/roboti/istrobot/merkur/PIC16F873/Kopie (2) - main.c |
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0,0 → 1,236 |
#include "main.h" |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
unsigned int8 dira; // pocitadlo pro nalezeni preruseni cary |
unsigned int8 speed; // rychlost zataceni |
unsigned int8 straight; // pocitadlo pro zjisteni rovneho useku |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 16 // po jakem case zataceni se detekuje dira |
#define INC_SPEED 5 // prirustek rychlosti v jednom kroku |
#define RIGHT_ANGLE 1000 // 90 stupnu |
#define CIKCAK 20000 // 45 stupnu |
#define BW_PO_DIRE 200 // zpetny chod po dire |
#define FW_RYCHLE 200 // cara primo rovne |
#define FW_POMALU 100 // trochu mimo caru vnitrni pas |
#define FW_STREDNE 150 // trochu mimo caru vnejsi pas |
#define TURN_MIN 90 // minimalni rychlost pri zataceni |
#define TURN_MAX 150 // miximalni rychlost pri zataceni |
#define BRZDENI 40 // doba zpetneho chodu v ms, aby pas stal |
#define ROVINKA 8 // doba po kterou se musi jet rovne, aby se brzdilo |
//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 1 // Senzory na caru |
#define LSENSOR 0 |
#define BUMPER PIN_C4 // Senzor na cihlu |
#define DIAG_SERVO PIN_B0 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B1 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_B3 // komplementarni vystupy pro piezo pipak |
#DEFINE SOUND_LO PIN_B2 |
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_TIMER1 // This function is called every time |
void TIMER1_isr() { // the RTCC (timer0) overflows (255->0). |
// For this program this is apx 76 times |
// per second. |
if (speed<TURN_MAX) speed+=INC_SPEED; |
if (dira<255) dira++; |
if (straight<255) straight++; |
} |
// 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(); |
}; |
} |
void main() |
{ |
STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
setup_adc_ports(RA0_RA1_RA3_ANALOG); |
setup_adc(ADC_CLOCK_DIV_2); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro regulaci |
setup_timer_2(T2_DISABLED,0,1); |
setup_ccp1(CCP_OFF); |
diagnostika(); |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
speed=TURN_MIN; // povoleni rizeni rychlosti zataceni pres preruseni |
enable_interrupts(INT_TIMER1); |
enable_interrupts(GLOBAL); |
// Cik-Cak ------------------------------------------------------------- |
line=S; |
movement=R; |
// cik_cak(); // toc se, abys nasel caru |
Delay_ms(500); |
Beep(1000,200); |
Delay_ms(500); |
dira=0; // inicializace globalnich promennych |
straight=255; |
while(true) // hlavni smycka (jizda podle cary) |
{ |
set_adc_channel(LSENSOR); // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym |
Delay_us(10); |
if(tresholdL > read_adc()) |
{ |
movement = L; |
if (straight>ROVINKA) |
{GO(R, F, FW_STREDNE+40); GO(L, F, FW_POMALU+40)} // pridej |
else |
{GO(R, F, FW_STREDNE); GO(L, F, FW_POMALU)}; |
speed=TURN_MIN; |
dira=0; |
line=L; |
continue; |
} |
set_adc_channel(RSENSOR); // podivej se jestli neni cara pod pravym cidlem |
Delay_us(10); |
if(tresholdR > read_adc()) |
{ |
movement = R; |
if (straight>ROVINKA) |
{GO(L, F, FW_STREDNE+40); GO(R, F, FW_POMALU+40)} // pridej |
else |
{GO(L, F, FW_STREDNE); GO(R, F, FW_POMALU)}; |
speed=TURN_MIN; |
dira=0; |
line=R; |
continue; |
} |
if(line==S) |
movement = S; |
if (straight>ROVINKA) |
{FL; FR;} // pokud se jede dlouho rovne, tak pridej |
else |
{GO(R, F, FW_RYCHLE); GO(L, F, FW_RYCHLE)}; |
speed=TURN_MIN; // nastav minimalni rychlost pro zataceni |
dira=0; // protoze byla cara, tak nuluj pocitadlo diry |
continue; |
if (straight>ROVINKA) // pokud byla dlouha rovinka, tak zabrzdi |
{ |
BL; BR; |
Delay_ms(BRZDENI); |
STOPL; |
STOPR; |
dira=0; |
}; |
straight=0; // nuluj pocitadlo rovinky |
if (L==movement) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
GO(R, F, speed); |
STOPL; |
} |
else |
{ |
GO(L, F, speed); |
STOPR; |
} |
if (dira>T_DIRA) // pokud se moc dlouho zataci bez detekce cary, vrat se |
{ |
STOPL; |
STOPR; |
Beep(1000,200); //double beep |
Delay_ms(30); |
Beep(2000,200); |
Delay_ms(30); |
if (L==movement) // zpet, podle toho kam se jelo |
{ |
STOPL; |
BR; |
} |
else |
{ |
STOPR; |
BL; |
}; |
Delay_ms(BW_PO_DIRE); |
STOPL; |
STOPR; |
cik_cak(); // najdi caru |
dira=0; |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/PIC16F873/main.BAK |
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0,0 → 1,332 |
#include "main.h" |
#define TXo PIN_C3 // 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 400 // velikost mezery v care |
#define ODEZVA 1 // za jak dlouho po opusteni cary se ma zacit zatacet |
#define BRZDENI 90 // doba (v ms) ptrebna k zastaveni jednoho motoru |
//cidla |
#define RSENSOR 1 // Senzory na caru |
#define LSENSOR 0 |
#define BUMPER PIN_C4 // sensor na cihlu |
#define DIAG_SERVO PIN_B0 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B1 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_B3 |
#DEFINE SOUND_LO PIN_B2 |
char AXstring[40]; // Buffer pro prenos telemetrie |
int tresholdL; // rozhodovaci uroven pro prave cidlo |
int tresholdR; // rozhodovaci uroven pro prave cidlo |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
unsigned int16 dira; // pocitadlo pro nalezeni preruseni cary |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
// 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; |
} |
set_adc_channel(LSENSOR); |
Delay_us(10); |
while (tresholdL < read_adc()) // je tam cara? |
{ |
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 kalibrace() |
{ |
unsigned int16 i; |
int min; |
int max; |
int current; |
int treshold; |
FL; BR; Delay_ms(130); |
chyba1: |
FR; BL; //kalibrace leveho cidla |
set_adc_channel(LSENSOR); |
Delay_us(20); |
min=max=read_adc(); |
for (i=1;i<=500;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; |
if (min > current) min=current; |
Delay_us(500); |
} |
FL; BR; |
for (i=1;i<=500;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; |
if (min > current) min=current; |
Delay_us(500); |
} |
STOPL; STOPR; Delay_ms(200); |
if((max-min)<50) {Beep(1000,300); GOTO chyba1;} |
treshold=(max-min)>>1; |
tresholdL=treshold+min; |
chyba2: |
FR; BL; |
set_adc_channel(RSENSOR); |
Delay_us(20); |
min=max=read_adc(); //naplneni min a max nejakou rozumnou hodnotou |
for (i=1;i<=500 ;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; //zmereni minima a maxima |
if (min > current) min=current; |
Delay_us(500); |
} |
FL; BR; |
for (i=1;i<=500 ;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; //zmereni minima a maxima |
if (min > current) min=current; |
Delay_us(500); |
} |
STOPL; STOPR; Delay_ms(200); |
if((max-min)<50) {Beep(1000,300); GOTO chyba2;} |
treshold=(max-min)>>1; |
tresholdR=treshold+min; |
FR; BL; |
movement=L; |
set_adc_channel(LSENSOR); |
Delay_us(20); |
while (tresholdL < read_adc()) Delay_us(100); |
FL; BR; Delay_ms(50); |
STOPL; STOPR; Delay_ms(500); |
Beep(780,200); |
} |
void main() |
{ |
unsigned int16 rovne; // pocita delku rovne cary |
STOPL; STOPR; |
setup_adc_ports(RA0_RA1_RA3_ANALOG); |
setup_adc(ADC_CLOCK_DIV_2); |
port_b_pullups(false); |
diagnostika(); |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// kalibrace(); |
tresholdl=tresholdr=80; |
// FL; FR; |
movement=S; |
line=S; |
dira=0; |
rovne=0; |
while(true) |
{ |
if(!input(BUMPER)) objizdka(); |
line=0; |
set_adc_channel(RSENSOR); // podivej se jestli neni cara pod pravym cidlem |
Delay_us(10); |
if(tresholdR > read_adc()) |
{ |
dira=0; |
line=R; |
} |
set_adc_channel(LSENSOR); // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym |
Delay_us(10); |
if(tresholdL > read_adc()) |
{ |
dira=0; |
line=line | L; |
} |
switch(line) |
{ |
case S: |
FR;FL; |
movement=S; |
continue; |
case L: |
STOPL; |
FR;movement=L; |
continue; |
case R: |
STOPR; |
FL;movement=R; |
continue; |
default: |
} |
if (dira==ODEZVA) // kdyz uz chvili jedeme po bile plose |
{ |
//BR;BL;Delay_us(rovne >>= 5); |
rovne=0; //kdyz sme museli zatocit, uz neni rovna cara |
switch (line) // musime zatocit |
{ |
case L: |
BL;Delay_ms(BRZDENI);STOPL; |
FR; |
movement=L; |
break; |
case R: |
BR;Delay_ms(BRZDENI);STOPR; |
FL; |
movement=R; |
break; |
} |
} |
if (dira==MEZERA) // kdyz zkoncila cara |
{ |
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; |
} |
dira++; |
} // while(true) |
} |
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;PIC16F873 |
/roboti/istrobot/merkur/PIC16F873/main.LST |
---|
0,0 → 1,2057 |
CCS PCW C Compiler, Version 3.110, 15448 |
Filename: d:\kaklik\programy\pic_c\roboti\merkur\main.LST |
ROM used: 1572 (38%) |
Largest free fragment is 2048 |
RAM used: 79 (41%) at main() level |
90 (47%) worst case |
Stack: 3 locations |
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 41D |
0003: NOP |
.................... #include "main.h" |
.................... #include <16F873.h> |
.................... //////// Standard Header file for the PIC16F873 device //////////////// |
.................... #device PIC16F873 |
.................... #list |
.................... |
.................... #device adc=8 |
.................... #use delay(clock=4000000) |
* |
0016: MOVLW 78 |
0017: MOVWF 04 |
0018: MOVLW FC |
0019: ANDWF 00,F |
001A: RRF 00,F |
001B: RRF 00,F |
001C: MOVF 00,W |
001D: BTFSC 03.2 |
001E: GOTO 023 |
001F: GOTO 021 |
0020: NOP |
0021: DECFSZ 00,F |
0022: GOTO 020 |
0023: RETLW 00 |
* |
004A: MOVLW 73 |
004B: MOVWF 04 |
004C: MOVF 00,W |
004D: BTFSC 03.2 |
004E: GOTO 05E |
004F: MOVLW 01 |
0050: MOVWF 21 |
0051: CLRF 20 |
0052: DECFSZ 20,F |
0053: GOTO 052 |
0054: DECFSZ 21,F |
0055: GOTO 051 |
0056: MOVLW 4A |
0057: MOVWF 20 |
0058: DECFSZ 20,F |
0059: GOTO 058 |
005A: NOP |
005B: NOP |
005C: DECFSZ 00,F |
005D: GOTO 04F |
005E: RETLW 00 |
.................... #fuses XT,NOWDT,NOLVP |
.................... |
.................... |
.................... |
.................... #define TXo PIN_C3 // To the transmitter modulator |
.................... #include "AX25.c" // podprogram pro prenos telemetrie |
.................... //#define PTT PIN_A2 // PTT control |
.................... //#define TXo PIN_C0 // To the transmitter modulator |
.................... #define PERIODAH delay_us(222) // Halfperiod H 222;78/1200 500;430/500 |
.................... #define TAILH delay_us(78) |
.................... #define PERIODAL delay_us(412) // Halfperiod L 412;345/1200 1000;880/500 |
.................... #define TAILL delay_us(345) |
.................... #byte STATUS = 3 // CPUs status register |
.................... |
.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1, 0x60, |
.................... 'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61, |
.................... 0x03, 0xF0}; |
.................... |
.................... boolean bit; |
.................... int fcslo, fcshi; // variabloes for calculating FCS (CRC) |
.................... int stuff; // stuff counter for extra 0 |
.................... int flag_flag; // if it is sending flag (7E) |
.................... int fcs_flag; // if it is sending Frame Check Sequence |
.................... int i; // for for |
.................... |
.................... void flipout() //flips the state of output pin a_1 |
.................... { |
.................... stuff = 0; //since this is a 0, reset the stuff counter |
* |
00AE: CLRF 38 |
.................... if (bit) |
00AF: BTFSS 35.0 |
00B0: GOTO 0B3 |
.................... { |
.................... bit=FALSE; //if the state of the pin was low, make it high. |
00B1: BCF 35.0 |
.................... } |
.................... else |
00B2: GOTO 0B4 |
.................... { |
.................... bit=TRUE; //if the state of the pin was high make it low |
00B3: BSF 35.0 |
.................... } |
00B4: RETLW 00 |
.................... } |
.................... |
.................... void fcsbit(byte tbyte) |
.................... { |
.................... #asm |
.................... BCF STATUS,0 |
* |
011A: BCF 03.0 |
.................... RRF fcshi,F // rotates the entire 16 bits |
011B: RRF 37,F |
.................... RRF fcslo,F // to the right |
.................... #endasm |
011C: RRF 36,F |
.................... if (((STATUS & 0x01)^(tbyte)) ==0x01) |
011D: MOVF 03,W |
011E: ANDLW 01 |
011F: XORWF 77,W |
0120: SUBLW 01 |
0121: BTFSS 03.2 |
0122: GOTO 127 |
.................... { |
.................... fcshi = fcshi^0x84; |
0123: MOVLW 84 |
0124: XORWF 37,F |
.................... fcslo = fcslo^0x08; |
0125: MOVLW 08 |
0126: XORWF 36,F |
.................... } |
.................... } |
.................... |
.................... void SendBit () |
.................... { |
.................... if (bit) |
* |
00B5: BTFSS 35.0 |
00B6: GOTO 0E8 |
.................... { |
.................... output_high(TXo); |
00B7: BCF 3C.3 |
00B8: MOVF 3C,W |
00B9: BSF 03.5 |
00BA: MOVWF 07 |
00BB: BCF 03.5 |
00BC: BSF 07.3 |
.................... PERIODAH; |
00BD: MOVLW 49 |
00BE: MOVWF 20 |
00BF: DECFSZ 20,F |
00C0: GOTO 0BF |
00C1: NOP |
00C2: NOP |
.................... output_low(TXo); |
00C3: BCF 3C.3 |
00C4: MOVF 3C,W |
00C5: BSF 03.5 |
00C6: MOVWF 07 |
00C7: BCF 03.5 |
00C8: BCF 07.3 |
.................... PERIODAH; |
00C9: MOVLW 49 |
00CA: MOVWF 20 |
00CB: DECFSZ 20,F |
00CC: GOTO 0CB |
00CD: NOP |
00CE: NOP |
.................... output_high(TXo); |
00CF: BCF 3C.3 |
00D0: MOVF 3C,W |
00D1: BSF 03.5 |
00D2: MOVWF 07 |
00D3: BCF 03.5 |
00D4: BSF 07.3 |
.................... PERIODAH; |
00D5: MOVLW 49 |
00D6: MOVWF 20 |
00D7: DECFSZ 20,F |
00D8: GOTO 0D7 |
00D9: NOP |
00DA: NOP |
.................... output_low(TXo); |
00DB: BCF 3C.3 |
00DC: MOVF 3C,W |
00DD: BSF 03.5 |
00DE: MOVWF 07 |
00DF: BCF 03.5 |
00E0: BCF 07.3 |
.................... TAILH; |
00E1: MOVLW 19 |
00E2: MOVWF 20 |
00E3: DECFSZ 20,F |
00E4: GOTO 0E3 |
00E5: NOP |
00E6: NOP |
.................... } |
.................... else |
00E7: GOTO 0FE |
.................... { |
.................... output_high(TXo); |
00E8: BCF 3C.3 |
00E9: MOVF 3C,W |
00EA: BSF 03.5 |
00EB: MOVWF 07 |
00EC: BCF 03.5 |
00ED: BSF 07.3 |
.................... PERIODAL; |
00EE: MOVLW 89 |
00EF: MOVWF 20 |
00F0: DECFSZ 20,F |
00F1: GOTO 0F0 |
.................... output_low(TXo); |
00F2: BCF 3C.3 |
00F3: MOVF 3C,W |
00F4: BSF 03.5 |
00F5: MOVWF 07 |
00F6: BCF 03.5 |
00F7: BCF 07.3 |
.................... TAILL; |
00F8: MOVLW 72 |
00F9: MOVWF 20 |
00FA: DECFSZ 20,F |
00FB: GOTO 0FA |
00FC: NOP |
00FD: NOP |
.................... }; |
00FE: RETLW 00 |
.................... } |
.................... |
.................... void SendByte (byte inbyte) |
.................... { |
.................... int k, bt; |
.................... |
.................... for (k=0;k<8;k++) //do the following for each of the 8 bits in the byte |
00FF: CLRF 75 |
0100: MOVF 75,W |
0101: SUBLW 07 |
0102: BTFSS 03.0 |
0103: GOTO 149 |
.................... { |
.................... bt = inbyte & 0x01; //strip off the rightmost bit of the byte to be sent (inbyte) |
0104: MOVF 74,W |
0105: ANDLW 01 |
0106: MOVWF 76 |
.................... if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt); //do FCS calc, but only if this |
0107: MOVF 3A,F |
0108: BTFSC 03.2 |
0109: GOTO 10C |
010A: MOVLW 00 |
010B: GOTO 10D |
010C: MOVLW 01 |
010D: MOVWF 77 |
010E: MOVF 39,F |
010F: BTFSC 03.2 |
0110: GOTO 113 |
0111: MOVLW 00 |
0112: GOTO 114 |
0113: MOVLW 01 |
0114: ANDWF 77,W |
0115: XORLW 00 |
0116: BTFSC 03.2 |
0117: GOTO 127 |
0118: MOVF 76,W |
0119: MOVWF 77 |
.................... //is not a flag or fcs byte |
.................... if (bt == 0) |
* |
0127: MOVF 76,F |
0128: BTFSS 03.2 |
0129: GOTO 12C |
.................... { |
.................... flipout(); |
012A: CALL 0AE |
.................... } // if this bit is a zero, flip the output state |
.................... else |
012B: GOTO 144 |
.................... { //otherwise if it is a 1, do the following: |
.................... if (flag_flag == FALSE) stuff++; //increment the count of consequtive 1's |
012C: MOVF 39,F |
012D: BTFSS 03.2 |
012E: GOTO 130 |
012F: INCF 38,F |
.................... if ((flag_flag == FALSE) & (stuff == 5)) |
0130: MOVF 39,F |
0131: BTFSC 03.2 |
0132: GOTO 135 |
0133: MOVLW 00 |
0134: GOTO 136 |
0135: MOVLW 01 |
0136: MOVWF 77 |
0137: MOVF 38,W |
0138: SUBLW 05 |
0139: BTFSC 03.2 |
013A: GOTO 13D |
013B: MOVLW 00 |
013C: GOTO 13E |
013D: MOVLW 01 |
013E: ANDWF 77,W |
013F: XORLW 00 |
0140: BTFSC 03.2 |
0141: GOTO 144 |
.................... { //stuff an extra 0, if 5 1's in a row |
.................... SendBit(); |
0142: CALL 0B5 |
.................... flipout(); //flip the output state to stuff a 0 |
0143: CALL 0AE |
.................... }//end of if |
.................... }//end of else |
.................... // delay_us(850); //introduces a delay that creates 1200 baud |
.................... SendBit(); |
0144: CALL 0B5 |
.................... inbyte = inbyte>>1; //go to the next bit in the byte |
0145: BCF 03.0 |
0146: RRF 74,F |
.................... }//end of for |
0147: INCF 75,F |
0148: GOTO 100 |
0149: RETLW 00 |
.................... }//end of SendByte |
.................... |
.................... void SendPacket(char *data) |
.................... { |
.................... bit=FALSE; |
* |
02CF: BCF 35.0 |
.................... |
.................... fcslo=fcshi=0xFF; //The 2 FCS Bytes are initialized to FF |
02D0: MOVLW FF |
02D1: MOVWF 37 |
02D2: MOVWF 36 |
.................... stuff = 0; //The variable stuff counts the number of 1's in a row. When it gets to 5 |
02D3: CLRF 38 |
.................... // it is time to stuff a 0. |
.................... |
.................... // output_low(PTT); // Blinking LED |
.................... // delay_ms(1000); |
.................... // output_high(PTT); |
.................... |
.................... flag_flag = TRUE; //The variable flag is true if you are transmitted flags (7E's) false otherwise. |
02D4: MOVLW 01 |
02D5: MOVWF 39 |
.................... fcs_flag = FALSE; //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise. |
02D6: CLRF 3A |
.................... |
.................... for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes. Adjust length for txdelay |
02D7: CLRF 3B |
02D8: MOVF 3B,W |
02D9: SUBLW 09 |
02DA: BTFSS 03.0 |
02DB: GOTO 2E1 |
02DC: MOVLW 7E |
02DD: MOVWF 74 |
02DE: CALL 0FF |
02DF: INCF 3B,F |
02E0: GOTO 2D8 |
.................... //each flag takes approx 6.7 ms |
.................... flag_flag = FALSE; //done sending flags |
02E1: CLRF 39 |
.................... |
.................... for(i=0; i<16; i++) SendByte(SendData[i]); //send the packet bytes |
02E2: CLRF 3B |
02E3: MOVF 3B,W |
02E4: SUBLW 0F |
02E5: BTFSS 03.0 |
02E6: GOTO 2F0 |
02E7: MOVLW 25 |
02E8: ADDWF 3B,W |
02E9: MOVWF 04 |
02EA: MOVF 00,W |
02EB: MOVWF 73 |
02EC: MOVWF 74 |
02ED: CALL 0FF |
02EE: INCF 3B,F |
02EF: GOTO 2E3 |
.................... |
.................... for(i=0; 0 != *data; i++) |
02F0: CLRF 3B |
02F1: MOVF 72,W |
02F2: MOVWF 04 |
02F3: MOVF 00,W |
02F4: XORLW 00 |
02F5: BTFSC 03.2 |
02F6: GOTO 300 |
.................... { |
.................... SendByte(*data); //send the packet bytes |
02F7: MOVF 72,W |
02F8: MOVWF 04 |
02F9: MOVF 00,W |
02FA: MOVWF 73 |
02FB: MOVWF 74 |
02FC: CALL 0FF |
.................... data++; |
02FD: INCF 72,F |
.................... }; |
02FE: INCF 3B,F |
02FF: GOTO 2F1 |
.................... |
.................... fcs_flag = TRUE; //about to send the FCS bytes |
0300: MOVLW 01 |
0301: MOVWF 3A |
.................... fcslo =fcslo^0xff; //must XOR them with FF before sending |
0302: MOVLW FF |
0303: XORWF 36,F |
.................... fcshi = fcshi^0xff; |
0304: XORWF 37,F |
.................... SendByte(fcslo); //send the low byte of fcs |
0305: MOVF 36,W |
0306: MOVWF 74 |
0307: CALL 0FF |
.................... SendByte(fcshi); //send the high byte of fcs |
0308: MOVF 37,W |
0309: MOVWF 74 |
030A: CALL 0FF |
.................... fcs_flag = FALSE; //done sending FCS |
030B: CLRF 3A |
.................... flag_flag = TRUE; //about to send flags |
030C: MOVLW 01 |
030D: MOVWF 39 |
.................... SendByte(0x7e); // Send a flag to end packet |
030E: MOVLW 7E |
030F: MOVWF 74 |
0310: CALL 0FF |
.................... } |
.................... |
.................... |
.................... |
.................... |
.................... |
.................... //motory //Napred vypnout potom zapnout! |
.................... #define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
.................... #define FL output_low(PIN_B7); output_high(PIN_B6) |
.................... #define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
.................... #define BL output_low(PIN_B6); output_high(PIN_B7) |
.................... #define STOPR output_low(PIN_B4);output_low(PIN_B5) |
.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7) |
.................... |
.................... #define L 0b10 // left |
.................... #define R 0b01 // right |
.................... #define S 0b11 // straight |
.................... |
.................... #define COUVANI 1600 // couvnuti po zjisteni diry |
.................... #define MEZERA 5400 // za jak dlouho bude ztracena cara |
.................... #define PRES_DIRU 400 // velikost mezery v care |
.................... #define ODEZVA 1 // za jak dlouho po opusteni cary se ma zacit zatacet |
.................... #define BRZDENI 100 // doba (v ms) ptrebna k zastaveni jednoho motoru |
.................... |
.................... //cidla |
.................... #define RSENSOR 1 // Senzory na caru |
.................... #define LSENSOR 0 |
.................... #define BUMPER PIN_C4 // sensor na cihlu |
.................... |
.................... #define DIAG_SERVO PIN_B0 // Propojka pro diagnosticky mod |
.................... #define DIAG_SENSORS PIN_B1 // Propojka pro diagnosticky mod |
.................... |
.................... #DEFINE SOUND_HI PIN_B3 |
.................... #DEFINE SOUND_LO PIN_B2 |
.................... |
.................... char AXstring[40]; // Buffer pro prenos telemetrie |
.................... |
.................... int tresholdL; // rozhodovaci uroven pro prave cidlo |
.................... int tresholdR; // rozhodovaci uroven pro prave cidlo |
.................... int movement; // smer minuleho pohybu |
.................... int line; // na ktere strane byla detekovana cara |
.................... unsigned int16 dira; // pocitadlo pro nalezeni preruseni cary |
.................... |
.................... // Primitivni Pipani |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
0024: MOVF 75,W |
0025: MOVWF 77 |
0026: MOVF 74,W |
0027: MOVWF 76 |
0028: MOVF 76,F |
0029: BTFSS 03.2 |
002A: GOTO 02E |
002B: MOVF 77,F |
002C: BTFSC 03.2 |
002D: GOTO 049 |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
002E: BSF 03.5 |
002F: BCF 06.3 |
0030: BCF 03.5 |
0031: BSF 06.3 |
0032: BSF 03.5 |
0033: BCF 06.2 |
0034: BCF 03.5 |
0035: BCF 06.2 |
.................... delay_us(period); |
0036: MOVF 72,W |
0037: MOVWF 78 |
0038: CALL 016 |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
0039: BSF 03.5 |
003A: BCF 06.2 |
003B: BCF 03.5 |
003C: BSF 06.2 |
003D: BSF 03.5 |
003E: BCF 06.3 |
003F: BCF 03.5 |
0040: BCF 06.3 |
.................... delay_us(period); |
0041: MOVF 72,W |
0042: MOVWF 78 |
0043: CALL 016 |
.................... } |
0044: MOVF 76,W |
0045: BTFSC 03.2 |
0046: DECF 77,F |
0047: DECF 76,F |
0048: GOTO 028 |
0049: RETLW 00 |
.................... } |
.................... |
.................... // Diagnostika pohonu, hejbne vsema motorama ve vsech smerech |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
* |
014A: BSF 03.5 |
014B: BSF 06.0 |
014C: BCF 03.5 |
014D: BTFSS 06.0 |
014E: GOTO 275 |
.................... { |
.................... for (n=500; n<800; n+=100) |
014F: MOVLW 01 |
0150: MOVWF 6F |
0151: MOVLW F4 |
0152: MOVWF 6E |
0153: MOVF 6F,W |
0154: SUBLW 03 |
0155: BTFSS 03.0 |
0156: GOTO 16B |
0157: BTFSS 03.2 |
0158: GOTO 15D |
0159: MOVF 6E,W |
015A: SUBLW 1F |
015B: BTFSS 03.0 |
015C: GOTO 16B |
.................... { |
.................... beep(n,n); //beep UP |
015D: MOVF 6F,W |
015E: MOVWF 73 |
015F: MOVF 6E,W |
0160: MOVWF 72 |
0161: MOVF 6F,W |
0162: MOVWF 75 |
0163: MOVF 6E,W |
0164: MOVWF 74 |
0165: CALL 024 |
.................... }; |
0166: MOVLW 64 |
0167: ADDWF 6E,F |
0168: BTFSC 03.0 |
0169: INCF 6F,F |
016A: GOTO 153 |
.................... Delay_ms(1000); |
016B: MOVLW 04 |
016C: MOVWF 72 |
016D: MOVLW FA |
016E: MOVWF 73 |
016F: CALL 04A |
0170: DECFSZ 72,F |
0171: GOTO 16D |
.................... //zastav vse |
.................... STOPL; STOPR; |
0172: BSF 03.5 |
0173: BCF 06.6 |
0174: BCF 03.5 |
0175: BCF 06.6 |
0176: BSF 03.5 |
0177: BCF 06.7 |
0178: BCF 03.5 |
0179: BCF 06.7 |
017A: BSF 03.5 |
017B: BCF 06.4 |
017C: BCF 03.5 |
017D: BCF 06.4 |
017E: BSF 03.5 |
017F: BCF 06.5 |
0180: BCF 03.5 |
0181: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
0182: BSF 03.5 |
0183: BCF 06.5 |
0184: BCF 03.5 |
0185: BCF 06.5 |
0186: BSF 03.5 |
0187: BCF 06.4 |
0188: BCF 03.5 |
0189: BSF 06.4 |
018A: MOVLW 04 |
018B: MOVWF 72 |
018C: MOVLW FA |
018D: MOVWF 73 |
018E: CALL 04A |
018F: DECFSZ 72,F |
0190: GOTO 18C |
0191: BSF 03.5 |
0192: BCF 06.4 |
0193: BCF 03.5 |
0194: BCF 06.4 |
0195: BSF 03.5 |
0196: BCF 06.5 |
0197: BCF 03.5 |
0198: BCF 06.5 |
0199: MOVLW 04 |
019A: MOVWF 72 |
019B: MOVLW FA |
019C: MOVWF 73 |
019D: CALL 04A |
019E: DECFSZ 72,F |
019F: GOTO 19B |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
01A0: BSF 03.5 |
01A1: BCF 06.4 |
01A2: BCF 03.5 |
01A3: BCF 06.4 |
01A4: BSF 03.5 |
01A5: BCF 06.5 |
01A6: BCF 03.5 |
01A7: BSF 06.5 |
01A8: MOVLW 04 |
01A9: MOVWF 72 |
01AA: MOVLW FA |
01AB: MOVWF 73 |
01AC: CALL 04A |
01AD: DECFSZ 72,F |
01AE: GOTO 1AA |
01AF: BSF 03.5 |
01B0: BCF 06.4 |
01B1: BCF 03.5 |
01B2: BCF 06.4 |
01B3: BSF 03.5 |
01B4: BCF 06.5 |
01B5: BCF 03.5 |
01B6: BCF 06.5 |
01B7: MOVLW 04 |
01B8: MOVWF 72 |
01B9: MOVLW FA |
01BA: MOVWF 73 |
01BB: CALL 04A |
01BC: DECFSZ 72,F |
01BD: GOTO 1B9 |
.................... Beep(880,100); Delay_ms(1000); |
01BE: MOVLW 03 |
01BF: MOVWF 73 |
01C0: MOVLW 70 |
01C1: MOVWF 72 |
01C2: CLRF 75 |
01C3: MOVLW 64 |
01C4: MOVWF 74 |
01C5: CALL 024 |
01C6: MOVLW 04 |
01C7: MOVWF 72 |
01C8: MOVLW FA |
01C9: MOVWF 73 |
01CA: CALL 04A |
01CB: DECFSZ 72,F |
01CC: GOTO 1C8 |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
01CD: BSF 03.5 |
01CE: BCF 06.7 |
01CF: BCF 03.5 |
01D0: BCF 06.7 |
01D1: BSF 03.5 |
01D2: BCF 06.6 |
01D3: BCF 03.5 |
01D4: BSF 06.6 |
01D5: MOVLW 04 |
01D6: MOVWF 72 |
01D7: MOVLW FA |
01D8: MOVWF 73 |
01D9: CALL 04A |
01DA: DECFSZ 72,F |
01DB: GOTO 1D7 |
01DC: BSF 03.5 |
01DD: BCF 06.6 |
01DE: BCF 03.5 |
01DF: BCF 06.6 |
01E0: BSF 03.5 |
01E1: BCF 06.7 |
01E2: BCF 03.5 |
01E3: BCF 06.7 |
01E4: MOVLW 04 |
01E5: MOVWF 72 |
01E6: MOVLW FA |
01E7: MOVWF 73 |
01E8: CALL 04A |
01E9: DECFSZ 72,F |
01EA: GOTO 1E6 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
01EB: BSF 03.5 |
01EC: BCF 06.6 |
01ED: BCF 03.5 |
01EE: BCF 06.6 |
01EF: BSF 03.5 |
01F0: BCF 06.7 |
01F1: BCF 03.5 |
01F2: BSF 06.7 |
01F3: MOVLW 04 |
01F4: MOVWF 72 |
01F5: MOVLW FA |
01F6: MOVWF 73 |
01F7: CALL 04A |
01F8: DECFSZ 72,F |
01F9: GOTO 1F5 |
01FA: BSF 03.5 |
01FB: BCF 06.6 |
01FC: BCF 03.5 |
01FD: BCF 06.6 |
01FE: BSF 03.5 |
01FF: BCF 06.7 |
0200: BCF 03.5 |
0201: BCF 06.7 |
0202: MOVLW 04 |
0203: MOVWF 72 |
0204: MOVLW FA |
0205: MOVWF 73 |
0206: CALL 04A |
0207: DECFSZ 72,F |
0208: GOTO 204 |
.................... Beep(880,100); Delay_ms(1000); |
0209: MOVLW 03 |
020A: MOVWF 73 |
020B: MOVLW 70 |
020C: MOVWF 72 |
020D: CLRF 75 |
020E: MOVLW 64 |
020F: MOVWF 74 |
0210: CALL 024 |
0211: MOVLW 04 |
0212: MOVWF 72 |
0213: MOVLW FA |
0214: MOVWF 73 |
0215: CALL 04A |
0216: DECFSZ 72,F |
0217: GOTO 213 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0218: BSF 03.5 |
0219: BCF 06.7 |
021A: BCF 03.5 |
021B: BCF 06.7 |
021C: BSF 03.5 |
021D: BCF 06.6 |
021E: BCF 03.5 |
021F: BSF 06.6 |
0220: BSF 03.5 |
0221: BCF 06.5 |
0222: BCF 03.5 |
0223: BCF 06.5 |
0224: BSF 03.5 |
0225: BCF 06.4 |
0226: BCF 03.5 |
0227: BSF 06.4 |
0228: MOVLW 04 |
0229: MOVWF 72 |
022A: MOVLW FA |
022B: MOVWF 73 |
022C: CALL 04A |
022D: DECFSZ 72,F |
022E: GOTO 22A |
022F: BSF 03.5 |
0230: BCF 06.6 |
0231: BCF 03.5 |
0232: BCF 06.6 |
0233: BSF 03.5 |
0234: BCF 06.7 |
0235: BCF 03.5 |
0236: BCF 06.7 |
0237: BSF 03.5 |
0238: BCF 06.4 |
0239: BCF 03.5 |
023A: BCF 06.4 |
023B: BSF 03.5 |
023C: BCF 06.5 |
023D: BCF 03.5 |
023E: BCF 06.5 |
023F: MOVLW 04 |
0240: MOVWF 72 |
0241: MOVLW FA |
0242: MOVWF 73 |
0243: CALL 04A |
0244: DECFSZ 72,F |
0245: GOTO 241 |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0246: BSF 03.5 |
0247: BCF 06.6 |
0248: BCF 03.5 |
0249: BCF 06.6 |
024A: BSF 03.5 |
024B: BCF 06.7 |
024C: BCF 03.5 |
024D: BSF 06.7 |
024E: BSF 03.5 |
024F: BCF 06.4 |
0250: BCF 03.5 |
0251: BCF 06.4 |
0252: BSF 03.5 |
0253: BCF 06.5 |
0254: BCF 03.5 |
0255: BSF 06.5 |
0256: MOVLW 04 |
0257: MOVWF 72 |
0258: MOVLW FA |
0259: MOVWF 73 |
025A: CALL 04A |
025B: DECFSZ 72,F |
025C: GOTO 258 |
025D: BSF 03.5 |
025E: BCF 06.6 |
025F: BCF 03.5 |
0260: BCF 06.6 |
0261: BSF 03.5 |
0262: BCF 06.7 |
0263: BCF 03.5 |
0264: BCF 06.7 |
0265: BSF 03.5 |
0266: BCF 06.4 |
0267: BCF 03.5 |
0268: BCF 06.4 |
0269: BSF 03.5 |
026A: BCF 06.5 |
026B: BCF 03.5 |
026C: BCF 06.5 |
026D: MOVLW 04 |
026E: MOVWF 72 |
026F: MOVLW FA |
0270: MOVWF 73 |
0271: CALL 04A |
0272: DECFSZ 72,F |
0273: GOTO 26F |
.................... }; |
0274: GOTO 14A |
.................... |
.................... while (input(DIAG_SENSORS)) |
0275: BSF 03.5 |
0276: BSF 06.1 |
0277: BCF 03.5 |
0278: BTFSS 06.1 |
0279: GOTO 319 |
.................... { |
.................... int ls, rs; |
.................... while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
027A: BSF 3C.4 |
027B: MOVF 3C,W |
027C: BSF 03.5 |
027D: MOVWF 07 |
027E: BCF 03.5 |
027F: BTFSC 07.4 |
0280: GOTO 28D |
0281: MOVLW 04 |
0282: MOVWF 73 |
0283: MOVLW 4C |
0284: MOVWF 72 |
0285: CLRF 75 |
0286: MOVLW 64 |
0287: MOVWF 74 |
0288: CALL 024 |
0289: MOVLW 32 |
028A: MOVWF 73 |
028B: CALL 04A |
028C: GOTO 27A |
.................... set_adc_channel(RSENSOR); |
028D: MOVLW 08 |
028E: MOVWF 21 |
028F: MOVF 1F,W |
0290: ANDLW C7 |
0291: IORWF 21,W |
0292: MOVWF 1F |
.................... Delay_us(20); |
0293: MOVLW 06 |
0294: MOVWF 20 |
0295: DECFSZ 20,F |
0296: GOTO 295 |
0297: NOP |
.................... rs=read_adc(); |
0298: BSF 1F.2 |
0299: BTFSC 1F.2 |
029A: GOTO 299 |
029B: MOVF 1E,W |
029C: MOVWF 71 |
.................... set_adc_channel(LSENSOR); |
029D: MOVLW 00 |
029E: MOVWF 21 |
029F: MOVF 1F,W |
02A0: ANDLW C7 |
02A1: IORWF 21,W |
02A2: MOVWF 1F |
.................... Delay_us(20); |
02A3: MOVLW 06 |
02A4: MOVWF 20 |
02A5: DECFSZ 20,F |
02A6: GOTO 2A5 |
02A7: NOP |
.................... ls=read_adc(); |
02A8: BSF 1F.2 |
02A9: BTFSC 1F.2 |
02AA: GOTO 2A9 |
02AB: MOVF 1E,W |
02AC: MOVWF 70 |
.................... sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
* |
0004: BCF 0A.0 |
0005: BCF 0A.1 |
0006: BCF 0A.2 |
0007: ADDWF 02,F |
0008: RETLW 4C |
0009: RETLW 3A |
000A: RETLW 20 |
000B: RETLW 25 |
000C: RETLW 55 |
000D: RETLW 20 |
000E: RETLW 20 |
000F: RETLW 52 |
0010: RETLW 3A |
0011: RETLW 20 |
0012: RETLW 25 |
0013: RETLW 55 |
0014: RETLW 00 |
0015: RETLW 00 |
* |
007C: MOVF 21,W |
007D: MOVF 73,W |
007E: MOVWF 75 |
007F: MOVLW 64 |
0080: MOVWF 76 |
0081: CALL 067 |
0082: MOVF 20,W |
0083: MOVWF 73 |
0084: MOVF 21,W |
0085: MOVLW 30 |
0086: BTFSS 03.2 |
0087: GOTO 08F |
0088: BTFSC 74.0 |
0089: BSF 74.3 |
008A: BTFSC 74.3 |
008B: GOTO 095 |
008C: BTFSC 74.4 |
008D: MOVLW 20 |
008E: GOTO 091 |
008F: BCF 74.3 |
0090: BCF 74.4 |
0091: ADDWF 21,F |
0092: MOVF 21,W |
0093: MOVWF 75 |
0094: CALL 05F |
0095: MOVF 73,W |
0096: MOVWF 75 |
0097: MOVLW 0A |
0098: MOVWF 76 |
0099: CALL 067 |
009A: MOVF 20,W |
009B: MOVWF 73 |
009C: MOVF 21,W |
009D: MOVLW 30 |
009E: BTFSS 03.2 |
009F: GOTO 0A4 |
00A0: BTFSC 74.3 |
00A1: GOTO 0A8 |
00A2: BTFSC 74.4 |
00A3: MOVLW 20 |
00A4: ADDWF 21,F |
00A5: MOVF 21,W |
00A6: MOVWF 75 |
00A7: CALL 05F |
00A8: MOVLW 30 |
00A9: ADDWF 73,F |
00AA: MOVF 73,W |
00AB: MOVWF 75 |
00AC: CALL 05F |
00AD: RETLW 00 |
* |
02AD: MOVLW 3D |
02AE: MOVWF 6B |
02AF: MOVLW 4C |
02B0: MOVWF 75 |
02B1: CALL 05F |
02B2: MOVLW 3A |
02B3: MOVWF 75 |
02B4: CALL 05F |
02B5: MOVLW 20 |
02B6: MOVWF 75 |
02B7: CALL 05F |
02B8: MOVF 70,W |
02B9: MOVWF 73 |
02BA: MOVLW 18 |
02BB: MOVWF 74 |
02BC: CALL 07C |
02BD: MOVLW 05 |
02BE: MOVWF 72 |
02BF: MOVF 72,W |
02C0: CALL 004 |
02C1: INCF 72,F |
02C2: MOVWF 75 |
02C3: CALL 05F |
02C4: MOVLW 0A |
02C5: SUBWF 72,W |
02C6: BTFSS 03.2 |
02C7: GOTO 2BF |
02C8: MOVF 71,W |
02C9: MOVWF 73 |
02CA: MOVLW 18 |
02CB: MOVWF 74 |
02CC: CALL 07C |
.................... SendPacket(&AXstring[0]); |
02CD: MOVLW 3D |
02CE: MOVWF 72 |
.................... delay_ms(1000); |
* |
0311: MOVLW 04 |
0312: MOVWF 72 |
0313: MOVLW FA |
0314: MOVWF 73 |
0315: CALL 04A |
0316: DECFSZ 72,F |
0317: GOTO 313 |
.................... }; |
0318: GOTO 275 |
0319: BCF 0A.3 |
031A: GOTO 45E (RETURN) |
.................... } |
.................... |
.................... void cikcak() |
.................... { |
.................... int n; |
.................... switch(movement) // podivej se na jednu stranu |
* |
0364: MOVLW 01 |
0365: SUBWF 67,W |
0366: ADDLW FD |
0367: BTFSC 03.0 |
0368: GOTO 3A4 |
0369: ADDLW 03 |
036A: GOTO 410 |
.................... { |
.................... case L: |
.................... FL;BR; |
036B: BSF 03.5 |
036C: BCF 06.7 |
036D: BCF 03.5 |
036E: BCF 06.7 |
036F: BSF 03.5 |
0370: BCF 06.6 |
0371: BCF 03.5 |
0372: BSF 06.6 |
0373: BSF 03.5 |
0374: BCF 06.4 |
0375: BCF 03.5 |
0376: BCF 06.4 |
0377: BSF 03.5 |
0378: BCF 06.5 |
0379: BCF 03.5 |
037A: BSF 06.5 |
.................... movement=R; |
037B: MOVLW 01 |
037C: MOVWF 67 |
.................... break; |
037D: GOTO 3A4 |
.................... case R: |
.................... FR;BL; |
037E: BSF 03.5 |
037F: BCF 06.5 |
0380: BCF 03.5 |
0381: BCF 06.5 |
0382: BSF 03.5 |
0383: BCF 06.4 |
0384: BCF 03.5 |
0385: BSF 06.4 |
0386: BSF 03.5 |
0387: BCF 06.6 |
0388: BCF 03.5 |
0389: BCF 06.6 |
038A: BSF 03.5 |
038B: BCF 06.7 |
038C: BCF 03.5 |
038D: BSF 06.7 |
.................... movement=L; |
038E: MOVLW 02 |
038F: MOVWF 67 |
.................... break; |
0390: GOTO 3A4 |
.................... case S: |
.................... FR;BL; |
0391: BSF 03.5 |
0392: BCF 06.5 |
0393: BCF 03.5 |
0394: BCF 06.5 |
0395: BSF 03.5 |
0396: BCF 06.4 |
0397: BCF 03.5 |
0398: BSF 06.4 |
0399: BSF 03.5 |
039A: BCF 06.6 |
039B: BCF 03.5 |
039C: BCF 06.6 |
039D: BSF 03.5 |
039E: BCF 06.7 |
039F: BCF 03.5 |
03A0: BSF 06.7 |
.................... movement=L; |
03A1: MOVLW 02 |
03A2: MOVWF 67 |
.................... break; |
03A3: GOTO 3A4 |
.................... } |
* |
0410: BCF 0A.0 |
0411: BCF 0A.1 |
0412: BSF 0A.2 |
0413: ADDWF 02,F |
0414: GOTO 37E |
0415: GOTO 36B |
0416: GOTO 391 |
.................... set_adc_channel(LSENSOR); |
* |
03A4: MOVLW 00 |
03A5: MOVWF 21 |
03A6: MOVF 1F,W |
03A7: ANDLW C7 |
03A8: IORWF 21,W |
03A9: MOVWF 1F |
.................... Delay_us(10); |
03AA: MOVLW 03 |
03AB: MOVWF 20 |
03AC: DECFSZ 20,F |
03AD: GOTO 3AC |
.................... while (tresholdL < read_adc()) // je tam cara?? |
03AE: BSF 1F.2 |
03AF: BTFSC 1F.2 |
03B0: GOTO 3AF |
03B1: MOVF 1E,W |
03B2: SUBWF 65,W |
03B3: BTFSC 03.0 |
03B4: GOTO 3FC |
.................... { |
.................... if (n==50) // asi bude na druhe strane |
03B5: MOVF 6E,W |
03B6: SUBLW 32 |
03B7: BTFSS 03.2 |
03B8: GOTO 3F7 |
.................... { |
.................... STOPR;STOPL; |
03B9: BSF 03.5 |
03BA: BCF 06.4 |
03BB: BCF 03.5 |
03BC: BCF 06.4 |
03BD: BSF 03.5 |
03BE: BCF 06.5 |
03BF: BCF 03.5 |
03C0: BCF 06.5 |
03C1: BSF 03.5 |
03C2: BCF 06.6 |
03C3: BCF 03.5 |
03C4: BCF 06.6 |
03C5: BSF 03.5 |
03C6: BCF 06.7 |
03C7: BCF 03.5 |
03C8: BCF 06.7 |
.................... n=0; |
03C9: CLRF 6E |
.................... switch(movement) |
03CA: MOVLW 01 |
03CB: SUBWF 67,W |
03CC: ADDLW FE |
03CD: BTFSC 03.0 |
03CE: GOTO 3F7 |
03CF: ADDLW 02 |
03D0: GOTO 417 |
.................... { |
.................... case L: |
.................... FL;BR; |
03D1: BSF 03.5 |
03D2: BCF 06.7 |
03D3: BCF 03.5 |
03D4: BCF 06.7 |
03D5: BSF 03.5 |
03D6: BCF 06.6 |
03D7: BCF 03.5 |
03D8: BSF 06.6 |
03D9: BSF 03.5 |
03DA: BCF 06.4 |
03DB: BCF 03.5 |
03DC: BCF 06.4 |
03DD: BSF 03.5 |
03DE: BCF 06.5 |
03DF: BCF 03.5 |
03E0: BSF 06.5 |
.................... movement=R; |
03E1: MOVLW 01 |
03E2: MOVWF 67 |
.................... break; |
03E3: GOTO 3F7 |
.................... case R: |
.................... FR;BL; |
03E4: BSF 03.5 |
03E5: BCF 06.5 |
03E6: BCF 03.5 |
03E7: BCF 06.5 |
03E8: BSF 03.5 |
03E9: BCF 06.4 |
03EA: BCF 03.5 |
03EB: BSF 06.4 |
03EC: BSF 03.5 |
03ED: BCF 06.6 |
03EE: BCF 03.5 |
03EF: BCF 06.6 |
03F0: BSF 03.5 |
03F1: BCF 06.7 |
03F2: BCF 03.5 |
03F3: BSF 06.7 |
.................... movement=L; |
03F4: MOVLW 02 |
03F5: MOVWF 67 |
.................... break; |
03F6: GOTO 3F7 |
.................... } |
* |
0417: BCF 0A.0 |
0418: BCF 0A.1 |
0419: BSF 0A.2 |
041A: ADDWF 02,F |
041B: GOTO 3E4 |
041C: GOTO 3D1 |
.................... } |
.................... Delay_ms(5); |
* |
03F7: MOVLW 05 |
03F8: MOVWF 73 |
03F9: CALL 04A |
.................... n++; |
03FA: INCF 6E,F |
.................... } |
03FB: GOTO 3AE |
.................... STOPL;STOPR; // nasli jsme caru |
03FC: BSF 03.5 |
03FD: BCF 06.6 |
03FE: BCF 03.5 |
03FF: BCF 06.6 |
0400: BSF 03.5 |
0401: BCF 06.7 |
0402: BCF 03.5 |
0403: BCF 06.7 |
0404: BSF 03.5 |
0405: BCF 06.4 |
0406: BCF 03.5 |
0407: BCF 06.4 |
0408: BSF 03.5 |
0409: BCF 06.5 |
040A: BCF 03.5 |
040B: BCF 06.5 |
.................... line=S; |
040C: MOVLW 03 |
040D: MOVWF 68 |
040E: BCF 0A.3 |
040F: GOTO 610 (RETURN) |
.................... } |
.................... void objizdka() |
.................... { |
.................... BL;BR;Delay_ms(300); |
* |
031B: BSF 03.5 |
031C: BCF 06.6 |
031D: BCF 03.5 |
031E: BCF 06.6 |
031F: BSF 03.5 |
0320: BCF 06.7 |
0321: BCF 03.5 |
0322: BSF 06.7 |
0323: BSF 03.5 |
0324: BCF 06.4 |
0325: BCF 03.5 |
0326: BCF 06.4 |
0327: BSF 03.5 |
0328: BCF 06.5 |
0329: BCF 03.5 |
032A: BSF 06.5 |
032B: MOVLW 02 |
032C: MOVWF 6E |
032D: MOVLW 96 |
032E: MOVWF 73 |
032F: CALL 04A |
0330: DECFSZ 6E,F |
0331: GOTO 32D |
.................... STOPR;STOPL; |
0332: BSF 03.5 |
0333: BCF 06.4 |
0334: BCF 03.5 |
0335: BCF 06.4 |
0336: BSF 03.5 |
0337: BCF 06.5 |
0338: BCF 03.5 |
0339: BCF 06.5 |
033A: BSF 03.5 |
033B: BCF 06.6 |
033C: BCF 03.5 |
033D: BCF 06.6 |
033E: BSF 03.5 |
033F: BCF 06.7 |
0340: BCF 03.5 |
0341: BCF 06.7 |
.................... beep(1000,1000); |
0342: MOVLW 03 |
0343: MOVWF 73 |
0344: MOVLW E8 |
0345: MOVWF 72 |
0346: MOVLW 03 |
0347: MOVWF 75 |
0348: MOVLW E8 |
0349: MOVWF 74 |
034A: CALL 024 |
.................... Delay_ms(500); |
034B: MOVLW 02 |
034C: MOVWF 6E |
034D: MOVLW FA |
034E: MOVWF 73 |
034F: CALL 04A |
0350: DECFSZ 6E,F |
0351: GOTO 34D |
.................... beep(1000,1000); |
0352: MOVLW 03 |
0353: MOVWF 73 |
0354: MOVLW E8 |
0355: MOVWF 72 |
0356: MOVLW 03 |
0357: MOVWF 75 |
0358: MOVLW E8 |
0359: MOVWF 74 |
035A: CALL 024 |
.................... Delay_ms(1000); |
035B: MOVLW 04 |
035C: MOVWF 6E |
035D: MOVLW FA |
035E: MOVWF 73 |
035F: CALL 04A |
0360: DECFSZ 6E,F |
0361: GOTO 35D |
0362: BCF 0A.3 |
0363: GOTO 48A (RETURN) |
.................... |
.................... } |
.................... void kalibrace() |
.................... { |
.................... unsigned int16 i; |
.................... int min; |
.................... int max; |
.................... int current; |
.................... int treshold; |
.................... |
.................... FL; BR; Delay_ms(130); |
.................... chyba1: |
.................... FR; BL; //kalibrace leveho cidla |
.................... set_adc_channel(LSENSOR); |
.................... Delay_us(20); |
.................... min=max=read_adc(); |
.................... for (i=1;i<=500;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... FL; BR; |
.................... for (i=1;i<=500;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... STOPL; STOPR; Delay_ms(200); |
.................... if((max-min)<50) {Beep(1000,300); GOTO chyba1;} |
.................... treshold=(max-min)>>1; |
.................... tresholdL=treshold+min; |
.................... |
.................... chyba2: |
.................... FR; BL; |
.................... set_adc_channel(RSENSOR); |
.................... Delay_us(20); |
.................... min=max=read_adc(); //naplneni min a max nejakou rozumnou hodnotou |
.................... for (i=1;i<=500 ;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; //zmereni minima a maxima |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... FL; BR; |
.................... for (i=1;i<=500 ;i++) |
.................... { |
.................... current=read_adc(); |
.................... if (max < current) max=current; //zmereni minima a maxima |
.................... if (min > current) min=current; |
.................... Delay_us(500); |
.................... } |
.................... STOPL; STOPR; Delay_ms(200); |
.................... if((max-min)<50) {Beep(1000,300); GOTO chyba2;} |
.................... treshold=(max-min)>>1; |
.................... tresholdR=treshold+min; |
.................... |
.................... FR; BL; |
.................... movement=L; |
.................... set_adc_channel(LSENSOR); |
.................... Delay_us(20); |
.................... while (tresholdL < read_adc()) Delay_us(100); |
.................... FL; BR; Delay_ms(50); |
.................... STOPL; STOPR; Delay_ms(500); |
.................... Beep(780,200); |
.................... } |
.................... |
.................... void main() |
.................... { |
.................... unsigned int16 rovne; // pocita delku rovne cary |
* |
041D: CLRF 04 |
041E: MOVLW 1F |
041F: ANDWF 03,F |
0420: MOVLW 07 |
0421: BSF 03.5 |
0422: MOVWF 1F |
0423: MOVLW 82 |
0424: BCF 03.5 |
0425: MOVWF 25 |
0426: MOVLW 98 |
0427: MOVWF 26 |
0428: MOVWF 27 |
0429: MOVLW 40 |
042A: MOVWF 28 |
042B: MOVWF 29 |
042C: MOVWF 2A |
042D: MOVLW 60 |
042E: MOVWF 2B |
042F: MOVLW 86 |
0430: MOVWF 2C |
0431: MOVLW B4 |
0432: MOVWF 2D |
0433: MOVLW 60 |
0434: MOVWF 2E |
0435: MOVLW A4 |
0436: MOVWF 2F |
0437: MOVWF 30 |
0438: MOVWF 31 |
0439: MOVLW 61 |
043A: MOVWF 32 |
043B: MOVLW 03 |
043C: MOVWF 33 |
043D: MOVLW F0 |
043E: MOVWF 34 |
043F: MOVLW FF |
0440: MOVWF 3C |
0441: CLRF 6B |
.................... |
.................... STOPL; STOPR; |
0442: BSF 03.5 |
0443: BCF 06.6 |
0444: BCF 03.5 |
0445: BCF 06.6 |
0446: BSF 03.5 |
0447: BCF 06.7 |
0448: BCF 03.5 |
0449: BCF 06.7 |
044A: BSF 03.5 |
044B: BCF 06.4 |
044C: BCF 03.5 |
044D: BCF 06.4 |
044E: BSF 03.5 |
044F: BCF 06.5 |
0450: BCF 03.5 |
0451: BCF 06.5 |
.................... |
.................... setup_adc_ports(RA0_RA1_RA3_ANALOG); |
0452: MOVLW 04 |
0453: BSF 03.5 |
0454: MOVWF 1F |
.................... setup_adc(ADC_CLOCK_DIV_2); |
0455: BCF 03.5 |
0456: MOVF 1F,W |
0457: ANDLW 38 |
0458: IORLW 01 |
0459: MOVWF 1F |
.................... |
.................... port_b_pullups(false); |
045A: BSF 03.5 |
045B: BSF 01.7 |
.................... |
.................... diagnostika(); |
045C: BCF 03.5 |
045D: GOTO 14A |
.................... |
.................... Beep(1000,200); //double beep |
045E: MOVLW 03 |
045F: MOVWF 73 |
0460: MOVLW E8 |
0461: MOVWF 72 |
0462: CLRF 75 |
0463: MOVLW C8 |
0464: MOVWF 74 |
0465: CALL 024 |
.................... Delay_ms(50); |
0466: MOVLW 32 |
0467: MOVWF 73 |
0468: CALL 04A |
.................... Beep(1000,200); |
0469: MOVLW 03 |
046A: MOVWF 73 |
046B: MOVLW E8 |
046C: MOVWF 72 |
046D: CLRF 75 |
046E: MOVLW C8 |
046F: MOVWF 74 |
0470: CALL 024 |
.................... Delay_ms(1000); // 1s |
0471: MOVLW 04 |
0472: MOVWF 6E |
0473: MOVLW FA |
0474: MOVWF 73 |
0475: CALL 04A |
0476: DECFSZ 6E,F |
0477: GOTO 473 |
.................... |
.................... // kalibrace(); |
.................... tresholdl=tresholdr=80; |
0478: MOVLW 50 |
0479: MOVWF 66 |
047A: MOVWF 65 |
.................... // FL; FR; |
.................... movement=S; |
047B: MOVLW 03 |
047C: MOVWF 67 |
.................... line=S; |
047D: MOVWF 68 |
.................... dira=0; |
047E: CLRF 6A |
047F: CLRF 69 |
.................... rovne=0; |
0480: CLRF 6D |
0481: CLRF 6C |
.................... |
.................... while(true) |
.................... { |
.................... if(!input(BUMPER)) objizdka(); |
0482: BSF 3C.4 |
0483: MOVF 3C,W |
0484: BSF 03.5 |
0485: MOVWF 07 |
0486: BCF 03.5 |
0487: BTFSC 07.4 |
0488: GOTO 48A |
0489: GOTO 31B |
.................... line=0; |
048A: CLRF 68 |
.................... set_adc_channel(RSENSOR); // podivej se jestli neni cara pod pravym cidlem |
048B: MOVLW 08 |
048C: MOVWF 21 |
048D: MOVF 1F,W |
048E: ANDLW C7 |
048F: IORWF 21,W |
0490: MOVWF 1F |
.................... Delay_us(10); |
0491: MOVLW 03 |
0492: MOVWF 20 |
0493: DECFSZ 20,F |
0494: GOTO 493 |
.................... if(tresholdR > read_adc()) |
0495: BSF 1F.2 |
0496: BTFSC 1F.2 |
0497: GOTO 496 |
0498: MOVF 1E,W |
0499: SUBWF 66,W |
049A: BTFSC 03.2 |
049B: GOTO 4A2 |
049C: BTFSS 03.0 |
049D: GOTO 4A2 |
.................... { |
.................... dira=0; |
049E: CLRF 6A |
049F: CLRF 69 |
.................... line=R; |
04A0: MOVLW 01 |
04A1: MOVWF 68 |
.................... } |
.................... set_adc_channel(LSENSOR); // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym |
04A2: MOVLW 00 |
04A3: MOVWF 21 |
04A4: MOVF 1F,W |
04A5: ANDLW C7 |
04A6: IORWF 21,W |
04A7: MOVWF 1F |
.................... Delay_us(10); |
04A8: MOVLW 03 |
04A9: MOVWF 20 |
04AA: DECFSZ 20,F |
04AB: GOTO 4AA |
.................... if(tresholdL > read_adc()) |
04AC: BSF 1F.2 |
04AD: BTFSC 1F.2 |
04AE: GOTO 4AD |
04AF: MOVF 1E,W |
04B0: SUBWF 65,W |
04B1: BTFSC 03.2 |
04B2: GOTO 4B8 |
04B3: BTFSS 03.0 |
04B4: GOTO 4B8 |
.................... { |
.................... dira=0; |
04B5: CLRF 6A |
04B6: CLRF 69 |
.................... line=line | L; |
04B7: BSF 68.1 |
.................... } |
.................... |
.................... switch(line) |
04B8: MOVF 68,W |
04B9: MOVWF 20 |
04BA: MOVLW 03 |
04BB: SUBWF 20,W |
04BC: BTFSC 03.2 |
04BD: GOTO 4C7 |
04BE: MOVLW 02 |
04BF: SUBWF 20,W |
04C0: BTFSC 03.2 |
04C1: GOTO 4DA |
04C2: MOVLW 01 |
04C3: SUBWF 20,W |
04C4: BTFSC 03.2 |
04C5: GOTO 4ED |
04C6: GOTO 500 |
.................... { |
.................... case S: |
.................... FR;FL; |
04C7: BSF 03.5 |
04C8: BCF 06.5 |
04C9: BCF 03.5 |
04CA: BCF 06.5 |
04CB: BSF 03.5 |
04CC: BCF 06.4 |
04CD: BCF 03.5 |
04CE: BSF 06.4 |
04CF: BSF 03.5 |
04D0: BCF 06.7 |
04D1: BCF 03.5 |
04D2: BCF 06.7 |
04D3: BSF 03.5 |
04D4: BCF 06.6 |
04D5: BCF 03.5 |
04D6: BSF 06.6 |
.................... movement=S; |
04D7: MOVLW 03 |
04D8: MOVWF 67 |
.................... continue; |
04D9: GOTO 482 |
.................... case L: |
.................... STOPL; |
04DA: BSF 03.5 |
04DB: BCF 06.6 |
04DC: BCF 03.5 |
04DD: BCF 06.6 |
04DE: BSF 03.5 |
04DF: BCF 06.7 |
04E0: BCF 03.5 |
04E1: BCF 06.7 |
.................... FR;movement=L; |
04E2: BSF 03.5 |
04E3: BCF 06.5 |
04E4: BCF 03.5 |
04E5: BCF 06.5 |
04E6: BSF 03.5 |
04E7: BCF 06.4 |
04E8: BCF 03.5 |
04E9: BSF 06.4 |
04EA: MOVLW 02 |
04EB: MOVWF 67 |
.................... continue; |
04EC: GOTO 482 |
.................... case R: |
.................... STOPR; |
04ED: BSF 03.5 |
04EE: BCF 06.4 |
04EF: BCF 03.5 |
04F0: BCF 06.4 |
04F1: BSF 03.5 |
04F2: BCF 06.5 |
04F3: BCF 03.5 |
04F4: BCF 06.5 |
.................... FL;movement=R; |
04F5: BSF 03.5 |
04F6: BCF 06.7 |
04F7: BCF 03.5 |
04F8: BCF 06.7 |
04F9: BSF 03.5 |
04FA: BCF 06.6 |
04FB: BCF 03.5 |
04FC: BSF 06.6 |
04FD: MOVLW 01 |
04FE: MOVWF 67 |
.................... continue; |
04FF: GOTO 482 |
.................... default: |
.................... } |
.................... |
.................... if (dira==ODEZVA) // kdyz uz chvili jedeme po bile plose |
0500: DECFSZ 69,W |
0501: GOTO 54A |
0502: MOVF 6A,F |
0503: BTFSS 03.2 |
0504: GOTO 54A |
.................... { |
.................... //BR;BL;Delay_us(rovne >>= 5); |
.................... rovne=0; //kdyz sme museli zatocit, uz neni rovna cara |
0505: CLRF 6D |
0506: CLRF 6C |
.................... |
.................... switch (line) // musime zatocit |
0507: MOVLW 01 |
0508: SUBWF 68,W |
0509: ADDLW FE |
050A: BTFSC 03.0 |
050B: GOTO 54A |
050C: ADDLW 02 |
050D: GOTO 617 |
.................... { |
.................... case L: |
.................... BL;Delay_ms(BRZDENI);STOPL; |
050E: BSF 03.5 |
050F: BCF 06.6 |
0510: BCF 03.5 |
0511: BCF 06.6 |
0512: BSF 03.5 |
0513: BCF 06.7 |
0514: BCF 03.5 |
0515: BSF 06.7 |
0516: MOVLW 64 |
0517: MOVWF 73 |
0518: CALL 04A |
0519: BSF 03.5 |
051A: BCF 06.6 |
051B: BCF 03.5 |
051C: BCF 06.6 |
051D: BSF 03.5 |
051E: BCF 06.7 |
051F: BCF 03.5 |
0520: BCF 06.7 |
.................... FR; |
0521: BSF 03.5 |
0522: BCF 06.5 |
0523: BCF 03.5 |
0524: BCF 06.5 |
0525: BSF 03.5 |
0526: BCF 06.4 |
0527: BCF 03.5 |
0528: BSF 06.4 |
.................... movement=L; |
0529: MOVLW 02 |
052A: MOVWF 67 |
.................... break; |
052B: GOTO 54A |
.................... case R: |
.................... BR;Delay_ms(BRZDENI);STOPR; |
052C: BSF 03.5 |
052D: BCF 06.4 |
052E: BCF 03.5 |
052F: BCF 06.4 |
0530: BSF 03.5 |
0531: BCF 06.5 |
0532: BCF 03.5 |
0533: BSF 06.5 |
0534: MOVLW 64 |
0535: MOVWF 73 |
0536: CALL 04A |
0537: BSF 03.5 |
0538: BCF 06.4 |
0539: BCF 03.5 |
053A: BCF 06.4 |
053B: BSF 03.5 |
053C: BCF 06.5 |
053D: BCF 03.5 |
053E: BCF 06.5 |
.................... FL; |
053F: BSF 03.5 |
0540: BCF 06.7 |
0541: BCF 03.5 |
0542: BCF 06.7 |
0543: BSF 03.5 |
0544: BCF 06.6 |
0545: BCF 03.5 |
0546: BSF 06.6 |
.................... movement=R; |
0547: MOVLW 01 |
0548: MOVWF 67 |
.................... break; |
0549: GOTO 54A |
.................... } |
* |
0617: BCF 0A.0 |
0618: BSF 0A.1 |
0619: BSF 0A.2 |
061A: ADDWF 02,F |
061B: GOTO 52C |
061C: GOTO 50E |
.................... } |
.................... if (dira==MEZERA) // kdyz zkoncila cara |
* |
054A: MOVF 69,W |
054B: SUBLW 18 |
054C: BTFSS 03.2 |
054D: GOTO 612 |
054E: MOVF 6A,W |
054F: SUBLW 15 |
0550: BTFSS 03.2 |
0551: GOTO 612 |
.................... { |
.................... beep(800,500); |
0552: MOVLW 03 |
0553: MOVWF 73 |
0554: MOVLW 20 |
0555: MOVWF 72 |
0556: MOVLW 01 |
0557: MOVWF 75 |
0558: MOVLW F4 |
0559: MOVWF 74 |
055A: CALL 024 |
.................... Delay_ms(50); |
055B: MOVLW 32 |
055C: MOVWF 73 |
055D: CALL 04A |
.................... beep(800,500); |
055E: MOVLW 03 |
055F: MOVWF 73 |
0560: MOVLW 20 |
0561: MOVWF 72 |
0562: MOVLW 01 |
0563: MOVWF 75 |
0564: MOVLW F4 |
0565: MOVWF 74 |
0566: CALL 024 |
.................... switch (movement) //vrat se zpet na caru |
0567: MOVLW 01 |
0568: SUBWF 67,W |
0569: ADDLW FD |
056A: BTFSC 03.0 |
056B: GOTO 5E6 |
056C: ADDLW 03 |
056D: GOTO 61D |
.................... { |
.................... case L: |
.................... STOPL;STOPR; |
056E: BSF 03.5 |
056F: BCF 06.6 |
0570: BCF 03.5 |
0571: BCF 06.6 |
0572: BSF 03.5 |
0573: BCF 06.7 |
0574: BCF 03.5 |
0575: BCF 06.7 |
0576: BSF 03.5 |
0577: BCF 06.4 |
0578: BCF 03.5 |
0579: BCF 06.4 |
057A: BSF 03.5 |
057B: BCF 06.5 |
057C: BCF 03.5 |
057D: BCF 06.5 |
.................... BR;Delay_ms(COUVANI);STOPR; |
057E: BSF 03.5 |
057F: BCF 06.4 |
0580: BCF 03.5 |
0581: BCF 06.4 |
0582: BSF 03.5 |
0583: BCF 06.5 |
0584: BCF 03.5 |
0585: BSF 06.5 |
0586: MOVLW 08 |
0587: MOVWF 6E |
0588: MOVLW C8 |
0589: MOVWF 73 |
058A: CALL 04A |
058B: DECFSZ 6E,F |
058C: GOTO 588 |
058D: BSF 03.5 |
058E: BCF 06.4 |
058F: BCF 03.5 |
0590: BCF 06.4 |
0591: BSF 03.5 |
0592: BCF 06.5 |
0593: BCF 03.5 |
0594: BCF 06.5 |
.................... break; |
0595: GOTO 5E6 |
.................... case R: |
.................... STOPL;STOPR; |
0596: BSF 03.5 |
0597: BCF 06.6 |
0598: BCF 03.5 |
0599: BCF 06.6 |
059A: BSF 03.5 |
059B: BCF 06.7 |
059C: BCF 03.5 |
059D: BCF 06.7 |
059E: BSF 03.5 |
059F: BCF 06.4 |
05A0: BCF 03.5 |
05A1: BCF 06.4 |
05A2: BSF 03.5 |
05A3: BCF 06.5 |
05A4: BCF 03.5 |
05A5: BCF 06.5 |
.................... BL;Delay_ms(COUVANI);STOPL; |
05A6: BSF 03.5 |
05A7: BCF 06.6 |
05A8: BCF 03.5 |
05A9: BCF 06.6 |
05AA: BSF 03.5 |
05AB: BCF 06.7 |
05AC: BCF 03.5 |
05AD: BSF 06.7 |
05AE: MOVLW 08 |
05AF: MOVWF 6E |
05B0: MOVLW C8 |
05B1: MOVWF 73 |
05B2: CALL 04A |
05B3: DECFSZ 6E,F |
05B4: GOTO 5B0 |
05B5: BSF 03.5 |
05B6: BCF 06.6 |
05B7: BCF 03.5 |
05B8: BCF 06.6 |
05B9: BSF 03.5 |
05BA: BCF 06.7 |
05BB: BCF 03.5 |
05BC: BCF 06.7 |
.................... break; |
05BD: GOTO 5E6 |
.................... case S: |
.................... BL; BR; Delay_ms(COUVANI); |
05BE: BSF 03.5 |
05BF: BCF 06.6 |
05C0: BCF 03.5 |
05C1: BCF 06.6 |
05C2: BSF 03.5 |
05C3: BCF 06.7 |
05C4: BCF 03.5 |
05C5: BSF 06.7 |
05C6: BSF 03.5 |
05C7: BCF 06.4 |
05C8: BCF 03.5 |
05C9: BCF 06.4 |
05CA: BSF 03.5 |
05CB: BCF 06.5 |
05CC: BCF 03.5 |
05CD: BSF 06.5 |
05CE: MOVLW 08 |
05CF: MOVWF 6E |
05D0: MOVLW C8 |
05D1: MOVWF 73 |
05D2: CALL 04A |
05D3: DECFSZ 6E,F |
05D4: GOTO 5D0 |
.................... STOPL; STOPR; |
05D5: BSF 03.5 |
05D6: BCF 06.6 |
05D7: BCF 03.5 |
05D8: BCF 06.6 |
05D9: BSF 03.5 |
05DA: BCF 06.7 |
05DB: BCF 03.5 |
05DC: BCF 06.7 |
05DD: BSF 03.5 |
05DE: BCF 06.4 |
05DF: BCF 03.5 |
05E0: BCF 06.4 |
05E1: BSF 03.5 |
05E2: BCF 06.5 |
05E3: BCF 03.5 |
05E4: BCF 06.5 |
.................... break; |
05E5: GOTO 5E6 |
.................... } |
* |
061D: BCF 0A.0 |
061E: BSF 0A.1 |
061F: BSF 0A.2 |
0620: ADDWF 02,F |
0621: GOTO 596 |
0622: GOTO 56E |
0623: GOTO 5BE |
.................... |
.................... FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
* |
05E6: BSF 03.5 |
05E7: BCF 06.5 |
05E8: BCF 03.5 |
05E9: BCF 06.5 |
05EA: BSF 03.5 |
05EB: BCF 06.4 |
05EC: BCF 03.5 |
05ED: BSF 06.4 |
05EE: BSF 03.5 |
05EF: BCF 06.7 |
05F0: BCF 03.5 |
05F1: BCF 06.7 |
05F2: BSF 03.5 |
05F3: BCF 06.6 |
05F4: BCF 03.5 |
05F5: BSF 06.6 |
05F6: MOVLW 02 |
05F7: MOVWF 6E |
05F8: MOVLW C8 |
05F9: MOVWF 73 |
05FA: CALL 04A |
05FB: DECFSZ 6E,F |
05FC: GOTO 5F8 |
.................... STOPL; STOPR; movement=S; |
05FD: BSF 03.5 |
05FE: BCF 06.6 |
05FF: BCF 03.5 |
0600: BCF 06.6 |
0601: BSF 03.5 |
0602: BCF 06.7 |
0603: BCF 03.5 |
0604: BCF 06.7 |
0605: BSF 03.5 |
0606: BCF 06.4 |
0607: BCF 03.5 |
0608: BCF 06.4 |
0609: BSF 03.5 |
060A: BCF 06.5 |
060B: BCF 03.5 |
060C: BCF 06.5 |
060D: MOVLW 03 |
060E: MOVWF 67 |
.................... cikcak(); // najdi caru |
060F: GOTO 364 |
.................... dira=0; |
0610: CLRF 6A |
0611: CLRF 69 |
.................... } |
.................... dira++; |
0612: INCF 69,F |
0613: BTFSC 03.2 |
0614: INCF 6A,F |
.................... } // while(true) |
0615: GOTO 482 |
.................... } |
.................... |
0616: SLEEP |
/roboti/istrobot/merkur/PIC16F873/main.SYM |
---|
0,0 → 1,89 |
003 STATUS |
015-016 CCP_1 |
015 CCP_1_LOW |
016 CCP_1_HIGH |
01B-01C CCP_2 |
01B CCP_2_LOW |
01C CCP_2_HIGH |
020 @SCRATCH |
021 @SCRATCH |
021 _RETURN_ |
022 @SCRATCH |
023 @SCRATCH |
024 @SCRATCH |
025-034 SendData |
035.0 bit |
036 fcslo |
037 fcshi |
038 stuff |
039 flag_flag |
03A fcs_flag |
03B i |
03C @TRIS_C |
03D-064 AXstring |
065 tresholdL |
066 tresholdR |
067 movement |
068 line |
069-06A dira |
06B @sprintf_string |
06C-06D main.rovne |
06E-06F diagnostika.n |
06E cikcak.n |
06E objizdka.@SCRATCH |
06E main.@SCRATCH |
070 ls |
071 rs |
072 SendPacket.data |
072-073 beep.period |
072 diagnostika.@SCRATCH |
073 delay_ms.P1 |
073 @PRINTF_U_290.P2 |
073 SendPacket.@SCRATCH |
074 SendByte.inbyte |
074-075 beep.length |
074 @PRINTF_U_290.P1 |
075 SendByte.k |
075 @SPRINTF.P1 |
075 @DIV88.P2 |
076 SendByte.bt |
076-077 beep.nn |
076 @DIV88.P1 |
077 fcsbit.tbyte |
077 SendByte.@SCRATCH |
077 @DIV88.@SCRATCH |
078 delay_us.P1 |
078 fcsbit.@SCRATCH |
079 fcsbit.@SCRATCH |
-000 kalibrace.i |
kalibrace.min |
kalibrace.max |
kalibrace.current |
kalibrace.treshold |
004A delay_ms |
0016 delay_us |
00AE flipout |
00B5 SendBit |
00FF SendByte |
0024 beep |
014A diagnostika |
0004 @const10170 |
005F @SPRINTF |
0067 @DIV88 |
007C @PRINTF_U_290 |
0364 cikcak |
0410 @goto10199 |
0417 @goto10214 |
031B objizdka |
041D main |
0617 @goto10341 |
061D @goto10355 |
0135 chyba1 |
0135 chyba2 |
Project Files: |
d:\kaklik\programy\pic_c\roboti\merkur\main.c |
d:\kaklik\programy\pic_c\roboti\merkur\main.h |
C:\Program Files\PICC\devices\16F873.h |
C:\library\kaklik\CCS\AX25.c |
/roboti/istrobot/merkur/PIC16F873/main.c |
---|
0,0 → 1,332 |
#include "main.h" |
#define TXo PIN_C3 // 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 400 // velikost mezery v care |
#define ODEZVA 1 // za jak dlouho po opusteni cary se ma zacit zatacet |
#define BRZDENI 100 // doba (v ms) ptrebna k zastaveni jednoho motoru |
//cidla |
#define RSENSOR 1 // Senzory na caru |
#define LSENSOR 0 |
#define BUMPER PIN_C4 // sensor na cihlu |
#define DIAG_SERVO PIN_B0 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B1 // Propojka pro diagnosticky mod |
#DEFINE SOUND_HI PIN_B3 |
#DEFINE SOUND_LO PIN_B2 |
char AXstring[40]; // Buffer pro prenos telemetrie |
int tresholdL; // rozhodovaci uroven pro prave cidlo |
int tresholdR; // rozhodovaci uroven pro prave cidlo |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
unsigned int16 dira; // pocitadlo pro nalezeni preruseni cary |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
// 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; |
} |
set_adc_channel(LSENSOR); |
Delay_us(10); |
while (tresholdL < read_adc()) // je tam cara? |
{ |
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 kalibrace() |
{ |
unsigned int16 i; |
int min; |
int max; |
int current; |
int treshold; |
FL; BR; Delay_ms(130); |
chyba1: |
FR; BL; //kalibrace leveho cidla |
set_adc_channel(LSENSOR); |
Delay_us(20); |
min=max=read_adc(); |
for (i=1;i<=500;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; |
if (min > current) min=current; |
Delay_us(500); |
} |
FL; BR; |
for (i=1;i<=500;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; |
if (min > current) min=current; |
Delay_us(500); |
} |
STOPL; STOPR; Delay_ms(200); |
if((max-min)<50) {Beep(1000,300); GOTO chyba1;} |
treshold=(max-min)>>1; |
tresholdL=treshold+min; |
chyba2: |
FR; BL; |
set_adc_channel(RSENSOR); |
Delay_us(20); |
min=max=read_adc(); //naplneni min a max nejakou rozumnou hodnotou |
for (i=1;i<=500 ;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; //zmereni minima a maxima |
if (min > current) min=current; |
Delay_us(500); |
} |
FL; BR; |
for (i=1;i<=500 ;i++) |
{ |
current=read_adc(); |
if (max < current) max=current; //zmereni minima a maxima |
if (min > current) min=current; |
Delay_us(500); |
} |
STOPL; STOPR; Delay_ms(200); |
if((max-min)<50) {Beep(1000,300); GOTO chyba2;} |
treshold=(max-min)>>1; |
tresholdR=treshold+min; |
FR; BL; |
movement=L; |
set_adc_channel(LSENSOR); |
Delay_us(20); |
while (tresholdL < read_adc()) Delay_us(100); |
FL; BR; Delay_ms(50); |
STOPL; STOPR; Delay_ms(500); |
Beep(780,200); |
} |
void main() |
{ |
unsigned int16 rovne; // pocita delku rovne cary |
STOPL; STOPR; |
setup_adc_ports(RA0_RA1_RA3_ANALOG); |
setup_adc(ADC_CLOCK_DIV_2); |
port_b_pullups(false); |
diagnostika(); |
Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
// kalibrace(); |
tresholdl=tresholdr=80; |
// FL; FR; |
movement=S; |
line=S; |
dira=0; |
rovne=0; |
while(true) |
{ |
if(!input(BUMPER)) objizdka(); |
line=0; |
set_adc_channel(RSENSOR); // podivej se jestli neni cara pod pravym cidlem |
Delay_us(10); |
if(tresholdR > read_adc()) |
{ |
dira=0; |
line=R; |
} |
set_adc_channel(LSENSOR); // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym |
Delay_us(10); |
if(tresholdL > read_adc()) |
{ |
dira=0; |
line=line | L; |
} |
switch(line) |
{ |
case S: |
FR;FL; |
movement=S; |
continue; |
case L: |
STOPL; |
FR;movement=L; |
continue; |
case R: |
STOPR; |
FL;movement=R; |
continue; |
default: |
} |
if (dira==ODEZVA) // kdyz uz chvili jedeme po bile plose |
{ |
//BR;BL;Delay_us(rovne >>= 5); |
rovne=0; //kdyz sme museli zatocit, uz neni rovna cara |
switch (line) // musime zatocit |
{ |
case L: |
BL;Delay_ms(BRZDENI);STOPL; |
FR; |
movement=L; |
break; |
case R: |
BR;Delay_ms(BRZDENI);STOPR; |
FL; |
movement=R; |
break; |
} |
} |
if (dira==MEZERA) // kdyz zkoncila cara |
{ |
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; |
} |
dira++; |
} // while(true) |
} |
/roboti/istrobot/merkur/PIC16F873/main.cod |
---|
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/PIC16F873/main.err |
---|
0,0 → 1,0 |
No Errors |
/roboti/istrobot/merkur/PIC16F873/main.h |
---|
0,0 → 1,5 |
#include <16F873.h> |
#device adc=8 |
#use delay(clock=4000000) |
#fuses XT,NOWDT,NOLVP |
/roboti/istrobot/merkur/PIC16F873/main.pjt |
---|
0,0 → 1,40 |
[PROJECT] |
Target=main.HEX |
Development_Mode= |
Processor=0x873F |
ToolSuite=CCS |
[Directories] |
Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\drivers\;C:\library\CCS; |
Library= |
LinkerScript= |
[Target Data] |
FileList=main.c; |
BuildTool=C-COMPILER |
OptionString=+FM |
AdditionalOptionString= |
BuildRequired=1 |
[main.c] |
Type=4 |
Path= |
FileList= |
BuildTool= |
OptionString= |
AdditionalOptionString= |
[mru-list] |
1=main.c |
[Windows] |
0=0000 main.c 0 0 796 451 3 0 |
[Opened Files] |
1=D:\KAKL\PIC\Tank\main.c |
2=D:\KAKL\PIC\Tank\main.h |
3=D:\KAKL\PIC\Tank\AX25.c |
4=C:\Program Files\PICC\devices\16F88.h |
5= |
6= |
7= |
/roboti/istrobot/merkur/PIC16F873/main.sta |
---|
0,0 → 1,46 |
ROM used: 1572 (38%) |
2048 (50%) including unused fragments |
2 Average locations per line |
4 Average locations per statement |
RAM used: 79 (41%) at main() level |
90 (47%) worst case |
Lines Stmts % Files |
----- ----- --- ----- |
333 374 85 d:\kaklik\programy\pic_c\roboti\merkur\main.c |
6 0 0 d:\kaklik\programy\pic_c\roboti\merkur\main.h |
225 0 0 C:\Program Files\PICC\devices\16F873.h |
136 67 8 C:\library\kaklik\CCS\AX25.c |
----- ----- |
1400 882 Total |
Page ROM % RAM Functions: |
---- --- --- --- ---------- |
0 21 1 1 delay_ms |
0 14 1 1 delay_us |
0 7 0 0 flipout |
0 74 5 0 SendBit |
0 75 5 4 SendByte |
0 38 2 6 beep |
0 465 30 3 diagnostika |
0 18 1 0 @const10170 |
0 8 1 1 @SPRINTF |
0 21 1 3 @DIV88 |
0 50 3 2 @PRINTF_U_290 |
0 172 11 1 cikcak |
0 7 0 0 @goto10199 |
0 6 0 0 @goto10214 |
0 73 5 1 objizdka |
0 506 32 3 main |
0 6 0 0 @goto10341 |
0 7 0 0 @goto10355 |
Segment Used Free |
--------- ---- ---- |
0000-0003 4 0 |
0004-07FF 1568 476 |
0800-0FFF 0 2048 |
/roboti/istrobot/merkur/PIC16F873/main.tre |
---|
0,0 → 1,124 |
ÀÄmain |
ÀÄmain 0/506 Ram=3 |
ÃÄ??0?? |
ÃÄdiagnostika 0/465 Ram=3 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄdelay_us 0/14 Ram=1 |
³ ³ ÀÄdelay_us 0/14 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄdelay_us 0/14 Ram=1 |
³ ³ ÀÄdelay_us 0/14 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄdelay_us 0/14 Ram=1 |
³ ³ ÀÄdelay_us 0/14 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄdelay_us 0/14 Ram=1 |
³ ³ ÀÄdelay_us 0/14 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ÃÄ@PRINTF_U_290 0/50 Ram=2 |
³ ³ ÃÄ@DIV88 0/21 Ram=3 |
³ ³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ³ ÃÄ@DIV88 0/21 Ram=3 |
³ ³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ³ ÀÄ@SPRINTF 0/8 Ram=1 |
³ ÃÄ@const10170 0/18 Ram=0 |
³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ÃÄ@PRINTF_U_290 0/50 Ram=2 |
³ ³ ÃÄ@DIV88 0/21 Ram=3 |
³ ³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ³ ÃÄ@DIV88 0/21 Ram=3 |
³ ³ ÃÄ@SPRINTF 0/8 Ram=1 |
³ ³ ÀÄ@SPRINTF 0/8 Ram=1 |
³ ÃÄSendPacket (Inline) Ram=2 |
³ ³ ÃÄSendByte 0/75 Ram=4 |
³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÃÄSendBit 0/74 Ram=0 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÀÄSendBit 0/74 Ram=0 |
³ ³ ÃÄSendByte 0/75 Ram=4 |
³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÃÄSendBit 0/74 Ram=0 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÀÄSendBit 0/74 Ram=0 |
³ ³ ÃÄSendByte 0/75 Ram=4 |
³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÃÄSendBit 0/74 Ram=0 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÀÄSendBit 0/74 Ram=0 |
³ ³ ÃÄSendByte 0/75 Ram=4 |
³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÃÄSendBit 0/74 Ram=0 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÀÄSendBit 0/74 Ram=0 |
³ ³ ÃÄSendByte 0/75 Ram=4 |
³ ³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÃÄSendBit 0/74 Ram=0 |
³ ³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ³ ÀÄSendBit 0/74 Ram=0 |
³ ³ ÀÄSendByte 0/75 Ram=4 |
³ ³ ÃÄfcsbit (Inline) Ram=3 |
³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ÃÄSendBit 0/74 Ram=0 |
³ ³ ÃÄflipout 0/7 Ram=0 |
³ ³ ÀÄSendBit 0/74 Ram=0 |
³ ÀÄdelay_ms 0/21 Ram=1 |
ÃÄbeep 0/38 Ram=6 |
³ ÃÄdelay_us 0/14 Ram=1 |
³ ÀÄdelay_us 0/14 Ram=1 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄbeep 0/38 Ram=6 |
³ ÃÄdelay_us 0/14 Ram=1 |
³ ÀÄdelay_us 0/14 Ram=1 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄobjizdka 0/73 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄdelay_us 0/14 Ram=1 |
³ ³ ÀÄdelay_us 0/14 Ram=1 |
³ ÃÄdelay_ms 0/21 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄdelay_us 0/14 Ram=1 |
³ ³ ÀÄdelay_us 0/14 Ram=1 |
³ ÀÄdelay_ms 0/21 Ram=1 |
ÃÄ@goto10341 0/6 Ram=0 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄbeep 0/38 Ram=6 |
³ ÃÄdelay_us 0/14 Ram=1 |
³ ÀÄdelay_us 0/14 Ram=1 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄbeep 0/38 Ram=6 |
³ ÃÄdelay_us 0/14 Ram=1 |
³ ÀÄdelay_us 0/14 Ram=1 |
ÃÄ@goto10355 0/7 Ram=0 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄdelay_ms 0/21 Ram=1 |
ÃÄdelay_ms 0/21 Ram=1 |
ÀÄcikcak 0/172 Ram=1 |
ÃÄ@goto10199 0/7 Ram=0 |
ÃÄ@goto10214 0/6 Ram=0 |
ÀÄdelay_ms 0/21 Ram=1 |
/roboti/istrobot/merkur/PIC16F873/prg.bat |
---|
0,0 → 1,6 |
call picpgr stop lpt2 |
call picpgr erase pic16f873 lpt2 |
call picpgr program main.hex hex pic16f873 lpt2 |
call picpgr run lpt2 |
pause |
call picpgr stop lpt2 |
/roboti/istrobot/merkur/PIC16F873/vssver.scc |
---|
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/PIC16F88/MerkurU/AX25.c |
---|
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/PIC16F88/MerkurU/tank.BAK |
---|
0,0 → 1,268 |
// Program pro predvadeni schopnosti robota Merkur |
//------------------------------------------------ |
#include "tank.h" |
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 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus |
int1 BW; // urcuje, jestli je cara cerno/bila nebo |
// bilo/cerna (true = bila cara, cerny podklad) |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 120 // po jakem case zataceni se detekuje dira |
#define FW_POMALU 170 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku |
//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 (BW != C2OUT) // Senzory na caru |
#define LSENSOR (BW != C1OUT) |
#define BUMPER sAN2 // Senzor na cihlu |
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
#define BARVY PIN_B1 // Propojka pro nastaveni barvy cary |
#define SPEAKER PIN_B0 // vystup pro pipak |
#define LED1 PIN_A4 // LEDky |
#define LED2 PIN_A3 |
#define LED3 PIN_A7 |
#define LED4 PIN_A6 |
// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} else {stop##motor;} |
#int_TIMER2 |
void TIMER2_isr() // obsluha zrychlovani |
{ |
if (speed<255) speed++; |
if (rovinka<MAX_ROVINKA) rovinka++; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SPEAKER); |
delay_us(period); |
output_low(SPEAKER); |
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)) // spusteni diagnostiky cidel |
{ |
if (RSENSOR) beep(1000,200); |
Delay_ms(300); |
if (LSENSOR) beep(2000,300); |
Delay_ms(300); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400); |
Delay_ms(300); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void OtocSe() // otoci se zpet, kdyz je prekazka |
{ |
unsigned int16 n; |
BL; BR; // cukni zpatky |
Delay_ms(200); |
STOPR;STOPL; |
beep(800,400); |
beep(2000,1000); |
output_low(LED4); |
beep(900,400); |
output_low(LED1); |
BR; FL; Delay_ms(100); // otoc se 30° do prava |
STOPL; STOPR; |
beep(1000,1000); |
output_low(LED3); |
BR; FL; |
for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
} |
STOPR; STOPL; |
output_high(LED1); output_high(LED3); output_high(LED4); |
line=L; // caru jsme prejeli, tak je vlevo |
cirkus=0; |
} |
void main() |
{ |
unsigned int16 n; // pro FOR |
unsigned int16 i; |
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(BUMPER|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 |
output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4); |
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; |
cirkus=0; |
// movement=S; |
speed=FW_POMALU; |
BW=input(BARVY); // Jaka ma byt barva cary? |
diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku |
Delay_ms(500); |
output_high(LED1); Beep(1000,200); Delay_ms(500); |
output_high(LED2); Beep(1000,200); Delay_ms(500); |
output_high(LED3); Beep(1000,200); Delay_ms(500); |
output_high(LED4); 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) OtocSe(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
}; |
rovinka=0; |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, |
// tak zabrzdi |
{ |
output_bit(LED1, !input(LED1)); |
last=line; |
speed=FW_ZATACKA; |
cirkus++; |
if (cirkus>8) |
{ |
STOPL; STOPR; |
cirkus=0; |
disable_interrupts(GLOBAL); |
beep(1000,400); |
for(n=3000; n>3950; n--) beep(n,10); |
output_low(LED1); |
beep(2000,200); |
beep(900,400); |
for(n=2950; n<3000; n++) beep(n,10); |
output_low(LED2); |
output_high(LED1); |
beep(4000,400); |
beep(1000,100); |
output_low(LED3); |
beep(3000,400); |
Delay_ms(1000); |
output_high(LED1); output_high(LED2); |
output_high(LED3); output_high(LED4); |
enable_interrupts(GLOBAL); |
} |
}; |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/PIC16F88/MerkurU/tank.HEX |
---|
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:00000001FF |
;PIC16F88 |
/roboti/istrobot/merkur/PIC16F88/MerkurU/tank.LST |
---|
0,0 → 1,1740 |
CCS PCM C Compiler, Version 3.221, 27853 18-VI-05 13:30 |
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST |
ROM used: 1441 words (35%) |
Largest free fragment is 2048 |
RAM used: 27 (15%) at main() level |
34 (19%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 2D1 |
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 037 |
.................... // Program pro predvadeni schopnosti robota Merkur |
.................... //------------------------------------------------ |
.................... |
.................... #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) |
* |
0042: MOVLW 12 |
0043: SUBWF 3C,F |
0044: BTFSS 03.0 |
0045: GOTO 054 |
0046: MOVLW 3C |
0047: MOVWF 04 |
0048: MOVLW FC |
0049: ANDWF 00,F |
004A: BCF 03.0 |
004B: RRF 00,F |
004C: RRF 00,F |
004D: MOVF 00,W |
004E: BTFSC 03.2 |
004F: GOTO 054 |
0050: GOTO 052 |
0051: NOP |
0052: DECFSZ 00,F |
0053: GOTO 051 |
0054: RETLW 00 |
* |
0073: MOVLW 37 |
0074: MOVWF 04 |
0075: MOVF 00,W |
0076: BTFSC 03.2 |
0077: GOTO 087 |
0078: MOVLW 01 |
0079: MOVWF 78 |
007A: CLRF 77 |
007B: DECFSZ 77,F |
007C: GOTO 07B |
007D: DECFSZ 78,F |
007E: GOTO 07A |
007F: MOVLW 4A |
0080: MOVWF 77 |
0081: DECFSZ 77,F |
0082: GOTO 081 |
0083: NOP |
0084: NOP |
0085: DECFSZ 00,F |
0086: GOTO 078 |
0087: RETLW 00 |
.................... |
.................... |
.................... |
.................... 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 last; // kde byla cara, kdyz byly minule cidla mimo |
.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
.................... int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus |
.................... int1 BW; // urcuje, jestli je cara cerno/bila nebo |
.................... // bilo/cerna (true = bila cara, cerny podklad) |
.................... |
.................... // Konstanty pro dynamiku pohybu |
.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
.................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
.................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku |
.................... |
.................... //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 (BW != C2OUT) // Senzory na caru |
.................... #define LSENSOR (BW != C1OUT) |
.................... #define BUMPER sAN2 // Senzor na cihlu |
.................... |
.................... #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
.................... #define BARVY PIN_B1 // Propojka pro nastaveni barvy cary |
.................... |
.................... #define SPEAKER PIN_B0 // vystup pro pipak |
.................... |
.................... #define LED1 PIN_A4 // LEDky |
.................... #define LED2 PIN_A3 |
.................... #define LED3 PIN_A7 |
.................... #define LED4 PIN_A6 |
.................... |
.................... // makro pro PWM |
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ |
.................... {direction##motor;} else {stop##motor;} |
.................... |
.................... #int_TIMER2 |
.................... void TIMER2_isr() // obsluha zrychlovani |
.................... { |
.................... if (speed<255) speed++; |
* |
0037: INCFSZ 2B,W |
0038: GOTO 03A |
0039: GOTO 03B |
003A: INCF 2B,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
003B: MOVF 2D,W |
003C: SUBLW 40 |
003D: BTFSC 03.0 |
003E: INCF 2D,F |
.................... } |
.................... |
.................... // Primitivni Pipani |
003F: BCF 0C.1 |
0040: BCF 0A.3 |
0041: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
0055: MOVF 39,W |
0056: MOVWF 3B |
0057: MOVF 38,W |
0058: MOVWF 3A |
0059: MOVF 3A,F |
005A: BTFSS 03.2 |
005B: GOTO 05F |
005C: MOVF 3B,F |
005D: BTFSC 03.2 |
005E: GOTO 072 |
.................... { |
.................... output_high(SPEAKER); |
005F: BSF 03.5 |
0060: BCF 06.0 |
0061: BCF 03.5 |
0062: BSF 06.0 |
.................... delay_us(period); |
0063: MOVF 36,W |
0064: MOVWF 3C |
0065: CALL 042 |
.................... output_low(SPEAKER); |
0066: BSF 03.5 |
0067: BCF 06.0 |
0068: BCF 03.5 |
0069: BCF 06.0 |
.................... delay_us(period); |
006A: MOVF 36,W |
006B: MOVWF 3C |
006C: CALL 042 |
.................... } |
006D: MOVF 3A,W |
006E: BTFSC 03.2 |
006F: DECF 3B,F |
0070: DECF 3A,F |
0071: GOTO 059 |
.................... } |
0072: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
0088: BSF 03.5 |
0089: BSF 06.3 |
008A: BCF 03.5 |
008B: BTFSS 06.3 |
008C: GOTO 1B3 |
.................... for (n=500; n<800; n+=100) |
008D: MOVLW 01 |
008E: MOVWF 35 |
008F: MOVLW F4 |
0090: MOVWF 34 |
0091: MOVF 35,W |
0092: SUBLW 03 |
0093: BTFSS 03.0 |
0094: GOTO 0A9 |
0095: BTFSS 03.2 |
0096: GOTO 09B |
0097: MOVF 34,W |
0098: SUBLW 1F |
0099: BTFSS 03.0 |
009A: GOTO 0A9 |
.................... { |
.................... beep(n,n); //beep UP |
009B: MOVF 35,W |
009C: MOVWF 37 |
009D: MOVF 34,W |
009E: MOVWF 36 |
009F: MOVF 35,W |
00A0: MOVWF 39 |
00A1: MOVF 34,W |
00A2: MOVWF 38 |
00A3: CALL 055 |
.................... }; |
00A4: MOVLW 64 |
00A5: ADDWF 34,F |
00A6: BTFSC 03.0 |
00A7: INCF 35,F |
00A8: GOTO 091 |
.................... Delay_ms(1000); |
00A9: MOVLW 04 |
00AA: MOVWF 36 |
00AB: MOVLW FA |
00AC: MOVWF 37 |
00AD: CALL 073 |
00AE: DECFSZ 36,F |
00AF: GOTO 0AB |
.................... //zastav vse |
.................... STOPL; STOPR; |
00B0: BSF 03.5 |
00B1: BCF 06.6 |
00B2: BCF 03.5 |
00B3: BCF 06.6 |
00B4: BSF 03.5 |
00B5: BCF 06.7 |
00B6: BCF 03.5 |
00B7: BCF 06.7 |
00B8: BSF 03.5 |
00B9: BCF 06.4 |
00BA: BCF 03.5 |
00BB: BCF 06.4 |
00BC: BSF 03.5 |
00BD: BCF 06.5 |
00BE: BCF 03.5 |
00BF: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00C0: BSF 03.5 |
00C1: BCF 06.5 |
00C2: BCF 03.5 |
00C3: BCF 06.5 |
00C4: BSF 03.5 |
00C5: BCF 06.4 |
00C6: BCF 03.5 |
00C7: BSF 06.4 |
00C8: MOVLW 04 |
00C9: MOVWF 36 |
00CA: MOVLW FA |
00CB: MOVWF 37 |
00CC: CALL 073 |
00CD: DECFSZ 36,F |
00CE: GOTO 0CA |
00CF: BSF 03.5 |
00D0: BCF 06.4 |
00D1: BCF 03.5 |
00D2: BCF 06.4 |
00D3: BSF 03.5 |
00D4: BCF 06.5 |
00D5: BCF 03.5 |
00D6: BCF 06.5 |
00D7: MOVLW 04 |
00D8: MOVWF 36 |
00D9: MOVLW FA |
00DA: MOVWF 37 |
00DB: CALL 073 |
00DC: DECFSZ 36,F |
00DD: GOTO 0D9 |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00DE: BSF 03.5 |
00DF: BCF 06.4 |
00E0: BCF 03.5 |
00E1: BCF 06.4 |
00E2: BSF 03.5 |
00E3: BCF 06.5 |
00E4: BCF 03.5 |
00E5: BSF 06.5 |
00E6: MOVLW 04 |
00E7: MOVWF 36 |
00E8: MOVLW FA |
00E9: MOVWF 37 |
00EA: CALL 073 |
00EB: DECFSZ 36,F |
00EC: GOTO 0E8 |
00ED: BSF 03.5 |
00EE: BCF 06.4 |
00EF: BCF 03.5 |
00F0: BCF 06.4 |
00F1: BSF 03.5 |
00F2: BCF 06.5 |
00F3: BCF 03.5 |
00F4: BCF 06.5 |
00F5: MOVLW 04 |
00F6: MOVWF 36 |
00F7: MOVLW FA |
00F8: MOVWF 37 |
00F9: CALL 073 |
00FA: DECFSZ 36,F |
00FB: GOTO 0F7 |
.................... Beep(880,100); Delay_ms(1000); |
00FC: MOVLW 03 |
00FD: MOVWF 37 |
00FE: MOVLW 70 |
00FF: MOVWF 36 |
0100: CLRF 39 |
0101: MOVLW 64 |
0102: MOVWF 38 |
0103: CALL 055 |
0104: MOVLW 04 |
0105: MOVWF 36 |
0106: MOVLW FA |
0107: MOVWF 37 |
0108: CALL 073 |
0109: DECFSZ 36,F |
010A: GOTO 106 |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
010B: BSF 03.5 |
010C: BCF 06.7 |
010D: BCF 03.5 |
010E: BCF 06.7 |
010F: BSF 03.5 |
0110: BCF 06.6 |
0111: BCF 03.5 |
0112: BSF 06.6 |
0113: MOVLW 04 |
0114: MOVWF 36 |
0115: MOVLW FA |
0116: MOVWF 37 |
0117: CALL 073 |
0118: DECFSZ 36,F |
0119: GOTO 115 |
011A: BSF 03.5 |
011B: BCF 06.6 |
011C: BCF 03.5 |
011D: BCF 06.6 |
011E: BSF 03.5 |
011F: BCF 06.7 |
0120: BCF 03.5 |
0121: BCF 06.7 |
0122: MOVLW 04 |
0123: MOVWF 36 |
0124: MOVLW FA |
0125: MOVWF 37 |
0126: CALL 073 |
0127: DECFSZ 36,F |
0128: GOTO 124 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0129: BSF 03.5 |
012A: BCF 06.6 |
012B: BCF 03.5 |
012C: BCF 06.6 |
012D: BSF 03.5 |
012E: BCF 06.7 |
012F: BCF 03.5 |
0130: BSF 06.7 |
0131: MOVLW 04 |
0132: MOVWF 36 |
0133: MOVLW FA |
0134: MOVWF 37 |
0135: CALL 073 |
0136: DECFSZ 36,F |
0137: GOTO 133 |
0138: BSF 03.5 |
0139: BCF 06.6 |
013A: BCF 03.5 |
013B: BCF 06.6 |
013C: BSF 03.5 |
013D: BCF 06.7 |
013E: BCF 03.5 |
013F: BCF 06.7 |
0140: MOVLW 04 |
0141: MOVWF 36 |
0142: MOVLW FA |
0143: MOVWF 37 |
0144: CALL 073 |
0145: DECFSZ 36,F |
0146: GOTO 142 |
.................... Beep(880,100); Delay_ms(1000); |
0147: MOVLW 03 |
0148: MOVWF 37 |
0149: MOVLW 70 |
014A: MOVWF 36 |
014B: CLRF 39 |
014C: MOVLW 64 |
014D: MOVWF 38 |
014E: CALL 055 |
014F: MOVLW 04 |
0150: MOVWF 36 |
0151: MOVLW FA |
0152: MOVWF 37 |
0153: CALL 073 |
0154: DECFSZ 36,F |
0155: GOTO 151 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0156: BSF 03.5 |
0157: BCF 06.7 |
0158: BCF 03.5 |
0159: BCF 06.7 |
015A: BSF 03.5 |
015B: BCF 06.6 |
015C: BCF 03.5 |
015D: BSF 06.6 |
015E: BSF 03.5 |
015F: BCF 06.5 |
0160: BCF 03.5 |
0161: BCF 06.5 |
0162: BSF 03.5 |
0163: BCF 06.4 |
0164: BCF 03.5 |
0165: BSF 06.4 |
0166: MOVLW 04 |
0167: MOVWF 36 |
0168: MOVLW FA |
0169: MOVWF 37 |
016A: CALL 073 |
016B: DECFSZ 36,F |
016C: GOTO 168 |
016D: BSF 03.5 |
016E: BCF 06.6 |
016F: BCF 03.5 |
0170: BCF 06.6 |
0171: BSF 03.5 |
0172: BCF 06.7 |
0173: BCF 03.5 |
0174: BCF 06.7 |
0175: BSF 03.5 |
0176: BCF 06.4 |
0177: BCF 03.5 |
0178: BCF 06.4 |
0179: BSF 03.5 |
017A: BCF 06.5 |
017B: BCF 03.5 |
017C: BCF 06.5 |
017D: MOVLW 04 |
017E: MOVWF 36 |
017F: MOVLW FA |
0180: MOVWF 37 |
0181: CALL 073 |
0182: DECFSZ 36,F |
0183: GOTO 17F |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0184: BSF 03.5 |
0185: BCF 06.6 |
0186: BCF 03.5 |
0187: BCF 06.6 |
0188: BSF 03.5 |
0189: BCF 06.7 |
018A: BCF 03.5 |
018B: BSF 06.7 |
018C: BSF 03.5 |
018D: BCF 06.4 |
018E: BCF 03.5 |
018F: BCF 06.4 |
0190: BSF 03.5 |
0191: BCF 06.5 |
0192: BCF 03.5 |
0193: BSF 06.5 |
0194: MOVLW 04 |
0195: MOVWF 36 |
0196: MOVLW FA |
0197: MOVWF 37 |
0198: CALL 073 |
0199: DECFSZ 36,F |
019A: GOTO 196 |
019B: BSF 03.5 |
019C: BCF 06.6 |
019D: BCF 03.5 |
019E: BCF 06.6 |
019F: BSF 03.5 |
01A0: BCF 06.7 |
01A1: BCF 03.5 |
01A2: BCF 06.7 |
01A3: BSF 03.5 |
01A4: BCF 06.4 |
01A5: BCF 03.5 |
01A6: BCF 06.4 |
01A7: BSF 03.5 |
01A8: BCF 06.5 |
01A9: BCF 03.5 |
01AA: BCF 06.5 |
01AB: MOVLW 04 |
01AC: MOVWF 36 |
01AD: MOVLW FA |
01AE: MOVWF 37 |
01AF: CALL 073 |
01B0: DECFSZ 36,F |
01B1: GOTO 1AD |
.................... }; |
01B2: GOTO 088 |
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
.................... { |
01B3: BSF 03.5 |
01B4: BSF 06.2 |
01B5: BCF 03.5 |
01B6: BTFSS 06.2 |
01B7: GOTO 1F6 |
.................... if (RSENSOR) beep(1000,200); |
01B8: CLRF 77 |
01B9: BSF 03.5 |
01BA: BTFSC 1C.7 |
01BB: BSF 77.0 |
01BC: BCF 03.5 |
01BD: MOVF 2F,W |
01BE: XORWF 77,W |
01BF: ANDLW 01 |
01C0: BTFSC 03.2 |
01C1: GOTO 1CA |
01C2: MOVLW 03 |
01C3: MOVWF 37 |
01C4: MOVLW E8 |
01C5: MOVWF 36 |
01C6: CLRF 39 |
01C7: MOVLW C8 |
01C8: MOVWF 38 |
01C9: CALL 055 |
.................... Delay_ms(200); |
01CA: MOVLW C8 |
01CB: MOVWF 37 |
01CC: CALL 073 |
.................... if (LSENSOR) beep(2000,300); |
01CD: CLRF 77 |
01CE: BSF 03.5 |
01CF: BTFSC 1C.6 |
01D0: BSF 77.0 |
01D1: BCF 03.5 |
01D2: MOVF 2F,W |
01D3: XORWF 77,W |
01D4: ANDLW 01 |
01D5: BTFSC 03.2 |
01D6: GOTO 1E0 |
01D7: MOVLW 07 |
01D8: MOVWF 37 |
01D9: MOVLW D0 |
01DA: MOVWF 36 |
01DB: MOVLW 01 |
01DC: MOVWF 39 |
01DD: MOVLW 2C |
01DE: MOVWF 38 |
01DF: CALL 055 |
.................... Delay_ms(200); |
01E0: MOVLW C8 |
01E1: MOVWF 37 |
01E2: CALL 073 |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400); |
01E3: BTFSC 1F.2 |
01E4: GOTO 1E3 |
01E5: MOVF 1E,W |
01E6: SUBLW 7F |
01E7: BTFSS 03.0 |
01E8: GOTO 1F2 |
01E9: MOVLW 0B |
01EA: MOVWF 37 |
01EB: MOVLW B8 |
01EC: MOVWF 36 |
01ED: MOVLW 01 |
01EE: MOVWF 39 |
01EF: MOVLW 90 |
01F0: MOVWF 38 |
01F1: CALL 055 |
.................... Delay_ms(200); |
01F2: MOVLW C8 |
01F3: MOVWF 37 |
01F4: CALL 073 |
.................... }; |
01F5: GOTO 1B3 |
.................... } |
01F6: BCF 0A.3 |
01F7: GOTO 378 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void OtocSe() // otoci se zpet, kdyz je prekazka |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BL; BR; // cukni zpatky |
01F8: BSF 03.5 |
01F9: BCF 06.6 |
01FA: BCF 03.5 |
01FB: BCF 06.6 |
01FC: BSF 03.5 |
01FD: BCF 06.7 |
01FE: BCF 03.5 |
01FF: BSF 06.7 |
0200: BSF 03.5 |
0201: BCF 06.4 |
0202: BCF 03.5 |
0203: BCF 06.4 |
0204: BSF 03.5 |
0205: BCF 06.5 |
0206: BCF 03.5 |
0207: BSF 06.5 |
.................... Delay_ms(200); |
0208: MOVLW C8 |
0209: MOVWF 37 |
020A: CALL 073 |
.................... STOPR;STOPL; |
020B: BSF 03.5 |
020C: BCF 06.4 |
020D: BCF 03.5 |
020E: BCF 06.4 |
020F: BSF 03.5 |
0210: BCF 06.5 |
0211: BCF 03.5 |
0212: BCF 06.5 |
0213: BSF 03.5 |
0214: BCF 06.6 |
0215: BCF 03.5 |
0216: BCF 06.6 |
0217: BSF 03.5 |
0218: BCF 06.7 |
0219: BCF 03.5 |
021A: BCF 06.7 |
.................... beep(800,400); |
021B: MOVLW 03 |
021C: MOVWF 37 |
021D: MOVLW 20 |
021E: MOVWF 36 |
021F: MOVLW 01 |
0220: MOVWF 39 |
0221: MOVLW 90 |
0222: MOVWF 38 |
0223: CALL 055 |
.................... beep(2000,1000); |
0224: MOVLW 07 |
0225: MOVWF 37 |
0226: MOVLW D0 |
0227: MOVWF 36 |
0228: MOVLW 03 |
0229: MOVWF 39 |
022A: MOVLW E8 |
022B: MOVWF 38 |
022C: CALL 055 |
.................... output_low(LED4); |
022D: BSF 03.5 |
022E: BCF 05.6 |
022F: BCF 03.5 |
0230: BCF 05.6 |
.................... beep(900,400); |
0231: MOVLW 03 |
0232: MOVWF 37 |
0233: MOVLW 84 |
0234: MOVWF 36 |
0235: MOVLW 01 |
0236: MOVWF 39 |
0237: MOVLW 90 |
0238: MOVWF 38 |
0239: CALL 055 |
.................... output_low(LED1); |
023A: BSF 03.5 |
023B: BCF 05.4 |
023C: BCF 03.5 |
023D: BCF 05.4 |
.................... |
.................... BR; FL; Delay_ms(100); // otoc se 30° do prava |
023E: BSF 03.5 |
023F: BCF 06.4 |
0240: BCF 03.5 |
0241: BCF 06.4 |
0242: BSF 03.5 |
0243: BCF 06.5 |
0244: BCF 03.5 |
0245: BSF 06.5 |
0246: BSF 03.5 |
0247: BCF 06.7 |
0248: BCF 03.5 |
0249: BCF 06.7 |
024A: BSF 03.5 |
024B: BCF 06.6 |
024C: BCF 03.5 |
024D: BSF 06.6 |
024E: MOVLW 64 |
024F: MOVWF 37 |
0250: CALL 073 |
.................... STOPL; STOPR; |
0251: BSF 03.5 |
0252: BCF 06.6 |
0253: BCF 03.5 |
0254: BCF 06.6 |
0255: BSF 03.5 |
0256: BCF 06.7 |
0257: BCF 03.5 |
0258: BCF 06.7 |
0259: BSF 03.5 |
025A: BCF 06.4 |
025B: BCF 03.5 |
025C: BCF 06.4 |
025D: BSF 03.5 |
025E: BCF 06.5 |
025F: BCF 03.5 |
0260: BCF 06.5 |
.................... beep(1000,1000); |
0261: MOVLW 03 |
0262: MOVWF 37 |
0263: MOVLW E8 |
0264: MOVWF 36 |
0265: MOVLW 03 |
0266: MOVWF 39 |
0267: MOVLW E8 |
0268: MOVWF 38 |
0269: CALL 055 |
.................... output_low(LED3); |
026A: BSF 03.5 |
026B: BCF 05.7 |
026C: BCF 03.5 |
026D: BCF 05.7 |
.................... |
.................... BR; FL; |
026E: BSF 03.5 |
026F: BCF 06.4 |
0270: BCF 03.5 |
0271: BCF 06.4 |
0272: BSF 03.5 |
0273: BCF 06.5 |
0274: BCF 03.5 |
0275: BSF 06.5 |
0276: BSF 03.5 |
0277: BCF 06.7 |
0278: BCF 03.5 |
0279: BCF 06.7 |
027A: BSF 03.5 |
027B: BCF 06.6 |
027C: BCF 03.5 |
027D: BSF 06.6 |
.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
027E: MOVLW 9C |
027F: MOVWF 35 |
0280: MOVLW 40 |
0281: MOVWF 34 |
0282: MOVF 34,F |
0283: BTFSS 03.2 |
0284: GOTO 288 |
0285: MOVF 35,F |
0286: BTFSC 03.2 |
0287: GOTO 2B0 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
0288: CLRF 77 |
0289: BSF 03.5 |
028A: BTFSC 1C.7 |
028B: BSF 77.0 |
028C: BCF 03.5 |
028D: MOVF 2F,W |
028E: XORWF 77,W |
028F: ANDLW 01 |
0290: BTFSS 03.2 |
0291: GOTO 294 |
0292: MOVLW 00 |
0293: GOTO 295 |
0294: MOVLW 01 |
0295: MOVWF 2A |
.................... line |= LSENSOR << 1; |
0296: CLRF 77 |
0297: BSF 03.5 |
0298: BTFSC 1C.6 |
0299: BSF 77.0 |
029A: BCF 03.5 |
029B: MOVF 2F,W |
029C: XORWF 77,W |
029D: ANDLW 01 |
029E: BTFSS 03.2 |
029F: GOTO 2A2 |
02A0: MOVLW 00 |
02A1: GOTO 2A3 |
02A2: MOVLW 01 |
02A3: MOVWF 77 |
02A4: BCF 03.0 |
02A5: RLF 77,F |
02A6: MOVF 77,W |
02A7: IORWF 2A,F |
.................... if (line!=0) break; |
02A8: MOVF 2A,F |
02A9: BTFSS 03.2 |
02AA: GOTO 2B0 |
.................... } |
02AB: MOVF 34,W |
02AC: BTFSC 03.2 |
02AD: DECF 35,F |
02AE: DECF 34,F |
02AF: GOTO 282 |
.................... STOPR; STOPL; |
02B0: BSF 03.5 |
02B1: BCF 06.4 |
02B2: BCF 03.5 |
02B3: BCF 06.4 |
02B4: BSF 03.5 |
02B5: BCF 06.5 |
02B6: BCF 03.5 |
02B7: BCF 06.5 |
02B8: BSF 03.5 |
02B9: BCF 06.6 |
02BA: BCF 03.5 |
02BB: BCF 06.6 |
02BC: BSF 03.5 |
02BD: BCF 06.7 |
02BE: BCF 03.5 |
02BF: BCF 06.7 |
.................... output_high(LED1); output_high(LED3); output_high(LED4); |
02C0: BSF 03.5 |
02C1: BCF 05.4 |
02C2: BCF 03.5 |
02C3: BSF 05.4 |
02C4: BSF 03.5 |
02C5: BCF 05.7 |
02C6: BCF 03.5 |
02C7: BSF 05.7 |
02C8: BSF 03.5 |
02C9: BCF 05.6 |
02CA: BCF 03.5 |
02CB: BSF 05.6 |
.................... |
.................... line=L; // caru jsme prejeli, tak je vlevo |
02CC: MOVLW 02 |
02CD: MOVWF 2A |
.................... cirkus=0; |
02CE: CLRF 2E |
.................... } |
02CF: BCF 0A.3 |
02D0: GOTO 3F1 (RETURN) |
.................... |
.................... |
.................... void main() |
.................... { |
02D1: CLRF 04 |
02D2: MOVLW 1F |
02D3: ANDWF 03,F |
02D4: BSF 03.5 |
02D5: BCF 1F.4 |
02D6: BCF 1F.5 |
02D7: MOVF 1B,W |
02D8: ANDLW 80 |
02D9: MOVWF 1B |
02DA: MOVLW 07 |
02DB: MOVWF 1C |
02DC: MOVF 1C,W |
02DD: BCF 03.5 |
02DE: BCF 0D.6 |
02DF: MOVLW 60 |
02E0: BSF 03.5 |
02E1: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... unsigned int16 i; |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
02E2: BCF 06.6 |
02E3: BCF 03.5 |
02E4: BCF 06.6 |
02E5: BSF 03.5 |
02E6: BCF 06.7 |
02E7: BCF 03.5 |
02E8: BCF 06.7 |
02E9: BSF 03.5 |
02EA: BCF 06.4 |
02EB: BCF 03.5 |
02EC: BCF 06.4 |
02ED: BSF 03.5 |
02EE: BCF 06.5 |
02EF: BCF 03.5 |
02F0: BCF 06.5 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
02F1: MOVLW 62 |
02F2: BSF 03.5 |
02F3: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
02F4: BCF 01.7 |
.................... setup_spi(FALSE); |
02F5: BCF 03.5 |
02F6: BCF 14.5 |
02F7: BSF 03.5 |
02F8: BCF 06.2 |
02F9: BSF 06.1 |
02FA: BCF 06.4 |
02FB: MOVLW 00 |
02FC: BCF 03.5 |
02FD: MOVWF 14 |
02FE: BSF 03.5 |
02FF: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
0300: MOVF 01,W |
0301: ANDLW C7 |
0302: IORLW 08 |
0303: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
0304: MOVLW 48 |
0305: MOVWF 78 |
0306: IORLW 05 |
0307: BCF 03.5 |
0308: MOVWF 12 |
0309: MOVLW FF |
030A: BSF 03.5 |
030B: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(BUMPER|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
030C: BCF 1F.4 |
030D: BCF 1F.5 |
030E: MOVF 1B,W |
030F: ANDLW 80 |
0310: IORLW 04 |
0311: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
0312: BCF 1F.6 |
0313: BCF 03.5 |
0314: BSF 1F.6 |
0315: BSF 1F.7 |
0316: BSF 03.5 |
0317: BCF 1F.7 |
0318: BCF 03.5 |
0319: BSF 1F.0 |
.................... set_adc_channel(2); |
031A: MOVLW 10 |
031B: MOVWF 78 |
031C: MOVF 1F,W |
031D: ANDLW C7 |
031E: IORWF 78,W |
031F: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
0320: MOVLW 85 |
0321: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
0322: BSF 03.5 |
0323: BSF 06.3 |
0324: MOVLW 0B |
0325: BCF 03.5 |
0326: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
0327: CLRF 16 |
0328: MOVLW 07 |
0329: MOVWF 15 |
.................... |
.................... output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4); |
032A: BSF 03.5 |
032B: BCF 05.4 |
032C: BCF 03.5 |
032D: BCF 05.4 |
032E: BSF 03.5 |
032F: BCF 05.3 |
0330: BCF 03.5 |
0331: BCF 05.3 |
0332: BSF 03.5 |
0333: BCF 05.7 |
0334: BCF 03.5 |
0335: BCF 05.7 |
0336: BSF 03.5 |
0337: BCF 05.6 |
0338: BCF 03.5 |
0339: BCF 05.6 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
033A: MOVLW 02 |
033B: BSF 03.5 |
033C: MOVWF 1C |
033D: MOVF 05,W |
033E: IORLW 03 |
033F: MOVWF 05 |
0340: MOVLW 03 |
0341: MOVWF 77 |
0342: DECFSZ 77,F |
0343: GOTO 342 |
0344: MOVF 1C,W |
0345: BCF 03.5 |
0346: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
0347: MOVLW 8F |
0348: BSF 03.5 |
0349: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
034A: MOVLW 03 |
034B: BCF 03.5 |
034C: MOVWF 37 |
034D: MOVLW E8 |
034E: MOVWF 36 |
034F: CLRF 39 |
0350: MOVLW C8 |
0351: MOVWF 38 |
0352: CALL 055 |
.................... Delay_ms(50); |
0353: MOVLW 32 |
0354: MOVWF 37 |
0355: CALL 073 |
.................... Beep(1000,200); |
0356: MOVLW 03 |
0357: MOVWF 37 |
0358: MOVLW E8 |
0359: MOVWF 36 |
035A: CLRF 39 |
035B: MOVLW C8 |
035C: MOVWF 38 |
035D: CALL 055 |
.................... Delay_ms(1000); // 1s |
035E: MOVLW 04 |
035F: MOVWF 34 |
0360: MOVLW FA |
0361: MOVWF 37 |
0362: CALL 073 |
0363: DECFSZ 34,F |
0364: GOTO 360 |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
0365: BSF 03.5 |
0366: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
0367: MOVLW C0 |
0368: BCF 03.5 |
0369: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
036A: MOVLW 03 |
036B: MOVWF 29 |
.................... line=S; |
036C: MOVWF 2A |
.................... last=S; |
036D: MOVWF 2C |
.................... cirkus=0; |
036E: CLRF 2E |
.................... // movement=S; |
.................... speed=FW_POMALU; |
036F: MOVLW AA |
0370: MOVWF 2B |
.................... |
.................... BW=input(BARVY); // Jaka ma byt barva cary? |
0371: BSF 03.5 |
0372: BSF 06.1 |
0373: BCF 03.5 |
0374: BCF 2F.0 |
0375: BTFSC 06.1 |
0376: BSF 2F.0 |
.................... diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku |
0377: GOTO 088 |
.................... Delay_ms(500); |
0378: MOVLW 02 |
0379: MOVWF 34 |
037A: MOVLW FA |
037B: MOVWF 37 |
037C: CALL 073 |
037D: DECFSZ 34,F |
037E: GOTO 37A |
.................... |
.................... output_high(LED1); Beep(1000,200); Delay_ms(500); |
037F: BSF 03.5 |
0380: BCF 05.4 |
0381: BCF 03.5 |
0382: BSF 05.4 |
0383: MOVLW 03 |
0384: MOVWF 37 |
0385: MOVLW E8 |
0386: MOVWF 36 |
0387: CLRF 39 |
0388: MOVLW C8 |
0389: MOVWF 38 |
038A: CALL 055 |
038B: MOVLW 02 |
038C: MOVWF 34 |
038D: MOVLW FA |
038E: MOVWF 37 |
038F: CALL 073 |
0390: DECFSZ 34,F |
0391: GOTO 38D |
.................... output_high(LED2); Beep(1000,200); Delay_ms(500); |
0392: BSF 03.5 |
0393: BCF 05.3 |
0394: BCF 03.5 |
0395: BSF 05.3 |
0396: MOVLW 03 |
0397: MOVWF 37 |
0398: MOVLW E8 |
0399: MOVWF 36 |
039A: CLRF 39 |
039B: MOVLW C8 |
039C: MOVWF 38 |
039D: CALL 055 |
039E: MOVLW 02 |
039F: MOVWF 34 |
03A0: MOVLW FA |
03A1: MOVWF 37 |
03A2: CALL 073 |
03A3: DECFSZ 34,F |
03A4: GOTO 3A0 |
.................... output_high(LED3); Beep(1000,200); Delay_ms(500); |
03A5: BSF 03.5 |
03A6: BCF 05.7 |
03A7: BCF 03.5 |
03A8: BSF 05.7 |
03A9: MOVLW 03 |
03AA: MOVWF 37 |
03AB: MOVLW E8 |
03AC: MOVWF 36 |
03AD: CLRF 39 |
03AE: MOVLW C8 |
03AF: MOVWF 38 |
03B0: CALL 055 |
03B1: MOVLW 02 |
03B2: MOVWF 34 |
03B3: MOVLW FA |
03B4: MOVWF 37 |
03B5: CALL 073 |
03B6: DECFSZ 34,F |
03B7: GOTO 3B3 |
.................... output_high(LED4); Beep(1000,200); Delay_ms(500); |
03B8: BSF 03.5 |
03B9: BCF 05.6 |
03BA: BCF 03.5 |
03BB: BSF 05.6 |
03BC: MOVLW 03 |
03BD: MOVWF 37 |
03BE: MOVLW E8 |
03BF: MOVWF 36 |
03C0: CLRF 39 |
03C1: MOVLW C8 |
03C2: MOVWF 38 |
03C3: CALL 055 |
03C4: MOVLW 02 |
03C5: MOVWF 34 |
03C6: MOVLW FA |
03C7: MOVWF 37 |
03C8: CALL 073 |
03C9: DECFSZ 34,F |
03CA: GOTO 3C6 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
03CB: CLRF 77 |
03CC: BSF 03.5 |
03CD: BTFSC 1C.7 |
03CE: BSF 77.0 |
03CF: BCF 03.5 |
03D0: MOVF 2F,W |
03D1: XORWF 77,W |
03D2: ANDLW 01 |
03D3: BTFSS 03.2 |
03D4: GOTO 3D7 |
03D5: MOVLW 00 |
03D6: GOTO 3D8 |
03D7: MOVLW 01 |
03D8: MOVWF 29 |
.................... sensors |= LSENSOR << 1; |
03D9: CLRF 77 |
03DA: BSF 03.5 |
03DB: BTFSC 1C.6 |
03DC: BSF 77.0 |
03DD: BCF 03.5 |
03DE: MOVF 2F,W |
03DF: XORWF 77,W |
03E0: ANDLW 01 |
03E1: BTFSS 03.2 |
03E2: GOTO 3E5 |
03E3: MOVLW 00 |
03E4: GOTO 3E6 |
03E5: MOVLW 01 |
03E6: MOVWF 77 |
03E7: BCF 03.0 |
03E8: RLF 77,F |
03E9: MOVF 77,W |
03EA: IORWF 29,F |
.................... |
.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
03EB: BTFSC 1F.2 |
03EC: GOTO 3EB |
03ED: MOVF 1E,W |
03EE: SUBLW 7F |
03EF: BTFSC 03.0 |
03F0: GOTO 1F8 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
03F1: MOVF 29,W |
03F2: XORLW 03 |
03F3: BTFSC 03.2 |
03F4: GOTO 3FC |
03F5: XORLW 01 |
03F6: BTFSC 03.2 |
03F7: GOTO 431 |
03F8: XORLW 03 |
03F9: BTFSC 03.2 |
03FA: GOTO 468 |
03FB: GOTO 49F |
.................... case S: // rovne |
.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
03FC: MOVF 01,W |
03FD: MOVWF 34 |
03FE: MOVLW BE |
03FF: ADDWF 2D,W |
0400: SUBWF 34,W |
0401: BTFSC 03.2 |
0402: GOTO 405 |
0403: BTFSC 03.0 |
0404: GOTO 40E |
0405: BSF 03.5 |
0406: BCF 06.7 |
0407: BCF 03.5 |
0408: BCF 06.7 |
0409: BSF 03.5 |
040A: BCF 06.6 |
040B: BCF 03.5 |
040C: BSF 06.6 |
040D: GOTO 416 |
040E: BSF 03.5 |
040F: BCF 06.6 |
0410: BCF 03.5 |
0411: BCF 06.6 |
0412: BSF 03.5 |
0413: BCF 06.7 |
0414: BCF 03.5 |
0415: BCF 06.7 |
0416: MOVF 01,W |
0417: MOVWF 34 |
0418: MOVLW BE |
0419: ADDWF 2D,W |
041A: SUBWF 34,W |
041B: BTFSC 03.2 |
041C: GOTO 41F |
041D: BTFSC 03.0 |
041E: GOTO 428 |
041F: BSF 03.5 |
0420: BCF 06.5 |
0421: BCF 03.5 |
0422: BCF 06.5 |
0423: BSF 03.5 |
0424: BCF 06.4 |
0425: BCF 03.5 |
0426: BSF 06.4 |
0427: GOTO 430 |
0428: BSF 03.5 |
0429: BCF 06.4 |
042A: BCF 03.5 |
042B: BCF 06.4 |
042C: BSF 03.5 |
042D: BCF 06.5 |
042E: BCF 03.5 |
042F: BCF 06.5 |
.................... continue; |
0430: GOTO 3CB |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
0431: MOVF 01,W |
0432: MOVWF 34 |
0433: MOVLW AA |
0434: ADDWF 2D,W |
0435: SUBWF 34,W |
0436: BTFSC 03.2 |
0437: GOTO 43A |
0438: BTFSC 03.0 |
0439: GOTO 443 |
043A: BSF 03.5 |
043B: BCF 06.7 |
043C: BCF 03.5 |
043D: BCF 06.7 |
043E: BSF 03.5 |
043F: BCF 06.6 |
0440: BCF 03.5 |
0441: BSF 06.6 |
0442: GOTO 44B |
0443: BSF 03.5 |
0444: BCF 06.6 |
0445: BCF 03.5 |
0446: BCF 06.6 |
0447: BSF 03.5 |
0448: BCF 06.7 |
0449: BCF 03.5 |
044A: BCF 06.7 |
044B: MOVF 01,W |
044C: MOVWF 34 |
044D: MOVLW BE |
044E: ADDWF 2D,W |
044F: SUBWF 34,W |
0450: BTFSC 03.2 |
0451: GOTO 454 |
0452: BTFSC 03.0 |
0453: GOTO 45D |
0454: BSF 03.5 |
0455: BCF 06.5 |
0456: BCF 03.5 |
0457: BCF 06.5 |
0458: BSF 03.5 |
0459: BCF 06.4 |
045A: BCF 03.5 |
045B: BSF 06.4 |
045C: GOTO 465 |
045D: BSF 03.5 |
045E: BCF 06.4 |
045F: BCF 03.5 |
0460: BCF 06.4 |
0461: BSF 03.5 |
0462: BCF 06.5 |
0463: BCF 03.5 |
0464: BCF 06.5 |
.................... line=L; |
0465: MOVLW 02 |
0466: MOVWF 2A |
.................... continue; |
0467: GOTO 3CB |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
0468: MOVF 01,W |
0469: MOVWF 34 |
046A: MOVLW AA |
046B: ADDWF 2D,W |
046C: SUBWF 34,W |
046D: BTFSC 03.2 |
046E: GOTO 471 |
046F: BTFSC 03.0 |
0470: GOTO 47A |
0471: BSF 03.5 |
0472: BCF 06.5 |
0473: BCF 03.5 |
0474: BCF 06.5 |
0475: BSF 03.5 |
0476: BCF 06.4 |
0477: BCF 03.5 |
0478: BSF 06.4 |
0479: GOTO 482 |
047A: BSF 03.5 |
047B: BCF 06.4 |
047C: BCF 03.5 |
047D: BCF 06.4 |
047E: BSF 03.5 |
047F: BCF 06.5 |
0480: BCF 03.5 |
0481: BCF 06.5 |
0482: MOVF 01,W |
0483: MOVWF 34 |
0484: MOVLW BE |
0485: ADDWF 2D,W |
0486: SUBWF 34,W |
0487: BTFSC 03.2 |
0488: GOTO 48B |
0489: BTFSC 03.0 |
048A: GOTO 494 |
048B: BSF 03.5 |
048C: BCF 06.7 |
048D: BCF 03.5 |
048E: BCF 06.7 |
048F: BSF 03.5 |
0490: BCF 06.6 |
0491: BCF 03.5 |
0492: BSF 06.6 |
0493: GOTO 49C |
0494: BSF 03.5 |
0495: BCF 06.6 |
0496: BCF 03.5 |
0497: BCF 06.6 |
0498: BSF 03.5 |
0499: BCF 06.7 |
049A: BCF 03.5 |
049B: BCF 06.7 |
.................... line=R; |
049C: MOVLW 01 |
049D: MOVWF 2A |
.................... continue; |
049E: GOTO 3CB |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... }; |
.................... rovinka=0; |
049F: CLRF 2D |
.................... |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, |
04A0: MOVF 2A,W |
04A1: SUBWF 2C,W |
04A2: BTFSC 03.2 |
04A3: GOTO 560 |
.................... // tak zabrzdi |
.................... { |
.................... output_bit(LED1, !input(LED1)); |
04A4: BSF 03.5 |
04A5: BSF 05.4 |
04A6: BCF 03.5 |
04A7: BTFSS 05.4 |
04A8: GOTO 4AB |
04A9: BCF 05.4 |
04AA: GOTO 4AC |
04AB: BSF 05.4 |
04AC: BSF 03.5 |
04AD: BCF 05.4 |
.................... last=line; |
04AE: BCF 03.5 |
04AF: MOVF 2A,W |
04B0: MOVWF 2C |
.................... speed=FW_ZATACKA; |
04B1: MOVLW C8 |
04B2: MOVWF 2B |
.................... cirkus++; |
04B3: INCF 2E,F |
.................... if (cirkus>8) |
04B4: MOVF 2E,W |
04B5: SUBLW 08 |
04B6: BTFSC 03.0 |
04B7: GOTO 560 |
.................... { |
.................... STOPL; STOPR; |
04B8: BSF 03.5 |
04B9: BCF 06.6 |
04BA: BCF 03.5 |
04BB: BCF 06.6 |
04BC: BSF 03.5 |
04BD: BCF 06.7 |
04BE: BCF 03.5 |
04BF: BCF 06.7 |
04C0: BSF 03.5 |
04C1: BCF 06.4 |
04C2: BCF 03.5 |
04C3: BCF 06.4 |
04C4: BSF 03.5 |
04C5: BCF 06.5 |
04C6: BCF 03.5 |
04C7: BCF 06.5 |
.................... cirkus=0; |
04C8: CLRF 2E |
.................... disable_interrupts(GLOBAL); |
04C9: BCF 0B.6 |
04CA: BCF 0B.7 |
04CB: BTFSC 0B.7 |
04CC: GOTO 4CA |
.................... beep(1000,400); |
04CD: MOVLW 03 |
04CE: MOVWF 37 |
04CF: MOVLW E8 |
04D0: MOVWF 36 |
04D1: MOVLW 01 |
04D2: MOVWF 39 |
04D3: MOVLW 90 |
04D4: MOVWF 38 |
04D5: CALL 055 |
.................... for(n=3000; n>3950; n--) beep(n,10); |
04D6: MOVLW 0B |
04D7: MOVWF 31 |
04D8: MOVLW B8 |
04D9: MOVWF 30 |
04DA: MOVF 31,W |
04DB: SUBLW 0E |
04DC: BTFSC 03.0 |
04DD: GOTO 4F2 |
04DE: XORLW FF |
04DF: BTFSS 03.2 |
04E0: GOTO 4E5 |
04E1: MOVF 30,W |
04E2: SUBLW 6E |
04E3: BTFSC 03.0 |
04E4: GOTO 4F2 |
04E5: MOVF 31,W |
04E6: MOVWF 37 |
04E7: MOVF 30,W |
04E8: MOVWF 36 |
04E9: CLRF 39 |
04EA: MOVLW 0A |
04EB: MOVWF 38 |
04EC: CALL 055 |
04ED: MOVF 30,W |
04EE: BTFSC 03.2 |
04EF: DECF 31,F |
04F0: DECF 30,F |
04F1: GOTO 4DA |
.................... output_low(LED1); |
04F2: BSF 03.5 |
04F3: BCF 05.4 |
04F4: BCF 03.5 |
04F5: BCF 05.4 |
.................... beep(2000,200); |
04F6: MOVLW 07 |
04F7: MOVWF 37 |
04F8: MOVLW D0 |
04F9: MOVWF 36 |
04FA: CLRF 39 |
04FB: MOVLW C8 |
04FC: MOVWF 38 |
04FD: CALL 055 |
.................... beep(900,400); |
04FE: MOVLW 03 |
04FF: MOVWF 37 |
0500: MOVLW 84 |
0501: MOVWF 36 |
0502: MOVLW 01 |
0503: MOVWF 39 |
0504: MOVLW 90 |
0505: MOVWF 38 |
0506: CALL 055 |
.................... for(n=2950; n<3000; n++) beep(n,10); |
0507: MOVLW 0B |
0508: MOVWF 31 |
0509: MOVLW 86 |
050A: MOVWF 30 |
050B: MOVF 31,W |
050C: SUBLW 0B |
050D: BTFSS 03.0 |
050E: GOTO 521 |
050F: BTFSS 03.2 |
0510: GOTO 515 |
0511: MOVF 30,W |
0512: SUBLW B7 |
0513: BTFSS 03.0 |
0514: GOTO 521 |
0515: MOVF 31,W |
0516: MOVWF 37 |
0517: MOVF 30,W |
0518: MOVWF 36 |
0519: CLRF 39 |
051A: MOVLW 0A |
051B: MOVWF 38 |
051C: CALL 055 |
051D: INCF 30,F |
051E: BTFSC 03.2 |
051F: INCF 31,F |
0520: GOTO 50B |
.................... output_low(LED2); |
0521: BSF 03.5 |
0522: BCF 05.3 |
0523: BCF 03.5 |
0524: BCF 05.3 |
.................... output_high(LED1); |
0525: BSF 03.5 |
0526: BCF 05.4 |
0527: BCF 03.5 |
0528: BSF 05.4 |
.................... beep(4000,400); |
0529: MOVLW 0F |
052A: MOVWF 37 |
052B: MOVLW A0 |
052C: MOVWF 36 |
052D: MOVLW 01 |
052E: MOVWF 39 |
052F: MOVLW 90 |
0530: MOVWF 38 |
0531: CALL 055 |
.................... beep(1000,100); |
0532: MOVLW 03 |
0533: MOVWF 37 |
0534: MOVLW E8 |
0535: MOVWF 36 |
0536: CLRF 39 |
0537: MOVLW 64 |
0538: MOVWF 38 |
0539: CALL 055 |
.................... output_low(LED3); |
053A: BSF 03.5 |
053B: BCF 05.7 |
053C: BCF 03.5 |
053D: BCF 05.7 |
.................... beep(3000,400); |
053E: MOVLW 0B |
053F: MOVWF 37 |
0540: MOVLW B8 |
0541: MOVWF 36 |
0542: MOVLW 01 |
0543: MOVWF 39 |
0544: MOVLW 90 |
0545: MOVWF 38 |
0546: CALL 055 |
.................... Delay_ms(1000); |
0547: MOVLW 04 |
0548: MOVWF 34 |
0549: MOVLW FA |
054A: MOVWF 37 |
054B: CALL 073 |
054C: DECFSZ 34,F |
054D: GOTO 549 |
.................... output_high(LED1); output_high(LED2); |
054E: BSF 03.5 |
054F: BCF 05.4 |
0550: BCF 03.5 |
0551: BSF 05.4 |
0552: BSF 03.5 |
0553: BCF 05.3 |
0554: BCF 03.5 |
0555: BSF 05.3 |
.................... output_high(LED3); output_high(LED4); |
0556: BSF 03.5 |
0557: BCF 05.7 |
0558: BCF 03.5 |
0559: BSF 05.7 |
055A: BSF 03.5 |
055B: BCF 05.6 |
055C: BCF 03.5 |
055D: BSF 05.6 |
.................... enable_interrupts(GLOBAL); |
055E: MOVLW C0 |
055F: IORWF 0B,F |
.................... } |
.................... }; |
.................... |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
0560: MOVF 2A,W |
0561: SUBLW 02 |
0562: BTFSS 03.2 |
0563: GOTO 582 |
.................... { |
.................... STOPL; |
0564: BSF 03.5 |
0565: BCF 06.6 |
0566: BCF 03.5 |
0567: BCF 06.6 |
0568: BSF 03.5 |
0569: BCF 06.7 |
056A: BCF 03.5 |
056B: BCF 06.7 |
.................... GO(R, F, speed); |
056C: MOVF 01,W |
056D: SUBWF 2B,W |
056E: BTFSS 03.0 |
056F: GOTO 579 |
0570: BSF 03.5 |
0571: BCF 06.5 |
0572: BCF 03.5 |
0573: BCF 06.5 |
0574: BSF 03.5 |
0575: BCF 06.4 |
0576: BCF 03.5 |
0577: BSF 06.4 |
0578: GOTO 581 |
0579: BSF 03.5 |
057A: BCF 06.4 |
057B: BCF 03.5 |
057C: BCF 06.4 |
057D: BSF 03.5 |
057E: BCF 06.5 |
057F: BCF 03.5 |
0580: BCF 06.5 |
.................... } |
.................... else |
0581: GOTO 59F |
.................... { |
.................... STOPR; |
0582: BSF 03.5 |
0583: BCF 06.4 |
0584: BCF 03.5 |
0585: BCF 06.4 |
0586: BSF 03.5 |
0587: BCF 06.5 |
0588: BCF 03.5 |
0589: BCF 06.5 |
.................... GO(L, F, speed); |
058A: MOVF 01,W |
058B: SUBWF 2B,W |
058C: BTFSS 03.0 |
058D: GOTO 597 |
058E: BSF 03.5 |
058F: BCF 06.7 |
0590: BCF 03.5 |
0591: BCF 06.7 |
0592: BSF 03.5 |
0593: BCF 06.6 |
0594: BCF 03.5 |
0595: BSF 06.6 |
0596: GOTO 59F |
0597: BSF 03.5 |
0598: BCF 06.6 |
0599: BCF 03.5 |
059A: BCF 06.6 |
059B: BSF 03.5 |
059C: BCF 06.7 |
059D: BCF 03.5 |
059E: BCF 06.7 |
.................... } |
.................... |
.................... } // while(true) |
059F: GOTO 3CB |
.................... } |
.................... |
.................... |
05A0: 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/PIC16F88/MerkurU/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\MerkurU\tank.c |
2=C:\Program Files\PICC\devices\16F88.h |
3=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h |
4= |
5= |
6= |
7= |
/roboti/istrobot/merkur/PIC16F88/MerkurU/tank.SYM |
---|
0,0 → 1,71 |
015-016 CCP_1 |
015 CCP_1_LOW |
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 sensors |
02A line |
02B speed |
02C last |
02D rovinka |
02E cirkus |
02F.0 BW |
030-031 main.n |
032-033 main.i |
034-035 diagnostika.n |
034-035 OtocSe.n |
034 main.@SCRATCH |
035 main.@SCRATCH |
036-037 beep.period |
036 diagnostika.@SCRATCH |
036 OtocSe.@SCRATCH |
037 @delay_ms1.P1 |
037 OtocSe.@SCRATCH |
038-039 beep.length |
03A-03B beep.nn |
03C @delay_us1.P1 |
077 @SCRATCH |
078 @SCRATCH |
078 _RETURN_ |
079 @SCRATCH |
07A @SCRATCH |
07B @SCRATCH |
09C.6 C1OUT |
09C.7 C2OUT |
0073 @delay_ms1 |
0042 @delay_us1 |
0037 TIMER2_isr |
0055 beep |
0088 diagnostika |
01F8 OtocSe |
02D1 main |
02D1 @cinit |
Project Files: |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h |
C:\Program Files\PICC\devices\16F88.h |
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\MerkurU\tank.err |
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.HEX |
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.SYM |
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.LST |
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.cof |
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.tre |
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.sta |
/roboti/istrobot/merkur/PIC16F88/MerkurU/tank.c |
---|
0,0 → 1,268 |
// Program pro predvadeni schopnosti robota Merkur |
//------------------------------------------------ |
#include "tank.h" |
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 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
int cirkus; // pocitadlo, po kolika akcich se ma delat cirkus |
int1 BW; // urcuje, jestli je cara cerno/bila nebo |
// bilo/cerna (true = bila cara, cerny podklad) |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 120 // po jakem case zataceni se detekuje dira |
#define FW_POMALU 170 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 // rozhodovaci uroven cidla na prekazku |
//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 (BW != C2OUT) // Senzory na caru |
#define LSENSOR (BW != C1OUT) |
#define BUMPER sAN2 // Senzor na cihlu |
#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
#define BARVY PIN_B1 // Propojka pro nastaveni barvy cary |
#define SPEAKER PIN_B0 // vystup pro pipak |
#define LED1 PIN_A4 // LEDky |
#define LED2 PIN_A3 |
#define LED3 PIN_A7 |
#define LED4 PIN_A6 |
// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} else {stop##motor;} |
#int_TIMER2 |
void TIMER2_isr() // obsluha zrychlovani |
{ |
if (speed<255) speed++; |
if (rovinka<MAX_ROVINKA) rovinka++; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
for(nn=length; nn>0; nn--) |
{ |
output_high(SPEAKER); |
delay_us(period); |
output_low(SPEAKER); |
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)) // spusteni diagnostiky cidel |
{ |
if (RSENSOR) beep(1000,200); |
Delay_ms(200); |
if (LSENSOR) beep(2000,300); |
Delay_ms(200); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400); |
Delay_ms(200); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void OtocSe() // otoci se zpet, kdyz je prekazka |
{ |
unsigned int16 n; |
BL; BR; // cukni zpatky |
Delay_ms(200); |
STOPR;STOPL; |
beep(800,400); |
beep(2000,1000); |
output_low(LED4); |
beep(900,400); |
output_low(LED1); |
BR; FL; Delay_ms(100); // otoc se 30° do prava |
STOPL; STOPR; |
beep(1000,1000); |
output_low(LED3); |
BR; FL; |
for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
} |
STOPR; STOPL; |
output_high(LED1); output_high(LED3); output_high(LED4); |
line=L; // caru jsme prejeli, tak je vlevo |
cirkus=0; |
} |
void main() |
{ |
unsigned int16 n; // pro FOR |
unsigned int16 i; |
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(BUMPER|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 |
output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4); |
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; |
cirkus=0; |
// movement=S; |
speed=FW_POMALU; |
BW=input(BARVY); // Jaka ma byt barva cary? |
diagnostika(); // Zkus, jestli nekdo nechce, diagnostiku |
Delay_ms(500); |
output_high(LED1); Beep(1000,200); Delay_ms(500); |
output_high(LED2); Beep(1000,200); Delay_ms(500); |
output_high(LED3); Beep(1000,200); Delay_ms(500); |
output_high(LED4); 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) OtocSe(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
}; |
rovinka=0; |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, |
// tak zabrzdi |
{ |
output_bit(LED1, !input(LED1)); |
last=line; |
speed=FW_ZATACKA; |
cirkus++; |
if (cirkus>8) |
{ |
STOPL; STOPR; |
cirkus=0; |
disable_interrupts(GLOBAL); |
beep(1000,400); |
for(n=3000; n>3950; n--) beep(n,10); |
output_low(LED1); |
beep(2000,200); |
beep(900,400); |
for(n=2950; n<3000; n++) beep(n,10); |
output_low(LED2); |
output_high(LED1); |
beep(4000,400); |
beep(1000,100); |
output_low(LED3); |
beep(3000,400); |
Delay_ms(1000); |
output_high(LED1); output_high(LED2); |
output_high(LED3); output_high(LED4); |
enable_interrupts(GLOBAL); |
} |
}; |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/PIC16F88/MerkurU/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/PIC16F88/MerkurU/tank.err |
---|
0,0 → 1,0 |
No Errors |
/roboti/istrobot/merkur/PIC16F88/MerkurU/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/PIC16F88/MerkurU/tank.sta |
---|
0,0 → 1,35 |
ROM used: 1441 (35%) |
1441 (35%) including unused fragments |
3 Average locations per line |
5 Average locations per statement |
RAM used: 27 (15%) at main() level |
34 (19%) worst case |
Lines Stmts % Files |
----- ----- --- ----- |
269 293 100 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.c |
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\MerkurU\tank.h |
275 0 0 C:\Program Files\PICC\devices\16F88.h |
----- ----- |
1100 586 Total |
Page ROM % RAM Functions: |
---- --- --- --- ---------- |
0 21 1 1 @delay_ms1 |
0 19 1 1 @delay_us1 |
0 11 1 0 TIMER2_isr |
0 30 2 6 beep |
0 368 26 3 diagnostika |
0 217 15 4 OtocSe |
0 720 50 6 main |
Segment Used Free |
--------- ---- ---- |
00000-00003 4 0 |
00004-00036 51 0 |
00037-007FF 1386 607 |
00800-00FFF 0 2048 |
/roboti/istrobot/merkur/PIC16F88/MerkurU/tank.tre |
---|
0,0 → 1,106 |
ÀÄtank |
ÃÄmain 0/720 Ram=6 |
³ ÃÄ??0?? |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄdiagnostika 0/368 Ram=3 |
³ ³ ÃÄbeep 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 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 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 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 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 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 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄbeep 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄbeep 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄOtocSe 0/217 Ram=4 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÃÄbeep 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄbeep 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄbeep 0/30 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÀÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/30 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÀÄ@delay_ms1 0/21 Ram=1 |
ÀÄTIMER2_isr 0/11 Ram=0 |
/roboti/istrobot/merkur/PIC16F88/turn_L/AX25.c |
---|
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/PIC16F88/turn_L/tank.BAK |
---|
0,0 → 1,340 |
#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 87 // 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 250 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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() |
{ |
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)) |
{ |
if (RSENSOR) beep(900,500); |
if (LSENSOR) beep(800,500); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() |
{ |
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(200); |
STOPR;STOPL; |
beep(900,1000); |
// movement=S; |
//cikcak(); |
BL; FR; Delay_ms(215); // otoc se 70° do leva |
FR; FL; Delay_ms(600); // popojed rovne |
BR; Delay_ms(50); // otoc se 90° do prava |
STOPR; FL; Delay_ms(700); |
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;} // kdyz narazis na caru, za chvili zastav |
Delay_ms(1); |
} |
BL; // otoc se 60° do leva |
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(); |
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(800,500); |
line=0; |
FR; BL; Delay_ms(300); // otoc se na caru |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); |
STOPL; STOPR; |
FL; BR; Delay_ms(500); |
STOPL; STOPR; |
Delay_ms(1000); |
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) |
} |
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:100CB0004608563C031C802B410844020319642E4D |
:100CC0004108C400C830C2004108023C031D882E00 |
:100CD0008316061383120613831686138312861354 |
:100CE00001084202031C7D2E83168612831286128F |
:100CF0008316061283120616852E83160612831299 |
:100D0000061283168612831286120230C500A72EA1 |
:100D10008316061283120612831686128312861217 |
:100D200001084202031C9D2E83168613831286132C |
:100D30008316061383120617A52E83160613831235 |
:100D4000061383168613831286130130C500AC2D5B |
:020D500063003E |
:04400E00383FFC3FFC |
:00000001FF |
;PIC16F88 |
/roboti/istrobot/merkur/PIC16F88/turn_L/tank.LST |
---|
0,0 → 1,2051 |
CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 21:32 |
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LST |
ROM used: 1705 words (42%) |
Largest free fragment is 2048 |
RAM used: 87 (50%) at main() level |
98 (56%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 4E8 |
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 037 |
.................... #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) |
* |
0047: MOVLW 12 |
0048: BSF 03.5 |
0049: SUBWF 22,F |
004A: BTFSS 03.0 |
004B: GOTO 05A |
004C: MOVLW A2 |
004D: MOVWF 04 |
004E: MOVLW FC |
004F: ANDWF 00,F |
0050: BCF 03.0 |
0051: RRF 00,F |
0052: RRF 00,F |
0053: MOVF 00,W |
0054: BTFSC 03.2 |
0055: GOTO 05A |
0056: GOTO 058 |
0057: NOP |
0058: DECFSZ 00,F |
0059: GOTO 057 |
005A: BCF 03.5 |
005B: RETLW 00 |
* |
0088: MOVLW 75 |
0089: MOVWF 04 |
008A: MOVF 00,W |
008B: BTFSC 03.2 |
008C: GOTO 09C |
008D: MOVLW 01 |
008E: MOVWF 78 |
008F: CLRF 77 |
0090: DECFSZ 77,F |
0091: GOTO 090 |
0092: DECFSZ 78,F |
0093: GOTO 08F |
0094: MOVLW 4A |
0095: MOVWF 77 |
0096: DECFSZ 77,F |
0097: GOTO 096 |
0098: NOP |
0099: NOP |
009A: DECFSZ 00,F |
009B: GOTO 08D |
009C: 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 |
.................... |
.................... // Konstanty pro dynamiku pohybu |
.................... #define T_DIRA 87 // 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 250 |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 |
.................... #define CIK_CAK 30000 |
.................... #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; |
* |
0037: INCFSZ 42,W |
0038: GOTO 03A |
0039: GOTO 03C |
003A: MOVLW 01 |
003B: ADDWF 42,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
003C: MOVF 43,W |
003D: SUBLW 0E |
003E: BTFSC 03.0 |
003F: INCF 43,F |
.................... if (dira<=T_DIRA) dira++; |
0040: MOVF 46,W |
0041: SUBLW 57 |
0042: BTFSC 03.0 |
0043: INCF 46,F |
.................... } |
.................... // Primitivni Pipani |
0044: BCF 0C.1 |
0045: BCF 0A.3 |
0046: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
005C: MOVF 7D,W |
005D: BSF 03.5 |
005E: MOVWF 21 |
005F: MOVF 7C,W |
0060: MOVWF 20 |
0061: MOVF 20,F |
0062: BTFSS 03.2 |
0063: GOTO 067 |
0064: MOVF 21,F |
0065: BTFSC 03.2 |
0066: GOTO 086 |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
0067: BCF 05.6 |
0068: BCF 03.5 |
0069: BSF 05.6 |
006A: BSF 03.5 |
006B: BCF 05.7 |
006C: BCF 03.5 |
006D: BCF 05.7 |
.................... delay_us(period); |
006E: MOVF 74,W |
006F: BSF 03.5 |
0070: MOVWF 22 |
0071: BCF 03.5 |
0072: CALL 047 |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
0073: BSF 03.5 |
0074: BCF 05.7 |
0075: BCF 03.5 |
0076: BSF 05.7 |
0077: BSF 03.5 |
0078: BCF 05.6 |
0079: BCF 03.5 |
007A: BCF 05.6 |
.................... delay_us(period); |
007B: MOVF 74,W |
007C: BSF 03.5 |
007D: MOVWF 22 |
007E: BCF 03.5 |
007F: CALL 047 |
.................... } |
0080: BSF 03.5 |
0081: MOVF 20,W |
0082: BTFSC 03.2 |
0083: DECF 21,F |
0084: DECF 20,F |
0085: GOTO 061 |
.................... } |
0086: BCF 03.5 |
0087: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
009D: BSF 03.5 |
009E: BSF 06.3 |
009F: BCF 03.5 |
00A0: BTFSS 06.3 |
00A1: GOTO 1C8 |
.................... for (n=500; n<800; n+=100) |
00A2: MOVLW 01 |
00A3: MOVWF 72 |
00A4: MOVLW F4 |
00A5: MOVWF 71 |
00A6: MOVF 72,W |
00A7: SUBLW 03 |
00A8: BTFSS 03.0 |
00A9: GOTO 0BE |
00AA: BTFSS 03.2 |
00AB: GOTO 0B0 |
00AC: MOVF 71,W |
00AD: SUBLW 1F |
00AE: BTFSS 03.0 |
00AF: GOTO 0BE |
.................... { |
.................... beep(n,n); //beep UP |
00B0: MOVF 72,W |
00B1: MOVWF 75 |
00B2: MOVF 71,W |
00B3: MOVWF 74 |
00B4: MOVF 72,W |
00B5: MOVWF 7D |
00B6: MOVF 71,W |
00B7: MOVWF 7C |
00B8: CALL 05C |
.................... }; |
00B9: MOVLW 64 |
00BA: ADDWF 71,F |
00BB: BTFSC 03.0 |
00BC: INCF 72,F |
00BD: GOTO 0A6 |
.................... Delay_ms(1000); |
00BE: MOVLW 04 |
00BF: MOVWF 73 |
00C0: MOVLW FA |
00C1: MOVWF 75 |
00C2: CALL 088 |
00C3: DECFSZ 73,F |
00C4: GOTO 0C0 |
.................... //zastav vse |
.................... STOPL; STOPR; |
00C5: BSF 03.5 |
00C6: BCF 06.6 |
00C7: BCF 03.5 |
00C8: BCF 06.6 |
00C9: BSF 03.5 |
00CA: BCF 06.7 |
00CB: BCF 03.5 |
00CC: BCF 06.7 |
00CD: BSF 03.5 |
00CE: BCF 06.4 |
00CF: BCF 03.5 |
00D0: BCF 06.4 |
00D1: BSF 03.5 |
00D2: BCF 06.5 |
00D3: BCF 03.5 |
00D4: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00D5: BSF 03.5 |
00D6: BCF 06.5 |
00D7: BCF 03.5 |
00D8: BCF 06.5 |
00D9: BSF 03.5 |
00DA: BCF 06.4 |
00DB: BCF 03.5 |
00DC: BSF 06.4 |
00DD: MOVLW 04 |
00DE: MOVWF 73 |
00DF: MOVLW FA |
00E0: MOVWF 75 |
00E1: CALL 088 |
00E2: DECFSZ 73,F |
00E3: GOTO 0DF |
00E4: BSF 03.5 |
00E5: BCF 06.4 |
00E6: BCF 03.5 |
00E7: BCF 06.4 |
00E8: BSF 03.5 |
00E9: BCF 06.5 |
00EA: BCF 03.5 |
00EB: BCF 06.5 |
00EC: MOVLW 04 |
00ED: MOVWF 73 |
00EE: MOVLW FA |
00EF: MOVWF 75 |
00F0: CALL 088 |
00F1: DECFSZ 73,F |
00F2: GOTO 0EE |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00F3: BSF 03.5 |
00F4: BCF 06.4 |
00F5: BCF 03.5 |
00F6: BCF 06.4 |
00F7: BSF 03.5 |
00F8: BCF 06.5 |
00F9: BCF 03.5 |
00FA: BSF 06.5 |
00FB: MOVLW 04 |
00FC: MOVWF 73 |
00FD: MOVLW FA |
00FE: MOVWF 75 |
00FF: CALL 088 |
0100: DECFSZ 73,F |
0101: GOTO 0FD |
0102: BSF 03.5 |
0103: BCF 06.4 |
0104: BCF 03.5 |
0105: BCF 06.4 |
0106: BSF 03.5 |
0107: BCF 06.5 |
0108: BCF 03.5 |
0109: BCF 06.5 |
010A: MOVLW 04 |
010B: MOVWF 73 |
010C: MOVLW FA |
010D: MOVWF 75 |
010E: CALL 088 |
010F: DECFSZ 73,F |
0110: GOTO 10C |
.................... Beep(880,100); Delay_ms(1000); |
0111: MOVLW 03 |
0112: MOVWF 75 |
0113: MOVLW 70 |
0114: MOVWF 74 |
0115: CLRF 7D |
0116: MOVLW 64 |
0117: MOVWF 7C |
0118: CALL 05C |
0119: MOVLW 04 |
011A: MOVWF 73 |
011B: MOVLW FA |
011C: MOVWF 75 |
011D: CALL 088 |
011E: DECFSZ 73,F |
011F: GOTO 11B |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0120: BSF 03.5 |
0121: BCF 06.7 |
0122: BCF 03.5 |
0123: BCF 06.7 |
0124: BSF 03.5 |
0125: BCF 06.6 |
0126: BCF 03.5 |
0127: BSF 06.6 |
0128: MOVLW 04 |
0129: MOVWF 73 |
012A: MOVLW FA |
012B: MOVWF 75 |
012C: CALL 088 |
012D: DECFSZ 73,F |
012E: GOTO 12A |
012F: BSF 03.5 |
0130: BCF 06.6 |
0131: BCF 03.5 |
0132: BCF 06.6 |
0133: BSF 03.5 |
0134: BCF 06.7 |
0135: BCF 03.5 |
0136: BCF 06.7 |
0137: MOVLW 04 |
0138: MOVWF 73 |
0139: MOVLW FA |
013A: MOVWF 75 |
013B: CALL 088 |
013C: DECFSZ 73,F |
013D: GOTO 139 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
013E: BSF 03.5 |
013F: BCF 06.6 |
0140: BCF 03.5 |
0141: BCF 06.6 |
0142: BSF 03.5 |
0143: BCF 06.7 |
0144: BCF 03.5 |
0145: BSF 06.7 |
0146: MOVLW 04 |
0147: MOVWF 73 |
0148: MOVLW FA |
0149: MOVWF 75 |
014A: CALL 088 |
014B: DECFSZ 73,F |
014C: GOTO 148 |
014D: BSF 03.5 |
014E: BCF 06.6 |
014F: BCF 03.5 |
0150: BCF 06.6 |
0151: BSF 03.5 |
0152: BCF 06.7 |
0153: BCF 03.5 |
0154: BCF 06.7 |
0155: MOVLW 04 |
0156: MOVWF 73 |
0157: MOVLW FA |
0158: MOVWF 75 |
0159: CALL 088 |
015A: DECFSZ 73,F |
015B: GOTO 157 |
.................... Beep(880,100); Delay_ms(1000); |
015C: MOVLW 03 |
015D: MOVWF 75 |
015E: MOVLW 70 |
015F: MOVWF 74 |
0160: CLRF 7D |
0161: MOVLW 64 |
0162: MOVWF 7C |
0163: CALL 05C |
0164: MOVLW 04 |
0165: MOVWF 73 |
0166: MOVLW FA |
0167: MOVWF 75 |
0168: CALL 088 |
0169: DECFSZ 73,F |
016A: GOTO 166 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
016B: BSF 03.5 |
016C: BCF 06.7 |
016D: BCF 03.5 |
016E: BCF 06.7 |
016F: BSF 03.5 |
0170: BCF 06.6 |
0171: BCF 03.5 |
0172: BSF 06.6 |
0173: BSF 03.5 |
0174: BCF 06.5 |
0175: BCF 03.5 |
0176: BCF 06.5 |
0177: BSF 03.5 |
0178: BCF 06.4 |
0179: BCF 03.5 |
017A: BSF 06.4 |
017B: MOVLW 04 |
017C: MOVWF 73 |
017D: MOVLW FA |
017E: MOVWF 75 |
017F: CALL 088 |
0180: DECFSZ 73,F |
0181: GOTO 17D |
0182: BSF 03.5 |
0183: BCF 06.6 |
0184: BCF 03.5 |
0185: BCF 06.6 |
0186: BSF 03.5 |
0187: BCF 06.7 |
0188: BCF 03.5 |
0189: BCF 06.7 |
018A: BSF 03.5 |
018B: BCF 06.4 |
018C: BCF 03.5 |
018D: BCF 06.4 |
018E: BSF 03.5 |
018F: BCF 06.5 |
0190: BCF 03.5 |
0191: BCF 06.5 |
0192: MOVLW 04 |
0193: MOVWF 73 |
0194: MOVLW FA |
0195: MOVWF 75 |
0196: CALL 088 |
0197: DECFSZ 73,F |
0198: GOTO 194 |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0199: BSF 03.5 |
019A: BCF 06.6 |
019B: BCF 03.5 |
019C: BCF 06.6 |
019D: BSF 03.5 |
019E: BCF 06.7 |
019F: BCF 03.5 |
01A0: BSF 06.7 |
01A1: BSF 03.5 |
01A2: BCF 06.4 |
01A3: BCF 03.5 |
01A4: BCF 06.4 |
01A5: BSF 03.5 |
01A6: BCF 06.5 |
01A7: BCF 03.5 |
01A8: BSF 06.5 |
01A9: MOVLW 04 |
01AA: MOVWF 73 |
01AB: MOVLW FA |
01AC: MOVWF 75 |
01AD: CALL 088 |
01AE: DECFSZ 73,F |
01AF: GOTO 1AB |
01B0: BSF 03.5 |
01B1: BCF 06.6 |
01B2: BCF 03.5 |
01B3: BCF 06.6 |
01B4: BSF 03.5 |
01B5: BCF 06.7 |
01B6: BCF 03.5 |
01B7: BCF 06.7 |
01B8: BSF 03.5 |
01B9: BCF 06.4 |
01BA: BCF 03.5 |
01BB: BCF 06.4 |
01BC: BSF 03.5 |
01BD: BCF 06.5 |
01BE: BCF 03.5 |
01BF: BCF 06.5 |
01C0: MOVLW 04 |
01C1: MOVWF 73 |
01C2: MOVLW FA |
01C3: MOVWF 75 |
01C4: CALL 088 |
01C5: DECFSZ 73,F |
01C6: GOTO 1C2 |
.................... }; |
01C7: GOTO 09D |
.................... while (input(DIAG_SENSORS)) |
.................... { |
01C8: BSF 03.5 |
01C9: BSF 06.2 |
01CA: BCF 03.5 |
01CB: BTFSS 06.2 |
01CC: GOTO 1FB |
.................... if (RSENSOR) beep(900,500); |
01CD: BSF 03.5 |
01CE: BTFSS 1C.7 |
01CF: GOTO 1DB |
01D0: MOVLW 03 |
01D1: MOVWF 75 |
01D2: MOVLW 84 |
01D3: MOVWF 74 |
01D4: MOVLW 01 |
01D5: MOVWF 7D |
01D6: MOVLW F4 |
01D7: MOVWF 7C |
01D8: BCF 03.5 |
01D9: CALL 05C |
01DA: BSF 03.5 |
.................... if (LSENSOR) beep(800,500); |
01DB: BTFSS 1C.6 |
01DC: GOTO 1E8 |
01DD: MOVLW 03 |
01DE: MOVWF 75 |
01DF: MOVLW 20 |
01E0: MOVWF 74 |
01E1: MOVLW 01 |
01E2: MOVWF 7D |
01E3: MOVLW F4 |
01E4: MOVWF 7C |
01E5: BCF 03.5 |
01E6: CALL 05C |
01E7: BSF 03.5 |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
01E8: BCF 03.5 |
01E9: BTFSS 1F.2 |
01EA: GOTO 1ED |
01EB: BSF 03.5 |
01EC: GOTO 1E8 |
01ED: MOVF 1E,W |
01EE: SUBLW 7F |
01EF: BTFSS 03.0 |
01F0: GOTO 1FA |
01F1: MOVLW 03 |
01F2: MOVWF 75 |
01F3: MOVLW E8 |
01F4: MOVWF 74 |
01F5: MOVLW 01 |
01F6: MOVWF 7D |
01F7: MOVLW F4 |
01F8: MOVWF 7C |
01F9: CALL 05C |
.................... }; |
01FA: GOTO 1C8 |
.................... } |
01FB: BCF 0A.3 |
01FC: GOTO 596 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void cikcak() |
.................... { |
.................... unsigned int16 n; |
.................... sem1: |
.................... n=CIK_CAK; |
01FD: MOVLW 75 |
01FE: MOVWF 75 |
01FF: MOVLW 30 |
0200: MOVWF 74 |
.................... while (0==RSENSOR||LSENSOR) // zkontroluj caru |
.................... { |
0201: MOVLW 00 |
0202: BSF 03.5 |
0203: BTFSC 1C.7 |
0204: MOVLW 01 |
0205: XORLW 00 |
0206: BTFSC 03.2 |
0207: GOTO 20A |
0208: BTFSS 1C.6 |
0209: GOTO 264 |
.................... if (n==CIK_CAK) // zmen smer zataceni |
020A: MOVF 74,W |
020B: SUBLW 30 |
020C: BTFSS 03.2 |
020D: GOTO 25E |
020E: MOVF 75,W |
020F: SUBLW 75 |
0210: BTFSS 03.2 |
0211: GOTO 25E |
.................... { |
.................... n=0; |
0212: CLRF 75 |
0213: CLRF 74 |
.................... switch(movement) |
.................... { |
0214: BCF 03.5 |
0215: MOVF 45,W |
0216: XORLW 02 |
0217: BTFSC 03.2 |
0218: GOTO 220 |
0219: XORLW 03 |
021A: BTFSC 03.2 |
021B: GOTO 233 |
021C: XORLW 02 |
021D: BTFSC 03.2 |
021E: GOTO 246 |
021F: GOTO 25D |
.................... case L: |
.................... FL;BR; |
0220: BSF 03.5 |
0221: BCF 06.7 |
0222: BCF 03.5 |
0223: BCF 06.7 |
0224: BSF 03.5 |
0225: BCF 06.6 |
0226: BCF 03.5 |
0227: BSF 06.6 |
0228: BSF 03.5 |
0229: BCF 06.4 |
022A: BCF 03.5 |
022B: BCF 06.4 |
022C: BSF 03.5 |
022D: BCF 06.5 |
022E: BCF 03.5 |
022F: BSF 06.5 |
.................... movement=R; |
0230: MOVLW 01 |
0231: MOVWF 45 |
.................... break; |
0232: GOTO 25D |
.................... case R: |
.................... FR;BL; |
0233: BSF 03.5 |
0234: BCF 06.5 |
0235: BCF 03.5 |
0236: BCF 06.5 |
0237: BSF 03.5 |
0238: BCF 06.4 |
0239: BCF 03.5 |
023A: BSF 06.4 |
023B: BSF 03.5 |
023C: BCF 06.6 |
023D: BCF 03.5 |
023E: BCF 06.6 |
023F: BSF 03.5 |
0240: BCF 06.7 |
0241: BCF 03.5 |
0242: BSF 06.7 |
.................... movement=L; |
0243: MOVLW 02 |
0244: MOVWF 45 |
.................... break; |
0245: GOTO 25D |
.................... case S: |
.................... FL;BR; |
0246: BSF 03.5 |
0247: BCF 06.7 |
0248: BCF 03.5 |
0249: BCF 06.7 |
024A: BSF 03.5 |
024B: BCF 06.6 |
024C: BCF 03.5 |
024D: BSF 06.6 |
024E: BSF 03.5 |
024F: BCF 06.4 |
0250: BCF 03.5 |
0251: BCF 06.4 |
0252: BSF 03.5 |
0253: BCF 06.5 |
0254: BCF 03.5 |
0255: BSF 06.5 |
.................... movement=R; |
0256: MOVLW 01 |
0257: MOVWF 45 |
.................... n=CIK_CAK/2; |
0258: MOVLW 3A |
0259: MOVWF 75 |
025A: MOVLW 98 |
025B: MOVWF 74 |
.................... break; |
025C: GOTO 25D |
025D: BSF 03.5 |
.................... } |
.................... } |
.................... n++; |
025E: INCF 74,F |
025F: BTFSC 03.2 |
0260: INCF 75,F |
.................... } |
0261: BCF 03.5 |
0262: GOTO 201 |
0263: BSF 03.5 |
.................... STOPL;STOPR; |
0264: BCF 06.6 |
0265: BCF 03.5 |
0266: BCF 06.6 |
0267: BSF 03.5 |
0268: BCF 06.7 |
0269: BCF 03.5 |
026A: BCF 06.7 |
026B: BSF 03.5 |
026C: BCF 06.4 |
026D: BCF 03.5 |
026E: BCF 06.4 |
026F: BSF 03.5 |
0270: BCF 06.5 |
0271: BCF 03.5 |
0272: BCF 06.5 |
.................... line = RSENSOR; // cteni senzoru na caru |
0273: CLRF 41 |
0274: BSF 03.5 |
0275: BTFSS 1C.7 |
0276: GOTO 27A |
0277: BCF 03.5 |
0278: INCF 41,F |
0279: BSF 03.5 |
.................... line |= LSENSOR << 1; |
027A: MOVLW 00 |
027B: BTFSC 1C.6 |
027C: MOVLW 01 |
027D: MOVWF 77 |
027E: BCF 03.0 |
027F: RLF 77,F |
0280: MOVF 77,W |
0281: BCF 03.5 |
0282: IORWF 41,F |
.................... if (line==0) goto sem1; |
0283: MOVF 41,F |
0284: BTFSC 03.2 |
0285: GOTO 1FD |
.................... // nasli jsme caru |
.................... line=S; |
0286: MOVLW 03 |
0287: MOVWF 41 |
.................... } |
0288: RETLW 00 |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void objizdka() // objede cihlu |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BL;BR;Delay_ms(200); |
0289: BSF 03.5 |
028A: BCF 06.6 |
028B: BCF 03.5 |
028C: BCF 06.6 |
028D: BSF 03.5 |
028E: BCF 06.7 |
028F: BCF 03.5 |
0290: BSF 06.7 |
0291: BSF 03.5 |
0292: BCF 06.4 |
0293: BCF 03.5 |
0294: BCF 06.4 |
0295: BSF 03.5 |
0296: BCF 06.5 |
0297: BCF 03.5 |
0298: BSF 06.5 |
0299: MOVLW C8 |
029A: MOVWF 75 |
029B: CALL 088 |
.................... STOPR;STOPL; |
029C: BSF 03.5 |
029D: BCF 06.4 |
029E: BCF 03.5 |
029F: BCF 06.4 |
02A0: BSF 03.5 |
02A1: BCF 06.5 |
02A2: BCF 03.5 |
02A3: BCF 06.5 |
02A4: BSF 03.5 |
02A5: BCF 06.6 |
02A6: BCF 03.5 |
02A7: BCF 06.6 |
02A8: BSF 03.5 |
02A9: BCF 06.7 |
02AA: BCF 03.5 |
02AB: BCF 06.7 |
.................... beep(900,1000); |
02AC: MOVLW 03 |
02AD: MOVWF 75 |
02AE: MOVLW 84 |
02AF: MOVWF 74 |
02B0: MOVLW 03 |
02B1: MOVWF 7D |
02B2: MOVLW E8 |
02B3: MOVWF 7C |
02B4: CALL 05C |
.................... // movement=S; |
.................... //cikcak(); |
.................... |
.................... BL; FR; Delay_ms(215); // otoc se 70° do leva |
02B5: BSF 03.5 |
02B6: BCF 06.6 |
02B7: BCF 03.5 |
02B8: BCF 06.6 |
02B9: BSF 03.5 |
02BA: BCF 06.7 |
02BB: BCF 03.5 |
02BC: BSF 06.7 |
02BD: BSF 03.5 |
02BE: BCF 06.5 |
02BF: BCF 03.5 |
02C0: BCF 06.5 |
02C1: BSF 03.5 |
02C2: BCF 06.4 |
02C3: BCF 03.5 |
02C4: BSF 06.4 |
02C5: MOVLW D7 |
02C6: MOVWF 75 |
02C7: CALL 088 |
.................... |
.................... FR; FL; Delay_ms(600); // popojed rovne |
02C8: BSF 03.5 |
02C9: BCF 06.5 |
02CA: BCF 03.5 |
02CB: BCF 06.5 |
02CC: BSF 03.5 |
02CD: BCF 06.4 |
02CE: BCF 03.5 |
02CF: BSF 06.4 |
02D0: BSF 03.5 |
02D1: BCF 06.7 |
02D2: BCF 03.5 |
02D3: BCF 06.7 |
02D4: BSF 03.5 |
02D5: BCF 06.6 |
02D6: BCF 03.5 |
02D7: BSF 06.6 |
02D8: MOVLW 03 |
02D9: MOVWF 73 |
02DA: MOVLW C8 |
02DB: MOVWF 75 |
02DC: CALL 088 |
02DD: DECFSZ 73,F |
02DE: GOTO 2DA |
.................... |
.................... BR; Delay_ms(50); // otoc se 90° do prava |
02DF: BSF 03.5 |
02E0: BCF 06.4 |
02E1: BCF 03.5 |
02E2: BCF 06.4 |
02E3: BSF 03.5 |
02E4: BCF 06.5 |
02E5: BCF 03.5 |
02E6: BSF 06.5 |
02E7: MOVLW 32 |
02E8: MOVWF 75 |
02E9: CALL 088 |
.................... STOPR; FL; Delay_ms(600); |
02EA: BSF 03.5 |
02EB: BCF 06.4 |
02EC: BCF 03.5 |
02ED: BCF 06.4 |
02EE: BSF 03.5 |
02EF: BCF 06.5 |
02F0: BCF 03.5 |
02F1: BCF 06.5 |
02F2: BSF 03.5 |
02F3: BCF 06.7 |
02F4: BCF 03.5 |
02F5: BCF 06.7 |
02F6: BSF 03.5 |
02F7: BCF 06.6 |
02F8: BCF 03.5 |
02F9: BSF 06.6 |
02FA: MOVLW 03 |
02FB: MOVWF 73 |
02FC: MOVLW C8 |
02FD: MOVWF 75 |
02FE: CALL 088 |
02FF: DECFSZ 73,F |
0300: GOTO 2FC |
.................... |
.................... FR; FL; Delay_ms(100); // popojed rovne na slepo |
0301: BSF 03.5 |
0302: BCF 06.5 |
0303: BCF 03.5 |
0304: BCF 06.5 |
0305: BSF 03.5 |
0306: BCF 06.4 |
0307: BCF 03.5 |
0308: BSF 06.4 |
0309: BSF 03.5 |
030A: BCF 06.7 |
030B: BCF 03.5 |
030C: BCF 06.7 |
030D: BSF 03.5 |
030E: BCF 06.6 |
030F: BCF 03.5 |
0310: BSF 06.6 |
0311: MOVLW 64 |
0312: MOVWF 75 |
0313: CALL 088 |
.................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
0314: MOVLW 02 |
0315: MOVWF 72 |
0316: MOVLW 58 |
0317: MOVWF 71 |
0318: MOVF 71,F |
0319: BTFSS 03.2 |
031A: GOTO 31E |
031B: MOVF 72,F |
031C: BTFSC 03.2 |
031D: GOTO 33D |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
031E: CLRF 41 |
031F: BSF 03.5 |
0320: BTFSS 1C.7 |
0321: GOTO 325 |
0322: BCF 03.5 |
0323: INCF 41,F |
0324: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0325: MOVLW 00 |
0326: BTFSC 1C.6 |
0327: MOVLW 01 |
0328: MOVWF 77 |
0329: BCF 03.0 |
032A: RLF 77,F |
032B: MOVF 77,W |
032C: BCF 03.5 |
032D: IORWF 41,F |
.................... if (line!=0) {Delay_ms(50); break;} // kdyz narazis na caru, za chvili zastav |
032E: MOVF 41,F |
032F: BTFSC 03.2 |
0330: GOTO 335 |
0331: MOVLW 32 |
0332: MOVWF 75 |
0333: CALL 088 |
0334: GOTO 33D |
.................... Delay_ms(1); |
0335: MOVLW 01 |
0336: MOVWF 75 |
0337: CALL 088 |
.................... } |
0338: MOVF 71,W |
0339: BTFSC 03.2 |
033A: DECF 72,F |
033B: DECF 71,F |
033C: GOTO 318 |
.................... |
.................... BL; // otoc se 60° do leva |
033D: BSF 03.5 |
033E: BCF 06.6 |
033F: BCF 03.5 |
0340: BCF 06.6 |
0341: BSF 03.5 |
0342: BCF 06.7 |
0343: BCF 03.5 |
0344: BSF 06.7 |
.................... for(n=600;n>0;n--) |
0345: MOVLW 02 |
0346: MOVWF 72 |
0347: MOVLW 58 |
0348: MOVWF 71 |
0349: MOVF 71,F |
034A: BTFSS 03.2 |
034B: GOTO 34F |
034C: MOVF 72,F |
034D: BTFSC 03.2 |
034E: GOTO 36A |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
034F: CLRF 41 |
0350: BSF 03.5 |
0351: BTFSS 1C.7 |
0352: GOTO 356 |
0353: BCF 03.5 |
0354: INCF 41,F |
0355: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0356: MOVLW 00 |
0357: BTFSC 1C.6 |
0358: MOVLW 01 |
0359: MOVWF 77 |
035A: BCF 03.0 |
035B: RLF 77,F |
035C: MOVF 77,W |
035D: BCF 03.5 |
035E: IORWF 41,F |
.................... if (line!=0) break; |
035F: MOVF 41,F |
0360: BTFSS 03.2 |
0361: GOTO 36A |
.................... Delay_ms(1); |
0362: MOVLW 01 |
0363: MOVWF 75 |
0364: CALL 088 |
.................... } |
0365: MOVF 71,W |
0366: BTFSC 03.2 |
0367: DECF 72,F |
0368: DECF 71,F |
0369: GOTO 349 |
.................... STOPR; STOPL; |
036A: BSF 03.5 |
036B: BCF 06.4 |
036C: BCF 03.5 |
036D: BCF 06.4 |
036E: BSF 03.5 |
036F: BCF 06.5 |
0370: BCF 03.5 |
0371: BCF 06.5 |
0372: BSF 03.5 |
0373: BCF 06.6 |
0374: BCF 03.5 |
0375: BCF 06.6 |
0376: BSF 03.5 |
0377: BCF 06.7 |
0378: BCF 03.5 |
0379: BCF 06.7 |
.................... |
.................... movement=R; |
037A: MOVLW 01 |
037B: MOVWF 45 |
.................... cikcak(); |
037C: CALL 1FD |
.................... dira=0; |
037D: CLRF 46 |
.................... } |
037E: BCF 0A.3 |
037F: GOTO 5C6 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void prejeddiru() // vyresi diru |
.................... { |
.................... unsigned int16 n; |
.................... unsigned int8 speed_dira; |
.................... |
.................... STOPL;STOPR; |
0380: BSF 03.5 |
0381: BCF 06.6 |
0382: BCF 03.5 |
0383: BCF 06.6 |
0384: BSF 03.5 |
0385: BCF 06.7 |
0386: BCF 03.5 |
0387: BCF 06.7 |
0388: BSF 03.5 |
0389: BCF 06.4 |
038A: BCF 03.5 |
038B: BCF 06.4 |
038C: BSF 03.5 |
038D: BCF 06.5 |
038E: BCF 03.5 |
038F: BCF 06.5 |
.................... speed_dira=speed; |
0390: MOVF 42,W |
0391: MOVWF 73 |
.................... beep(1000,500); |
0392: MOVLW 03 |
0393: MOVWF 75 |
0394: MOVLW E8 |
0395: MOVWF 74 |
0396: MOVLW 01 |
0397: MOVWF 7D |
0398: MOVLW F4 |
0399: MOVWF 7C |
039A: CALL 05C |
.................... switch (movement) //vrat se zpet na caru |
.................... { |
039B: MOVF 45,W |
039C: XORLW 02 |
039D: BTFSC 03.2 |
039E: GOTO 3A6 |
039F: XORLW 03 |
03A0: BTFSC 03.2 |
03A1: GOTO 3DE |
03A2: XORLW 02 |
03A3: BTFSC 03.2 |
03A4: GOTO 416 |
03A5: GOTO 418 |
.................... case L: |
.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
03A6: MOVLW 02 |
03A7: MOVWF 72 |
03A8: MOVLW 58 |
03A9: MOVWF 71 |
03AA: MOVF 71,F |
03AB: BTFSS 03.2 |
03AC: GOTO 3B0 |
03AD: MOVF 72,F |
03AE: BTFSC 03.2 |
03AF: GOTO 3CD |
03B0: MOVF 01,W |
03B1: SUBWF 73,W |
03B2: BTFSS 03.0 |
03B3: GOTO 3BD |
03B4: BSF 03.5 |
03B5: BCF 06.4 |
03B6: BCF 03.5 |
03B7: BCF 06.4 |
03B8: BSF 03.5 |
03B9: BCF 06.5 |
03BA: BCF 03.5 |
03BB: BSF 06.5 |
03BC: GOTO 3C5 |
03BD: BSF 03.5 |
03BE: BCF 06.4 |
03BF: BCF 03.5 |
03C0: BCF 06.4 |
03C1: BSF 03.5 |
03C2: BCF 06.5 |
03C3: BCF 03.5 |
03C4: BCF 06.5 |
03C5: MOVLW 01 |
03C6: MOVWF 75 |
03C7: CALL 088 |
03C8: MOVF 71,W |
03C9: BTFSC 03.2 |
03CA: DECF 72,F |
03CB: DECF 71,F |
03CC: GOTO 3AA |
.................... STOPL;STOPR; |
03CD: BSF 03.5 |
03CE: BCF 06.6 |
03CF: BCF 03.5 |
03D0: BCF 06.6 |
03D1: BSF 03.5 |
03D2: BCF 06.7 |
03D3: BCF 03.5 |
03D4: BCF 06.7 |
03D5: BSF 03.5 |
03D6: BCF 06.4 |
03D7: BCF 03.5 |
03D8: BCF 06.4 |
03D9: BSF 03.5 |
03DA: BCF 06.5 |
03DB: BCF 03.5 |
03DC: BCF 06.5 |
.................... break; |
03DD: GOTO 418 |
.................... case R: |
.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
03DE: MOVLW 02 |
03DF: MOVWF 72 |
03E0: MOVLW 58 |
03E1: MOVWF 71 |
03E2: MOVF 71,F |
03E3: BTFSS 03.2 |
03E4: GOTO 3E8 |
03E5: MOVF 72,F |
03E6: BTFSC 03.2 |
03E7: GOTO 405 |
03E8: MOVF 01,W |
03E9: SUBWF 73,W |
03EA: BTFSS 03.0 |
03EB: GOTO 3F5 |
03EC: BSF 03.5 |
03ED: BCF 06.6 |
03EE: BCF 03.5 |
03EF: BCF 06.6 |
03F0: BSF 03.5 |
03F1: BCF 06.7 |
03F2: BCF 03.5 |
03F3: BSF 06.7 |
03F4: GOTO 3FD |
03F5: BSF 03.5 |
03F6: BCF 06.6 |
03F7: BCF 03.5 |
03F8: BCF 06.6 |
03F9: BSF 03.5 |
03FA: BCF 06.7 |
03FB: BCF 03.5 |
03FC: BCF 06.7 |
03FD: MOVLW 01 |
03FE: MOVWF 75 |
03FF: CALL 088 |
0400: MOVF 71,W |
0401: BTFSC 03.2 |
0402: DECF 72,F |
0403: DECF 71,F |
0404: GOTO 3E2 |
.................... STOPL;STOPR; |
0405: BSF 03.5 |
0406: BCF 06.6 |
0407: BCF 03.5 |
0408: BCF 06.6 |
0409: BSF 03.5 |
040A: BCF 06.7 |
040B: BCF 03.5 |
040C: BCF 06.7 |
040D: BSF 03.5 |
040E: BCF 06.4 |
040F: BCF 03.5 |
0410: BCF 06.4 |
0411: BSF 03.5 |
0412: BCF 06.5 |
0413: BCF 03.5 |
0414: BCF 06.5 |
.................... break; |
0415: GOTO 418 |
.................... case S: |
.................... goto sem; |
0416: GOTO 4D2 |
.................... break; |
0417: GOTO 418 |
.................... } |
.................... beep(800,500); |
0418: MOVLW 03 |
0419: MOVWF 75 |
041A: MOVLW 20 |
041B: MOVWF 74 |
041C: MOVLW 01 |
041D: MOVWF 7D |
041E: MOVLW F4 |
041F: MOVWF 7C |
0420: CALL 05C |
.................... |
.................... line=0; |
0421: CLRF 41 |
.................... FR; BL; Delay_ms(300); // otoc se na caru |
0422: BSF 03.5 |
0423: BCF 06.5 |
0424: BCF 03.5 |
0425: BCF 06.5 |
0426: BSF 03.5 |
0427: BCF 06.4 |
0428: BCF 03.5 |
0429: BSF 06.4 |
042A: BSF 03.5 |
042B: BCF 06.6 |
042C: BCF 03.5 |
042D: BCF 06.6 |
042E: BSF 03.5 |
042F: BCF 06.7 |
0430: BCF 03.5 |
0431: BSF 06.7 |
0432: MOVLW 02 |
0433: MOVWF 74 |
0434: MOVLW 96 |
0435: MOVWF 75 |
0436: CALL 088 |
0437: DECFSZ 74,F |
0438: GOTO 434 |
.................... while(line==0) |
.................... { |
0439: MOVF 41,F |
043A: BTFSS 03.2 |
043B: GOTO 44D |
.................... line = RSENSOR; // cteni senzoru na caru |
043C: CLRF 41 |
043D: BSF 03.5 |
043E: BTFSS 1C.7 |
043F: GOTO 443 |
0440: BCF 03.5 |
0441: INCF 41,F |
0442: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0443: MOVLW 00 |
0444: BTFSC 1C.6 |
0445: MOVLW 01 |
0446: MOVWF 77 |
0447: BCF 03.0 |
0448: RLF 77,F |
0449: MOVF 77,W |
044A: BCF 03.5 |
044B: IORWF 41,F |
.................... } |
044C: GOTO 439 |
.................... FL;BR; Delay_ms(60); |
044D: BSF 03.5 |
044E: BCF 06.7 |
044F: BCF 03.5 |
0450: BCF 06.7 |
0451: BSF 03.5 |
0452: BCF 06.6 |
0453: BCF 03.5 |
0454: BSF 06.6 |
0455: BSF 03.5 |
0456: BCF 06.4 |
0457: BCF 03.5 |
0458: BCF 06.4 |
0459: BSF 03.5 |
045A: BCF 06.5 |
045B: BCF 03.5 |
045C: BSF 06.5 |
045D: MOVLW 3C |
045E: MOVWF 75 |
045F: CALL 088 |
.................... STOPL; STOPR; |
0460: BSF 03.5 |
0461: BCF 06.6 |
0462: BCF 03.5 |
0463: BCF 06.6 |
0464: BSF 03.5 |
0465: BCF 06.7 |
0466: BCF 03.5 |
0467: BCF 06.7 |
0468: BSF 03.5 |
0469: BCF 06.4 |
046A: BCF 03.5 |
046B: BCF 06.4 |
046C: BSF 03.5 |
046D: BCF 06.5 |
046E: BCF 03.5 |
046F: BCF 06.5 |
.................... |
.................... FL; BR; Delay_ms(500); |
0470: BSF 03.5 |
0471: BCF 06.7 |
0472: BCF 03.5 |
0473: BCF 06.7 |
0474: BSF 03.5 |
0475: BCF 06.6 |
0476: BCF 03.5 |
0477: BSF 06.6 |
0478: BSF 03.5 |
0479: BCF 06.4 |
047A: BCF 03.5 |
047B: BCF 06.4 |
047C: BSF 03.5 |
047D: BCF 06.5 |
047E: BCF 03.5 |
047F: BSF 06.5 |
0480: MOVLW 02 |
0481: MOVWF 74 |
0482: MOVLW FA |
0483: MOVWF 75 |
0484: CALL 088 |
0485: DECFSZ 74,F |
0486: GOTO 482 |
.................... STOPL; STOPR; |
0487: BSF 03.5 |
0488: BCF 06.6 |
0489: BCF 03.5 |
048A: BCF 06.6 |
048B: BSF 03.5 |
048C: BCF 06.7 |
048D: BCF 03.5 |
048E: BCF 06.7 |
048F: BSF 03.5 |
0490: BCF 06.4 |
0491: BCF 03.5 |
0492: BCF 06.4 |
0493: BSF 03.5 |
0494: BCF 06.5 |
0495: BCF 03.5 |
0496: BCF 06.5 |
.................... |
.................... Delay_ms(1000); |
0497: MOVLW 04 |
0498: MOVWF 74 |
0499: MOVLW FA |
049A: MOVWF 75 |
049B: CALL 088 |
049C: DECFSZ 74,F |
049D: GOTO 499 |
.................... |
.................... FR;FL; //popojed rovne |
049E: BSF 03.5 |
049F: BCF 06.5 |
04A0: BCF 03.5 |
04A1: BCF 06.5 |
04A2: BSF 03.5 |
04A3: BCF 06.4 |
04A4: BCF 03.5 |
04A5: BSF 06.4 |
04A6: BSF 03.5 |
04A7: BCF 06.7 |
04A8: BCF 03.5 |
04A9: BCF 06.7 |
04AA: BSF 03.5 |
04AB: BCF 06.6 |
04AC: BCF 03.5 |
04AD: BSF 06.6 |
.................... for(n=PRES_DIRU;n>0;n--) |
04AE: CLRF 72 |
04AF: MOVLW FA |
04B0: MOVWF 71 |
04B1: MOVF 71,F |
04B2: BTFSS 03.2 |
04B3: GOTO 4B7 |
04B4: MOVF 72,F |
04B5: BTFSC 03.2 |
04B6: GOTO 4D2 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
04B7: CLRF 41 |
04B8: BSF 03.5 |
04B9: BTFSS 1C.7 |
04BA: GOTO 4BE |
04BB: BCF 03.5 |
04BC: INCF 41,F |
04BD: BSF 03.5 |
.................... line |= LSENSOR << 1; |
04BE: MOVLW 00 |
04BF: BTFSC 1C.6 |
04C0: MOVLW 01 |
04C1: MOVWF 77 |
04C2: BCF 03.0 |
04C3: RLF 77,F |
04C4: MOVF 77,W |
04C5: BCF 03.5 |
04C6: IORWF 41,F |
.................... if (line!=0) break; |
04C7: MOVF 41,F |
04C8: BTFSS 03.2 |
04C9: GOTO 4D2 |
.................... Delay_ms(1); |
04CA: MOVLW 01 |
04CB: MOVWF 75 |
04CC: CALL 088 |
.................... } |
04CD: MOVF 71,W |
04CE: BTFSC 03.2 |
04CF: DECF 72,F |
04D0: DECF 71,F |
04D1: GOTO 4B1 |
.................... sem: |
.................... STOPL; STOPR; |
04D2: BSF 03.5 |
04D3: BCF 06.6 |
04D4: BCF 03.5 |
04D5: BCF 06.6 |
04D6: BSF 03.5 |
04D7: BCF 06.7 |
04D8: BCF 03.5 |
04D9: BCF 06.7 |
04DA: BSF 03.5 |
04DB: BCF 06.4 |
04DC: BCF 03.5 |
04DD: BCF 06.4 |
04DE: BSF 03.5 |
04DF: BCF 06.5 |
04E0: BCF 03.5 |
04E1: BCF 06.5 |
.................... movement=S; |
04E2: MOVLW 03 |
04E3: MOVWF 45 |
.................... cikcak(); // najdi caru |
04E4: CALL 1FD |
.................... dira=0; |
04E5: CLRF 46 |
.................... } |
04E6: BCF 0A.3 |
04E7: GOTO 65C (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void main() |
.................... { |
04E8: CLRF 04 |
04E9: MOVLW 1F |
04EA: ANDWF 03,F |
04EB: BSF 03.5 |
04EC: BCF 1F.4 |
04ED: BCF 1F.5 |
04EE: MOVF 1B,W |
04EF: ANDLW 80 |
04F0: MOVWF 1B |
04F1: MOVLW 07 |
04F2: MOVWF 1C |
04F3: MOVF 1C,W |
04F4: BCF 03.5 |
04F5: BCF 0D.6 |
04F6: MOVLW 60 |
04F7: BSF 03.5 |
04F8: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
* |
0515: BSF 03.5 |
0516: BCF 06.6 |
0517: BCF 03.5 |
0518: BCF 06.6 |
0519: BSF 03.5 |
051A: BCF 06.7 |
051B: BCF 03.5 |
051C: BCF 06.7 |
051D: BSF 03.5 |
051E: BCF 06.4 |
051F: BCF 03.5 |
0520: BCF 06.4 |
0521: BSF 03.5 |
0522: BCF 06.5 |
0523: BCF 03.5 |
0524: BCF 06.5 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
0525: MOVLW 62 |
0526: BSF 03.5 |
0527: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
0528: BCF 01.7 |
.................... setup_spi(FALSE); |
0529: BCF 03.5 |
052A: BCF 14.5 |
052B: BSF 03.5 |
052C: BCF 06.2 |
052D: BSF 06.1 |
052E: BCF 06.4 |
052F: MOVLW 00 |
0530: BCF 03.5 |
0531: MOVWF 14 |
0532: BSF 03.5 |
0533: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
0534: MOVF 01,W |
0535: ANDLW C7 |
0536: IORLW 08 |
0537: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
0538: MOVLW 48 |
0539: MOVWF 78 |
053A: IORLW 05 |
053B: BCF 03.5 |
053C: MOVWF 12 |
053D: MOVLW FF |
053E: BSF 03.5 |
053F: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
0540: BCF 1F.4 |
0541: BCF 1F.5 |
0542: MOVF 1B,W |
0543: ANDLW 80 |
0544: IORLW 04 |
0545: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
0546: BCF 1F.6 |
0547: BCF 03.5 |
0548: BSF 1F.6 |
0549: BSF 1F.7 |
054A: BSF 03.5 |
054B: BCF 1F.7 |
054C: BCF 03.5 |
054D: BSF 1F.0 |
.................... set_adc_channel(2); |
054E: MOVLW 10 |
054F: MOVWF 78 |
0550: MOVF 1F,W |
0551: ANDLW C7 |
0552: IORWF 78,W |
0553: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
0554: MOVLW 85 |
0555: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
0556: BSF 03.5 |
0557: BSF 06.3 |
0558: MOVLW 0B |
0559: BCF 03.5 |
055A: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
055B: CLRF 16 |
055C: MOVLW 07 |
055D: MOVWF 15 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
055E: MOVLW 02 |
055F: BSF 03.5 |
0560: MOVWF 1C |
0561: MOVF 05,W |
0562: IORLW 03 |
0563: MOVWF 05 |
0564: MOVLW 03 |
0565: MOVWF 77 |
0566: DECFSZ 77,F |
0567: GOTO 566 |
0568: MOVF 1C,W |
0569: BCF 03.5 |
056A: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
056B: MOVLW 8A |
056C: BSF 03.5 |
056D: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
056E: MOVLW 03 |
056F: MOVWF 75 |
0570: MOVLW E8 |
0571: MOVWF 74 |
0572: CLRF 7D |
0573: MOVLW C8 |
0574: MOVWF 7C |
0575: BCF 03.5 |
0576: CALL 05C |
.................... Delay_ms(50); |
0577: MOVLW 32 |
0578: MOVWF 75 |
0579: CALL 088 |
.................... Beep(1000,200); |
057A: MOVLW 03 |
057B: MOVWF 75 |
057C: MOVLW E8 |
057D: MOVWF 74 |
057E: CLRF 7D |
057F: MOVLW C8 |
0580: MOVWF 7C |
0581: CALL 05C |
.................... Delay_ms(1000); // 1s |
0582: MOVLW 04 |
0583: MOVWF 71 |
0584: MOVLW FA |
0585: MOVWF 75 |
0586: CALL 088 |
0587: DECFSZ 71,F |
0588: GOTO 584 |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
0589: BSF 03.5 |
058A: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
058B: MOVLW C0 |
058C: BCF 03.5 |
058D: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
058E: MOVLW 03 |
058F: MOVWF 40 |
.................... line=S; |
0590: MOVWF 41 |
.................... last=S; |
0591: MOVWF 44 |
.................... movement=S; |
0592: MOVWF 45 |
.................... speed=FW_POMALU; |
0593: MOVLW E6 |
0594: MOVWF 42 |
.................... |
.................... diagnostika(); |
0595: GOTO 09D |
.................... // cikcak(); // toc se, abys nasel caru |
.................... Delay_ms(500); |
0596: MOVLW 02 |
0597: MOVWF 71 |
0598: MOVLW FA |
0599: MOVWF 75 |
059A: CALL 088 |
059B: DECFSZ 71,F |
059C: GOTO 598 |
.................... Beep(1000,200); |
059D: MOVLW 03 |
059E: MOVWF 75 |
059F: MOVLW E8 |
05A0: MOVWF 74 |
05A1: CLRF 7D |
05A2: MOVLW C8 |
05A3: MOVWF 7C |
05A4: CALL 05C |
.................... Delay_ms(500); |
05A5: MOVLW 02 |
05A6: MOVWF 71 |
05A7: MOVLW FA |
05A8: MOVWF 75 |
05A9: CALL 088 |
05AA: DECFSZ 71,F |
05AB: GOTO 5A7 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
05AC: CLRF 40 |
05AD: BSF 03.5 |
05AE: BTFSS 1C.7 |
05AF: GOTO 5B3 |
05B0: BCF 03.5 |
05B1: INCF 40,F |
05B2: BSF 03.5 |
.................... sensors |= LSENSOR << 1; |
05B3: MOVLW 00 |
05B4: BTFSC 1C.6 |
05B5: MOVLW 01 |
05B6: MOVWF 77 |
05B7: BCF 03.0 |
05B8: RLF 77,F |
05B9: MOVF 77,W |
05BA: BCF 03.5 |
05BB: IORWF 40,F |
.................... |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka(); |
05BC: BTFSC 1F.2 |
05BD: GOTO 5BC |
05BE: MOVF 1E,W |
05BF: SUBLW 7F |
05C0: BTFSS 03.0 |
05C1: GOTO 5C6 |
05C2: MOVF 46,W |
05C3: SUBLW 32 |
05C4: BTFSC 03.0 |
05C5: GOTO 289 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
05C6: MOVF 40,W |
05C7: XORLW 03 |
05C8: BTFSC 03.2 |
05C9: GOTO 5D1 |
05CA: XORLW 01 |
05CB: BTFSC 03.2 |
05CC: GOTO 5E5 |
05CD: XORLW 03 |
05CE: BTFSC 03.2 |
05CF: GOTO 61E |
05D0: GOTO 657 |
.................... case S: // rovne |
.................... FL; FR; // pokud se jede dlouho rovne, tak pridej |
05D1: BSF 03.5 |
05D2: BCF 06.7 |
05D3: BCF 03.5 |
05D4: BCF 06.7 |
05D5: BSF 03.5 |
05D6: BCF 06.6 |
05D7: BCF 03.5 |
05D8: BSF 06.6 |
05D9: BSF 03.5 |
05DA: BCF 06.5 |
05DB: BCF 03.5 |
05DC: BCF 06.5 |
05DD: BSF 03.5 |
05DE: BCF 06.4 |
05DF: BCF 03.5 |
05E0: BSF 06.4 |
.................... dira=0; |
05E1: CLRF 46 |
.................... movement=S; |
05E2: MOVLW 03 |
05E3: MOVWF 45 |
.................... continue; |
05E4: GOTO 5AC |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
05E5: MOVF 01,W |
05E6: MOVWF 71 |
05E7: MOVLW E6 |
05E8: ADDWF 43,W |
05E9: SUBWF 71,W |
05EA: BTFSC 03.2 |
05EB: GOTO 5EE |
05EC: BTFSC 03.0 |
05ED: GOTO 5F7 |
05EE: BSF 03.5 |
05EF: BCF 06.7 |
05F0: BCF 03.5 |
05F1: BCF 06.7 |
05F2: BSF 03.5 |
05F3: BCF 06.6 |
05F4: BCF 03.5 |
05F5: BSF 06.6 |
05F6: GOTO 5FF |
05F7: BSF 03.5 |
05F8: BCF 06.6 |
05F9: BCF 03.5 |
05FA: BCF 06.6 |
05FB: BSF 03.5 |
05FC: BCF 06.7 |
05FD: BCF 03.5 |
05FE: BCF 06.7 |
05FF: MOVF 01,W |
0600: MOVWF 71 |
0601: MOVLW F0 |
0602: ADDWF 43,W |
0603: SUBWF 71,W |
0604: BTFSC 03.2 |
0605: GOTO 608 |
0606: BTFSC 03.0 |
0607: GOTO 611 |
0608: BSF 03.5 |
0609: BCF 06.5 |
060A: BCF 03.5 |
060B: BCF 06.5 |
060C: BSF 03.5 |
060D: BCF 06.4 |
060E: BCF 03.5 |
060F: BSF 06.4 |
0610: GOTO 619 |
0611: BSF 03.5 |
0612: BCF 06.4 |
0613: BCF 03.5 |
0614: BCF 06.4 |
0615: BSF 03.5 |
0616: BCF 06.5 |
0617: BCF 03.5 |
0618: BCF 06.5 |
.................... line=L; |
0619: MOVLW 02 |
061A: MOVWF 41 |
.................... dira=0; |
061B: CLRF 46 |
.................... movement=L; |
061C: MOVWF 45 |
.................... continue; |
061D: GOTO 5AC |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
061E: MOVF 01,W |
061F: MOVWF 71 |
0620: MOVLW E6 |
0621: ADDWF 43,W |
0622: SUBWF 71,W |
0623: BTFSC 03.2 |
0624: GOTO 627 |
0625: BTFSC 03.0 |
0626: GOTO 630 |
0627: BSF 03.5 |
0628: BCF 06.5 |
0629: BCF 03.5 |
062A: BCF 06.5 |
062B: BSF 03.5 |
062C: BCF 06.4 |
062D: BCF 03.5 |
062E: BSF 06.4 |
062F: GOTO 638 |
0630: BSF 03.5 |
0631: BCF 06.4 |
0632: BCF 03.5 |
0633: BCF 06.4 |
0634: BSF 03.5 |
0635: BCF 06.5 |
0636: BCF 03.5 |
0637: BCF 06.5 |
0638: MOVF 01,W |
0639: MOVWF 71 |
063A: MOVLW F0 |
063B: ADDWF 43,W |
063C: SUBWF 71,W |
063D: BTFSC 03.2 |
063E: GOTO 641 |
063F: BTFSC 03.0 |
0640: GOTO 64A |
0641: BSF 03.5 |
0642: BCF 06.7 |
0643: BCF 03.5 |
0644: BCF 06.7 |
0645: BSF 03.5 |
0646: BCF 06.6 |
0647: BCF 03.5 |
0648: BSF 06.6 |
0649: GOTO 652 |
064A: BSF 03.5 |
064B: BCF 06.6 |
064C: BCF 03.5 |
064D: BCF 06.6 |
064E: BSF 03.5 |
064F: BCF 06.7 |
0650: BCF 03.5 |
0651: BCF 06.7 |
.................... line=R; |
0652: MOVLW 01 |
0653: MOVWF 41 |
.................... dira=0; |
0654: CLRF 46 |
.................... movement=R; |
0655: MOVWF 45 |
.................... continue; |
0656: GOTO 5AC |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... } |
.................... rovinka=0; |
0657: CLRF 43 |
.................... if (dira>=T_DIRA) prejeddiru(); |
0658: MOVF 46,W |
0659: SUBLW 56 |
065A: BTFSS 03.0 |
065B: GOTO 380 |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
065C: MOVF 41,W |
065D: SUBWF 44,W |
065E: BTFSC 03.2 |
065F: GOTO 664 |
.................... { |
.................... last=line; |
0660: MOVF 41,W |
0661: MOVWF 44 |
.................... speed=FW_ZATACKA; |
0662: MOVLW C8 |
0663: MOVWF 42 |
.................... } |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
0664: MOVF 41,W |
0665: SUBLW 02 |
0666: BTFSS 03.2 |
0667: GOTO 688 |
.................... { |
.................... STOPL; |
0668: BSF 03.5 |
0669: BCF 06.6 |
066A: BCF 03.5 |
066B: BCF 06.6 |
066C: BSF 03.5 |
066D: BCF 06.7 |
066E: BCF 03.5 |
066F: BCF 06.7 |
.................... GO(R, F, speed); |
0670: MOVF 01,W |
0671: SUBWF 42,W |
0672: BTFSS 03.0 |
0673: GOTO 67D |
0674: BSF 03.5 |
0675: BCF 06.5 |
0676: BCF 03.5 |
0677: BCF 06.5 |
0678: BSF 03.5 |
0679: BCF 06.4 |
067A: BCF 03.5 |
067B: BSF 06.4 |
067C: GOTO 685 |
067D: BSF 03.5 |
067E: BCF 06.4 |
067F: BCF 03.5 |
0680: BCF 06.4 |
0681: BSF 03.5 |
0682: BCF 06.5 |
0683: BCF 03.5 |
0684: BCF 06.5 |
.................... movement=L; |
0685: MOVLW 02 |
0686: MOVWF 45 |
.................... } |
.................... else |
0687: GOTO 6A7 |
.................... { |
.................... STOPR; |
0688: BSF 03.5 |
0689: BCF 06.4 |
068A: BCF 03.5 |
068B: BCF 06.4 |
068C: BSF 03.5 |
068D: BCF 06.5 |
068E: BCF 03.5 |
068F: BCF 06.5 |
.................... GO(L, F, speed); |
0690: MOVF 01,W |
0691: SUBWF 42,W |
0692: BTFSS 03.0 |
0693: GOTO 69D |
0694: BSF 03.5 |
0695: BCF 06.7 |
0696: BCF 03.5 |
0697: BCF 06.7 |
0698: BSF 03.5 |
0699: BCF 06.6 |
069A: BCF 03.5 |
069B: BSF 06.6 |
069C: GOTO 6A5 |
069D: BSF 03.5 |
069E: BCF 06.6 |
069F: BCF 03.5 |
06A0: BCF 06.6 |
06A1: BSF 03.5 |
06A2: BCF 06.7 |
06A3: BCF 03.5 |
06A4: BCF 06.7 |
.................... movement=R; |
06A5: MOVLW 01 |
06A6: MOVWF 45 |
.................... } |
.................... } // while(true) |
06A7: GOTO 5AC |
.................... } |
.................... |
.................... |
06A8: 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/PIC16F88/turn_L/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\turn_L\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/PIC16F88/turn_L/tank.SYM |
---|
0,0 → 1,88 |
003 STATUS |
015-016 CCP_1 |
015 CCP_1_LOW |
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 |
047-06E AXstring |
06F-070 main.n |
071-072 objizdka.n |
071-072 diagnostika.n |
071-072 prejeddiru.n |
071 main.@SCRATCH |
073 prejeddiru.speed_dira |
073 diagnostika.@SCRATCH |
073 objizdka.@SCRATCH |
074-075 beep.period |
074-075 cikcak.n |
074 prejeddiru.@SCRATCH |
075 @delay_ms1.P1 |
076 cikcak.@SCRATCH |
077 @SCRATCH |
078 @SCRATCH |
078 _RETURN_ |
079 @SCRATCH |
07A @SCRATCH |
07B @SCRATCH |
07C-07D beep.length |
09C.6 C1OUT |
09C.7 C2OUT |
0A0-0A1 beep.nn |
0A2 @delay_us1.P1 |
0088 @delay_ms1 |
0047 @delay_us1 |
0037 TIMER2_isr |
005C beep |
009D diagnostika |
01FD cikcak |
0289 objizdka |
0380 prejeddiru |
04E8 main |
04E8 @cinit |
01FD sem1 |
04D2 sem |
Project Files: |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.c |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.h |
C:\Program Files\PICC\devices\16F88.h |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\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\turn_L\tank.err |
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.HEX |
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.SYM |
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LST |
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.cof |
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.tre |
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.sta |
/roboti/istrobot/merkur/PIC16F88/turn_L/tank.c |
---|
0,0 → 1,340 |
#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 87 // 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 250 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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() |
{ |
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)) |
{ |
if (RSENSOR) beep(900,500); |
if (LSENSOR) beep(800,500); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() |
{ |
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(200); |
STOPR;STOPL; |
beep(900,1000); |
// movement=S; |
//cikcak(); |
BL; FR; Delay_ms(215); // otoc se 70° do leva |
FR; FL; Delay_ms(600); // popojed rovne |
BR; Delay_ms(50); // otoc se 90° do prava |
STOPR; FL; Delay_ms(600); |
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;} // kdyz narazis na caru, za chvili zastav |
Delay_ms(1); |
} |
BL; // otoc se 60° do leva |
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(); |
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(800,500); |
line=0; |
FR; BL; Delay_ms(300); // otoc se na caru |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); |
STOPL; STOPR; |
FL; BR; Delay_ms(500); |
STOPL; STOPR; |
Delay_ms(1000); |
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/PIC16F88/turn_L/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/PIC16F88/turn_L/tank.err |
---|
0,0 → 1,0 |
No Errors |
/roboti/istrobot/merkur/PIC16F88/turn_L/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/PIC16F88/turn_L/tank.sta |
---|
0,0 → 1,38 |
ROM used: 1705 (42%) |
1705 (42%) including unused fragments |
2 Average locations per line |
4 Average locations per statement |
RAM used: 87 (50%) at main() level |
98 (56%) worst case |
Lines Stmts % Files |
----- ----- --- ----- |
341 386 85 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.c |
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.h |
275 0 0 C:\Program Files\PICC\devices\16F88.h |
136 67 8 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\AX25.c |
----- ----- |
1516 906 Total |
Page ROM % RAM Functions: |
---- --- --- --- ---------- |
0 21 1 1 @delay_ms1 |
0 21 1 1 @delay_us1 |
0 16 1 0 TIMER2_isr |
0 44 3 6 beep |
0 352 21 3 diagnostika |
0 140 8 3 cikcak |
0 247 14 3 objizdka |
0 360 21 4 prejeddiru |
0 449 26 3 main |
Segment Used Free |
--------- ---- ---- |
00000-00003 4 0 |
00004-00036 51 0 |
00037-007FF 1650 343 |
00800-00FFF 0 2048 |
/roboti/istrobot/merkur/PIC16F88/turn_L/tank.tre |
---|
0,0 → 1,80 |
ÀÄtank |
ÃÄmain 0/449 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 0/352 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 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 ÀÄbeep 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 ÃÄobjizdka 0/247 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 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 0/140 Ram=3 |
³ ÀÄprejeddiru 0/360 Ram=4 |
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 ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÀÄcikcak 0/140 Ram=3 |
ÀÄTIMER2_isr 0/16 Ram=0 |
/roboti/istrobot/merkur/PIC16F88/turn_L/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/PIC16F88/turn_L/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/PIC16F88/turn_L/verze/tank_funkcni.BAK |
---|
0,0 → 1,352 |
#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 87 // 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 250 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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; |
sem1: |
n=CIK_CAK; |
while (0==RSENSOR) // 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(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(30); // otoc se 90° do leva |
STOPL; FR; Delay_ms(600); |
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_CIHLA; |
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(800,500); |
line=0; |
FR; BL; Delay_ms(300); // otoc se na caru |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); |
STOPL; STOPR; |
FL; BR; Delay_ms(500); |
STOPL; STOPR; |
Delay_ms(1000); |
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 |
cihla=T_CIHLA; |
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/PIC16F88/turn_L/verze/tank_funkcni.c |
---|
0,0 → 1,352 |
#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 87 // 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 250 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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; |
sem1: |
n=CIK_CAK; |
while (0==RSENSOR) // 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(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(30); // otoc se 90° do leva |
STOPL; FR; Delay_ms(600); |
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_CIHLA; |
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(800,500); |
line=0; |
FR; BL; Delay_ms(300); // otoc se na caru |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); |
STOPL; STOPR; |
FL; BR; Delay_ms(500); |
STOPL; STOPR; |
Delay_ms(1000); |
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 |
cihla=T_CIHLA; |
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/PIC16F88/turn_R/AX25.c |
---|
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/PIC16F88/turn_R/tank.BAK |
---|
0,0 → 1,339 |
#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 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 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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() |
{ |
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() |
{ |
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(700); // 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); |
/*line=0; |
FR; BL; Delay_ms(400); // otoc se na caru |
beep(1000,500); |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); // zabrzdi |
STOPL; STOPR; |
FL; BR; Delay_ms(700); // otacka 180 deg |
STOPL; STOPR;*/ |
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) |
} |
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:100BA000061383120617DC2D831606138312061311 |
:100BB00083168613831286130130C100C601C50057 |
:100BC000362DC3014608773C031C862B410844029E |
:100BD0000319EE2D4108C400F030C2004108023C68 |
:100BE000031D122E83160613831206138316861313 |
:100BF0008312861301084202031C072E83168612F5 |
:100C00008312861283160612831206160F2E83167F |
:100C1000061283120612831686128312861202307F |
:100C2000C500312E83160612831206128316861211 |
:100C30008312861201084202031C272E8316861394 |
:100C40008312861383160613831206172F2E83161C |
:100C5000061383120613831686138312861301303C |
:060C6000C500362D630003 |
:04400E00383FFC3FFC |
:00000001FF |
;PIC16F88 |
/roboti/istrobot/merkur/PIC16F88/turn_R/tank.LST |
---|
0,0 → 1,1932 |
CCS PCM C Compiler, Version 3.221, 27853 27-IV-05 14:16 |
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.LST |
ROM used: 1587 words (39%) |
Largest free fragment is 2048 |
RAM used: 87 (50%) at main() level |
98 (56%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 472 |
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 037 |
.................... #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) |
* |
0047: MOVLW 12 |
0048: BSF 03.5 |
0049: SUBWF 22,F |
004A: BTFSS 03.0 |
004B: GOTO 05A |
004C: MOVLW A2 |
004D: MOVWF 04 |
004E: MOVLW FC |
004F: ANDWF 00,F |
0050: BCF 03.0 |
0051: RRF 00,F |
0052: RRF 00,F |
0053: MOVF 00,W |
0054: BTFSC 03.2 |
0055: GOTO 05A |
0056: GOTO 058 |
0057: NOP |
0058: DECFSZ 00,F |
0059: GOTO 057 |
005A: BCF 03.5 |
005B: RETLW 00 |
* |
0088: MOVLW 74 |
0089: MOVWF 04 |
008A: MOVF 00,W |
008B: BTFSC 03.2 |
008C: GOTO 09C |
008D: MOVLW 01 |
008E: MOVWF 78 |
008F: CLRF 77 |
0090: DECFSZ 77,F |
0091: GOTO 090 |
0092: DECFSZ 78,F |
0093: GOTO 08F |
0094: MOVLW 4A |
0095: MOVWF 77 |
0096: DECFSZ 77,F |
0097: GOTO 096 |
0098: NOP |
0099: NOP |
009A: DECFSZ 00,F |
009B: GOTO 08D |
009C: 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 |
.................... |
.................... // 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 |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 |
.................... #define CIK_CAK 30000 |
.................... #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; |
* |
0037: INCFSZ 42,W |
0038: GOTO 03A |
0039: GOTO 03C |
003A: MOVLW 01 |
003B: ADDWF 42,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
003C: MOVF 43,W |
003D: SUBLW 0E |
003E: BTFSC 03.0 |
003F: INCF 43,F |
.................... if (dira<=T_DIRA) dira++; |
0040: MOVF 46,W |
0041: SUBLW 78 |
0042: BTFSC 03.0 |
0043: INCF 46,F |
.................... } |
.................... // Primitivni Pipani |
0044: BCF 0C.1 |
0045: BCF 0A.3 |
0046: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
005C: MOVF 7D,W |
005D: BSF 03.5 |
005E: MOVWF 21 |
005F: MOVF 7C,W |
0060: MOVWF 20 |
0061: MOVF 20,F |
0062: BTFSS 03.2 |
0063: GOTO 067 |
0064: MOVF 21,F |
0065: BTFSC 03.2 |
0066: GOTO 086 |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
0067: BCF 05.6 |
0068: BCF 03.5 |
0069: BSF 05.6 |
006A: BSF 03.5 |
006B: BCF 05.7 |
006C: BCF 03.5 |
006D: BCF 05.7 |
.................... delay_us(period); |
006E: MOVF 74,W |
006F: BSF 03.5 |
0070: MOVWF 22 |
0071: BCF 03.5 |
0072: CALL 047 |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
0073: BSF 03.5 |
0074: BCF 05.7 |
0075: BCF 03.5 |
0076: BSF 05.7 |
0077: BSF 03.5 |
0078: BCF 05.6 |
0079: BCF 03.5 |
007A: BCF 05.6 |
.................... delay_us(period); |
007B: MOVF 74,W |
007C: BSF 03.5 |
007D: MOVWF 22 |
007E: BCF 03.5 |
007F: CALL 047 |
.................... } |
0080: BSF 03.5 |
0081: MOVF 20,W |
0082: BTFSC 03.2 |
0083: DECF 21,F |
0084: DECF 20,F |
0085: GOTO 061 |
.................... } |
0086: BCF 03.5 |
0087: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
009D: BSF 03.5 |
009E: BSF 06.3 |
009F: BCF 03.5 |
00A0: BTFSS 06.3 |
00A1: GOTO 1C8 |
.................... for (n=500; n<800; n+=100) |
00A2: MOVLW 01 |
00A3: MOVWF 72 |
00A4: MOVLW F4 |
00A5: MOVWF 71 |
00A6: MOVF 72,W |
00A7: SUBLW 03 |
00A8: BTFSS 03.0 |
00A9: GOTO 0BE |
00AA: BTFSS 03.2 |
00AB: GOTO 0B0 |
00AC: MOVF 71,W |
00AD: SUBLW 1F |
00AE: BTFSS 03.0 |
00AF: GOTO 0BE |
.................... { |
.................... beep(n,n); //beep UP |
00B0: MOVF 72,W |
00B1: MOVWF 75 |
00B2: MOVF 71,W |
00B3: MOVWF 74 |
00B4: MOVF 72,W |
00B5: MOVWF 7D |
00B6: MOVF 71,W |
00B7: MOVWF 7C |
00B8: CALL 05C |
.................... }; |
00B9: MOVLW 64 |
00BA: ADDWF 71,F |
00BB: BTFSC 03.0 |
00BC: INCF 72,F |
00BD: GOTO 0A6 |
.................... Delay_ms(1000); |
00BE: MOVLW 04 |
00BF: MOVWF 73 |
00C0: MOVLW FA |
00C1: MOVWF 74 |
00C2: CALL 088 |
00C3: DECFSZ 73,F |
00C4: GOTO 0C0 |
.................... //zastav vse |
.................... STOPL; STOPR; |
00C5: BSF 03.5 |
00C6: BCF 06.6 |
00C7: BCF 03.5 |
00C8: BCF 06.6 |
00C9: BSF 03.5 |
00CA: BCF 06.7 |
00CB: BCF 03.5 |
00CC: BCF 06.7 |
00CD: BSF 03.5 |
00CE: BCF 06.4 |
00CF: BCF 03.5 |
00D0: BCF 06.4 |
00D1: BSF 03.5 |
00D2: BCF 06.5 |
00D3: BCF 03.5 |
00D4: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00D5: BSF 03.5 |
00D6: BCF 06.5 |
00D7: BCF 03.5 |
00D8: BCF 06.5 |
00D9: BSF 03.5 |
00DA: BCF 06.4 |
00DB: BCF 03.5 |
00DC: BSF 06.4 |
00DD: MOVLW 04 |
00DE: MOVWF 73 |
00DF: MOVLW FA |
00E0: MOVWF 74 |
00E1: CALL 088 |
00E2: DECFSZ 73,F |
00E3: GOTO 0DF |
00E4: BSF 03.5 |
00E5: BCF 06.4 |
00E6: BCF 03.5 |
00E7: BCF 06.4 |
00E8: BSF 03.5 |
00E9: BCF 06.5 |
00EA: BCF 03.5 |
00EB: BCF 06.5 |
00EC: MOVLW 04 |
00ED: MOVWF 73 |
00EE: MOVLW FA |
00EF: MOVWF 74 |
00F0: CALL 088 |
00F1: DECFSZ 73,F |
00F2: GOTO 0EE |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00F3: BSF 03.5 |
00F4: BCF 06.4 |
00F5: BCF 03.5 |
00F6: BCF 06.4 |
00F7: BSF 03.5 |
00F8: BCF 06.5 |
00F9: BCF 03.5 |
00FA: BSF 06.5 |
00FB: MOVLW 04 |
00FC: MOVWF 73 |
00FD: MOVLW FA |
00FE: MOVWF 74 |
00FF: CALL 088 |
0100: DECFSZ 73,F |
0101: GOTO 0FD |
0102: BSF 03.5 |
0103: BCF 06.4 |
0104: BCF 03.5 |
0105: BCF 06.4 |
0106: BSF 03.5 |
0107: BCF 06.5 |
0108: BCF 03.5 |
0109: BCF 06.5 |
010A: MOVLW 04 |
010B: MOVWF 73 |
010C: MOVLW FA |
010D: MOVWF 74 |
010E: CALL 088 |
010F: DECFSZ 73,F |
0110: GOTO 10C |
.................... Beep(880,100); Delay_ms(1000); |
0111: MOVLW 03 |
0112: MOVWF 75 |
0113: MOVLW 70 |
0114: MOVWF 74 |
0115: CLRF 7D |
0116: MOVLW 64 |
0117: MOVWF 7C |
0118: CALL 05C |
0119: MOVLW 04 |
011A: MOVWF 73 |
011B: MOVLW FA |
011C: MOVWF 74 |
011D: CALL 088 |
011E: DECFSZ 73,F |
011F: GOTO 11B |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0120: BSF 03.5 |
0121: BCF 06.7 |
0122: BCF 03.5 |
0123: BCF 06.7 |
0124: BSF 03.5 |
0125: BCF 06.6 |
0126: BCF 03.5 |
0127: BSF 06.6 |
0128: MOVLW 04 |
0129: MOVWF 73 |
012A: MOVLW FA |
012B: MOVWF 74 |
012C: CALL 088 |
012D: DECFSZ 73,F |
012E: GOTO 12A |
012F: BSF 03.5 |
0130: BCF 06.6 |
0131: BCF 03.5 |
0132: BCF 06.6 |
0133: BSF 03.5 |
0134: BCF 06.7 |
0135: BCF 03.5 |
0136: BCF 06.7 |
0137: MOVLW 04 |
0138: MOVWF 73 |
0139: MOVLW FA |
013A: MOVWF 74 |
013B: CALL 088 |
013C: DECFSZ 73,F |
013D: GOTO 139 |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
013E: BSF 03.5 |
013F: BCF 06.6 |
0140: BCF 03.5 |
0141: BCF 06.6 |
0142: BSF 03.5 |
0143: BCF 06.7 |
0144: BCF 03.5 |
0145: BSF 06.7 |
0146: MOVLW 04 |
0147: MOVWF 73 |
0148: MOVLW FA |
0149: MOVWF 74 |
014A: CALL 088 |
014B: DECFSZ 73,F |
014C: GOTO 148 |
014D: BSF 03.5 |
014E: BCF 06.6 |
014F: BCF 03.5 |
0150: BCF 06.6 |
0151: BSF 03.5 |
0152: BCF 06.7 |
0153: BCF 03.5 |
0154: BCF 06.7 |
0155: MOVLW 04 |
0156: MOVWF 73 |
0157: MOVLW FA |
0158: MOVWF 74 |
0159: CALL 088 |
015A: DECFSZ 73,F |
015B: GOTO 157 |
.................... Beep(880,100); Delay_ms(1000); |
015C: MOVLW 03 |
015D: MOVWF 75 |
015E: MOVLW 70 |
015F: MOVWF 74 |
0160: CLRF 7D |
0161: MOVLW 64 |
0162: MOVWF 7C |
0163: CALL 05C |
0164: MOVLW 04 |
0165: MOVWF 73 |
0166: MOVLW FA |
0167: MOVWF 74 |
0168: CALL 088 |
0169: DECFSZ 73,F |
016A: GOTO 166 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
016B: BSF 03.5 |
016C: BCF 06.7 |
016D: BCF 03.5 |
016E: BCF 06.7 |
016F: BSF 03.5 |
0170: BCF 06.6 |
0171: BCF 03.5 |
0172: BSF 06.6 |
0173: BSF 03.5 |
0174: BCF 06.5 |
0175: BCF 03.5 |
0176: BCF 06.5 |
0177: BSF 03.5 |
0178: BCF 06.4 |
0179: BCF 03.5 |
017A: BSF 06.4 |
017B: MOVLW 04 |
017C: MOVWF 73 |
017D: MOVLW FA |
017E: MOVWF 74 |
017F: CALL 088 |
0180: DECFSZ 73,F |
0181: GOTO 17D |
0182: BSF 03.5 |
0183: BCF 06.6 |
0184: BCF 03.5 |
0185: BCF 06.6 |
0186: BSF 03.5 |
0187: BCF 06.7 |
0188: BCF 03.5 |
0189: BCF 06.7 |
018A: BSF 03.5 |
018B: BCF 06.4 |
018C: BCF 03.5 |
018D: BCF 06.4 |
018E: BSF 03.5 |
018F: BCF 06.5 |
0190: BCF 03.5 |
0191: BCF 06.5 |
0192: MOVLW 04 |
0193: MOVWF 73 |
0194: MOVLW FA |
0195: MOVWF 74 |
0196: CALL 088 |
0197: DECFSZ 73,F |
0198: GOTO 194 |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
0199: BSF 03.5 |
019A: BCF 06.6 |
019B: BCF 03.5 |
019C: BCF 06.6 |
019D: BSF 03.5 |
019E: BCF 06.7 |
019F: BCF 03.5 |
01A0: BSF 06.7 |
01A1: BSF 03.5 |
01A2: BCF 06.4 |
01A3: BCF 03.5 |
01A4: BCF 06.4 |
01A5: BSF 03.5 |
01A6: BCF 06.5 |
01A7: BCF 03.5 |
01A8: BSF 06.5 |
01A9: MOVLW 04 |
01AA: MOVWF 73 |
01AB: MOVLW FA |
01AC: MOVWF 74 |
01AD: CALL 088 |
01AE: DECFSZ 73,F |
01AF: GOTO 1AB |
01B0: BSF 03.5 |
01B1: BCF 06.6 |
01B2: BCF 03.5 |
01B3: BCF 06.6 |
01B4: BSF 03.5 |
01B5: BCF 06.7 |
01B6: BCF 03.5 |
01B7: BCF 06.7 |
01B8: BSF 03.5 |
01B9: BCF 06.4 |
01BA: BCF 03.5 |
01BB: BCF 06.4 |
01BC: BSF 03.5 |
01BD: BCF 06.5 |
01BE: BCF 03.5 |
01BF: BCF 06.5 |
01C0: MOVLW 04 |
01C1: MOVWF 73 |
01C2: MOVLW FA |
01C3: MOVWF 74 |
01C4: CALL 088 |
01C5: DECFSZ 73,F |
01C6: GOTO 1C2 |
.................... }; |
01C7: GOTO 09D |
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
.................... { |
01C8: BSF 03.5 |
01C9: BSF 06.2 |
01CA: BCF 03.5 |
01CB: BTFSS 06.2 |
01CC: GOTO 1FB |
.................... if (RSENSOR) beep(900,500); |
01CD: BSF 03.5 |
01CE: BTFSS 1C.7 |
01CF: GOTO 1DB |
01D0: MOVLW 03 |
01D1: MOVWF 75 |
01D2: MOVLW 84 |
01D3: MOVWF 74 |
01D4: MOVLW 01 |
01D5: MOVWF 7D |
01D6: MOVLW F4 |
01D7: MOVWF 7C |
01D8: BCF 03.5 |
01D9: CALL 05C |
01DA: BSF 03.5 |
.................... if (LSENSOR) beep(800,500); |
01DB: BTFSS 1C.6 |
01DC: GOTO 1E8 |
01DD: MOVLW 03 |
01DE: MOVWF 75 |
01DF: MOVLW 20 |
01E0: MOVWF 74 |
01E1: MOVLW 01 |
01E2: MOVWF 7D |
01E3: MOVLW F4 |
01E4: MOVWF 7C |
01E5: BCF 03.5 |
01E6: CALL 05C |
01E7: BSF 03.5 |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500); |
01E8: BCF 03.5 |
01E9: BTFSS 1F.2 |
01EA: GOTO 1ED |
01EB: BSF 03.5 |
01EC: GOTO 1E8 |
01ED: MOVF 1E,W |
01EE: SUBLW 7F |
01EF: BTFSS 03.0 |
01F0: GOTO 1FA |
01F1: MOVLW 03 |
01F2: MOVWF 75 |
01F3: MOVLW E8 |
01F4: MOVWF 74 |
01F5: MOVLW 01 |
01F6: MOVWF 7D |
01F7: MOVLW F4 |
01F8: MOVWF 7C |
01F9: CALL 05C |
.................... }; |
01FA: GOTO 1C8 |
.................... } |
01FB: BCF 0A.3 |
01FC: GOTO 520 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void cikcak() |
.................... { |
.................... unsigned int16 n; |
.................... sem1: |
.................... n=CIK_CAK; |
01FD: MOVLW 75 |
01FE: MOVWF 75 |
01FF: MOVLW 30 |
0200: MOVWF 74 |
.................... while (0==RSENSOR||LSENSOR) // zkontroluj caru |
.................... { |
0201: MOVLW 00 |
0202: BSF 03.5 |
0203: BTFSC 1C.7 |
0204: MOVLW 01 |
0205: XORLW 00 |
0206: BTFSC 03.2 |
0207: GOTO 20A |
0208: BTFSS 1C.6 |
0209: GOTO 264 |
.................... if (n==CIK_CAK) // zmen smer zataceni |
020A: MOVF 74,W |
020B: SUBLW 30 |
020C: BTFSS 03.2 |
020D: GOTO 25E |
020E: MOVF 75,W |
020F: SUBLW 75 |
0210: BTFSS 03.2 |
0211: GOTO 25E |
.................... { |
.................... n=0; |
0212: CLRF 75 |
0213: CLRF 74 |
.................... switch(movement) |
.................... { |
0214: BCF 03.5 |
0215: MOVF 45,W |
0216: XORLW 02 |
0217: BTFSC 03.2 |
0218: GOTO 220 |
0219: XORLW 03 |
021A: BTFSC 03.2 |
021B: GOTO 233 |
021C: XORLW 02 |
021D: BTFSC 03.2 |
021E: GOTO 246 |
021F: GOTO 25D |
.................... case L: |
.................... FL;BR; |
0220: BSF 03.5 |
0221: BCF 06.7 |
0222: BCF 03.5 |
0223: BCF 06.7 |
0224: BSF 03.5 |
0225: BCF 06.6 |
0226: BCF 03.5 |
0227: BSF 06.6 |
0228: BSF 03.5 |
0229: BCF 06.4 |
022A: BCF 03.5 |
022B: BCF 06.4 |
022C: BSF 03.5 |
022D: BCF 06.5 |
022E: BCF 03.5 |
022F: BSF 06.5 |
.................... movement=R; |
0230: MOVLW 01 |
0231: MOVWF 45 |
.................... break; |
0232: GOTO 25D |
.................... case R: |
.................... FR;BL; |
0233: BSF 03.5 |
0234: BCF 06.5 |
0235: BCF 03.5 |
0236: BCF 06.5 |
0237: BSF 03.5 |
0238: BCF 06.4 |
0239: BCF 03.5 |
023A: BSF 06.4 |
023B: BSF 03.5 |
023C: BCF 06.6 |
023D: BCF 03.5 |
023E: BCF 06.6 |
023F: BSF 03.5 |
0240: BCF 06.7 |
0241: BCF 03.5 |
0242: BSF 06.7 |
.................... movement=L; |
0243: MOVLW 02 |
0244: MOVWF 45 |
.................... break; |
0245: GOTO 25D |
.................... case S: |
.................... FL;BR; |
0246: BSF 03.5 |
0247: BCF 06.7 |
0248: BCF 03.5 |
0249: BCF 06.7 |
024A: BSF 03.5 |
024B: BCF 06.6 |
024C: BCF 03.5 |
024D: BSF 06.6 |
024E: BSF 03.5 |
024F: BCF 06.4 |
0250: BCF 03.5 |
0251: BCF 06.4 |
0252: BSF 03.5 |
0253: BCF 06.5 |
0254: BCF 03.5 |
0255: BSF 06.5 |
.................... movement=R; |
0256: MOVLW 01 |
0257: MOVWF 45 |
.................... n=CIK_CAK/2; |
0258: MOVLW 3A |
0259: MOVWF 75 |
025A: MOVLW 98 |
025B: MOVWF 74 |
.................... break; |
025C: GOTO 25D |
025D: BSF 03.5 |
.................... } |
.................... } |
.................... n++; |
025E: INCF 74,F |
025F: BTFSC 03.2 |
0260: INCF 75,F |
.................... } |
0261: BCF 03.5 |
0262: GOTO 201 |
0263: BSF 03.5 |
.................... STOPL;STOPR; |
0264: BCF 06.6 |
0265: BCF 03.5 |
0266: BCF 06.6 |
0267: BSF 03.5 |
0268: BCF 06.7 |
0269: BCF 03.5 |
026A: BCF 06.7 |
026B: BSF 03.5 |
026C: BCF 06.4 |
026D: BCF 03.5 |
026E: BCF 06.4 |
026F: BSF 03.5 |
0270: BCF 06.5 |
0271: BCF 03.5 |
0272: BCF 06.5 |
.................... line = RSENSOR; // cteni senzoru na caru |
0273: CLRF 41 |
0274: BSF 03.5 |
0275: BTFSS 1C.7 |
0276: GOTO 27A |
0277: BCF 03.5 |
0278: INCF 41,F |
0279: BSF 03.5 |
.................... line |= LSENSOR << 1; |
027A: MOVLW 00 |
027B: BTFSC 1C.6 |
027C: MOVLW 01 |
027D: MOVWF 77 |
027E: BCF 03.0 |
027F: RLF 77,F |
0280: MOVF 77,W |
0281: BCF 03.5 |
0282: IORWF 41,F |
.................... if (line==0) goto sem1; |
0283: MOVF 41,F |
0284: BTFSC 03.2 |
0285: GOTO 1FD |
.................... // nasli jsme caru |
.................... line=S; |
0286: MOVLW 03 |
0287: MOVWF 41 |
.................... } |
0288: RETLW 00 |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void objizdka() // objede cihlu |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BL;BR;Delay_ms(150); |
0289: BSF 03.5 |
028A: BCF 06.6 |
028B: BCF 03.5 |
028C: BCF 06.6 |
028D: BSF 03.5 |
028E: BCF 06.7 |
028F: BCF 03.5 |
0290: BSF 06.7 |
0291: BSF 03.5 |
0292: BCF 06.4 |
0293: BCF 03.5 |
0294: BCF 06.4 |
0295: BSF 03.5 |
0296: BCF 06.5 |
0297: BCF 03.5 |
0298: BSF 06.5 |
0299: MOVLW 96 |
029A: MOVWF 74 |
029B: CALL 088 |
.................... STOPR;STOPL; |
029C: BSF 03.5 |
029D: BCF 06.4 |
029E: BCF 03.5 |
029F: BCF 06.4 |
02A0: BSF 03.5 |
02A1: BCF 06.5 |
02A2: BCF 03.5 |
02A3: BCF 06.5 |
02A4: BSF 03.5 |
02A5: BCF 06.6 |
02A6: BCF 03.5 |
02A7: BCF 06.6 |
02A8: BSF 03.5 |
02A9: BCF 06.7 |
02AA: BCF 03.5 |
02AB: BCF 06.7 |
.................... beep(900,1000); |
02AC: MOVLW 03 |
02AD: MOVWF 75 |
02AE: MOVLW 84 |
02AF: MOVWF 74 |
02B0: MOVLW 03 |
02B1: MOVWF 7D |
02B2: MOVLW E8 |
02B3: MOVWF 7C |
02B4: CALL 05C |
.................... // movement=S; |
.................... // cikcak(); |
.................... |
.................... BR; FL; Delay_ms(270); // otoc se 70° do prava |
02B5: BSF 03.5 |
02B6: BCF 06.4 |
02B7: BCF 03.5 |
02B8: BCF 06.4 |
02B9: BSF 03.5 |
02BA: BCF 06.5 |
02BB: BCF 03.5 |
02BC: BSF 06.5 |
02BD: BSF 03.5 |
02BE: BCF 06.7 |
02BF: BCF 03.5 |
02C0: BCF 06.7 |
02C1: BSF 03.5 |
02C2: BCF 06.6 |
02C3: BCF 03.5 |
02C4: BSF 06.6 |
02C5: MOVLW 02 |
02C6: MOVWF 73 |
02C7: MOVLW 87 |
02C8: MOVWF 74 |
02C9: CALL 088 |
02CA: DECFSZ 73,F |
02CB: GOTO 2C7 |
.................... |
.................... FR; FL; Delay_ms(500); // popojed rovne |
02CC: BSF 03.5 |
02CD: BCF 06.5 |
02CE: BCF 03.5 |
02CF: BCF 06.5 |
02D0: BSF 03.5 |
02D1: BCF 06.4 |
02D2: BCF 03.5 |
02D3: BSF 06.4 |
02D4: BSF 03.5 |
02D5: BCF 06.7 |
02D6: BCF 03.5 |
02D7: BCF 06.7 |
02D8: BSF 03.5 |
02D9: BCF 06.6 |
02DA: BCF 03.5 |
02DB: BSF 06.6 |
02DC: MOVLW 02 |
02DD: MOVWF 73 |
02DE: MOVLW FA |
02DF: MOVWF 74 |
02E0: CALL 088 |
02E1: DECFSZ 73,F |
02E2: GOTO 2DE |
.................... |
.................... BL; Delay_ms(30); // otoc se 90° do leva |
02E3: BSF 03.5 |
02E4: BCF 06.6 |
02E5: BCF 03.5 |
02E6: BCF 06.6 |
02E7: BSF 03.5 |
02E8: BCF 06.7 |
02E9: BCF 03.5 |
02EA: BSF 06.7 |
02EB: MOVLW 1E |
02EC: MOVWF 74 |
02ED: CALL 088 |
.................... STOPL; FR; Delay_ms(500); |
02EE: BSF 03.5 |
02EF: BCF 06.6 |
02F0: BCF 03.5 |
02F1: BCF 06.6 |
02F2: BSF 03.5 |
02F3: BCF 06.7 |
02F4: BCF 03.5 |
02F5: BCF 06.7 |
02F6: BSF 03.5 |
02F7: BCF 06.5 |
02F8: BCF 03.5 |
02F9: BCF 06.5 |
02FA: BSF 03.5 |
02FB: BCF 06.4 |
02FC: BCF 03.5 |
02FD: BSF 06.4 |
02FE: MOVLW 02 |
02FF: MOVWF 73 |
0300: MOVLW FA |
0301: MOVWF 74 |
0302: CALL 088 |
0303: DECFSZ 73,F |
0304: GOTO 300 |
.................... |
.................... FR; FL; Delay_ms(100); // popojed rovne na slepo |
0305: BSF 03.5 |
0306: BCF 06.5 |
0307: BCF 03.5 |
0308: BCF 06.5 |
0309: BSF 03.5 |
030A: BCF 06.4 |
030B: BCF 03.5 |
030C: BSF 06.4 |
030D: BSF 03.5 |
030E: BCF 06.7 |
030F: BCF 03.5 |
0310: BCF 06.7 |
0311: BSF 03.5 |
0312: BCF 06.6 |
0313: BCF 03.5 |
0314: BSF 06.6 |
0315: MOVLW 64 |
0316: MOVWF 74 |
0317: CALL 088 |
.................... for(n=40000;n>0;n--) // popojed rovne ale kontroluj caru |
0318: MOVLW 9C |
0319: MOVWF 72 |
031A: MOVLW 40 |
031B: MOVWF 71 |
031C: MOVF 71,F |
031D: BTFSS 03.2 |
031E: GOTO 322 |
031F: MOVF 72,F |
0320: BTFSC 03.2 |
0321: GOTO 33E |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
0322: CLRF 41 |
0323: BSF 03.5 |
0324: BTFSS 1C.7 |
0325: GOTO 329 |
0326: BCF 03.5 |
0327: INCF 41,F |
0328: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0329: MOVLW 00 |
032A: BTFSC 1C.6 |
032B: MOVLW 01 |
032C: MOVWF 77 |
032D: BCF 03.0 |
032E: RLF 77,F |
032F: MOVF 77,W |
0330: BCF 03.5 |
0331: IORWF 41,F |
.................... if (line!=0) {Delay_ms(150); break;} |
0332: MOVF 41,F |
0333: BTFSC 03.2 |
0334: GOTO 339 |
0335: MOVLW 96 |
0336: MOVWF 74 |
0337: CALL 088 |
0338: GOTO 33E |
.................... // Delay_ms(1); |
.................... } |
0339: MOVF 71,W |
033A: BTFSC 03.2 |
033B: DECF 72,F |
033C: DECF 71,F |
033D: GOTO 31C |
.................... |
.................... BR; FL; // otoc se 60° do prava |
033E: BSF 03.5 |
033F: BCF 06.4 |
0340: BCF 03.5 |
0341: BCF 06.4 |
0342: BSF 03.5 |
0343: BCF 06.5 |
0344: BCF 03.5 |
0345: BSF 06.5 |
0346: BSF 03.5 |
0347: BCF 06.7 |
0348: BCF 03.5 |
0349: BCF 06.7 |
034A: BSF 03.5 |
034B: BCF 06.6 |
034C: BCF 03.5 |
034D: BSF 06.6 |
.................... for(n=40000;n>0;n--) |
034E: MOVLW 9C |
034F: MOVWF 72 |
0350: MOVLW 40 |
0351: MOVWF 71 |
0352: MOVF 71,F |
0353: BTFSS 03.2 |
0354: GOTO 358 |
0355: MOVF 72,F |
0356: BTFSC 03.2 |
0357: GOTO 370 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
0358: CLRF 41 |
0359: BSF 03.5 |
035A: BTFSS 1C.7 |
035B: GOTO 35F |
035C: BCF 03.5 |
035D: INCF 41,F |
035E: BSF 03.5 |
.................... line |= LSENSOR << 1; |
035F: MOVLW 00 |
0360: BTFSC 1C.6 |
0361: MOVLW 01 |
0362: MOVWF 77 |
0363: BCF 03.0 |
0364: RLF 77,F |
0365: MOVF 77,W |
0366: BCF 03.5 |
0367: IORWF 41,F |
.................... if (line!=0) break; |
0368: MOVF 41,F |
0369: BTFSS 03.2 |
036A: GOTO 370 |
.................... // Delay_ms(1); |
.................... } |
036B: MOVF 71,W |
036C: BTFSC 03.2 |
036D: DECF 72,F |
036E: DECF 71,F |
036F: GOTO 352 |
.................... STOPR; STOPL; |
0370: BSF 03.5 |
0371: BCF 06.4 |
0372: BCF 03.5 |
0373: BCF 06.4 |
0374: BSF 03.5 |
0375: BCF 06.5 |
0376: BCF 03.5 |
0377: BCF 06.5 |
0378: BSF 03.5 |
0379: BCF 06.6 |
037A: BCF 03.5 |
037B: BCF 06.6 |
037C: BSF 03.5 |
037D: BCF 06.7 |
037E: BCF 03.5 |
037F: BCF 06.7 |
.................... |
.................... movement=L; //R; |
0380: MOVLW 02 |
0381: MOVWF 45 |
.................... cikcak(); |
0382: CALL 1FD |
.................... dira=0; |
0383: CLRF 46 |
.................... } |
0384: BCF 0A.3 |
0385: GOTO 550 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void prejeddiru() // vyresi diru |
.................... { |
.................... unsigned int16 n; |
.................... unsigned int8 speed_dira; |
.................... |
.................... STOPL;STOPR; |
0386: BSF 03.5 |
0387: BCF 06.6 |
0388: BCF 03.5 |
0389: BCF 06.6 |
038A: BSF 03.5 |
038B: BCF 06.7 |
038C: BCF 03.5 |
038D: BCF 06.7 |
038E: BSF 03.5 |
038F: BCF 06.4 |
0390: BCF 03.5 |
0391: BCF 06.4 |
0392: BSF 03.5 |
0393: BCF 06.5 |
0394: BCF 03.5 |
0395: BCF 06.5 |
.................... speed_dira=speed; |
0396: MOVF 42,W |
0397: MOVWF 73 |
.................... beep(1000,500); |
0398: MOVLW 03 |
0399: MOVWF 75 |
039A: MOVLW E8 |
039B: MOVWF 74 |
039C: MOVLW 01 |
039D: MOVWF 7D |
039E: MOVLW F4 |
039F: MOVWF 7C |
03A0: CALL 05C |
.................... switch (movement) //vrat se zpet na caru |
.................... { |
03A1: MOVF 45,W |
03A2: XORLW 02 |
03A3: BTFSC 03.2 |
03A4: GOTO 3AC |
03A5: XORLW 03 |
03A6: BTFSC 03.2 |
03A7: GOTO 3E4 |
03A8: XORLW 02 |
03A9: BTFSC 03.2 |
03AA: GOTO 41C |
03AB: GOTO 41E |
.................... case L: |
.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);} |
03AC: MOVLW 02 |
03AD: MOVWF 72 |
03AE: MOVLW EE |
03AF: MOVWF 71 |
03B0: MOVF 71,F |
03B1: BTFSS 03.2 |
03B2: GOTO 3B6 |
03B3: MOVF 72,F |
03B4: BTFSC 03.2 |
03B5: GOTO 3D3 |
03B6: MOVF 01,W |
03B7: SUBWF 73,W |
03B8: BTFSS 03.0 |
03B9: GOTO 3C3 |
03BA: BSF 03.5 |
03BB: BCF 06.4 |
03BC: BCF 03.5 |
03BD: BCF 06.4 |
03BE: BSF 03.5 |
03BF: BCF 06.5 |
03C0: BCF 03.5 |
03C1: BSF 06.5 |
03C2: GOTO 3CB |
03C3: BSF 03.5 |
03C4: BCF 06.4 |
03C5: BCF 03.5 |
03C6: BCF 06.4 |
03C7: BSF 03.5 |
03C8: BCF 06.5 |
03C9: BCF 03.5 |
03CA: BCF 06.5 |
03CB: MOVLW 01 |
03CC: MOVWF 74 |
03CD: CALL 088 |
03CE: MOVF 71,W |
03CF: BTFSC 03.2 |
03D0: DECF 72,F |
03D1: DECF 71,F |
03D2: GOTO 3B0 |
.................... STOPL;STOPR; |
03D3: BSF 03.5 |
03D4: BCF 06.6 |
03D5: BCF 03.5 |
03D6: BCF 06.6 |
03D7: BSF 03.5 |
03D8: BCF 06.7 |
03D9: BCF 03.5 |
03DA: BCF 06.7 |
03DB: BSF 03.5 |
03DC: BCF 06.4 |
03DD: BCF 03.5 |
03DE: BCF 06.4 |
03DF: BSF 03.5 |
03E0: BCF 06.5 |
03E1: BCF 03.5 |
03E2: BCF 06.5 |
.................... break; |
03E3: GOTO 41E |
.................... case R: |
.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);} |
03E4: MOVLW 02 |
03E5: MOVWF 72 |
03E6: MOVLW EE |
03E7: MOVWF 71 |
03E8: MOVF 71,F |
03E9: BTFSS 03.2 |
03EA: GOTO 3EE |
03EB: MOVF 72,F |
03EC: BTFSC 03.2 |
03ED: GOTO 40B |
03EE: MOVF 01,W |
03EF: SUBWF 73,W |
03F0: BTFSS 03.0 |
03F1: GOTO 3FB |
03F2: BSF 03.5 |
03F3: BCF 06.6 |
03F4: BCF 03.5 |
03F5: BCF 06.6 |
03F6: BSF 03.5 |
03F7: BCF 06.7 |
03F8: BCF 03.5 |
03F9: BSF 06.7 |
03FA: GOTO 403 |
03FB: BSF 03.5 |
03FC: BCF 06.6 |
03FD: BCF 03.5 |
03FE: BCF 06.6 |
03FF: BSF 03.5 |
0400: BCF 06.7 |
0401: BCF 03.5 |
0402: BCF 06.7 |
0403: MOVLW 01 |
0404: MOVWF 74 |
0405: CALL 088 |
0406: MOVF 71,W |
0407: BTFSC 03.2 |
0408: DECF 72,F |
0409: DECF 71,F |
040A: GOTO 3E8 |
.................... STOPL;STOPR; |
040B: BSF 03.5 |
040C: BCF 06.6 |
040D: BCF 03.5 |
040E: BCF 06.6 |
040F: BSF 03.5 |
0410: BCF 06.7 |
0411: BCF 03.5 |
0412: BCF 06.7 |
0413: BSF 03.5 |
0414: BCF 06.4 |
0415: BCF 03.5 |
0416: BCF 06.4 |
0417: BSF 03.5 |
0418: BCF 06.5 |
0419: BCF 03.5 |
041A: BCF 06.5 |
.................... break; |
041B: GOTO 41E |
.................... case S: |
.................... goto sem; |
041C: GOTO 45C |
.................... break; |
041D: GOTO 41E |
.................... } |
.................... beep(1000,500); |
041E: MOVLW 03 |
041F: MOVWF 75 |
0420: MOVLW E8 |
0421: MOVWF 74 |
0422: MOVLW 01 |
0423: MOVWF 7D |
0424: MOVLW F4 |
0425: MOVWF 7C |
0426: CALL 05C |
.................... |
.................... /*line=0; |
.................... FR; BL; Delay_ms(400); // otoc se na caru |
.................... beep(1000,500); |
.................... while(line==0) |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
.................... line |= LSENSOR << 1; |
.................... } |
.................... FL;BR; Delay_ms(60); // zabrzdi |
.................... STOPL; STOPR; |
.................... |
.................... FL; BR; Delay_ms(700); // otacka 180 deg |
.................... STOPL; STOPR;*/ |
.................... |
.................... FR;FL; //popojed rovne |
0427: BSF 03.5 |
0428: BCF 06.5 |
0429: BCF 03.5 |
042A: BCF 06.5 |
042B: BSF 03.5 |
042C: BCF 06.4 |
042D: BCF 03.5 |
042E: BSF 06.4 |
042F: BSF 03.5 |
0430: BCF 06.7 |
0431: BCF 03.5 |
0432: BCF 06.7 |
0433: BSF 03.5 |
0434: BCF 06.6 |
0435: BCF 03.5 |
0436: BSF 06.6 |
.................... for(n=PRES_DIRU;n>0;n--) |
0437: MOVLW 01 |
0438: MOVWF 72 |
0439: MOVLW 2C |
043A: MOVWF 71 |
043B: MOVF 71,F |
043C: BTFSS 03.2 |
043D: GOTO 441 |
043E: MOVF 72,F |
043F: BTFSC 03.2 |
0440: GOTO 45C |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
0441: CLRF 41 |
0442: BSF 03.5 |
0443: BTFSS 1C.7 |
0444: GOTO 448 |
0445: BCF 03.5 |
0446: INCF 41,F |
0447: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0448: MOVLW 00 |
0449: BTFSC 1C.6 |
044A: MOVLW 01 |
044B: MOVWF 77 |
044C: BCF 03.0 |
044D: RLF 77,F |
044E: MOVF 77,W |
044F: BCF 03.5 |
0450: IORWF 41,F |
.................... if (line!=0) break; |
0451: MOVF 41,F |
0452: BTFSS 03.2 |
0453: GOTO 45C |
.................... Delay_ms(1); |
0454: MOVLW 01 |
0455: MOVWF 74 |
0456: CALL 088 |
.................... } |
0457: MOVF 71,W |
0458: BTFSC 03.2 |
0459: DECF 72,F |
045A: DECF 71,F |
045B: GOTO 43B |
.................... sem: |
.................... STOPL; STOPR; |
045C: BSF 03.5 |
045D: BCF 06.6 |
045E: BCF 03.5 |
045F: BCF 06.6 |
0460: BSF 03.5 |
0461: BCF 06.7 |
0462: BCF 03.5 |
0463: BCF 06.7 |
0464: BSF 03.5 |
0465: BCF 06.4 |
0466: BCF 03.5 |
0467: BCF 06.4 |
0468: BSF 03.5 |
0469: BCF 06.5 |
046A: BCF 03.5 |
046B: BCF 06.5 |
.................... movement=S; |
046C: MOVLW 03 |
046D: MOVWF 45 |
.................... cikcak(); // najdi caru |
046E: CALL 1FD |
.................... dira=0; |
046F: CLRF 46 |
.................... } |
0470: BCF 0A.3 |
0471: GOTO 5E6 (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void main() |
.................... { |
0472: CLRF 04 |
0473: MOVLW 1F |
0474: ANDWF 03,F |
0475: BSF 03.5 |
0476: BCF 1F.4 |
0477: BCF 1F.5 |
0478: MOVF 1B,W |
0479: ANDLW 80 |
047A: MOVWF 1B |
047B: MOVLW 07 |
047C: MOVWF 1C |
047D: MOVF 1C,W |
047E: BCF 03.5 |
047F: BCF 0D.6 |
0480: MOVLW 60 |
0481: BSF 03.5 |
0482: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
* |
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 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
04AF: MOVLW 62 |
04B0: BSF 03.5 |
04B1: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
04B2: BCF 01.7 |
.................... setup_spi(FALSE); |
04B3: BCF 03.5 |
04B4: BCF 14.5 |
04B5: BSF 03.5 |
04B6: BCF 06.2 |
04B7: BSF 06.1 |
04B8: BCF 06.4 |
04B9: MOVLW 00 |
04BA: BCF 03.5 |
04BB: MOVWF 14 |
04BC: BSF 03.5 |
04BD: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
04BE: MOVF 01,W |
04BF: ANDLW C7 |
04C0: IORLW 08 |
04C1: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
04C2: MOVLW 48 |
04C3: MOVWF 78 |
04C4: IORLW 05 |
04C5: BCF 03.5 |
04C6: MOVWF 12 |
04C7: MOVLW FF |
04C8: BSF 03.5 |
04C9: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
04CA: BCF 1F.4 |
04CB: BCF 1F.5 |
04CC: MOVF 1B,W |
04CD: ANDLW 80 |
04CE: IORLW 04 |
04CF: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
04D0: BCF 1F.6 |
04D1: BCF 03.5 |
04D2: BSF 1F.6 |
04D3: BSF 1F.7 |
04D4: BSF 03.5 |
04D5: BCF 1F.7 |
04D6: BCF 03.5 |
04D7: BSF 1F.0 |
.................... set_adc_channel(2); |
04D8: MOVLW 10 |
04D9: MOVWF 78 |
04DA: MOVF 1F,W |
04DB: ANDLW C7 |
04DC: IORWF 78,W |
04DD: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
04DE: MOVLW 85 |
04DF: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
04E0: BSF 03.5 |
04E1: BSF 06.3 |
04E2: MOVLW 0B |
04E3: BCF 03.5 |
04E4: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
04E5: CLRF 16 |
04E6: MOVLW 07 |
04E7: MOVWF 15 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
04E8: MOVLW 02 |
04E9: BSF 03.5 |
04EA: MOVWF 1C |
04EB: MOVF 05,W |
04EC: IORLW 03 |
04ED: MOVWF 05 |
04EE: MOVLW 03 |
04EF: MOVWF 77 |
04F0: DECFSZ 77,F |
04F1: GOTO 4F0 |
04F2: MOVF 1C,W |
04F3: BCF 03.5 |
04F4: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
04F5: MOVLW 86 |
04F6: BSF 03.5 |
04F7: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
04F8: MOVLW 03 |
04F9: MOVWF 75 |
04FA: MOVLW E8 |
04FB: MOVWF 74 |
04FC: CLRF 7D |
04FD: MOVLW C8 |
04FE: MOVWF 7C |
04FF: BCF 03.5 |
0500: CALL 05C |
.................... Delay_ms(50); |
0501: MOVLW 32 |
0502: MOVWF 74 |
0503: CALL 088 |
.................... Beep(1000,200); |
0504: MOVLW 03 |
0505: MOVWF 75 |
0506: MOVLW E8 |
0507: MOVWF 74 |
0508: CLRF 7D |
0509: MOVLW C8 |
050A: MOVWF 7C |
050B: CALL 05C |
.................... Delay_ms(1000); // 1s |
050C: MOVLW 04 |
050D: MOVWF 71 |
050E: MOVLW FA |
050F: MOVWF 74 |
0510: CALL 088 |
0511: DECFSZ 71,F |
0512: GOTO 50E |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
0513: BSF 03.5 |
0514: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
0515: MOVLW C0 |
0516: BCF 03.5 |
0517: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
0518: MOVLW 03 |
0519: MOVWF 40 |
.................... line=S; |
051A: MOVWF 41 |
.................... last=S; |
051B: MOVWF 44 |
.................... movement=S; |
051C: MOVWF 45 |
.................... speed=FW_POMALU; |
051D: MOVLW E6 |
051E: MOVWF 42 |
.................... |
.................... diagnostika(); |
051F: GOTO 09D |
.................... //cikcak(); // toc se, abys nasel caru |
.................... Delay_ms(500); |
0520: MOVLW 02 |
0521: MOVWF 71 |
0522: MOVLW FA |
0523: MOVWF 74 |
0524: CALL 088 |
0525: DECFSZ 71,F |
0526: GOTO 522 |
.................... Beep(1000,200); |
0527: MOVLW 03 |
0528: MOVWF 75 |
0529: MOVLW E8 |
052A: MOVWF 74 |
052B: CLRF 7D |
052C: MOVLW C8 |
052D: MOVWF 7C |
052E: CALL 05C |
.................... Delay_ms(500); |
052F: MOVLW 02 |
0530: MOVWF 71 |
0531: MOVLW FA |
0532: MOVWF 74 |
0533: CALL 088 |
0534: DECFSZ 71,F |
0535: GOTO 531 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
0536: CLRF 40 |
0537: BSF 03.5 |
0538: BTFSS 1C.7 |
0539: GOTO 53D |
053A: BCF 03.5 |
053B: INCF 40,F |
053C: BSF 03.5 |
.................... sensors |= LSENSOR << 1; |
053D: MOVLW 00 |
053E: BTFSC 1C.6 |
053F: MOVLW 01 |
0540: MOVWF 77 |
0541: BCF 03.0 |
0542: RLF 77,F |
0543: MOVF 77,W |
0544: BCF 03.5 |
0545: IORWF 40,F |
.................... |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka(); |
0546: BTFSC 1F.2 |
0547: GOTO 546 |
0548: MOVF 1E,W |
0549: SUBLW 7F |
054A: BTFSS 03.0 |
054B: GOTO 550 |
054C: MOVF 46,W |
054D: SUBLW 32 |
054E: BTFSC 03.0 |
054F: GOTO 289 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
0550: MOVF 40,W |
0551: XORLW 03 |
0552: BTFSC 03.2 |
0553: GOTO 55B |
0554: XORLW 01 |
0555: BTFSC 03.2 |
0556: GOTO 56F |
0557: XORLW 03 |
0558: BTFSC 03.2 |
0559: GOTO 5A8 |
055A: GOTO 5E1 |
.................... case S: // rovne |
.................... FL; FR; // pokud se jede dlouho rovne, tak pridej |
055B: BSF 03.5 |
055C: BCF 06.7 |
055D: BCF 03.5 |
055E: BCF 06.7 |
055F: BSF 03.5 |
0560: BCF 06.6 |
0561: BCF 03.5 |
0562: BSF 06.6 |
0563: BSF 03.5 |
0564: BCF 06.5 |
0565: BCF 03.5 |
0566: BCF 06.5 |
0567: BSF 03.5 |
0568: BCF 06.4 |
0569: BCF 03.5 |
056A: BSF 06.4 |
.................... dira=0; |
056B: CLRF 46 |
.................... movement=S; |
056C: MOVLW 03 |
056D: MOVWF 45 |
.................... continue; |
056E: GOTO 536 |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
056F: MOVF 01,W |
0570: MOVWF 71 |
0571: MOVLW E6 |
0572: ADDWF 43,W |
0573: SUBWF 71,W |
0574: BTFSC 03.2 |
0575: GOTO 578 |
0576: BTFSC 03.0 |
0577: GOTO 581 |
0578: BSF 03.5 |
0579: BCF 06.7 |
057A: BCF 03.5 |
057B: BCF 06.7 |
057C: BSF 03.5 |
057D: BCF 06.6 |
057E: BCF 03.5 |
057F: BSF 06.6 |
0580: GOTO 589 |
0581: BSF 03.5 |
0582: BCF 06.6 |
0583: BCF 03.5 |
0584: BCF 06.6 |
0585: BSF 03.5 |
0586: BCF 06.7 |
0587: BCF 03.5 |
0588: BCF 06.7 |
0589: MOVF 01,W |
058A: MOVWF 71 |
058B: MOVLW F0 |
058C: ADDWF 43,W |
058D: SUBWF 71,W |
058E: BTFSC 03.2 |
058F: GOTO 592 |
0590: BTFSC 03.0 |
0591: GOTO 59B |
0592: BSF 03.5 |
0593: BCF 06.5 |
0594: BCF 03.5 |
0595: BCF 06.5 |
0596: BSF 03.5 |
0597: BCF 06.4 |
0598: BCF 03.5 |
0599: BSF 06.4 |
059A: GOTO 5A3 |
059B: BSF 03.5 |
059C: BCF 06.4 |
059D: BCF 03.5 |
059E: BCF 06.4 |
059F: BSF 03.5 |
05A0: BCF 06.5 |
05A1: BCF 03.5 |
05A2: BCF 06.5 |
.................... line=L; |
05A3: MOVLW 02 |
05A4: MOVWF 41 |
.................... dira=0; |
05A5: CLRF 46 |
.................... movement=L; |
05A6: MOVWF 45 |
.................... continue; |
05A7: GOTO 536 |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
05A8: MOVF 01,W |
05A9: MOVWF 71 |
05AA: MOVLW E6 |
05AB: ADDWF 43,W |
05AC: SUBWF 71,W |
05AD: BTFSC 03.2 |
05AE: GOTO 5B1 |
05AF: BTFSC 03.0 |
05B0: GOTO 5BA |
05B1: BSF 03.5 |
05B2: BCF 06.5 |
05B3: BCF 03.5 |
05B4: BCF 06.5 |
05B5: BSF 03.5 |
05B6: BCF 06.4 |
05B7: BCF 03.5 |
05B8: BSF 06.4 |
05B9: GOTO 5C2 |
05BA: BSF 03.5 |
05BB: BCF 06.4 |
05BC: BCF 03.5 |
05BD: BCF 06.4 |
05BE: BSF 03.5 |
05BF: BCF 06.5 |
05C0: BCF 03.5 |
05C1: BCF 06.5 |
05C2: MOVF 01,W |
05C3: MOVWF 71 |
05C4: MOVLW F0 |
05C5: ADDWF 43,W |
05C6: SUBWF 71,W |
05C7: BTFSC 03.2 |
05C8: GOTO 5CB |
05C9: BTFSC 03.0 |
05CA: GOTO 5D4 |
05CB: BSF 03.5 |
05CC: BCF 06.7 |
05CD: BCF 03.5 |
05CE: BCF 06.7 |
05CF: BSF 03.5 |
05D0: BCF 06.6 |
05D1: BCF 03.5 |
05D2: BSF 06.6 |
05D3: GOTO 5DC |
05D4: BSF 03.5 |
05D5: BCF 06.6 |
05D6: BCF 03.5 |
05D7: BCF 06.6 |
05D8: BSF 03.5 |
05D9: BCF 06.7 |
05DA: BCF 03.5 |
05DB: BCF 06.7 |
.................... line=R; |
05DC: MOVLW 01 |
05DD: MOVWF 41 |
.................... dira=0; |
05DE: CLRF 46 |
.................... movement=R; |
05DF: MOVWF 45 |
.................... continue; |
05E0: GOTO 536 |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... } |
.................... rovinka=0; |
05E1: CLRF 43 |
.................... if (dira>=T_DIRA) prejeddiru(); |
05E2: MOVF 46,W |
05E3: SUBLW 77 |
05E4: BTFSS 03.0 |
05E5: GOTO 386 |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
05E6: MOVF 41,W |
05E7: SUBWF 44,W |
05E8: BTFSC 03.2 |
05E9: GOTO 5EE |
.................... { |
.................... last=line; |
05EA: MOVF 41,W |
05EB: MOVWF 44 |
.................... speed=FW_ZATACKA; |
05EC: MOVLW F0 |
05ED: MOVWF 42 |
.................... } |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
05EE: MOVF 41,W |
05EF: SUBLW 02 |
05F0: BTFSS 03.2 |
05F1: GOTO 612 |
.................... { |
.................... STOPL; |
05F2: BSF 03.5 |
05F3: BCF 06.6 |
05F4: BCF 03.5 |
05F5: BCF 06.6 |
05F6: BSF 03.5 |
05F7: BCF 06.7 |
05F8: BCF 03.5 |
05F9: BCF 06.7 |
.................... GO(R, F, speed); |
05FA: MOVF 01,W |
05FB: SUBWF 42,W |
05FC: BTFSS 03.0 |
05FD: GOTO 607 |
05FE: BSF 03.5 |
05FF: BCF 06.5 |
0600: BCF 03.5 |
0601: BCF 06.5 |
0602: BSF 03.5 |
0603: BCF 06.4 |
0604: BCF 03.5 |
0605: BSF 06.4 |
0606: GOTO 60F |
0607: BSF 03.5 |
0608: BCF 06.4 |
0609: BCF 03.5 |
060A: BCF 06.4 |
060B: BSF 03.5 |
060C: BCF 06.5 |
060D: BCF 03.5 |
060E: BCF 06.5 |
.................... movement=L; |
060F: MOVLW 02 |
0610: MOVWF 45 |
.................... } |
.................... else |
0611: GOTO 631 |
.................... { |
.................... STOPR; |
0612: BSF 03.5 |
0613: BCF 06.4 |
0614: BCF 03.5 |
0615: BCF 06.4 |
0616: BSF 03.5 |
0617: BCF 06.5 |
0618: BCF 03.5 |
0619: BCF 06.5 |
.................... GO(L, F, speed); |
061A: MOVF 01,W |
061B: SUBWF 42,W |
061C: BTFSS 03.0 |
061D: GOTO 627 |
061E: BSF 03.5 |
061F: BCF 06.7 |
0620: BCF 03.5 |
0621: BCF 06.7 |
0622: BSF 03.5 |
0623: BCF 06.6 |
0624: BCF 03.5 |
0625: BSF 06.6 |
0626: GOTO 62F |
0627: BSF 03.5 |
0628: BCF 06.6 |
0629: BCF 03.5 |
062A: BCF 06.6 |
062B: BSF 03.5 |
062C: BCF 06.7 |
062D: BCF 03.5 |
062E: BCF 06.7 |
.................... movement=R; |
062F: MOVLW 01 |
0630: MOVWF 45 |
.................... } |
.................... } // while(true) |
0631: GOTO 536 |
.................... } |
.................... |
.................... |
0632: 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/PIC16F88/turn_R/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\turn_R\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/PIC16F88/turn_R/tank.SYM |
---|
0,0 → 1,88 |
003 STATUS |
015-016 CCP_1 |
015 CCP_1_LOW |
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 |
047-06E AXstring |
06F-070 main.n |
071-072 objizdka.n |
071-072 diagnostika.n |
071-072 prejeddiru.n |
071 main.@SCRATCH |
073 prejeddiru.speed_dira |
073 diagnostika.@SCRATCH |
073 objizdka.@SCRATCH |
074-075 beep.period |
074 @delay_ms1.P1 |
074-075 cikcak.n |
074 prejeddiru.@SCRATCH |
076 cikcak.@SCRATCH |
077 @SCRATCH |
078 @SCRATCH |
078 _RETURN_ |
079 @SCRATCH |
07A @SCRATCH |
07B @SCRATCH |
07C-07D beep.length |
09C.6 C1OUT |
09C.7 C2OUT |
0A0-0A1 beep.nn |
0A2 @delay_us1.P1 |
0088 @delay_ms1 |
0047 @delay_us1 |
0037 TIMER2_isr |
005C beep |
009D diagnostika |
01FD cikcak |
0289 objizdka |
0386 prejeddiru |
0472 main |
0472 @cinit |
01FD sem1 |
045C sem |
Project Files: |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.h |
C:\Program Files\PICC\devices\16F88.h |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\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\turn_R\tank.err |
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.HEX |
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.SYM |
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.LST |
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.cof |
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.tre |
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.sta |
/roboti/istrobot/merkur/PIC16F88/turn_R/tank.c |
---|
0,0 → 1,339 |
#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 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 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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() |
{ |
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() |
{ |
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); |
/*line=0; |
FR; BL; Delay_ms(400); // otoc se na caru |
beep(1000,500); |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); // zabrzdi |
STOPL; STOPR; |
FL; BR; Delay_ms(700); // otacka 180 deg |
STOPL; STOPR;*/ |
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/PIC16F88/turn_R/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/PIC16F88/turn_R/tank.err |
---|
0,0 → 1,0 |
No Errors |
/roboti/istrobot/merkur/PIC16F88/turn_R/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/PIC16F88/turn_R/tank.sta |
---|
0,0 → 1,38 |
ROM used: 1587 (39%) |
1587 (39%) including unused fragments |
2 Average locations per line |
4 Average locations per statement |
RAM used: 87 (50%) at main() level |
98 (56%) worst case |
Lines Stmts % Files |
----- ----- --- ----- |
340 357 84 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c |
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.h |
275 0 0 C:\Program Files\PICC\devices\16F88.h |
136 67 9 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\AX25.c |
----- ----- |
1514 848 Total |
Page ROM % RAM Functions: |
---- --- --- --- ---------- |
0 21 1 1 @delay_ms1 |
0 21 1 1 @delay_us1 |
0 16 1 0 TIMER2_isr |
0 44 3 6 beep |
0 352 22 3 diagnostika |
0 140 9 3 cikcak |
0 253 16 3 objizdka |
0 236 15 4 prejeddiru |
0 449 28 3 main |
Segment Used Free |
--------- ---- ---- |
00000-00003 4 0 |
00004-00036 51 0 |
00037-007FF 1532 461 |
00800-00FFF 0 2048 |
/roboti/istrobot/merkur/PIC16F88/turn_R/tank.tre |
---|
0,0 → 1,74 |
ÀÄtank |
ÃÄmain 0/449 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 0/352 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 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 ÀÄbeep 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 ÃÄobjizdka 0/253 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 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 0/140 Ram=3 |
³ ÀÄprejeddiru 0/236 Ram=4 |
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 0/140 Ram=3 |
ÀÄTIMER2_isr 0/16 Ram=0 |
/roboti/istrobot/merkur/PIC16F88/turn_R/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/PIC16F88/turn_R/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/PIC16F88/turn_R/verze/tank_funkcni.BAK |
---|
0,0 → 1,352 |
#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 87 // 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 250 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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; |
sem1: |
n=CIK_CAK; |
while (0==RSENSOR) // 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(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(30); // otoc se 90° do leva |
STOPL; FR; Delay_ms(600); |
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_CIHLA; |
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(800,500); |
line=0; |
FR; BL; Delay_ms(300); // otoc se na caru |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); |
STOPL; STOPR; |
FL; BR; Delay_ms(500); |
STOPL; STOPR; |
Delay_ms(1000); |
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 |
cihla=T_CIHLA; |
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/PIC16F88/turn_R/verze/tank_funkcni.c |
---|
0,0 → 1,352 |
#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 87 // 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 250 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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; |
sem1: |
n=CIK_CAK; |
while (0==RSENSOR) // 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(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(30); // otoc se 90° do leva |
STOPL; FR; Delay_ms(600); |
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_CIHLA; |
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(800,500); |
line=0; |
FR; BL; Delay_ms(300); // otoc se na caru |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); |
STOPL; STOPR; |
FL; BR; Delay_ms(500); |
STOPL; STOPR; |
Delay_ms(1000); |
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 |
cihla=T_CIHLA; |
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/PIC16F88/turn_R/verze/tank_funkcni_vecer.c |
---|
0,0 → 1,339 |
#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 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 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 6 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#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() |
{ |
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() |
{ |
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(225); // otoc se 70° do prava |
FR; FL; Delay_ms(700); // popojed rovne |
BL; Delay_ms(30); // otoc se 90° do leva |
STOPL; FR; Delay_ms(500); |
FR; FL; Delay_ms(150); // 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(); |
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); |
line=0; |
FR; BL; Delay_ms(400); // otoc se na caru |
beep(1000,500); |
while(line==0) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
} |
FL;BR; Delay_ms(60); // zabrzdi |
STOPL; STOPR; |
FL; BR; Delay_ms(700); // otacka 180 deg |
STOPL; STOPR; |
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/PIC16F88/vystava/AX25.c |
---|
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/PIC16F88/vystava/tank.BAK |
---|
0,0 → 1,236 |
#include "tank.h" |
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 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
int cirkus; |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 120 // po jakem case zataceni se detekuje dira |
#define FW_POMALU 170 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
//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++; |
if (rovinka<MAX_ROVINKA) rovinka++; |
} |
// 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)) // spusteni diagnostiky cidel |
{ |
if (RSENSOR) beep(1000,1000); |
if (LSENSOR) beep(2000,2000); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void OtocSe() // otoci se zpet, kdyz je prekazka |
{ |
unsigned int16 n; |
STOPR;STOPL; |
beep(800,400); |
beep(2000,1000); |
beep(900,400); |
BR; FL; Delay_ms(100); // otoc se 30° do prava |
STOPL; STOPR; |
beep(1000,1000); |
BR; FL; |
for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
} |
STOPR; STOPL; |
line=L; // caru jsme prejeli, tak je vlevo |
cirkus=0; |
} |
void main() |
{ |
unsigned int16 n; // pro FOR |
unsigned int16 i; |
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; |
cirkus=0; |
// movement=S; |
speed=FW_POMALU; |
diagnostika(); |
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) OtocSe(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
}; |
rovinka=0; |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
cirkus++; |
if (cirkus>10) |
{ |
STOPL; STOPR; |
cirkus=0; |
disable_interrupts(GLOBAL); |
beep(1000,400); |
for(n=3000; n>3950; n--) beep(n,10); |
beep(2000,200); |
beep(900,400); |
for(n=2950; n<3000; n++) beep(n,10); |
beep(4000,400); |
beep(1000,100); |
beep(3000,400); |
Delay_ms(1000); |
enable_interrupts(GLOBAL); |
} |
}; |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/PIC16F88/vystava/tank.HEX |
---|
0,0 → 1,157 |
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:04400E00383FFC3FFC |
:00000001FF |
;PIC16F88 |
/roboti/istrobot/merkur/PIC16F88/vystava/tank.LST |
---|
0,0 → 1,1497 |
CCS PCM C Compiler, Version 3.221, 27853 20-V-05 13:52 |
Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.LST |
ROM used: 1232 words (30%) |
Largest free fragment is 2048 |
RAM used: 65 (37%) at main() level |
73 (42%) worst case |
Stack: 4 worst case (3 in main + 1 for interrupts) |
* |
0000: MOVLW 00 |
0001: MOVWF 0A |
0002: GOTO 28E |
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 037 |
.................... #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) |
* |
0042: MOVLW 12 |
0043: SUBWF 63,F |
0044: BTFSS 03.0 |
0045: GOTO 054 |
0046: MOVLW 63 |
0047: MOVWF 04 |
0048: MOVLW FC |
0049: ANDWF 00,F |
004A: BCF 03.0 |
004B: RRF 00,F |
004C: RRF 00,F |
004D: MOVF 00,W |
004E: BTFSC 03.2 |
004F: GOTO 054 |
0050: GOTO 052 |
0051: NOP |
0052: DECFSZ 00,F |
0053: GOTO 051 |
0054: RETLW 00 |
* |
007B: MOVLW 5E |
007C: MOVWF 04 |
007D: MOVF 00,W |
007E: BTFSC 03.2 |
007F: GOTO 08F |
0080: MOVLW 01 |
0081: MOVWF 78 |
0082: CLRF 77 |
0083: DECFSZ 77,F |
0084: GOTO 083 |
0085: DECFSZ 78,F |
0086: GOTO 082 |
0087: MOVLW 4A |
0088: MOVWF 77 |
0089: DECFSZ 77,F |
008A: GOTO 089 |
008B: NOP |
008C: NOP |
008D: DECFSZ 00,F |
008E: GOTO 080 |
008F: RETLW 00 |
.................... |
.................... |
.................... |
.................... 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 last; // kde byla cara, kdyz byly minule cidla mimo |
.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
.................... int cirkus; |
.................... |
.................... // Konstanty pro dynamiku pohybu |
.................... #define T_DIRA 120 // po jakem case zataceni se detekuje dira |
.................... #define FW_POMALU 170 // trochu mimo caru vnitrni pas |
.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
.................... #define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
.................... #define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
.................... #define MAX_ROVINKA (255-FW_STREDNE) |
.................... #define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
.................... #define BUMPER_TRESHOLD 128 |
.................... |
.................... //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++; |
* |
0037: INCFSZ 2B,W |
0038: GOTO 03A |
0039: GOTO 03B |
003A: INCF 2B,F |
.................... if (rovinka<MAX_ROVINKA) rovinka++; |
003B: MOVF 2D,W |
003C: SUBLW 40 |
003D: BTFSC 03.0 |
003E: INCF 2D,F |
.................... } |
.................... // Primitivni Pipani |
003F: BCF 0C.1 |
0040: BCF 0A.3 |
0041: GOTO 022 |
.................... void beep(unsigned int16 period, unsigned int16 length) |
.................... { |
.................... unsigned int16 nn; |
.................... |
.................... for(nn=length; nn>0; nn--) |
* |
0055: MOVF 60,W |
0056: MOVWF 62 |
0057: MOVF 5F,W |
0058: MOVWF 61 |
0059: MOVF 61,F |
005A: BTFSS 03.2 |
005B: GOTO 05F |
005C: MOVF 62,F |
005D: BTFSC 03.2 |
005E: GOTO 07A |
.................... { |
.................... output_high(SOUND_HI);output_low(SOUND_LO); |
005F: BSF 03.5 |
0060: BCF 05.6 |
0061: BCF 03.5 |
0062: BSF 05.6 |
0063: BSF 03.5 |
0064: BCF 05.7 |
0065: BCF 03.5 |
0066: BCF 05.7 |
.................... delay_us(period); |
0067: MOVF 5D,W |
0068: MOVWF 63 |
0069: CALL 042 |
.................... output_high(SOUND_LO);output_low(SOUND_HI); |
006A: BSF 03.5 |
006B: BCF 05.7 |
006C: BCF 03.5 |
006D: BSF 05.7 |
006E: BSF 03.5 |
006F: BCF 05.6 |
0070: BCF 03.5 |
0071: BCF 05.6 |
.................... delay_us(period); |
0072: MOVF 5D,W |
0073: MOVWF 63 |
0074: CALL 042 |
.................... } |
0075: MOVF 61,W |
0076: BTFSC 03.2 |
0077: DECF 62,F |
0078: DECF 61,F |
0079: GOTO 059 |
.................... } |
007A: RETLW 00 |
.................... /******************************************************************************/ |
.................... void diagnostika() |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
.................... { |
* |
0090: BSF 03.5 |
0091: BSF 06.3 |
0092: BCF 03.5 |
0093: BTFSS 06.3 |
0094: GOTO 1BB |
.................... for (n=500; n<800; n+=100) |
0095: MOVLW 01 |
0096: MOVWF 5C |
0097: MOVLW F4 |
0098: MOVWF 5B |
0099: MOVF 5C,W |
009A: SUBLW 03 |
009B: BTFSS 03.0 |
009C: GOTO 0B1 |
009D: BTFSS 03.2 |
009E: GOTO 0A3 |
009F: MOVF 5B,W |
00A0: SUBLW 1F |
00A1: BTFSS 03.0 |
00A2: GOTO 0B1 |
.................... { |
.................... beep(n,n); //beep UP |
00A3: MOVF 5C,W |
00A4: MOVWF 5E |
00A5: MOVF 5B,W |
00A6: MOVWF 5D |
00A7: MOVF 5C,W |
00A8: MOVWF 60 |
00A9: MOVF 5B,W |
00AA: MOVWF 5F |
00AB: CALL 055 |
.................... }; |
00AC: MOVLW 64 |
00AD: ADDWF 5B,F |
00AE: BTFSC 03.0 |
00AF: INCF 5C,F |
00B0: GOTO 099 |
.................... Delay_ms(1000); |
00B1: MOVLW 04 |
00B2: MOVWF 5D |
00B3: MOVLW FA |
00B4: MOVWF 5E |
00B5: CALL 07B |
00B6: DECFSZ 5D,F |
00B7: GOTO 0B3 |
.................... //zastav vse |
.................... STOPL; STOPR; |
00B8: BSF 03.5 |
00B9: BCF 06.6 |
00BA: BCF 03.5 |
00BB: BCF 06.6 |
00BC: BSF 03.5 |
00BD: BCF 06.7 |
00BE: BCF 03.5 |
00BF: BCF 06.7 |
00C0: BSF 03.5 |
00C1: BCF 06.4 |
00C2: BCF 03.5 |
00C3: BCF 06.4 |
00C4: BSF 03.5 |
00C5: BCF 06.5 |
00C6: BCF 03.5 |
00C7: BCF 06.5 |
.................... //pravy pas |
.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00C8: BSF 03.5 |
00C9: BCF 06.5 |
00CA: BCF 03.5 |
00CB: BCF 06.5 |
00CC: BSF 03.5 |
00CD: BCF 06.4 |
00CE: BCF 03.5 |
00CF: BSF 06.4 |
00D0: MOVLW 04 |
00D1: MOVWF 5D |
00D2: MOVLW FA |
00D3: MOVWF 5E |
00D4: CALL 07B |
00D5: DECFSZ 5D,F |
00D6: GOTO 0D2 |
00D7: BSF 03.5 |
00D8: BCF 06.4 |
00D9: BCF 03.5 |
00DA: BCF 06.4 |
00DB: BSF 03.5 |
00DC: BCF 06.5 |
00DD: BCF 03.5 |
00DE: BCF 06.5 |
00DF: MOVLW 04 |
00E0: MOVWF 5D |
00E1: MOVLW FA |
00E2: MOVWF 5E |
00E3: CALL 07B |
00E4: DECFSZ 5D,F |
00E5: GOTO 0E1 |
.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
00E6: BSF 03.5 |
00E7: BCF 06.4 |
00E8: BCF 03.5 |
00E9: BCF 06.4 |
00EA: BSF 03.5 |
00EB: BCF 06.5 |
00EC: BCF 03.5 |
00ED: BSF 06.5 |
00EE: MOVLW 04 |
00EF: MOVWF 5D |
00F0: MOVLW FA |
00F1: MOVWF 5E |
00F2: CALL 07B |
00F3: DECFSZ 5D,F |
00F4: GOTO 0F0 |
00F5: BSF 03.5 |
00F6: BCF 06.4 |
00F7: BCF 03.5 |
00F8: BCF 06.4 |
00F9: BSF 03.5 |
00FA: BCF 06.5 |
00FB: BCF 03.5 |
00FC: BCF 06.5 |
00FD: MOVLW 04 |
00FE: MOVWF 5D |
00FF: MOVLW FA |
0100: MOVWF 5E |
0101: CALL 07B |
0102: DECFSZ 5D,F |
0103: GOTO 0FF |
.................... Beep(880,100); Delay_ms(1000); |
0104: MOVLW 03 |
0105: MOVWF 5E |
0106: MOVLW 70 |
0107: MOVWF 5D |
0108: CLRF 60 |
0109: MOVLW 64 |
010A: MOVWF 5F |
010B: CALL 055 |
010C: MOVLW 04 |
010D: MOVWF 5D |
010E: MOVLW FA |
010F: MOVWF 5E |
0110: CALL 07B |
0111: DECFSZ 5D,F |
0112: GOTO 10E |
.................... //levy pas |
.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0113: BSF 03.5 |
0114: BCF 06.7 |
0115: BCF 03.5 |
0116: BCF 06.7 |
0117: BSF 03.5 |
0118: BCF 06.6 |
0119: BCF 03.5 |
011A: BSF 06.6 |
011B: MOVLW 04 |
011C: MOVWF 5D |
011D: MOVLW FA |
011E: MOVWF 5E |
011F: CALL 07B |
0120: DECFSZ 5D,F |
0121: GOTO 11D |
0122: BSF 03.5 |
0123: BCF 06.6 |
0124: BCF 03.5 |
0125: BCF 06.6 |
0126: BSF 03.5 |
0127: BCF 06.7 |
0128: BCF 03.5 |
0129: BCF 06.7 |
012A: MOVLW 04 |
012B: MOVWF 5D |
012C: MOVLW FA |
012D: MOVWF 5E |
012E: CALL 07B |
012F: DECFSZ 5D,F |
0130: GOTO 12C |
.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
0131: BSF 03.5 |
0132: BCF 06.6 |
0133: BCF 03.5 |
0134: BCF 06.6 |
0135: BSF 03.5 |
0136: BCF 06.7 |
0137: BCF 03.5 |
0138: BSF 06.7 |
0139: MOVLW 04 |
013A: MOVWF 5D |
013B: MOVLW FA |
013C: MOVWF 5E |
013D: CALL 07B |
013E: DECFSZ 5D,F |
013F: GOTO 13B |
0140: BSF 03.5 |
0141: BCF 06.6 |
0142: BCF 03.5 |
0143: BCF 06.6 |
0144: BSF 03.5 |
0145: BCF 06.7 |
0146: BCF 03.5 |
0147: BCF 06.7 |
0148: MOVLW 04 |
0149: MOVWF 5D |
014A: MOVLW FA |
014B: MOVWF 5E |
014C: CALL 07B |
014D: DECFSZ 5D,F |
014E: GOTO 14A |
.................... Beep(880,100); Delay_ms(1000); |
014F: MOVLW 03 |
0150: MOVWF 5E |
0151: MOVLW 70 |
0152: MOVWF 5D |
0153: CLRF 60 |
0154: MOVLW 64 |
0155: MOVWF 5F |
0156: CALL 055 |
0157: MOVLW 04 |
0158: MOVWF 5D |
0159: MOVLW FA |
015A: MOVWF 5E |
015B: CALL 07B |
015C: DECFSZ 5D,F |
015D: GOTO 159 |
.................... //oba pasy |
.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
015E: BSF 03.5 |
015F: BCF 06.7 |
0160: BCF 03.5 |
0161: BCF 06.7 |
0162: BSF 03.5 |
0163: BCF 06.6 |
0164: BCF 03.5 |
0165: BSF 06.6 |
0166: BSF 03.5 |
0167: BCF 06.5 |
0168: BCF 03.5 |
0169: BCF 06.5 |
016A: BSF 03.5 |
016B: BCF 06.4 |
016C: BCF 03.5 |
016D: BSF 06.4 |
016E: MOVLW 04 |
016F: MOVWF 5D |
0170: MOVLW FA |
0171: MOVWF 5E |
0172: CALL 07B |
0173: DECFSZ 5D,F |
0174: GOTO 170 |
0175: BSF 03.5 |
0176: BCF 06.6 |
0177: BCF 03.5 |
0178: BCF 06.6 |
0179: BSF 03.5 |
017A: BCF 06.7 |
017B: BCF 03.5 |
017C: BCF 06.7 |
017D: BSF 03.5 |
017E: BCF 06.4 |
017F: BCF 03.5 |
0180: BCF 06.4 |
0181: BSF 03.5 |
0182: BCF 06.5 |
0183: BCF 03.5 |
0184: BCF 06.5 |
0185: MOVLW 04 |
0186: MOVWF 5D |
0187: MOVLW FA |
0188: MOVWF 5E |
0189: CALL 07B |
018A: DECFSZ 5D,F |
018B: GOTO 187 |
.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
018C: BSF 03.5 |
018D: BCF 06.6 |
018E: BCF 03.5 |
018F: BCF 06.6 |
0190: BSF 03.5 |
0191: BCF 06.7 |
0192: BCF 03.5 |
0193: BSF 06.7 |
0194: BSF 03.5 |
0195: BCF 06.4 |
0196: BCF 03.5 |
0197: BCF 06.4 |
0198: BSF 03.5 |
0199: BCF 06.5 |
019A: BCF 03.5 |
019B: BSF 06.5 |
019C: MOVLW 04 |
019D: MOVWF 5D |
019E: MOVLW FA |
019F: MOVWF 5E |
01A0: CALL 07B |
01A1: DECFSZ 5D,F |
01A2: GOTO 19E |
01A3: BSF 03.5 |
01A4: BCF 06.6 |
01A5: BCF 03.5 |
01A6: BCF 06.6 |
01A7: BSF 03.5 |
01A8: BCF 06.7 |
01A9: BCF 03.5 |
01AA: BCF 06.7 |
01AB: BSF 03.5 |
01AC: BCF 06.4 |
01AD: BCF 03.5 |
01AE: BCF 06.4 |
01AF: BSF 03.5 |
01B0: BCF 06.5 |
01B1: BCF 03.5 |
01B2: BCF 06.5 |
01B3: MOVLW 04 |
01B4: MOVWF 5D |
01B5: MOVLW FA |
01B6: MOVWF 5E |
01B7: CALL 07B |
01B8: DECFSZ 5D,F |
01B9: GOTO 1B5 |
.................... }; |
01BA: GOTO 090 |
.................... while (input(DIAG_SENSORS)) // spusteni diagnostiky cidel |
.................... { |
01BB: BSF 03.5 |
01BC: BSF 06.2 |
01BD: BCF 03.5 |
01BE: BTFSS 06.2 |
01BF: GOTO 1EE |
.................... if (RSENSOR) beep(1000,1000); |
01C0: BSF 03.5 |
01C1: BTFSC 1C.7 |
01C2: GOTO 1CE |
01C3: MOVLW 03 |
01C4: BCF 03.5 |
01C5: MOVWF 5E |
01C6: MOVLW E8 |
01C7: MOVWF 5D |
01C8: MOVLW 03 |
01C9: MOVWF 60 |
01CA: MOVLW E8 |
01CB: MOVWF 5F |
01CC: CALL 055 |
01CD: BSF 03.5 |
.................... if (LSENSOR) beep(2000,2000); |
01CE: BTFSC 1C.6 |
01CF: GOTO 1DB |
01D0: MOVLW 07 |
01D1: BCF 03.5 |
01D2: MOVWF 5E |
01D3: MOVLW D0 |
01D4: MOVWF 5D |
01D5: MOVLW 07 |
01D6: MOVWF 60 |
01D7: MOVLW D0 |
01D8: MOVWF 5F |
01D9: CALL 055 |
01DA: BSF 03.5 |
.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000); |
01DB: BCF 03.5 |
01DC: BTFSS 1F.2 |
01DD: GOTO 1E0 |
01DE: BSF 03.5 |
01DF: GOTO 1DB |
01E0: MOVF 1E,W |
01E1: SUBLW 7F |
01E2: BTFSS 03.0 |
01E3: GOTO 1ED |
01E4: MOVLW 0B |
01E5: MOVWF 5E |
01E6: MOVLW B8 |
01E7: MOVWF 5D |
01E8: MOVLW 0B |
01E9: MOVWF 60 |
01EA: MOVLW B8 |
01EB: MOVWF 5F |
01EC: CALL 055 |
.................... }; |
01ED: GOTO 1BB |
.................... } |
01EE: BCF 0A.3 |
01EF: GOTO 31F (RETURN) |
.................... /////////////////////////////////////////////////////////////////////////////// |
.................... void OtocSe() // otoci se zpet, kdyz je prekazka |
.................... { |
.................... unsigned int16 n; |
.................... |
.................... BR;BL; |
01F0: BSF 03.5 |
01F1: BCF 06.4 |
01F2: BCF 03.5 |
01F3: BCF 06.4 |
01F4: BSF 03.5 |
01F5: BCF 06.5 |
01F6: BCF 03.5 |
01F7: BSF 06.5 |
01F8: BSF 03.5 |
01F9: BCF 06.6 |
01FA: BCF 03.5 |
01FB: BCF 06.6 |
01FC: BSF 03.5 |
01FD: BCF 06.7 |
01FE: BCF 03.5 |
01FF: BSF 06.7 |
.................... beep(800,400); |
0200: MOVLW 03 |
0201: MOVWF 5E |
0202: MOVLW 20 |
0203: MOVWF 5D |
0204: MOVLW 01 |
0205: MOVWF 60 |
0206: MOVLW 90 |
0207: MOVWF 5F |
0208: CALL 055 |
.................... beep(2000,1000); |
0209: MOVLW 07 |
020A: MOVWF 5E |
020B: MOVLW D0 |
020C: MOVWF 5D |
020D: MOVLW 03 |
020E: MOVWF 60 |
020F: MOVLW E8 |
0210: MOVWF 5F |
0211: CALL 055 |
.................... beep(900,400); |
0212: MOVLW 03 |
0213: MOVWF 5E |
0214: MOVLW 84 |
0215: MOVWF 5D |
0216: MOVLW 01 |
0217: MOVWF 60 |
0218: MOVLW 90 |
0219: MOVWF 5F |
021A: CALL 055 |
.................... |
.................... BR; FL; Delay_ms(50); // otoc se 30° do prava |
021B: BSF 03.5 |
021C: BCF 06.4 |
021D: BCF 03.5 |
021E: BCF 06.4 |
021F: BSF 03.5 |
0220: BCF 06.5 |
0221: BCF 03.5 |
0222: BSF 06.5 |
0223: BSF 03.5 |
0224: BCF 06.7 |
0225: BCF 03.5 |
0226: BCF 06.7 |
0227: BSF 03.5 |
0228: BCF 06.6 |
0229: BCF 03.5 |
022A: BSF 06.6 |
022B: MOVLW 32 |
022C: MOVWF 5E |
022D: CALL 07B |
.................... STOPL; STOPR; |
022E: BSF 03.5 |
022F: BCF 06.6 |
0230: BCF 03.5 |
0231: BCF 06.6 |
0232: BSF 03.5 |
0233: BCF 06.7 |
0234: BCF 03.5 |
0235: BCF 06.7 |
0236: BSF 03.5 |
0237: BCF 06.4 |
0238: BCF 03.5 |
0239: BCF 06.4 |
023A: BSF 03.5 |
023B: BCF 06.5 |
023C: BCF 03.5 |
023D: BCF 06.5 |
.................... beep(1000,1000); |
023E: MOVLW 03 |
023F: MOVWF 5E |
0240: MOVLW E8 |
0241: MOVWF 5D |
0242: MOVLW 03 |
0243: MOVWF 60 |
0244: MOVLW E8 |
0245: MOVWF 5F |
0246: CALL 055 |
.................... |
.................... BR; FL; |
0247: BSF 03.5 |
0248: BCF 06.4 |
0249: BCF 03.5 |
024A: BCF 06.4 |
024B: BSF 03.5 |
024C: BCF 06.5 |
024D: BCF 03.5 |
024E: BSF 06.5 |
024F: BSF 03.5 |
0250: BCF 06.7 |
0251: BCF 03.5 |
0252: BCF 06.7 |
0253: BSF 03.5 |
0254: BCF 06.6 |
0255: BCF 03.5 |
0256: BSF 06.6 |
.................... for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
0257: MOVLW 9C |
0258: MOVWF 5C |
0259: MOVLW 40 |
025A: MOVWF 5B |
025B: MOVF 5B,F |
025C: BTFSS 03.2 |
025D: GOTO 261 |
025E: MOVF 5C,F |
025F: BTFSC 03.2 |
0260: GOTO 279 |
.................... { |
.................... line = RSENSOR; // cteni senzoru na caru |
0261: CLRF 2A |
0262: BSF 03.5 |
0263: BTFSC 1C.7 |
0264: GOTO 268 |
0265: BCF 03.5 |
0266: INCF 2A,F |
0267: BSF 03.5 |
.................... line |= LSENSOR << 1; |
0268: MOVLW 00 |
0269: BTFSS 1C.6 |
026A: MOVLW 01 |
026B: MOVWF 77 |
026C: BCF 03.0 |
026D: RLF 77,F |
026E: MOVF 77,W |
026F: BCF 03.5 |
0270: IORWF 2A,F |
.................... if (line!=0) break; |
0271: MOVF 2A,F |
0272: BTFSS 03.2 |
0273: GOTO 279 |
.................... } |
0274: MOVF 5B,W |
0275: BTFSC 03.2 |
0276: DECF 5C,F |
0277: DECF 5B,F |
0278: GOTO 25B |
.................... STOPR; STOPL; |
0279: BSF 03.5 |
027A: BCF 06.4 |
027B: BCF 03.5 |
027C: BCF 06.4 |
027D: BSF 03.5 |
027E: BCF 06.5 |
027F: BCF 03.5 |
0280: BCF 06.5 |
0281: BSF 03.5 |
0282: BCF 06.6 |
0283: BCF 03.5 |
0284: BCF 06.6 |
0285: BSF 03.5 |
0286: BCF 06.7 |
0287: BCF 03.5 |
0288: BCF 06.7 |
.................... |
.................... line=L; // caru jsme prejeli, tak je vlevo |
0289: MOVLW 02 |
028A: MOVWF 2A |
.................... cirkus=0; |
028B: CLRF 2E |
.................... } |
028C: BCF 0A.3 |
028D: GOTO 34B (RETURN) |
.................... |
.................... |
.................... void main() |
.................... { |
028E: CLRF 04 |
028F: MOVLW 1F |
0290: ANDWF 03,F |
0291: BSF 03.5 |
0292: BCF 1F.4 |
0293: BCF 1F.5 |
0294: MOVF 1B,W |
0295: ANDLW 80 |
0296: MOVWF 1B |
0297: MOVLW 07 |
0298: MOVWF 1C |
0299: MOVF 1C,W |
029A: BCF 03.5 |
029B: BCF 0D.6 |
029C: MOVLW 60 |
029D: BSF 03.5 |
029E: MOVWF 0F |
.................... unsigned int16 n; // pro FOR |
.................... unsigned int16 i; |
.................... |
.................... STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
029F: BCF 06.6 |
02A0: BCF 03.5 |
02A1: BCF 06.6 |
02A2: BSF 03.5 |
02A3: BCF 06.7 |
02A4: BCF 03.5 |
02A5: BCF 06.7 |
02A6: BSF 03.5 |
02A7: BCF 06.4 |
02A8: BCF 03.5 |
02A9: BCF 06.4 |
02AA: BSF 03.5 |
02AB: BCF 06.5 |
02AC: BCF 03.5 |
02AD: BCF 06.5 |
.................... |
.................... setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
02AE: MOVLW 62 |
02AF: BSF 03.5 |
02B0: MOVWF 0F |
.................... |
.................... port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
02B1: BCF 01.7 |
.................... setup_spi(FALSE); |
02B2: BCF 03.5 |
02B3: BCF 14.5 |
02B4: BSF 03.5 |
02B5: BCF 06.2 |
02B6: BSF 06.1 |
02B7: BCF 06.4 |
02B8: MOVLW 00 |
02B9: BCF 03.5 |
02BA: MOVWF 14 |
02BB: BSF 03.5 |
02BC: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
02BD: MOVF 01,W |
02BE: ANDLW C7 |
02BF: IORLW 08 |
02C0: MOVWF 01 |
.................... |
.................... setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
02C1: MOVLW 48 |
02C2: MOVWF 78 |
02C3: IORLW 05 |
02C4: BCF 03.5 |
02C5: MOVWF 12 |
02C6: MOVLW FF |
02C7: BSF 03.5 |
02C8: MOVWF 12 |
.................... // preruseni kazdych 10ms |
.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
02C9: BCF 1F.4 |
02CA: BCF 1F.5 |
02CB: MOVF 1B,W |
02CC: ANDLW 80 |
02CD: IORLW 04 |
02CE: MOVWF 1B |
.................... setup_adc(ADC_CLOCK_INTERNAL); |
02CF: BCF 1F.6 |
02D0: BCF 03.5 |
02D1: BSF 1F.6 |
02D2: BSF 1F.7 |
02D3: BSF 03.5 |
02D4: BCF 1F.7 |
02D5: BCF 03.5 |
02D6: BSF 1F.0 |
.................... set_adc_channel(2); |
02D7: MOVLW 10 |
02D8: MOVWF 78 |
02D9: MOVF 1F,W |
02DA: ANDLW C7 |
02DB: IORWF 78,W |
02DC: MOVWF 1F |
.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
02DD: MOVLW 85 |
02DE: MOVWF 10 |
.................... setup_ccp1(CCP_COMPARE_RESET_TIMER); |
02DF: BSF 03.5 |
02E0: BSF 06.3 |
02E1: MOVLW 0B |
02E2: BCF 03.5 |
02E3: MOVWF 17 |
.................... CCP_1=(2^10)-1; // prevod kazdou 1ms |
02E4: CLRF 16 |
02E5: MOVLW 07 |
02E6: MOVWF 15 |
.................... |
.................... setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
02E7: MOVLW 02 |
02E8: BSF 03.5 |
02E9: MOVWF 1C |
02EA: MOVF 05,W |
02EB: IORLW 03 |
02EC: MOVWF 05 |
02ED: MOVLW 03 |
02EE: MOVWF 77 |
02EF: DECFSZ 77,F |
02F0: GOTO 2EF |
02F1: MOVF 1C,W |
02F2: BCF 03.5 |
02F3: BCF 0D.6 |
.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
02F4: MOVLW 8F |
02F5: BSF 03.5 |
02F6: MOVWF 1D |
.................... |
.................... Beep(1000,200); //double beep |
02F7: MOVLW 03 |
02F8: BCF 03.5 |
02F9: MOVWF 5E |
02FA: MOVLW E8 |
02FB: MOVWF 5D |
02FC: CLRF 60 |
02FD: MOVLW C8 |
02FE: MOVWF 5F |
02FF: CALL 055 |
.................... Delay_ms(50); |
0300: MOVLW 32 |
0301: MOVWF 5E |
0302: CALL 07B |
.................... Beep(1000,200); |
0303: MOVLW 03 |
0304: MOVWF 5E |
0305: MOVLW E8 |
0306: MOVWF 5D |
0307: CLRF 60 |
0308: MOVLW C8 |
0309: MOVWF 5F |
030A: CALL 055 |
.................... Delay_ms(1000); // 1s |
030B: MOVLW 04 |
030C: MOVWF 5B |
030D: MOVLW FA |
030E: MOVWF 5E |
030F: CALL 07B |
0310: DECFSZ 5B,F |
0311: GOTO 30D |
.................... |
.................... // povoleni rizeni rychlosti zataceni pres preruseni |
.................... enable_interrupts(INT_TIMER2); |
0312: BSF 03.5 |
0313: BSF 0C.1 |
.................... enable_interrupts(GLOBAL); |
0314: MOVLW C0 |
0315: BCF 03.5 |
0316: IORWF 0B,F |
.................... |
.................... /*---------------------------------------------------------------------------*/ |
.................... sensors=S; |
0317: MOVLW 03 |
0318: MOVWF 29 |
.................... line=S; |
0319: MOVWF 2A |
.................... last=S; |
031A: MOVWF 2C |
.................... cirkus=0; |
031B: CLRF 2E |
.................... // movement=S; |
.................... speed=FW_POMALU; |
031C: MOVLW AA |
031D: MOVWF 2B |
.................... |
.................... diagnostika(); |
031E: GOTO 090 |
.................... Delay_ms(500); |
031F: MOVLW 02 |
0320: MOVWF 5B |
0321: MOVLW FA |
0322: MOVWF 5E |
0323: CALL 07B |
0324: DECFSZ 5B,F |
0325: GOTO 321 |
.................... Beep(1000,200); |
0326: MOVLW 03 |
0327: MOVWF 5E |
0328: MOVLW E8 |
0329: MOVWF 5D |
032A: CLRF 60 |
032B: MOVLW C8 |
032C: MOVWF 5F |
032D: CALL 055 |
.................... Delay_ms(500); |
032E: MOVLW 02 |
032F: MOVWF 5B |
0330: MOVLW FA |
0331: MOVWF 5E |
0332: CALL 07B |
0333: DECFSZ 5B,F |
0334: GOTO 330 |
.................... |
.................... while(true) // hlavni smycka (jizda podle cary) |
.................... { |
.................... sensors = RSENSOR; // cteni senzoru na caru |
0335: CLRF 29 |
0336: BSF 03.5 |
0337: BTFSC 1C.7 |
0338: GOTO 33C |
0339: BCF 03.5 |
033A: INCF 29,F |
033B: BSF 03.5 |
.................... sensors |= LSENSOR << 1; |
033C: MOVLW 00 |
033D: BTFSS 1C.6 |
033E: MOVLW 01 |
033F: MOVWF 77 |
0340: BCF 03.0 |
0341: RLF 77,F |
0342: MOVF 77,W |
0343: BCF 03.5 |
0344: IORWF 29,F |
.................... |
.................... if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe(); |
0345: BTFSC 1F.2 |
0346: GOTO 345 |
0347: MOVF 1E,W |
0348: SUBLW 7F |
0349: BTFSC 03.0 |
034A: GOTO 1F0 |
.................... |
.................... switch (sensors) // zatacej podle toho, kde vidis caru |
.................... { |
034B: MOVF 29,W |
034C: XORLW 03 |
034D: BTFSC 03.2 |
034E: GOTO 356 |
034F: XORLW 01 |
0350: BTFSC 03.2 |
0351: GOTO 38B |
0352: XORLW 03 |
0353: BTFSC 03.2 |
0354: GOTO 3C2 |
0355: GOTO 3F9 |
.................... case S: // rovne |
.................... GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
0356: MOVF 01,W |
0357: MOVWF 5B |
0358: MOVLW BE |
0359: ADDWF 2D,W |
035A: SUBWF 5B,W |
035B: BTFSC 03.2 |
035C: GOTO 35F |
035D: BTFSC 03.0 |
035E: GOTO 368 |
035F: BSF 03.5 |
0360: BCF 06.7 |
0361: BCF 03.5 |
0362: BCF 06.7 |
0363: BSF 03.5 |
0364: BCF 06.6 |
0365: BCF 03.5 |
0366: BSF 06.6 |
0367: GOTO 370 |
0368: BSF 03.5 |
0369: BCF 06.6 |
036A: BCF 03.5 |
036B: BCF 06.6 |
036C: BSF 03.5 |
036D: BCF 06.7 |
036E: BCF 03.5 |
036F: BCF 06.7 |
0370: MOVF 01,W |
0371: MOVWF 5B |
0372: MOVLW BE |
0373: ADDWF 2D,W |
0374: SUBWF 5B,W |
0375: BTFSC 03.2 |
0376: GOTO 379 |
0377: BTFSC 03.0 |
0378: GOTO 382 |
0379: BSF 03.5 |
037A: BCF 06.5 |
037B: BCF 03.5 |
037C: BCF 06.5 |
037D: BSF 03.5 |
037E: BCF 06.4 |
037F: BCF 03.5 |
0380: BSF 06.4 |
0381: GOTO 38A |
0382: BSF 03.5 |
0383: BCF 06.4 |
0384: BCF 03.5 |
0385: BCF 06.4 |
0386: BSF 03.5 |
0387: BCF 06.5 |
0388: BCF 03.5 |
0389: BCF 06.5 |
.................... continue; |
038A: GOTO 335 |
.................... case L: // trochu vlevo |
.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
038B: MOVF 01,W |
038C: MOVWF 5B |
038D: MOVLW AA |
038E: ADDWF 2D,W |
038F: SUBWF 5B,W |
0390: BTFSC 03.2 |
0391: GOTO 394 |
0392: BTFSC 03.0 |
0393: GOTO 39D |
0394: BSF 03.5 |
0395: BCF 06.7 |
0396: BCF 03.5 |
0397: BCF 06.7 |
0398: BSF 03.5 |
0399: BCF 06.6 |
039A: BCF 03.5 |
039B: BSF 06.6 |
039C: GOTO 3A5 |
039D: BSF 03.5 |
039E: BCF 06.6 |
039F: BCF 03.5 |
03A0: BCF 06.6 |
03A1: BSF 03.5 |
03A2: BCF 06.7 |
03A3: BCF 03.5 |
03A4: BCF 06.7 |
03A5: MOVF 01,W |
03A6: MOVWF 5B |
03A7: MOVLW BE |
03A8: ADDWF 2D,W |
03A9: SUBWF 5B,W |
03AA: BTFSC 03.2 |
03AB: GOTO 3AE |
03AC: BTFSC 03.0 |
03AD: GOTO 3B7 |
03AE: BSF 03.5 |
03AF: BCF 06.5 |
03B0: BCF 03.5 |
03B1: BCF 06.5 |
03B2: BSF 03.5 |
03B3: BCF 06.4 |
03B4: BCF 03.5 |
03B5: BSF 06.4 |
03B6: GOTO 3BF |
03B7: BSF 03.5 |
03B8: BCF 06.4 |
03B9: BCF 03.5 |
03BA: BCF 06.4 |
03BB: BSF 03.5 |
03BC: BCF 06.5 |
03BD: BCF 03.5 |
03BE: BCF 06.5 |
.................... line=L; |
03BF: MOVLW 02 |
03C0: MOVWF 2A |
.................... continue; |
03C1: GOTO 335 |
.................... case R: // trochu vpravo |
.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
03C2: MOVF 01,W |
03C3: MOVWF 5B |
03C4: MOVLW AA |
03C5: ADDWF 2D,W |
03C6: SUBWF 5B,W |
03C7: BTFSC 03.2 |
03C8: GOTO 3CB |
03C9: BTFSC 03.0 |
03CA: GOTO 3D4 |
03CB: BSF 03.5 |
03CC: BCF 06.5 |
03CD: BCF 03.5 |
03CE: BCF 06.5 |
03CF: BSF 03.5 |
03D0: BCF 06.4 |
03D1: BCF 03.5 |
03D2: BSF 06.4 |
03D3: GOTO 3DC |
03D4: BSF 03.5 |
03D5: BCF 06.4 |
03D6: BCF 03.5 |
03D7: BCF 06.4 |
03D8: BSF 03.5 |
03D9: BCF 06.5 |
03DA: BCF 03.5 |
03DB: BCF 06.5 |
03DC: MOVF 01,W |
03DD: MOVWF 5B |
03DE: MOVLW BE |
03DF: ADDWF 2D,W |
03E0: SUBWF 5B,W |
03E1: BTFSC 03.2 |
03E2: GOTO 3E5 |
03E3: BTFSC 03.0 |
03E4: GOTO 3EE |
03E5: BSF 03.5 |
03E6: BCF 06.7 |
03E7: BCF 03.5 |
03E8: BCF 06.7 |
03E9: BSF 03.5 |
03EA: BCF 06.6 |
03EB: BCF 03.5 |
03EC: BSF 06.6 |
03ED: GOTO 3F6 |
03EE: BSF 03.5 |
03EF: BCF 06.6 |
03F0: BCF 03.5 |
03F1: BCF 06.6 |
03F2: BSF 03.5 |
03F3: BCF 06.7 |
03F4: BCF 03.5 |
03F5: BCF 06.7 |
.................... line=R; |
03F6: MOVLW 01 |
03F7: MOVWF 2A |
.................... continue; |
03F8: GOTO 335 |
.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
.................... }; |
.................... rovinka=0; |
03F9: CLRF 2D |
.................... |
.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
03FA: MOVF 2A,W |
03FB: SUBWF 2C,W |
03FC: BTFSC 03.2 |
03FD: GOTO 48F |
.................... { |
.................... last=line; |
03FE: MOVF 2A,W |
03FF: MOVWF 2C |
.................... speed=FW_ZATACKA; |
0400: MOVLW C8 |
0401: MOVWF 2B |
.................... cirkus++; |
0402: INCF 2E,F |
.................... if (cirkus>10) |
0403: MOVF 2E,W |
0404: SUBLW 0A |
0405: BTFSC 03.0 |
0406: GOTO 48F |
.................... { |
.................... STOPL; STOPR; |
0407: BSF 03.5 |
0408: BCF 06.6 |
0409: BCF 03.5 |
040A: BCF 06.6 |
040B: BSF 03.5 |
040C: BCF 06.7 |
040D: BCF 03.5 |
040E: BCF 06.7 |
040F: BSF 03.5 |
0410: BCF 06.4 |
0411: BCF 03.5 |
0412: BCF 06.4 |
0413: BSF 03.5 |
0414: BCF 06.5 |
0415: BCF 03.5 |
0416: BCF 06.5 |
.................... cirkus=0; |
0417: CLRF 2E |
.................... disable_interrupts(GLOBAL); |
0418: BCF 0B.6 |
0419: BCF 0B.7 |
041A: BTFSC 0B.7 |
041B: GOTO 419 |
.................... beep(1000,400); |
041C: MOVLW 03 |
041D: MOVWF 5E |
041E: MOVLW E8 |
041F: MOVWF 5D |
0420: MOVLW 01 |
0421: MOVWF 60 |
0422: MOVLW 90 |
0423: MOVWF 5F |
0424: CALL 055 |
.................... for(n=3000; n>3950; n--) beep(n,10); |
0425: MOVLW 0B |
0426: MOVWF 58 |
0427: MOVLW B8 |
0428: MOVWF 57 |
0429: MOVF 58,W |
042A: SUBLW 0E |
042B: BTFSC 03.0 |
042C: GOTO 441 |
042D: XORLW FF |
042E: BTFSS 03.2 |
042F: GOTO 434 |
0430: MOVF 57,W |
0431: SUBLW 6E |
0432: BTFSC 03.0 |
0433: GOTO 441 |
0434: MOVF 58,W |
0435: MOVWF 5E |
0436: MOVF 57,W |
0437: MOVWF 5D |
0438: CLRF 60 |
0439: MOVLW 0A |
043A: MOVWF 5F |
043B: CALL 055 |
043C: MOVF 57,W |
043D: BTFSC 03.2 |
043E: DECF 58,F |
043F: DECF 57,F |
0440: GOTO 429 |
.................... beep(2000,200); |
0441: MOVLW 07 |
0442: MOVWF 5E |
0443: MOVLW D0 |
0444: MOVWF 5D |
0445: CLRF 60 |
0446: MOVLW C8 |
0447: MOVWF 5F |
0448: CALL 055 |
.................... beep(900,400); |
0449: MOVLW 03 |
044A: MOVWF 5E |
044B: MOVLW 84 |
044C: MOVWF 5D |
044D: MOVLW 01 |
044E: MOVWF 60 |
044F: MOVLW 90 |
0450: MOVWF 5F |
0451: CALL 055 |
.................... for(n=2950; n<3000; n++) beep(n,10); |
0452: MOVLW 0B |
0453: MOVWF 58 |
0454: MOVLW 86 |
0455: MOVWF 57 |
0456: MOVF 58,W |
0457: SUBLW 0B |
0458: BTFSS 03.0 |
0459: GOTO 46C |
045A: BTFSS 03.2 |
045B: GOTO 460 |
045C: MOVF 57,W |
045D: SUBLW B7 |
045E: BTFSS 03.0 |
045F: GOTO 46C |
0460: MOVF 58,W |
0461: MOVWF 5E |
0462: MOVF 57,W |
0463: MOVWF 5D |
0464: CLRF 60 |
0465: MOVLW 0A |
0466: MOVWF 5F |
0467: CALL 055 |
0468: INCF 57,F |
0469: BTFSC 03.2 |
046A: INCF 58,F |
046B: GOTO 456 |
.................... beep(4000,400); |
046C: MOVLW 0F |
046D: MOVWF 5E |
046E: MOVLW A0 |
046F: MOVWF 5D |
0470: MOVLW 01 |
0471: MOVWF 60 |
0472: MOVLW 90 |
0473: MOVWF 5F |
0474: CALL 055 |
.................... beep(1000,100); |
0475: MOVLW 03 |
0476: MOVWF 5E |
0477: MOVLW E8 |
0478: MOVWF 5D |
0479: CLRF 60 |
047A: MOVLW 64 |
047B: MOVWF 5F |
047C: CALL 055 |
.................... beep(3000,400); |
047D: MOVLW 0B |
047E: MOVWF 5E |
047F: MOVLW B8 |
0480: MOVWF 5D |
0481: MOVLW 01 |
0482: MOVWF 60 |
0483: MOVLW 90 |
0484: MOVWF 5F |
0485: CALL 055 |
.................... Delay_ms(1000); |
0486: MOVLW 04 |
0487: MOVWF 5B |
0488: MOVLW FA |
0489: MOVWF 5E |
048A: CALL 07B |
048B: DECFSZ 5B,F |
048C: GOTO 488 |
.................... enable_interrupts(GLOBAL); |
048D: MOVLW C0 |
048E: IORWF 0B,F |
.................... } |
.................... }; |
.................... |
.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
048F: MOVF 2A,W |
0490: SUBLW 02 |
0491: BTFSS 03.2 |
0492: GOTO 4B1 |
.................... { |
.................... STOPL; |
0493: BSF 03.5 |
0494: BCF 06.6 |
0495: BCF 03.5 |
0496: BCF 06.6 |
0497: BSF 03.5 |
0498: BCF 06.7 |
0499: BCF 03.5 |
049A: BCF 06.7 |
.................... GO(R, F, speed); |
049B: MOVF 01,W |
049C: SUBWF 2B,W |
049D: BTFSS 03.0 |
049E: GOTO 4A8 |
049F: BSF 03.5 |
04A0: BCF 06.5 |
04A1: BCF 03.5 |
04A2: BCF 06.5 |
04A3: BSF 03.5 |
04A4: BCF 06.4 |
04A5: BCF 03.5 |
04A6: BSF 06.4 |
04A7: GOTO 4B0 |
04A8: BSF 03.5 |
04A9: BCF 06.4 |
04AA: BCF 03.5 |
04AB: BCF 06.4 |
04AC: BSF 03.5 |
04AD: BCF 06.5 |
04AE: BCF 03.5 |
04AF: BCF 06.5 |
.................... } |
.................... else |
04B0: GOTO 4CE |
.................... { |
.................... STOPR; |
04B1: BSF 03.5 |
04B2: BCF 06.4 |
04B3: BCF 03.5 |
04B4: BCF 06.4 |
04B5: BSF 03.5 |
04B6: BCF 06.5 |
04B7: BCF 03.5 |
04B8: BCF 06.5 |
.................... GO(L, F, speed); |
04B9: MOVF 01,W |
04BA: SUBWF 2B,W |
04BB: BTFSS 03.0 |
04BC: GOTO 4C6 |
04BD: BSF 03.5 |
04BE: BCF 06.7 |
04BF: BCF 03.5 |
04C0: BCF 06.7 |
04C1: BSF 03.5 |
04C2: BCF 06.6 |
04C3: BCF 03.5 |
04C4: BSF 06.6 |
04C5: GOTO 4CE |
04C6: BSF 03.5 |
04C7: BCF 06.6 |
04C8: BCF 03.5 |
04C9: BCF 06.6 |
04CA: BSF 03.5 |
04CB: BCF 06.7 |
04CC: BCF 03.5 |
04CD: BCF 06.7 |
.................... } |
.................... } // while(true) |
04CE: GOTO 335 |
.................... } |
.................... |
04CF: 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/PIC16F88/vystava/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\vystava\tank.c |
2=D:\KAKL\PIC\MerkurI\tank.c |
3=D:\KAKL\PIC\MerkurV\tank.c |
4=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_R\tank.c |
5= |
6= |
7= |
/roboti/istrobot/merkur/PIC16F88/vystava/tank.SYM |
---|
0,0 → 1,69 |
015-016 CCP_1 |
015 CCP_1_LOW |
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 sensors |
02A line |
02B speed |
02C last |
02D rovinka |
02E cirkus |
02F-056 AXstring |
057-058 main.n |
059-05A main.i |
05B-05C diagnostika.n |
05B-05C OtocSe.n |
05B main.@SCRATCH |
05D-05E beep.period |
05D diagnostika.@SCRATCH |
05D OtocSe.@SCRATCH |
05E @delay_ms1.P1 |
05F-060 beep.length |
061-062 beep.nn |
063 @delay_us1.P1 |
077 @SCRATCH |
078 @SCRATCH |
078 _RETURN_ |
079 @SCRATCH |
07A @SCRATCH |
07B @SCRATCH |
09C.6 C1OUT |
09C.7 C2OUT |
007B @delay_ms1 |
0042 @delay_us1 |
0037 TIMER2_isr |
0055 beep |
0090 diagnostika |
01F0 OtocSe |
028E main |
028E @cinit |
Project Files: |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.c |
D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.h |
C:\Program Files\PICC\devices\16F88.h |
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\vystava\tank.err |
INHX8: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.HEX |
Symbols: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.SYM |
List: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.LST |
Debug/COFF: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.cof |
Call Tree: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.tre |
Statistics: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.sta |
/roboti/istrobot/merkur/PIC16F88/vystava/tank.c |
---|
0,0 → 1,234 |
#include "tank.h" |
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 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
int cirkus; |
// Konstanty pro dynamiku pohybu |
#define T_DIRA 120 // po jakem case zataceni se detekuje dira |
#define FW_POMALU 170 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 190 // trochu mimo caru vnejsi pas |
#define COUVANI 750 // couvnuti zpet na caru, po detekci diry |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 15 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
//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++; |
if (rovinka<MAX_ROVINKA) rovinka++; |
} |
// 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)) // spusteni diagnostiky cidel |
{ |
if (RSENSOR) beep(1000,1000); |
if (LSENSOR) beep(2000,2000); |
if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,3000); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void OtocSe() // otoci se zpet, kdyz je prekazka |
{ |
unsigned int16 n; |
BR;BL; |
beep(800,400); |
beep(2000,1000); |
beep(900,400); |
BR; FL; Delay_ms(50); // otoc se 30° do prava |
STOPL; STOPR; |
beep(1000,1000); |
BR; FL; |
for(n=40000;n>0;n--) // toc se, dokud nenarazis na caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
} |
STOPR; STOPL; |
line=L; // caru jsme prejeli, tak je vlevo |
cirkus=0; |
} |
void main() |
{ |
unsigned int16 n; // pro FOR |
unsigned int16 i; |
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; |
cirkus=0; |
// movement=S; |
speed=FW_POMALU; |
diagnostika(); |
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) OtocSe(); |
switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka); |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
}; |
rovinka=0; |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
cirkus++; |
if (cirkus>10) |
{ |
STOPL; STOPR; |
cirkus=0; |
disable_interrupts(GLOBAL); |
beep(1000,400); |
for(n=3000; n>3950; n--) beep(n,10); |
beep(2000,200); |
beep(900,400); |
for(n=2950; n<3000; n++) beep(n,10); |
beep(4000,400); |
beep(1000,100); |
beep(3000,400); |
Delay_ms(1000); |
enable_interrupts(GLOBAL); |
} |
}; |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
} |
} // while(true) |
} |
/roboti/istrobot/merkur/PIC16F88/vystava/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/PIC16F88/vystava/tank.err |
---|
0,0 → 1,0 |
No Errors |
/roboti/istrobot/merkur/PIC16F88/vystava/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/PIC16F88/vystava/tank.sta |
---|
0,0 → 1,35 |
ROM used: 1232 (30%) |
1232 (30%) including unused fragments |
2 Average locations per line |
5 Average locations per statement |
RAM used: 65 (37%) at main() level |
73 (42%) worst case |
Lines Stmts % Files |
----- ----- --- ----- |
235 257 100 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.c |
6 0 0 D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\vystava\tank.h |
275 0 0 C:\Program Files\PICC\devices\16F88.h |
----- ----- |
1032 514 Total |
Page ROM % RAM Functions: |
---- --- --- --- ---------- |
0 21 2 1 @delay_ms1 |
0 19 2 1 @delay_us1 |
0 11 1 0 TIMER2_isr |
0 38 3 6 beep |
0 352 29 3 diagnostika |
0 158 13 3 OtocSe |
0 578 47 5 main |
Segment Used Free |
--------- ---- ---- |
00000-00003 4 0 |
00004-00036 51 0 |
00037-007FF 1177 816 |
00800-00FFF 0 2048 |
/roboti/istrobot/merkur/PIC16F88/vystava/tank.tre |
---|
0,0 → 1,90 |
ÀÄtank |
ÃÄmain 0/578 Ram=5 |
³ ÃÄ??0?? |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄdiagnostika 0/352 Ram=3 |
³ ³ ÃÄbeep 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 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 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 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 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 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 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄbeep 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ÃÄOtocSe 0/158 Ram=3 |
³ ³ ÃÄbeep 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄbeep 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄbeep 0/38 Ram=6 |
³ ³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ³ ÃÄ@delay_ms1 0/21 Ram=1 |
³ ³ ÀÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÃÄbeep 0/38 Ram=6 |
³ ³ ÃÄ@delay_us1 0/19 Ram=1 |
³ ³ ÀÄ@delay_us1 0/19 Ram=1 |
³ ÀÄ@delay_ms1 0/21 Ram=1 |
ÀÄTIMER2_isr 0/11 Ram=0 |
/roboti/istrobot/merkur/dokumentace/merkur.doc |
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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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