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CCS PCM C Compiler, Version 3.221, 27853 26-IV-05 21:32Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LSTROM used: 1705 words (42%)Largest free fragment is 2048RAM used: 87 (50%) at main() level98 (56%) worst caseStack: 4 worst case (3 in main + 1 for interrupts)*0000: MOVLW 000001: MOVWF 0A0002: GOTO 4E80003: 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 00.1001F: GOTO 0220020: BTFSC 0C.10021: GOTO 0350022: MOVF 22,W0023: MOVWF 040024: MOVF 23,W0025: MOVWF 770026: MOVF 24,W0027: MOVWF 780028: MOVF 25,W0029: MOVWF 79002A: MOVF 26,W002B: MOVWF 7A002C: MOVF 27,W002D: MOVWF 7B002E: MOVF 28,W002F: MOVWF 0A0030: SWAPF 21,W0031: MOVWF 030032: SWAPF 7F,F0033: SWAPF 7F,W0034: RETFIE0035: BCF 0A.30036: GOTO 037.................... #include "tank.h".................... #include <16F88.h>.................... //////// Standard Header file for the PIC16F88 device ////////////////.................... #device PIC16F88.................... #list........................................ #device adc=8.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO.................... #use delay(clock=4000000)*0047: MOVLW 120048: BSF 03.50049: SUBWF 22,F004A: BTFSS 03.0004B: GOTO 05A004C: MOVLW A2004D: MOVWF 04004E: MOVLW FC004F: ANDWF 00,F0050: BCF 03.00051: RRF 00,F0052: RRF 00,F0053: MOVF 00,W0054: BTFSC 03.20055: GOTO 05A0056: GOTO 0580057: NOP0058: DECFSZ 00,F0059: GOTO 057005A: BCF 03.5005B: RETLW 00*0088: MOVLW 750089: MOVWF 04008A: MOVF 00,W008B: BTFSC 03.2008C: GOTO 09C008D: MOVLW 01008E: MOVWF 78008F: CLRF 770090: DECFSZ 77,F0091: GOTO 0900092: DECFSZ 78,F0093: GOTO 08F0094: MOVLW 4A0095: MOVWF 770096: DECFSZ 77,F0097: GOTO 0960098: NOP0099: NOP009A: DECFSZ 00,F009B: GOTO 08D009C: RETLW 00................................................................................ #define DEBUG........................................ #define TXo PIN_A3 // To the transmitter modulator.................... #include "AX25.c" // podprogram pro prenos telemetrie.................... #list............................................................ unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru.................... unsigned int8 line; // na ktere strane byla detekovana cara.................... unsigned int8 speed; // rychlost zataceni.................... unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku.................... unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo.................... unsigned int8 movement; // obsahuje aktualni smer zataceni.................... unsigned int8 dira; // pocita dobu po kterou je ztracena cara........................................ // Konstanty pro dynamiku pohybu.................... #define T_DIRA 87 // po jakem case zataceni se detekuje dira.................... #define INC_SPEED 1 // prirustek rychlosti v jednom kroku.................... #define FW_POMALU 230 // trochu mimo caru vnitrni pas.................... #define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni.................... #define FW_STREDNE 240 // trochu mimo caru vnejsi pas.................... #define COUVANI 600 // couvnuti zpet na caru, po detekci diry.................... #define PRES_DIRU 250.................... #define MAX_ROVINKA (255-FW_STREDNE).................... #define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd.................... #define BUMPER_TRESHOLD 128.................... #define CIK_CAK 30000.................... #define T_CIHLA 50 // perioda detekce cihly........................................ //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) // Zastav.................... #define STOPL output_low(PIN_B6);output_low(PIN_B7)........................................ #define L 0b10 // left.................... #define R 0b01 // right.................... #define S 0b11 // straight........................................ //cidla.................... #define RSENSOR C2OUT // Senzory na caru.................... #define LSENSOR C1OUT.................... #define BUMPER PIN_A4 // Senzor na cihlu........................................ #define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod.................... #define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod........................................ #DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak.................... #DEFINE SOUND_LO PIN_A7........................................ char AXstring[40]; // Buffer pro prenos telemetrie........................................ // makro pro PWM.................... #define GO(motor, direction, power) if(get_timer0()<=power) \.................... {direction##motor;} else {stop##motor;}........................................ #int_TIMER2.................... void TIMER2_isr().................... {.................... if (speed<255) speed+=INC_SPEED;*0037: INCFSZ 42,W0038: GOTO 03A0039: GOTO 03C003A: MOVLW 01003B: ADDWF 42,F.................... if (rovinka<MAX_ROVINKA) rovinka++;003C: MOVF 43,W003D: SUBLW 0E003E: BTFSC 03.0003F: INCF 43,F.................... if (dira<=T_DIRA) dira++;0040: MOVF 46,W0041: SUBLW 570042: BTFSC 03.00043: INCF 46,F.................... }.................... // Primitivni Pipani0044: BCF 0C.10045: BCF 0A.30046: GOTO 022.................... void beep(unsigned int16 period, unsigned int16 length).................... {.................... unsigned int16 nn;........................................ for(nn=length; nn>0; nn--)*005C: MOVF 7D,W005D: BSF 03.5005E: MOVWF 21005F: MOVF 7C,W0060: MOVWF 200061: MOVF 20,F0062: BTFSS 03.20063: GOTO 0670064: MOVF 21,F0065: BTFSC 03.20066: GOTO 086.................... {.................... output_high(SOUND_HI);output_low(SOUND_LO);0067: BCF 05.60068: BCF 03.50069: BSF 05.6006A: BSF 03.5006B: BCF 05.7006C: BCF 03.5006D: BCF 05.7.................... delay_us(period);006E: MOVF 74,W006F: BSF 03.50070: MOVWF 220071: BCF 03.50072: CALL 047.................... output_high(SOUND_LO);output_low(SOUND_HI);0073: BSF 03.50074: BCF 05.70075: BCF 03.50076: BSF 05.70077: BSF 03.50078: BCF 05.60079: BCF 03.5007A: BCF 05.6.................... delay_us(period);007B: MOVF 74,W007C: BSF 03.5007D: MOVWF 22007E: BCF 03.5007F: CALL 047.................... }0080: BSF 03.50081: MOVF 20,W0082: BTFSC 03.20083: DECF 21,F0084: DECF 20,F0085: GOTO 061.................... }0086: BCF 03.50087: RETLW 00.................... /******************************************************************************/.................... void diagnostika().................... {.................... unsigned int16 n;........................................ while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku.................... {*009D: BSF 03.5009E: BSF 06.3009F: BCF 03.500A0: BTFSS 06.300A1: GOTO 1C8.................... for (n=500; n<800; n+=100)00A2: MOVLW 0100A3: MOVWF 7200A4: MOVLW F400A5: MOVWF 7100A6: MOVF 72,W00A7: SUBLW 0300A8: BTFSS 03.000A9: GOTO 0BE00AA: BTFSS 03.200AB: GOTO 0B000AC: MOVF 71,W00AD: SUBLW 1F00AE: BTFSS 03.000AF: GOTO 0BE.................... {.................... beep(n,n); //beep UP00B0: MOVF 72,W00B1: MOVWF 7500B2: MOVF 71,W00B3: MOVWF 7400B4: MOVF 72,W00B5: MOVWF 7D00B6: MOVF 71,W00B7: MOVWF 7C00B8: CALL 05C.................... };00B9: MOVLW 6400BA: ADDWF 71,F00BB: BTFSC 03.000BC: INCF 72,F00BD: GOTO 0A6.................... Delay_ms(1000);00BE: MOVLW 0400BF: MOVWF 7300C0: MOVLW FA00C1: MOVWF 7500C2: CALL 08800C3: DECFSZ 73,F00C4: GOTO 0C0.................... //zastav vse.................... STOPL; STOPR;00C5: BSF 03.500C6: BCF 06.600C7: BCF 03.500C8: BCF 06.600C9: BSF 03.500CA: BCF 06.700CB: BCF 03.500CC: BCF 06.700CD: BSF 03.500CE: BCF 06.400CF: BCF 03.500D0: BCF 06.400D1: BSF 03.500D2: BCF 06.500D3: BCF 03.500D4: BCF 06.5.................... //pravy pas.................... FR; Delay_ms(1000); STOPR; Delay_ms(1000);00D5: BSF 03.500D6: BCF 06.500D7: BCF 03.500D8: BCF 06.500D9: BSF 03.500DA: BCF 06.400DB: BCF 03.500DC: BSF 06.400DD: MOVLW 0400DE: MOVWF 7300DF: MOVLW FA00E0: MOVWF 7500E1: CALL 08800E2: DECFSZ 73,F00E3: GOTO 0DF00E4: BSF 03.500E5: BCF 06.400E6: BCF 03.500E7: BCF 06.400E8: BSF 03.500E9: BCF 06.500EA: BCF 03.500EB: BCF 06.500EC: MOVLW 0400ED: MOVWF 7300EE: MOVLW FA00EF: MOVWF 7500F0: CALL 08800F1: DECFSZ 73,F00F2: GOTO 0EE.................... BR; Delay_ms(1000); STOPR; Delay_ms(1000);00F3: BSF 03.500F4: BCF 06.400F5: BCF 03.500F6: BCF 06.400F7: BSF 03.500F8: BCF 06.500F9: BCF 03.500FA: BSF 06.500FB: MOVLW 0400FC: MOVWF 7300FD: MOVLW FA00FE: MOVWF 7500FF: CALL 0880100: DECFSZ 73,F0101: GOTO 0FD0102: BSF 03.50103: BCF 06.40104: BCF 03.50105: BCF 06.40106: BSF 03.50107: BCF 06.50108: BCF 03.50109: BCF 06.5010A: MOVLW 04010B: MOVWF 73010C: MOVLW FA010D: MOVWF 75010E: CALL 088010F: DECFSZ 73,F0110: GOTO 10C.................... Beep(880,100); Delay_ms(1000);0111: MOVLW 030112: MOVWF 750113: MOVLW 700114: MOVWF 740115: CLRF 7D0116: MOVLW 640117: MOVWF 7C0118: CALL 05C0119: MOVLW 04011A: MOVWF 73011B: MOVLW FA011C: MOVWF 75011D: CALL 088011E: DECFSZ 73,F011F: GOTO 11B.................... //levy pas.................... FL; Delay_ms(1000); STOPL; Delay_ms(1000);0120: BSF 03.50121: BCF 06.70122: BCF 03.50123: BCF 06.70124: BSF 03.50125: BCF 06.60126: BCF 03.50127: BSF 06.60128: MOVLW 040129: MOVWF 73012A: MOVLW FA012B: MOVWF 75012C: CALL 088012D: DECFSZ 73,F012E: GOTO 12A012F: BSF 03.50130: BCF 06.60131: BCF 03.50132: BCF 06.60133: BSF 03.50134: BCF 06.70135: BCF 03.50136: BCF 06.70137: MOVLW 040138: MOVWF 730139: MOVLW FA013A: MOVWF 75013B: CALL 088013C: DECFSZ 73,F013D: GOTO 139.................... BL; Delay_ms(1000); STOPL; Delay_ms(1000);013E: BSF 03.5013F: BCF 06.60140: BCF 03.50141: BCF 06.60142: BSF 03.50143: BCF 06.70144: BCF 03.50145: BSF 06.70146: MOVLW 040147: MOVWF 730148: MOVLW FA0149: MOVWF 75014A: CALL 088014B: DECFSZ 73,F014C: GOTO 148014D: BSF 03.5014E: BCF 06.6014F: BCF 03.50150: BCF 06.60151: BSF 03.50152: BCF 06.70153: BCF 03.50154: BCF 06.70155: MOVLW 040156: MOVWF 730157: MOVLW FA0158: MOVWF 750159: CALL 088015A: DECFSZ 73,F015B: GOTO 157.................... Beep(880,100); Delay_ms(1000);015C: MOVLW 03015D: MOVWF 75015E: MOVLW 70015F: MOVWF 740160: CLRF 7D0161: MOVLW 640162: MOVWF 7C0163: CALL 05C0164: MOVLW 040165: MOVWF 730166: MOVLW FA0167: MOVWF 750168: CALL 0880169: DECFSZ 73,F016A: GOTO 166.................... //oba pasy.................... FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);016B: BSF 03.5016C: BCF 06.7016D: BCF 03.5016E: BCF 06.7016F: BSF 03.50170: BCF 06.60171: BCF 03.50172: BSF 06.60173: BSF 03.50174: BCF 06.50175: BCF 03.50176: BCF 06.50177: BSF 03.50178: BCF 06.40179: BCF 03.5017A: BSF 06.4017B: MOVLW 04017C: MOVWF 73017D: MOVLW FA017E: MOVWF 75017F: CALL 0880180: DECFSZ 73,F0181: GOTO 17D0182: BSF 03.50183: BCF 06.60184: BCF 03.50185: BCF 06.60186: BSF 03.50187: BCF 06.70188: BCF 03.50189: BCF 06.7018A: BSF 03.5018B: BCF 06.4018C: BCF 03.5018D: BCF 06.4018E: BSF 03.5018F: BCF 06.50190: BCF 03.50191: BCF 06.50192: MOVLW 040193: MOVWF 730194: MOVLW FA0195: MOVWF 750196: CALL 0880197: DECFSZ 73,F0198: GOTO 194.................... BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);0199: BSF 03.5019A: BCF 06.6019B: BCF 03.5019C: BCF 06.6019D: BSF 03.5019E: BCF 06.7019F: BCF 03.501A0: BSF 06.701A1: BSF 03.501A2: BCF 06.401A3: BCF 03.501A4: BCF 06.401A5: BSF 03.501A6: BCF 06.501A7: BCF 03.501A8: BSF 06.501A9: MOVLW 0401AA: MOVWF 7301AB: MOVLW FA01AC: MOVWF 7501AD: CALL 08801AE: DECFSZ 73,F01AF: GOTO 1AB01B0: BSF 03.501B1: BCF 06.601B2: BCF 03.501B3: BCF 06.601B4: BSF 03.501B5: BCF 06.701B6: BCF 03.501B7: BCF 06.701B8: BSF 03.501B9: BCF 06.401BA: BCF 03.501BB: BCF 06.401BC: BSF 03.501BD: BCF 06.501BE: BCF 03.501BF: BCF 06.501C0: MOVLW 0401C1: MOVWF 7301C2: MOVLW FA01C3: MOVWF 7501C4: CALL 08801C5: DECFSZ 73,F01C6: GOTO 1C2.................... };01C7: GOTO 09D.................... while (input(DIAG_SENSORS)).................... {01C8: BSF 03.501C9: BSF 06.201CA: BCF 03.501CB: BTFSS 06.201CC: GOTO 1FB.................... if (RSENSOR) beep(900,500);01CD: BSF 03.501CE: BTFSS 1C.701CF: GOTO 1DB01D0: MOVLW 0301D1: MOVWF 7501D2: MOVLW 8401D3: MOVWF 7401D4: MOVLW 0101D5: MOVWF 7D01D6: MOVLW F401D7: MOVWF 7C01D8: BCF 03.501D9: CALL 05C01DA: BSF 03.5.................... if (LSENSOR) beep(800,500);01DB: BTFSS 1C.601DC: GOTO 1E801DD: MOVLW 0301DE: MOVWF 7501DF: MOVLW 2001E0: MOVWF 7401E1: MOVLW 0101E2: MOVWF 7D01E3: MOVLW F401E4: MOVWF 7C01E5: BCF 03.501E6: CALL 05C01E7: BSF 03.5.................... if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500);01E8: BCF 03.501E9: BTFSS 1F.201EA: GOTO 1ED01EB: BSF 03.501EC: GOTO 1E801ED: MOVF 1E,W01EE: SUBLW 7F01EF: BTFSS 03.001F0: GOTO 1FA01F1: MOVLW 0301F2: MOVWF 7501F3: MOVLW E801F4: MOVWF 7401F5: MOVLW 0101F6: MOVWF 7D01F7: MOVLW F401F8: MOVWF 7C01F9: CALL 05C.................... };01FA: GOTO 1C8.................... }01FB: BCF 0A.301FC: GOTO 596 (RETURN).................... ///////////////////////////////////////////////////////////////////////////////.................... void cikcak().................... {.................... unsigned int16 n;.................... sem1:.................... n=CIK_CAK;01FD: MOVLW 7501FE: MOVWF 7501FF: MOVLW 300200: MOVWF 74.................... while (0==RSENSOR||LSENSOR) // zkontroluj caru.................... {0201: MOVLW 000202: BSF 03.50203: BTFSC 1C.70204: MOVLW 010205: XORLW 000206: BTFSC 03.20207: GOTO 20A0208: BTFSS 1C.60209: GOTO 264.................... if (n==CIK_CAK) // zmen smer zataceni020A: MOVF 74,W020B: SUBLW 30020C: BTFSS 03.2020D: GOTO 25E020E: MOVF 75,W020F: SUBLW 750210: BTFSS 03.20211: GOTO 25E.................... {.................... n=0;0212: CLRF 750213: CLRF 74.................... switch(movement).................... {0214: BCF 03.50215: MOVF 45,W0216: XORLW 020217: BTFSC 03.20218: GOTO 2200219: XORLW 03021A: BTFSC 03.2021B: GOTO 233021C: XORLW 02021D: BTFSC 03.2021E: GOTO 246021F: GOTO 25D.................... case L:.................... FL;BR;0220: BSF 03.50221: BCF 06.70222: BCF 03.50223: BCF 06.70224: BSF 03.50225: BCF 06.60226: BCF 03.50227: BSF 06.60228: BSF 03.50229: BCF 06.4022A: BCF 03.5022B: BCF 06.4022C: BSF 03.5022D: BCF 06.5022E: BCF 03.5022F: BSF 06.5.................... movement=R;0230: MOVLW 010231: MOVWF 45.................... break;0232: GOTO 25D.................... case R:.................... FR;BL;0233: BSF 03.50234: BCF 06.50235: BCF 03.50236: BCF 06.50237: BSF 03.50238: BCF 06.40239: BCF 03.5023A: BSF 06.4023B: BSF 03.5023C: BCF 06.6023D: BCF 03.5023E: BCF 06.6023F: BSF 03.50240: BCF 06.70241: BCF 03.50242: BSF 06.7.................... movement=L;0243: MOVLW 020244: MOVWF 45.................... break;0245: GOTO 25D.................... case S:.................... FL;BR;0246: BSF 03.50247: BCF 06.70248: BCF 03.50249: BCF 06.7024A: BSF 03.5024B: BCF 06.6024C: BCF 03.5024D: BSF 06.6024E: BSF 03.5024F: BCF 06.40250: BCF 03.50251: BCF 06.40252: BSF 03.50253: BCF 06.50254: BCF 03.50255: BSF 06.5.................... movement=R;0256: MOVLW 010257: MOVWF 45.................... n=CIK_CAK/2;0258: MOVLW 3A0259: MOVWF 75025A: MOVLW 98025B: MOVWF 74.................... break;025C: GOTO 25D025D: BSF 03.5.................... }.................... }.................... n++;025E: INCF 74,F025F: BTFSC 03.20260: INCF 75,F.................... }0261: BCF 03.50262: GOTO 2010263: BSF 03.5.................... STOPL;STOPR;0264: BCF 06.60265: BCF 03.50266: BCF 06.60267: BSF 03.50268: BCF 06.70269: BCF 03.5026A: BCF 06.7026B: BSF 03.5026C: BCF 06.4026D: BCF 03.5026E: BCF 06.4026F: BSF 03.50270: BCF 06.50271: BCF 03.50272: BCF 06.5.................... line = RSENSOR; // cteni senzoru na caru0273: CLRF 410274: BSF 03.50275: BTFSS 1C.70276: GOTO 27A0277: BCF 03.50278: INCF 41,F0279: BSF 03.5.................... line |= LSENSOR << 1;027A: MOVLW 00027B: BTFSC 1C.6027C: MOVLW 01027D: MOVWF 77027E: BCF 03.0027F: RLF 77,F0280: MOVF 77,W0281: BCF 03.50282: IORWF 41,F.................... if (line==0) goto sem1;0283: MOVF 41,F0284: BTFSC 03.20285: GOTO 1FD.................... // nasli jsme caru.................... line=S;0286: MOVLW 030287: MOVWF 41.................... }0288: RETLW 00.................... ///////////////////////////////////////////////////////////////////////////////.................... void objizdka() // objede cihlu.................... {.................... unsigned int16 n;........................................ BL;BR;Delay_ms(200);0289: BSF 03.5028A: BCF 06.6028B: BCF 03.5028C: BCF 06.6028D: BSF 03.5028E: BCF 06.7028F: BCF 03.50290: BSF 06.70291: BSF 03.50292: BCF 06.40293: BCF 03.50294: BCF 06.40295: BSF 03.50296: BCF 06.50297: BCF 03.50298: BSF 06.50299: MOVLW C8029A: MOVWF 75029B: CALL 088.................... STOPR;STOPL;029C: BSF 03.5029D: BCF 06.4029E: BCF 03.5029F: BCF 06.402A0: BSF 03.502A1: BCF 06.502A2: BCF 03.502A3: BCF 06.502A4: BSF 03.502A5: BCF 06.602A6: BCF 03.502A7: BCF 06.602A8: BSF 03.502A9: BCF 06.702AA: BCF 03.502AB: BCF 06.7.................... beep(900,1000);02AC: MOVLW 0302AD: MOVWF 7502AE: MOVLW 8402AF: MOVWF 7402B0: MOVLW 0302B1: MOVWF 7D02B2: MOVLW E802B3: MOVWF 7C02B4: CALL 05C.................... // movement=S;.................... //cikcak();........................................ BL; FR; Delay_ms(215); // otoc se 70° do leva02B5: BSF 03.502B6: BCF 06.602B7: BCF 03.502B8: BCF 06.602B9: BSF 03.502BA: BCF 06.702BB: BCF 03.502BC: BSF 06.702BD: BSF 03.502BE: BCF 06.502BF: BCF 03.502C0: BCF 06.502C1: BSF 03.502C2: BCF 06.402C3: BCF 03.502C4: BSF 06.402C5: MOVLW D702C6: MOVWF 7502C7: CALL 088........................................ FR; FL; Delay_ms(600); // popojed rovne02C8: BSF 03.502C9: BCF 06.502CA: BCF 03.502CB: BCF 06.502CC: BSF 03.502CD: BCF 06.402CE: BCF 03.502CF: BSF 06.402D0: BSF 03.502D1: BCF 06.702D2: BCF 03.502D3: BCF 06.702D4: BSF 03.502D5: BCF 06.602D6: BCF 03.502D7: BSF 06.602D8: MOVLW 0302D9: MOVWF 7302DA: MOVLW C802DB: MOVWF 7502DC: CALL 08802DD: DECFSZ 73,F02DE: GOTO 2DA........................................ BR; Delay_ms(50); // otoc se 90° do prava02DF: BSF 03.502E0: BCF 06.402E1: BCF 03.502E2: BCF 06.402E3: BSF 03.502E4: BCF 06.502E5: BCF 03.502E6: BSF 06.502E7: MOVLW 3202E8: MOVWF 7502E9: CALL 088.................... STOPR; FL; Delay_ms(600);02EA: BSF 03.502EB: BCF 06.402EC: BCF 03.502ED: BCF 06.402EE: BSF 03.502EF: BCF 06.502F0: BCF 03.502F1: BCF 06.502F2: BSF 03.502F3: BCF 06.702F4: BCF 03.502F5: BCF 06.702F6: BSF 03.502F7: BCF 06.602F8: BCF 03.502F9: BSF 06.602FA: MOVLW 0302FB: MOVWF 7302FC: MOVLW C802FD: MOVWF 7502FE: CALL 08802FF: DECFSZ 73,F0300: GOTO 2FC........................................ FR; FL; Delay_ms(100); // popojed rovne na slepo0301: BSF 03.50302: BCF 06.50303: BCF 03.50304: BCF 06.50305: BSF 03.50306: BCF 06.40307: BCF 03.50308: BSF 06.40309: BSF 03.5030A: BCF 06.7030B: BCF 03.5030C: BCF 06.7030D: BSF 03.5030E: BCF 06.6030F: BCF 03.50310: BSF 06.60311: MOVLW 640312: MOVWF 750313: CALL 088.................... for(n=600;n>0;n--) // popojed rovne ale kontroluj caru0314: MOVLW 020315: MOVWF 720316: MOVLW 580317: MOVWF 710318: MOVF 71,F0319: BTFSS 03.2031A: GOTO 31E031B: MOVF 72,F031C: BTFSC 03.2031D: GOTO 33D.................... {.................... line = RSENSOR; // cteni senzoru na caru031E: CLRF 41031F: BSF 03.50320: BTFSS 1C.70321: GOTO 3250322: BCF 03.50323: INCF 41,F0324: BSF 03.5.................... line |= LSENSOR << 1;0325: MOVLW 000326: BTFSC 1C.60327: MOVLW 010328: MOVWF 770329: BCF 03.0032A: RLF 77,F032B: MOVF 77,W032C: BCF 03.5032D: IORWF 41,F.................... if (line!=0) {Delay_ms(50); break;} // kdyz narazis na caru, za chvili zastav032E: MOVF 41,F032F: BTFSC 03.20330: GOTO 3350331: MOVLW 320332: MOVWF 750333: CALL 0880334: GOTO 33D.................... Delay_ms(1);0335: MOVLW 010336: MOVWF 750337: CALL 088.................... }0338: MOVF 71,W0339: BTFSC 03.2033A: DECF 72,F033B: DECF 71,F033C: GOTO 318........................................ BL; // otoc se 60° do leva033D: BSF 03.5033E: BCF 06.6033F: BCF 03.50340: BCF 06.60341: BSF 03.50342: BCF 06.70343: BCF 03.50344: BSF 06.7.................... for(n=600;n>0;n--)0345: MOVLW 020346: MOVWF 720347: MOVLW 580348: MOVWF 710349: MOVF 71,F034A: BTFSS 03.2034B: GOTO 34F034C: MOVF 72,F034D: BTFSC 03.2034E: GOTO 36A.................... {.................... line = RSENSOR; // cteni senzoru na caru034F: CLRF 410350: BSF 03.50351: BTFSS 1C.70352: GOTO 3560353: BCF 03.50354: INCF 41,F0355: BSF 03.5.................... line |= LSENSOR << 1;0356: MOVLW 000357: BTFSC 1C.60358: MOVLW 010359: MOVWF 77035A: BCF 03.0035B: RLF 77,F035C: MOVF 77,W035D: BCF 03.5035E: IORWF 41,F.................... if (line!=0) break;035F: MOVF 41,F0360: BTFSS 03.20361: GOTO 36A.................... Delay_ms(1);0362: MOVLW 010363: MOVWF 750364: CALL 088.................... }0365: MOVF 71,W0366: BTFSC 03.20367: DECF 72,F0368: DECF 71,F0369: GOTO 349.................... STOPR; STOPL;036A: BSF 03.5036B: BCF 06.4036C: BCF 03.5036D: BCF 06.4036E: BSF 03.5036F: BCF 06.50370: BCF 03.50371: BCF 06.50372: BSF 03.50373: BCF 06.60374: BCF 03.50375: BCF 06.60376: BSF 03.50377: BCF 06.70378: BCF 03.50379: BCF 06.7........................................ movement=R;037A: MOVLW 01037B: MOVWF 45.................... cikcak();037C: CALL 1FD.................... dira=0;037D: CLRF 46.................... }037E: BCF 0A.3037F: GOTO 5C6 (RETURN).................... ///////////////////////////////////////////////////////////////////////////////.................... void prejeddiru() // vyresi diru.................... {.................... unsigned int16 n;.................... unsigned int8 speed_dira;........................................ STOPL;STOPR;0380: BSF 03.50381: BCF 06.60382: BCF 03.50383: BCF 06.60384: BSF 03.50385: BCF 06.70386: BCF 03.50387: BCF 06.70388: BSF 03.50389: BCF 06.4038A: BCF 03.5038B: BCF 06.4038C: BSF 03.5038D: BCF 06.5038E: BCF 03.5038F: BCF 06.5.................... speed_dira=speed;0390: MOVF 42,W0391: MOVWF 73.................... beep(1000,500);0392: MOVLW 030393: MOVWF 750394: MOVLW E80395: MOVWF 740396: MOVLW 010397: MOVWF 7D0398: MOVLW F40399: MOVWF 7C039A: CALL 05C.................... switch (movement) //vrat se zpet na caru.................... {039B: MOVF 45,W039C: XORLW 02039D: BTFSC 03.2039E: GOTO 3A6039F: XORLW 0303A0: BTFSC 03.203A1: GOTO 3DE03A2: XORLW 0203A3: BTFSC 03.203A4: GOTO 41603A5: GOTO 418.................... case L:.................... for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);}03A6: MOVLW 0203A7: MOVWF 7203A8: MOVLW 5803A9: MOVWF 7103AA: MOVF 71,F03AB: BTFSS 03.203AC: GOTO 3B003AD: MOVF 72,F03AE: BTFSC 03.203AF: GOTO 3CD03B0: MOVF 01,W03B1: SUBWF 73,W03B2: BTFSS 03.003B3: GOTO 3BD03B4: BSF 03.503B5: BCF 06.403B6: BCF 03.503B7: BCF 06.403B8: BSF 03.503B9: BCF 06.503BA: BCF 03.503BB: BSF 06.503BC: GOTO 3C503BD: BSF 03.503BE: BCF 06.403BF: BCF 03.503C0: BCF 06.403C1: BSF 03.503C2: BCF 06.503C3: BCF 03.503C4: BCF 06.503C5: MOVLW 0103C6: MOVWF 7503C7: CALL 08803C8: MOVF 71,W03C9: BTFSC 03.203CA: DECF 72,F03CB: DECF 71,F03CC: GOTO 3AA.................... STOPL;STOPR;03CD: BSF 03.503CE: BCF 06.603CF: BCF 03.503D0: BCF 06.603D1: BSF 03.503D2: BCF 06.703D3: BCF 03.503D4: BCF 06.703D5: BSF 03.503D6: BCF 06.403D7: BCF 03.503D8: BCF 06.403D9: BSF 03.503DA: BCF 06.503DB: BCF 03.503DC: BCF 06.5.................... break;03DD: GOTO 418.................... case R:.................... for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);}03DE: MOVLW 0203DF: MOVWF 7203E0: MOVLW 5803E1: MOVWF 7103E2: MOVF 71,F03E3: BTFSS 03.203E4: GOTO 3E803E5: MOVF 72,F03E6: BTFSC 03.203E7: GOTO 40503E8: MOVF 01,W03E9: SUBWF 73,W03EA: BTFSS 03.003EB: GOTO 3F503EC: BSF 03.503ED: BCF 06.603EE: BCF 03.503EF: BCF 06.603F0: BSF 03.503F1: BCF 06.703F2: BCF 03.503F3: BSF 06.703F4: GOTO 3FD03F5: BSF 03.503F6: BCF 06.603F7: BCF 03.503F8: BCF 06.603F9: BSF 03.503FA: BCF 06.703FB: BCF 03.503FC: BCF 06.703FD: MOVLW 0103FE: MOVWF 7503FF: CALL 0880400: MOVF 71,W0401: BTFSC 03.20402: DECF 72,F0403: DECF 71,F0404: GOTO 3E2.................... STOPL;STOPR;0405: BSF 03.50406: BCF 06.60407: BCF 03.50408: BCF 06.60409: BSF 03.5040A: BCF 06.7040B: BCF 03.5040C: BCF 06.7040D: BSF 03.5040E: BCF 06.4040F: BCF 03.50410: BCF 06.40411: BSF 03.50412: BCF 06.50413: BCF 03.50414: BCF 06.5.................... break;0415: GOTO 418.................... case S:.................... goto sem;0416: GOTO 4D2.................... break;0417: GOTO 418.................... }.................... beep(800,500);0418: MOVLW 030419: MOVWF 75041A: MOVLW 20041B: MOVWF 74041C: MOVLW 01041D: MOVWF 7D041E: MOVLW F4041F: MOVWF 7C0420: CALL 05C........................................ line=0;0421: CLRF 41.................... FR; BL; Delay_ms(300); // otoc se na caru0422: BSF 03.50423: BCF 06.50424: BCF 03.50425: BCF 06.50426: BSF 03.50427: BCF 06.40428: BCF 03.50429: BSF 06.4042A: BSF 03.5042B: BCF 06.6042C: BCF 03.5042D: BCF 06.6042E: BSF 03.5042F: BCF 06.70430: BCF 03.50431: BSF 06.70432: MOVLW 020433: MOVWF 740434: MOVLW 960435: MOVWF 750436: CALL 0880437: DECFSZ 74,F0438: GOTO 434.................... while(line==0).................... {0439: MOVF 41,F043A: BTFSS 03.2043B: GOTO 44D.................... line = RSENSOR; // cteni senzoru na caru043C: CLRF 41043D: BSF 03.5043E: BTFSS 1C.7043F: GOTO 4430440: BCF 03.50441: INCF 41,F0442: BSF 03.5.................... line |= LSENSOR << 1;0443: MOVLW 000444: BTFSC 1C.60445: MOVLW 010446: MOVWF 770447: BCF 03.00448: RLF 77,F0449: MOVF 77,W044A: BCF 03.5044B: IORWF 41,F.................... }044C: GOTO 439.................... FL;BR; Delay_ms(60);044D: BSF 03.5044E: BCF 06.7044F: BCF 03.50450: BCF 06.70451: BSF 03.50452: BCF 06.60453: BCF 03.50454: BSF 06.60455: BSF 03.50456: BCF 06.40457: BCF 03.50458: BCF 06.40459: BSF 03.5045A: BCF 06.5045B: BCF 03.5045C: BSF 06.5045D: MOVLW 3C045E: MOVWF 75045F: CALL 088.................... STOPL; STOPR;0460: BSF 03.50461: BCF 06.60462: BCF 03.50463: BCF 06.60464: BSF 03.50465: BCF 06.70466: BCF 03.50467: BCF 06.70468: BSF 03.50469: BCF 06.4046A: BCF 03.5046B: BCF 06.4046C: BSF 03.5046D: BCF 06.5046E: BCF 03.5046F: BCF 06.5........................................ FL; BR; Delay_ms(500);0470: BSF 03.50471: BCF 06.70472: BCF 03.50473: BCF 06.70474: BSF 03.50475: BCF 06.60476: BCF 03.50477: BSF 06.60478: BSF 03.50479: BCF 06.4047A: BCF 03.5047B: BCF 06.4047C: BSF 03.5047D: BCF 06.5047E: BCF 03.5047F: BSF 06.50480: MOVLW 020481: MOVWF 740482: MOVLW FA0483: MOVWF 750484: CALL 0880485: DECFSZ 74,F0486: GOTO 482.................... STOPL; STOPR;0487: BSF 03.50488: BCF 06.60489: BCF 03.5048A: BCF 06.6048B: BSF 03.5048C: BCF 06.7048D: BCF 03.5048E: BCF 06.7048F: BSF 03.50490: BCF 06.40491: BCF 03.50492: BCF 06.40493: BSF 03.50494: BCF 06.50495: BCF 03.50496: BCF 06.5........................................ Delay_ms(1000);0497: MOVLW 040498: MOVWF 740499: MOVLW FA049A: MOVWF 75049B: CALL 088049C: DECFSZ 74,F049D: GOTO 499........................................ FR;FL; //popojed rovne049E: BSF 03.5049F: BCF 06.504A0: BCF 03.504A1: BCF 06.504A2: BSF 03.504A3: BCF 06.404A4: BCF 03.504A5: BSF 06.404A6: BSF 03.504A7: BCF 06.704A8: BCF 03.504A9: BCF 06.704AA: BSF 03.504AB: BCF 06.604AC: BCF 03.504AD: BSF 06.6.................... for(n=PRES_DIRU;n>0;n--)04AE: CLRF 7204AF: MOVLW FA04B0: MOVWF 7104B1: MOVF 71,F04B2: BTFSS 03.204B3: GOTO 4B704B4: MOVF 72,F04B5: BTFSC 03.204B6: GOTO 4D2.................... {.................... line = RSENSOR; // cteni senzoru na caru04B7: CLRF 4104B8: BSF 03.504B9: BTFSS 1C.704BA: GOTO 4BE04BB: BCF 03.504BC: INCF 41,F04BD: BSF 03.5.................... line |= LSENSOR << 1;04BE: MOVLW 0004BF: BTFSC 1C.604C0: MOVLW 0104C1: MOVWF 7704C2: BCF 03.004C3: RLF 77,F04C4: MOVF 77,W04C5: BCF 03.504C6: IORWF 41,F.................... if (line!=0) break;04C7: MOVF 41,F04C8: BTFSS 03.204C9: GOTO 4D2.................... Delay_ms(1);04CA: MOVLW 0104CB: MOVWF 7504CC: CALL 088.................... }04CD: MOVF 71,W04CE: BTFSC 03.204CF: DECF 72,F04D0: DECF 71,F04D1: GOTO 4B1.................... sem:.................... STOPL; STOPR;04D2: BSF 03.504D3: BCF 06.604D4: BCF 03.504D5: BCF 06.604D6: BSF 03.504D7: BCF 06.704D8: BCF 03.504D9: BCF 06.704DA: BSF 03.504DB: BCF 06.404DC: BCF 03.504DD: BCF 06.404DE: BSF 03.504DF: BCF 06.504E0: BCF 03.504E1: BCF 06.5.................... movement=S;04E2: MOVLW 0304E3: MOVWF 45.................... cikcak(); // najdi caru04E4: CALL 1FD.................... dira=0;04E5: CLRF 46.................... }04E6: BCF 0A.304E7: GOTO 65C (RETURN).................... ///////////////////////////////////////////////////////////////////////////////.................... void main().................... {04E8: CLRF 0404E9: MOVLW 1F04EA: ANDWF 03,F04EB: BSF 03.504EC: BCF 1F.404ED: BCF 1F.504EE: MOVF 1B,W04EF: ANDLW 8004F0: MOVWF 1B04F1: MOVLW 0704F2: MOVWF 1C04F3: MOVF 1C,W04F4: BCF 03.504F5: BCF 0D.604F6: MOVLW 6004F7: BSF 03.504F8: MOVWF 0F.................... unsigned int16 n; // pro FOR........................................ STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi*0515: BSF 03.50516: BCF 06.60517: BCF 03.50518: BCF 06.60519: BSF 03.5051A: BCF 06.7051B: BCF 03.5051C: BCF 06.7051D: BSF 03.5051E: BCF 06.4051F: BCF 03.50520: BCF 06.40521: BSF 03.50522: BCF 06.50523: BCF 03.50524: BCF 06.5........................................ setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator0525: MOVLW 620526: BSF 03.50527: MOVWF 0F........................................ port_b_pullups(TRUE); // pullups pro piano na diagnostiku0528: BCF 01.7.................... setup_spi(FALSE);0529: BCF 03.5052A: BCF 14.5052B: BSF 03.5052C: BCF 06.2052D: BSF 06.1052E: BCF 06.4052F: MOVLW 000530: BCF 03.50531: MOVWF 140532: BSF 03.50533: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM0534: MOVF 01,W0535: ANDLW C70536: IORLW 080537: MOVWF 01........................................ setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci0538: MOVLW 480539: MOVWF 78053A: IORLW 05053B: BCF 03.5053C: MOVWF 12053D: MOVLW FF053E: BSF 03.5053F: MOVWF 12.................... // preruseni kazdych 10ms.................... setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik0540: BCF 1F.40541: BCF 1F.50542: MOVF 1B,W0543: ANDLW 800544: IORLW 040545: MOVWF 1B.................... setup_adc(ADC_CLOCK_INTERNAL);0546: BCF 1F.60547: BCF 03.50548: BSF 1F.60549: BSF 1F.7054A: BSF 03.5054B: BCF 1F.7054C: BCF 03.5054D: BSF 1F.0.................... set_adc_channel(2);054E: MOVLW 10054F: MOVWF 780550: MOVF 1F,W0551: ANDLW C70552: IORWF 78,W0553: MOVWF 1F.................... setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik0554: MOVLW 850555: MOVWF 10.................... setup_ccp1(CCP_COMPARE_RESET_TIMER);0556: BSF 03.50557: BSF 06.30558: MOVLW 0B0559: BCF 03.5055A: MOVWF 17.................... CCP_1=(2^10)-1; // prevod kazdou 1ms055B: CLRF 16055C: MOVLW 07055D: MOVWF 15........................................ setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary055E: MOVLW 02055F: BSF 03.50560: MOVWF 1C0561: MOVF 05,W0562: IORLW 030563: MOVWF 050564: MOVLW 030565: MOVWF 770566: DECFSZ 77,F0567: GOTO 5660568: MOVF 1C,W0569: BCF 03.5056A: BCF 0D.6.................... setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd056B: MOVLW 8A056C: BSF 03.5056D: MOVWF 1D........................................ Beep(1000,200); //double beep056E: MOVLW 03056F: MOVWF 750570: MOVLW E80571: MOVWF 740572: CLRF 7D0573: MOVLW C80574: MOVWF 7C0575: BCF 03.50576: CALL 05C.................... Delay_ms(50);0577: MOVLW 320578: MOVWF 750579: CALL 088.................... Beep(1000,200);057A: MOVLW 03057B: MOVWF 75057C: MOVLW E8057D: MOVWF 74057E: CLRF 7D057F: MOVLW C80580: MOVWF 7C0581: CALL 05C.................... Delay_ms(1000); // 1s0582: MOVLW 040583: MOVWF 710584: MOVLW FA0585: MOVWF 750586: CALL 0880587: DECFSZ 71,F0588: GOTO 584........................................ // povoleni rizeni rychlosti zataceni pres preruseni.................... enable_interrupts(INT_TIMER2);0589: BSF 03.5058A: BSF 0C.1.................... enable_interrupts(GLOBAL);058B: MOVLW C0058C: BCF 03.5058D: IORWF 0B,F........................................ /*---------------------------------------------------------------------------*/.................... sensors=S;058E: MOVLW 03058F: MOVWF 40.................... line=S;0590: MOVWF 41.................... last=S;0591: MOVWF 44.................... movement=S;0592: MOVWF 45.................... speed=FW_POMALU;0593: MOVLW E60594: MOVWF 42........................................ diagnostika();0595: GOTO 09D.................... // cikcak(); // toc se, abys nasel caru.................... Delay_ms(500);0596: MOVLW 020597: MOVWF 710598: MOVLW FA0599: MOVWF 75059A: CALL 088059B: DECFSZ 71,F059C: GOTO 598.................... Beep(1000,200);059D: MOVLW 03059E: MOVWF 75059F: MOVLW E805A0: MOVWF 7405A1: CLRF 7D05A2: MOVLW C805A3: MOVWF 7C05A4: CALL 05C.................... Delay_ms(500);05A5: MOVLW 0205A6: MOVWF 7105A7: MOVLW FA05A8: MOVWF 7505A9: CALL 08805AA: DECFSZ 71,F05AB: GOTO 5A7........................................ while(true) // hlavni smycka (jizda podle cary).................... {.................... sensors = RSENSOR; // cteni senzoru na caru05AC: CLRF 4005AD: BSF 03.505AE: BTFSS 1C.705AF: GOTO 5B305B0: BCF 03.505B1: INCF 40,F05B2: BSF 03.5.................... sensors |= LSENSOR << 1;05B3: MOVLW 0005B4: BTFSC 1C.605B5: MOVLW 0105B6: MOVWF 7705B7: BCF 03.005B8: RLF 77,F05B9: MOVF 77,W05BA: BCF 03.505BB: IORWF 40,F........................................ if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka();05BC: BTFSC 1F.205BD: GOTO 5BC05BE: MOVF 1E,W05BF: SUBLW 7F05C0: BTFSS 03.005C1: GOTO 5C605C2: MOVF 46,W05C3: SUBLW 3205C4: BTFSC 03.005C5: GOTO 289........................................ switch (sensors) // zatacej podle toho, kde vidis caru.................... {05C6: MOVF 40,W05C7: XORLW 0305C8: BTFSC 03.205C9: GOTO 5D105CA: XORLW 0105CB: BTFSC 03.205CC: GOTO 5E505CD: XORLW 0305CE: BTFSC 03.205CF: GOTO 61E05D0: GOTO 657.................... case S: // rovne.................... FL; FR; // pokud se jede dlouho rovne, tak pridej05D1: BSF 03.505D2: BCF 06.705D3: BCF 03.505D4: BCF 06.705D5: BSF 03.505D6: BCF 06.605D7: BCF 03.505D8: BSF 06.605D9: BSF 03.505DA: BCF 06.505DB: BCF 03.505DC: BCF 06.505DD: BSF 03.505DE: BCF 06.405DF: BCF 03.505E0: BSF 06.4.................... dira=0;05E1: CLRF 46.................... movement=S;05E2: MOVLW 0305E3: MOVWF 45.................... continue;05E4: GOTO 5AC.................... case L: // trochu vlevo.................... GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);05E5: MOVF 01,W05E6: MOVWF 7105E7: MOVLW E605E8: ADDWF 43,W05E9: SUBWF 71,W05EA: BTFSC 03.205EB: GOTO 5EE05EC: BTFSC 03.005ED: GOTO 5F705EE: BSF 03.505EF: BCF 06.705F0: BCF 03.505F1: BCF 06.705F2: BSF 03.505F3: BCF 06.605F4: BCF 03.505F5: BSF 06.605F6: GOTO 5FF05F7: BSF 03.505F8: BCF 06.605F9: BCF 03.505FA: BCF 06.605FB: BSF 03.505FC: BCF 06.705FD: BCF 03.505FE: BCF 06.705FF: MOVF 01,W0600: MOVWF 710601: MOVLW F00602: ADDWF 43,W0603: SUBWF 71,W0604: BTFSC 03.20605: GOTO 6080606: BTFSC 03.00607: GOTO 6110608: BSF 03.50609: BCF 06.5060A: BCF 03.5060B: BCF 06.5060C: BSF 03.5060D: BCF 06.4060E: BCF 03.5060F: BSF 06.40610: GOTO 6190611: BSF 03.50612: BCF 06.40613: BCF 03.50614: BCF 06.40615: BSF 03.50616: BCF 06.50617: BCF 03.50618: BCF 06.5.................... line=L;0619: MOVLW 02061A: MOVWF 41.................... dira=0;061B: CLRF 46.................... movement=L;061C: MOVWF 45.................... continue;061D: GOTO 5AC.................... case R: // trochu vpravo.................... GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);061E: MOVF 01,W061F: MOVWF 710620: MOVLW E60621: ADDWF 43,W0622: SUBWF 71,W0623: BTFSC 03.20624: GOTO 6270625: BTFSC 03.00626: GOTO 6300627: BSF 03.50628: BCF 06.50629: BCF 03.5062A: BCF 06.5062B: BSF 03.5062C: BCF 06.4062D: BCF 03.5062E: BSF 06.4062F: GOTO 6380630: BSF 03.50631: BCF 06.40632: BCF 03.50633: BCF 06.40634: BSF 03.50635: BCF 06.50636: BCF 03.50637: BCF 06.50638: MOVF 01,W0639: MOVWF 71063A: MOVLW F0063B: ADDWF 43,W063C: SUBWF 71,W063D: BTFSC 03.2063E: GOTO 641063F: BTFSC 03.00640: GOTO 64A0641: BSF 03.50642: BCF 06.70643: BCF 03.50644: BCF 06.70645: BSF 03.50646: BCF 06.60647: BCF 03.50648: BSF 06.60649: GOTO 652064A: BSF 03.5064B: BCF 06.6064C: BCF 03.5064D: BCF 06.6064E: BSF 03.5064F: BCF 06.70650: BCF 03.50651: BCF 06.7.................... line=R;0652: MOVLW 010653: MOVWF 41.................... dira=0;0654: CLRF 46.................... movement=R;0655: MOVWF 45.................... continue;0656: GOTO 5AC.................... default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal.................... }.................... rovinka=0;0657: CLRF 43.................... if (dira>=T_DIRA) prejeddiru();0658: MOVF 46,W0659: SUBLW 56065A: BTFSS 03.0065B: GOTO 380.................... if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi065C: MOVF 41,W065D: SUBWF 44,W065E: BTFSC 03.2065F: GOTO 664.................... {.................... last=line;0660: MOVF 41,W0661: MOVWF 44.................... speed=FW_ZATACKA;0662: MOVLW C80663: MOVWF 42.................... }.................... if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru0664: MOVF 41,W0665: SUBLW 020666: BTFSS 03.20667: GOTO 688.................... {.................... STOPL;0668: BSF 03.50669: BCF 06.6066A: BCF 03.5066B: BCF 06.6066C: BSF 03.5066D: BCF 06.7066E: BCF 03.5066F: BCF 06.7.................... GO(R, F, speed);0670: MOVF 01,W0671: SUBWF 42,W0672: BTFSS 03.00673: GOTO 67D0674: BSF 03.50675: BCF 06.50676: BCF 03.50677: BCF 06.50678: BSF 03.50679: BCF 06.4067A: BCF 03.5067B: BSF 06.4067C: GOTO 685067D: BSF 03.5067E: BCF 06.4067F: BCF 03.50680: BCF 06.40681: BSF 03.50682: BCF 06.50683: BCF 03.50684: BCF 06.5.................... movement=L;0685: MOVLW 020686: MOVWF 45.................... }.................... else0687: GOTO 6A7.................... {.................... STOPR;0688: BSF 03.50689: BCF 06.4068A: BCF 03.5068B: BCF 06.4068C: BSF 03.5068D: BCF 06.5068E: BCF 03.5068F: BCF 06.5.................... GO(L, F, speed);0690: MOVF 01,W0691: SUBWF 42,W0692: BTFSS 03.00693: GOTO 69D0694: BSF 03.50695: BCF 06.70696: BCF 03.50697: BCF 06.70698: BSF 03.50699: BCF 06.6069A: BCF 03.5069B: BSF 06.6069C: GOTO 6A5069D: BSF 03.5069E: BCF 06.6069F: BCF 03.506A0: BCF 06.606A1: BSF 03.506A2: BCF 06.706A3: BCF 03.506A4: BCF 06.7.................... movement=R;06A5: MOVLW 0106A6: MOVWF 45.................... }.................... } // while(true)06A7: GOTO 5AC.................... }........................................06A8: SLEEPConfiguration Fuses:Word 1: 3F38 NOWDT NOPUT MCLR NOBROWNOUT NOLVP NOCPD NOWRT NODEBUG CCPB0 NOPROTECT INTRC_IOWord 2: 3FFC NOFCMEN NOIESO