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/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/AX25.c |
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0,0 → 1,135 |
#nolist |
//#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 |
if (bit) |
{ |
bit=FALSE; //if the state of the pin was low, make it high. |
} |
else |
{ |
bit=TRUE; //if the state of the pin was high make it low |
} |
} |
void fcsbit(byte tbyte) |
{ |
#asm |
BCF STATUS,0 |
RRF fcshi,F // rotates the entire 16 bits |
RRF fcslo,F // to the right |
#endasm |
if (((STATUS & 0x01)^(tbyte)) ==0x01) |
{ |
fcshi = fcshi^0x84; |
fcslo = fcslo^0x08; |
} |
} |
void SendBit () |
{ |
if (bit) |
{ |
output_high(TXo); |
PERIODAH; |
output_low(TXo); |
PERIODAH; |
output_high(TXo); |
PERIODAH; |
output_low(TXo); |
TAILH; |
} |
else |
{ |
output_high(TXo); |
PERIODAL; |
output_low(TXo); |
TAILL; |
}; |
} |
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 |
{ |
bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte) |
if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this |
//is not a flag or fcs byte |
if (bt == 0) |
{ |
flipout(); |
} // if this bit is a zero, flip the output state |
else |
{ //otherwise if it is a 1, do the following: |
if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's |
if ((flag_flag == FALSE) & (stuff == 5)) |
{ //stuff an extra 0, if 5 1's in a row |
SendBit(); |
flipout(); //flip the output state to stuff a 0 |
}//end of if |
}//end of else |
// delay_us(850); //introduces a delay that creates 1200 baud |
SendBit(); |
inbyte = inbyte>>1; //go to the next bit in the byte |
}//end of for |
}//end of SendByte |
void SendPacket(char *data) |
{ |
bit=FALSE; |
fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF |
stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5 |
// 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. |
fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. |
for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay |
//each flag takes approx 6.7 ms |
flag_flag = FALSE; //done sending flags |
for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes |
for(i=0; 0 != *data; i++) |
{ |
SendByte(*data); //send the packet bytes |
data++; |
}; |
fcs_flag = TRUE; //about to send the FCS bytes |
fcslo =fcslo^0xff; //must XOR them with FF before sending |
fcshi = fcshi^0xff; |
SendByte(fcslo); //send the low byte of fcs |
SendByte(fcshi); //send the high byte of fcs |
fcs_flag = FALSE; //done sending FCS |
flag_flag = TRUE; //about to send flags |
SendByte(0x7e); // Send a flag to end packet |
} |
#list |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/merkur.BAK |
---|
0,0 → 1,331 |
//////////////////////////////////////////////////////////////////////////////// |
// // |
// Program pro robota Merkur // |
// // |
//////////////////////////////////////////////////////////////////////////////// |
#include "merkur.h" |
//#define DEBUG |
#define TXo PIN_A3 // To the transmitter modulator |
#include "AX25.c" // podprogram pro prenos telemetrie |
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
unsigned int8 line; // na ktere strane byla detekovana cara |
unsigned int8 speed; // rychlost zataceni |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 movement; // obsahuje aktualni smer zataceni |
unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 120 // po jakem case zataceni se detekuje dira |
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
#define FW_POMALU 230 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 240 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
#define PRES_DIRU 300 // predpokladana velikost diry |
#define MAX_ROVINKA (255-FW_STREDNE) // maximalni rychlost na rovince |
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na cihlu |
#define CIK_CAK 30000 // maximalni rozkmit pri hledani cary |
#define T_CIHLA 50 // perioda detekce cihly |
//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) // Zastav |
#define STOPL output_low(PIN_B6);output_low(PIN_B7) |
#define L 0b10 // left |
#define R 0b01 // right |
#define S 0b11 // straight |
//cidla |
#define RSENSOR C2OUT // Senzory na caru |
#define LSENSOR C1OUT |
#define BUMPER PIN_A4 // Senzor na cihlu |
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
#DEFINE SOUND_LO PIN_A7 |
char AXstring[40]; // Buffer pro prenos telemetrie |
// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} else {stop##motor;} |
#int_TIMER2 |
void TIMER2_isr() |
{ |
if (speed<255) speed+=INC_SPEED; |
if (rovinka<MAX_ROVINKA) rovinka++; |
if (dira<=T_DIRA) dira++; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
/******************************************************************************/ |
void diagnostika() // vyzkousi funkci pohonu a cidel |
{ |
unsigned int16 n; |
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
{ |
for (n=500; n<800; n+=100) |
{ |
beep(n,n); //beep UP |
}; |
Delay_ms(1000); |
//zastav vse |
STOPL; STOPR; |
//pravy pas |
FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//levy pas |
FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//oba pasy |
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
}; |
while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
{ |
if (RSENSOR) beep(900,500); |
if (LSENSOR) beep(800,500); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() // najde ztracenou caru |
{ |
unsigned int16 n; |
sem1: |
n=CIK_CAK; |
while (0==RSENSOR||LSENSOR) // zkontroluj caru |
{ |
if (n==CIK_CAK) // zmen smer zataceni |
{ |
n=0; |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
case S: |
FL;BR; |
movement=R; |
n=CIK_CAK/2; |
break; |
} |
} |
n++; |
} |
STOPL;STOPR; |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line==0) goto sem1; |
// nasli jsme caru |
line=S; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void objizdka() // objede cihlu |
{ |
unsigned int16 n; |
BL;BR;Delay_ms(150); |
STOPR;STOPL; |
beep(900,1000); |
// movement=S; |
// cikcak(); |
BR; FL; Delay_ms(270); // otoc se 70° do prava |
FR; FL; Delay_ms(500); // popojed rovne |
BL; Delay_ms(30); // otoc se 90° do leva |
STOPL; FR; Delay_ms(500); |
FR; FL; Delay_ms(100); // popojed rovne na slepo |
for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) {Delay_ms(150); break;} |
// Delay_ms(1); |
} |
BR; FL; // otoc se 60° do prava |
for(n=40000;n>0;n--) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
// Delay_ms(1); |
} |
STOPR; STOPL; |
movement=L; //R; |
cikcak(); |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void prejeddiru() // vyresi diru |
{ |
unsigned int16 n; |
unsigned int8 speed_dira; |
STOPL;STOPR; |
speed_dira=speed; |
beep(1000,500); |
switch (movement) //vrat se zpet na caru |
{ |
case L: |
for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case R: |
for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case S: |
goto sem; |
break; |
} |
beep(1000,500); |
FR;FL; //popojed rovne |
for(n=PRES_DIRU;n>0;n--) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
Delay_ms(1); |
} |
sem: |
STOPL; STOPR; |
movement=S; |
cikcak(); // najdi caru |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void main() |
{ |
unsigned int16 n; // pro FOR |
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
// preruseni kazdych 10ms |
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
setup_adc(ADC_CLOCK_INTERNAL); |
set_adc_channel(2); |
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
setup_ccp1(CCP_COMPARE_RESET_TIMER); |
CCP_1=(2^10)-1; // prevod kazdou 1ms |
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// povoleni rizeni rychlosti zataceni pres preruseni |
enable_interrupts(INT_TIMER2); |
enable_interrupts(GLOBAL); |
/*---------------------------------------------------------------------------*/ |
sensors=S; |
line=S; |
last=S; |
movement=S; |
speed=FW_POMALU; |
diagnostika(); |
//cikcak(); // toc se, abys nasel caru |
Delay_ms(500); |
Beep(1000,200); |
Delay_ms(500); |
while(true) // hlavni smycka (jizda podle cary) |
{ |
sensors = RSENSOR; // cteni senzoru na caru |
sensors |= LSENSOR << 1; |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
FL; FR; // pokud se jede dlouho rovne, tak pridej |
dira=0; |
movement=S; |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
dira=0; |
movement=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
dira=0; |
movement=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
} |
rovinka=0; |
if (dira>=T_DIRA) prejeddiru(); |
if (last!=line) // pokud si prejel caru z jedne strany na druhou |
// stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
} |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
movement=L; |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
movement=R; |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/merkur.c |
---|
0,0 → 1,332 |
//////////////////////////////////////////////////////////////////////////////// |
// // |
// Program pro robota Merkur // |
// // |
//////////////////////////////////////////////////////////////////////////////// |
#include "merkur.h" |
//#define DEBUG |
#define TXo PIN_A3 // To the transmitter modulator |
#include "AX25.c" // podprogram pro prenos telemetrie |
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
unsigned int8 line; // na ktere strane byla detekovana cara |
unsigned int8 speed; // rychlost zataceni |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 movement; // obsahuje aktualni smer zataceni |
unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 120 // po jakem case zataceni se detekuje dira |
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
#define FW_POMALU 230 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 240 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
#define PRES_DIRU 300 // predpokladana velikost diry |
#define MAX_ROVINKA (255-FW_STREDNE) // maximalni rychlost na rovince |
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na cihlu |
#define CIK_CAK 30000 // maximalni rozkmit pri hledani cary |
#define T_CIHLA 50 // perioda detekce cihly |
//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) // Zastav |
#define STOPL output_low(PIN_B6);output_low(PIN_B7) |
#define L 0b10 // left |
#define R 0b01 // right |
#define S 0b11 // straight |
//cidla |
#define RSENSOR C2OUT // Senzory na caru |
#define LSENSOR C1OUT |
#define BUMPER PIN_A4 // Senzor na cihlu |
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
#DEFINE SOUND_LO PIN_A7 |
char AXstring[40]; // Buffer pro prenos telemetrie |
// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} else {stop##motor;} |
#int_TIMER2 |
void TIMER2_isr() |
{ |
if (speed<255) speed+=INC_SPEED; |
if (rovinka<MAX_ROVINKA) rovinka++; |
if (dira<=T_DIRA) dira++; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
/******************************************************************************/ |
void diagnostika() // vyzkousi funkci pohonu a cidel |
{ |
unsigned int16 n; |
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
{ |
for (n=500; n<800; n+=100) |
{ |
beep(n,n); //beep UP |
}; |
Delay_ms(1000); |
//zastav vse |
STOPL; STOPR; |
//pravy pas |
FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//levy pas |
FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//oba pasy |
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
}; |
while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
{ |
if (RSENSOR) beep(900,500); |
if (LSENSOR) beep(800,500); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() // najde ztracenou caru |
{ |
unsigned int16 n; |
sem1: |
n=CIK_CAK; |
while (0==RSENSOR||LSENSOR) // zkontroluj caru |
{ |
if (n==CIK_CAK) // zmen smer zataceni |
{ |
n=0; |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
case S: |
FL;BR; |
movement=R; |
n=CIK_CAK/2; |
break; |
} |
} |
n++; |
} |
STOPL;STOPR; |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line==0) goto sem1; |
// nasli jsme caru |
line=S; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void objizdka() // objede cihlu |
{ |
unsigned int16 n; |
BL;BR;Delay_ms(150); |
STOPR;STOPL; |
beep(900,1000); |
// movement=S; |
// cikcak(); |
BR; FL; Delay_ms(270); // otoc se 70° do prava |
FR; FL; Delay_ms(500); // popojed rovne |
BL; Delay_ms(30); // otoc se 90° do leva |
STOPL; FR; Delay_ms(500); |
FR; FL; Delay_ms(100); // popojed rovne na slepo |
for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) {Delay_ms(150); break;} |
// Delay_ms(1); |
} |
BR; FL; // otoc se 60° do prava |
for(n=40000;n>0;n--) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
// Delay_ms(1); |
} |
STOPR; STOPL; |
movement=L; //R; |
cikcak(); |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void prejeddiru() // vyresi diru |
{ |
unsigned int16 n; |
unsigned int8 speed_dira; |
STOPL;STOPR; |
speed_dira=speed; |
beep(1000,500); |
switch (movement) //vrat se zpet na caru |
{ |
case L: |
for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case R: |
for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case S: |
goto sem; |
break; |
} |
beep(1000,500); |
FR;FL; //popojed rovne |
for(n=PRES_DIRU;n>0;n--) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
Delay_ms(1); |
} |
sem: |
STOPL; STOPR; |
movement=S; |
cikcak(); // najdi caru |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void main() |
{ |
unsigned int16 n; // pro FOR |
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
// preruseni kazdych 10ms |
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
setup_adc(ADC_CLOCK_INTERNAL); |
set_adc_channel(2); |
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
setup_ccp1(CCP_COMPARE_RESET_TIMER); |
CCP_1=(2^10)-1; // prevod kazdou 1ms |
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// povoleni rizeni rychlosti zataceni pres preruseni |
enable_interrupts(INT_TIMER2); |
enable_interrupts(GLOBAL); |
/*---------------------------------------------------------------------------*/ |
sensors=S; |
line=S; |
last=S; |
movement=S; |
speed=FW_POMALU; |
diagnostika(); |
//cikcak(); // toc se, abys nasel caru |
Delay_ms(500); |
Beep(1000,200); |
Delay_ms(500); |
while(true) // hlavni smycka (jizda podle cary) |
{ |
sensors = RSENSOR; // cteni senzoru na caru |
sensors |= LSENSOR << 1; |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && \ |
(dira<=T_CIHLA)) objizdka(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
FL; FR; // pokud se jede dlouho rovne, tak pridej |
dira=0; |
movement=S; |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
dira=0; |
movement=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
dira=0; |
movement=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
} |
rovinka=0; |
if (dira>=T_DIRA) prejeddiru(); |
if (last!=line) // pokud si prejel caru z jedne strany na druhou |
// stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
} |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
movement=L; |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
movement=R; |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.BAK |
---|
0,0 → 1,350 |
#include "tank.h" |
#define DEBUG |
#define TXo PIN_A3 // To the transmitter modulator |
#include "AX25.c" // podprogram pro prenos telemetrie |
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
unsigned int8 line; // na ktere strane byla detekovana cara |
unsigned int8 speed; // rychlost zataceni |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 movement; // obsahuje aktualni smer zataceni |
unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
unsigned int8 cihla; // urcuje za jak dlouho muze byt znova detekovana cihla |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 85 // po jakem case zataceni se detekuje dira |
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
#define FW_POMALU 230 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
#define COUVANI 600 // couvnuti zpet na caru, po detekci diry |
#define PRES_DIRU 150 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 20000 |
#define T_CIHLA 100 // perioda detekce cihly |
//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) // Zastav |
#define STOPL output_low(PIN_B6);output_low(PIN_B7) |
#define L 0b10 // left |
#define R 0b01 // right |
#define S 0b11 // straight |
//cidla |
#define RSENSOR C2OUT // Senzory na caru |
#define LSENSOR C1OUT |
#define BUMPER PIN_A4 // Senzor na cihlu |
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
#DEFINE SOUND_LO PIN_A7 |
char AXstring[40]; // Buffer pro prenos telemetrie |
// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} else {stop##motor;} |
#int_TIMER2 |
void TIMER2_isr() |
{ |
if (speed<255) speed+=INC_SPEED; |
if (rovinka<MAX_ROVINKA) rovinka++; |
if (dira<=T_DIRA) dira++; |
if (cihla>0) cihla--; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
/******************************************************************************/ |
void diagnostika() |
{ |
unsigned int16 n; |
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
{ |
for (n=500; n<800; n+=100) |
{ |
beep(n,n); //beep UP |
}; |
Delay_ms(1000); |
//zastav vse |
STOPL; STOPR; |
//pravy pas |
FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//levy pas |
FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//oba pasy |
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
}; |
while (input(DIAG_SENSORS)) |
{ |
int ls, rs; |
while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
set_adc_channel(RSENSOR); |
Delay_us(20); |
rs=read_adc(); |
set_adc_channel(LSENSOR); |
Delay_us(20); |
ls=read_adc(); |
sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
SendPacket(&AXstring[0]); |
delay_ms(1000); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() |
{ |
unsigned int16 n; |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) return; |
n=0; |
switch(movement) // podivej se na druhou stranu nez se jelo |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
case S: |
FL;BR; |
movement=R; |
n=CIK_CAK/2; |
break; |
} |
while (0==(RSENSOR|LSENSOR)) // zkontroluj caru |
{ |
if (n==CIK_CAK) // zmen smer zataceni |
{ |
n=0; |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
} |
n++; |
} |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
Delay_ms(50); |
STOPL;STOPR; // nasli jsme caru |
line=S; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void objizdka() // objede cihlu |
{ |
unsigned int16 n; |
BL;BR;Delay_ms(200); |
STOPR;STOPL; |
beep(900,1000); |
movement=S; |
cikcak(); |
BR; FL; Delay_ms(215); // otoc se 70° do prava |
FR; FL; Delay_ms(600); // popojed rovne |
BL; Delay_ms(50); // otoc se 90° do leva |
STOPL; FR; Delay_ms(550); |
FR; FL; Delay_ms(100); // popojed rovne na slepo |
for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) {Delay_ms(50); break;} |
Delay_ms(1); |
} |
BR; // otoc se 60° do prava |
for(n=600;n>0;n--) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
Delay_ms(1); |
} |
STOPR; STOPL; |
movement=R; |
cikcak(); |
cihla=T_DIRA; |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void prejeddiru() // vyresi diru |
{ |
unsigned int16 n; |
STOPL;STOPR; |
beep(800,500); |
switch (movement) //vrat se zpet na caru |
{ |
case L: |
for (n=COUVANI;n>0;n--) {GO(R,B,speed); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case R: |
for (n=COUVANI;n>0;n--) {GO(L,B,speed); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case S: |
goto sem; |
break; |
} |
beep(800,500); |
FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
sem: |
STOPL; STOPR; |
movement=S; |
cikcak(); // najdi caru |
cihla=T_DIRA; |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void main() |
{ |
unsigned int16 n; // pro FOR |
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
// preruseni kazdych 10ms |
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
setup_adc(ADC_CLOCK_INTERNAL); |
set_adc_channel(2); |
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
setup_ccp1(CCP_COMPARE_RESET_TIMER); |
CCP_1=(2^10)-1; // prevod kazdou 1ms |
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// povoleni rizeni rychlosti zataceni pres preruseni |
enable_interrupts(INT_TIMER2); |
enable_interrupts(GLOBAL); |
/*---------------------------------------------------------------------------*/ |
sensors=S; |
line=S; |
last=S; |
movement=S; |
speed=FW_POMALU; |
diagnostika(); |
cikcak(); // toc se, abys nasel caru |
Delay_ms(500); |
Beep(1000,200); |
Delay_ms(500); |
while(true) // hlavni smycka (jizda podle cary) |
{ |
sensors = RSENSOR; // cteni senzoru na caru |
sensors |= LSENSOR << 1; |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (cihla==0)) objizdka(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
FL; FR; // pokud se jede dlouho rovne, tak pridej |
dira=0; |
movement=S; |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
dira=0; |
movement=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
dira=0; |
movement=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
} |
rovinka=0; |
if (dira>=T_DIRA) prejeddiru(); |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
} |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
movement=L; |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
movement=R; |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.HEX |
---|
0,0 → 1,271 |
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:00000001FF |
;PIC16F88 |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.LST |
---|
0,0 → 1,2130 |
CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 01:36 |
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.LST |
ROM used: 2140 words (52%) |
Largest free fragment is 1570 |
RAM used: 89 (51%) at main() level |
101 (58%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
* |
0000: MOVLW 08 |
0001: MOVWF 0A |
0002: GOTO 000 |
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 049 |
.................... #include "tank.h" |
.................... #include <16F88.h> |
.................... //////// Standard Header file for the PIC16F88 device //////////////// |
.................... #device PIC16F88 |
.................... #list |
.................... |
.................... #device adc=8 |
.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
.................... #use delay(clock=4000000) |
* |
005C: MOVLW 12 |
005D: BSF 03.5 |
005E: SUBWF 24,F |
005F: BTFSS 03.0 |
0060: GOTO 06F |
0061: MOVLW A4 |
0062: MOVWF 04 |
0063: MOVLW FC |
0064: ANDWF 00,F |
0065: BCF 03.0 |
0066: RRF 00,F |
0067: RRF 00,F |
0068: MOVF 00,W |
0069: BTFSC 03.2 |
006A: GOTO 06F |
006B: GOTO 06D |
006C: NOP |
006D: DECFSZ 00,F |
006E: GOTO 06C |
006F: BCF 03.5 |
0070: RETLW 00 |
* |
009D: MOVLW 7D |
009E: MOVWF 04 |
009F: MOVF 00,W |
00A0: BTFSC 03.2 |
00A1: GOTO 0B1 |
00A2: MOVLW 01 |
00A3: MOVWF 78 |
00A4: CLRF 77 |
00A5: DECFSZ 77,F |
00A6: GOTO 0A5 |
00A7: DECFSZ 78,F |
00A8: GOTO 0A4 |
00A9: MOVLW 4A |
00AA: MOVWF 77 |
00AB: DECFSZ 77,F |
00AC: GOTO 0AB |
00AD: NOP |
00AE: NOP |
00AF: DECFSZ 00,F |
00B0: GOTO 0A2 |
00B1: RETLW 00 |
.................... |
.................... |
.................... |
.................... #define DEBUG |
.................... |
.................... #define TXo PIN_A3 // To the transmitter modulator |
.................... #include "AX25.c" // podprogram pro prenos telemetrie |
.................... #list |
.................... |
.................... |
.................... unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
.................... unsigned int8 line; // na ktere strane byla detekovana cara |
.................... unsigned int8 speed; // rychlost zataceni |
.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
.................... unsigned int8 movement; // obsahuje aktualni smer zataceni |
.................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
.................... unsigned int8 cihla; // urcuje za jak dlouho muze byt znova detekovana cihla |
.................... |
.................... // Konstanty pro dynamiku pohybu |
.................... #define T_DIRA 85 // po jakem case zataceni se detekuje dira |
.................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
.................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas |
.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
.................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry |
.................... #define PRES_DIRU 150 |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 |
.................... #define CIK_CAK 20000 |
.................... #define T_CIHLA 100 // perioda detekce cihly |
.................... |
.................... //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) // Zastav |
.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
.................... |
.................... #define L 0b10 // left |
.................... #define R 0b01 // right |
.................... #define S 0b11 // straight |
.................... |
.................... //cidla |
.................... #define RSENSOR C2OUT // Senzory na caru |
.................... #define LSENSOR C1OUT |
.................... #define BUMPER PIN_A4 // Senzor na cihlu |
.................... |
.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
.................... |
.................... #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
.................... #DEFINE SOUND_LO PIN_A7 |
.................... |
.................... char AXstring[40]; // Buffer pro prenos telemetrie |
.................... |
.................... // makro pro PWM |
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
.................... {direction##motor;} else {stop##motor;} |
.................... |
.................... #int_TIMER2 |
.................... void TIMER2_isr() |
.................... { |
.................... if (speed<255) speed+=INC_SPEED; |
* |
0049: INCFSZ 42,W |
004A: GOTO 04C |
004B: GOTO 04E |
004C: MOVLW 01 |
004D: ADDWF 42,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
004E: MOVF 43,W |
004F: SUBLW 0E |
0050: BTFSC 03.0 |
0051: INCF 43,F |
.................... if (dira<=T_DIRA) dira++; |
0052: MOVF 46,W |
0053: SUBLW 55 |
0054: BTFSC 03.0 |
0055: INCF 46,F |
.................... if (cihla>0) cihla--; |
0056: MOVF 47,F |
0057: BTFSS 03.2 |
0058: DECF 47,F |
.................... } |
.................... // Primitivni Pipani |
0059: BCF 0C.1 |
005A: BCF 0A.3 |
005B: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
0071: BSF 03.5 |
0072: MOVF 21,W |
0073: MOVWF 23 |
0074: MOVF 20,W |
0075: MOVWF 22 |
0076: MOVF 22,F |
0077: BTFSS 03.2 |
0078: GOTO 07C |
0079: MOVF 23,F |
007A: BTFSC 03.2 |
007B: GOTO 09B |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
007C: BCF 05.6 |
007D: BCF 03.5 |
007E: BSF 05.6 |
007F: BSF 03.5 |
0080: BCF 05.7 |
0081: BCF 03.5 |
0082: BCF 05.7 |
.................... delay_us(period); |
0083: MOVF 7C,W |
0084: BSF 03.5 |
0085: MOVWF 24 |
0086: BCF 03.5 |
0087: CALL 05C |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
0088: BSF 03.5 |
0089: BCF 05.7 |
008A: BCF 03.5 |
008B: BSF 05.7 |
008C: BSF 03.5 |
008D: BCF 05.6 |
008E: BCF 03.5 |
008F: BCF 05.6 |
.................... delay_us(period); |
0090: MOVF 7C,W |
0091: BSF 03.5 |
0092: MOVWF 24 |
0093: BCF 03.5 |
0094: CALL 05C |
.................... } |
0095: BSF 03.5 |
0096: MOVF 22,W |
0097: BTFSC 03.2 |
0098: DECF 23,F |
0099: DECF 22,F |
009A: GOTO 076 |
.................... } |
009B: BCF 03.5 |
009C: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
01D1: BSF 03.5 |
01D2: BSF 06.3 |
01D3: BCF 03.5 |
01D4: BTFSS 06.3 |
01D5: GOTO 302 |
.................... for (n=500; n<800; n+=100) |
01D6: MOVLW 01 |
01D7: MOVWF 74 |
01D8: MOVLW F4 |
01D9: MOVWF 73 |
01DA: MOVF 74,W |
01DB: SUBLW 03 |
01DC: BTFSS 03.0 |
01DD: GOTO 1F4 |
01DE: BTFSS 03.2 |
01DF: GOTO 1E4 |
01E0: MOVF 73,W |
01E1: SUBLW 1F |
01E2: BTFSS 03.0 |
01E3: GOTO 1F4 |
.................... { |
.................... beep(n,n); //beep UP |
01E4: MOVF 74,W |
01E5: MOVWF 7D |
01E6: MOVF 73,W |
01E7: MOVWF 7C |
01E8: MOVF 74,W |
01E9: BSF 03.5 |
01EA: MOVWF 21 |
01EB: MOVF 73,W |
01EC: MOVWF 20 |
01ED: BCF 03.5 |
01EE: CALL 071 |
.................... }; |
01EF: MOVLW 64 |
01F0: ADDWF 73,F |
01F1: BTFSC 03.0 |
01F2: INCF 74,F |
01F3: GOTO 1DA |
.................... Delay_ms(1000); |
01F4: MOVLW 04 |
01F5: MOVWF 7C |
01F6: MOVLW FA |
01F7: MOVWF 7D |
01F8: CALL 09D |
01F9: DECFSZ 7C,F |
01FA: GOTO 1F6 |
.................... //zastav vse |
.................... STOPL; STOPR; |
01FB: BSF 03.5 |
01FC: BCF 06.6 |
01FD: BCF 03.5 |
01FE: BCF 06.6 |
01FF: BSF 03.5 |
0200: BCF 06.7 |
0201: BCF 03.5 |
0202: BCF 06.7 |
0203: BSF 03.5 |
0204: BCF 06.4 |
0205: BCF 03.5 |
0206: BCF 06.4 |
0207: BSF 03.5 |
0208: BCF 06.5 |
0209: BCF 03.5 |
020A: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
020B: BSF 03.5 |
020C: BCF 06.5 |
020D: BCF 03.5 |
020E: BCF 06.5 |
020F: BSF 03.5 |
0210: BCF 06.4 |
0211: BCF 03.5 |
0212: BSF 06.4 |
0213: MOVLW 04 |
0214: MOVWF 7C |
0215: MOVLW FA |
0216: MOVWF 7D |
0217: CALL 09D |
0218: DECFSZ 7C,F |
0219: GOTO 215 |
021A: BSF 03.5 |
021B: BCF 06.4 |
021C: BCF 03.5 |
021D: BCF 06.4 |
021E: BSF 03.5 |
021F: BCF 06.5 |
0220: BCF 03.5 |
0221: BCF 06.5 |
0222: MOVLW 04 |
0223: MOVWF 7C |
0224: MOVLW FA |
0225: MOVWF 7D |
0226: CALL 09D |
0227: DECFSZ 7C,F |
0228: GOTO 224 |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
0229: BSF 03.5 |
022A: BCF 06.4 |
022B: BCF 03.5 |
022C: BCF 06.4 |
022D: BSF 03.5 |
022E: BCF 06.5 |
022F: BCF 03.5 |
0230: BSF 06.5 |
0231: MOVLW 04 |
0232: MOVWF 7C |
0233: MOVLW FA |
0234: MOVWF 7D |
0235: CALL 09D |
0236: DECFSZ 7C,F |
0237: GOTO 233 |
0238: BSF 03.5 |
0239: BCF 06.4 |
023A: BCF 03.5 |
023B: BCF 06.4 |
023C: BSF 03.5 |
023D: BCF 06.5 |
023E: BCF 03.5 |
023F: BCF 06.5 |
0240: MOVLW 04 |
0241: MOVWF 7C |
0242: MOVLW FA |
0243: MOVWF 7D |
0244: CALL 09D |
0245: DECFSZ 7C,F |
0246: GOTO 242 |
.................... Beep(880,100); Delay_ms(1000); |
0247: MOVLW 03 |
0248: MOVWF 7D |
0249: MOVLW 70 |
024A: MOVWF 7C |
024B: BSF 03.5 |
024C: CLRF 21 |
024D: MOVLW 64 |
024E: MOVWF 20 |
024F: BCF 03.5 |
0250: CALL 071 |
0251: MOVLW 04 |
0252: MOVWF 7C |
0253: MOVLW FA |
0254: MOVWF 7D |
0255: CALL 09D |
0256: DECFSZ 7C,F |
0257: GOTO 253 |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0258: BSF 03.5 |
0259: BCF 06.7 |
025A: BCF 03.5 |
025B: BCF 06.7 |
025C: BSF 03.5 |
025D: BCF 06.6 |
025E: BCF 03.5 |
025F: BSF 06.6 |
0260: MOVLW 04 |
0261: MOVWF 7C |
0262: MOVLW FA |
0263: MOVWF 7D |
0264: CALL 09D |
0265: DECFSZ 7C,F |
0266: GOTO 262 |
0267: BSF 03.5 |
0268: BCF 06.6 |
0269: BCF 03.5 |
026A: BCF 06.6 |
026B: BSF 03.5 |
026C: BCF 06.7 |
026D: BCF 03.5 |
026E: BCF 06.7 |
026F: MOVLW 04 |
0270: MOVWF 7C |
0271: MOVLW FA |
0272: MOVWF 7D |
0273: CALL 09D |
0274: DECFSZ 7C,F |
0275: GOTO 271 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0276: BSF 03.5 |
0277: BCF 06.6 |
0278: BCF 03.5 |
0279: BCF 06.6 |
027A: BSF 03.5 |
027B: BCF 06.7 |
027C: BCF 03.5 |
027D: BSF 06.7 |
027E: MOVLW 04 |
027F: MOVWF 7C |
0280: MOVLW FA |
0281: MOVWF 7D |
0282: CALL 09D |
0283: DECFSZ 7C,F |
0284: GOTO 280 |
0285: BSF 03.5 |
0286: BCF 06.6 |
0287: BCF 03.5 |
0288: BCF 06.6 |
0289: BSF 03.5 |
028A: BCF 06.7 |
028B: BCF 03.5 |
028C: BCF 06.7 |
028D: MOVLW 04 |
028E: MOVWF 7C |
028F: MOVLW FA |
0290: MOVWF 7D |
0291: CALL 09D |
0292: DECFSZ 7C,F |
0293: GOTO 28F |
.................... Beep(880,100); Delay_ms(1000); |
0294: MOVLW 03 |
0295: MOVWF 7D |
0296: MOVLW 70 |
0297: MOVWF 7C |
0298: BSF 03.5 |
0299: CLRF 21 |
029A: MOVLW 64 |
029B: MOVWF 20 |
029C: BCF 03.5 |
029D: CALL 071 |
029E: MOVLW 04 |
029F: MOVWF 7C |
02A0: MOVLW FA |
02A1: MOVWF 7D |
02A2: CALL 09D |
02A3: DECFSZ 7C,F |
02A4: GOTO 2A0 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
02A5: BSF 03.5 |
02A6: BCF 06.7 |
02A7: BCF 03.5 |
02A8: BCF 06.7 |
02A9: BSF 03.5 |
02AA: BCF 06.6 |
02AB: BCF 03.5 |
02AC: BSF 06.6 |
02AD: BSF 03.5 |
02AE: BCF 06.5 |
02AF: BCF 03.5 |
02B0: BCF 06.5 |
02B1: BSF 03.5 |
02B2: BCF 06.4 |
02B3: BCF 03.5 |
02B4: BSF 06.4 |
02B5: MOVLW 04 |
02B6: MOVWF 7C |
02B7: MOVLW FA |
02B8: MOVWF 7D |
02B9: CALL 09D |
02BA: DECFSZ 7C,F |
02BB: GOTO 2B7 |
02BC: BSF 03.5 |
02BD: BCF 06.6 |
02BE: BCF 03.5 |
02BF: BCF 06.6 |
02C0: BSF 03.5 |
02C1: BCF 06.7 |
02C2: BCF 03.5 |
02C3: BCF 06.7 |
02C4: BSF 03.5 |
02C5: BCF 06.4 |
02C6: BCF 03.5 |
02C7: BCF 06.4 |
02C8: BSF 03.5 |
02C9: BCF 06.5 |
02CA: BCF 03.5 |
02CB: BCF 06.5 |
02CC: MOVLW 04 |
02CD: MOVWF 7C |
02CE: MOVLW FA |
02CF: MOVWF 7D |
02D0: CALL 09D |
02D1: DECFSZ 7C,F |
02D2: GOTO 2CE |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
02D3: BSF 03.5 |
02D4: BCF 06.6 |
02D5: BCF 03.5 |
02D6: BCF 06.6 |
02D7: BSF 03.5 |
02D8: BCF 06.7 |
02D9: BCF 03.5 |
02DA: BSF 06.7 |
02DB: BSF 03.5 |
02DC: BCF 06.4 |
02DD: BCF 03.5 |
02DE: BCF 06.4 |
02DF: BSF 03.5 |
02E0: BCF 06.5 |
02E1: BCF 03.5 |
02E2: BSF 06.5 |
02E3: MOVLW 04 |
02E4: MOVWF 7C |
02E5: MOVLW FA |
02E6: MOVWF 7D |
02E7: CALL 09D |
02E8: DECFSZ 7C,F |
02E9: GOTO 2E5 |
02EA: BSF 03.5 |
02EB: BCF 06.6 |
02EC: BCF 03.5 |
02ED: BCF 06.6 |
02EE: BSF 03.5 |
02EF: BCF 06.7 |
02F0: BCF 03.5 |
02F1: BCF 06.7 |
02F2: BSF 03.5 |
02F3: BCF 06.4 |
02F4: BCF 03.5 |
02F5: BCF 06.4 |
02F6: BSF 03.5 |
02F7: BCF 06.5 |
02F8: BCF 03.5 |
02F9: BCF 06.5 |
02FA: MOVLW 04 |
02FB: MOVWF 7C |
02FC: MOVLW FA |
02FD: MOVWF 7D |
02FE: CALL 09D |
02FF: DECFSZ 7C,F |
0300: GOTO 2FC |
.................... }; |
0301: GOTO 1D1 |
.................... while (input(DIAG_SENSORS)) |
.................... { |
0302: BSF 03.5 |
0303: BSF 06.2 |
0304: BCF 03.5 |
0305: BTFSS 06.2 |
0306: GOTO 3C2 |
.................... int ls, rs; |
.................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
0307: BSF 03.5 |
0308: BSF 05.4 |
0309: BCF 03.5 |
030A: BTFSC 05.4 |
030B: GOTO 31A |
030C: MOVLW 04 |
030D: MOVWF 7D |
030E: MOVLW 4C |
030F: MOVWF 7C |
0310: BSF 03.5 |
0311: CLRF 21 |
0312: MOVLW 64 |
0313: MOVWF 20 |
0314: BCF 03.5 |
0315: CALL 071 |
0316: MOVLW 32 |
0317: MOVWF 7D |
0318: CALL 09D |
0319: GOTO 307 |
.................... set_adc_channel(RSENSOR); |
031A: MOVLW 00 |
031B: BSF 03.5 |
031C: BTFSC 1C.7 |
031D: MOVLW 01 |
031E: MOVWF 7C |
031F: RLF 7C,W |
0320: MOVWF 77 |
0321: RLF 77,F |
0322: RLF 77,F |
0323: MOVLW F8 |
0324: ANDWF 77,F |
0325: BCF 03.5 |
0326: MOVF 1F,W |
0327: ANDLW C7 |
0328: IORWF 77,W |
0329: MOVWF 1F |
.................... Delay_us(20); |
032A: MOVLW 06 |
032B: MOVWF 77 |
032C: DECFSZ 77,F |
032D: GOTO 32C |
032E: NOP |
.................... rs=read_adc(); |
032F: BSF 1F.2 |
0330: BTFSC 1F.2 |
0331: GOTO 330 |
0332: MOVF 1E,W |
0333: MOVWF 76 |
.................... set_adc_channel(LSENSOR); |
0334: MOVLW 00 |
0335: BSF 03.5 |
0336: BTFSC 1C.6 |
0337: MOVLW 01 |
0338: MOVWF 7C |
0339: RLF 7C,W |
033A: MOVWF 77 |
033B: RLF 77,F |
033C: RLF 77,F |
033D: MOVLW F8 |
033E: ANDWF 77,F |
033F: BCF 03.5 |
0340: MOVF 1F,W |
0341: ANDLW C7 |
0342: IORWF 77,W |
0343: MOVWF 1F |
.................... Delay_us(20); |
0344: MOVLW 06 |
0345: MOVWF 77 |
0346: DECFSZ 77,F |
0347: GOTO 346 |
0348: NOP |
.................... ls=read_adc(); |
0349: BSF 1F.2 |
034A: BTFSC 1F.2 |
034B: GOTO 34A |
034C: MOVF 1E,W |
034D: MOVWF 75 |
.................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
034E: MOVLW 48 |
034F: MOVWF 70 |
0350: MOVLW 4C |
0351: BSF 03.5 |
0352: MOVWF 20 |
0353: BCF 03.5 |
0354: CALL 0B2 |
0355: MOVLW 3A |
0356: BSF 03.5 |
0357: MOVWF 20 |
0358: BCF 03.5 |
0359: CALL 0B2 |
035A: MOVLW 20 |
035B: BSF 03.5 |
035C: MOVWF 20 |
035D: BCF 03.5 |
035E: CALL 0B2 |
035F: MOVF 75,W |
0360: MOVWF 7D |
0361: MOVLW 18 |
0362: MOVWF 7E |
0363: CALL 0D3 |
0364: MOVLW 05 |
0365: MOVWF 7C |
0366: MOVF 7C,W |
0367: CALL 037 |
0368: INCF 7C,F |
0369: MOVWF 77 |
036A: BSF 03.5 |
036B: MOVWF 20 |
036C: BCF 03.5 |
036D: CALL 0B2 |
036E: MOVLW 0A |
036F: SUBWF 7C,W |
0370: BTFSS 03.2 |
0371: GOTO 366 |
0372: MOVF 76,W |
0373: MOVWF 7D |
0374: MOVLW 18 |
0375: MOVWF 7E |
0376: CALL 0D3 |
* |
082D: CLRF 70 |
.................... SendPacket(&AXstring[0]); |
* |
0377: MOVLW 48 |
0378: MOVWF 7C |
.................... delay_ms(1000); |
* |
03BA: MOVLW 04 |
03BB: MOVWF 7C |
03BC: MOVLW FA |
03BD: MOVWF 7D |
03BE: CALL 09D |
03BF: DECFSZ 7C,F |
03C0: GOTO 3BC |
.................... }; |
03C1: GOTO 302 |
.................... } |
03C2: BSF 0A.3 |
03C3: GOTO 0BA (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void cikcak() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... line = RSENSOR; // cteni senzoru na caru |
03C4: CLRF 41 |
03C5: BSF 03.5 |
03C6: BTFSS 1C.7 |
03C7: GOTO 3CB |
03C8: BCF 03.5 |
03C9: INCF 41,F |
03CA: BSF 03.5 |
.................... line |= LSENSOR << 1; |
03CB: MOVLW 00 |
03CC: BTFSC 1C.6 |
03CD: MOVLW 01 |
03CE: MOVWF 77 |
03CF: BCF 03.0 |
03D0: RLF 77,F |
03D1: MOVF 77,W |
03D2: BCF 03.5 |
03D3: IORWF 41,F |
.................... if (line!=0) return; |
03D4: MOVF 41,F |
03D5: BTFSS 03.2 |
03D6: GOTO 4B1 |
.................... |
.................... n=0; |
03D7: CLRF 76 |
03D8: CLRF 75 |
.................... switch(movement) // podivej se na druhou stranu nez se jelo |
.................... { |
03D9: MOVF 45,W |
03DA: XORLW 02 |
03DB: BTFSC 03.2 |
03DC: GOTO 3E4 |
03DD: XORLW 03 |
03DE: BTFSC 03.2 |
03DF: GOTO 3F7 |
03E0: XORLW 02 |
03E1: BTFSC 03.2 |
03E2: GOTO 40A |
03E3: GOTO 421 |
.................... case L: |
.................... FL;BR; |
03E4: BSF 03.5 |
03E5: BCF 06.7 |
03E6: BCF 03.5 |
03E7: BCF 06.7 |
03E8: BSF 03.5 |
03E9: BCF 06.6 |
03EA: BCF 03.5 |
03EB: BSF 06.6 |
03EC: BSF 03.5 |
03ED: BCF 06.4 |
03EE: BCF 03.5 |
03EF: BCF 06.4 |
03F0: BSF 03.5 |
03F1: BCF 06.5 |
03F2: BCF 03.5 |
03F3: BSF 06.5 |
.................... movement=R; |
03F4: MOVLW 01 |
03F5: MOVWF 45 |
.................... break; |
03F6: GOTO 421 |
.................... case R: |
.................... FR;BL; |
03F7: BSF 03.5 |
03F8: BCF 06.5 |
03F9: BCF 03.5 |
03FA: BCF 06.5 |
03FB: BSF 03.5 |
03FC: BCF 06.4 |
03FD: BCF 03.5 |
03FE: BSF 06.4 |
03FF: BSF 03.5 |
0400: BCF 06.6 |
0401: BCF 03.5 |
0402: BCF 06.6 |
0403: BSF 03.5 |
0404: BCF 06.7 |
0405: BCF 03.5 |
0406: BSF 06.7 |
.................... movement=L; |
0407: MOVLW 02 |
0408: MOVWF 45 |
.................... break; |
0409: GOTO 421 |
.................... case S: |
.................... FL;BR; |
040A: BSF 03.5 |
040B: BCF 06.7 |
040C: BCF 03.5 |
040D: BCF 06.7 |
040E: BSF 03.5 |
040F: BCF 06.6 |
0410: BCF 03.5 |
0411: BSF 06.6 |
0412: BSF 03.5 |
0413: BCF 06.4 |
0414: BCF 03.5 |
0415: BCF 06.4 |
0416: BSF 03.5 |
0417: BCF 06.5 |
0418: BCF 03.5 |
0419: BSF 06.5 |
.................... movement=R; |
041A: MOVLW 01 |
041B: MOVWF 45 |
.................... n=CIK_CAK/2; |
041C: MOVLW 27 |
041D: MOVWF 76 |
041E: MOVLW 10 |
041F: MOVWF 75 |
.................... break; |
0420: GOTO 421 |
.................... } |
.................... while (0==(RSENSOR|LSENSOR)) // zkontroluj caru |
.................... { |
0421: MOVLW 00 |
0422: BSF 03.5 |
0423: BTFSC 1C.7 |
0424: MOVLW 01 |
0425: MOVWF 7C |
0426: MOVLW 00 |
0427: BTFSC 1C.6 |
0428: MOVLW 01 |
0429: IORWF 7C,W |
042A: XORLW 00 |
042B: BTFSS 03.2 |
042C: GOTO 46D |
.................... if (n==CIK_CAK) // zmen smer zataceni |
042D: MOVF 75,W |
042E: SUBLW 20 |
042F: BTFSS 03.2 |
0430: GOTO 467 |
0431: MOVF 76,W |
0432: SUBLW 4E |
0433: BTFSS 03.2 |
0434: GOTO 467 |
.................... { |
.................... n=0; |
0435: CLRF 76 |
0436: CLRF 75 |
.................... switch(movement) |
.................... { |
0437: BCF 03.5 |
0438: MOVF 45,W |
0439: XORLW 02 |
043A: BTFSC 03.2 |
043B: GOTO 440 |
043C: XORLW 03 |
043D: BTFSC 03.2 |
043E: GOTO 453 |
043F: GOTO 466 |
.................... case L: |
.................... FL;BR; |
0440: BSF 03.5 |
0441: BCF 06.7 |
0442: BCF 03.5 |
0443: BCF 06.7 |
0444: BSF 03.5 |
0445: BCF 06.6 |
0446: BCF 03.5 |
0447: BSF 06.6 |
0448: BSF 03.5 |
0449: BCF 06.4 |
044A: BCF 03.5 |
044B: BCF 06.4 |
044C: BSF 03.5 |
044D: BCF 06.5 |
044E: BCF 03.5 |
044F: BSF 06.5 |
.................... movement=R; |
0450: MOVLW 01 |
0451: MOVWF 45 |
.................... break; |
0452: GOTO 466 |
.................... case R: |
.................... FR;BL; |
0453: BSF 03.5 |
0454: BCF 06.5 |
0455: BCF 03.5 |
0456: BCF 06.5 |
0457: BSF 03.5 |
0458: BCF 06.4 |
0459: BCF 03.5 |
045A: BSF 06.4 |
045B: BSF 03.5 |
045C: BCF 06.6 |
045D: BCF 03.5 |
045E: BCF 06.6 |
045F: BSF 03.5 |
0460: BCF 06.7 |
0461: BCF 03.5 |
0462: BSF 06.7 |
.................... movement=L; |
0463: MOVLW 02 |
0464: MOVWF 45 |
.................... break; |
0465: GOTO 466 |
0466: BSF 03.5 |
.................... } |
.................... } |
.................... n++; |
0467: INCF 75,F |
0468: BTFSC 03.2 |
0469: INCF 76,F |
.................... } |
046A: BCF 03.5 |
046B: GOTO 421 |
046C: BSF 03.5 |
.................... switch(movement) |
.................... { |
046D: BCF 03.5 |
046E: MOVF 45,W |
046F: XORLW 02 |
0470: BTFSC 03.2 |
0471: GOTO 476 |
0472: XORLW 03 |
0473: BTFSC 03.2 |
0474: GOTO 489 |
0475: GOTO 49C |
.................... case L: |
.................... FL;BR; |
0476: BSF 03.5 |
0477: BCF 06.7 |
0478: BCF 03.5 |
0479: BCF 06.7 |
047A: BSF 03.5 |
047B: BCF 06.6 |
047C: BCF 03.5 |
047D: BSF 06.6 |
047E: BSF 03.5 |
047F: BCF 06.4 |
0480: BCF 03.5 |
0481: BCF 06.4 |
0482: BSF 03.5 |
0483: BCF 06.5 |
0484: BCF 03.5 |
0485: BSF 06.5 |
.................... movement=R; |
0486: MOVLW 01 |
0487: MOVWF 45 |
.................... break; |
0488: GOTO 49C |
.................... case R: |
.................... FR;BL; |
0489: BSF 03.5 |
048A: BCF 06.5 |
048B: BCF 03.5 |
048C: BCF 06.5 |
048D: BSF 03.5 |
048E: BCF 06.4 |
048F: BCF 03.5 |
0490: BSF 06.4 |
0491: BSF 03.5 |
0492: BCF 06.6 |
0493: BCF 03.5 |
0494: BCF 06.6 |
0495: BSF 03.5 |
0496: BCF 06.7 |
0497: BCF 03.5 |
0498: BSF 06.7 |
.................... movement=L; |
0499: MOVLW 02 |
049A: MOVWF 45 |
.................... break; |
049B: GOTO 49C |
.................... } |
.................... Delay_ms(50); |
049C: MOVLW 32 |
049D: MOVWF 7D |
049E: CALL 09D |
.................... STOPL;STOPR; // nasli jsme caru |
049F: BSF 03.5 |
04A0: BCF 06.6 |
04A1: BCF 03.5 |
04A2: BCF 06.6 |
04A3: BSF 03.5 |
04A4: BCF 06.7 |
04A5: BCF 03.5 |
04A6: BCF 06.7 |
04A7: BSF 03.5 |
04A8: BCF 06.4 |
04A9: BCF 03.5 |
04AA: BCF 06.4 |
04AB: BSF 03.5 |
04AC: BCF 06.5 |
04AD: BCF 03.5 |
04AE: BCF 06.5 |
.................... line=S; |
04AF: MOVLW 03 |
04B0: MOVWF 41 |
.................... } |
04B1: RETLW 00 |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void objizdka() // objede cihlu |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BL;BR;Delay_ms(200); |
04B2: BSF 03.5 |
04B3: BCF 06.6 |
04B4: BCF 03.5 |
04B5: BCF 06.6 |
04B6: BSF 03.5 |
04B7: BCF 06.7 |
04B8: BCF 03.5 |
04B9: BSF 06.7 |
04BA: BSF 03.5 |
04BB: BCF 06.4 |
04BC: BCF 03.5 |
04BD: BCF 06.4 |
04BE: BSF 03.5 |
04BF: BCF 06.5 |
04C0: BCF 03.5 |
04C1: BSF 06.5 |
04C2: MOVLW C8 |
04C3: MOVWF 7D |
04C4: CALL 09D |
.................... STOPR;STOPL; |
04C5: BSF 03.5 |
04C6: BCF 06.4 |
04C7: BCF 03.5 |
04C8: BCF 06.4 |
04C9: BSF 03.5 |
04CA: BCF 06.5 |
04CB: BCF 03.5 |
04CC: BCF 06.5 |
04CD: BSF 03.5 |
04CE: BCF 06.6 |
04CF: BCF 03.5 |
04D0: BCF 06.6 |
04D1: BSF 03.5 |
04D2: BCF 06.7 |
04D3: BCF 03.5 |
04D4: BCF 06.7 |
.................... beep(900,1000); |
04D5: MOVLW 03 |
04D6: MOVWF 7D |
04D7: MOVLW 84 |
04D8: MOVWF 7C |
04D9: MOVLW 03 |
04DA: BSF 03.5 |
04DB: MOVWF 21 |
04DC: MOVLW E8 |
04DD: MOVWF 20 |
04DE: BCF 03.5 |
04DF: CALL 071 |
.................... movement=S; |
04E0: MOVLW 03 |
04E1: MOVWF 45 |
.................... cikcak(); |
04E2: CALL 3C4 |
.................... |
.................... BR; FL; Delay_ms(215); // otoc se 70° do prava |
04E3: BSF 03.5 |
04E4: BCF 06.4 |
04E5: BCF 03.5 |
04E6: BCF 06.4 |
04E7: BSF 03.5 |
04E8: BCF 06.5 |
04E9: BCF 03.5 |
04EA: BSF 06.5 |
04EB: BSF 03.5 |
04EC: BCF 06.7 |
04ED: BCF 03.5 |
04EE: BCF 06.7 |
04EF: BSF 03.5 |
04F0: BCF 06.6 |
04F1: BCF 03.5 |
04F2: BSF 06.6 |
04F3: MOVLW D7 |
04F4: MOVWF 7D |
04F5: CALL 09D |
.................... |
.................... FR; FL; Delay_ms(600); // popojed rovne |
04F6: BSF 03.5 |
04F7: BCF 06.5 |
04F8: BCF 03.5 |
04F9: BCF 06.5 |
04FA: BSF 03.5 |
04FB: BCF 06.4 |
04FC: BCF 03.5 |
04FD: BSF 06.4 |
04FE: BSF 03.5 |
04FF: BCF 06.7 |
0500: BCF 03.5 |
0501: BCF 06.7 |
0502: BSF 03.5 |
0503: BCF 06.6 |
0504: BCF 03.5 |
0505: BSF 06.6 |
0506: MOVLW 03 |
0507: MOVWF 75 |
0508: MOVLW C8 |
0509: MOVWF 7D |
050A: CALL 09D |
050B: DECFSZ 75,F |
050C: GOTO 508 |
.................... |
.................... BL; Delay_ms(50); // otoc se 90° do leva |
050D: BSF 03.5 |
050E: BCF 06.6 |
050F: BCF 03.5 |
0510: BCF 06.6 |
0511: BSF 03.5 |
0512: BCF 06.7 |
0513: BCF 03.5 |
0514: BSF 06.7 |
0515: MOVLW 32 |
0516: MOVWF 7D |
0517: CALL 09D |
.................... STOPL; FR; Delay_ms(550); |
0518: BSF 03.5 |
0519: BCF 06.6 |
051A: BCF 03.5 |
051B: BCF 06.6 |
051C: BSF 03.5 |
051D: BCF 06.7 |
051E: BCF 03.5 |
051F: BCF 06.7 |
0520: BSF 03.5 |
0521: BCF 06.5 |
0522: BCF 03.5 |
0523: BCF 06.5 |
0524: BSF 03.5 |
0525: BCF 06.4 |
0526: BCF 03.5 |
0527: BSF 06.4 |
0528: MOVLW 05 |
0529: MOVWF 75 |
052A: MOVLW 6E |
052B: MOVWF 7D |
052C: CALL 09D |
052D: DECFSZ 75,F |
052E: GOTO 52A |
.................... |
.................... FR; FL; Delay_ms(100); // popojed rovne na slepo |
052F: BSF 03.5 |
0530: BCF 06.5 |
0531: BCF 03.5 |
0532: BCF 06.5 |
0533: BSF 03.5 |
0534: BCF 06.4 |
0535: BCF 03.5 |
0536: BSF 06.4 |
0537: BSF 03.5 |
0538: BCF 06.7 |
0539: BCF 03.5 |
053A: BCF 06.7 |
053B: BSF 03.5 |
053C: BCF 06.6 |
053D: BCF 03.5 |
053E: BSF 06.6 |
053F: MOVLW 64 |
0540: MOVWF 7D |
0541: CALL 09D |
.................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
0542: MOVLW 02 |
0543: MOVWF 74 |
0544: MOVLW 58 |
0545: MOVWF 73 |
0546: MOVF 73,F |
0547: BTFSS 03.2 |
0548: GOTO 54C |
0549: MOVF 74,F |
054A: BTFSC 03.2 |
054B: GOTO 56B |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
054C: CLRF 41 |
054D: BSF 03.5 |
054E: BTFSS 1C.7 |
054F: GOTO 553 |
0550: BCF 03.5 |
0551: INCF 41,F |
0552: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0553: MOVLW 00 |
0554: BTFSC 1C.6 |
0555: MOVLW 01 |
0556: MOVWF 77 |
0557: BCF 03.0 |
0558: RLF 77,F |
0559: MOVF 77,W |
055A: BCF 03.5 |
055B: IORWF 41,F |
.................... if (line!=0) {Delay_ms(50); break;} |
055C: MOVF 41,F |
055D: BTFSC 03.2 |
055E: GOTO 563 |
055F: MOVLW 32 |
0560: MOVWF 7D |
0561: CALL 09D |
0562: GOTO 56B |
.................... Delay_ms(1); |
0563: MOVLW 01 |
0564: MOVWF 7D |
0565: CALL 09D |
.................... } |
0566: MOVF 73,W |
0567: BTFSC 03.2 |
0568: DECF 74,F |
0569: DECF 73,F |
056A: GOTO 546 |
.................... |
.................... BR; // otoc se 60° do prava |
056B: BSF 03.5 |
056C: BCF 06.4 |
056D: BCF 03.5 |
056E: BCF 06.4 |
056F: BSF 03.5 |
0570: BCF 06.5 |
0571: BCF 03.5 |
0572: BSF 06.5 |
.................... for(n=600;n>0;n--) |
0573: MOVLW 02 |
0574: MOVWF 74 |
0575: MOVLW 58 |
0576: MOVWF 73 |
0577: MOVF 73,F |
0578: BTFSS 03.2 |
0579: GOTO 57D |
057A: MOVF 74,F |
057B: BTFSC 03.2 |
057C: GOTO 598 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
057D: CLRF 41 |
057E: BSF 03.5 |
057F: BTFSS 1C.7 |
0580: GOTO 584 |
0581: BCF 03.5 |
0582: INCF 41,F |
0583: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0584: MOVLW 00 |
0585: BTFSC 1C.6 |
0586: MOVLW 01 |
0587: MOVWF 77 |
0588: BCF 03.0 |
0589: RLF 77,F |
058A: MOVF 77,W |
058B: BCF 03.5 |
058C: IORWF 41,F |
.................... if (line!=0) break; |
058D: MOVF 41,F |
058E: BTFSS 03.2 |
058F: GOTO 598 |
.................... Delay_ms(1); |
0590: MOVLW 01 |
0591: MOVWF 7D |
0592: CALL 09D |
.................... } |
0593: MOVF 73,W |
0594: BTFSC 03.2 |
0595: DECF 74,F |
0596: DECF 73,F |
0597: GOTO 577 |
.................... STOPR; STOPL; |
0598: BSF 03.5 |
0599: BCF 06.4 |
059A: BCF 03.5 |
059B: BCF 06.4 |
059C: BSF 03.5 |
059D: BCF 06.5 |
059E: BCF 03.5 |
059F: BCF 06.5 |
05A0: BSF 03.5 |
05A1: BCF 06.6 |
05A2: BCF 03.5 |
05A3: BCF 06.6 |
05A4: BSF 03.5 |
05A5: BCF 06.7 |
05A6: BCF 03.5 |
05A7: BCF 06.7 |
.................... |
.................... movement=R; |
05A8: MOVLW 01 |
05A9: MOVWF 45 |
.................... cikcak(); |
05AA: CALL 3C4 |
.................... cihla=T_DIRA; |
05AB: MOVLW 55 |
05AC: MOVWF 47 |
.................... dira=0; |
05AD: CLRF 46 |
.................... } |
05AE: BSF 0A.3 |
05AF: GOTO 0F7 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void prejeddiru() // vyresi diru |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... STOPL;STOPR; |
05B0: BSF 03.5 |
05B1: BCF 06.6 |
05B2: BCF 03.5 |
05B3: BCF 06.6 |
05B4: BSF 03.5 |
05B5: BCF 06.7 |
05B6: BCF 03.5 |
05B7: BCF 06.7 |
05B8: BSF 03.5 |
05B9: BCF 06.4 |
05BA: BCF 03.5 |
05BB: BCF 06.4 |
05BC: BSF 03.5 |
05BD: BCF 06.5 |
05BE: BCF 03.5 |
05BF: BCF 06.5 |
.................... beep(800,500); |
05C0: MOVLW 03 |
05C1: MOVWF 7D |
05C2: MOVLW 20 |
05C3: MOVWF 7C |
05C4: MOVLW 01 |
05C5: BSF 03.5 |
05C6: MOVWF 21 |
05C7: MOVLW F4 |
05C8: MOVWF 20 |
05C9: BCF 03.5 |
05CA: CALL 071 |
.................... switch (movement) //vrat se zpet na caru |
.................... { |
05CB: MOVF 45,W |
05CC: XORLW 02 |
05CD: BTFSC 03.2 |
05CE: GOTO 5D6 |
05CF: XORLW 03 |
05D0: BTFSC 03.2 |
05D1: GOTO 60E |
05D2: XORLW 02 |
05D3: BTFSC 03.2 |
05D4: GOTO 646 |
05D5: GOTO 648 |
.................... case L: |
.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed); Delay_ms(1);} |
05D6: MOVLW 02 |
05D7: MOVWF 74 |
05D8: MOVLW 58 |
05D9: MOVWF 73 |
05DA: MOVF 73,F |
05DB: BTFSS 03.2 |
05DC: GOTO 5E0 |
05DD: MOVF 74,F |
05DE: BTFSC 03.2 |
05DF: GOTO 5FD |
05E0: MOVF 01,W |
05E1: SUBWF 42,W |
05E2: BTFSS 03.0 |
05E3: GOTO 5ED |
05E4: BSF 03.5 |
05E5: BCF 06.4 |
05E6: BCF 03.5 |
05E7: BCF 06.4 |
05E8: BSF 03.5 |
05E9: BCF 06.5 |
05EA: BCF 03.5 |
05EB: BSF 06.5 |
05EC: GOTO 5F5 |
05ED: BSF 03.5 |
05EE: BCF 06.4 |
05EF: BCF 03.5 |
05F0: BCF 06.4 |
05F1: BSF 03.5 |
05F2: BCF 06.5 |
05F3: BCF 03.5 |
05F4: BCF 06.5 |
05F5: MOVLW 01 |
05F6: MOVWF 7D |
05F7: CALL 09D |
05F8: MOVF 73,W |
05F9: BTFSC 03.2 |
05FA: DECF 74,F |
05FB: DECF 73,F |
05FC: GOTO 5DA |
.................... STOPL;STOPR; |
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 |
.................... break; |
060D: GOTO 648 |
.................... case R: |
.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed); Delay_ms(1);} |
060E: MOVLW 02 |
060F: MOVWF 74 |
0610: MOVLW 58 |
0611: MOVWF 73 |
0612: MOVF 73,F |
0613: BTFSS 03.2 |
0614: GOTO 618 |
0615: MOVF 74,F |
0616: BTFSC 03.2 |
0617: GOTO 635 |
0618: MOVF 01,W |
0619: SUBWF 42,W |
061A: BTFSS 03.0 |
061B: GOTO 625 |
061C: BSF 03.5 |
061D: BCF 06.6 |
061E: BCF 03.5 |
061F: BCF 06.6 |
0620: BSF 03.5 |
0621: BCF 06.7 |
0622: BCF 03.5 |
0623: BSF 06.7 |
0624: GOTO 62D |
0625: BSF 03.5 |
0626: BCF 06.6 |
0627: BCF 03.5 |
0628: BCF 06.6 |
0629: BSF 03.5 |
062A: BCF 06.7 |
062B: BCF 03.5 |
062C: BCF 06.7 |
062D: MOVLW 01 |
062E: MOVWF 7D |
062F: CALL 09D |
0630: MOVF 73,W |
0631: BTFSC 03.2 |
0632: DECF 74,F |
0633: DECF 73,F |
0634: GOTO 612 |
.................... STOPL;STOPR; |
0635: BSF 03.5 |
0636: BCF 06.6 |
0637: BCF 03.5 |
0638: BCF 06.6 |
0639: BSF 03.5 |
063A: BCF 06.7 |
063B: BCF 03.5 |
063C: BCF 06.7 |
063D: BSF 03.5 |
063E: BCF 06.4 |
063F: BCF 03.5 |
0640: BCF 06.4 |
0641: BSF 03.5 |
0642: BCF 06.5 |
0643: BCF 03.5 |
0644: BCF 06.5 |
.................... break; |
0645: GOTO 648 |
.................... case S: |
.................... goto sem; |
0646: GOTO 666 |
.................... break; |
0647: GOTO 648 |
.................... } |
.................... beep(800,500); |
0648: MOVLW 03 |
0649: MOVWF 7D |
064A: MOVLW 20 |
064B: MOVWF 7C |
064C: MOVLW 01 |
064D: BSF 03.5 |
064E: MOVWF 21 |
064F: MOVLW F4 |
0650: MOVWF 20 |
0651: BCF 03.5 |
0652: CALL 071 |
.................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
0653: BSF 03.5 |
0654: BCF 06.5 |
0655: BCF 03.5 |
0656: BCF 06.5 |
0657: BSF 03.5 |
0658: BCF 06.4 |
0659: BCF 03.5 |
065A: BSF 06.4 |
065B: BSF 03.5 |
065C: BCF 06.7 |
065D: BCF 03.5 |
065E: BCF 06.7 |
065F: BSF 03.5 |
0660: BCF 06.6 |
0661: BCF 03.5 |
0662: BSF 06.6 |
0663: MOVLW 96 |
0664: MOVWF 7D |
0665: CALL 09D |
.................... sem: |
.................... STOPL; STOPR; |
0666: BSF 03.5 |
0667: BCF 06.6 |
0668: BCF 03.5 |
0669: BCF 06.6 |
066A: BSF 03.5 |
066B: BCF 06.7 |
066C: BCF 03.5 |
066D: BCF 06.7 |
066E: BSF 03.5 |
066F: BCF 06.4 |
0670: BCF 03.5 |
0671: BCF 06.4 |
0672: BSF 03.5 |
0673: BCF 06.5 |
0674: BCF 03.5 |
0675: BCF 06.5 |
.................... movement=S; |
0676: MOVLW 03 |
0677: MOVWF 45 |
.................... cikcak(); // najdi caru |
0678: CALL 3C4 |
.................... cihla=T_DIRA; |
0679: MOVLW 55 |
067A: MOVWF 47 |
.................... dira=0; |
067B: CLRF 46 |
.................... } |
067C: BSF 0A.3 |
067D: GOTO 190 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void main() |
.................... { |
* |
0800: CLRF 04 |
0801: MOVLW 1F |
0802: ANDWF 03,F |
0803: BSF 03.5 |
0804: BCF 1F.4 |
0805: BCF 1F.5 |
0806: MOVF 1B,W |
0807: ANDLW 80 |
0808: MOVWF 1B |
0809: MOVLW 07 |
080A: MOVWF 1C |
080B: MOVF 1C,W |
080C: BCF 03.5 |
080D: BCF 0D.6 |
080E: MOVLW 60 |
080F: BSF 03.5 |
0810: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
* |
082E: BSF 03.5 |
082F: BCF 06.6 |
0830: BCF 03.5 |
0831: BCF 06.6 |
0832: BSF 03.5 |
0833: BCF 06.7 |
0834: BCF 03.5 |
0835: BCF 06.7 |
0836: BSF 03.5 |
0837: BCF 06.4 |
0838: BCF 03.5 |
0839: BCF 06.4 |
083A: BSF 03.5 |
083B: BCF 06.5 |
083C: BCF 03.5 |
083D: BCF 06.5 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
083E: MOVLW 62 |
083F: BSF 03.5 |
0840: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
0841: BCF 01.7 |
.................... setup_spi(FALSE); |
0842: BCF 03.5 |
0843: BCF 14.5 |
0844: BSF 03.5 |
0845: BCF 06.2 |
0846: BSF 06.1 |
0847: BCF 06.4 |
0848: MOVLW 00 |
0849: BCF 03.5 |
084A: MOVWF 14 |
084B: BSF 03.5 |
084C: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
084D: MOVF 01,W |
084E: ANDLW C7 |
084F: IORLW 08 |
0850: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
0851: MOVLW 48 |
0852: MOVWF 78 |
0853: IORLW 05 |
0854: BCF 03.5 |
0855: MOVWF 12 |
0856: MOVLW FF |
0857: BSF 03.5 |
0858: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
0859: BCF 1F.4 |
085A: BCF 1F.5 |
085B: MOVF 1B,W |
085C: ANDLW 80 |
085D: IORLW 04 |
085E: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
085F: BCF 1F.6 |
0860: BCF 03.5 |
0861: BSF 1F.6 |
0862: BSF 1F.7 |
0863: BSF 03.5 |
0864: BCF 1F.7 |
0865: BCF 03.5 |
0866: BSF 1F.0 |
.................... set_adc_channel(2); |
0867: MOVLW 10 |
0868: MOVWF 78 |
0869: MOVF 1F,W |
086A: ANDLW C7 |
086B: IORWF 78,W |
086C: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
086D: MOVLW 85 |
086E: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
086F: BSF 03.5 |
0870: BSF 06.3 |
0871: MOVLW 0B |
0872: BCF 03.5 |
0873: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
0874: CLRF 16 |
0875: MOVLW 07 |
0876: MOVWF 15 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
0877: MOVLW 02 |
0878: BSF 03.5 |
0879: MOVWF 1C |
087A: MOVF 05,W |
087B: IORLW 03 |
087C: MOVWF 05 |
087D: MOVLW 03 |
087E: MOVWF 77 |
087F: DECFSZ 77,F |
0880: GOTO 07F |
0881: MOVF 1C,W |
0882: BCF 03.5 |
0883: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
0884: MOVLW 8A |
0885: BSF 03.5 |
0886: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
0887: MOVLW 03 |
0888: MOVWF 7D |
0889: MOVLW E8 |
088A: MOVWF 7C |
088B: CLRF 21 |
088C: MOVLW C8 |
088D: MOVWF 20 |
088E: BCF 0A.3 |
088F: BCF 03.5 |
0890: CALL 071 |
0891: BSF 0A.3 |
.................... Delay_ms(50); |
0892: MOVLW 32 |
0893: MOVWF 7D |
0894: BCF 0A.3 |
0895: CALL 09D |
0896: BSF 0A.3 |
.................... Beep(1000,200); |
0897: MOVLW 03 |
0898: MOVWF 7D |
0899: MOVLW E8 |
089A: MOVWF 7C |
089B: BSF 03.5 |
089C: CLRF 21 |
089D: MOVLW C8 |
089E: MOVWF 20 |
089F: BCF 0A.3 |
08A0: BCF 03.5 |
08A1: CALL 071 |
08A2: BSF 0A.3 |
.................... Delay_ms(1000); // 1s |
08A3: MOVLW 04 |
08A4: MOVWF 73 |
08A5: MOVLW FA |
08A6: MOVWF 7D |
08A7: BCF 0A.3 |
08A8: CALL 09D |
08A9: BSF 0A.3 |
08AA: DECFSZ 73,F |
08AB: GOTO 0A5 |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
08AC: BSF 03.5 |
08AD: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
08AE: MOVLW C0 |
08AF: BCF 03.5 |
08B0: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
08B1: MOVLW 03 |
08B2: MOVWF 40 |
.................... line=S; |
08B3: MOVWF 41 |
.................... last=S; |
08B4: MOVWF 44 |
.................... movement=S; |
08B5: MOVWF 45 |
.................... speed=FW_POMALU; |
08B6: MOVLW E6 |
08B7: MOVWF 42 |
.................... |
.................... diagnostika(); |
08B8: BCF 0A.3 |
08B9: GOTO 1D1 |
08BA: BSF 0A.3 |
.................... cikcak(); // toc se, abys nasel caru |
08BB: BCF 0A.3 |
08BC: CALL 3C4 |
08BD: BSF 0A.3 |
.................... Delay_ms(500); |
08BE: MOVLW 02 |
08BF: MOVWF 73 |
08C0: MOVLW FA |
08C1: MOVWF 7D |
08C2: BCF 0A.3 |
08C3: CALL 09D |
08C4: BSF 0A.3 |
08C5: DECFSZ 73,F |
08C6: GOTO 0C0 |
.................... Beep(1000,200); |
08C7: MOVLW 03 |
08C8: MOVWF 7D |
08C9: MOVLW E8 |
08CA: MOVWF 7C |
08CB: BSF 03.5 |
08CC: CLRF 21 |
08CD: MOVLW C8 |
08CE: MOVWF 20 |
08CF: BCF 0A.3 |
08D0: BCF 03.5 |
08D1: CALL 071 |
08D2: BSF 0A.3 |
.................... Delay_ms(500); |
08D3: MOVLW 02 |
08D4: MOVWF 73 |
08D5: MOVLW FA |
08D6: MOVWF 7D |
08D7: BCF 0A.3 |
08D8: CALL 09D |
08D9: BSF 0A.3 |
08DA: DECFSZ 73,F |
08DB: GOTO 0D5 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
08DC: CLRF 40 |
08DD: BSF 03.5 |
08DE: BTFSS 1C.7 |
08DF: GOTO 0E3 |
08E0: BCF 03.5 |
08E1: INCF 40,F |
08E2: BSF 03.5 |
.................... sensors |= LSENSOR << 1; |
08E3: MOVLW 00 |
08E4: BTFSC 1C.6 |
08E5: MOVLW 01 |
08E6: MOVWF 77 |
08E7: BCF 03.0 |
08E8: RLF 77,F |
08E9: MOVF 77,W |
08EA: BCF 03.5 |
08EB: IORWF 40,F |
.................... |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (cihla==0)) objizdka(); |
08EC: BTFSC 1F.2 |
08ED: GOTO 0EC |
08EE: MOVF 1E,W |
08EF: SUBLW 7F |
08F0: BTFSS 03.0 |
08F1: GOTO 0F8 |
08F2: MOVF 47,F |
08F3: BTFSS 03.2 |
08F4: GOTO 0F8 |
08F5: BCF 0A.3 |
08F6: GOTO 4B2 |
08F7: BSF 0A.3 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
08F8: MOVF 40,W |
08F9: XORLW 03 |
08FA: BTFSC 03.2 |
08FB: GOTO 103 |
08FC: XORLW 01 |
08FD: BTFSC 03.2 |
08FE: GOTO 117 |
08FF: XORLW 03 |
0900: BTFSC 03.2 |
0901: GOTO 150 |
0902: GOTO 189 |
.................... case S: // rovne |
.................... FL; FR; // pokud se jede dlouho rovne, tak pridej |
0903: BSF 03.5 |
0904: BCF 06.7 |
0905: BCF 03.5 |
0906: BCF 06.7 |
0907: BSF 03.5 |
0908: BCF 06.6 |
0909: BCF 03.5 |
090A: BSF 06.6 |
090B: BSF 03.5 |
090C: BCF 06.5 |
090D: BCF 03.5 |
090E: BCF 06.5 |
090F: BSF 03.5 |
0910: BCF 06.4 |
0911: BCF 03.5 |
0912: BSF 06.4 |
.................... dira=0; |
0913: CLRF 46 |
.................... movement=S; |
0914: MOVLW 03 |
0915: MOVWF 45 |
.................... continue; |
0916: GOTO 0DC |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
0917: MOVF 01,W |
0918: MOVWF 73 |
0919: MOVLW E6 |
091A: ADDWF 43,W |
091B: SUBWF 73,W |
091C: BTFSC 03.2 |
091D: GOTO 120 |
091E: BTFSC 03.0 |
091F: GOTO 129 |
0920: BSF 03.5 |
0921: BCF 06.7 |
0922: BCF 03.5 |
0923: BCF 06.7 |
0924: BSF 03.5 |
0925: BCF 06.6 |
0926: BCF 03.5 |
0927: BSF 06.6 |
0928: GOTO 131 |
0929: BSF 03.5 |
092A: BCF 06.6 |
092B: BCF 03.5 |
092C: BCF 06.6 |
092D: BSF 03.5 |
092E: BCF 06.7 |
092F: BCF 03.5 |
0930: BCF 06.7 |
0931: MOVF 01,W |
0932: MOVWF 73 |
0933: MOVLW F0 |
0934: ADDWF 43,W |
0935: SUBWF 73,W |
0936: BTFSC 03.2 |
0937: GOTO 13A |
0938: BTFSC 03.0 |
0939: GOTO 143 |
093A: BSF 03.5 |
093B: BCF 06.5 |
093C: BCF 03.5 |
093D: BCF 06.5 |
093E: BSF 03.5 |
093F: BCF 06.4 |
0940: BCF 03.5 |
0941: BSF 06.4 |
0942: GOTO 14B |
0943: BSF 03.5 |
0944: BCF 06.4 |
0945: BCF 03.5 |
0946: BCF 06.4 |
0947: BSF 03.5 |
0948: BCF 06.5 |
0949: BCF 03.5 |
094A: BCF 06.5 |
.................... line=L; |
094B: MOVLW 02 |
094C: MOVWF 41 |
.................... dira=0; |
094D: CLRF 46 |
.................... movement=L; |
094E: MOVWF 45 |
.................... continue; |
094F: GOTO 0DC |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
0950: MOVF 01,W |
0951: MOVWF 73 |
0952: MOVLW E6 |
0953: ADDWF 43,W |
0954: SUBWF 73,W |
0955: BTFSC 03.2 |
0956: GOTO 159 |
0957: BTFSC 03.0 |
0958: GOTO 162 |
0959: BSF 03.5 |
095A: BCF 06.5 |
095B: BCF 03.5 |
095C: BCF 06.5 |
095D: BSF 03.5 |
095E: BCF 06.4 |
095F: BCF 03.5 |
0960: BSF 06.4 |
0961: GOTO 16A |
0962: BSF 03.5 |
0963: BCF 06.4 |
0964: BCF 03.5 |
0965: BCF 06.4 |
0966: BSF 03.5 |
0967: BCF 06.5 |
0968: BCF 03.5 |
0969: BCF 06.5 |
096A: MOVF 01,W |
096B: MOVWF 73 |
096C: MOVLW F0 |
096D: ADDWF 43,W |
096E: SUBWF 73,W |
096F: BTFSC 03.2 |
0970: GOTO 173 |
0971: BTFSC 03.0 |
0972: GOTO 17C |
0973: BSF 03.5 |
0974: BCF 06.7 |
0975: BCF 03.5 |
0976: BCF 06.7 |
0977: BSF 03.5 |
0978: BCF 06.6 |
0979: BCF 03.5 |
097A: BSF 06.6 |
097B: GOTO 184 |
097C: BSF 03.5 |
097D: BCF 06.6 |
097E: BCF 03.5 |
097F: BCF 06.6 |
0980: BSF 03.5 |
0981: BCF 06.7 |
0982: BCF 03.5 |
0983: BCF 06.7 |
.................... line=R; |
0984: MOVLW 01 |
0985: MOVWF 41 |
.................... dira=0; |
0986: CLRF 46 |
.................... movement=R; |
0987: MOVWF 45 |
.................... continue; |
0988: GOTO 0DC |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... } |
.................... rovinka=0; |
0989: CLRF 43 |
.................... if (dira>=T_DIRA) prejeddiru(); |
098A: MOVF 46,W |
098B: SUBLW 54 |
098C: BTFSC 03.0 |
098D: GOTO 191 |
098E: BCF 0A.3 |
098F: GOTO 5B0 |
0990: BSF 0A.3 |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
0991: MOVF 41,W |
0992: SUBWF 44,W |
0993: BTFSC 03.2 |
0994: GOTO 199 |
.................... { |
.................... last=line; |
0995: MOVF 41,W |
0996: MOVWF 44 |
.................... speed=FW_ZATACKA; |
0997: MOVLW C8 |
0998: MOVWF 42 |
.................... } |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
0999: MOVF 41,W |
099A: SUBLW 02 |
099B: BTFSS 03.2 |
099C: GOTO 1BD |
.................... { |
.................... STOPL; |
099D: BSF 03.5 |
099E: BCF 06.6 |
099F: BCF 03.5 |
09A0: BCF 06.6 |
09A1: BSF 03.5 |
09A2: BCF 06.7 |
09A3: BCF 03.5 |
09A4: BCF 06.7 |
.................... GO(R, F, speed); |
09A5: MOVF 01,W |
09A6: SUBWF 42,W |
09A7: BTFSS 03.0 |
09A8: GOTO 1B2 |
09A9: BSF 03.5 |
09AA: BCF 06.5 |
09AB: BCF 03.5 |
09AC: BCF 06.5 |
09AD: BSF 03.5 |
09AE: BCF 06.4 |
09AF: BCF 03.5 |
09B0: BSF 06.4 |
09B1: GOTO 1BA |
09B2: BSF 03.5 |
09B3: BCF 06.4 |
09B4: BCF 03.5 |
09B5: BCF 06.4 |
09B6: BSF 03.5 |
09B7: BCF 06.5 |
09B8: BCF 03.5 |
09B9: BCF 06.5 |
.................... movement=L; |
09BA: MOVLW 02 |
09BB: MOVWF 45 |
.................... } |
.................... else |
09BC: GOTO 1DC |
.................... { |
.................... STOPR; |
09BD: BSF 03.5 |
09BE: BCF 06.4 |
09BF: BCF 03.5 |
09C0: BCF 06.4 |
09C1: BSF 03.5 |
09C2: BCF 06.5 |
09C3: BCF 03.5 |
09C4: BCF 06.5 |
.................... GO(L, F, speed); |
09C5: MOVF 01,W |
09C6: SUBWF 42,W |
09C7: BTFSS 03.0 |
09C8: GOTO 1D2 |
09C9: BSF 03.5 |
09CA: BCF 06.7 |
09CB: BCF 03.5 |
09CC: BCF 06.7 |
09CD: BSF 03.5 |
09CE: BCF 06.6 |
09CF: BCF 03.5 |
09D0: BSF 06.6 |
09D1: GOTO 1DA |
09D2: BSF 03.5 |
09D3: BCF 06.6 |
09D4: BCF 03.5 |
09D5: BCF 06.6 |
09D6: BSF 03.5 |
09D7: BCF 06.7 |
09D8: BCF 03.5 |
09D9: BCF 06.7 |
.................... movement=R; |
09DA: MOVLW 01 |
09DB: MOVWF 45 |
.................... } |
.................... } // while(true) |
09DC: GOTO 0DC |
.................... } |
.................... |
.................... |
09DD: SLEEP |
Configuration Fuses: |
Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO |
Word 2: 3FFC NOFCMEN NOIESO |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.PJT |
---|
0,0 → 1,40 |
[PROJECT] |
Target=tank.HEX |
Development_Mode= |
Processor=0x688F |
ToolSuite=CCS |
[Directories] |
Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\drivers\;C:\library\CCS; |
Library= |
LinkerScript= |
[Target Data] |
FileList=tank.c; |
BuildTool=C-COMPILER |
OptionString=+FM |
AdditionalOptionString= |
BuildRequired=1 |
[tank.c] |
Type=4 |
Path= |
FileList= |
BuildTool= |
OptionString= |
AdditionalOptionString= |
[mru-list] |
1=tank.c |
[Windows] |
0=0000 tank.c 0 0 796 451 3 0 |
[Opened Files] |
1=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.c |
2=C:\Program Files\PICC\devices\16F88.h |
3= |
4=C:\Program Files\PICC\devices\16F88.h |
5= |
6= |
7= |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.SYM |
---|
0,0 → 1,114 |
003 STATUS |
015 CCP_1_LOW |
015-016 CCP_1 |
016 CCP_1_HIGH |
020 @INTERRUPT_AREA |
021 @INTERRUPT_AREA |
022 @INTERRUPT_AREA |
023 @INTERRUPT_AREA |
024 @INTERRUPT_AREA |
025 @INTERRUPT_AREA |
026 @INTERRUPT_AREA |
027 @INTERRUPT_AREA |
028 @INTERRUPT_AREA |
029-038 SendData |
039.0 bit |
03A fcslo |
03B fcshi |
03C stuff |
03D flag_flag |
03E fcs_flag |
03F i |
040 sensors |
041 line |
042 speed |
043 rovinka |
044 last |
045 movement |
046 dira |
047 cihla |
048-06F AXstring |
070 @sprintf_string |
071-072 main.n |
073-074 prejeddiru.n |
073-074 diagnostika.n |
073-074 objizdka.n |
073 main.@SCRATCH |
075-076 cikcak.n |
075 ls |
075 objizdka.@SCRATCH |
075 prejeddiru.@SCRATCH |
076 rs |
077 @SCRATCH |
078 @SCRATCH |
078 _RETURN_ |
079 @SCRATCH |
07A @SCRATCH |
07B @SCRATCH |
07C-07D beep.period |
07C SendPacket.data |
07C diagnostika.@SCRATCH |
07C cikcak.@SCRATCH |
07D @delay_ms1.P1 |
07D @PRINTF_U_331.P2 |
07D SendPacket.@SCRATCH |
07E @PRINTF_U_331.P1 |
07E SendByte.inbyte |
09C.6 C1OUT |
09C.7 C2OUT |
0A0 @DIV88.P1 |
0A0 SendByte.k |
0A0 @SPRINTF.P1 |
0A0-0A1 beep.length |
0A1 SendByte.bt |
0A1 @DIV88.P1 |
0A2 fcsbit.tbyte |
0A2-0A3 beep.nn |
0A2 SendByte.@SCRATCH |
0A2 @DIV88.@SCRATCH |
0A3 fcsbit.@SCRATCH |
0A4 @delay_us1.P1 |
0A4 fcsbit.@SCRATCH |
009D @delay_ms1 |
005C @delay_us1 |
012E flipout |
0193 fcsbit |
0135 SendBit |
0173 SendByte |
0379 SendPacket |
0049 TIMER2_isr |
0071 beep |
01D1 diagnostika |
0037 @const10190 |
00B2 @SPRINTF |
00BC @DIV88 |
00D3 @PRINTF_U_331 |
03C4 cikcak |
04B2 objizdka |
05B0 prejeddiru |
0800 main |
0800 @cinit |
0666 sem |
Project Files: |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.c |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.h |
C:\Program Files\PICC\devices\16F88.h |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\AX25.c |
Compiler Settings: |
Processor: PIC16F88 |
Pointer Size: 8 |
ADC Range: 0-255 |
Opt Level: 9 |
Short,Int,Long: 1,8,16 |
Output Files: |
Errors: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.err |
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.HEX |
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.SYM |
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.LST |
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.cof |
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.tre |
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.sta |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.cof |
---|
Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
Property changes: |
Added: svn:mime-type |
+application/octet-stream |
\ No newline at end of property |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.err |
---|
0,0 → 1,0 |
No Errors |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.h |
---|
0,0 → 1,5 |
#include <16F88.h> |
#device adc=8 |
#fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO |
#use delay(clock=4000000) |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.sta |
---|
0,0 → 1,45 |
ROM used: 2140 (52%) |
2526 (62%) including unused fragments |
3 Average locations per line |
5 Average locations per statement |
RAM used: 89 (51%) at main() level |
101 (58%) worst case |
Lines Stmts % Files |
----- ----- --- ----- |
351 390 85 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.c |
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\tank.h |
275 0 0 C:\Program Files\PICC\devices\16F88.h |
136 67 8 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\AX25.c |
----- ----- |
1536 914 Total |
Page ROM % RAM Functions: |
---- --- --- --- ---------- |
0 21 1 1 @delay_ms1 |
0 21 1 1 @delay_us1 |
0 7 0 0 flipout |
0 62 3 0 SendBit |
0 94 4 4 SendByte |
0 19 1 0 TIMER2_isr |
0 44 2 6 beep |
0 499 23 3 diagnostika |
0 18 1 0 @const10190 |
0 10 0 1 @SPRINTF |
0 23 1 3 @DIV88 |
0 91 4 2 @PRINTF_U_331 |
0 238 11 3 cikcak |
0 254 12 3 objizdka |
0 206 10 3 prejeddiru |
1 478 22 3 main |
Segment Used Free |
--------- ---- ---- |
00000-00003 4 0 |
00004-00036 51 0 |
00037-007FF 1607 386 |
00800-00FFF 478 1570 |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/tank.tre |
---|
0,0 → 1,136 |
ÀÄtank |
ÃÄmain 1/478 Ram=3 |
³ ÃÄ??0?? |
³ ÃÄbeep 0/44 Ram=6 |
³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/44 Ram=6 |
³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄdiagnostika 0/499 Ram=3 |
³ ³ ÃÄbeep 0/44 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄbeep 0/44 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄbeep 0/44 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄbeep 0/44 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ÃÄ@PRINTF_U_331 0/91 Ram=2 |
³ ³ ³ ÃÄ@DIV88 0/23 Ram=3 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÃÄ@DIV88 0/23 Ram=3 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÀÄ@SPRINTF 0/10 Ram=1 |
³ ³ ÃÄ@const10190 0/18 Ram=0 |
³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ÃÄ@PRINTF_U_331 0/91 Ram=2 |
³ ³ ³ ÃÄ@DIV88 0/23 Ram=3 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÃÄ@DIV88 0/23 Ram=3 |
³ ³ ³ ÃÄ@SPRINTF 0/10 Ram=1 |
³ ³ ³ ÀÄ@SPRINTF 0/10 Ram=1 |
³ ³ ÃÄSendPacket (Inline) Ram=2 |
³ ³ ³ ÃÄSendByte 0/94 Ram=4 |
³ ³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÃÄSendBit 0/62 Ram=0 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÀÄSendBit 0/62 Ram=0 |
³ ³ ³ ÃÄSendByte 0/94 Ram=4 |
³ ³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÃÄSendBit 0/62 Ram=0 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÀÄSendBit 0/62 Ram=0 |
³ ³ ³ ÃÄSendByte 0/94 Ram=4 |
³ ³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÃÄSendBit 0/62 Ram=0 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÀÄSendBit 0/62 Ram=0 |
³ ³ ³ ÃÄSendByte 0/94 Ram=4 |
³ ³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÃÄSendBit 0/62 Ram=0 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÀÄSendBit 0/62 Ram=0 |
³ ³ ³ ÃÄSendByte 0/94 Ram=4 |
³ ³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÃÄSendBit 0/62 Ram=0 |
³ ³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ³ ÀÄSendBit 0/62 Ram=0 |
³ ³ ³ ÀÄSendByte 0/94 Ram=4 |
³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÃÄSendBit 0/62 Ram=0 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÀÄSendBit 0/62 Ram=0 |
³ ³ ÀÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄcikcak 0/238 Ram=3 |
³ ³ ÀÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/44 Ram=6 |
³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄobjizdka 0/254 Ram=3 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄbeep 0/44 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ³ ÃÄcikcak 0/238 Ram=3 |
³ ³ ³ ÀÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÀÄcikcak 0/238 Ram=3 |
³ ³ ÀÄ@delay_ms1 0/21 Ram=1 |
³ ÀÄprejeddiru 0/206 Ram=3 |
³ ÃÄbeep 0/44 Ram=6 |
³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/44 Ram=6 |
³ ³ ÃÄ@delay_us1 0/21 Ram=1 |
³ ³ ÀÄ@delay_us1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÀÄcikcak 0/238 Ram=3 |
³ ÀÄ@delay_ms1 0/21 Ram=1 |
ÀÄTIMER2_isr 0/19 Ram=0 |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/verze/1 tank.c |
---|
0,0 → 1,313 |
#include "tank.h" |
#define TXo PIN_B1 // To the transmitter modulator |
#include "AX25.c" // podprogram pro prenos telemetrie |
//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 1000 // velikost mezery v care |
#define BRZDENI 5000 // doba ptrebna k zastaveni jednoho motoru |
//cidla |
#define RSENSOR C2OUT // Senzory na caru |
#define LSENSOR C1OUT |
#define BUMPER PIN_A4 // sensor na cihlu |
#define DIAG_SERVO PIN_B2 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B3 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_A7 |
#DEFINE SOUND_LO PIN_A6 |
char AXstring[40]; // Buffer pro prenos telemetrie |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} \ |
else \ |
{stop##motor;} |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
unsigned int16 dira; // pocitadlo pro nalezeni preruseni cary |
int speed,speedL,speedR; |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
#int_TIMER2 |
void TIMER2_isr() |
{ |
switch(line) // upravime smer |
{ |
case S: //obe cidla na care |
if(speedL<200)speedL++; |
if(speedR<200)speedR++; |
break; // vrat se zpet na cteni cidel |
case L: // cara je pod levym cidlem, trochu zatocime |
if (speedL>100)speedL -- ; |
if (speedR<200)speedR ++ ; |
break; |
case R: // cara pod pravym cidlem |
if (speedR>100)speedR -- ; |
if (speedL<200)speedL ++ ; |
break; |
default: |
} |
} |
// Diagnostika pohonu, hejbne vsema motorama ve vsech smerech |
void diagnostika() |
{ |
unsigned int16 n; |
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
{ |
for (n=500; n<800; n+=100) |
{ |
beep(n,n); //beep UP |
}; |
Delay_ms(1000); |
//zastav vse |
STOPL; STOPR; |
//pravy pas |
FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//levy pas |
FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//oba pasy |
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
}; |
while (input(DIAG_SENSORS)) |
{ |
int ls, rs; |
while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
set_adc_channel(RSENSOR); |
Delay_us(20); |
rs=read_adc(); |
set_adc_channel(LSENSOR); |
Delay_us(20); |
ls=read_adc(); |
sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
SendPacket(&AXstring[0]); |
delay_ms(1000); |
}; |
} |
void cikcak() |
{ |
int n; |
switch(movement) // podivej se na jednu stranu |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
case S: |
FR;BL; |
movement=L; |
break; |
} |
while (0==(RSENSOR|LSENSOR)) |
{ |
if (n==50) // asi bude na druhe strane |
{ |
STOPR;STOPL; |
n=0; |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
} |
Delay_ms(5); |
n++; |
} |
STOPL;STOPR; // nasli jsme caru |
line=S; |
} |
void objizdka() |
{ |
BL;BR;Delay_ms(300); |
STOPR;STOPL; |
beep(1000,1000); |
Delay_ms(500); |
beep(1000,1000); |
Delay_ms(1000); |
} |
void pozordira() |
{ |
beep(800,500); |
Delay_ms(50); |
beep(800,500); |
switch (movement) //vrat se zpet na caru |
{ |
case L: |
STOPL;STOPR; |
BR;Delay_ms(COUVANI);STOPR; |
break; |
case R: |
STOPL;STOPR; |
BL;Delay_ms(COUVANI);STOPL; |
break; |
case S: |
BL; BR; Delay_ms(COUVANI); |
STOPL; STOPR; |
break; |
} |
FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
STOPL; STOPR; movement=S; |
cikcak(); // najdi caru |
dira=0; |
} |
void main() |
{ |
unsigned int16 rovinka; |
int last; |
STOPL; STOPR; |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
port_b_pullups(true); |
setup_adc_ports(NO_ANALOGS|VSS_VDD); |
setup_adc(ADC_OFF); |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_1(T1_DISABLED); // Casovac pro regulaci |
setup_timer_2(T2_DIV_BY_16,50,16); |
setup_ccp1(CCP_OFF); |
setup_comparator(A0_VR_A1_VR); |
setup_vref(VREF_HIGH|15); |
enable_interrupts(INT_TIMER2); |
enable_interrupts(GLOBAL); |
diagnostika(); |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// FL; FR; |
movement=S; |
line=S; |
dira=0; |
last=0; |
rovinka=0; |
speed=speedL=speedR=200; |
while(true) |
{ |
line = RSENSOR; // precteni cidel |
line |= LSENSOR << 1; // sestav informaci o care |
if(line!=0) |
{ |
GO(L, F, speedL); GO(R,F, speedR); |
} |
else{STOPR; STOPL;} |
//sem: |
/* switch(line) // upravime smer |
{ |
case S: //obe cidla na care |
// if (speedL<speedR) speedL=speedR; |
// else speedR=speedL; |
GO(L,F,speedL); GO(R,F,speedR) // jedeme rovne |
// if(rovinka<BRZDENI) rovinka++; //cara je rovne |
// dira=0; // videli jsme caru, proto neni dira |
continue; // vrat se zpet na cteni cidel |
case L: // cara je pod levym cidlem, trochu zatocime |
GO(L, F, speedL); GO(R,F, speedR); |
// if(rovinka<BRZDENI) rovinka++; //cara je celkem rovne |
// dira=0; |
continue; |
case R: // cara pod pravym cidlem |
GO(R, F, speedR); GO(L, F, speedL); |
// if(rovinka<BRZDENI) rovinka++; |
// dira=0; |
continue; |
default: // cara neni pod zadnym cidlem |
}*/ |
/*switch (last) // zatacka |
{ |
case L: // do leva |
BL;STOPR; //zabrzdeni leveho motoru |
for(;rovinka>0;rovinka--) //chvili pockej |
{ |
line = RSENSOR; // precteni cidel |
line |= LSENSOR << 1; // sestav informaci o care |
if(line!=0) goto sem; //kdyz najdes caru, zastav |
} |
STOPL; FR; // pokracuj v zataceni |
while(line==0) |
{ |
line = RSENSOR; // precteni cidel |
line |= LSENSOR << 1; // sestav informaci o care |
} |
movement=L; |
rovinka=0; //zataceli jsme, uz neni rovna cara |
break; |
case R: |
BR; STOPL; // zabrzdeni praveho motoru |
for(;rovinka>0;rovinka--) |
{ |
line = RSENSOR; // precteni cidel |
line |= LSENSOR << 1; // sestav informaci o care |
if(line!=0) goto sem; |
} |
STOPR; FL; |
while(line==0) |
{ |
line = RSENSOR; // precteni cidel |
line |= LSENSOR << 1; // sestav informaci o care |
} |
movement=R; |
rovinka=0; //zataceli jsme, uz neni rovna cara |
break; |
}*/ |
} // while(true) |
} |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/verze/2 tank.c |
---|
0,0 → 1,331 |
#include "tank.h" |
#define DEBUG |
#define TXo PIN_A3 // To the transmitter modulator |
#include "AX25.c" // podprogram pro prenos telemetrie |
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
unsigned int8 line; // na ktere strane byla detekovana cara |
unsigned int8 speed; // rychlost zataceni |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 movement; // obsahuje aktualni smer zataceni |
unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 100 // po jakem case zataceni se detekuje dira |
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
#define FW_POMALU 100 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 110 // trochu mimo caru vnejsi pas |
#define COUVANI 600 // couvnuti zpet na caru, po detekci diry |
#define PRES_DIRU 300 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
//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) // Zastav |
#define STOPL output_low(PIN_B6);output_low(PIN_B7) |
#define L 0b10 // left |
#define R 0b01 // right |
#define S 0b11 // straight |
//cidla |
#define RSENSOR C2OUT // Senzory na caru |
#define LSENSOR C1OUT |
#define BUMPER PIN_A4 // Senzor na cihlu |
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
#DEFINE SOUND_LO PIN_A7 |
char AXstring[40]; // Buffer pro prenos telemetrie |
// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} \ |
else \ |
{stop##motor;} |
#int_TIMER2 |
void TIMER2_isr() |
{ |
if (speed<255) speed+=INC_SPEED; |
if (rovinka<MAX_ROVINKA) rovinka++; |
if (dira<T_DIRA) dira++; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
/******************************************************************************/ |
void diagnostika() |
{ |
unsigned int16 n; |
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
{ |
for (n=500; n<800; n+=100) |
{ |
beep(n,n); //beep UP |
}; |
Delay_ms(1000); |
//zastav vse |
STOPL; STOPR; |
//pravy pas |
FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//levy pas |
FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//oba pasy |
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
}; |
while (input(DIAG_SENSORS)) |
{ |
int ls, rs; |
while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
set_adc_channel(RSENSOR); |
Delay_us(20); |
rs=read_adc(); |
set_adc_channel(LSENSOR); |
Delay_us(20); |
ls=read_adc(); |
sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
SendPacket(&AXstring[0]); |
delay_ms(1000); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() |
{ |
int n; |
switch(movement) // podivej se na jednu stranu |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
case S: |
FR;BL; |
movement=L; |
break; |
} |
while (0==(RSENSOR|LSENSOR)) |
{ |
if (n==50) //cara asi bude na druhe strane |
{ |
STOPR;STOPL; |
n=0; |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
} |
Delay_ms(5); |
n++; |
} |
STOPL;STOPR; // nasli jsme caru |
line=S; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void objizdka() |
{ |
BL;BR;Delay_ms(300); |
STOPR;STOPL; |
beep(1000,1000); |
Delay_ms(500); |
beep(1000,1000); |
Delay_ms(1000); |
} |
/////////////////////////////////////////////////////////////////////////////// |
void prejeddiru() |
{ |
STOPL;STOPR; |
beep(800,500); |
Delay_ms(50); |
beep(800,500); |
switch (movement) //vrat se zpet na caru |
{ |
case L: |
BR;Delay_ms(COUVANI);STOPR; |
STOPL;STOPR; |
break; |
case R: |
BL;Delay_ms(COUVANI);STOPL; |
STOPL;STOPR; |
break; |
case S: |
BL; BR; Delay_ms(COUVANI); |
STOPL; STOPR; |
break; |
} |
FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
STOPL; STOPR; |
cikcak(); // najdi caru |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void main() |
{ |
unsigned int16 n; // pro FOR |
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_2(T2_DIV_BY_16,255,10); // Casovac pro regulaci |
// preruseni kazdych 10ms |
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
setup_adc(ADC_CLOCK_INTERNAL); |
set_adc_channel(2); |
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
setup_ccp1(CCP_COMPARE_RESET_TIMER); |
CCP_1=(2^10)-1; // prevod kazdou 1ms |
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// povoleni rizeni rychlosti zataceni pres preruseni |
enable_interrupts(INT_TIMER2); |
enable_interrupts(GLOBAL); |
/*---------------------------------------------------------------------------*/ |
sensors=S; |
line=S; |
last=S; |
movement=S; |
speed=FW_POMALU; |
diagnostika(); |
cikcak(); // toc se, abys nasel caru |
Delay_ms(500); |
Beep(1000,200); |
Delay_ms(500); |
while(true) // hlavni smycka (jizda podle cary) |
{ |
sensors = RSENSOR; // cteni senzoru na caru |
sensors |= LSENSOR << 1; |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
GO(L, F, speed); GO(R, F, speed); |
// FL; FR; // pokud se jede dlouho rovne, tak pridej |
dira=0; |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
dira=0; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
dira=0; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
} |
rovinka=0; |
// if (dira>=T_DIRA) prejeddiru(); |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
} |
else speed=255; |
/* if (dira==0) |
{ |
if (L==line) // kdyz jsou obe cidla mimo caru, zabrzdi vnitrni kolo |
{ |
BL; |
for(n=4000;n>0;n--) // Delay |
{ |
line = RSENSOR; // precteni cidel |
line |= LSENSOR << 1; // sestav informaci o care |
if(line!=0) break; |
} |
STOPL; |
} |
else |
{ |
BR; |
for(n=4000;n>0;n--) // Delay |
{ |
line = RSENSOR; // precteni cidel |
line |= LSENSOR << 1; // sestav informaci o care |
if(line!=0) break; |
} |
STOPR; |
} |
}*/ |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
movement=L; |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
movement=R; |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/verze/3 tank.c |
---|
0,0 → 1,350 |
#include "tank.h" |
#define DEBUG |
#define TXo PIN_A3 // To the transmitter modulator |
#include "AX25.c" // podprogram pro prenos telemetrie |
unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
unsigned int8 line; // na ktere strane byla detekovana cara |
unsigned int8 speed; // rychlost zataceni |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 movement; // obsahuje aktualni smer zataceni |
unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
unsigned int8 cihla; // urcuje za jak dlouho muze byt znova detekovana cihla |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 85 // po jakem case zataceni se detekuje dira |
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
#define FW_POMALU 230 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
#define COUVANI 600 // couvnuti zpet na caru, po detekci diry |
#define PRES_DIRU 150 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 20000 |
#define T_CIHLA 100 // perioda detekce cihly |
//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) // Zastav |
#define STOPL output_low(PIN_B6);output_low(PIN_B7) |
#define L 0b10 // left |
#define R 0b01 // right |
#define S 0b11 // straight |
//cidla |
#define RSENSOR C2OUT // Senzory na caru |
#define LSENSOR C1OUT |
#define BUMPER PIN_A4 // Senzor na cihlu |
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
#DEFINE SOUND_LO PIN_A7 |
char AXstring[40]; // Buffer pro prenos telemetrie |
// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} else {stop##motor;} |
#int_TIMER2 |
void TIMER2_isr() |
{ |
if (speed<255) speed+=INC_SPEED; |
if (rovinka<MAX_ROVINKA) rovinka++; |
if (dira<=T_DIRA) dira++; |
if (cihla>0) cihla--; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
/******************************************************************************/ |
void diagnostika() |
{ |
unsigned int16 n; |
while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
{ |
for (n=500; n<800; n+=100) |
{ |
beep(n,n); //beep UP |
}; |
Delay_ms(1000); |
//zastav vse |
STOPL; STOPR; |
//pravy pas |
FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//levy pas |
FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//oba pasy |
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
}; |
while (input(DIAG_SENSORS)) |
{ |
int ls, rs; |
while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
set_adc_channel(RSENSOR); |
Delay_us(20); |
rs=read_adc(); |
set_adc_channel(LSENSOR); |
Delay_us(20); |
ls=read_adc(); |
sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
SendPacket(&AXstring[0]); |
delay_ms(1000); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() |
{ |
unsigned int16 n; |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) return; |
n=0; |
switch(movement) // podivej se na druhou stranu nez se jelo |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
case S: |
FL;BR; |
movement=R; |
n=CIK_CAK/2; |
break; |
} |
while (0==(RSENSOR|LSENSOR)) // zkontroluj caru |
{ |
if (n==CIK_CAK) // zmen smer zataceni |
{ |
n=0; |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
} |
n++; |
} |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
Delay_ms(50); |
STOPL;STOPR; // nasli jsme caru |
line=S; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void objizdka() // objede cihlu |
{ |
unsigned int16 n; |
BL;BR;Delay_ms(200); |
STOPR;STOPL; |
beep(900,1000); |
movement=S; |
cikcak(); |
BR; FL; Delay_ms(215); // otoc se 70° do prava |
FR; FL; Delay_ms(600); // popojed rovne |
BL; Delay_ms(50); // otoc se 90° do leva |
STOPL; FR; Delay_ms(550); |
FR; FL; Delay_ms(100); // popojed rovne na slepo |
for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) {Delay_ms(50); break;} |
Delay_ms(1); |
} |
BR; // otoc se 60° do prava |
for(n=600;n>0;n--) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
Delay_ms(1); |
} |
STOPR; STOPL; |
movement=R; |
cikcak(); |
cihla=T_DIRA; |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void prejeddiru() // vyresi diru |
{ |
unsigned int16 n; |
STOPL;STOPR; |
beep(800,500); |
switch (movement) //vrat se zpet na caru |
{ |
case L: |
for (n=COUVANI;n>0;n--) {GO(R,B,speed); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case R: |
for (n=COUVANI;n>0;n--) {GO(L,B,speed); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case S: |
goto sem; |
break; |
} |
beep(800,500); |
FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
sem: |
STOPL; STOPR; |
movement=S; |
cikcak(); // najdi caru |
cihla=T_DIRA; |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void main() |
{ |
unsigned int16 n; // pro FOR |
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
// preruseni kazdych 10ms |
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
setup_adc(ADC_CLOCK_INTERNAL); |
set_adc_channel(2); |
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
setup_ccp1(CCP_COMPARE_RESET_TIMER); |
CCP_1=(2^10)-1; // prevod kazdou 1ms |
setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// povoleni rizeni rychlosti zataceni pres preruseni |
enable_interrupts(INT_TIMER2); |
enable_interrupts(GLOBAL); |
/*---------------------------------------------------------------------------*/ |
sensors=S; |
line=S; |
last=S; |
movement=S; |
speed=FW_POMALU; |
diagnostika(); |
cikcak(); // toc se, abys nasel caru |
Delay_ms(500); |
Beep(1000,200); |
Delay_ms(500); |
while(true) // hlavni smycka (jizda podle cary) |
{ |
sensors = RSENSOR; // cteni senzoru na caru |
sensors |= LSENSOR << 1; |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (cihla==0)) objizdka(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
FL; FR; // pokud se jede dlouho rovne, tak pridej |
dira=0; |
movement=S; |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
dira=0; |
movement=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
dira=0; |
movement=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
} |
rovinka=0; |
if (dira>=T_DIRA) prejeddiru(); |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
} |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
movement=L; |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
movement=R; |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/verze/vssver.scc |
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/roboti/istrobot/merkur/dokumentace/obrazky/Thumbs.db |
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