 |
| 01FD: BCF 06.6 |
| 01FE: BSF 03.5 |
| 01FF: BCF 06.7 |
| 0200: BCF 03.5 |
| 0201: BCF 06.7 |
| 0202: MOVLW 04 |
| 0203: MOVWF 72 |
| 0204: MOVLW FA |
| 0205: MOVWF 73 |
| 0206: CALL 04A |
| 0207: DECFSZ 72,F |
| 0208: GOTO 204 |
| .................... Beep(880,100); Delay_ms(1000); |
| 0209: MOVLW 03 |
| 020A: MOVWF 73 |
| 020B: MOVLW 70 |
| 020C: MOVWF 72 |
| 020D: CLRF 75 |
| 020E: MOVLW 64 |
| 020F: MOVWF 74 |
| 0210: CALL 024 |
| 0211: MOVLW 04 |
| 0212: MOVWF 72 |
| 0213: MOVLW FA |
| 0214: MOVWF 73 |
| 0215: CALL 04A |
| 0216: DECFSZ 72,F |
| 0217: GOTO 213 |
| .................... //oba pasy |
| .................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 0218: BSF 03.5 |
| 0219: BCF 06.7 |
| 021A: BCF 03.5 |
| 021B: BCF 06.7 |
| 021C: BSF 03.5 |
| 021D: BCF 06.6 |
| 021E: BCF 03.5 |
| 021F: BSF 06.6 |
| 0220: BSF 03.5 |
| 0221: BCF 06.5 |
| 0222: BCF 03.5 |
| 0223: BCF 06.5 |
| 0224: BSF 03.5 |
| 0225: BCF 06.4 |
| 0226: BCF 03.5 |
| 0227: BSF 06.4 |
| 0228: MOVLW 04 |
| 0229: MOVWF 72 |
| 022A: MOVLW FA |
| 022B: MOVWF 73 |
| 022C: CALL 04A |
| 022D: DECFSZ 72,F |
| 022E: GOTO 22A |
| 022F: BSF 03.5 |
| 0230: BCF 06.6 |
| 0231: BCF 03.5 |
| 0232: BCF 06.6 |
| 0233: BSF 03.5 |
| 0234: BCF 06.7 |
| 0235: BCF 03.5 |
| 0236: BCF 06.7 |
| 0237: BSF 03.5 |
| 0238: BCF 06.4 |
| 0239: BCF 03.5 |
| 023A: BCF 06.4 |
| 023B: BSF 03.5 |
| 023C: BCF 06.5 |
| 023D: BCF 03.5 |
| 023E: BCF 06.5 |
| 023F: MOVLW 04 |
| 0240: MOVWF 72 |
| 0241: MOVLW FA |
| 0242: MOVWF 73 |
| 0243: CALL 04A |
| 0244: DECFSZ 72,F |
| 0245: GOTO 241 |
| .................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
| 0246: BSF 03.5 |
| 0247: BCF 06.6 |
| 0248: BCF 03.5 |
| 0249: BCF 06.6 |
| 024A: BSF 03.5 |
| 024B: BCF 06.7 |
| 024C: BCF 03.5 |
| 024D: BSF 06.7 |
| 024E: BSF 03.5 |
| 024F: BCF 06.4 |
| 0250: BCF 03.5 |
| 0251: BCF 06.4 |
| 0252: BSF 03.5 |
| 0253: BCF 06.5 |
| 0254: BCF 03.5 |
| 0255: BSF 06.5 |
| 0256: MOVLW 04 |
| 0257: MOVWF 72 |
| 0258: MOVLW FA |
| 0259: MOVWF 73 |
| 025A: CALL 04A |
| 025B: DECFSZ 72,F |
| 025C: GOTO 258 |
| 025D: BSF 03.5 |
| 025E: BCF 06.6 |
| 025F: BCF 03.5 |
| 0260: BCF 06.6 |
| 0261: BSF 03.5 |
| 0262: BCF 06.7 |
| 0263: BCF 03.5 |
| 0264: BCF 06.7 |
| 0265: BSF 03.5 |
| 0266: BCF 06.4 |
| 0267: BCF 03.5 |
| 0268: BCF 06.4 |
| 0269: BSF 03.5 |
| 026A: BCF 06.5 |
| 026B: BCF 03.5 |
| 026C: BCF 06.5 |
| 026D: MOVLW 04 |
| 026E: MOVWF 72 |
| 026F: MOVLW FA |
| 0270: MOVWF 73 |
| 0271: CALL 04A |
| 0272: DECFSZ 72,F |
| 0273: GOTO 26F |
| .................... }; |
| 0274: GOTO 14A |
| .................... |
| .................... while (input(DIAG_SENSORS)) |
| 0275: BSF 03.5 |
| 0276: BSF 06.1 |
| 0277: BCF 03.5 |
| 0278: BTFSS 06.1 |
| 0279: GOTO 319 |
| .................... { |
| .................... int ls, rs; |
| .................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
| 027A: BSF 3C.4 |
| 027B: MOVF 3C,W |
| 027C: BSF 03.5 |
| 027D: MOVWF 07 |
| 027E: BCF 03.5 |
| 027F: BTFSC 07.4 |
| 0280: GOTO 28D |
| 0281: MOVLW 04 |
| 0282: MOVWF 73 |
| 0283: MOVLW 4C |
| 0284: MOVWF 72 |
| 0285: CLRF 75 |
| 0286: MOVLW 64 |
| 0287: MOVWF 74 |
| 0288: CALL 024 |
| 0289: MOVLW 32 |
| 028A: MOVWF 73 |
| 028B: CALL 04A |
| 028C: GOTO 27A |
| .................... set_adc_channel(RSENSOR); |
| 028D: MOVLW 08 |
| 028E: MOVWF 21 |
| 028F: MOVF 1F,W |
| 0290: ANDLW C7 |
| 0291: IORWF 21,W |
| 0292: MOVWF 1F |
| .................... Delay_us(20); |
| 0293: MOVLW 06 |
| 0294: MOVWF 20 |
| 0295: DECFSZ 20,F |
| 0296: GOTO 295 |
| 0297: NOP |
| .................... rs=read_adc(); |
| 0298: BSF 1F.2 |
| 0299: BTFSC 1F.2 |
| 029A: GOTO 299 |
| 029B: MOVF 1E,W |
| 029C: MOVWF 71 |
| .................... set_adc_channel(LSENSOR); |
| 029D: MOVLW 00 |
| 029E: MOVWF 21 |
| 029F: MOVF 1F,W |
| 02A0: ANDLW C7 |
| 02A1: IORWF 21,W |
| 02A2: MOVWF 1F |
| .................... Delay_us(20); |
| 02A3: MOVLW 06 |
| 02A4: MOVWF 20 |
| 02A5: DECFSZ 20,F |
| 02A6: GOTO 2A5 |
| 02A7: NOP |
| .................... ls=read_adc(); |
| 02A8: BSF 1F.2 |
| 02A9: BTFSC 1F.2 |
| 02AA: GOTO 2A9 |
| 02AB: MOVF 1E,W |
| 02AC: MOVWF 70 |
| .................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
| * |
| 0004: BCF 0A.0 |
| 0005: BCF 0A.1 |
| 0006: BCF 0A.2 |
| 0007: ADDWF 02,F |
| 0008: RETLW 4C |
| 0009: RETLW 3A |
| 000A: RETLW 20 |
| 000B: RETLW 25 |
| 000C: RETLW 55 |
| 000D: RETLW 20 |
| 000E: RETLW 20 |
| 000F: RETLW 52 |
| 0010: RETLW 3A |
| 0011: RETLW 20 |
| 0012: RETLW 25 |
| 0013: RETLW 55 |
| 0014: RETLW 00 |
| 0015: RETLW 00 |
| * |
| 007C: MOVF 21,W |
| 007D: MOVF 73,W |
| 007E: MOVWF 75 |
| 007F: MOVLW 64 |
| 0080: MOVWF 76 |
| 0081: CALL 067 |
| 0082: MOVF 20,W |
| 0083: MOVWF 73 |
| 0084: MOVF 21,W |
| 0085: MOVLW 30 |
| 0086: BTFSS 03.2 |
| 0087: GOTO 08F |
| 0088: BTFSC 74.0 |
| 0089: BSF 74.3 |
| 008A: BTFSC 74.3 |
| 008B: GOTO 095 |
| 008C: BTFSC 74.4 |
| 008D: MOVLW 20 |
| 008E: GOTO 091 |
| 008F: BCF 74.3 |
| 0090: BCF 74.4 |
| 0091: ADDWF 21,F |
| 0092: MOVF 21,W |
| 0093: MOVWF 75 |
| 0094: CALL 05F |
| 0095: MOVF 73,W |
| 0096: MOVWF 75 |
| 0097: MOVLW 0A |
| 0098: MOVWF 76 |
| 0099: CALL 067 |
| 009A: MOVF 20,W |
| 009B: MOVWF 73 |
| 009C: MOVF 21,W |
| 009D: MOVLW 30 |
| 009E: BTFSS 03.2 |
| 009F: GOTO 0A4 |
| 00A0: BTFSC 74.3 |
| 00A1: GOTO 0A8 |
| 00A2: BTFSC 74.4 |
| 00A3: MOVLW 20 |
| 00A4: ADDWF 21,F |
| 00A5: MOVF 21,W |
| 00A6: MOVWF 75 |
| 00A7: CALL 05F |
| 00A8: MOVLW 30 |
| 00A9: ADDWF 73,F |
| 00AA: MOVF 73,W |
| 00AB: MOVWF 75 |
| 00AC: CALL 05F |
| 00AD: RETLW 00 |
| * |
| 02AD: MOVLW 3D |
| 02AE: MOVWF 6B |
| 02AF: MOVLW 4C |
| 02B0: MOVWF 75 |
| 02B1: CALL 05F |
| 02B2: MOVLW 3A |
| 02B3: MOVWF 75 |
| 02B4: CALL 05F |
| 02B5: MOVLW 20 |
| 02B6: MOVWF 75 |
| 02B7: CALL 05F |
| 02B8: MOVF 70,W |
| 02B9: MOVWF 73 |
| 02BA: MOVLW 18 |
| 02BB: MOVWF 74 |
| 02BC: CALL 07C |
| 02BD: MOVLW 05 |
| 02BE: MOVWF 72 |
| 02BF: MOVF 72,W |
| 02C0: CALL 004 |
| 02C1: INCF 72,F |
| 02C2: MOVWF 75 |
| 02C3: CALL 05F |
| 02C4: MOVLW 0A |
| 02C5: SUBWF 72,W |
| 02C6: BTFSS 03.2 |
| 02C7: GOTO 2BF |
| 02C8: MOVF 71,W |
| 02C9: MOVWF 73 |
| 02CA: MOVLW 18 |
| 02CB: MOVWF 74 |
| 02CC: CALL 07C |
| .................... SendPacket(&AXstring[0]); |
| 02CD: MOVLW 3D |
| 02CE: MOVWF 72 |
| .................... delay_ms(1000); |
| * |
| 0311: MOVLW 04 |
| 0312: MOVWF 72 |
| 0313: MOVLW FA |
| 0314: MOVWF 73 |
| 0315: CALL 04A |
| 0316: DECFSZ 72,F |
| 0317: GOTO 313 |
| .................... }; |
| 0318: GOTO 275 |
| 0319: BCF 0A.3 |
| 031A: GOTO 45E (RETURN) |
| .................... } |
| .................... |
| .................... void cikcak() |
| .................... { |
| .................... int n; |
| .................... switch(movement) // podivej se na jednu stranu |
| * |
| 0364: MOVLW 01 |
| 0365: SUBWF 67,W |
| 0366: ADDLW FD |
| 0367: BTFSC 03.0 |
| 0368: GOTO 3A4 |
| 0369: ADDLW 03 |
| 036A: GOTO 410 |
| .................... { |
| .................... case L: |
| .................... FL;BR; |
| 036B: BSF 03.5 |
| 036C: BCF 06.7 |
| 036D: BCF 03.5 |
| 036E: BCF 06.7 |
| 036F: BSF 03.5 |
| 0370: BCF 06.6 |
| 0371: BCF 03.5 |
| 0372: BSF 06.6 |
| 0373: BSF 03.5 |
| 0374: BCF 06.4 |
| 0375: BCF 03.5 |
| 0376: BCF 06.4 |
| 0377: BSF 03.5 |
| 0378: BCF 06.5 |
| 0379: BCF 03.5 |
| 037A: BSF 06.5 |
| .................... movement=R; |
| 037B: MOVLW 01 |
| 037C: MOVWF 67 |
| .................... break; |
| 037D: GOTO 3A4 |
| .................... case R: |
| .................... FR;BL; |
| 037E: BSF 03.5 |
| 037F: BCF 06.5 |
| 0380: BCF 03.5 |
| 0381: BCF 06.5 |
| 0382: BSF 03.5 |
| 0383: BCF 06.4 |
| 0384: BCF 03.5 |
| 0385: BSF 06.4 |
| 0386: BSF 03.5 |
| 0387: BCF 06.6 |
| 0388: BCF 03.5 |
| 0389: BCF 06.6 |
| 038A: BSF 03.5 |
| 038B: BCF 06.7 |
| 038C: BCF 03.5 |
| 038D: BSF 06.7 |
| .................... movement=L; |
| 038E: MOVLW 02 |
| 038F: MOVWF 67 |
| .................... break; |
| 0390: GOTO 3A4 |
| .................... case S: |
| .................... FR;BL; |
| 0391: BSF 03.5 |
| 0392: BCF 06.5 |
| 0393: BCF 03.5 |
| 0394: BCF 06.5 |
| 0395: BSF 03.5 |
| 0396: BCF 06.4 |
| 0397: BCF 03.5 |
| 0398: BSF 06.4 |
| 0399: BSF 03.5 |
| 039A: BCF 06.6 |
| 039B: BCF 03.5 |
| 039C: BCF 06.6 |
| 039D: BSF 03.5 |
| 039E: BCF 06.7 |
| 039F: BCF 03.5 |
| 03A0: BSF 06.7 |
| .................... movement=L; |
| 03A1: MOVLW 02 |
| 03A2: MOVWF 67 |
| .................... break; |
| 03A3: GOTO 3A4 |
| .................... } |
| * |
| 0410: BCF 0A.0 |
| 0411: BCF 0A.1 |
| 0412: BSF 0A.2 |
| 0413: ADDWF 02,F |
| 0414: GOTO 37E |
| 0415: GOTO 36B |
| 0416: GOTO 391 |
| .................... set_adc_channel(LSENSOR); |
| * |
| 03A4: MOVLW 00 |
| 03A5: MOVWF 21 |
| 03A6: MOVF 1F,W |
| 03A7: ANDLW C7 |
| 03A8: IORWF 21,W |
| 03A9: MOVWF 1F |
| .................... Delay_us(10); |
| 03AA: MOVLW 03 |
| 03AB: MOVWF 20 |
| 03AC: DECFSZ 20,F |
| 03AD: GOTO 3AC |
| .................... while (tresholdL < read_adc()) // je tam cara?? |
| 03AE: BSF 1F.2 |
| 03AF: BTFSC 1F.2 |
| 03B0: GOTO 3AF |
| 03B1: MOVF 1E,W |
| 03B2: SUBWF 65,W |
| 03B3: BTFSC 03.0 |
| 03B4: GOTO 3FC |
| .................... { |
| .................... if (n==50) // asi bude na druhe strane |
| 03B5: MOVF 6E,W |
| 03B6: SUBLW 32 |
| 03B7: BTFSS 03.2 |
| 03B8: GOTO 3F7 |
| .................... { |
| .................... STOPR;STOPL; |
| 03B9: BSF 03.5 |
| 03BA: BCF 06.4 |
| 03BB: BCF 03.5 |
| 03BC: BCF 06.4 |
| 03BD: BSF 03.5 |
| 03BE: BCF 06.5 |
| 03BF: BCF 03.5 |
| 03C0: BCF 06.5 |
| 03C1: BSF 03.5 |
| 03C2: BCF 06.6 |
| 03C3: BCF 03.5 |
| 03C4: BCF 06.6 |
| 03C5: BSF 03.5 |
| 03C6: BCF 06.7 |
| 03C7: BCF 03.5 |
| 03C8: BCF 06.7 |
| .................... n=0; |
| 03C9: CLRF 6E |
| .................... switch(movement) |
| 03CA: MOVLW 01 |
| 03CB: SUBWF 67,W |
| 03CC: ADDLW FE |
| 03CD: BTFSC 03.0 |
| 03CE: GOTO 3F7 |
| 03CF: ADDLW 02 |
| 03D0: GOTO 417 |
| .................... { |
| .................... case L: |
| .................... FL;BR; |
| 03D1: BSF 03.5 |
| 03D2: BCF 06.7 |
| 03D3: BCF 03.5 |
| 03D4: BCF 06.7 |
| 03D5: BSF 03.5 |
| 03D6: BCF 06.6 |
| 03D7: BCF 03.5 |
| 03D8: BSF 06.6 |
| 03D9: BSF 03.5 |
| 03DA: BCF 06.4 |
| 03DB: BCF 03.5 |
| 03DC: BCF 06.4 |
| 03DD: BSF 03.5 |
| 03DE: BCF 06.5 |
| 03DF: BCF 03.5 |
| 03E0: BSF 06.5 |
| .................... movement=R; |
| 03E1: MOVLW 01 |
| 03E2: MOVWF 67 |
| .................... break; |
| 03E3: GOTO 3F7 |
| .................... case R: |
| .................... FR;BL; |
| 03E4: BSF 03.5 |
| 03E5: BCF 06.5 |
| 03E6: BCF 03.5 |
| 03E7: BCF 06.5 |
| 03E8: BSF 03.5 |
| 03E9: BCF 06.4 |
| 03EA: BCF 03.5 |
| 03EB: BSF 06.4 |
| 03EC: BSF 03.5 |
| 03ED: BCF 06.6 |
| 03EE: BCF 03.5 |
| 03EF: BCF 06.6 |
| 03F0: BSF 03.5 |
| 03F1: BCF 06.7 |
| 03F2: BCF 03.5 |
| 03F3: BSF 06.7 |
| .................... movement=L; |
| 03F4: MOVLW 02 |
| 03F5: MOVWF 67 |
| .................... break; |
| 03F6: GOTO 3F7 |
| .................... } |
| * |
| 0417: BCF 0A.0 |
| 0418: BCF 0A.1 |
| 0419: BSF 0A.2 |
| 041A: ADDWF 02,F |
| 041B: GOTO 3E4 |
| 041C: GOTO 3D1 |
| .................... } |
| .................... Delay_ms(5); |
| * |
| 03F7: MOVLW 05 |
| 03F8: MOVWF 73 |
| 03F9: CALL 04A |
| .................... n++; |
| 03FA: INCF 6E,F |
| .................... } |
| 03FB: GOTO 3AE |
| .................... STOPL;STOPR; // nasli jsme caru |
| 03FC: BSF 03.5 |
| 03FD: BCF 06.6 |
| 03FE: BCF 03.5 |
| 03FF: BCF 06.6 |
| 0400: BSF 03.5 |
| 0401: BCF 06.7 |
| 0402: BCF 03.5 |
| 0403: BCF 06.7 |
| 0404: BSF 03.5 |
| 0405: BCF 06.4 |
| 0406: BCF 03.5 |
| 0407: BCF 06.4 |
| 0408: BSF 03.5 |
| 0409: BCF 06.5 |
| 040A: BCF 03.5 |
| 040B: BCF 06.5 |
| .................... line=S; |
| 040C: MOVLW 03 |
| 040D: MOVWF 68 |
| 040E: BCF 0A.3 |
| 040F: GOTO 610 (RETURN) |
| .................... } |
| .................... void objizdka() |
| .................... { |
| .................... BL;BR;Delay_ms(300); |
| * |
| 031B: BSF 03.5 |
| 031C: BCF 06.6 |
| 031D: BCF 03.5 |
| 031E: BCF 06.6 |
| 031F: BSF 03.5 |
| 0320: BCF 06.7 |
| 0321: BCF 03.5 |
| 0322: BSF 06.7 |
| 0323: BSF 03.5 |
| 0324: BCF 06.4 |
| 0325: BCF 03.5 |
| 0326: BCF 06.4 |
| 0327: BSF 03.5 |
| 0328: BCF 06.5 |
| 0329: BCF 03.5 |
| 032A: BSF 06.5 |
| 032B: MOVLW 02 |
| 032C: MOVWF 6E |
| 032D: MOVLW 96 |
| 032E: MOVWF 73 |
| 032F: CALL 04A |
| 0330: DECFSZ 6E,F |
| 0331: GOTO 32D |
| .................... STOPR;STOPL; |
| 0332: BSF 03.5 |
| 0333: BCF 06.4 |
| 0334: BCF 03.5 |
| 0335: BCF 06.4 |
| 0336: BSF 03.5 |
| 0337: BCF 06.5 |
| 0338: BCF 03.5 |
| 0339: BCF 06.5 |
| 033A: BSF 03.5 |
| 033B: BCF 06.6 |
| 033C: BCF 03.5 |
| 033D: BCF 06.6 |
| 033E: BSF 03.5 |
| 033F: BCF 06.7 |
| 0340: BCF 03.5 |
| 0341: BCF 06.7 |
| .................... beep(1000,1000); |
| 0342: MOVLW 03 |
| 0343: MOVWF 73 |
| 0344: MOVLW E8 |
| 0345: MOVWF 72 |
| 0346: MOVLW 03 |
| 0347: MOVWF 75 |
| 0348: MOVLW E8 |
| 0349: MOVWF 74 |
| 034A: CALL 024 |
| .................... Delay_ms(500); |
| 034B: MOVLW 02 |
| 034C: MOVWF 6E |
| 034D: MOVLW FA |
| 034E: MOVWF 73 |
| 034F: CALL 04A |
| 0350: DECFSZ 6E,F |
| 0351: GOTO 34D |
| .................... beep(1000,1000); |
| 0352: MOVLW 03 |
| 0353: MOVWF 73 |
| 0354: MOVLW E8 |
| 0355: MOVWF 72 |
| 0356: MOVLW 03 |
| 0357: MOVWF 75 |
| 0358: MOVLW E8 |
| 0359: MOVWF 74 |
| 035A: CALL 024 |
| .................... Delay_ms(1000); |
| 035B: MOVLW 04 |
| 035C: MOVWF 6E |
| 035D: MOVLW FA |
| 035E: MOVWF 73 |
| 035F: CALL 04A |
| 0360: DECFSZ 6E,F |
| 0361: GOTO 35D |
| 0362: BCF 0A.3 |
| 0363: GOTO 48A (RETURN) |
| .................... |
| .................... } |
| .................... void kalibrace() |
| .................... { |
| .................... unsigned int16 i; |
| .................... int min; |
| .................... int max; |
| .................... int current; |
| .................... int treshold; |
| .................... |
| .................... FL; BR; Delay_ms(130); |
| .................... chyba1: |
| .................... FR; BL; //kalibrace leveho cidla |
| .................... set_adc_channel(LSENSOR); |
| .................... Delay_us(20); |
| .................... min=max=read_adc(); |
| .................... for (i=1;i<=500;i++) |
| .................... { |
| .................... current=read_adc(); |
| .................... if (max < current) max=current; |
| .................... if (min > current) min=current; |
| .................... Delay_us(500); |
| .................... } |
| .................... FL; BR; |
| .................... for (i=1;i<=500;i++) |
| .................... { |
| .................... current=read_adc(); |
| .................... if (max < current) max=current; |
| .................... if (min > current) min=current; |
| .................... Delay_us(500); |
| .................... } |
| .................... STOPL; STOPR; Delay_ms(200); |
| .................... if((max-min)<50) {Beep(1000,300); GOTO chyba1;} |
| .................... treshold=(max-min)>>1; |
| .................... tresholdL=treshold+min; |
| .................... |
| .................... chyba2: |
| .................... FR; BL; |
| .................... set_adc_channel(RSENSOR); |
| .................... Delay_us(20); |
| .................... min=max=read_adc(); //naplneni min a max nejakou rozumnou hodnotou |
| .................... for (i=1;i<=500 ;i++) |
| .................... { |
| .................... current=read_adc(); |
| .................... if (max < current) max=current; //zmereni minima a maxima |
| .................... if (min > current) min=current; |
| .................... Delay_us(500); |
| .................... } |
| .................... FL; BR; |
| .................... for (i=1;i<=500 ;i++) |
| .................... { |
| .................... current=read_adc(); |
| .................... if (max < current) max=current; //zmereni minima a maxima |
| .................... if (min > current) min=current; |
| .................... Delay_us(500); |
| .................... } |
| .................... STOPL; STOPR; Delay_ms(200); |
| .................... if((max-min)<50) {Beep(1000,300); GOTO chyba2;} |
| .................... treshold=(max-min)>>1; |
| .................... tresholdR=treshold+min; |
| .................... |
| .................... FR; BL; |
| .................... movement=L; |
| .................... set_adc_channel(LSENSOR); |
| .................... Delay_us(20); |
| .................... while (tresholdL < read_adc()) Delay_us(100); |
| .................... FL; BR; Delay_ms(50); |
| .................... STOPL; STOPR; Delay_ms(500); |
| .................... Beep(780,200); |
| .................... } |
| .................... |
| .................... void main() |
| .................... { |
| .................... unsigned int16 rovne; // pocita delku rovne cary |
| * |
| 041D: CLRF 04 |
| 041E: MOVLW 1F |
| 041F: ANDWF 03,F |
| 0420: MOVLW 07 |
| 0421: BSF 03.5 |
| 0422: MOVWF 1F |
| 0423: MOVLW 82 |
| 0424: BCF 03.5 |
| 0425: MOVWF 25 |
| 0426: MOVLW 98 |
| 0427: MOVWF 26 |
| 0428: MOVWF 27 |
| 0429: MOVLW 40 |
| 042A: MOVWF 28 |
| 042B: MOVWF 29 |
| 042C: MOVWF 2A |
| 042D: MOVLW 60 |
| 042E: MOVWF 2B |
| 042F: MOVLW 86 |
| 0430: MOVWF 2C |
| 0431: MOVLW B4 |
| 0432: MOVWF 2D |
| 0433: MOVLW 60 |
| 0434: MOVWF 2E |
| 0435: MOVLW A4 |
| 0436: MOVWF 2F |
| 0437: MOVWF 30 |
| 0438: MOVWF 31 |
| 0439: MOVLW 61 |
| 043A: MOVWF 32 |
| 043B: MOVLW 03 |
| 043C: MOVWF 33 |
| 043D: MOVLW F0 |
| 043E: MOVWF 34 |
| 043F: MOVLW FF |
| 0440: MOVWF 3C |
| 0441: CLRF 6B |
| .................... |
| .................... STOPL; STOPR; |
| 0442: BSF 03.5 |
| 0443: BCF 06.6 |
| 0444: BCF 03.5 |
| 0445: BCF 06.6 |
| 0446: BSF 03.5 |
| 0447: BCF 06.7 |
| 0448: BCF 03.5 |
| 0449: BCF 06.7 |
| 044A: BSF 03.5 |
| 044B: BCF 06.4 |
| 044C: BCF 03.5 |
| 044D: BCF 06.4 |
| 044E: BSF 03.5 |
| 044F: BCF 06.5 |
| 0450: BCF 03.5 |
| 0451: BCF 06.5 |
| .................... |
| .................... setup_adc_ports(RA0_RA1_RA3_ANALOG); |
| 0452: MOVLW 04 |
| 0453: BSF 03.5 |
| 0454: MOVWF 1F |
| .................... setup_adc(ADC_CLOCK_DIV_2); |
| 0455: BCF 03.5 |
| 0456: MOVF 1F,W |
| 0457: ANDLW 38 |
| 0458: IORLW 01 |
| 0459: MOVWF 1F |
| .................... |
| .................... port_b_pullups(false); |
| 045A: BSF 03.5 |
| 045B: BSF 01.7 |
| .................... |
| .................... diagnostika(); |
| 045C: BCF 03.5 |
| 045D: GOTO 14A |
| .................... |
| .................... Beep(1000,200); //double beep |
| 045E: MOVLW 03 |
| 045F: MOVWF 73 |
| 0460: MOVLW E8 |
| 0461: MOVWF 72 |
| 0462: CLRF 75 |
| 0463: MOVLW C8 |
| 0464: MOVWF 74 |
| 0465: CALL 024 |
| .................... Delay_ms(50); |
| 0466: MOVLW 32 |
| 0467: MOVWF 73 |
| 0468: CALL 04A |
| .................... Beep(1000,200); |
| 0469: MOVLW 03 |
| 046A: MOVWF 73 |
| 046B: MOVLW E8 |
| 046C: MOVWF 72 |
| 046D: CLRF 75 |
| 046E: MOVLW C8 |
| 046F: MOVWF 74 |
| 0470: CALL 024 |
| .................... Delay_ms(1000); // 1s |
| 0471: MOVLW 04 |
| 0472: MOVWF 6E |
| 0473: MOVLW FA |
| 0474: MOVWF 73 |
| 0475: CALL 04A |
| 0476: DECFSZ 6E,F |
| 0477: GOTO 473 |
| .................... |
| .................... // kalibrace(); |
| .................... tresholdl=tresholdr=80; |
| 0478: MOVLW 50 |
| 0479: MOVWF 66 |
| 047A: MOVWF 65 |
| .................... // FL; FR; |
| .................... movement=S; |
| 047B: MOVLW 03 |
| 047C: MOVWF 67 |
| .................... line=S; |
| 047D: MOVWF 68 |
| .................... dira=0; |
| 047E: CLRF 6A |
| 047F: CLRF 69 |
| .................... rovne=0; |
| 0480: CLRF 6D |
| 0481: CLRF 6C |
| .................... |
| .................... while(true) |
| .................... { |
| .................... if(!input(BUMPER)) objizdka(); |
| 0482: BSF 3C.4 |
| 0483: MOVF 3C,W |
| 0484: BSF 03.5 |
| 0485: MOVWF 07 |
| 0486: BCF 03.5 |
| 0487: BTFSC 07.4 |
| 0488: GOTO 48A |
| 0489: GOTO 31B |
| .................... line=0; |
| 048A: CLRF 68 |
| .................... set_adc_channel(RSENSOR); // podivej se jestli neni cara pod pravym cidlem |
| 048B: MOVLW 08 |
| 048C: MOVWF 21 |
| 048D: MOVF 1F,W |
| 048E: ANDLW C7 |
| 048F: IORWF 21,W |
| 0490: MOVWF 1F |
| .................... Delay_us(10); |
| 0491: MOVLW 03 |
| 0492: MOVWF 20 |
| 0493: DECFSZ 20,F |
| 0494: GOTO 493 |
| .................... if(tresholdR > read_adc()) |
| 0495: BSF 1F.2 |
| 0496: BTFSC 1F.2 |
| 0497: GOTO 496 |
| 0498: MOVF 1E,W |
| 0499: SUBWF 66,W |
| 049A: BTFSC 03.2 |
| 049B: GOTO 4A2 |
| 049C: BTFSS 03.0 |
| 049D: GOTO 4A2 |
| .................... { |
| .................... dira=0; |
| 049E: CLRF 6A |
| 049F: CLRF 69 |
| .................... line=R; |
| 04A0: MOVLW 01 |
| 04A1: MOVWF 68 |
| .................... } |
| .................... set_adc_channel(LSENSOR); // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym |
| 04A2: MOVLW 00 |
| 04A3: MOVWF 21 |
| 04A4: MOVF 1F,W |
| 04A5: ANDLW C7 |
| 04A6: IORWF 21,W |
| 04A7: MOVWF 1F |
| .................... Delay_us(10); |
| 04A8: MOVLW 03 |
| 04A9: MOVWF 20 |
| 04AA: DECFSZ 20,F |
| 04AB: GOTO 4AA |
| .................... if(tresholdL > read_adc()) |
| 04AC: BSF 1F.2 |
| 04AD: BTFSC 1F.2 |
| 04AE: GOTO 4AD |
| 04AF: MOVF 1E,W |
| 04B0: SUBWF 65,W |
| 04B1: BTFSC 03.2 |
| 04B2: GOTO 4B8 |
| 04B3: BTFSS 03.0 |
| 04B4: GOTO 4B8 |
| .................... { |
| .................... dira=0; |
| 04B5: CLRF 6A |
| 04B6: CLRF 69 |
| .................... line=line | L; |
| 04B7: BSF 68.1 |
| .................... } |
| .................... |
| .................... switch(line) |
| 04B8: MOVF 68,W |
| 04B9: MOVWF 20 |
| 04BA: MOVLW 03 |
| 04BB: SUBWF 20,W |
| 04BC: BTFSC 03.2 |
| 04BD: GOTO 4C7 |
| 04BE: MOVLW 02 |
| 04BF: SUBWF 20,W |
| 04C0: BTFSC 03.2 |
| 04C1: GOTO 4DA |
| 04C2: MOVLW 01 |
| 04C3: SUBWF 20,W |
| 04C4: BTFSC 03.2 |
| 04C5: GOTO 4ED |
| 04C6: GOTO 500 |
| .................... { |
| .................... case S: |
| .................... FR;FL; |
| 04C7: BSF 03.5 |
| 04C8: BCF 06.5 |
| 04C9: BCF 03.5 |
| 04CA: BCF 06.5 |
| 04CB: BSF 03.5 |
| 04CC: BCF 06.4 |
| 04CD: BCF 03.5 |
| 04CE: BSF 06.4 |
| 04CF: BSF 03.5 |
| 04D0: BCF 06.7 |
| 04D1: BCF 03.5 |
| 04D2: BCF 06.7 |
| 04D3: BSF 03.5 |
| 04D4: BCF 06.6 |
| 04D5: BCF 03.5 |
| 04D6: BSF 06.6 |
| .................... movement=S; |
| 04D7: MOVLW 03 |
| 04D8: MOVWF 67 |
| .................... continue; |
| 04D9: GOTO 482 |
| .................... case L: |
| .................... STOPL; |
| 04DA: BSF 03.5 |
| 04DB: BCF 06.6 |
| 04DC: BCF 03.5 |
| 04DD: BCF 06.6 |
| 04DE: BSF 03.5 |
| 04DF: BCF 06.7 |
| 04E0: BCF 03.5 |
| 04E1: BCF 06.7 |
| .................... FR;movement=L; |
| 04E2: BSF 03.5 |
| 04E3: BCF 06.5 |
| 04E4: BCF 03.5 |
| 04E5: BCF 06.5 |
| 04E6: BSF 03.5 |
| 04E7: BCF 06.4 |
| 04E8: BCF 03.5 |
| 04E9: BSF 06.4 |
| 04EA: MOVLW 02 |
| 04EB: MOVWF 67 |
| .................... continue; |
| 04EC: GOTO 482 |
| .................... case R: |
| .................... STOPR; |
| 04ED: BSF 03.5 |
| 04EE: BCF 06.4 |
| 04EF: BCF 03.5 |
| 04F0: BCF 06.4 |
| 04F1: BSF 03.5 |
| 04F2: BCF 06.5 |
| 04F3: BCF 03.5 |
| 04F4: BCF 06.5 |
| .................... FL;movement=R; |
| 04F5: BSF 03.5 |
| 04F6: BCF 06.7 |
| 04F7: BCF 03.5 |
| 04F8: BCF 06.7 |
| 04F9: BSF 03.5 |
| 04FA: BCF 06.6 |
| 04FB: BCF 03.5 |
| 04FC: BSF 06.6 |
| 04FD: MOVLW 01 |
| 04FE: MOVWF 67 |
| .................... continue; |
| 04FF: GOTO 482 |
| .................... default: |
| .................... } |
| .................... |
| .................... if (dira==ODEZVA) // kdyz uz chvili jedeme po bile plose |
| 0500: DECFSZ 69,W |
| 0501: GOTO 54A |
| 0502: MOVF 6A,F |
| 0503: BTFSS 03.2 |
| 0504: GOTO 54A |
| .................... { |
| .................... //BR;BL;Delay_us(rovne >>= 5); |
| .................... rovne=0; //kdyz sme museli zatocit, uz neni rovna cara |
| 0505: CLRF 6D |
| 0506: CLRF 6C |
| .................... |
| .................... switch (line) // musime zatocit |
| 0507: MOVLW 01 |
| 0508: SUBWF 68,W |
| 0509: ADDLW FE |
| 050A: BTFSC 03.0 |
| 050B: GOTO 54A |
| 050C: ADDLW 02 |
| 050D: GOTO 617 |
| .................... { |
| .................... case L: |
| .................... BL;Delay_ms(BRZDENI);STOPL; |
| 050E: BSF 03.5 |
| 050F: BCF 06.6 |
| 0510: BCF 03.5 |
| 0511: BCF 06.6 |
| 0512: BSF 03.5 |
| 0513: BCF 06.7 |
| 0514: BCF 03.5 |
| 0515: BSF 06.7 |
| 0516: MOVLW 64 |
| 0517: MOVWF 73 |
| 0518: CALL 04A |
| 0519: BSF 03.5 |
| 051A: BCF 06.6 |
| 051B: BCF 03.5 |
| 051C: BCF 06.6 |
| 051D: BSF 03.5 |
| 051E: BCF 06.7 |
| 051F: BCF 03.5 |
| 0520: BCF 06.7 |
| .................... FR; |
| 0521: BSF 03.5 |
| 0522: BCF 06.5 |
| 0523: BCF 03.5 |
| 0524: BCF 06.5 |
| 0525: BSF 03.5 |
| 0526: BCF 06.4 |
| 0527: BCF 03.5 |
| 0528: BSF 06.4 |
| .................... movement=L; |
| 0529: MOVLW 02 |
| 052A: MOVWF 67 |
| .................... break; |
| 052B: GOTO 54A |
| .................... case R: |
| .................... BR;Delay_ms(BRZDENI);STOPR; |
| 052C: BSF 03.5 |
| 052D: BCF 06.4 |
| 052E: BCF 03.5 |
| 052F: BCF 06.4 |
| 0530: BSF 03.5 |
| 0531: BCF 06.5 |
| 0532: BCF 03.5 |
| 0533: BSF 06.5 |
| 0534: MOVLW 64 |
| 0535: MOVWF 73 |
| 0536: CALL 04A |
| 0537: BSF 03.5 |
| 0538: BCF 06.4 |
| 0539: BCF 03.5 |
| 053A: BCF 06.4 |
| 053B: BSF 03.5 |
| 053C: BCF 06.5 |
| 053D: BCF 03.5 |
| 053E: BCF 06.5 |
| .................... FL; |
| 053F: BSF 03.5 |
| 0540: BCF 06.7 |
| 0541: BCF 03.5 |
| 0542: BCF 06.7 |
| 0543: BSF 03.5 |
| 0544: BCF 06.6 |
| 0545: BCF 03.5 |
| 0546: BSF 06.6 |
| .................... movement=R; |
| 0547: MOVLW 01 |
| 0548: MOVWF 67 |
| .................... break; |
| 0549: GOTO 54A |
| .................... } |
| * |
| 0617: BCF 0A.0 |
| 0618: BSF 0A.1 |
| 0619: BSF 0A.2 |
| 061A: ADDWF 02,F |
| 061B: GOTO 52C |
| 061C: GOTO 50E |
| .................... } |
| .................... if (dira==MEZERA) // kdyz zkoncila cara |
| * |
| 054A: MOVF 69,W |
| 054B: SUBLW 18 |
| 054C: BTFSS 03.2 |
| 054D: GOTO 612 |
| 054E: MOVF 6A,W |
| 054F: SUBLW 15 |
| 0550: BTFSS 03.2 |
| 0551: GOTO 612 |
| .................... { |
| .................... beep(800,500); |
| 0552: MOVLW 03 |
| 0553: MOVWF 73 |
| 0554: MOVLW 20 |
| 0555: MOVWF 72 |
| 0556: MOVLW 01 |
| 0557: MOVWF 75 |
| 0558: MOVLW F4 |
| 0559: MOVWF 74 |
| 055A: CALL 024 |
| .................... Delay_ms(50); |
| 055B: MOVLW 32 |
| 055C: MOVWF 73 |
| 055D: CALL 04A |
| .................... beep(800,500); |
| 055E: MOVLW 03 |
| 055F: MOVWF 73 |
| 0560: MOVLW 20 |
| 0561: MOVWF 72 |
| 0562: MOVLW 01 |
| 0563: MOVWF 75 |
| 0564: MOVLW F4 |
| 0565: MOVWF 74 |
| 0566: CALL 024 |
| .................... switch (movement) //vrat se zpet na caru |
| 0567: MOVLW 01 |
| 0568: SUBWF 67,W |
| 0569: ADDLW FD |
| 056A: BTFSC 03.0 |
| 056B: GOTO 5E6 |
| 056C: ADDLW 03 |
| 056D: GOTO 61D |
| .................... { |
| .................... case L: |
| .................... STOPL;STOPR; |
| 056E: BSF 03.5 |
| 056F: BCF 06.6 |
| 0570: BCF 03.5 |
| 0571: BCF 06.6 |
| 0572: BSF 03.5 |
| 0573: BCF 06.7 |
| 0574: BCF 03.5 |
| 0575: BCF 06.7 |
| 0576: BSF 03.5 |
| 0577: BCF 06.4 |
| 0578: BCF 03.5 |
| 0579: BCF 06.4 |
| 057A: BSF 03.5 |
| 057B: BCF 06.5 |
| 057C: BCF 03.5 |
| 057D: BCF 06.5 |
| .................... BR;Delay_ms(COUVANI);STOPR; |
| 057E: BSF 03.5 |
| 057F: BCF 06.4 |
| 0580: BCF 03.5 |
| 0581: BCF 06.4 |
| 0582: BSF 03.5 |
| 0583: BCF 06.5 |
| 0584: BCF 03.5 |
| 0585: BSF 06.5 |
| 0586: MOVLW 08 |
| 0587: MOVWF 6E |
| 0588: MOVLW C8 |
| 0589: MOVWF 73 |
| 058A: CALL 04A |
| 058B: DECFSZ 6E,F |
| 058C: GOTO 588 |
| 058D: BSF 03.5 |
| 058E: BCF 06.4 |
| 058F: BCF 03.5 |
| 0590: BCF 06.4 |
| 0591: BSF 03.5 |
| 0592: BCF 06.5 |
| 0593: BCF 03.5 |
| 0594: BCF 06.5 |
| .................... break; |
| 0595: GOTO 5E6 |
| .................... case R: |
| .................... STOPL;STOPR; |
| 0596: BSF 03.5 |
| 0597: BCF 06.6 |
| 0598: BCF 03.5 |
| 0599: BCF 06.6 |
| 059A: BSF 03.5 |
| 059B: BCF 06.7 |
| 059C: BCF 03.5 |
| 059D: BCF 06.7 |
| 059E: BSF 03.5 |
| 059F: BCF 06.4 |
| 05A0: BCF 03.5 |
| 05A1: BCF 06.4 |
| 05A2: BSF 03.5 |
| 05A3: BCF 06.5 |
| 05A4: BCF 03.5 |
| 05A5: BCF 06.5 |
| .................... BL;Delay_ms(COUVANI);STOPL; |
| 05A6: BSF 03.5 |
| 05A7: BCF 06.6 |
| 05A8: BCF 03.5 |
| 05A9: BCF 06.6 |
| 05AA: BSF 03.5 |
| 05AB: BCF 06.7 |
| 05AC: BCF 03.5 |
| 05AD: BSF 06.7 |
| 05AE: MOVLW 08 |
| 05AF: MOVWF 6E |
| 05B0: MOVLW C8 |
| 05B1: MOVWF 73 |
| 05B2: CALL 04A |
| 05B3: DECFSZ 6E,F |
| 05B4: GOTO 5B0 |
| 05B5: BSF 03.5 |
| 05B6: BCF 06.6 |
| 05B7: BCF 03.5 |
| 05B8: BCF 06.6 |
| 05B9: BSF 03.5 |
| 05BA: BCF 06.7 |
| 05BB: BCF 03.5 |
| 05BC: BCF 06.7 |
| .................... break; |
| 05BD: GOTO 5E6 |
| .................... case S: |
| .................... BL; BR; Delay_ms(COUVANI); |
| 05BE: BSF 03.5 |
| 05BF: BCF 06.6 |
| 05C0: BCF 03.5 |
| 05C1: BCF 06.6 |
| 05C2: BSF 03.5 |
| 05C3: BCF 06.7 |
| 05C4: BCF 03.5 |
| 05C5: BSF 06.7 |
| 05C6: BSF 03.5 |
| 05C7: BCF 06.4 |
| 05C8: BCF 03.5 |
| 05C9: BCF 06.4 |
| 05CA: BSF 03.5 |
| 05CB: BCF 06.5 |
| 05CC: BCF 03.5 |
| 05CD: BSF 06.5 |
| 05CE: MOVLW 08 |
| 05CF: MOVWF 6E |
| 05D0: MOVLW C8 |
| 05D1: MOVWF 73 |
| 05D2: CALL 04A |
| 05D3: DECFSZ 6E,F |
| 05D4: GOTO 5D0 |
| .................... STOPL; STOPR; |
| 05D5: BSF 03.5 |
| 05D6: BCF 06.6 |
| 05D7: BCF 03.5 |
| 05D8: BCF 06.6 |
| 05D9: BSF 03.5 |
| 05DA: BCF 06.7 |
| 05DB: BCF 03.5 |
| 05DC: BCF 06.7 |
| 05DD: BSF 03.5 |
| 05DE: BCF 06.4 |
| 05DF: BCF 03.5 |
| 05E0: BCF 06.4 |
| 05E1: BSF 03.5 |
| 05E2: BCF 06.5 |
| 05E3: BCF 03.5 |
| 05E4: BCF 06.5 |
| .................... break; |
| 05E5: GOTO 5E6 |
| .................... } |
| * |
| 061D: BCF 0A.0 |
| 061E: BSF 0A.1 |
| 061F: BSF 0A.2 |
| 0620: ADDWF 02,F |
| 0621: GOTO 596 |
| 0622: GOTO 56E |
| 0623: GOTO 5BE |
| .................... |
| .................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
| * |
| 05E6: BSF 03.5 |
| 05E7: BCF 06.5 |
| 05E8: BCF 03.5 |
| 05E9: BCF 06.5 |
| 05EA: BSF 03.5 |
| 05EB: BCF 06.4 |
| 05EC: BCF 03.5 |
| 05ED: BSF 06.4 |
| 05EE: BSF 03.5 |
| 05EF: BCF 06.7 |
| 05F0: BCF 03.5 |
| 05F1: BCF 06.7 |
| 05F2: BSF 03.5 |
| 05F3: BCF 06.6 |
| 05F4: BCF 03.5 |
| 05F5: BSF 06.6 |
| 05F6: MOVLW 02 |
| 05F7: MOVWF 6E |
| 05F8: MOVLW C8 |
| 05F9: MOVWF 73 |
| 05FA: CALL 04A |
| 05FB: DECFSZ 6E,F |
| 05FC: GOTO 5F8 |
| .................... STOPL; STOPR; movement=S; |
| 05FD: BSF 03.5 |
| 05FE: BCF 06.6 |
| 05FF: BCF 03.5 |
| 0600: BCF 06.6 |
| 0601: BSF 03.5 |
| 0602: BCF 06.7 |
| 0603: BCF 03.5 |
| 0604: BCF 06.7 |
| 0605: BSF 03.5 |
| 0606: BCF 06.4 |
| 0607: BCF 03.5 |
| 0608: BCF 06.4 |
| 0609: BSF 03.5 |
| 060A: BCF 06.5 |
| 060B: BCF 03.5 |
| 060C: BCF 06.5 |
| 060D: MOVLW 03 |
| 060E: MOVWF 67 |
| .................... cikcak(); // najdi caru |
| 060F: GOTO 364 |
| .................... dira=0; |
| 0610: CLRF 6A |
| 0611: CLRF 69 |
| .................... } |
| .................... dira++; |
| 0612: INCF 69,F |
| 0613: BTFSC 03.2 |
| 0614: INCF 6A,F |
| .................... } // while(true) |
| 0615: GOTO 482 |
| .................... } |
| .................... |
| 0616: SLEEP |