WebSVN – svnkaklik – Diff – /roboti/Robiada/2007/SW/robot/robot.bas


'robot
 
'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
 
 
#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H
#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L
#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H
#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L
#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L
#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H
#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H
#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
#pragma DATA _CONFIG7H, _EBTRB_ON_7H
 
#pragma CLOCK_FREQ 40000000
 
Function receive() As Byte
	If ( (rcsta.OERR = 1) ) Then
		rcsta.CREN = 0
        rcsta.CREN = 1
	End If
    Do While (pir1.RCIF = 0)
	Loop
	receive = rcreg
	
End Function
 
Sub send(c As Byte)
	Do while (pir1 & (1 << TXIF)) = 0 Loop
	txreg = c
End Sub
 
Sub main()
	Dim motors As Byte
	Dim sensors As Byte
	Dim buttons As Byte
	Dim leds As Byte
	Dim count As Long
	Dim cas As Long
	Dim i As Long
 
	'NASTAVENI IO
	lata=0xFF
	latb=0
	latc=0xFF
	trisa=0xF0
	trisb=0x3F
	trisc=0x9F
 
	'VYPNOUT ADC
	adcon1=0xC6
	adcon0=0xC0
 
	'UART 9600bps
	spbrg=64
	txsta = txsta & ~(1 << BRGH)
	txsta = txsta | (1 << TXEN)
	rcsta = rcsta | (1 << CREN)
	rcsta = rcsta | (1 << SPEN)
			 	
	motors = 0x00
		
    do while (portb.0 = 1)
	loop
 
	leds = 0xF0
	count = 400000
	
	do while (count > 0)
		count = count -1
		
		if count < 300000 then
			leds = leds | 1
		end if
		if count < 200000 then
			leds = leds | 2
		end if
		if count < 100000 then
			leds = leds | 4
		end if
		lata = leds
	loop
	lata = 0xFF
 
		
Do while 1
  cas = 0
  sensors =0xFF 
  sensors = Call receive()	'prijmi stav cidel senzoru
		
  If (!((sensors.0) and (sensors.1))) Then
    motors = 0x77
  End If
			
  If (!(sensors.2)) Then
    If cas< 400000 Then
      cas = cas + 1
    End If
    cas = 0
    motors = 0xF7
  End If
		
  If (!(sensors.3)) Then
    If cas< 400000 Then
      cas = cas + 1
    End If
    cas = 0
    motors = 0x7F
  End If 
	
  cas = cas+1			
  lata = sensors
  call send(motors)
		
Loop
  	
End Sub

Rev 324	Rev 325
1	`'robot`	1	`'robot`
2		2
3	`'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H`	3	`'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H`
4		4
5		5
6	`#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H`	6	`#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H`
7	`#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L`	7	`#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L`
8	`#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H`	8	`#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H`
9	`#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H`	9	`#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H`
10	`#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L`	10	`#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L`
11	`#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L`	11	`#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L`
12	`#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H`	12	`#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H`
13	`#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L`	13	`#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L`
14	`#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H`	14	`#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H`
15	`#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L`	15	`#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L`
16	`#pragma DATA _CONFIG7H, _EBTRB_ON_7H`	16	`#pragma DATA _CONFIG7H, _EBTRB_ON_7H`
17		17
18	`#pragma CLOCK_FREQ 40000000`	18	`#pragma CLOCK_FREQ 40000000`
19		19
20	`Function receive() As Byte`	20	`Function receive() As Byte`
21	`If ( (rcsta.OERR = 1) ) Then`	21	`If ( (rcsta.OERR = 1) ) Then`
22	`rcsta.CREN = 0`	22	`rcsta.CREN = 0`
23	`rcsta.CREN = 1`	23	`rcsta.CREN = 1`
24	`End If`	24	`End If`
25	`Do While (pir1.RCIF = 0)`	25	`Do While (pir1.RCIF = 0)`
26	`Loop`	26	`Loop`
27	`receive = rcreg`	27	`receive = rcreg`
28		28
29	`End Function`	29	`End Function`
30		30
31	`Sub send(c As Byte)`	31	`Sub send(c As Byte)`
32	`Do while (pir1 & (1 << TXIF)) = 0 Loop`	32	`Do while (pir1 & (1 << TXIF)) = 0 Loop`
33	`txreg = c`	33	`txreg = c`
34	`End Sub`	34	`End Sub`
35		35
36	`Sub main()`	36	`Sub main()`
37	`Dim motors As Byte`	37	`Dim motors As Byte`
38	`Dim sensors As Byte`	38	`Dim sensors As Byte`
39	`Dim buttons As Byte`	39	`Dim buttons As Byte`
40	`Dim leds As Byte`	40	`Dim leds As Byte`
41	`Dim count As Long`	41	`Dim count As Long`
-		42	`Dim cas As Long`
42	`Dim i As Long`	43	`Dim i As Long`
43		44
44	`'NASTAVENI IO`	45	`'NASTAVENI IO`
45	`lata=0xFF`	46	`lata=0xFF`
46	`latb=0`	47	`latb=0`
47	`latc=0xFF`	48	`latc=0xFF`
48	`trisa=0xF0`	49	`trisa=0xF0`
49	`trisb=0x3F`	50	`trisb=0x3F`
50	`trisc=0x9F`	51	`trisc=0x9F`
51		52
52	`'VYPNOUT ADC`	53	`'VYPNOUT ADC`
53	`adcon1=0xC6`	54	`adcon1=0xC6`
54	`adcon0=0xC0`	55	`adcon0=0xC0`
55		56
56	`'UART 9600bps`	57	`'UART 9600bps`
57	`spbrg=64`	58	`spbrg=64`
58	`txsta = txsta & ~(1 << BRGH)`	59	`txsta = txsta & ~(1 << BRGH)`
59	`txsta = txsta \| (1 << TXEN)`	60	`txsta = txsta \| (1 << TXEN)`
60	`rcsta = rcsta \| (1 << CREN)`	61	`rcsta = rcsta \| (1 << CREN)`
61	`rcsta = rcsta \| (1 << SPEN)`	62	`rcsta = rcsta \| (1 << SPEN)`
62		63
63	`motors = 0x00`	64	`motors = 0x00`
64		65
65	`do while (portb.0 = 1)`	66	`do while (portb.0 = 1)`
66	`loop`	67	`loop`
67		68
68	`leds = 0xF0`	69	`leds = 0xF0`
69	`count = 400000`	70	`count = 400000`
70		71
71	`do while (count > 0)`	72	`do while (count > 0)`
72	`count = count -1`	73	`count = count -1`
73		74
74	`if count < 300000 then`	75	`if count < 300000 then`
75	`leds = leds \| 1`	76	`leds = leds \| 1`
76	`end if`	77	`end if`
77	`if count < 200000 then`	78	`if count < 200000 then`
78	`leds = leds \| 2`	79	`leds = leds \| 2`
79	`end if`	80	`end if`
80	`if count < 100000 then`	81	`if count < 100000 then`
81	`leds = leds \| 4`	82	`leds = leds \| 4`
82	`end if`	83	`end if`
83	`lata = leds`	84	`lata = leds`
84	`loop`	85	`loop`
85	`lata = 0xFF`	86	`lata = 0xFF`
86		87
87		88
88	`Do while 1`	89	`Do while 1`
89		90	`cas = 0`
90	`sensors =0xFF`	91	`sensors =0xFF`
91	`sensors = Call receive() 'prijmi stav cidel senzoru`	92	`sensors = Call receive() 'prijmi stav cidel senzoru`
92		93
93	`If (!((sensors.0) and (sensors.1))) Then`	94	`If (!((sensors.0) and (sensors.1))) Then`
94	`motors = 0x77`	95	`motors = 0x77`
95	`End If`	96	`End If`
96		97
97	`If (!(sensors.2)) Then`	98	`If (!(sensors.2)) Then`
-		99	`If cas< 400000 Then`
-		100	`cas = cas + 1`
-		101	`End If`
-		102	`cas = 0`
98	`motors = 0xF7`	103	`motors = 0xF7`
99	`End If`	104	`End If`
100		105
101	`If (!(sensors.3)) Then`	106	`If (!(sensors.3)) Then`
-		107	`If cas< 400000 Then`
-		108	`cas = cas + 1`
-		109	`End If`
-		110	`cas = 0`
102	`motors = 0x7F`	111	`motors = 0x7F`
103	`End If`	112	`End If`
104		113
-		114	`cas = cas+1`
105	`lata = sensors`	115	`lata = sensors`
106	`call send(motors)`	116	`call send(motors)`
107		117
108	`Loop`	118	`Loop`
109		119
110	`End Sub`	120	`End Sub`

Subversion Repositories svnkaklik

(root)/roboti/Robiada/2007/SW/robot/robot.bas @ 386 – Rev 324 → 325