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CCS PCM C Compiler, Version 3.245, 27853 22-IV-06 16:00Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lstROM used: 666 words (16%)Largest free fragment is 2048RAM used: 32 (18%) at main() level35 (20%) worst caseStack: 3 worst case (1 in main + 2 for interrupts)*0000: MOVLW 000001: MOVWF 0A0002: GOTO 0890003: NOP0004: MOVWF 7F0005: SWAPF 03,W0006: CLRF 030007: MOVWF 210008: MOVF 7F,W0009: MOVWF 20000A: MOVF 0A,W000B: MOVWF 28000C: CLRF 0A000D: SWAPF 20,F000E: MOVF 04,W000F: MOVWF 220010: MOVF 77,W0011: MOVWF 230012: MOVF 78,W0013: MOVWF 240014: MOVF 79,W0015: MOVWF 250016: MOVF 7A,W0017: MOVWF 260018: MOVF 7B,W0019: MOVWF 27001A: BCF 03.7001B: BCF 03.5001C: MOVLW 8C001D: MOVWF 04001E: BTFSS 00.0001F: GOTO 0220020: BTFSC 0C.00021: GOTO 03B0022: MOVLW 8C0023: MOVWF 040024: BTFSS 00.10025: GOTO 0280026: BTFSC 0C.10027: GOTO 03D0028: MOVF 22,W0029: MOVWF 04002A: MOVF 23,W002B: MOVWF 77002C: MOVF 24,W002D: MOVWF 78002E: MOVF 25,W002F: MOVWF 790030: MOVF 26,W0031: MOVWF 7A0032: MOVF 27,W0033: MOVWF 7B0034: MOVF 28,W0035: MOVWF 0A0036: SWAPF 21,W0037: MOVWF 030038: SWAPF 7F,F0039: SWAPF 7F,W003A: RETFIE003B: BCF 0A.3003C: GOTO 03F003D: BCF 0A.3003E: GOTO 053.................... #include ".\main.h".................... #include <16F88.h>.................... //////// Standard Header file for the PIC16F88 device ////////////////.................... #device PIC16F88.................... #list........................................ #device adc=8........................................ #FUSES NOWDT //No Watch Dog Timer.................... #FUSES INTRC_IO.................... #FUSES NOPUT //No Power Up Timer.................... #FUSES MCLR //Master Clear pin enabled.................... #FUSES NOBROWNOUT //Reset when brownout detected.................... #FUSES NOLVP //Low Voltage Programming on B3(PIC16) or B5(PIC18).................... #FUSES NOCPD //No EE protection.................... #FUSES NOWRT //Program memory not write protected.................... #FUSES NODEBUG //No Debug mode for ICD.................... #FUSES NOPROTECT //Code not protected from reading.................... #FUSES NOFCMEN //Fail-safe clock monitor enabled.................... #FUSES NOIESO //Internal External Switch Over mode enabled........................................ #use delay(clock=8000000,RESTART_WDT)*0043: MOVLW 080044: SUBWF 3D,F0045: BTFSS 03.00046: GOTO 0520047: MOVLW 3D0048: MOVWF 040049: BCF 03.0004A: RRF 00,F004B: MOVF 00,W004C: BTFSC 03.2004D: GOTO 052004E: GOTO 050004F: CLRWDT0050: DECFSZ 00,F0051: GOTO 04F0052: RETLW 00*0071: MOVLW 3A0072: MOVWF 040073: MOVF 00,W0074: BTFSC 03.20075: GOTO 0880076: MOVLW 020077: MOVWF 780078: MOVLW BF0079: MOVWF 77007A: CLRWDT007B: DECFSZ 77,F007C: GOTO 07A007D: DECFSZ 78,F007E: GOTO 078007F: MOVLW 960080: MOVWF 770081: DECFSZ 77,F0082: GOTO 0810083: NOP0084: NOP0085: CLRWDT0086: DECFSZ 00,F0087: GOTO 0760088: RETLW 00................................................................................ #define KOLMO1 225 // predni kolecko sroubem dopredu.................... #define KOLMO2 30 // predni kolecko je hlavou sroubu dozadu.................... #define STRED 128 // sredni poloha zataceciho kolecka.................... #define BEAR1 6//10 // 3 stupne zataceni.................... #define BEAR2 10//27.................... #define BEAR3 40.................... #define SPEEDMAX 160 // ANSMANN=140; GP=120; maximalni rozumna rychlost.................... #define R17 255 // X nasobek rozumne rychlosti.................... #define DOZNIVANI 10.................... #define L 1 // cara vlevo.................... #define S 2 // casa mezi sensory.................... #define R 0 // cara vpravo........................................ // servo.................... #define SERVO PIN_A2........................................ // IR.................... #define IRTX PIN_B2.................... #define CIHLA PIN_A3........................................ //motory.................... #define FR output_low(PIN_A7); output_high(PIN_A6) // Vpred.................... #define FL output_low(PIN_A1); output_high(PIN_A0).................... #define BR output_low(PIN_A6); output_high(PIN_A7) // Vzad.................... #define BL output_low(PIN_A0); output_high(PIN_A1).................... #define STOPR output_low(PIN_A6);output_low(PIN_A7).................... #define STOPL output_low(PIN_A0);output_low(PIN_A1)........................................ //HID.................... #define LED1 PIN_B1 //oranzova.................... #define LED2 PIN_B2 //zluta........................................ #define STROBE PIN_B0.................... //#define SW1 PIN_A2 // Motory On/off........................................ unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru.................... unsigned int8 line; // na ktere strane byla detekovana cara.................... //unsigned int8 dira; // pocita dobu po kterou je ztracena cara.................... unsigned int8 uhel; // urcuje aktualni uhel zataceni.................... unsigned int8 speed; // maximalni povolena rychlost.................... unsigned int8 rovinka; // pocitadlo na zjisteni rovinky........................................ short int preteceni; // flag preteceni timeru1........................................ signed int16 Lmotor; // promene, ktere urcuji velikost vykonu na levem.................... signed int16 Rmotor; // a pravem motoru........................................ // makro pro PWM pro motory.................... #define GO(motor, direction, power) if(get_timer0()<=power) \.................... {direction##motor;} else {stop##motor;}........................................ ////////////////////////////////////////////////////////////////////////////////.................... /*.................... void diagnostika().................... {.................... if(input(SW1))STOPR;STOPL;While(TRUE);.................... // if(LSENSOR==true) output_high(LED2); else output_low(LED2);.................... // if(RSENSOR==true) output_high(LED1); else output_low(LED1);.................... }.................... */.................... ////////////////////////////////////////////////////////////////////////////////.................... #int_TIMER1.................... TIMER1_isr().................... {.................... preteceni = true;*003F: BSF 2F.0.................... }.................... ////////////////////////////////////////////////////////////////////////////////0040: BCF 0C.00041: BCF 0A.30042: GOTO 028.................... #int_TIMER2.................... TIMER2_isr() // ovladani serva.................... {.................... unsigned int8 n;........................................ output_high(SERVO);*0053: BSF 03.50054: BCF 05.20055: BCF 03.50056: BSF 05.2.................... delay_us(1000);0057: CLRWDT0058: MOVLW 090059: MOVWF 3C005A: MOVLW 6D005B: MOVWF 3D005C: CALL 043005D: DECFSZ 3C,F005E: GOTO 05A.................... for(n=uhel; n>0; n--) Delay_us(2);005F: MOVF 2C,W0060: MOVWF 3B0061: MOVF 3B,F0062: BTFSC 03.20063: GOTO 06A0064: CLRWDT0065: NOP0066: NOP0067: NOP0068: DECF 3B,F0069: GOTO 061.................... output_low(SERVO);006A: BSF 03.5006B: BCF 05.2006C: BCF 03.5006D: BCF 05.2.................... }........................................ ////////////////////////////////////////////////////////////////////////////////006E: BCF 0C.1006F: BCF 0A.30070: GOTO 028.................... short int IRcheck() // potvrdi detekci cihly.................... {.................... output_high(IRTX); // vypne vysilac IR.................... delay_ms(100);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ if(true==bit_test(sensors,7)) // otestuje, jestli je stale detekovan IR signal.................... {.................... output_low(IRTX); // zapne vysilac IR.................... delay_ms(100);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ if(false==bit_test(sensors,7)) // otestuje, jestli je detekovana cihla.................... {.................... output_high(IRTX); // vypne vysilac IR.................... delay_ms(100);........................................ output_low(STROBE);.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... output_high(STROBE);........................................ output_low(IRTX); // zapne vysilac IR.................... if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla.................... }.................... };.................... output_low(IRTX); // zapne vysilac IR.................... return 0; // vrat 0, kdyz je detekovano ruseni.................... }.................... ////////////////////////////////////////////////////////////////////////////////.................... void objizdka().................... {.................... int8 shure=0;.................... unsigned int16 n;........................................ BR;BL;.................... Delay_ms(400);.................... STOPR;STOPL;........................................ uhel=KOLMO1; // nastav zataceci kolecko kolmo na osu robota.................... Delay_ms(100);.................... BL;FR;.................... Delay_ms(200); // minimalni toceni, kdyby se zastavilo sikmo k cihle........................................ While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru.................... {.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel.................... }.................... STOPL; STOPR;........................................ for (n=0;n<1500;n++) // vystred se na hranu cihly.................... {.................... if(!input(CIHLA)) {BL; FR;} else {FL; BR;};.................... delay_ms(1);.................... }.................... STOPR;STOPL;........................................ uhel=STRED; // dopredu.................... delay_ms(100);.................... FR; FL;.................... delay_ms(500);.................... BL;BR;.................... delay_ms(200);.................... STOPL;STOPR;........................................ uhel=STRED+BEAR3; // doprava.................... delay_ms(100);.................... FL;.................... delay_ms(200);.................... uhel=STRED+BEAR2; // min doprava.................... FL;FR;.................... delay_ms(200);.................... uhel=STRED+BEAR1; // jeste min doprava.................... FL;FR;.................... delay_ms(200);.................... uhel=STRED; // rovne.................... FL;FR;.................... delay_ms(100);.................... While((sensors & 0b01111111)!=0) //dokud neni cara.................... {.................... sensors = spi_read(0); // cteni senzoru.................... sensors=~sensors;.................... Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel.................... }.................... BL; BR;.................... delay_ms(400);........................................ uhel=STRED-BEAR3; // doleva.................... }........................................ ////////////////////////////////////////////////////////////////////////////////.................... void main().................... {*0089: CLRF 04008A: MOVLW 1F008B: ANDWF 03,F008C: MOVLW 70008D: BSF 03.5008E: MOVWF 0F008F: BCF 1F.40090: BCF 1F.50091: MOVF 1B,W0092: ANDLW 800093: MOVWF 1B0094: MOVLW 070095: MOVWF 1C........................................ unsigned int8 n;.................... unsigned int8 i,v;.................... unsigned int8 last_sensors;.................... unsigned int8 j=0;0096: BCF 03.50097: CLRF 38........................................ setup_adc_ports(NO_ANALOGS);0098: BSF 03.50099: BCF 1F.4009A: BCF 1F.5009B: MOVF 1B,W009C: ANDLW 80009D: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);009E: BCF 1F.6009F: BCF 03.500A0: BSF 1F.600A1: BSF 1F.700A2: BSF 03.500A3: BCF 1F.700A4: BCF 03.500A5: BSF 1F.0.................... setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16);00A6: BCF 14.500A7: BSF 03.500A8: BCF 06.200A9: BSF 06.100AA: BCF 06.400AB: MOVLW 3100AC: BCF 03.500AD: MOVWF 1400AE: MOVLW 0000AF: BSF 03.500B0: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);00B1: MOVF 01,W00B2: ANDLW C700B3: IORLW 0800B4: MOVWF 01.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);00B5: MOVLW B500B6: BCF 03.500B7: MOVWF 10.................... setup_timer_2(T2_DIV_BY_16,140,16);00B8: MOVLW 7800B9: MOVWF 7800BA: IORLW 0600BB: MOVWF 1200BC: MOVLW 8C00BD: BSF 03.500BE: MOVWF 12.................... setup_oscillator(OSC_8MHZ|OSC_INTRC);00BF: MOVLW 7200C0: MOVWF 0F........................................ STOPR; STOPL; // zastav motory00C1: BCF 05.600C2: BCF 03.500C3: BCF 05.600C4: BSF 03.500C5: BCF 05.700C6: BCF 03.500C7: BCF 05.700C8: BSF 03.500C9: BCF 05.000CA: BCF 03.500CB: BCF 05.000CC: BSF 03.500CD: BCF 05.100CE: BCF 03.500CF: BCF 05.1.................... Lmotor=0;Rmotor=0;00D0: CLRF 3100D1: CLRF 3000D2: CLRF 3300D3: CLRF 32........................................ uhel = STRED; // nastav zadni kolecko na stred00D4: MOVLW 8000D5: MOVWF 2C.................... rovinka = 0;00D6: CLRF 2E........................................ enable_interrupts(INT_TIMER2);00D7: BSF 03.500D8: BSF 0C.1.................... enable_interrupts(INT_TIMER1);00D9: BSF 0C.0.................... enable_interrupts(GLOBAL);00DA: MOVLW C000DB: BCF 03.500DC: IORWF 0B,F........................................ output_low(IRTX); // zapni IR vysilac00DD: BSF 03.500DE: BCF 06.200DF: BCF 03.500E0: BCF 06.2........................................ delay_ms(1000);00E1: MOVLW 0400E2: MOVWF 3900E3: MOVLW FA00E4: MOVWF 3A00E5: CALL 07100E6: DECFSZ 39,F00E7: GOTO 0E3........................................ //!!!!.................... speed=SPEEDMAX;00E8: MOVLW A000E9: MOVWF 2D........................................ while(true).................... {........................................ GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory PWM podle promenych Lmotor a Rmotor00EA: MOVF 01,W00EB: BTFSS 00.700EC: GOTO 0F000ED: BTFSS 31.700EE: GOTO 0F800EF: GOTO 0F200F0: BTFSC 31.700F1: GOTO 10100F2: MOVF 31,F00F3: BTFSS 03.200F4: GOTO 0F800F5: SUBWF 30,W00F6: BTFSS 03.000F7: GOTO 10100F8: BSF 03.500F9: BCF 05.100FA: BCF 03.500FB: BCF 05.100FC: BSF 03.500FD: BCF 05.000FE: BCF 03.500FF: BSF 05.00100: GOTO 1090101: BSF 03.50102: BCF 05.00103: BCF 03.50104: BCF 05.00105: BSF 03.50106: BCF 05.10107: BCF 03.50108: BCF 05.10109: MOVF 01,W010A: BTFSS 00.7010B: GOTO 10F010C: BTFSS 33.7010D: GOTO 117010E: GOTO 111010F: BTFSC 33.70110: GOTO 1200111: MOVF 33,F0112: BTFSS 03.20113: GOTO 1170114: SUBWF 32,W0115: BTFSS 03.00116: GOTO 1200117: BSF 03.50118: BCF 05.70119: BCF 03.5011A: BCF 05.7011B: BSF 03.5011C: BCF 05.6011D: BCF 03.5011E: BSF 05.6011F: GOTO 1280120: BSF 03.50121: BCF 05.60122: BCF 03.50123: BCF 05.60124: BSF 03.50125: BCF 05.70126: BCF 03.50127: BCF 05.7........................................ delay_us(1500); // cekani na SLAVE, nez pripravi data od cidel0128: CLRWDT0129: MOVLW 01012A: MOVWF 3A012B: CALL 071012C: MOVLW 02012D: MOVWF 39012E: CLRF 29012F: BTFSC 0B.70130: BSF 29.70131: BCF 0B.70132: MOVLW F70133: MOVWF 3D0134: CALL 0430135: BTFSC 29.70136: BSF 0B.70137: DECFSZ 39,F0138: GOTO 12E........................................ last_sensors = sensors;0139: MOVF 2A,W013A: MOVWF 37.................... j++;013B: INCF 38,F........................................ output_low(STROBE); // vypni zobrazovani na posuvnem registru013C: BSF 03.5013D: BCF 06.0013E: BCF 03.5013F: BCF 06.0.................... sensors = spi_read(0); // cteni senzoru0140: MOVF 13,W0141: CLRF 130142: BSF 03.50143: BTFSC 14.00144: GOTO 1470145: BCF 03.50146: GOTO 1420147: BCF 03.50148: MOVF 13,W0149: MOVWF 2A.................... sensors=~sensors;014A: COMF 2A,F.................... output_high(STROBE); // zobraz data na posuvnem registru014B: BSF 03.5014C: BCF 06.0014D: BCF 03.5014E: BSF 06.0.................................................................................................... if(false == preteceni)014F: MOVLW 000150: BTFSC 2F.00151: MOVLW 010152: XORLW 000153: BTFSS 03.20154: GOTO 16B.................... {.................... v = 255 - (get_timer1() >> 8);0155: MOVF 0F,W0156: MOVWF 7A0157: MOVF 0E,W0158: MOVWF 770159: MOVF 0F,W015A: SUBWF 7A,W015B: BTFSS 03.2015C: GOTO 155015D: MOVF 77,W015E: MOVWF 39015F: MOVF 7A,W0160: MOVWF 3A0161: MOVF 3A,W0162: CLRF 7A0163: SUBLW FF0164: MOVWF 36.................... v >>= 3;0165: RRF 36,F0166: RRF 36,F0167: RRF 36,F0168: MOVLW 1F0169: ANDWF 36,F.................... }.................... else016A: GOTO 16D.................... {.................... v=0;016B: CLRF 36.................... preteceni=false;016C: BCF 2F.0.................... }................................................................................ i=0; // havarijni kod016D: CLRF 35.................... for (n=0; n<=6; n++)016E: CLRF 34016F: MOVF 34,W0170: SUBLW 060171: BTFSS 03.00172: GOTO 181.................... {.................... if(bit_test(sensors,n)) i++;0173: MOVF 2A,W0174: MOVWF 770175: MOVF 34,W0176: MOVWF 780177: BTFSC 03.20178: GOTO 17D0179: BCF 03.0017A: RRF 77,F017B: DECFSZ 78,F017C: GOTO 179017D: BTFSC 77.0017E: INCF 35,F.................... }017F: INCF 34,F0180: GOTO 16F.................... if (i>3) While(true){STOPR; STOPL;}; // zastavi, kdyz je cerno pod vice nez tremi cidly0181: MOVF 35,W0182: SUBLW 030183: BTFSC 03.00184: GOTO 1960185: BSF 03.50186: BCF 05.60187: BCF 03.50188: BCF 05.60189: BSF 03.5018A: BCF 05.7018B: BCF 03.5018C: BCF 05.7018D: BSF 03.5018E: BCF 05.0018F: BCF 03.50190: BCF 05.00191: BSF 03.50192: BCF 05.10193: BCF 03.50194: BCF 05.10195: GOTO 185................................................................................ if(bit_test(sensors,7)) // detekce cihly0196: BTFSS 2A.70197: GOTO 198.................... {.................... //!!! objizdka(); // objede cihlu.................... }................................................................................ if(bit_test(sensors,3)) //...|...//0198: BTFSS 2A.30199: GOTO 1AF.................... {.................... uhel=STRED;019A: MOVLW 80019B: MOVWF 2C.................... Lmotor=speed;019C: CLRF 7A019D: MOVF 2D,W019E: MOVWF 30019F: MOVF 7A,W01A0: MOVWF 31.................... Rmotor=speed;01A1: CLRF 7A01A2: MOVF 2D,W01A3: MOVWF 3201A4: MOVF 7A,W01A5: MOVWF 33.................... line=S;01A6: MOVLW 0201A7: MOVWF 2B.................... set_timer1(0);01A8: CLRF 0F01A9: CLRF 0E.................... if (rovinka < 255) rovinka++;01AA: INCFSZ 2E,W01AB: GOTO 1AD01AC: GOTO 1AE01AD: INCF 2E,F.................... // if (speed > SPEEDMAX) speed--;.................... continue;01AE: GOTO 0EA.................... }........................................ if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu01AF: BTFSS 2A.001B0: GOTO 1CD.................... {.................... if(sensors != last_sensors) uhel=STRED - BEAR3 - v;01B1: MOVF 37,W01B2: SUBWF 2A,W01B3: BTFSC 03.201B4: GOTO 1B801B5: MOVF 36,W01B6: SUBLW 5801B7: MOVWF 2C.................... if(j>=DOZNIVANI)01B8: MOVF 38,W01B9: SUBLW 0901BA: BTFSC 03.001BB: GOTO 1C1.................... {.................... j=0;01BC: CLRF 38.................... if(uhel<STRED - BEAR3) uhel++;01BD: MOVF 2C,W01BE: SUBLW 5701BF: BTFSC 03.001C0: INCF 2C,F.................... }.................... Lmotor=0;01C1: CLRF 3101C2: CLRF 30.................... Rmotor=speed;01C3: CLRF 7A01C4: MOVF 2D,W01C5: MOVWF 3201C6: MOVF 7A,W01C7: MOVWF 33.................... line=L;01C8: MOVLW 0101C9: MOVWF 2B.................... set_timer1(0);01CA: CLRF 0F01CB: CLRF 0E.................... // if (speed > SPEEDMAX) speed--;.................... continue;01CC: GOTO 0EA.................... }........................................ if(bit_test(sensors,6)) //......|//01CD: BTFSS 2A.601CE: GOTO 1EA.................... {.................... if(sensors != last_sensors) uhel=STRED + BEAR3 + v;01CF: MOVF 37,W01D0: SUBWF 2A,W01D1: BTFSC 03.201D2: GOTO 1D601D3: MOVLW A801D4: ADDWF 36,W01D5: MOVWF 2C.................... if(j>=DOZNIVANI)01D6: MOVF 38,W01D7: SUBLW 0901D8: BTFSC 03.001D9: GOTO 1DF.................... {.................... j=0;01DA: CLRF 38.................... if(uhel>STRED + BEAR3) uhel--;01DB: MOVF 2C,W01DC: SUBLW A801DD: BTFSS 03.001DE: DECF 2C,F.................... }.................... Rmotor=0;01DF: CLRF 3301E0: CLRF 32.................... Lmotor=speed;01E1: CLRF 7A01E2: MOVF 2D,W01E3: MOVWF 3001E4: MOVF 7A,W01E5: MOVWF 31.................... line=R;01E6: CLRF 2B.................... set_timer1(0);01E7: CLRF 0F01E8: CLRF 0E.................... // if (speed > SPEEDMAX) speed--;.................... continue;01E9: GOTO 0EA.................... }........................................ if(bit_test(sensors,1)) //.|.....//01EA: BTFSS 2A.101EB: GOTO 20C.................... {.................... if(sensors != last_sensors) uhel=STRED - BEAR2 - v;01EC: MOVF 37,W01ED: SUBWF 2A,W01EE: BTFSC 03.201EF: GOTO 1F301F0: MOVF 36,W01F1: SUBLW 7601F2: MOVWF 2C.................... if(j>=DOZNIVANI)01F3: MOVF 38,W01F4: SUBLW 0901F5: BTFSC 03.001F6: GOTO 1FC.................... {.................... j=0;01F7: CLRF 38.................... if(uhel<STRED - BEAR2) uhel++;01F8: MOVF 2C,W01F9: SUBLW 7501FA: BTFSC 03.001FB: INCF 2C,F.................... }.................... Lmotor=speed-50;01FC: MOVLW 3201FD: SUBWF 2D,W01FE: CLRF 7A01FF: MOVWF 300200: MOVF 7A,W0201: MOVWF 31.................... Rmotor=speed;0202: CLRF 7A0203: MOVF 2D,W0204: MOVWF 320205: MOVF 7A,W0206: MOVWF 33.................... line=S;0207: MOVLW 020208: MOVWF 2B.................... set_timer1(0);0209: CLRF 0F020A: CLRF 0E.................... // if (speed > SPEEDMAX) speed--;.................... continue;020B: GOTO 0EA.................... }........................................ if(bit_test(sensors,5)) //.....|.//020C: BTFSS 2A.5020D: GOTO 22E.................... {.................... if(sensors != last_sensors) uhel=STRED + BEAR2 + v;020E: MOVF 37,W020F: SUBWF 2A,W0210: BTFSC 03.20211: GOTO 2150212: MOVLW 8A0213: ADDWF 36,W0214: MOVWF 2C.................... if(j>=DOZNIVANI)0215: MOVF 38,W0216: SUBLW 090217: BTFSC 03.00218: GOTO 21E.................... {.................... j=0;0219: CLRF 38.................... if(uhel>STRED + BEAR2) uhel--;021A: MOVF 2C,W021B: SUBLW 8A021C: BTFSS 03.0021D: DECF 2C,F.................... }.................... Rmotor=speed-50;021E: MOVLW 32021F: SUBWF 2D,W0220: CLRF 7A0221: MOVWF 320222: MOVF 7A,W0223: MOVWF 33.................... Lmotor=speed;0224: CLRF 7A0225: MOVF 2D,W0226: MOVWF 300227: MOVF 7A,W0228: MOVWF 31.................... line=S;0229: MOVLW 02022A: MOVWF 2B.................... set_timer1(0);022B: CLRF 0F022C: CLRF 0E.................... // if (speed > SPEEDMAX) speed--;.................... continue;022D: GOTO 0EA.................... }........................................ if (bit_test(sensors,2)) //..|....//022E: BTFSS 2A.2022F: GOTO 253.................... {.................... if(sensors != last_sensors) uhel=STRED - BEAR1 - v;0230: MOVF 37,W0231: SUBWF 2A,W0232: BTFSC 03.20233: GOTO 2370234: MOVF 36,W0235: SUBLW 7A0236: MOVWF 2C.................... if(j>=DOZNIVANI)0237: MOVF 38,W0238: SUBLW 090239: BTFSC 03.0023A: GOTO 240.................... {.................... if(uhel<STRED - BEAR1)uhel++;023B: MOVF 2C,W023C: SUBLW 79023D: BTFSC 03.0023E: INCF 2C,F.................... j=0;023F: CLRF 38.................... }.................... Lmotor=speed;0240: CLRF 7A0241: MOVF 2D,W0242: MOVWF 300243: MOVF 7A,W0244: MOVWF 31.................... Rmotor=speed;0245: CLRF 7A0246: MOVF 2D,W0247: MOVWF 320248: MOVF 7A,W0249: MOVWF 33.................... line=S;024A: MOVLW 02024B: MOVWF 2B.................... set_timer1(0);024C: CLRF 0F024D: CLRF 0E.................... if (rovinka<255) rovinka++;024E: INCFSZ 2E,W024F: GOTO 2510250: GOTO 2520251: INCF 2E,F.................... // if (speed > SPEEDMAX) speed--;.................... continue;0252: GOTO 0EA.................... }........................................ if (bit_test(sensors,4)) //....|..//0253: BTFSS 2A.40254: GOTO 278.................... {.................... if(sensors != last_sensors) uhel=STRED + BEAR1 + v;0255: MOVF 37,W0256: SUBWF 2A,W0257: BTFSC 03.20258: GOTO 25C0259: MOVLW 86025A: ADDWF 36,W025B: MOVWF 2C.................... if(j>=DOZNIVANI)025C: MOVF 38,W025D: SUBLW 09025E: BTFSC 03.0025F: GOTO 265.................... {.................... j=0;0260: CLRF 38.................... if(uhel>STRED + BEAR1) uhel--;0261: MOVF 2C,W0262: SUBLW 860263: BTFSS 03.00264: DECF 2C,F.................... }.................... Rmotor=speed;0265: CLRF 7A0266: MOVF 2D,W0267: MOVWF 320268: MOVF 7A,W0269: MOVWF 33.................... Lmotor=speed;026A: CLRF 7A026B: MOVF 2D,W026C: MOVWF 30026D: MOVF 7A,W026E: MOVWF 31.................... line=S;026F: MOVLW 020270: MOVWF 2B.................... set_timer1(0);0271: CLRF 0F0272: CLRF 0E.................... if (rovinka<255) rovinka++;0273: INCFSZ 2E,W0274: GOTO 2760275: GOTO 2770276: INCF 2E,F.................... // if (speed > SPEEDMAX) speed--;.................... continue;0277: GOTO 0EA.................... }........................................ if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate0278: DECFSZ 2B,W0279: GOTO 27B027A: GOTO 27E027B: MOVF 2B,F027C: BTFSS 03.2027D: GOTO 298.................... {.................... if (rovinka>250)027E: MOVF 2E,W027F: SUBLW FA0280: BTFSC 03.00281: GOTO 295.................... {.................... BL; BR;0282: BSF 03.50283: BCF 05.00284: BCF 03.50285: BCF 05.00286: BSF 03.50287: BCF 05.10288: BCF 03.50289: BSF 05.1028A: BSF 03.5028B: BCF 05.6028C: BCF 03.5028D: BCF 05.6028E: BSF 03.5028F: BCF 05.70290: BCF 03.50291: BSF 05.7.................... Delay_ms(100);0292: MOVLW 640293: MOVWF 3A0294: CALL 071.................... };.................... rovinka=0;0295: CLRF 2E.................... speed=SPEEDMAX;0296: MOVLW A00297: MOVWF 2D.................... };.................... }0298: GOTO 0EA.................... }0299: SLEEPConfiguration Fuses:Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IOWord 2: 3FFC NOFCMEN NOIESO