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;/////////////////////////////////////////////////////////////////////////////////;// Code Generator: BoostBasic Compiler - http://www.sourceboost.com;// Version : 6.70;// License Type : Pro License;// Limitations : PIC18 max code size:Unlimited, max RAM banks:Unlimited;/////////////////////////////////////////////////////////////////////////////////'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 40000000Function receive() As ByteIf ( (rcsta.OERR = 1) ) Then020E A2AB BTFSS gbl_rcsta,10210 D002 BRA label2684385510216 label268438551rcsta.CREN = 00212 98AB BCF gbl_rcsta,4rcsta.CREN = 10214 88AB BSF gbl_rcsta,4End IfDo While (pir1.RCIF = 0)0216 AA9E BTFSS gbl_pir1,50218 D7FE BRA label268438551Loopreceive = rcreg021A 50AE MOVF gbl_rcreg, W021C 6E0D MOVWF CompTempVarRet489End Function021E 0012 RETURNSub send(c As Byte)Do while (pir1 & (1 << TXIF)) = 0 Loop0204 label2684385620204 A89E BTFSS gbl_pir1,40206 D7FE BRA label268438562txreg = c0208 500D MOVF send_00000_arg_c, W020A 6EAD MOVWF gbl_txregEnd Sub020C 0012 RETURNSub main()Dim motors As ByteDim sensors As ByteDim buttons As ByteDim leds As ByteDim count As LongDim cas As LongDim i As Long'NASTAVENI IOlata=0xFF0220 6889 SETF gbl_latalatb=00222 6A8A CLRF gbl_latblatc=0xFF0224 688B SETF gbl_latctrisa=0xF00226 0EF0 MOVLW 0xF00228 6E92 MOVWF gbl_trisatrisb=0x3F022A 0E3F MOVLW 0x3F022C 6E93 MOVWF gbl_trisbtrisc=0x9F022E 0E9F MOVLW 0x9F0230 6E94 MOVWF gbl_trisc'VYPNOUT ADCadcon1=0xC60232 0EC6 MOVLW 0xC60234 6EC1 MOVWF gbl_adcon1adcon0=0xC00236 0EC0 MOVLW 0xC00238 6EC2 MOVWF gbl_adcon0'UART 9600bpsspbrg=64023A 0E40 MOVLW 0x40023C 6EAF MOVWF gbl_spbrgtxsta = txsta & ~(1 << BRGH)023E 0EFB MOVLW 0xFB0240 14AC ANDWF gbl_txsta, W0242 6EAC MOVWF gbl_txstatxsta = txsta | (1 << TXEN)0244 0E20 MOVLW 0x200246 10AC IORWF gbl_txsta, W0248 6EAC MOVWF gbl_txstarcsta = rcsta | (1 << CREN)024A 0E10 MOVLW 0x10024C 10AB IORWF gbl_rcsta, W024E 6EAB MOVWF gbl_rcstarcsta = rcsta | (1 << SPEN)0250 0E80 MOVLW 0x800252 10AB IORWF gbl_rcsta, W0254 6EAB MOVWF gbl_rcstamotors = 0x000256 6A01 CLRF main_1_motorsdo while (portb.0 = 1)0258 label2684385990258 B081 BTFSC gbl_portb,0025A D7FE BRA label268438599loopleds = 0xF0025C 0EF0 MOVLW 0xF0025E 6E03 MOVWF main_1_ledscount = 4000000260 0E80 MOVLW 0x800262 6E04 MOVWF main_1_count0264 0E1A MOVLW 0x1A0266 6E05 MOVWF main_1_count+D'1'0268 0E06 MOVLW 0x06026A 6E06 MOVWF main_1_count+D'2'026C 6A07 CLRF main_1_count+D'3'do while (count > 0)026E label268438604026E 5007 MOVF main_1_count+D'3', W0270 0800 SUBLW 0x000272 E108 BNZ label2684386050274 5006 MOVF main_1_count+D'2', W0276 0800 SUBLW 0x000278 E105 BNZ label268438605027A 5005 MOVF main_1_count+D'1', W027C 0800 SUBLW 0x00027E E102 BNZ label2684386050280 5004 MOVF main_1_count, W0282 0800 SUBLW 0x000284 label2684386050284 BE07 BTFSC main_1_count+D'3',70286 80D8 BSF STATUS,C0288 E24A BC label268438609count = count -1028A 0E01 MOVLW 0x01028C 5C04 SUBWF main_1_count, W028E 6E0D MOVWF CompTempVar4920290 0E00 MOVLW 0x000292 6E0E MOVWF CompTempVar4960294 A0D8 BTFSS STATUS,C0296 3C0E INCFSZ CompTempVar496, W0298 5E05 SUBWF main_1_count+D'1', F029A 0E00 MOVLW 0x00029C 6E0E MOVWF CompTempVar496029E A0D8 BTFSS STATUS,C02A0 3C0E INCFSZ CompTempVar496, W02A2 5E06 SUBWF main_1_count+D'2', F02A4 0E00 MOVLW 0x0002A6 6E0E MOVWF CompTempVar49602A8 A0D8 BTFSS STATUS,C02AA 3C0E INCFSZ CompTempVar496, W02AC 5E07 SUBWF main_1_count+D'3', F02AE 500D MOVF CompTempVar492, W02B0 6E04 MOVWF main_1_countif count < 300000 then02B2 0E00 MOVLW 0x0002B4 5C07 SUBWF main_1_count+D'3', W02B6 E108 BNZ label26843862102B8 0E04 MOVLW 0x0402BA 5C06 SUBWF main_1_count+D'2', W02BC E105 BNZ label26843862102BE 0E93 MOVLW 0x9302C0 5C05 SUBWF main_1_count+D'1', W02C2 E102 BNZ label26843862102C4 0EE0 MOVLW 0xE002C6 5C04 SUBWF main_1_count, W02C8 label26843862102C8 E302 BNC label402653255702CA AE07 BTFSS main_1_count+D'3',702CC D003 BRA label26843862502CE label402653255702D4 label268438625leds = leds | 102CE 0E01 MOVLW 0x0102D0 1003 IORWF main_1_leds, W02D2 6E03 MOVWF main_1_ledsend ifif count < 200000 then02D4 0E00 MOVLW 0x0002D6 5C07 SUBWF main_1_count+D'3', W02D8 E108 BNZ label26843862702DA 0E03 MOVLW 0x0302DC 5C06 SUBWF main_1_count+D'2', W02DE E105 BNZ label26843862702E0 0E0D MOVLW 0x0D02E2 5C05 SUBWF main_1_count+D'1', W02E4 E102 BNZ label26843862702E6 0E40 MOVLW 0x4002E8 5C04 SUBWF main_1_count, W02EA label26843862702EA E302 BNC label402653255802EC AE07 BTFSS main_1_count+D'3',702EE D003 BRA label26843863102F0 label402653255802F6 label268438631leds = leds | 202F0 0E02 MOVLW 0x0202F2 1003 IORWF main_1_leds, W02F4 6E03 MOVWF main_1_ledsend ifif count < 100000 then02F6 0E00 MOVLW 0x0002F8 5C07 SUBWF main_1_count+D'3', W02FA E108 BNZ label26843863302FC 0E01 MOVLW 0x0102FE 5C06 SUBWF main_1_count+D'2', W0300 E105 BNZ label2684386330302 0E86 MOVLW 0x860304 5C05 SUBWF main_1_count+D'1', W0306 E102 BNZ label2684386330308 0EA0 MOVLW 0xA0030A 5C04 SUBWF main_1_count, W030C label268438633030C E302 BNC label4026532559030E AE07 BTFSS main_1_count+D'3',70310 D003 BRA label2684386370312 label40265325590318 label268438637leds = leds | 40312 0E04 MOVLW 0x040314 1003 IORWF main_1_leds, W0316 6E03 MOVWF main_1_ledsend iflata = leds0318 5003 MOVF main_1_leds, W031A 6E89 MOVWF gbl_lataloop031C D7A8 BRA label268438604031E label268438609lata = 0xFF031E 6889 SETF gbl_lataDo while 10320 label268438641cas = 00320 6A08 CLRF main_1_cas0322 6A09 CLRF main_1_cas+D'1'0324 6A0A CLRF main_1_cas+D'2'0326 6A0B CLRF main_1_cas+D'3'sensors =0xFF0328 6802 SETF main_1_sensorssensors = Call receive() 'prijmi stav cidel senzoru032A EC07F001 CALL receive_00000032E 500D MOVF CompTempVarRet489, W0330 6E02 MOVWF main_1_sensorsIf (!((sensors.0) and (sensors.1))) Then0332 6A0C CLRF CompTempVar4910334 A202 BTFSS main_1_sensors,10336 D003 BRA label2684386470338 A002 BTFSS main_1_sensors,0033A D001 BRA label268438647033C 2A0C INCF CompTempVar491, F033E label268438647033E 520C MOVF CompTempVar491, F0340 E102 BNZ label2684386480346 label268438648motors = 0x770342 0E77 MOVLW 0x770344 6E01 MOVWF main_1_motorsEnd IfIf (!(sensors.2)) Then0346 B402 BTFSC main_1_sensors,20348 D01B BRA label2684386510380 label268438651If cas< 400000 Then034A 0E00 MOVLW 0x00034C 5C0B SUBWF main_1_cas+D'3', W034E E108 BNZ label2684386530350 0E06 MOVLW 0x060352 5C0A SUBWF main_1_cas+D'2', W0354 E105 BNZ label2684386530356 0E1A MOVLW 0x1A0358 5C09 SUBWF main_1_cas+D'1', W035A E102 BNZ label268438653035C 0E80 MOVLW 0x80035E 5C08 SUBWF main_1_cas, W0360 label2684386530360 E302 BNC label40265325630362 AE0B BTFSS main_1_cas+D'3',70364 D007 BRA label40265325660366 label4026532563cas = cas + 10366 2A08 INCF main_1_cas, F0368 B4D8 BTFSC STATUS,Z036A 2A09 INCF main_1_cas+D'1', F036C B4D8 BTFSC STATUS,Z036E 2A0A INCF main_1_cas+D'2', F0370 B4D8 BTFSC STATUS,Z0372 2A0B INCF main_1_cas+D'3', F0374 label4026532566End Ifcas = 00374 6A08 CLRF main_1_cas0376 6A09 CLRF main_1_cas+D'1'0378 6A0A CLRF main_1_cas+D'2'037A 6A0B CLRF main_1_cas+D'3'motors = 0xF7037C 0EF7 MOVLW 0xF7037E 6E01 MOVWF main_1_motorsEnd IfIf (!(sensors.3)) Then0380 B602 BTFSC main_1_sensors,30382 D01B BRA label26843866803BA label268438668If cas< 400000 Then0384 0E00 MOVLW 0x000386 5C0B SUBWF main_1_cas+D'3', W0388 E108 BNZ label268438670038A 0E06 MOVLW 0x06038C 5C0A SUBWF main_1_cas+D'2', W038E E105 BNZ label2684386700390 0E1A MOVLW 0x1A0392 5C09 SUBWF main_1_cas+D'1', W0394 E102 BNZ label2684386700396 0E80 MOVLW 0x800398 5C08 SUBWF main_1_cas, W039A label268438670039A E302 BNC label4026532568039C AE0B BTFSS main_1_cas+D'3',7039E D007 BRA label402653257103A0 label4026532568cas = cas + 103A0 2A08 INCF main_1_cas, F03A2 B4D8 BTFSC STATUS,Z03A4 2A09 INCF main_1_cas+D'1', F03A6 B4D8 BTFSC STATUS,Z03A8 2A0A INCF main_1_cas+D'2', F03AA B4D8 BTFSC STATUS,Z03AC 2A0B INCF main_1_cas+D'3', F03AE label4026532571End Ifcas = 003AE 6A08 CLRF main_1_cas03B0 6A09 CLRF main_1_cas+D'1'03B2 6A0A CLRF main_1_cas+D'2'03B4 6A0B CLRF main_1_cas+D'3'motors = 0x7F03B6 0E7F MOVLW 0x7F03B8 6E01 MOVWF main_1_motorsEnd Ifcas = cas+103BA 2A08 INCF main_1_cas, F03BC B4D8 BTFSC STATUS,Z03BE 2A09 INCF main_1_cas+D'1', F03C0 B4D8 BTFSC STATUS,Z03C2 2A0A INCF main_1_cas+D'2', F03C4 B4D8 BTFSC STATUS,Z03C6 2A0B INCF main_1_cas+D'3', Flata = sensors03C8 5002 MOVF main_1_sensors, W03CA 6E89 MOVWF gbl_latacall send(motors)03CC 5001 MOVF main_1_motors, W03CE 6E0D MOVWF send_00000_arg_c03D0 EC02F001 CALL send_00000Loop03D4 D7A5 BRA label268438641End Sub////////////////////////////////////////// Code with no source :-)////////////////////////////////////////0200 EFEBF001 GOTO _startup03D6 _startup03D6 EF10F001 GOTO main300000 FEFF DW 0xFEFF300002 FEF6 DW 0xFEF6300004 FEFF DW 0xFEFF300006 FFFB DW 0xFFFB300008 3FF0 DW 0x3FF030000A 9FFF DW 0x9FFF30000C BFFF DW 0xBFFF