WebSVN – svnkaklik – /roboti/tank/main.cod

        

(d:\kaklik\programy\pic_c\robot\tank\main09III05003.11PCW&16F873')*80Ë* ¡¢£ ¡¢£}|{zb( 0¤ö
÷
ø
ù
 
¡
¢
£
}#8(|"8({!8(z Y(z {{D(G(¡||L(O(¢}}T(W(£ 
¡
¢
£
¤( 04 0¤ ¡¢£y£x¢w¡v  (z {{((¡||((¢}}((££¢¡ £¢¡ ¤£(¥(v()s0¼(0¡  °(¡¯(J0  ¶((40£
0þ#{:9üûüûüû0ü|ýû
ü
ý
û&)ý )4ò@)ó@)ô5)õ?)0üè0û!tõô/)É)ù0ø¡0÷ 0öýüsûrú #ù"ø!÷ öH0v©wª00ªx«00«y¬00¬¨§u¦t¥(ù'ø&÷%öýüsûrúf(#¨"§!¦ ¥(ù'ø&÷%öýü0ûô0ú #¨"§!¦ ¥&ø%÷÷©)øÉ)v)®)vµ)¶)0ö*ú)ù*ü)û!wø÷£)4DDÉ*ô0ñóqòõ20ô)!d0ñÓ)0òú0ó¨ òß)0òú0ó¨ òþ)0òú0ó¨ ò
*0òú0ó¨ ò*0òú0ó¨ ò+*0òú0ó¨ ò:*0òú0ó¨ òI*0òú0ó¨ òX*0òú0ó¨ òg*0òú0ó¨ ò~*0òú0ó¨ ò*0òú0ó¨ ò¬*0òú0ó¨ òÃ*Ê)ð*0000®¯@0°±²`0³0´´0µ`0¶¤0·¸¹a0º0»ð0¼ÿ0ÄÊ)0ó0òõÈ0ô)!20ó¨ 0ó0òõÈ0ô)!08980ñú0ó¨ ñ
+0í0îï0¡Ç9!0+1<J+ï0î'+0¡Ç9!S+1<l+ïî'+ï¿+0ó¨ È0ó¨ î±+ín½+0íï
'+'+cxNR*d:\kaklik\programy\pic_c\robot\tank\main.c+D:\@KAKLIK\programy\PIC_C\robot\tank\main.h!C:\PROGRA~1\PICC\devices\16F873.h C:\PROGRA~1\PICC\drivers\sound.cC:\library\kaklik\CCS\AX25.cÿ
      

 !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~ ¡¢£¤¥¦§à¨¨¨¨©ª«¬®¯°±²³´µ¶·¸¹º»¼  

 

 !"#$%&'()*+,-./0123456789:;<=>?@AAAAAAAABCCDDEEF     F  G
H
H
IIJJK
K
LLMMNNOPPQQQQQQQQQRRRSSSSTTU V W W X!X!Y"Y"Z#Z#[$[$\%\%]&^&_&_&_'`abcdefghijklmnnnn n¡n¢n£n¤n¥n¦n§n¨o©p©p©pªp«p¬pp®p¯q°q°q±q²q³q´qµq¶q·r¸r¸r¹rºs»s»s¼s½s¾s¿sÀsÁsÂsÃtÄtÄtÅtÆtÇtÈu)v)w)x)y)z){)|)})})})}*}+},}-}.~///012345556789::;<=>??@@@@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijkkklmnopqqrstuvwxyz{|}~ÉÉÉÉÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊ Ê¡Ê¢Ê£Ê¤Ê¥Ê¦Ê§Ê¨Ê©ÊªÊ«Ê¬ÊÊ®Ê¯Ê°Ê±Ê²Ê³Ê´ÊµÊ¶Ê·Ê¸Ê¹ÊºÊ»Ê¼Ê½Ê¾Ê¿ÊÀÊÁÊÂÊÃÊÄÊÅÊÆÊÇÊÈÊÉÊÊÊËÊÌÊÍÊÎÊÏÊÐÊÑÊÒÊÓÊÔÊÕÊÖÊ×ÊÊÊÊÊÊÊÊÊÊÊÊÊ  Ê
ÊÊÊ
ÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊ Ê!Ê"Ê#Ê$Ê%Ê&Ê'Ê(Ê)Ê*Ê+Ê,Ê-Ê.Ê/Ê0Ê1Ê2Ê3Ê4Ê5Ê6Ê7Ê8Ê9Ê:Ê;Ê<Ê=Ê>Ê?Ê@ÊAÊBÊCÊDÊEÊFÊGÊHÊIÊJÊKÊLÊMÊNÊOÊPÊQÊRÊSÊTÊUÊVÊWÊXÊYÊZÊ[Ê\Ê]Ê^Ê_Ê`ÊaÊbÊcÊdÊeÊfÊgÊhÊiÊjÊkÊlÊmÊnÊoÊpÊqÊrÊsÊtÊuÊvÊwÊxÊyÊzÊ{Ê|Ê}Ê~ÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊÊ Ê!Ê"Ê#Ê$Ê%Ê&Ê'Ê(Ê)Ê*Ê+Ê,Ê-Ê.Ê/Ê0Ê1Ê2Ê3Ê4Ê5Ê6Ê7Ê8Ê9Ê:Ê;Ê<Ê=Ê>Ê?Ê@ÊAÊBÊCÊDÊEÊFÊGÊHÊIÊJÊKÊLÊMÊNÊOÊPÊQÊRÊSÊTÊUÊVÊWÊXÊYÊZÊ[Ê\Ê]Ê^Ê_Ê`ÊaÊaÊaËaÌaÍaÎaÏaÐbÑcÑdÑdÑdÒeÓfÓfÓfÔfÕfÖf×fØfÙgÚgÚgÛgÜhÝhÝhÞhßhàháhâhãiäjäjäjåjæjçjèjéjêjëkìkìkíkîkïkðkñkòkólômômômõmöm÷mømùmúmûnününýnþnÿnnnoooooooo       o
pppp
ppppqqqqqqqqqrrrrrrrr s!s!s"s#s$s%s&s's(t)t)t*t+t,t-t.t/u0v0v0v1v2v3v4v5v6v7w8w8w9w:w;w<w=w>x?x?x@xAxBxCxDxExFyGyGyHyIyJyKyLyMzNzNzOzPzQzRzSzTzU{V{V{W{X{Y{Z{[{\|]|]|^|_|`|a|b|c|d}e}e}f}g}h}i}j}k~lllmnopqrsttuvwxyz{||}~ ¡¢¢£¤¥¦§¨©ªª«¬®¯°±±²³´µ¶·¸¹¹º»¼½¾¿ÀÁÁÂÃÄÅÆÇÈÈÉÊËËËËËÌÍÎÏÐÑÒÓÔÕÖ×ØÙÚÛÜÝÞßàáâãäåæçèéêëìíîïïðððñòóôõö÷øøùúûûüýþÿ   

 !"#$%& '¡'¢'£'¤'¥'¥'¥(¥)¥*¥+¥,¦-¦-¦.§/§/§0§1§2§3§4§5¨6©6©6ª7ª7ª8«9«9«:«;«<«=«>«?«@«A«B«C«D«E«F«G«H¬I¬IJ®J¯J¯J¯K¯L¯M¯N¯O°P°P°Q±R±R±S±T±U±V±W±X²Y³Y³Y´Z´Zµ[µ[µ\µ]µ^µ_µ`µaµbµcµdµeµfµgµhµiµj¶k¶k·l¸l¹lºlºlºmºn»o¼o½o½o½p½q½r½s½t½u½v¾w¾w¾x¾y¾z¾{¾|¾}¾~¿¿¿¿¿¿¿¿¿ÀÀÀÀÀÀÀÀÀÁÁÁÁÂÂÂÂÂÂÂÂÂÃÃÃÃÃÃÃÃ Ã¡Ä¢Ä¢Ä£Ä¤Å¥Æ¥Æ¥Æ¦Æ§Ç¨È¨É¨Ê¨Ê¨Ê©ÊªÊ«Ê¬ÊÊ®Ê¯Ë°Ë°Ì±Í±Í±Í²Î³Ï³Ð³Ñ³Ñ³Ñ´ÑµÑ¶Ñ·Ñ¸Ñ¹ÑºÒ»Ò»Ò¼Ó½Ô½Ô½Õ¾Õ¾Ö¿×¿Ø¿Ù¿Ú¿Û¿Ü¿Ý¿Þ¿ß¿à¿á¿â¿ã¿ä¿å¿æ¿ç¿è¿é¿ê¿ë¿ì¿í¿î¿ï¿ð¿ð¿ñÀòÀóÀóÀôõö÷øùúûüýþÿ 

_RETURN_!CCP_1        CCP_1_LOW
CCP_1_HIGHCCP_2    CCP_2_LOWdelay_ms.¨??32767sdelay_usÿÿ??32767ÿÿ
CCP_2_HIGH        SoundBeep.)SoundBeep.FrequencyrSoundBeep.Durationt      SoundNoteÿÿSoundNote.NoteÿÿSoundNote.OctaveÿÿSoundNote.DurationÿÿDelaySpecial.DelaySpecial.Time{DelaySpecial.TimeHi}DelaySpecial.NextDelaySpecial.LoopDelaySpecial.Next1
SoundCount%SoundPeriod)      SoundLoopÿÿSoundLoop.DatavSoundLoop.iw@DIV3232.??32767v??32767z@MUL3232.f??32767v??32767zTableÿÿ@const52ÿÿSTATUSSendData-bit=fcslo>fcshi?stuff@        flag_flagAfcs_flagBiCflipoutÿÿfcsbitÿÿfcsbit.tbyteÿÿSendBitÿÿ@TRIS_CDSendByteÿÿSendByte.inbyteÿÿ
SendByte.kÿÿSendByte.btÿÿ
SendPacketÿÿSendPacket.DataÿÿAXstringEmovementmlinendiraonpcik_cakÿÿ
@goto10196ÿÿ
@goto10213ÿÿdiagnostika.Ê
diagnostika.nqmain.Ë@cinitÿÿmain.snimaniýCCCS Inc. 2  
C*d:\KAKLIK\programy\PIC_C\robot\tank\main.cCH%O,R]TC+D:\@Kaklik\programy\PIC_C\robot\tank\main.hCC&C:\Program Files\PICC\Devices\16F873.hCC%C:\Program Files\PICC\Drivers\SOUND.CC(*-9#:d+hx¢¦CC:\library\kaklik\CCS\AX25.cC?@!B/DEHaC__PCM__ "3.110"C__DEVICE__ 873C__DATE__ "09-III-05"C__TIME__ "13:28:08"C__FILE__ "?"C  PIN_A0 40C    PIN_A1 41C PIN_A2 42C PIN_A3 43C PIN_A4 44C PIN_A5 45C PIN_B0 48C PIN_B1 49C PIN_B2 50C PIN_B3 51C PIN_B4 52C PIN_B5 53C PIN_B6 54C PIN_B7 55C PIN_C0 56C PIN_C1 57C PIN_C2 58C PIN_C3 59C PIN_C4 60C PIN_C5 61C PIN_C6 62C PIN_C7 63CFALSE 0CTRUE 1CBYTE intCBOOLEAN short intC
getc getchCfgetc getchC
getchar getchCputc putcharC
fputc putcharC
fgets getsC
fputs putsCWDT_FROM_SLEEP 0C
WDT_TIMEOUT 8CMCLR_FROM_SLEEP 16CNORMAL_POWER_UP 24CRTCC_INTERNAL 0CRTCC_EXT_L_TO_H 32CRTCC_EXT_H_TO_L 48CRTCC_DIV_1 8CRTCC_DIV_2 0CRTCC_DIV_4 1CRTCC_DIV_8 2C
RTCC_DIV_16 3C
RTCC_DIV_32 4C
RTCC_DIV_64 5CRTCC_DIV_128 6CRTCC_DIV_256 7CRTCC_8_BIT 0C
WDT_18MS 8C
WDT_36MS 9CWDT_72MS 10CWDT_144MS 11CWDT_288MS 12CWDT_576MS 13C
WDT_1152MS 14C
WDT_2304MS 15C
T1_DISABLED 0CT1_INTERNAL 0x85CT1_EXTERNAL 0x87CT1_EXTERNAL_SYNC 0x83CT1_CLK_OUT 8C
T1_DIV_BY_1 0CT1_DIV_BY_2 0x10CT1_DIV_BY_4 0x20CT1_DIV_BY_8 0x30C
T2_DISABLED 0C
T2_DIV_BY_1 4C
T2_DIV_BY_4 5CT2_DIV_BY_16 6C   CCP_OFF 0CCCP_CAPTURE_FE 4CCCP_CAPTURE_RE 5CCCP_CAPTURE_DIV_4 6CCCP_CAPTURE_DIV_16 7CCCP_COMPARE_SET_ON_MATCH 8CCCP_COMPARE_CLR_ON_MATCH 9CCCP_COMPARE_INT 0xACCCP_COMPARE_RESET_TIMER 0xBCCCP_PWM 0xCCCCP_PWM_PLUS_1 0x1cCCCP_PWM_PLUS_2 0x2cCCCP_PWM_PLUS_3 0x3cCSPI_MASTER 0x20CSPI_SLAVE 0x24CSPI_L_TO_H 0CSPI_H_TO_L 0x10CSPI_CLK_DIV_4 0CSPI_CLK_DIV_16 1CSPI_CLK_DIV_64 2CSPI_CLK_T2 3CSPI_SS_DISABLED 1CSPI_SAMPLE_AT_END 0x8000CSPI_XMIT_L_TO_H 0x4000CNO_ANALOGS 0x86CALL_ANALOG 0x80CANALOG_RA3_REF 0x81C
A_ANALOG 0x82CA_ANALOG_RA3_REF 0x83CRA0_RA1_RA3_ANALOG 0x84CRA0_RA1_ANALOG_RA3_REF 0x85CANALOG_RA3_RA2_REF 0x88CANALOG_NOT_RE1_RE2 0x89CANALOG_NOT_RE1_RE2_REF_RA3 0x8AC#ANALOG_NOT_RE1_RE2_REF_RA3_RA2 0x8BCA_ANALOG_RA3_RA2_REF 0x8CCRA0_RA1_ANALOG_RA3_RA2_REF 0x8DCRA0_ANALOG 0x8ECRA0_ANALOG_RA3_RA2_REF 0x8FC  ADC_OFF 0CADC_CLOCK_DIV_2 1CADC_CLOCK_DIV_8 0x41CADC_CLOCK_DIV_32 0x81CADC_CLOCK_INTERNAL 0xc1CL_TO_H 0x40CH_TO_L 0C
GLOBAL 0x0BC0CINT_RTCC 0x0B20C
INT_RB 0x0B08CINT_EXT 0x0B10C
INT_AD 0x8C40CINT_TBE 0x8C10CINT_RDA 0x8C20CINT_TIMER1 0x8C01CINT_TIMER2 0x8C02CINT_CCP1 0x8C04CINT_CCP2 0x8D01CINT_SSP 0x8C08CINT_BUSCOL 0x8D08CINT_EEPROM 0x8D10CINT_TIMER0 0x0B20C)FR output_high(PIN_B4);output_low(PIN_B5)C)FL output_high(PIN_B6);output_low(PIN_B7)C)BR output_high(PIN_B5);output_low(PIN_B4)C)BL output_high(PIN_B7);output_low(PIN_B6)C+STOPR output_low(PIN_B4);output_low(PIN_B5)C+STOPL output_low(PIN_B6);output_low(PIN_B7)C     RSENSOR 1C LSENSOR 0C
LED PIN_A2CSOUND_HI PIN_B2CSOUND_LO PIN_B3CSOUND_REZIE 72CSOUND_CLOCK 4000000C     SOUND_C 0CSOUND_Cis 1C       SOUND_D 2CSOUND_Dis 3C       SOUND_E 4C SOUND_F 5CSOUND_Fis 6C       SOUND_G 7CSOUND_Gis 8C       SOUND_A 9CSOUND_Ais 10C
SOUND_H 11CSOUND_Space 12C1SOUND_Peri_C  (30578*(SOUND_CLOCK/1000)/1000/4/2)C3SOUND_Peri_Cis  (28862*(SOUND_CLOCK/1000)/1000/4/2)C1SOUND_Peri_D  (27242*(SOUND_CLOCK/1000)/1000/4/2)C3SOUND_Peri_Dis  (25713*(SOUND_CLOCK/1000)/1000/4/2)C1SOUND_Peri_E  (24270*(SOUND_CLOCK/1000)/1000/4/2)C1SOUND_Peri_F  (22908*(SOUND_CLOCK/1000)/1000/4/2)C3SOUND_Peri_Fis  (21622*(SOUND_CLOCK/1000)/1000/4/2)C1SOUND_Peri_G  (20408*(SOUND_CLOCK/1000)/1000/4/2)C3SOUND_Peri_Gis  (19263*(SOUND_CLOCK/1000)/1000/4/2)C1SOUND_Peri_A  (18182*(SOUND_CLOCK/1000)/1000/4/2)C3SOUND_Peri_Ais  (17161*(SOUND_CLOCK/1000)/1000/4/2)C1SOUND_Peri_H  (16198*(SOUND_CLOCK/1000)/1000/4/2)CSoundBeepMacro (F,D)                         SoundPeriod=SOUND_CLOCK/4/2/F-SOUND_REZIE;       SoundCount=D*F/500;                              SoundLoop();CSoundNoteMacro (N,O,D)                       SoundPeriod=(Table[N]>>O)-SOUND_REZIE;           SoundCount=D*1000/(Table[N]>>O);                 SoundLoop();CÿSoundPauseMacro (D)                          {                                                   #if D>255                                        unsigned int16 i=D;                              #else                                            unsigned inC
TXo PIN_C0CPERIODAH delay_us(222)CTAILH delay_us(78)CPERIODAL delay_us(412)CTAILL delay_us(345)C   MEZERA 38C
COUVEJ 700C        CIKCAK 40C
PRES_DIRU 350CTRESHOLD 50CL 0CR 1CS 2Cä!¬
®¯
°â
¨ÿÿsã
ÿÿÿÿÿÿ±þ¡) Cäÿ
r
tÿÿ ÿÿÿÿ
ÿÿ( ##
{#}#ÿÿ
#ÿÿ
    #ÿÿ
Cä
% ) ÿÿ 
+°+
wbÿÿ.v ÿÿ.z Bfÿÿ1v ÿÿ1z 
ÿÿÀPCäÿÿ'(-@)è*>+?,@-A.BC/ÿÿ 0ÿÿ Cä1@@ÿÿ2ÿÿ 3D4ÿÿ 5DDÿÿ6Dÿÿ7Dÿÿ8ÿÿ 
HHÿÿ@A(E@@@BmCnC¾DoEpFÿÿ GÿÿHÿÿIÊ ERqJöË KÿÿLTÿÿý
CP+54+ÈUTËî¨¼#')É.e1@f§RT@ÊÊTËÀ
Subversion Repositories svnkaklik

(root)/roboti/tank/main.cod – Rev 2
