| /roboti/istrobot/merkur/PIC16F873/Kopie (2) - main.c |
|---|
| 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 |
|---|
| 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) |
| } |
| /roboti/istrobot/merkur/PIC16F873/main.HEX |
|---|
| 0,0 → 1,200 |
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| :02400E00793FF8 |
| :00000001FF |
| ;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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| ;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) |
| } |
| /roboti/istrobot/merkur/PIC16F88/turn_L/tank.HEX |
|---|
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| :100B3000FA30F5008820F10B982D0330F500E830ED |
| :100B4000F400FD01C830FC005C200230F100FA30F6 |
| :100B5000F5008820F10BA72DC00183169C1FB32D33 |
| :100B60008312C00A831600301C1B0130F7000310EB |
| :100B7000F70D77088312C0041F19BC2D1E087F3C97 |
| :100B8000031CC62D4608323C0318892A4008033A44 |
| :100B90000319D12D013A0319E52D033A03191E2E2D |
| :100BA000572E831686138312861383160613831219 |
| :100BB0000617831686128312861283160612831274 |
| :100BC0000616C6010330C500AC2D0108F100E63061 |
| :100BD000430771020319EE2D0318F72D83168613B0 |
| :100BE000831286138316061383120617FF2D8316AE |
| :100BF00006138312061383168613831286130108C5 |
| :100C0000F100F030430771020319082E0318112E6A |
| :100C10008316861283128612831606128312061614 |
| :100C2000192E831606128312061283168612831259 |
| :100C300086120230C100C601C500AC2D0108F100CA |
| :100C4000E630430771020319272E0318302E83164E |
| :100C50008612831286128316061283120616382E07 |
| :100C600083160612831206128316861283128612C8 |
| :100C70000108F100F030430771020319412E0318F7 |
| :100C80004A2E831686138312861383160613831245 |
| :100C90000617522E83160613831206138316861325 |
| :100CA000831286130130C100C601C500AC2DC301FB |
| :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) |
| } |
| /roboti/istrobot/merkur/PIC16F88/turn_R/tank.HEX |
|---|
| 0,0 → 1,202 |
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| :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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| :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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| svn:mime-type = application/octet-stream |
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| /roboti/istrobot/merkur/dokumentace/obrazky/P3200001.JPG |
|---|
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| /roboti/istrobot/merkur/dokumentace/obrazky/P3200002.JPG |
|---|
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| Added: svn:mime-type |
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| /roboti/istrobot/merkur/dokumentace/obrazky/P4110011.JPG |
|---|
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| /roboti/istrobot/merkur/dokumentace/obrazky/P4110012.JPG |
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| /roboti/istrobot/merkur/dokumentace/obrazky/P4110013.JPG |
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| /roboti/istrobot/merkur/dokumentace/obrazky/P4110014.JPG |
|---|
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| /roboti/istrobot/merkur/dokumentace/obrazky/P5110007.JPG |
|---|
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| /roboti/istrobot/merkur/dokumentace/obrazky/P5110008.JPG |
|---|
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| /roboti/istrobot/merkur/dokumentace/obrazky/P5110009.JPG |
|---|
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| /roboti/istrobot/merkur/dokumentace/obrazky/P5110010.JPG |
|---|
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| /roboti/istrobot/merkur/dokumentace/obrazky/PIC16F88/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/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/PIC16F88/vssver.scc |
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| /roboti/istrobot/merkur/dokumentace/obrazky/Thumbs.db |
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| /roboti/istrobot/merkur/dokumentace/obrazky/vssver.scc |
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| Cannot display: file marked as a binary type. |
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