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CCS PCM C Compiler, Version 3.245, 27853               22-IV-06 16:00

               Filename: D:\KAKLIK\programy\PIC_C\roboti\istrobot\3Orbis\main.lst

               ROM used: 666 words (16%)
                         Largest free fragment is 2048
               RAM used: 32 (18%) at main() level
                         35 (20%) worst case
               Stack:    3 worst case (1 in main + 2 for interrupts)

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   089
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  00.0
001F:  GOTO   022
0020:  BTFSC  0C.0
0021:  GOTO   03B
0022:  MOVLW  8C
0023:  MOVWF  04
0024:  BTFSS  00.1
0025:  GOTO   028
0026:  BTFSC  0C.1
0027:  GOTO   03D
0028:  MOVF   22,W
0029:  MOVWF  04
002A:  MOVF   23,W
002B:  MOVWF  77
002C:  MOVF   24,W
002D:  MOVWF  78
002E:  MOVF   25,W
002F:  MOVWF  79
0030:  MOVF   26,W
0031:  MOVWF  7A
0032:  MOVF   27,W
0033:  MOVWF  7B
0034:  MOVF   28,W
0035:  MOVWF  0A
0036:  SWAPF  21,W
0037:  MOVWF  03
0038:  SWAPF  7F,F
0039:  SWAPF  7F,W
003A:  RETFIE
003B:  BCF    0A.3
003C:  GOTO   03F
003D:  BCF    0A.3
003E:  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  08
0044:  SUBWF  3D,F
0045:  BTFSS  03.0
0046:  GOTO   052
0047:  MOVLW  3D
0048:  MOVWF  04
0049:  BCF    03.0
004A:  RRF    00,F
004B:  MOVF   00,W
004C:  BTFSC  03.2
004D:  GOTO   052
004E:  GOTO   050
004F:  CLRWDT
0050:  DECFSZ 00,F
0051:  GOTO   04F
0052:  RETLW  00
*
0071:  MOVLW  3A
0072:  MOVWF  04
0073:  MOVF   00,W
0074:  BTFSC  03.2
0075:  GOTO   088
0076:  MOVLW  02
0077:  MOVWF  78
0078:  MOVLW  BF
0079:  MOVWF  77
007A:  CLRWDT
007B:  DECFSZ 77,F
007C:  GOTO   07A
007D:  DECFSZ 78,F
007E:  GOTO   078
007F:  MOVLW  96
0080:  MOVWF  77
0081:  DECFSZ 77,F
0082:  GOTO   081
0083:  NOP
0084:  NOP
0085:  CLRWDT
0086:  DECFSZ 00,F
0087:  GOTO   076
0088:  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.0
0041:  BCF    0A.3
0042:  GOTO   028
.................... #int_TIMER2 
.................... TIMER2_isr()      // ovladani serva 
.................... { 
....................    unsigned int8 n; 
....................  
....................    output_high(SERVO); 
*
0053:  BSF    03.5
0054:  BCF    05.2
0055:  BCF    03.5
0056:  BSF    05.2
....................    delay_us(1000); 
0057:  CLRWDT
0058:  MOVLW  09
0059:  MOVWF  3C
005A:  MOVLW  6D
005B:  MOVWF  3D
005C:  CALL   043
005D:  DECFSZ 3C,F
005E:  GOTO   05A
....................    for(n=uhel; n>0; n--) Delay_us(2); 
005F:  MOVF   2C,W
0060:  MOVWF  3B
0061:  MOVF   3B,F
0062:  BTFSC  03.2
0063:  GOTO   06A
0064:  CLRWDT
0065:  NOP
0066:  NOP
0067:  NOP
0068:  DECF   3B,F
0069:  GOTO   061
....................    output_low(SERVO); 
006A:  BSF    03.5
006B:  BCF    05.2
006C:  BCF    03.5
006D:  BCF    05.2
.................... } 
....................  
.................... //////////////////////////////////////////////////////////////////////////////// 
006E:  BCF    0C.1
006F:  BCF    0A.3
0070:  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   04
008A:  MOVLW  1F
008B:  ANDWF  03,F
008C:  MOVLW  70
008D:  BSF    03.5
008E:  MOVWF  0F
008F:  BCF    1F.4
0090:  BCF    1F.5
0091:  MOVF   1B,W
0092:  ANDLW  80
0093:  MOVWF  1B
0094:  MOVLW  07
0095:  MOVWF  1C
....................  
....................    unsigned int8 n; 
....................    unsigned int8 i,v; 
....................    unsigned int8 last_sensors; 
....................    unsigned int8 j=0; 
0096:  BCF    03.5
0097:  CLRF   38
....................  
....................    setup_adc_ports(NO_ANALOGS); 
0098:  BSF    03.5
0099:  BCF    1F.4
009A:  BCF    1F.5
009B:  MOVF   1B,W
009C:  ANDLW  80
009D:  MOVWF  1B
....................    setup_adc(ADC_CLOCK_INTERNAL); 
009E:  BCF    1F.6
009F:  BCF    03.5
00A0:  BSF    1F.6
00A1:  BSF    1F.7
00A2:  BSF    03.5
00A3:  BCF    1F.7
00A4:  BCF    03.5
00A5:  BSF    1F.0
....................    setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_16); 
00A6:  BCF    14.5
00A7:  BSF    03.5
00A8:  BCF    06.2
00A9:  BSF    06.1
00AA:  BCF    06.4
00AB:  MOVLW  31
00AC:  BCF    03.5
00AD:  MOVWF  14
00AE:  MOVLW  00
00AF:  BSF    03.5
00B0:  MOVWF  14
....................    setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); 
00B1:  MOVF   01,W
00B2:  ANDLW  C7
00B3:  IORLW  08
00B4:  MOVWF  01
....................    setup_timer_1(T1_INTERNAL|T1_DIV_BY_8); 
00B5:  MOVLW  B5
00B6:  BCF    03.5
00B7:  MOVWF  10
....................    setup_timer_2(T2_DIV_BY_16,140,16); 
00B8:  MOVLW  78
00B9:  MOVWF  78
00BA:  IORLW  06
00BB:  MOVWF  12
00BC:  MOVLW  8C
00BD:  BSF    03.5
00BE:  MOVWF  12
....................    setup_oscillator(OSC_8MHZ|OSC_INTRC); 
00BF:  MOVLW  72
00C0:  MOVWF  0F
....................  
....................    STOPR; STOPL;  // zastav motory 
00C1:  BCF    05.6
00C2:  BCF    03.5
00C3:  BCF    05.6
00C4:  BSF    03.5
00C5:  BCF    05.7
00C6:  BCF    03.5
00C7:  BCF    05.7
00C8:  BSF    03.5
00C9:  BCF    05.0
00CA:  BCF    03.5
00CB:  BCF    05.0
00CC:  BSF    03.5
00CD:  BCF    05.1
00CE:  BCF    03.5
00CF:  BCF    05.1
....................    Lmotor=0;Rmotor=0; 
00D0:  CLRF   31
00D1:  CLRF   30
00D2:  CLRF   33
00D3:  CLRF   32
....................  
....................    uhel = STRED;    // nastav zadni kolecko na stred 
00D4:  MOVLW  80
00D5:  MOVWF  2C
....................    rovinka = 0; 
00D6:  CLRF   2E
....................  
....................    enable_interrupts(INT_TIMER2); 
00D7:  BSF    03.5
00D8:  BSF    0C.1
....................    enable_interrupts(INT_TIMER1); 
00D9:  BSF    0C.0
....................    enable_interrupts(GLOBAL); 
00DA:  MOVLW  C0
00DB:  BCF    03.5
00DC:  IORWF  0B,F
....................  
....................    output_low(IRTX); // zapni IR vysilac 
00DD:  BSF    03.5
00DE:  BCF    06.2
00DF:  BCF    03.5
00E0:  BCF    06.2
....................  
....................    delay_ms(1000); 
00E1:  MOVLW  04
00E2:  MOVWF  39
00E3:  MOVLW  FA
00E4:  MOVWF  3A
00E5:  CALL   071
00E6:  DECFSZ 39,F
00E7:  GOTO   0E3
....................  
.................... //!!!! 
.................... speed=SPEEDMAX; 
00E8:  MOVLW  A0
00E9:  MOVWF  2D
....................  
....................    while(true) 
....................    { 
....................  
....................       GO(L,F,Lmotor);GO(R,F,Rmotor);   // zapni motory PWM podle promenych Lmotor a Rmotor 
00EA:  MOVF   01,W
00EB:  BTFSS  00.7
00EC:  GOTO   0F0
00ED:  BTFSS  31.7
00EE:  GOTO   0F8
00EF:  GOTO   0F2
00F0:  BTFSC  31.7
00F1:  GOTO   101
00F2:  MOVF   31,F
00F3:  BTFSS  03.2
00F4:  GOTO   0F8
00F5:  SUBWF  30,W
00F6:  BTFSS  03.0
00F7:  GOTO   101
00F8:  BSF    03.5
00F9:  BCF    05.1
00FA:  BCF    03.5
00FB:  BCF    05.1
00FC:  BSF    03.5
00FD:  BCF    05.0
00FE:  BCF    03.5
00FF:  BSF    05.0
0100:  GOTO   109
0101:  BSF    03.5
0102:  BCF    05.0
0103:  BCF    03.5
0104:  BCF    05.0
0105:  BSF    03.5
0106:  BCF    05.1
0107:  BCF    03.5
0108:  BCF    05.1
0109:  MOVF   01,W
010A:  BTFSS  00.7
010B:  GOTO   10F
010C:  BTFSS  33.7
010D:  GOTO   117
010E:  GOTO   111
010F:  BTFSC  33.7
0110:  GOTO   120
0111:  MOVF   33,F
0112:  BTFSS  03.2
0113:  GOTO   117
0114:  SUBWF  32,W
0115:  BTFSS  03.0
0116:  GOTO   120
0117:  BSF    03.5
0118:  BCF    05.7
0119:  BCF    03.5
011A:  BCF    05.7
011B:  BSF    03.5
011C:  BCF    05.6
011D:  BCF    03.5
011E:  BSF    05.6
011F:  GOTO   128
0120:  BSF    03.5
0121:  BCF    05.6
0122:  BCF    03.5
0123:  BCF    05.6
0124:  BSF    03.5
0125:  BCF    05.7
0126:  BCF    03.5
0127:  BCF    05.7
....................  
....................       delay_us(1500);                  // cekani na SLAVE, nez pripravi data od cidel 
0128:  CLRWDT
0129:  MOVLW  01
012A:  MOVWF  3A
012B:  CALL   071
012C:  MOVLW  02
012D:  MOVWF  39
012E:  CLRF   29
012F:  BTFSC  0B.7
0130:  BSF    29.7
0131:  BCF    0B.7
0132:  MOVLW  F7
0133:  MOVWF  3D
0134:  CALL   043
0135:  BTFSC  29.7
0136:  BSF    0B.7
0137:  DECFSZ 39,F
0138:  GOTO   12E
....................  
....................       last_sensors = sensors; 
0139:  MOVF   2A,W
013A:  MOVWF  37
....................       j++; 
013B:  INCF   38,F
....................  
....................       output_low(STROBE);              // vypni zobrazovani na posuvnem registru 
013C:  BSF    03.5
013D:  BCF    06.0
013E:  BCF    03.5
013F:  BCF    06.0
....................       sensors = spi_read(0);           // cteni senzoru 
0140:  MOVF   13,W
0141:  CLRF   13
0142:  BSF    03.5
0143:  BTFSC  14.0
0144:  GOTO   147
0145:  BCF    03.5
0146:  GOTO   142
0147:  BCF    03.5
0148:  MOVF   13,W
0149:  MOVWF  2A
....................       sensors=~sensors; 
014A:  COMF   2A,F
....................       output_high(STROBE);       // zobraz data na posuvnem registru 
014B:  BSF    03.5
014C:  BCF    06.0
014D:  BCF    03.5
014E:  BSF    06.0
....................  
....................  
....................  
....................  
....................       if(false == preteceni) 
014F:  MOVLW  00
0150:  BTFSC  2F.0
0151:  MOVLW  01
0152:  XORLW  00
0153:  BTFSS  03.2
0154:  GOTO   16B
....................       { 
....................          v = 255 - (get_timer1() >> 8); 
0155:  MOVF   0F,W
0156:  MOVWF  7A
0157:  MOVF   0E,W
0158:  MOVWF  77
0159:  MOVF   0F,W
015A:  SUBWF  7A,W
015B:  BTFSS  03.2
015C:  GOTO   155
015D:  MOVF   77,W
015E:  MOVWF  39
015F:  MOVF   7A,W
0160:  MOVWF  3A
0161:  MOVF   3A,W
0162:  CLRF   7A
0163:  SUBLW  FF
0164:  MOVWF  36
....................          v >>= 3; 
0165:  RRF    36,F
0166:  RRF    36,F
0167:  RRF    36,F
0168:  MOVLW  1F
0169:  ANDWF  36,F
....................       } 
....................       else 
016A:  GOTO   16D
....................       { 
....................          v=0; 
016B:  CLRF   36
....................          preteceni=false; 
016C:  BCF    2F.0
....................       } 
....................  
....................  
....................  
....................       i=0;                       // havarijni kod 
016D:  CLRF   35
....................       for (n=0; n<=6; n++) 
016E:  CLRF   34
016F:  MOVF   34,W
0170:  SUBLW  06
0171:  BTFSS  03.0
0172:  GOTO   181
....................       { 
....................          if(bit_test(sensors,n)) i++; 
0173:  MOVF   2A,W
0174:  MOVWF  77
0175:  MOVF   34,W
0176:  MOVWF  78
0177:  BTFSC  03.2
0178:  GOTO   17D
0179:  BCF    03.0
017A:  RRF    77,F
017B:  DECFSZ 78,F
017C:  GOTO   179
017D:  BTFSC  77.0
017E:  INCF   35,F
....................       } 
017F:  INCF   34,F
0180:  GOTO   16F
....................       if (i>3) While(true){STOPR; STOPL;}; // zastavi, kdyz je cerno pod vice nez tremi cidly 
0181:  MOVF   35,W
0182:  SUBLW  03
0183:  BTFSC  03.0
0184:  GOTO   196
0185:  BSF    03.5
0186:  BCF    05.6
0187:  BCF    03.5
0188:  BCF    05.6
0189:  BSF    03.5
018A:  BCF    05.7
018B:  BCF    03.5
018C:  BCF    05.7
018D:  BSF    03.5
018E:  BCF    05.0
018F:  BCF    03.5
0190:  BCF    05.0
0191:  BSF    03.5
0192:  BCF    05.1
0193:  BCF    03.5
0194:  BCF    05.1
0195:  GOTO   185
....................  
....................  
....................  
....................       if(bit_test(sensors,7))    // detekce cihly 
0196:  BTFSS  2A.7
0197:  GOTO   198
....................       { 
.................... //!!!         objizdka();       // objede cihlu 
....................       } 
....................  
....................  
....................  
....................       if(bit_test(sensors,3)) //...|...// 
0198:  BTFSS  2A.3
0199:  GOTO   1AF
....................       { 
....................          uhel=STRED; 
019A:  MOVLW  80
019B:  MOVWF  2C
....................          Lmotor=speed; 
019C:  CLRF   7A
019D:  MOVF   2D,W
019E:  MOVWF  30
019F:  MOVF   7A,W
01A0:  MOVWF  31
....................          Rmotor=speed; 
01A1:  CLRF   7A
01A2:  MOVF   2D,W
01A3:  MOVWF  32
01A4:  MOVF   7A,W
01A5:  MOVWF  33
....................          line=S; 
01A6:  MOVLW  02
01A7:  MOVWF  2B
....................          set_timer1(0); 
01A8:  CLRF   0F
01A9:  CLRF   0E
....................          if (rovinka < 255) rovinka++; 
01AA:  INCFSZ 2E,W
01AB:  GOTO   1AD
01AC:  GOTO   1AE
01AD:  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 prostrednimu 
01AF:  BTFSS  2A.0
01B0:  GOTO   1CD
....................       { 
....................          if(sensors != last_sensors) uhel=STRED - BEAR3 - v; 
01B1:  MOVF   37,W
01B2:  SUBWF  2A,W
01B3:  BTFSC  03.2
01B4:  GOTO   1B8
01B5:  MOVF   36,W
01B6:  SUBLW  58
01B7:  MOVWF  2C
....................          if(j>=DOZNIVANI) 
01B8:  MOVF   38,W
01B9:  SUBLW  09
01BA:  BTFSC  03.0
01BB:  GOTO   1C1
....................          { 
....................             j=0; 
01BC:  CLRF   38
....................             if(uhel<STRED - BEAR3) uhel++; 
01BD:  MOVF   2C,W
01BE:  SUBLW  57
01BF:  BTFSC  03.0
01C0:  INCF   2C,F
....................          } 
....................          Lmotor=0; 
01C1:  CLRF   31
01C2:  CLRF   30
....................          Rmotor=speed; 
01C3:  CLRF   7A
01C4:  MOVF   2D,W
01C5:  MOVWF  32
01C6:  MOVF   7A,W
01C7:  MOVWF  33
....................          line=L; 
01C8:  MOVLW  01
01C9:  MOVWF  2B
....................          set_timer1(0); 
01CA:  CLRF   0F
01CB:  CLRF   0E
.................... //         if (speed > SPEEDMAX) speed--; 
....................          continue; 
01CC:  GOTO   0EA
....................       } 
....................  
....................       if(bit_test(sensors,6)) //......|// 
01CD:  BTFSS  2A.6
01CE:  GOTO   1EA
....................       { 
....................          if(sensors != last_sensors) uhel=STRED + BEAR3 + v; 
01CF:  MOVF   37,W
01D0:  SUBWF  2A,W
01D1:  BTFSC  03.2
01D2:  GOTO   1D6
01D3:  MOVLW  A8
01D4:  ADDWF  36,W
01D5:  MOVWF  2C
....................          if(j>=DOZNIVANI) 
01D6:  MOVF   38,W
01D7:  SUBLW  09
01D8:  BTFSC  03.0
01D9:  GOTO   1DF
....................          { 
....................             j=0; 
01DA:  CLRF   38
....................             if(uhel>STRED + BEAR3) uhel--; 
01DB:  MOVF   2C,W
01DC:  SUBLW  A8
01DD:  BTFSS  03.0
01DE:  DECF   2C,F
....................          } 
....................          Rmotor=0; 
01DF:  CLRF   33
01E0:  CLRF   32
....................          Lmotor=speed; 
01E1:  CLRF   7A
01E2:  MOVF   2D,W
01E3:  MOVWF  30
01E4:  MOVF   7A,W
01E5:  MOVWF  31
....................          line=R; 
01E6:  CLRF   2B
....................          set_timer1(0); 
01E7:  CLRF   0F
01E8:  CLRF   0E
.................... //         if (speed > SPEEDMAX) speed--; 
....................          continue; 
01E9:  GOTO   0EA
....................       } 
....................  
....................       if(bit_test(sensors,1)) //.|.....// 
01EA:  BTFSS  2A.1
01EB:  GOTO   20C
....................       { 
....................          if(sensors != last_sensors) uhel=STRED - BEAR2 - v; 
01EC:  MOVF   37,W
01ED:  SUBWF  2A,W
01EE:  BTFSC  03.2
01EF:  GOTO   1F3
01F0:  MOVF   36,W
01F1:  SUBLW  76
01F2:  MOVWF  2C
....................          if(j>=DOZNIVANI) 
01F3:  MOVF   38,W
01F4:  SUBLW  09
01F5:  BTFSC  03.0
01F6:  GOTO   1FC
....................          { 
....................             j=0; 
01F7:  CLRF   38
....................             if(uhel<STRED - BEAR2) uhel++; 
01F8:  MOVF   2C,W
01F9:  SUBLW  75
01FA:  BTFSC  03.0
01FB:  INCF   2C,F
....................          } 
....................          Lmotor=speed-50; 
01FC:  MOVLW  32
01FD:  SUBWF  2D,W
01FE:  CLRF   7A
01FF:  MOVWF  30
0200:  MOVF   7A,W
0201:  MOVWF  31
....................          Rmotor=speed; 
0202:  CLRF   7A
0203:  MOVF   2D,W
0204:  MOVWF  32
0205:  MOVF   7A,W
0206:  MOVWF  33
....................          line=S; 
0207:  MOVLW  02
0208:  MOVWF  2B
....................          set_timer1(0); 
0209:  CLRF   0F
020A:  CLRF   0E
.................... //         if (speed > SPEEDMAX) speed--; 
....................          continue; 
020B:  GOTO   0EA
....................       } 
....................  
....................       if(bit_test(sensors,5)) //.....|.// 
020C:  BTFSS  2A.5
020D:  GOTO   22E
....................       { 
....................          if(sensors != last_sensors) uhel=STRED + BEAR2 + v; 
020E:  MOVF   37,W
020F:  SUBWF  2A,W
0210:  BTFSC  03.2
0211:  GOTO   215
0212:  MOVLW  8A
0213:  ADDWF  36,W
0214:  MOVWF  2C
....................          if(j>=DOZNIVANI) 
0215:  MOVF   38,W
0216:  SUBLW  09
0217:  BTFSC  03.0
0218:  GOTO   21E
....................          { 
....................             j=0; 
0219:  CLRF   38
....................             if(uhel>STRED + BEAR2) uhel--; 
021A:  MOVF   2C,W
021B:  SUBLW  8A
021C:  BTFSS  03.0
021D:  DECF   2C,F
....................          } 
....................          Rmotor=speed-50; 
021E:  MOVLW  32
021F:  SUBWF  2D,W
0220:  CLRF   7A
0221:  MOVWF  32
0222:  MOVF   7A,W
0223:  MOVWF  33
....................          Lmotor=speed; 
0224:  CLRF   7A
0225:  MOVF   2D,W
0226:  MOVWF  30
0227:  MOVF   7A,W
0228:  MOVWF  31
....................          line=S; 
0229:  MOVLW  02
022A:  MOVWF  2B
....................          set_timer1(0); 
022B:  CLRF   0F
022C:  CLRF   0E
.................... //         if (speed > SPEEDMAX) speed--; 
....................          continue; 
022D:  GOTO   0EA
....................       } 
....................  
....................       if (bit_test(sensors,2)) //..|....// 
022E:  BTFSS  2A.2
022F:  GOTO   253
....................       { 
....................          if(sensors != last_sensors) uhel=STRED - BEAR1 - v; 
0230:  MOVF   37,W
0231:  SUBWF  2A,W
0232:  BTFSC  03.2
0233:  GOTO   237
0234:  MOVF   36,W
0235:  SUBLW  7A
0236:  MOVWF  2C
....................          if(j>=DOZNIVANI) 
0237:  MOVF   38,W
0238:  SUBLW  09
0239:  BTFSC  03.0
023A:  GOTO   240
....................          { 
....................             if(uhel<STRED - BEAR1)uhel++; 
023B:  MOVF   2C,W
023C:  SUBLW  79
023D:  BTFSC  03.0
023E:  INCF   2C,F
....................             j=0; 
023F:  CLRF   38
....................          } 
....................          Lmotor=speed; 
0240:  CLRF   7A
0241:  MOVF   2D,W
0242:  MOVWF  30
0243:  MOVF   7A,W
0244:  MOVWF  31
....................          Rmotor=speed; 
0245:  CLRF   7A
0246:  MOVF   2D,W
0247:  MOVWF  32
0248:  MOVF   7A,W
0249:  MOVWF  33
....................          line=S; 
024A:  MOVLW  02
024B:  MOVWF  2B
....................          set_timer1(0); 
024C:  CLRF   0F
024D:  CLRF   0E
....................          if (rovinka<255) rovinka++; 
024E:  INCFSZ 2E,W
024F:  GOTO   251
0250:  GOTO   252
0251:  INCF   2E,F
.................... //         if (speed > SPEEDMAX) speed--; 
....................          continue; 
0252:  GOTO   0EA
....................       } 
....................  
....................       if (bit_test(sensors,4)) //....|..// 
0253:  BTFSS  2A.4
0254:  GOTO   278
....................       { 
....................          if(sensors != last_sensors) uhel=STRED + BEAR1 + v; 
0255:  MOVF   37,W
0256:  SUBWF  2A,W
0257:  BTFSC  03.2
0258:  GOTO   25C
0259:  MOVLW  86
025A:  ADDWF  36,W
025B:  MOVWF  2C
....................          if(j>=DOZNIVANI) 
025C:  MOVF   38,W
025D:  SUBLW  09
025E:  BTFSC  03.0
025F:  GOTO   265
....................          { 
....................             j=0; 
0260:  CLRF   38
....................             if(uhel>STRED + BEAR1) uhel--; 
0261:  MOVF   2C,W
0262:  SUBLW  86
0263:  BTFSS  03.0
0264:  DECF   2C,F
....................          } 
....................          Rmotor=speed; 
0265:  CLRF   7A
0266:  MOVF   2D,W
0267:  MOVWF  32
0268:  MOVF   7A,W
0269:  MOVWF  33
....................          Lmotor=speed; 
026A:  CLRF   7A
026B:  MOVF   2D,W
026C:  MOVWF  30
026D:  MOVF   7A,W
026E:  MOVWF  31
....................          line=S; 
026F:  MOVLW  02
0270:  MOVWF  2B
....................          set_timer1(0); 
0271:  CLRF   0F
0272:  CLRF   0E
....................          if (rovinka<255) rovinka++; 
0273:  INCFSZ 2E,W
0274:  GOTO   276
0275:  GOTO   277
0276:  INCF   2E,F
.................... //         if (speed > SPEEDMAX) speed--; 
....................          continue; 
0277:  GOTO   0EA
....................       } 
....................  
....................       if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate 
0278:  DECFSZ 2B,W
0279:  GOTO   27B
027A:  GOTO   27E
027B:  MOVF   2B,F
027C:  BTFSS  03.2
027D:  GOTO   298
....................       { 
....................          if (rovinka>250) 
027E:  MOVF   2E,W
027F:  SUBLW  FA
0280:  BTFSC  03.0
0281:  GOTO   295
....................          { 
....................             BL; BR; 
0282:  BSF    03.5
0283:  BCF    05.0
0284:  BCF    03.5
0285:  BCF    05.0
0286:  BSF    03.5
0287:  BCF    05.1
0288:  BCF    03.5
0289:  BSF    05.1
028A:  BSF    03.5
028B:  BCF    05.6
028C:  BCF    03.5
028D:  BCF    05.6
028E:  BSF    03.5
028F:  BCF    05.7
0290:  BCF    03.5
0291:  BSF    05.7
....................             Delay_ms(100); 
0292:  MOVLW  64
0293:  MOVWF  3A
0294:  CALL   071
....................          }; 
....................          rovinka=0; 
0295:  CLRF   2E
....................          speed=SPEEDMAX; 
0296:  MOVLW  A0
0297:  MOVWF  2D
....................       }; 
....................    } 
0298:  GOTO   0EA
.................... } 
0299:  SLEEP

Configuration Fuses:
   Word  1: 3F38   NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IO
   Word  2: 3FFC   NOFCMEN NOIESO