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Sub send(c As Byte)
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Sub send(c As Byte)
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	Do while (pir1 & (1 << TXIF)) = 0 Loop
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	Do while (pir1 & (1 << TXIF)) = 0 Loop
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	txreg = c
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	txreg = c
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End Sub
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End Sub
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Sub delay(cas As Byte)
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Dim i As Byte
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Dim x As Byte
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    Do while i <= cas
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     Do While x <= 100
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      Call receive()
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      x=x+1
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     loop
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    i=i+1
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	loop
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End Sub
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Sub main()
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Sub main()
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	Dim motors As Byte
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	Dim motors As Byte
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	Dim sensors As Byte
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	Dim sensors As Byte
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	Dim leds As Byte
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	Dim leds1 As Byte
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	Dim buttons As Byte
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	Dim buttons As Byte
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	Dim i As Long
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	Dim i As Long
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	'NASTAVENI IO
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	'NASTAVENI IO
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	lata=0xFF
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	lata=0xFF
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	txsta = txsta & ~(1 << BRGH)
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	txsta = txsta & ~(1 << BRGH)
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	txsta = txsta | (1 << TXEN)
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	txsta = txsta | (1 << TXEN)
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	rcsta = rcsta | (1 << CREN)
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	rcsta = rcsta | (1 << CREN)
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	rcsta = rcsta | (1 << SPEN)
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	rcsta = rcsta | (1 << SPEN)
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	motors = 0x00
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	lata = 0x0E
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    Call delay(200)
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	lata = 0x0D
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    Call delay(200)
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	leds = 0xFF
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	lata = 0x0B
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    Call delay(200)
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	leds1 = 0x0F
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	lata = 0x07
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    Call delay(200)
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	motors = 0x77
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    Call delay(100)
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	motors = 0x00
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Do while 1
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Do while 1
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  Do while i <= 500000
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    i=i+1
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	loop
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  motors = motors + 0x11
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		elseif (buttons.4)=0 Then
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			i=0
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			leds1 = leds1 + 1
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			lata = leds1
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			Do while i <= 500000
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			i=i+1
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			loop
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			motors = motors - 0x11
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		End If
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		leds = 0xFF
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		sensors =0xFF
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		sensors = Call receive()	'prijmi stav cidel senzoru
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		'Bity v bajtu sensors
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		'BIT3=LEVE SPODNI, BIT2=PRAVE SPODNI, BIT1=LEVE PREDNI, BIT0=PRAVE PREDNI
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		'prislusny bit v nule znamena aktivni senzor
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		If (sensors.0)=0 Then
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			'pravy predni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 1)	'led sviti, kdyz se ji bit znuluje
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		End If
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		If (sensors.1)=0 Then
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			'levy predni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 2)	'led sviti, kdyz se ji bit znuluje
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		End If
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		If (sensors.2)=0 Then
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			'pravy spodni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 0)	'led sviti, kdyz se ji bit znuluje
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		End If
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		If (sensors.3)=0 Then
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			'levy spodni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 3)	'led sviti, kdyz se ji bit znuluje
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		End If
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	lata = leds
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	call send(motors)
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  sensors =0xFF
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  sensors = Call receive()	'prijmi stav cidel senzoru
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  If (!((sensors.0) and (sensors.1))) Then
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    motors = 0x77
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  End If
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	Loop
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  If (!(sensors.2)) Then
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    motors = 0xF7
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  End If
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  If (!(sensors.3)) Then
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    motors = 0x7F
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  End If
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  lata = sensors
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  call send(motors)
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Loop
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End Sub
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End Sub