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CCS PCW C Compiler, Version 3.110, 15448

               Filename: d:\kaklik\programy\pic_c\roboti\merkur\main.LST

               ROM used: 1572 (38%)
                         Largest free fragment is 2048
               RAM used: 79 (41%) at main() level
                         90 (47%) worst case
               Stack:    3 locations

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   41D
0003:  NOP
....................  #include "main.h" 
....................  #include <16F873.h> 
....................  //////// Standard Header file for the PIC16F873 device ////////////////  
.................... #device PIC16F873  
.................... #list  
....................  
.................... #device adc=8  
.................... #use delay(clock=4000000)  
*
0016:  MOVLW  78
0017:  MOVWF  04
0018:  MOVLW  FC
0019:  ANDWF  00,F
001A:  RRF    00,F
001B:  RRF    00,F
001C:  MOVF   00,W
001D:  BTFSC  03.2
001E:  GOTO   023
001F:  GOTO   021
0020:  NOP
0021:  DECFSZ 00,F
0022:  GOTO   020
0023:  RETLW  00
*
004A:  MOVLW  73
004B:  MOVWF  04
004C:  MOVF   00,W
004D:  BTFSC  03.2
004E:  GOTO   05E
004F:  MOVLW  01
0050:  MOVWF  21
0051:  CLRF   20
0052:  DECFSZ 20,F
0053:  GOTO   052
0054:  DECFSZ 21,F
0055:  GOTO   051
0056:  MOVLW  4A
0057:  MOVWF  20
0058:  DECFSZ 20,F
0059:  GOTO   058
005A:  NOP
005B:  NOP
005C:  DECFSZ 00,F
005D:  GOTO   04F
005E:  RETLW  00
.................... #fuses XT,NOWDT,NOLVP  
....................   
....................  
....................   
.................... #define  TXo PIN_C3                 // To the transmitter modulator  
.................... #include "AX25.c"             // podprogram pro prenos telemetrie 
....................  //#define  PTT PIN_A2                 // PTT control  
.................... //#define  TXo PIN_C0                 // To the transmitter modulator  
.................... #define  PERIODAH delay_us(222)     // Halfperiod H 222;78/1200     500;430/500  
.................... #define  TAILH delay_us(78)  
.................... #define  PERIODAL delay_us(412)     // Halfperiod L 412;345/1200    1000;880/500  
.................... #define  TAILL delay_us(345)  
.................... #byte    STATUS = 3                 // CPUs status register  
....................   
.................... byte SendData[16] = {'A'<<1, 'L'<<1, 'L'<<1, ' '<<1, ' '<<1, ' '<<1,  0x60,  
....................                      'C'<<1, 'Z'<<1, '0'<<1, 'R'<<1, 'R'<<1, 'R'<<1, 0x61,  
....................                      0x03, 0xF0};  
....................   
.................... boolean bit;  
.................... int fcslo, fcshi;    // variabloes for calculating FCS (CRC)  
.................... int stuff;           // stuff counter for extra 0  
.................... int flag_flag;       // if it is sending flag (7E)  
.................... int fcs_flag;        // if it is sending Frame Check Sequence  
.................... int i;               // for for  
....................   
.................... void flipout()       //flips the state of output pin a_1  
.................... {  
....................    stuff = 0;        //since this is a 0, reset the stuff counter  
*
00AE:  CLRF   38
....................    if (bit)  
00AF:  BTFSS  35.0
00B0:  GOTO   0B3
....................    {  
....................      bit=FALSE;      //if the state of the pin was low, make it high.  
00B1:  BCF    35.0
....................    }  
....................    else  
00B2:  GOTO   0B4
....................    {  
....................      bit=TRUE;                //if the state of the pin was high make it low  
00B3:  BSF    35.0
....................    }  
00B4:  RETLW  00
.................... }  
....................   
.................... void fcsbit(byte tbyte)  
.................... {  
.................... #asm  
....................    BCF    STATUS,0  
*
011A:  BCF    03.0
....................    RRF    fcshi,F             // rotates the entire 16 bits  
011B:  RRF    37,F
....................    RRF    fcslo,F                        // to the right  
.................... #endasm  
011C:  RRF    36,F
....................    if (((STATUS & 0x01)^(tbyte)) ==0x01)  
011D:  MOVF   03,W
011E:  ANDLW  01
011F:  XORWF  77,W
0120:  SUBLW  01
0121:  BTFSS  03.2
0122:  GOTO   127
....................    {  
....................          fcshi = fcshi^0x84;  
0123:  MOVLW  84
0124:  XORWF  37,F
....................          fcslo = fcslo^0x08;  
0125:  MOVLW  08
0126:  XORWF  36,F
....................    }  
.................... }  
....................   
.................... void SendBit ()  
.................... {  
....................    if (bit)  
*
00B5:  BTFSS  35.0
00B6:  GOTO   0E8
....................    {  
....................       output_high(TXo);  
00B7:  BCF    3C.3
00B8:  MOVF   3C,W
00B9:  BSF    03.5
00BA:  MOVWF  07
00BB:  BCF    03.5
00BC:  BSF    07.3
....................       PERIODAH;  
00BD:  MOVLW  49
00BE:  MOVWF  20
00BF:  DECFSZ 20,F
00C0:  GOTO   0BF
00C1:  NOP
00C2:  NOP
....................       output_low(TXo);  
00C3:  BCF    3C.3
00C4:  MOVF   3C,W
00C5:  BSF    03.5
00C6:  MOVWF  07
00C7:  BCF    03.5
00C8:  BCF    07.3
....................       PERIODAH;  
00C9:  MOVLW  49
00CA:  MOVWF  20
00CB:  DECFSZ 20,F
00CC:  GOTO   0CB
00CD:  NOP
00CE:  NOP
....................       output_high(TXo);  
00CF:  BCF    3C.3
00D0:  MOVF   3C,W
00D1:  BSF    03.5
00D2:  MOVWF  07
00D3:  BCF    03.5
00D4:  BSF    07.3
....................       PERIODAH;  
00D5:  MOVLW  49
00D6:  MOVWF  20
00D7:  DECFSZ 20,F
00D8:  GOTO   0D7
00D9:  NOP
00DA:  NOP
....................       output_low(TXo);  
00DB:  BCF    3C.3
00DC:  MOVF   3C,W
00DD:  BSF    03.5
00DE:  MOVWF  07
00DF:  BCF    03.5
00E0:  BCF    07.3
....................       TAILH;  
00E1:  MOVLW  19
00E2:  MOVWF  20
00E3:  DECFSZ 20,F
00E4:  GOTO   0E3
00E5:  NOP
00E6:  NOP
....................     }  
....................     else  
00E7:  GOTO   0FE
....................     {  
....................       output_high(TXo);  
00E8:  BCF    3C.3
00E9:  MOVF   3C,W
00EA:  BSF    03.5
00EB:  MOVWF  07
00EC:  BCF    03.5
00ED:  BSF    07.3
....................       PERIODAL;  
00EE:  MOVLW  89
00EF:  MOVWF  20
00F0:  DECFSZ 20,F
00F1:  GOTO   0F0
....................       output_low(TXo);  
00F2:  BCF    3C.3
00F3:  MOVF   3C,W
00F4:  BSF    03.5
00F5:  MOVWF  07
00F6:  BCF    03.5
00F7:  BCF    07.3
....................       TAILL;  
00F8:  MOVLW  72
00F9:  MOVWF  20
00FA:  DECFSZ 20,F
00FB:  GOTO   0FA
00FC:  NOP
00FD:  NOP
....................     };  
00FE:  RETLW  00
.................... }  
....................   
.................... void SendByte (byte inbyte)  
.................... {  
....................    int k, bt;  
....................   
....................    for (k=0;k<8;k++)    //do the following for each of the 8 bits in the byte  
00FF:  CLRF   75
0100:  MOVF   75,W
0101:  SUBLW  07
0102:  BTFSS  03.0
0103:  GOTO   149
....................    {  
....................      bt = inbyte & 0x01;            //strip off the rightmost bit of the byte to be sent (inbyte)  
0104:  MOVF   74,W
0105:  ANDLW  01
0106:  MOVWF  76
....................      if ((fcs_flag == FALSE) & (flag_flag == FALSE)) fcsbit(bt);    //do FCS calc, but only if this  
0107:  MOVF   3A,F
0108:  BTFSC  03.2
0109:  GOTO   10C
010A:  MOVLW  00
010B:  GOTO   10D
010C:  MOVLW  01
010D:  MOVWF  77
010E:  MOVF   39,F
010F:  BTFSC  03.2
0110:  GOTO   113
0111:  MOVLW  00
0112:  GOTO   114
0113:  MOVLW  01
0114:  ANDWF  77,W
0115:  XORLW  00
0116:  BTFSC  03.2
0117:  GOTO   127
0118:  MOVF   76,W
0119:  MOVWF  77
....................                                                                                            //is not a flag or fcs byte  
....................      if (bt == 0)  
*
0127:  MOVF   76,F
0128:  BTFSS  03.2
0129:  GOTO   12C
....................      {  
....................        flipout();  
012A:  CALL   0AE
....................      }                                    // if this bit is a zero, flip the output state  
....................      else  
012B:  GOTO   144
....................      {                                                   //otherwise if it is a 1, do the following:  
....................        if (flag_flag == FALSE) stuff++;      //increment the count of consequtive 1's  
012C:  MOVF   39,F
012D:  BTFSS  03.2
012E:  GOTO   130
012F:  INCF   38,F
....................        if ((flag_flag == FALSE) & (stuff == 5))  
0130:  MOVF   39,F
0131:  BTFSC  03.2
0132:  GOTO   135
0133:  MOVLW  00
0134:  GOTO   136
0135:  MOVLW  01
0136:  MOVWF  77
0137:  MOVF   38,W
0138:  SUBLW  05
0139:  BTFSC  03.2
013A:  GOTO   13D
013B:  MOVLW  00
013C:  GOTO   13E
013D:  MOVLW  01
013E:  ANDWF  77,W
013F:  XORLW  00
0140:  BTFSC  03.2
0141:  GOTO   144
....................        {       //stuff an extra 0, if 5 1's in a row  
....................          SendBit();  
0142:  CALL   0B5
....................          flipout();               //flip the output state to stuff a 0  
0143:  CALL   0AE
....................        }//end of if  
....................      }//end of else  
....................      // delay_us(850);                              //introduces a delay that creates 1200 baud  
....................      SendBit();  
0144:  CALL   0B5
....................      inbyte = inbyte>>1;          //go to the next bit in the byte  
0145:  BCF    03.0
0146:  RRF    74,F
....................    }//end of for  
0147:  INCF   75,F
0148:  GOTO   100
0149:  RETLW  00
.................... }//end of SendByte  
....................   
.................... void SendPacket(char *data)  
.................... {  
....................     bit=FALSE;  
*
02CF:  BCF    35.0
....................   
....................    fcslo=fcshi=0xFF;       //The 2 FCS Bytes are initialized to FF  
02D0:  MOVLW  FF
02D1:  MOVWF  37
02D2:  MOVWF  36
....................    stuff = 0;              //The variable stuff counts the number of 1's in a row. When it gets to 5  
02D3:  CLRF   38
....................                                 // it is time to stuff a 0.  
....................   
.................... //   output_low(PTT);        // Blinking LED  
.................... //   delay_ms(1000);  
.................... //   output_high(PTT);  
....................   
....................    flag_flag = TRUE;       //The variable flag is true if you are transmitted flags (7E's) false otherwise.  
02D4:  MOVLW  01
02D5:  MOVWF  39
....................    fcs_flag = FALSE;       //The variable fcsflag is true if you are transmitting FCS bytes, false otherwise.  
02D6:  CLRF   3A
....................   
....................    for(i=0; i<10; i++) SendByte(0x7E); //Sends flag bytes.  Adjust length for txdelay  
02D7:  CLRF   3B
02D8:  MOVF   3B,W
02D9:  SUBLW  09
02DA:  BTFSS  03.0
02DB:  GOTO   2E1
02DC:  MOVLW  7E
02DD:  MOVWF  74
02DE:  CALL   0FF
02DF:  INCF   3B,F
02E0:  GOTO   2D8
....................                                        //each flag takes approx 6.7 ms  
....................    flag_flag = FALSE;      //done sending flags  
02E1:  CLRF   39
....................   
....................    for(i=0; i<16; i++) SendByte(SendData[i]);      //send the packet bytes  
02E2:  CLRF   3B
02E3:  MOVF   3B,W
02E4:  SUBLW  0F
02E5:  BTFSS  03.0
02E6:  GOTO   2F0
02E7:  MOVLW  25
02E8:  ADDWF  3B,W
02E9:  MOVWF  04
02EA:  MOVF   00,W
02EB:  MOVWF  73
02EC:  MOVWF  74
02ED:  CALL   0FF
02EE:  INCF   3B,F
02EF:  GOTO   2E3
....................   
....................    for(i=0; 0 != *data; i++)  
02F0:  CLRF   3B
02F1:  MOVF   72,W
02F2:  MOVWF  04
02F3:  MOVF   00,W
02F4:  XORLW  00
02F5:  BTFSC  03.2
02F6:  GOTO   300
....................    {  
....................       SendByte(*data);     //send the packet bytes  
02F7:  MOVF   72,W
02F8:  MOVWF  04
02F9:  MOVF   00,W
02FA:  MOVWF  73
02FB:  MOVWF  74
02FC:  CALL   0FF
....................       data++;  
02FD:  INCF   72,F
....................    };  
02FE:  INCF   3B,F
02FF:  GOTO   2F1
....................   
....................    fcs_flag = TRUE;        //about to send the FCS bytes  
0300:  MOVLW  01
0301:  MOVWF  3A
....................    fcslo =fcslo^0xff;      //must XOR them with FF before sending  
0302:  MOVLW  FF
0303:  XORWF  36,F
....................    fcshi = fcshi^0xff;  
0304:  XORWF  37,F
....................    SendByte(fcslo);        //send the low byte of fcs  
0305:  MOVF   36,W
0306:  MOVWF  74
0307:  CALL   0FF
....................    SendByte(fcshi);        //send the high byte of fcs  
0308:  MOVF   37,W
0309:  MOVWF  74
030A:  CALL   0FF
....................    fcs_flag = FALSE;                  //done sending FCS  
030B:  CLRF   3A
....................    flag_flag = TRUE;               //about to send flags  
030C:  MOVLW  01
030D:  MOVWF  39
....................    SendByte(0x7e);         // Send a flag to end packet  
030E:  MOVLW  7E
030F:  MOVWF  74
0310:  CALL   0FF
.................... }  
....................   
....................   
....................   
....................  
....................   
.................... //motory            //Napred vypnout potom zapnout!  
.................... #define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred  
.................... #define FL         output_low(PIN_B7); output_high(PIN_B6)  
.................... #define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad  
.................... #define BL         output_low(PIN_B6); output_high(PIN_B7)  
.................... #define STOPR      output_low(PIN_B4);output_low(PIN_B5)  
.................... #define STOPL      output_low(PIN_B6);output_low(PIN_B7)  
....................   
.................... #define    L 0b10  // left  
.................... #define    R 0b01  // right  
.................... #define    S 0b11  // straight  
....................   
.................... #define    COUVANI         1600                                    // couvnuti po zjisteni diry  
.................... #define    MEZERA          5400                                    // za jak dlouho bude ztracena cara  
.................... #define    PRES_DIRU       400                                     // velikost mezery v care  
.................... #define    ODEZVA          1                                               // za jak dlouho po opusteni cary se ma zacit zatacet  
.................... #define    BRZDENI         100                                     // doba (v ms) ptrebna k zastaveni jednoho motoru  
....................   
.................... //cidla  
.................... #define    RSENSOR    1       // Senzory na caru  
.................... #define    LSENSOR    0  
.................... #define    BUMPER  PIN_C4          // sensor na cihlu  
....................   
.................... #define DIAG_SERVO      PIN_B0   // Propojka pro diagnosticky mod  
.................... #define DIAG_SENSORS    PIN_B1   // Propojka pro diagnosticky mod  
....................   
.................... #DEFINE SOUND_HI   PIN_B3  
.................... #DEFINE SOUND_LO   PIN_B2  
....................   
.................... char AXstring[40];   // Buffer pro prenos telemetrie  
....................   
.................... int tresholdL;             // rozhodovaci uroven pro prave cidlo  
.................... int tresholdR;             // rozhodovaci uroven pro prave cidlo  
.................... int movement;     // smer minuleho pohybu  
.................... int line;         // na ktere strane byla detekovana cara  
.................... unsigned int16 dira;                       // pocitadlo pro nalezeni preruseni cary  
....................   
.................... // Primitivni Pipani  
.................... void beep(unsigned int16 period, unsigned int16 length)  
.................... {  
....................    unsigned int16 nn;  
....................   
....................    for(nn=length; nn>0; nn--)  
*
0024:  MOVF   75,W
0025:  MOVWF  77
0026:  MOVF   74,W
0027:  MOVWF  76
0028:  MOVF   76,F
0029:  BTFSS  03.2
002A:  GOTO   02E
002B:  MOVF   77,F
002C:  BTFSC  03.2
002D:  GOTO   049
....................    {  
....................      output_high(SOUND_HI);output_low(SOUND_LO);  
002E:  BSF    03.5
002F:  BCF    06.3
0030:  BCF    03.5
0031:  BSF    06.3
0032:  BSF    03.5
0033:  BCF    06.2
0034:  BCF    03.5
0035:  BCF    06.2
....................      delay_us(period);  
0036:  MOVF   72,W
0037:  MOVWF  78
0038:  CALL   016
....................      output_high(SOUND_LO);output_low(SOUND_HI);  
0039:  BSF    03.5
003A:  BCF    06.2
003B:  BCF    03.5
003C:  BSF    06.2
003D:  BSF    03.5
003E:  BCF    06.3
003F:  BCF    03.5
0040:  BCF    06.3
....................      delay_us(period);  
0041:  MOVF   72,W
0042:  MOVWF  78
0043:  CALL   016
....................    }  
0044:  MOVF   76,W
0045:  BTFSC  03.2
0046:  DECF   77,F
0047:  DECF   76,F
0048:  GOTO   028
0049:  RETLW  00
.................... }  
....................   
.................... // Diagnostika pohonu, hejbne vsema motorama ve vsech smerech  
.................... void diagnostika()  
.................... {  
....................    unsigned int16 n;  
....................   
....................    while (input(DIAG_SERVO))   // Propojka, ktera spousti diagnostiku  
*
014A:  BSF    03.5
014B:  BSF    06.0
014C:  BCF    03.5
014D:  BTFSS  06.0
014E:  GOTO   275
....................    {  
....................       for (n=500; n<800; n+=100)  
014F:  MOVLW  01
0150:  MOVWF  6F
0151:  MOVLW  F4
0152:  MOVWF  6E
0153:  MOVF   6F,W
0154:  SUBLW  03
0155:  BTFSS  03.0
0156:  GOTO   16B
0157:  BTFSS  03.2
0158:  GOTO   15D
0159:  MOVF   6E,W
015A:  SUBLW  1F
015B:  BTFSS  03.0
015C:  GOTO   16B
....................       {  
....................          beep(n,n); //beep UP  
015D:  MOVF   6F,W
015E:  MOVWF  73
015F:  MOVF   6E,W
0160:  MOVWF  72
0161:  MOVF   6F,W
0162:  MOVWF  75
0163:  MOVF   6E,W
0164:  MOVWF  74
0165:  CALL   024
....................       };  
0166:  MOVLW  64
0167:  ADDWF  6E,F
0168:  BTFSC  03.0
0169:  INCF   6F,F
016A:  GOTO   153
....................       Delay_ms(1000);  
016B:  MOVLW  04
016C:  MOVWF  72
016D:  MOVLW  FA
016E:  MOVWF  73
016F:  CALL   04A
0170:  DECFSZ 72,F
0171:  GOTO   16D
....................       //zastav vse  
....................       STOPL; STOPR;  
0172:  BSF    03.5
0173:  BCF    06.6
0174:  BCF    03.5
0175:  BCF    06.6
0176:  BSF    03.5
0177:  BCF    06.7
0178:  BCF    03.5
0179:  BCF    06.7
017A:  BSF    03.5
017B:  BCF    06.4
017C:  BCF    03.5
017D:  BCF    06.4
017E:  BSF    03.5
017F:  BCF    06.5
0180:  BCF    03.5
0181:  BCF    06.5
....................       //pravy pas  
....................       FR; Delay_ms(1000); STOPR; Delay_ms(1000);  
0182:  BSF    03.5
0183:  BCF    06.5
0184:  BCF    03.5
0185:  BCF    06.5
0186:  BSF    03.5
0187:  BCF    06.4
0188:  BCF    03.5
0189:  BSF    06.4
018A:  MOVLW  04
018B:  MOVWF  72
018C:  MOVLW  FA
018D:  MOVWF  73
018E:  CALL   04A
018F:  DECFSZ 72,F
0190:  GOTO   18C
0191:  BSF    03.5
0192:  BCF    06.4
0193:  BCF    03.5
0194:  BCF    06.4
0195:  BSF    03.5
0196:  BCF    06.5
0197:  BCF    03.5
0198:  BCF    06.5
0199:  MOVLW  04
019A:  MOVWF  72
019B:  MOVLW  FA
019C:  MOVWF  73
019D:  CALL   04A
019E:  DECFSZ 72,F
019F:  GOTO   19B
....................       BR; Delay_ms(1000); STOPR; Delay_ms(1000);  
01A0:  BSF    03.5
01A1:  BCF    06.4
01A2:  BCF    03.5
01A3:  BCF    06.4
01A4:  BSF    03.5
01A5:  BCF    06.5
01A6:  BCF    03.5
01A7:  BSF    06.5
01A8:  MOVLW  04
01A9:  MOVWF  72
01AA:  MOVLW  FA
01AB:  MOVWF  73
01AC:  CALL   04A
01AD:  DECFSZ 72,F
01AE:  GOTO   1AA
01AF:  BSF    03.5
01B0:  BCF    06.4
01B1:  BCF    03.5
01B2:  BCF    06.4
01B3:  BSF    03.5
01B4:  BCF    06.5
01B5:  BCF    03.5
01B6:  BCF    06.5
01B7:  MOVLW  04
01B8:  MOVWF  72
01B9:  MOVLW  FA
01BA:  MOVWF  73
01BB:  CALL   04A
01BC:  DECFSZ 72,F
01BD:  GOTO   1B9
....................       Beep(880,100); Delay_ms(1000);  
01BE:  MOVLW  03
01BF:  MOVWF  73
01C0:  MOVLW  70
01C1:  MOVWF  72
01C2:  CLRF   75
01C3:  MOVLW  64
01C4:  MOVWF  74
01C5:  CALL   024
01C6:  MOVLW  04
01C7:  MOVWF  72
01C8:  MOVLW  FA
01C9:  MOVWF  73
01CA:  CALL   04A
01CB:  DECFSZ 72,F
01CC:  GOTO   1C8
....................       //levy pas  
....................       FL; Delay_ms(1000); STOPL; Delay_ms(1000);  
01CD:  BSF    03.5
01CE:  BCF    06.7
01CF:  BCF    03.5
01D0:  BCF    06.7
01D1:  BSF    03.5
01D2:  BCF    06.6
01D3:  BCF    03.5
01D4:  BSF    06.6
01D5:  MOVLW  04
01D6:  MOVWF  72
01D7:  MOVLW  FA
01D8:  MOVWF  73
01D9:  CALL   04A
01DA:  DECFSZ 72,F
01DB:  GOTO   1D7
01DC:  BSF    03.5
01DD:  BCF    06.6
01DE:  BCF    03.5
01DF:  BCF    06.6
01E0:  BSF    03.5
01E1:  BCF    06.7
01E2:  BCF    03.5
01E3:  BCF    06.7
01E4:  MOVLW  04
01E5:  MOVWF  72
01E6:  MOVLW  FA
01E7:  MOVWF  73
01E8:  CALL   04A
01E9:  DECFSZ 72,F
01EA:  GOTO   1E6
....................       BL; Delay_ms(1000); STOPL; Delay_ms(1000);  
01EB:  BSF    03.5
01EC:  BCF    06.6
01ED:  BCF    03.5
01EE:  BCF    06.6
01EF:  BSF    03.5
01F0:  BCF    06.7
01F1:  BCF    03.5
01F2:  BSF    06.7
01F3:  MOVLW  04
01F4:  MOVWF  72
01F5:  MOVLW  FA
01F6:  MOVWF  73
01F7:  CALL   04A
01F8:  DECFSZ 72,F
01F9:  GOTO   1F5
01FA:  BSF    03.5
01FB:  BCF    06.6
01FC:  BCF    03.5
01FD:  BCF    06.6
01FE:  BSF    03.5
01FF:  BCF    06.7
0200:  BCF    03.5
0201:  BCF    06.7
0202:  MOVLW  04
0203:  MOVWF  72
0204:  MOVLW  FA
0205:  MOVWF  73
0206:  CALL   04A
0207:  DECFSZ 72,F
0208:  GOTO   204
....................       Beep(880,100); Delay_ms(1000);  
0209:  MOVLW  03
020A:  MOVWF  73
020B:  MOVLW  70
020C:  MOVWF  72
020D:  CLRF   75
020E:  MOVLW  64
020F:  MOVWF  74
0210:  CALL   024
0211:  MOVLW  04
0212:  MOVWF  72
0213:  MOVLW  FA
0214:  MOVWF  73
0215:  CALL   04A
0216:  DECFSZ 72,F
0217:  GOTO   213
....................       //oba pasy  
....................       FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);  
0218:  BSF    03.5
0219:  BCF    06.7
021A:  BCF    03.5
021B:  BCF    06.7
021C:  BSF    03.5
021D:  BCF    06.6
021E:  BCF    03.5
021F:  BSF    06.6
0220:  BSF    03.5
0221:  BCF    06.5
0222:  BCF    03.5
0223:  BCF    06.5
0224:  BSF    03.5
0225:  BCF    06.4
0226:  BCF    03.5
0227:  BSF    06.4
0228:  MOVLW  04
0229:  MOVWF  72
022A:  MOVLW  FA
022B:  MOVWF  73
022C:  CALL   04A
022D:  DECFSZ 72,F
022E:  GOTO   22A
022F:  BSF    03.5
0230:  BCF    06.6
0231:  BCF    03.5
0232:  BCF    06.6
0233:  BSF    03.5
0234:  BCF    06.7
0235:  BCF    03.5
0236:  BCF    06.7
0237:  BSF    03.5
0238:  BCF    06.4
0239:  BCF    03.5
023A:  BCF    06.4
023B:  BSF    03.5
023C:  BCF    06.5
023D:  BCF    03.5
023E:  BCF    06.5
023F:  MOVLW  04
0240:  MOVWF  72
0241:  MOVLW  FA
0242:  MOVWF  73
0243:  CALL   04A
0244:  DECFSZ 72,F
0245:  GOTO   241
....................       BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);  
0246:  BSF    03.5
0247:  BCF    06.6
0248:  BCF    03.5
0249:  BCF    06.6
024A:  BSF    03.5
024B:  BCF    06.7
024C:  BCF    03.5
024D:  BSF    06.7
024E:  BSF    03.5
024F:  BCF    06.4
0250:  BCF    03.5
0251:  BCF    06.4
0252:  BSF    03.5
0253:  BCF    06.5
0254:  BCF    03.5
0255:  BSF    06.5
0256:  MOVLW  04
0257:  MOVWF  72
0258:  MOVLW  FA
0259:  MOVWF  73
025A:  CALL   04A
025B:  DECFSZ 72,F
025C:  GOTO   258
025D:  BSF    03.5
025E:  BCF    06.6
025F:  BCF    03.5
0260:  BCF    06.6
0261:  BSF    03.5
0262:  BCF    06.7
0263:  BCF    03.5
0264:  BCF    06.7
0265:  BSF    03.5
0266:  BCF    06.4
0267:  BCF    03.5
0268:  BCF    06.4
0269:  BSF    03.5
026A:  BCF    06.5
026B:  BCF    03.5
026C:  BCF    06.5
026D:  MOVLW  04
026E:  MOVWF  72
026F:  MOVLW  FA
0270:  MOVWF  73
0271:  CALL   04A
0272:  DECFSZ 72,F
0273:  GOTO   26F
....................    };  
0274:  GOTO   14A
....................   
....................    while (input(DIAG_SENSORS))  
0275:  BSF    03.5
0276:  BSF    06.1
0277:  BCF    03.5
0278:  BTFSS  06.1
0279:  GOTO   319
....................    {  
....................       int ls, rs;  
....................            while(!input(BUMPER)){beep(1100,100); Delay_ms(50);}  
027A:  BSF    3C.4
027B:  MOVF   3C,W
027C:  BSF    03.5
027D:  MOVWF  07
027E:  BCF    03.5
027F:  BTFSC  07.4
0280:  GOTO   28D
0281:  MOVLW  04
0282:  MOVWF  73
0283:  MOVLW  4C
0284:  MOVWF  72
0285:  CLRF   75
0286:  MOVLW  64
0287:  MOVWF  74
0288:  CALL   024
0289:  MOVLW  32
028A:  MOVWF  73
028B:  CALL   04A
028C:  GOTO   27A
....................       set_adc_channel(RSENSOR);  
028D:  MOVLW  08
028E:  MOVWF  21
028F:  MOVF   1F,W
0290:  ANDLW  C7
0291:  IORWF  21,W
0292:  MOVWF  1F
....................       Delay_us(20);  
0293:  MOVLW  06
0294:  MOVWF  20
0295:  DECFSZ 20,F
0296:  GOTO   295
0297:  NOP
....................       rs=read_adc();  
0298:  BSF    1F.2
0299:  BTFSC  1F.2
029A:  GOTO   299
029B:  MOVF   1E,W
029C:  MOVWF  71
....................       set_adc_channel(LSENSOR);  
029D:  MOVLW  00
029E:  MOVWF  21
029F:  MOVF   1F,W
02A0:  ANDLW  C7
02A1:  IORWF  21,W
02A2:  MOVWF  1F
....................       Delay_us(20);  
02A3:  MOVLW  06
02A4:  MOVWF  20
02A5:  DECFSZ 20,F
02A6:  GOTO   2A5
02A7:  NOP
....................       ls=read_adc();  
02A8:  BSF    1F.2
02A9:  BTFSC  1F.2
02AA:  GOTO   2A9
02AB:  MOVF   1E,W
02AC:  MOVWF  70
....................       sprintf(AXstring,"L: %U  R: %U\0", ls, rs);  // Convert DATA to String.  
*
0004:  BCF    0A.0
0005:  BCF    0A.1
0006:  BCF    0A.2
0007:  ADDWF  02,F
0008:  RETLW  4C
0009:  RETLW  3A
000A:  RETLW  20
000B:  RETLW  25
000C:  RETLW  55
000D:  RETLW  20
000E:  RETLW  20
000F:  RETLW  52
0010:  RETLW  3A
0011:  RETLW  20
0012:  RETLW  25
0013:  RETLW  55
0014:  RETLW  00
0015:  RETLW  00
*
007C:  MOVF   21,W
007D:  MOVF   73,W
007E:  MOVWF  75
007F:  MOVLW  64
0080:  MOVWF  76
0081:  CALL   067
0082:  MOVF   20,W
0083:  MOVWF  73
0084:  MOVF   21,W
0085:  MOVLW  30
0086:  BTFSS  03.2
0087:  GOTO   08F
0088:  BTFSC  74.0
0089:  BSF    74.3
008A:  BTFSC  74.3
008B:  GOTO   095
008C:  BTFSC  74.4
008D:  MOVLW  20
008E:  GOTO   091
008F:  BCF    74.3
0090:  BCF    74.4
0091:  ADDWF  21,F
0092:  MOVF   21,W
0093:  MOVWF  75
0094:  CALL   05F
0095:  MOVF   73,W
0096:  MOVWF  75
0097:  MOVLW  0A
0098:  MOVWF  76
0099:  CALL   067
009A:  MOVF   20,W
009B:  MOVWF  73
009C:  MOVF   21,W
009D:  MOVLW  30
009E:  BTFSS  03.2
009F:  GOTO   0A4
00A0:  BTFSC  74.3
00A1:  GOTO   0A8
00A2:  BTFSC  74.4
00A3:  MOVLW  20
00A4:  ADDWF  21,F
00A5:  MOVF   21,W
00A6:  MOVWF  75
00A7:  CALL   05F
00A8:  MOVLW  30
00A9:  ADDWF  73,F
00AA:  MOVF   73,W
00AB:  MOVWF  75
00AC:  CALL   05F
00AD:  RETLW  00
*
02AD:  MOVLW  3D
02AE:  MOVWF  6B
02AF:  MOVLW  4C
02B0:  MOVWF  75
02B1:  CALL   05F
02B2:  MOVLW  3A
02B3:  MOVWF  75
02B4:  CALL   05F
02B5:  MOVLW  20
02B6:  MOVWF  75
02B7:  CALL   05F
02B8:  MOVF   70,W
02B9:  MOVWF  73
02BA:  MOVLW  18
02BB:  MOVWF  74
02BC:  CALL   07C
02BD:  MOVLW  05
02BE:  MOVWF  72
02BF:  MOVF   72,W
02C0:  CALL   004
02C1:  INCF   72,F
02C2:  MOVWF  75
02C3:  CALL   05F
02C4:  MOVLW  0A
02C5:  SUBWF  72,W
02C6:  BTFSS  03.2
02C7:  GOTO   2BF
02C8:  MOVF   71,W
02C9:  MOVWF  73
02CA:  MOVLW  18
02CB:  MOVWF  74
02CC:  CALL   07C
....................       SendPacket(&AXstring[0]);  
02CD:  MOVLW  3D
02CE:  MOVWF  72
....................       delay_ms(1000);  
*
0311:  MOVLW  04
0312:  MOVWF  72
0313:  MOVLW  FA
0314:  MOVWF  73
0315:  CALL   04A
0316:  DECFSZ 72,F
0317:  GOTO   313
....................    };  
0318:  GOTO   275
0319:  BCF    0A.3
031A:  GOTO   45E (RETURN)
.................... }  
....................   
.................... void cikcak()  
.................... {  
.................... int n;  
....................    switch(movement)                                                                                                // podivej se na jednu stranu  
*
0364:  MOVLW  01
0365:  SUBWF  67,W
0366:  ADDLW  FD
0367:  BTFSC  03.0
0368:  GOTO   3A4
0369:  ADDLW  03
036A:  GOTO   410
....................    {  
....................    case L:  
....................                            FL;BR;  
036B:  BSF    03.5
036C:  BCF    06.7
036D:  BCF    03.5
036E:  BCF    06.7
036F:  BSF    03.5
0370:  BCF    06.6
0371:  BCF    03.5
0372:  BSF    06.6
0373:  BSF    03.5
0374:  BCF    06.4
0375:  BCF    03.5
0376:  BCF    06.4
0377:  BSF    03.5
0378:  BCF    06.5
0379:  BCF    03.5
037A:  BSF    06.5
....................                            movement=R;  
037B:  MOVLW  01
037C:  MOVWF  67
....................                    break;  
037D:  GOTO   3A4
....................    case R:  
....................                            FR;BL;  
037E:  BSF    03.5
037F:  BCF    06.5
0380:  BCF    03.5
0381:  BCF    06.5
0382:  BSF    03.5
0383:  BCF    06.4
0384:  BCF    03.5
0385:  BSF    06.4
0386:  BSF    03.5
0387:  BCF    06.6
0388:  BCF    03.5
0389:  BCF    06.6
038A:  BSF    03.5
038B:  BCF    06.7
038C:  BCF    03.5
038D:  BSF    06.7
....................                            movement=L;  
038E:  MOVLW  02
038F:  MOVWF  67
....................                    break;  
0390:  GOTO   3A4
....................    case S:  
....................                            FR;BL;  
0391:  BSF    03.5
0392:  BCF    06.5
0393:  BCF    03.5
0394:  BCF    06.5
0395:  BSF    03.5
0396:  BCF    06.4
0397:  BCF    03.5
0398:  BSF    06.4
0399:  BSF    03.5
039A:  BCF    06.6
039B:  BCF    03.5
039C:  BCF    06.6
039D:  BSF    03.5
039E:  BCF    06.7
039F:  BCF    03.5
03A0:  BSF    06.7
....................                            movement=L;  
03A1:  MOVLW  02
03A2:  MOVWF  67
....................                    break;  
03A3:  GOTO   3A4
....................    }  
*
0410:  BCF    0A.0
0411:  BCF    0A.1
0412:  BSF    0A.2
0413:  ADDWF  02,F
0414:  GOTO   37E
0415:  GOTO   36B
0416:  GOTO   391
....................    set_adc_channel(LSENSOR);  
*
03A4:  MOVLW  00
03A5:  MOVWF  21
03A6:  MOVF   1F,W
03A7:  ANDLW  C7
03A8:  IORWF  21,W
03A9:  MOVWF  1F
....................    Delay_us(10);  
03AA:  MOVLW  03
03AB:  MOVWF  20
03AC:  DECFSZ 20,F
03AD:  GOTO   3AC
....................    while (tresholdL < read_adc())                                          // je tam cara?? 
03AE:  BSF    1F.2
03AF:  BTFSC  1F.2
03B0:  GOTO   3AF
03B1:  MOVF   1E,W
03B2:  SUBWF  65,W
03B3:  BTFSC  03.0
03B4:  GOTO   3FC
....................    {  
....................            if (n==50)                                                                                              // asi bude na druhe strane  
03B5:  MOVF   6E,W
03B6:  SUBLW  32
03B7:  BTFSS  03.2
03B8:  GOTO   3F7
....................            {  
....................                    STOPR;STOPL;  
03B9:  BSF    03.5
03BA:  BCF    06.4
03BB:  BCF    03.5
03BC:  BCF    06.4
03BD:  BSF    03.5
03BE:  BCF    06.5
03BF:  BCF    03.5
03C0:  BCF    06.5
03C1:  BSF    03.5
03C2:  BCF    06.6
03C3:  BCF    03.5
03C4:  BCF    06.6
03C5:  BSF    03.5
03C6:  BCF    06.7
03C7:  BCF    03.5
03C8:  BCF    06.7
....................                    n=0;  
03C9:  CLRF   6E
....................                    switch(movement)  
03CA:  MOVLW  01
03CB:  SUBWF  67,W
03CC:  ADDLW  FE
03CD:  BTFSC  03.0
03CE:  GOTO   3F7
03CF:  ADDLW  02
03D0:  GOTO   417
....................                    {  
....................                    case L:  
....................                                            FL;BR;  
03D1:  BSF    03.5
03D2:  BCF    06.7
03D3:  BCF    03.5
03D4:  BCF    06.7
03D5:  BSF    03.5
03D6:  BCF    06.6
03D7:  BCF    03.5
03D8:  BSF    06.6
03D9:  BSF    03.5
03DA:  BCF    06.4
03DB:  BCF    03.5
03DC:  BCF    06.4
03DD:  BSF    03.5
03DE:  BCF    06.5
03DF:  BCF    03.5
03E0:  BSF    06.5
....................                                            movement=R;  
03E1:  MOVLW  01
03E2:  MOVWF  67
....................                                    break;  
03E3:  GOTO   3F7
....................                    case R:  
....................                                            FR;BL;  
03E4:  BSF    03.5
03E5:  BCF    06.5
03E6:  BCF    03.5
03E7:  BCF    06.5
03E8:  BSF    03.5
03E9:  BCF    06.4
03EA:  BCF    03.5
03EB:  BSF    06.4
03EC:  BSF    03.5
03ED:  BCF    06.6
03EE:  BCF    03.5
03EF:  BCF    06.6
03F0:  BSF    03.5
03F1:  BCF    06.7
03F2:  BCF    03.5
03F3:  BSF    06.7
....................                                            movement=L;  
03F4:  MOVLW  02
03F5:  MOVWF  67
....................                                    break;  
03F6:  GOTO   3F7
....................                    }  
*
0417:  BCF    0A.0
0418:  BCF    0A.1
0419:  BSF    0A.2
041A:  ADDWF  02,F
041B:  GOTO   3E4
041C:  GOTO   3D1
....................            }  
....................            Delay_ms(5);  
*
03F7:  MOVLW  05
03F8:  MOVWF  73
03F9:  CALL   04A
....................            n++;  
03FA:  INCF   6E,F
....................    }  
03FB:  GOTO   3AE
....................    STOPL;STOPR;                                                                                            // nasli jsme caru  
03FC:  BSF    03.5
03FD:  BCF    06.6
03FE:  BCF    03.5
03FF:  BCF    06.6
0400:  BSF    03.5
0401:  BCF    06.7
0402:  BCF    03.5
0403:  BCF    06.7
0404:  BSF    03.5
0405:  BCF    06.4
0406:  BCF    03.5
0407:  BCF    06.4
0408:  BSF    03.5
0409:  BCF    06.5
040A:  BCF    03.5
040B:  BCF    06.5
....................    line=S;  
040C:  MOVLW  03
040D:  MOVWF  68
040E:  BCF    0A.3
040F:  GOTO   610 (RETURN)
.................... }  
.................... void objizdka()  
.................... {  
....................    BL;BR;Delay_ms(300);  
*
031B:  BSF    03.5
031C:  BCF    06.6
031D:  BCF    03.5
031E:  BCF    06.6
031F:  BSF    03.5
0320:  BCF    06.7
0321:  BCF    03.5
0322:  BSF    06.7
0323:  BSF    03.5
0324:  BCF    06.4
0325:  BCF    03.5
0326:  BCF    06.4
0327:  BSF    03.5
0328:  BCF    06.5
0329:  BCF    03.5
032A:  BSF    06.5
032B:  MOVLW  02
032C:  MOVWF  6E
032D:  MOVLW  96
032E:  MOVWF  73
032F:  CALL   04A
0330:  DECFSZ 6E,F
0331:  GOTO   32D
....................    STOPR;STOPL;  
0332:  BSF    03.5
0333:  BCF    06.4
0334:  BCF    03.5
0335:  BCF    06.4
0336:  BSF    03.5
0337:  BCF    06.5
0338:  BCF    03.5
0339:  BCF    06.5
033A:  BSF    03.5
033B:  BCF    06.6
033C:  BCF    03.5
033D:  BCF    06.6
033E:  BSF    03.5
033F:  BCF    06.7
0340:  BCF    03.5
0341:  BCF    06.7
....................    beep(1000,1000);  
0342:  MOVLW  03
0343:  MOVWF  73
0344:  MOVLW  E8
0345:  MOVWF  72
0346:  MOVLW  03
0347:  MOVWF  75
0348:  MOVLW  E8
0349:  MOVWF  74
034A:  CALL   024
....................    Delay_ms(500);  
034B:  MOVLW  02
034C:  MOVWF  6E
034D:  MOVLW  FA
034E:  MOVWF  73
034F:  CALL   04A
0350:  DECFSZ 6E,F
0351:  GOTO   34D
....................    beep(1000,1000);  
0352:  MOVLW  03
0353:  MOVWF  73
0354:  MOVLW  E8
0355:  MOVWF  72
0356:  MOVLW  03
0357:  MOVWF  75
0358:  MOVLW  E8
0359:  MOVWF  74
035A:  CALL   024
....................    Delay_ms(1000);  
035B:  MOVLW  04
035C:  MOVWF  6E
035D:  MOVLW  FA
035E:  MOVWF  73
035F:  CALL   04A
0360:  DECFSZ 6E,F
0361:  GOTO   35D
0362:  BCF    0A.3
0363:  GOTO   48A (RETURN)
....................   
.................... }  
.................... void kalibrace()  
.................... {  
.................... unsigned int16 i;  
.................... int min;  
.................... int max;  
.................... int current;  
.................... int treshold;  
....................   
....................    FL; BR; Delay_ms(130);  
.................... chyba1:  
....................    FR; BL;                                                                                                 //kalibrace leveho cidla  
....................    set_adc_channel(LSENSOR);  
....................    Delay_us(20);  
....................    min=max=read_adc();  
....................    for (i=1;i<=500;i++)  
....................    {  
....................            current=read_adc();  
....................            if (max < current) max=current;  
....................            if (min > current) min=current;  
....................            Delay_us(500);  
....................    }  
....................    FL; BR;  
....................    for (i=1;i<=500;i++)  
....................    {  
....................            current=read_adc();  
....................            if (max < current) max=current;  
....................            if (min > current) min=current;  
....................            Delay_us(500);  
....................    }  
....................    STOPL; STOPR; Delay_ms(200);  
....................    if((max-min)<50) {Beep(1000,300); GOTO chyba1;}  
....................    treshold=(max-min)>>1;  
....................    tresholdL=treshold+min;  
....................   
.................... chyba2:  
....................    FR; BL;  
....................    set_adc_channel(RSENSOR);  
....................    Delay_us(20);  
....................    min=max=read_adc();                                                                     //naplneni min a max nejakou rozumnou hodnotou  
....................    for (i=1;i<=500 ;i++)  
....................    {  
....................            current=read_adc();  
....................            if (max < current) max=current;                         //zmereni minima a maxima  
....................            if (min > current) min=current;  
....................            Delay_us(500);  
....................    }  
....................    FL; BR;  
....................    for (i=1;i<=500 ;i++)  
....................    {  
....................            current=read_adc();  
....................            if (max < current) max=current;                         //zmereni minima a maxima  
....................            if (min > current) min=current;  
....................            Delay_us(500);  
....................    }  
....................    STOPL; STOPR; Delay_ms(200);  
....................    if((max-min)<50) {Beep(1000,300); GOTO chyba2;}  
....................    treshold=(max-min)>>1;  
....................    tresholdR=treshold+min;  
....................   
....................    FR; BL;  
....................    movement=L;  
....................    set_adc_channel(LSENSOR);  
....................    Delay_us(20);  
....................    while (tresholdL < read_adc()) Delay_us(100);  
....................    FL; BR; Delay_ms(50);  
....................    STOPL; STOPR; Delay_ms(500);  
....................    Beep(780,200);  
.................... }  
....................   
.................... void main()  
.................... {  
.................... unsigned int16 rovne;                                                                                              // pocita delku rovne cary  
*
041D:  CLRF   04
041E:  MOVLW  1F
041F:  ANDWF  03,F
0420:  MOVLW  07
0421:  BSF    03.5
0422:  MOVWF  1F
0423:  MOVLW  82
0424:  BCF    03.5
0425:  MOVWF  25
0426:  MOVLW  98
0427:  MOVWF  26
0428:  MOVWF  27
0429:  MOVLW  40
042A:  MOVWF  28
042B:  MOVWF  29
042C:  MOVWF  2A
042D:  MOVLW  60
042E:  MOVWF  2B
042F:  MOVLW  86
0430:  MOVWF  2C
0431:  MOVLW  B4
0432:  MOVWF  2D
0433:  MOVLW  60
0434:  MOVWF  2E
0435:  MOVLW  A4
0436:  MOVWF  2F
0437:  MOVWF  30
0438:  MOVWF  31
0439:  MOVLW  61
043A:  MOVWF  32
043B:  MOVLW  03
043C:  MOVWF  33
043D:  MOVLW  F0
043E:  MOVWF  34
043F:  MOVLW  FF
0440:  MOVWF  3C
0441:  CLRF   6B
....................   
....................    STOPL; STOPR;  
0442:  BSF    03.5
0443:  BCF    06.6
0444:  BCF    03.5
0445:  BCF    06.6
0446:  BSF    03.5
0447:  BCF    06.7
0448:  BCF    03.5
0449:  BCF    06.7
044A:  BSF    03.5
044B:  BCF    06.4
044C:  BCF    03.5
044D:  BCF    06.4
044E:  BSF    03.5
044F:  BCF    06.5
0450:  BCF    03.5
0451:  BCF    06.5
....................   
....................    setup_adc_ports(RA0_RA1_RA3_ANALOG);  
0452:  MOVLW  04
0453:  BSF    03.5
0454:  MOVWF  1F
....................    setup_adc(ADC_CLOCK_DIV_2);  
0455:  BCF    03.5
0456:  MOVF   1F,W
0457:  ANDLW  38
0458:  IORLW  01
0459:  MOVWF  1F
....................   
....................    port_b_pullups(false);  
045A:  BSF    03.5
045B:  BSF    01.7
....................   
....................    diagnostika();  
045C:  BCF    03.5
045D:  GOTO   14A
....................   
....................    Beep(1000,200);     //double beep  
045E:  MOVLW  03
045F:  MOVWF  73
0460:  MOVLW  E8
0461:  MOVWF  72
0462:  CLRF   75
0463:  MOVLW  C8
0464:  MOVWF  74
0465:  CALL   024
....................    Delay_ms(50);  
0466:  MOVLW  32
0467:  MOVWF  73
0468:  CALL   04A
....................    Beep(1000,200);  
0469:  MOVLW  03
046A:  MOVWF  73
046B:  MOVLW  E8
046C:  MOVWF  72
046D:  CLRF   75
046E:  MOVLW  C8
046F:  MOVWF  74
0470:  CALL   024
....................    Delay_ms(1000); // 1s  
0471:  MOVLW  04
0472:  MOVWF  6E
0473:  MOVLW  FA
0474:  MOVWF  73
0475:  CALL   04A
0476:  DECFSZ 6E,F
0477:  GOTO   473
....................   
.................... // kalibrace();  
....................    tresholdl=tresholdr=80;  
0478:  MOVLW  50
0479:  MOVWF  66
047A:  MOVWF  65
.................... // FL; FR;  
....................    movement=S;  
047B:  MOVLW  03
047C:  MOVWF  67
....................    line=S;  
047D:  MOVWF  68
....................    dira=0;  
047E:  CLRF   6A
047F:  CLRF   69
....................    rovne=0;  
0480:  CLRF   6D
0481:  CLRF   6C
....................   
....................    while(true)  
....................    {  
....................            if(!input(BUMPER)) objizdka();  
0482:  BSF    3C.4
0483:  MOVF   3C,W
0484:  BSF    03.5
0485:  MOVWF  07
0486:  BCF    03.5
0487:  BTFSC  07.4
0488:  GOTO   48A
0489:  GOTO   31B
....................            line=0;  
048A:  CLRF   68
....................       set_adc_channel(RSENSOR);                                                            // podivej se jestli neni cara pod pravym cidlem  
048B:  MOVLW  08
048C:  MOVWF  21
048D:  MOVF   1F,W
048E:  ANDLW  C7
048F:  IORWF  21,W
0490:  MOVWF  1F
....................       Delay_us(10);  
0491:  MOVLW  03
0492:  MOVWF  20
0493:  DECFSZ 20,F
0494:  GOTO   493
....................       if(tresholdR > read_adc())  
0495:  BSF    1F.2
0496:  BTFSC  1F.2
0497:  GOTO   496
0498:  MOVF   1E,W
0499:  SUBWF  66,W
049A:  BTFSC  03.2
049B:  GOTO   4A2
049C:  BTFSS  03.0
049D:  GOTO   4A2
....................            {  
....................                    dira=0;  
049E:  CLRF   6A
049F:  CLRF   69
....................                    line=R;  
04A0:  MOVLW  01
04A1:  MOVWF  68
....................            }  
....................       set_adc_channel(LSENSOR);                                                            // kdyz cara nebyla pod pravym cidlem, mozna bude pod levym  
04A2:  MOVLW  00
04A3:  MOVWF  21
04A4:  MOVF   1F,W
04A5:  ANDLW  C7
04A6:  IORWF  21,W
04A7:  MOVWF  1F
....................       Delay_us(10);  
04A8:  MOVLW  03
04A9:  MOVWF  20
04AA:  DECFSZ 20,F
04AB:  GOTO   4AA
....................       if(tresholdL > read_adc())  
04AC:  BSF    1F.2
04AD:  BTFSC  1F.2
04AE:  GOTO   4AD
04AF:  MOVF   1E,W
04B0:  SUBWF  65,W
04B1:  BTFSC  03.2
04B2:  GOTO   4B8
04B3:  BTFSS  03.0
04B4:  GOTO   4B8
....................            {  
....................                    dira=0;  
04B5:  CLRF   6A
04B6:  CLRF   69
....................                    line=line | L;  
04B7:  BSF    68.1
....................            }  
....................   
....................            switch(line)  
04B8:  MOVF   68,W
04B9:  MOVWF  20
04BA:  MOVLW  03
04BB:  SUBWF  20,W
04BC:  BTFSC  03.2
04BD:  GOTO   4C7
04BE:  MOVLW  02
04BF:  SUBWF  20,W
04C0:  BTFSC  03.2
04C1:  GOTO   4DA
04C2:  MOVLW  01
04C3:  SUBWF  20,W
04C4:  BTFSC  03.2
04C5:  GOTO   4ED
04C6:  GOTO   500
....................            {  
....................            case S:  
....................                    FR;FL;  
04C7:  BSF    03.5
04C8:  BCF    06.5
04C9:  BCF    03.5
04CA:  BCF    06.5
04CB:  BSF    03.5
04CC:  BCF    06.4
04CD:  BCF    03.5
04CE:  BSF    06.4
04CF:  BSF    03.5
04D0:  BCF    06.7
04D1:  BCF    03.5
04D2:  BCF    06.7
04D3:  BSF    03.5
04D4:  BCF    06.6
04D5:  BCF    03.5
04D6:  BSF    06.6
....................                    movement=S;  
04D7:  MOVLW  03
04D8:  MOVWF  67
....................                    continue;  
04D9:  GOTO   482
....................            case L:  
....................                    STOPL;  
04DA:  BSF    03.5
04DB:  BCF    06.6
04DC:  BCF    03.5
04DD:  BCF    06.6
04DE:  BSF    03.5
04DF:  BCF    06.7
04E0:  BCF    03.5
04E1:  BCF    06.7
....................                    FR;movement=L;  
04E2:  BSF    03.5
04E3:  BCF    06.5
04E4:  BCF    03.5
04E5:  BCF    06.5
04E6:  BSF    03.5
04E7:  BCF    06.4
04E8:  BCF    03.5
04E9:  BSF    06.4
04EA:  MOVLW  02
04EB:  MOVWF  67
....................                    continue;  
04EC:  GOTO   482
....................            case R:  
....................                    STOPR;  
04ED:  BSF    03.5
04EE:  BCF    06.4
04EF:  BCF    03.5
04F0:  BCF    06.4
04F1:  BSF    03.5
04F2:  BCF    06.5
04F3:  BCF    03.5
04F4:  BCF    06.5
....................                    FL;movement=R;  
04F5:  BSF    03.5
04F6:  BCF    06.7
04F7:  BCF    03.5
04F8:  BCF    06.7
04F9:  BSF    03.5
04FA:  BCF    06.6
04FB:  BCF    03.5
04FC:  BSF    06.6
04FD:  MOVLW  01
04FE:  MOVWF  67
....................                    continue;  
04FF:  GOTO   482
....................            default:  
....................            }  
....................   
....................            if (dira==ODEZVA)                                                                       // kdyz uz chvili jedeme po bile plose  
0500:  DECFSZ 69,W
0501:  GOTO   54A
0502:  MOVF   6A,F
0503:  BTFSS  03.2
0504:  GOTO   54A
....................            {  
....................                    //BR;BL;Delay_us(rovne >>= 5);  
....................                    rovne=0;                                                                                        //kdyz sme museli zatocit, uz neni rovna cara  
0505:  CLRF   6D
0506:  CLRF   6C
....................   
....................                    switch (line)                                                                   // musime zatocit  
0507:  MOVLW  01
0508:  SUBWF  68,W
0509:  ADDLW  FE
050A:  BTFSC  03.0
050B:  GOTO   54A
050C:  ADDLW  02
050D:  GOTO   617
....................                    {  
....................                    case L:  
....................                                    BL;Delay_ms(BRZDENI);STOPL;  
050E:  BSF    03.5
050F:  BCF    06.6
0510:  BCF    03.5
0511:  BCF    06.6
0512:  BSF    03.5
0513:  BCF    06.7
0514:  BCF    03.5
0515:  BSF    06.7
0516:  MOVLW  64
0517:  MOVWF  73
0518:  CALL   04A
0519:  BSF    03.5
051A:  BCF    06.6
051B:  BCF    03.5
051C:  BCF    06.6
051D:  BSF    03.5
051E:  BCF    06.7
051F:  BCF    03.5
0520:  BCF    06.7
....................                                            FR;  
0521:  BSF    03.5
0522:  BCF    06.5
0523:  BCF    03.5
0524:  BCF    06.5
0525:  BSF    03.5
0526:  BCF    06.4
0527:  BCF    03.5
0528:  BSF    06.4
....................                                            movement=L;  
0529:  MOVLW  02
052A:  MOVWF  67
....................                                    break;  
052B:  GOTO   54A
....................            case R:  
....................                                    BR;Delay_ms(BRZDENI);STOPR;  
052C:  BSF    03.5
052D:  BCF    06.4
052E:  BCF    03.5
052F:  BCF    06.4
0530:  BSF    03.5
0531:  BCF    06.5
0532:  BCF    03.5
0533:  BSF    06.5
0534:  MOVLW  64
0535:  MOVWF  73
0536:  CALL   04A
0537:  BSF    03.5
0538:  BCF    06.4
0539:  BCF    03.5
053A:  BCF    06.4
053B:  BSF    03.5
053C:  BCF    06.5
053D:  BCF    03.5
053E:  BCF    06.5
....................                                            FL;  
053F:  BSF    03.5
0540:  BCF    06.7
0541:  BCF    03.5
0542:  BCF    06.7
0543:  BSF    03.5
0544:  BCF    06.6
0545:  BCF    03.5
0546:  BSF    06.6
....................                                            movement=R;  
0547:  MOVLW  01
0548:  MOVWF  67
....................                                    break;  
0549:  GOTO   54A
....................                    }  
*
0617:  BCF    0A.0
0618:  BSF    0A.1
0619:  BSF    0A.2
061A:  ADDWF  02,F
061B:  GOTO   52C
061C:  GOTO   50E
....................            }  
....................            if (dira==MEZERA)                                                                                       // kdyz zkoncila cara  
*
054A:  MOVF   69,W
054B:  SUBLW  18
054C:  BTFSS  03.2
054D:  GOTO   612
054E:  MOVF   6A,W
054F:  SUBLW  15
0550:  BTFSS  03.2
0551:  GOTO   612
....................            {  
....................                    beep(800,500);  
0552:  MOVLW  03
0553:  MOVWF  73
0554:  MOVLW  20
0555:  MOVWF  72
0556:  MOVLW  01
0557:  MOVWF  75
0558:  MOVLW  F4
0559:  MOVWF  74
055A:  CALL   024
....................                    Delay_ms(50);  
055B:  MOVLW  32
055C:  MOVWF  73
055D:  CALL   04A
....................                    beep(800,500);  
055E:  MOVLW  03
055F:  MOVWF  73
0560:  MOVLW  20
0561:  MOVWF  72
0562:  MOVLW  01
0563:  MOVWF  75
0564:  MOVLW  F4
0565:  MOVWF  74
0566:  CALL   024
....................                    switch (movement)                                                                               //vrat se zpet na caru  
0567:  MOVLW  01
0568:  SUBWF  67,W
0569:  ADDLW  FD
056A:  BTFSC  03.0
056B:  GOTO   5E6
056C:  ADDLW  03
056D:  GOTO   61D
....................                    {  
....................                    case L:  
....................                                            STOPL;STOPR;  
056E:  BSF    03.5
056F:  BCF    06.6
0570:  BCF    03.5
0571:  BCF    06.6
0572:  BSF    03.5
0573:  BCF    06.7
0574:  BCF    03.5
0575:  BCF    06.7
0576:  BSF    03.5
0577:  BCF    06.4
0578:  BCF    03.5
0579:  BCF    06.4
057A:  BSF    03.5
057B:  BCF    06.5
057C:  BCF    03.5
057D:  BCF    06.5
....................                                    BR;Delay_ms(COUVANI);STOPR;  
057E:  BSF    03.5
057F:  BCF    06.4
0580:  BCF    03.5
0581:  BCF    06.4
0582:  BSF    03.5
0583:  BCF    06.5
0584:  BCF    03.5
0585:  BSF    06.5
0586:  MOVLW  08
0587:  MOVWF  6E
0588:  MOVLW  C8
0589:  MOVWF  73
058A:  CALL   04A
058B:  DECFSZ 6E,F
058C:  GOTO   588
058D:  BSF    03.5
058E:  BCF    06.4
058F:  BCF    03.5
0590:  BCF    06.4
0591:  BSF    03.5
0592:  BCF    06.5
0593:  BCF    03.5
0594:  BCF    06.5
....................                                    break;  
0595:  GOTO   5E6
....................            case R:  
....................                                            STOPL;STOPR;  
0596:  BSF    03.5
0597:  BCF    06.6
0598:  BCF    03.5
0599:  BCF    06.6
059A:  BSF    03.5
059B:  BCF    06.7
059C:  BCF    03.5
059D:  BCF    06.7
059E:  BSF    03.5
059F:  BCF    06.4
05A0:  BCF    03.5
05A1:  BCF    06.4
05A2:  BSF    03.5
05A3:  BCF    06.5
05A4:  BCF    03.5
05A5:  BCF    06.5
....................                                    BL;Delay_ms(COUVANI);STOPL;  
05A6:  BSF    03.5
05A7:  BCF    06.6
05A8:  BCF    03.5
05A9:  BCF    06.6
05AA:  BSF    03.5
05AB:  BCF    06.7
05AC:  BCF    03.5
05AD:  BSF    06.7
05AE:  MOVLW  08
05AF:  MOVWF  6E
05B0:  MOVLW  C8
05B1:  MOVWF  73
05B2:  CALL   04A
05B3:  DECFSZ 6E,F
05B4:  GOTO   5B0
05B5:  BSF    03.5
05B6:  BCF    06.6
05B7:  BCF    03.5
05B8:  BCF    06.6
05B9:  BSF    03.5
05BA:  BCF    06.7
05BB:  BCF    03.5
05BC:  BCF    06.7
....................                                    break;  
05BD:  GOTO   5E6
....................                    case S:  
....................                                            BL; BR; Delay_ms(COUVANI);  
05BE:  BSF    03.5
05BF:  BCF    06.6
05C0:  BCF    03.5
05C1:  BCF    06.6
05C2:  BSF    03.5
05C3:  BCF    06.7
05C4:  BCF    03.5
05C5:  BSF    06.7
05C6:  BSF    03.5
05C7:  BCF    06.4
05C8:  BCF    03.5
05C9:  BCF    06.4
05CA:  BSF    03.5
05CB:  BCF    06.5
05CC:  BCF    03.5
05CD:  BSF    06.5
05CE:  MOVLW  08
05CF:  MOVWF  6E
05D0:  MOVLW  C8
05D1:  MOVWF  73
05D2:  CALL   04A
05D3:  DECFSZ 6E,F
05D4:  GOTO   5D0
....................                                            STOPL; STOPR;  
05D5:  BSF    03.5
05D6:  BCF    06.6
05D7:  BCF    03.5
05D8:  BCF    06.6
05D9:  BSF    03.5
05DA:  BCF    06.7
05DB:  BCF    03.5
05DC:  BCF    06.7
05DD:  BSF    03.5
05DE:  BCF    06.4
05DF:  BCF    03.5
05E0:  BCF    06.4
05E1:  BSF    03.5
05E2:  BCF    06.5
05E3:  BCF    03.5
05E4:  BCF    06.5
....................                                    break;  
05E5:  GOTO   5E6
....................                    }  
*
061D:  BCF    0A.0
061E:  BSF    0A.1
061F:  BSF    0A.2
0620:  ADDWF  02,F
0621:  GOTO   596
0622:  GOTO   56E
0623:  GOTO   5BE
....................   
....................                    FR;FL; Delay_ms(PRES_DIRU);                                             // popojedem dopredu mozna tam bude cara  
*
05E6:  BSF    03.5
05E7:  BCF    06.5
05E8:  BCF    03.5
05E9:  BCF    06.5
05EA:  BSF    03.5
05EB:  BCF    06.4
05EC:  BCF    03.5
05ED:  BSF    06.4
05EE:  BSF    03.5
05EF:  BCF    06.7
05F0:  BCF    03.5
05F1:  BCF    06.7
05F2:  BSF    03.5
05F3:  BCF    06.6
05F4:  BCF    03.5
05F5:  BSF    06.6
05F6:  MOVLW  02
05F7:  MOVWF  6E
05F8:  MOVLW  C8
05F9:  MOVWF  73
05FA:  CALL   04A
05FB:  DECFSZ 6E,F
05FC:  GOTO   5F8
....................                    STOPL; STOPR; movement=S;  
05FD:  BSF    03.5
05FE:  BCF    06.6
05FF:  BCF    03.5
0600:  BCF    06.6
0601:  BSF    03.5
0602:  BCF    06.7
0603:  BCF    03.5
0604:  BCF    06.7
0605:  BSF    03.5
0606:  BCF    06.4
0607:  BCF    03.5
0608:  BCF    06.4
0609:  BSF    03.5
060A:  BCF    06.5
060B:  BCF    03.5
060C:  BCF    06.5
060D:  MOVLW  03
060E:  MOVWF  67
....................                    cikcak();                                                                                               // najdi caru  
060F:  GOTO   364
....................                    dira=0;  
0610:  CLRF   6A
0611:  CLRF   69
....................            }  
....................            dira++;  
0612:  INCF   69,F
0613:  BTFSC  03.2
0614:  INCF   6A,F
....................    } // while(true)  
0615:  GOTO   482
.................... }  
....................  
0616:  SLEEP