o: ActiveSupport::Cache::Entry :@compressedF: @value"ξ‡"η‡
Designs/ROBOTS/Merkur/SW/turn_L/tank.BAK
1 
#include "tank.h"
2 

  		




  
  3
  
    
#define DEBUG


  		




  
  4
  
    

  		




  
  5
  
    
#define  TXo PIN_A3           // To the transmitter modulator


  		




  
  6
  
    
#include "AX25.c"             // podprogram pro prenos telemetrie


  		




  
  7
  
    

  		




  
  8
  
    
unsigned int8 sensors;        // pomocna promenna pro cteni cidel na caru


  		




  
  9
  
    
unsigned int8 line;           // na ktere strane byla detekovana cara


  		




  
  10
  
    
unsigned int8 speed;          // rychlost zataceni


  		




  
  11
  
    
unsigned int8 rovinka;        // pocitadlo pro zjisteni rovneho useku


  		




  
  12
  
    
unsigned int8 last;           // kde byla cara, kdyz byly minule cidla mimo


  		




  
  13
  
    
unsigned int8 movement;       // obsahuje aktualni smer zataceni


  		




  
  14
  
    
unsigned int8 dira;           // pocita dobu po kterou je ztracena cara


  		




  
  15
  
    

  		




  
  16
  
    
// Konstanty pro dynamiku pohybu


  		




  
  17
  
    
#define T_DIRA       87      // po jakem case zataceni se detekuje dira


  		




  
  18
  
    
#define INC_SPEED    1        // prirustek rychlosti v jednom kroku


  		




  
  19
  
    
#define FW_POMALU    230      // trochu mimo caru vnitrni pas


  		




  
  20
  
    
#define FW_ZATACKA   200      // rychlost vnejsiho kola pri zataceni


  		




  
  21
  
    
#define FW_STREDNE   240      // trochu mimo caru vnejsi pas


  		




  
  22
  
    
#define COUVANI      600      // couvnuti zpet na caru, po detekci diry


  		




  
  23
  
    
#define PRES_DIRU    250


  		




  
  24
  
    
#define MAX_ROVINKA  (255-FW_STREDNE)


  		




  
  25
  
    
#define TRESHOLD     10        // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd


  		




  
  26
  
    
#define BUMPER_TRESHOLD 128


  		




  
  27
  
    
#define CIK_CAK      30000


  		




  
  28
  
    
#define T_CIHLA      50      // perioda detekce cihly


  		




  
  29
  
    

  		




  
  30
  
    
//motory            //Napred vypnout potom zapnout!


  		




  
  31
  
    
#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred


  		




  
  32
  
    
#define FL         output_low(PIN_B7); output_high(PIN_B6)


  		




  
  33
  
    
#define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad


  		




  
  34
  
    
#define BL         output_low(PIN_B6); output_high(PIN_B7)


  		




  
  35
  
    
#define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav


  		




  
  36
  
    
#define STOPL      output_low(PIN_B6);output_low(PIN_B7)


  		




  
  37
  
    

  		




  
  38
  
    
#define L 0b10  // left


  		




  
  39
  
    
#define R 0b01  // right


  		




  
  40
  
    
#define S 0b11  // straight


  		




  
  41
  
    

  		




  
  42
  
    
//cidla


  		




  
  43
  
    
#define RSENSOR    C2OUT      // Senzory na caru


  		




  
  44
  
    
#define LSENSOR    C1OUT


  		




  
  45
  
    
#define BUMPER     PIN_A4     // Senzor na cihlu


  		




  
  46
  
    

  		




  
  47
  
    
#define DIAG_SERVO      PIN_B3   // Propojka pro diagnosticky mod


  		




  
  48
  
    
#define DIAG_SENSORS    PIN_B2   // Propojka pro diagnosticky mod


  		




  
  49
  
    

  		




  
  50
  
    
#DEFINE SOUND_HI   PIN_A6     // komplementarni vystupy pro piezo pipak


  		




  
  51
  
    
#DEFINE SOUND_LO   PIN_A7


  		




  
  52
  
    

  		




  
  53
  
    
char AXstring[40];   // Buffer pro prenos telemetrie


  		




  
  54
  
    

  		




  
  55
  
    
// makro pro PWM


  		




  
  56
  
    
#define GO(motor, direction, power) if(get_timer0()<=power) \


  		




  
  57
  
    
{direction##motor;} else {stop##motor;}


  		




  
  58
  
    

  		




  
  59
  
    
#int_TIMER2


  		




  
  60
  
    
void TIMER2_isr()


  		




  
  61
  
    
{


  		




  
  62
  
    
   if (speed<255) speed+=INC_SPEED;


  		




  
  63
  
    
   if (rovinka<MAX_ROVINKA) rovinka++;


  		




  
  64
  
    
   if (dira<=T_DIRA) dira++;


  		




  
  65
  
    
}


  		




  
  66
  
    
// Primitivni Pipani


  		




  
  67
  
    
void beep(unsigned int16 period, unsigned int16 length)


  		




  
  68
  
    
{


  		




  
  69
  
    
   unsigned int16 nn;


  		




  
  70
  
    

  		




  
  71
  
    
   for(nn=length; nn>0; nn--)


  		




  
  72
  
    
   {


  		




  
  73
  
    
     output_high(SOUND_HI);output_low(SOUND_LO);


  		




  
  74
  
    
     delay_us(period);


  		




  
  75
  
    
     output_high(SOUND_LO);output_low(SOUND_HI);


  		




  
  76
  
    
     delay_us(period);


  		




  
  77
  
    
   }


  		




  
  78
  
    
}


  		




  
  79
  
    
/******************************************************************************/


  		




  
  80
  
    
void diagnostika()


  		




  
  81
  
    
{


  		




  
  82
  
    
   unsigned int16 n;


  		




  
  83
  
    

  		




  
  84
  
    
   while (input(DIAG_SERVO))   // Propojka, ktera spousti diagnostiku


  		




  
  85
  
    
   {


  		




  
  86
  
    
      for (n=500; n<800; n+=100)


  		




  
  87
  
    
      {


  		




  
  88
  
    
         beep(n,n); //beep UP


  		




  
  89
  
    
      };


  		




  
  90
  
    
      Delay_ms(1000);


  		




  
  91
  
    
      //zastav vse


  		




  
  92
  
    
      STOPL; STOPR;


  		




  
  93
  
    
      //pravy pas


  		




  
  94
  
    
      FR; Delay_ms(1000); STOPR; Delay_ms(1000);


  		




  
  95
  
    
      BR; Delay_ms(1000); STOPR; Delay_ms(1000);


  		




  
  96
  
    
      Beep(880,100); Delay_ms(1000);


  		




  
  97
  
    
      //levy pas


  		




  
  98
  
    
      FL; Delay_ms(1000); STOPL; Delay_ms(1000);


  		




  
  99
  
    
      BL; Delay_ms(1000); STOPL; Delay_ms(1000);


  		




  
  100
  
    
      Beep(880,100); Delay_ms(1000);


  		




  
  101
  
    
      //oba pasy


  		




  
  102
  
    
      FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);


  		




  
  103
  
    
      BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);


  		




  
  104
  
    
   };


  		




  
  105
  
    
   while (input(DIAG_SENSORS))


  		




  
  106
  
    
   {


  		




  
  107
  
    
      if (RSENSOR) beep(900,500);


  		




  
  108
  
    
      if (LSENSOR) beep(800,500);


  		




  
  109
  
    
      if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500);


  		




  
  110
  
    
   };


  		




  
  111
  
    
}


  		




  
  112
  
    
///////////////////////////////////////////////////////////////////////////////


  		




  
  113
  
    
void cikcak()


  		




  
  114
  
    
{


  		




  
  115
  
    
unsigned int16 n;


  		




  
  116
  
    
sem1:


  		




  
  117
  
    
   n=CIK_CAK;


  		




  
  118
  
    
	while (0==RSENSOR||LSENSOR)       // zkontroluj caru


  		




  
  119
  
    
	{


  		




  
  120
  
    
		if (n==CIK_CAK)							// zmen smer zataceni


  		




  
  121
  
    
		{


  		




  
  122
  
    
			n=0;


  		




  
  123
  
    
			switch(movement)


  		




  
  124
  
    
			{


  		




  
  125
  
    
			case L:


  		




  
  126
  
    
						FL;BR;


  		




  
  127
  
    
						movement=R;


  		




  
  128
  
    
					break;


  		




  
  129
  
    
			case R:


  		




  
  130
  
    
						FR;BL;


  		




  
  131
  
    
						movement=L;


  		




  
  132
  
    
					break;


  		




  
  133
  
    
         case S:


  		




  
  134
  
    
				     FL;BR;


  		




  
  135
  
    
				     movement=R;


  		




  
  136
  
    
                 n=CIK_CAK/2;


  		




  
  137
  
    
			      break;


  		




  
  138
  
    
			}


  		




  
  139
  
    
		}


  		




  
  140
  
    
		n++;


  		




  
  141
  
    
	}


  		




  
  142
  
    
	STOPL;STOPR;


  		




  
  143
  
    
   line = RSENSOR;         // cteni senzoru na caru


  		




  
  144
  
    
   line |= LSENSOR << 1;


  		




  
  145
  
    
   if (line==0) goto sem1;


  		




  
  146
  
    
   												// nasli jsme caru


  		




  
  147
  
    
	line=S;


  		




  
  148
  
    
}


  		




  
  149
  
    
///////////////////////////////////////////////////////////////////////////////


  		




  
  150
  
    
void objizdka()                     // objede cihlu


  		




  
  151
  
    
{


  		




  
  152
  
    
unsigned int16 n;


  		




  
  153
  
    

  		




  
  154
  
    
	BL;BR;Delay_ms(200);


  		




  
  155
  
    
	STOPR;STOPL;


  		




  
  156
  
    
	beep(900,1000);


  		




  
  157
  
    
  // movement=S;


  		




  
  158
  
    
   //cikcak();


  		




  
  159
  
    

  		




  
  160
  
    
   BL; FR; Delay_ms(215);           // otoc se 70? do leva


  		




  
  161
  
    

  		




  
  162
  
    
   FR; FL; Delay_ms(600);           // popojed rovne


  		




  
  163
  
    

  		




  
  164
  
    
   BR; Delay_ms(50);               // otoc se 90? do prava


  		




  
  165
  
    
   STOPR; FL; Delay_ms(700);


  		




  
  166
  
    

  		




  
  167
  
    
   FR; FL; Delay_ms(100);           // popojed rovne na slepo


  		




  
  168
  
    
   for(n=600;n>0;n--)               // popojed rovne ale kontroluj caru


  		




  
  169
  
    
   {


  		




  
  170
  
    
      line = RSENSOR;         // cteni senzoru na caru


  		




  
  171
  
    
      line |= LSENSOR << 1;


  		




  
  172
  
    
      if (line!=0) {Delay_ms(50); break;}       // kdyz narazis na caru, za chvili zastav


  		




  
  173
  
    
      Delay_ms(1);


  		




  
  174
  
    
   }


  		




  
  175
  
    

  		




  
  176
  
    
   BL;                              // otoc se 60? do leva


  		




  
  177
  
    
   for(n=600;n>0;n--)


  		




  
  178
  
    
   {


  		




  
  179
  
    
      line = RSENSOR;         // cteni senzoru na caru


  		




  
  180
  
    
      line |= LSENSOR << 1;


  		




  
  181
  
    
      if (line!=0) break;


  		




  
  182
  
    
      Delay_ms(1);


  		




  
  183
  
    
   }


  		




  
  184
  
    
   STOPR; STOPL;


  		




  
  185
  
    

  		




  
  186
  
    
   movement=R;


  		




  
  187
  
    
   cikcak();


  		




  
  188
  
    
   dira=0;


  		




  
  189
  
    
}


  		




  
  190
  
    
///////////////////////////////////////////////////////////////////////////////


  		




  
  191
  
    
void prejeddiru()                    // vyresi diru


  		




  
  192
  
    
{


  		




  
  193
  
    
unsigned int16 n;


  		




  
  194
  
    
unsigned int8 speed_dira;


  		




  
  195
  
    

  		




  
  196
  
    
   STOPL;STOPR;


  		




  
  197
  
    
   speed_dira=speed;


  		




  
  198
  
    
   beep(1000,500);


  		




  
  199
  
    
   switch (movement)                            //vrat se zpet na caru


  		




  
  200
  
    
   {


  		




  
  201
  
    
   case L:


  		




  
  202
  
    
         for (n=COUVANI;n>0;n--) {GO(R,B,speed_dira); Delay_ms(1);}


  		




  
  203
  
    
         STOPL;STOPR;


  		




  
  204
  
    
      break;


  		




  
  205
  
    
   case R:


  		




  
  206
  
    
         for (n=COUVANI;n>0;n--) {GO(L,B,speed_dira); Delay_ms(1);}


  		




  
  207
  
    
         STOPL;STOPR;


  		




  
  208
  
    
      break;


  		




  
  209
  
    
   case S:


  		




  
  210
  
    
         goto sem;


  		




  
  211
  
    
      break;


  		




  
  212
  
    
   }


  		




  
  213
  
    
   beep(800,500);


  		




  
  214
  
    

  		




  
  215
  
    
   line=0;


  		




  
  216
  
    
   FR; BL; Delay_ms(300);                 // otoc se na caru


  		




  
  217
  
    
   while(line==0)


  		




  
  218
  
    
   {


  		




  
  219
  
    
      line = RSENSOR;         // cteni senzoru na caru


  		




  
  220
  
    
      line |= LSENSOR << 1;


  		




  
  221
  
    
   }


  		




  
  222
  
    
   FL;BR; Delay_ms(60);


  		




  
  223
  
    
   STOPL; STOPR;


  		




  
  224
  
    

  		




  
  225
  
    
   FL; BR; Delay_ms(500);


  		




  
  226
  
    
   STOPL; STOPR;


  		




  
  227
  
    

  		




  
  228
  
    
   Delay_ms(1000);


  		




  
  229
  
    

  		




  
  230
  
    
   FR;FL;                     //popojed rovne


  		




  
  231
  
    
   for(n=PRES_DIRU;n>0;n--)


  		




  
  232
  
    
   {


  		




  
  233
  
    
      line = RSENSOR;         // cteni senzoru na caru


  		




  
  234
  
    
      line |= LSENSOR << 1;


  		




  
  235
  
    
      if (line!=0) break;


  		




  
  236
  
    
      Delay_ms(1);


  		




  
  237
  
    
   }


  		




  
  238
  
    
sem:


  		




  
  239
  
    
   STOPL; STOPR;


  		




  
  240
  
    
   movement=S;


  		




  
  241
  
    
   cikcak();                                    // najdi caru


  		




  
  242
  
    
   dira=0;


  		




  
  243
  
    
}


  		




  
  244
  
    
///////////////////////////////////////////////////////////////////////////////


  		




  
  245
  
    
void main()


  		




  
  246
  
    
{


  		




  
  247
  
    
   unsigned int16 n; // pro FOR


  		




  
  248
  
    

  		




  
  249
  
    
   STOPL; STOPR;     // prepne vystupy na ovladani motoru na output a zastavi


  		




  
  250
  
    

  		




  
  251
  
    
   setup_oscillator(OSC_4MHZ|OSC_INTRC);     // 4 MHz interni RC oscilator


  		




  
  252
  
    

  		




  
  253
  
    
   port_b_pullups(TRUE);      // pullups pro piano na diagnostiku


  		




  
  254
  
    
   setup_spi(FALSE);


  		




  
  255
  
    
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);  // Casovac pro PWM


  		




  
  256
  
    

  		




  
  257
  
    
   setup_timer_2(T2_DIV_BY_4,255,10);    // Casovac pro regulaci


  		




  
  258
  
    
                                         // preruseni kazdych 10ms


  		




  
  259
  
    
   setup_adc_ports(sAN2|VSS_VDD);      // nastaveni A/D prevodniku pro naraznik


  		




  
  260
  
    
   setup_adc(ADC_CLOCK_INTERNAL);


  		




  
  261
  
    
   set_adc_channel(2);


  		




  
  262
  
    
   setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);   // Casovac pro naraznik


  		




  
  263
  
    
   setup_ccp1(CCP_COMPARE_RESET_TIMER);


  		




  
  264
  
    
   CCP_1=(2^10)-1;                        // prevod kazdou 1ms


  		




  
  265
  
    

  		




  
  266
  
    
   setup_comparator(A0_VR_A1_VR);   // inicializace komparatoru pro cidla cary


  		




  
  267
  
    
   setup_vref(VREF_HIGH|TRESHOLD);        // 32 kroku od 0.25 do 0.75 Vdd


  		




  
  268
  
    

  		




  
  269
  
    
   Beep(1000,200);     //double beep


  		




  
  270
  
    
   Delay_ms(50);


  		




  
  271
  
    
   Beep(1000,200);


  		




  
  272
  
    
   Delay_ms(1000);      // 1s


  		




  
  273
  
    

  		




  
  274
  
    
         // povoleni rizeni rychlosti zataceni pres preruseni


  		




  
  275
  
    
   enable_interrupts(INT_TIMER2);


  		




  
  276
  
    
   enable_interrupts(GLOBAL);


  		




  
  277
  
    

  		




  
  278
  
    
/*---------------------------------------------------------------------------*/


  		




  
  279
  
    
   sensors=S;


  		




  
  280
  
    
   line=S;


  		




  
  281
  
    
   last=S;


  		




  
  282
  
    
   movement=S;


  		




  
  283
  
    
   speed=FW_POMALU;


  		




  
  284
  
    

  		




  
  285
  
    
   diagnostika();


  		




  
  286
  
    
 //  cikcak();     // toc se, abys nasel caru


  		




  
  287
  
    
   Delay_ms(500);


  		




  
  288
  
    
   Beep(1000,200);


  		




  
  289
  
    
   Delay_ms(500);


  		




  
  290
  
    

  		




  
  291
  
    
   while(true)       // hlavni smycka (jizda podle cary)


  		




  
  292
  
    
   {


  		




  
  293
  
    
      sensors = RSENSOR;         // cteni senzoru na caru


  		




  
  294
  
    
      sensors |= LSENSOR << 1;


  		




  
  295
  
    

  		




  
  296
  
    
      if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (dira<=T_CIHLA)) objizdka();


  		




  
  297
  
    

  		




  
  298
  
    
      switch (sensors)  // zatacej podle toho, kde vidis caru


  		




  
  299
  
    
      {


  		




  
  300
  
    
         case S:                          // rovne


  		




  
  301
  
    
            FL; FR;  // pokud se jede dlouho rovne, tak pridej


  		




  
  302
  
    
            dira=0;


  		




  
  303
  
    
            movement=S;


  		




  
  304
  
    
            continue;


  		




  
  305
  
    
         case L:                          // trochu vlevo


  		




  
  306
  
    
            GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);


  		




  
  307
  
    
            line=L;


  		




  
  308
  
    
            dira=0;


  		




  
  309
  
    
            movement=L;


  		




  
  310
  
    
            continue;


  		




  
  311
  
    
         case R:                          // trochu vpravo


  		




  
  312
  
    
            GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);


  		




  
  313
  
    
            line=R;


  		




  
  314
  
    
            dira=0;


  		




  
  315
  
    
            movement=R;


  		




  
  316
  
    
            continue;


  		




  
  317
  
    
         default:       // kdyz jsou obe cidla mimo caru, tak pokracuj dal


  		




  
  318
  
    
      }


  		




  
  319
  
    
   rovinka=0;


  		




  
  320
  
    
      if (dira>=T_DIRA) prejeddiru();


  		




  
  321
  
    
      if (last!=line)     // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi


  		




  
  322
  
    
      {


  		




  
  323
  
    
         last=line;


  		




  
  324
  
    
         speed=FW_ZATACKA;


  		




  
  325
  
    
      }


  		




  
  326
  
    
      if (L==line)  // kdyz jsou obe cidla mimo caru, zatoc na caru


  		




  
  327
  
    
      {


  		




  
  328
  
    
         STOPL;


  		




  
  329
  
    
         GO(R, F, speed);


  		




  
  330
  
    
         movement=L;


  		




  
  331
  
    
      }


  		




  
  332
  
    
      else


  		




  
  333
  
    
      {


  		




  
  334
  
    
         STOPR;


  		




  
  335
  
    
         GO(L, F, speed);


  		




  
  336
  
    
         movement=R;


  		




  
  337
  
    
      }


  		




  
  338
  
    
   } // while(true)


  		




  
  339
  
    
}


  		




  
  340
  
    

  		












  

    
      Designs/ROBOTS/Merkur/SW/turn_L/tank.PJT
    
  





  
  1
  
    
[PROJECT]


  		




  
  2
  
    
Target=tank.HEX


  		




  
  3
  
    
Development_Mode=


  		




  
  4
  
    
Processor=0x688F


  		




  
  5
  
    
ToolSuite=CCS


  		




  
  6
  
    

  		




  
  7
  
    
[Directories]


  		




  
  8
  
    
Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\drivers\;C:\library\CCS;


  		




  
  9
  
    
Library=


  		




  
  10
  
    
LinkerScript=


  		




  
  11
  
    

  		




  
  12
  
    
[Target Data]


  		




  
  13
  
    
FileList=tank.c;


  		




  
  14
  
    
BuildTool=C-COMPILER


  		




  
  15
  
    
OptionString=+FM


  		




  
  16
  
    
AdditionalOptionString=


  		




  
  17
  
    
BuildRequired=1


  		




  
  18
  
    

  		




  
  19
  
    
[tank.c]


  		




  
  20
  
    
Type=4


  		




  
  21
  
    
Path=


  		




  
  22
  
    
FileList=


  		




  
  23
  
    
BuildTool=


  		




  
  24
  
    
OptionString=


  		




  
  25
  
    
AdditionalOptionString=


  		




  
  26
  
    

  		




  
  27
  
    
[mru-list]


  		




  
  28
  
    
1=tank.c


  		




  
  29
  
    

  		




  
  30
  
    
[Windows]


  		




  
  31
  
    
0=0000 tank.c 0 0 796 451 3 0


  		




  
  32
  
    

  		




  
  33
  
    
[Opened Files]


  		




  
  34
  
    
1=D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.c


  		




  
  35
  
    
2=C:\Program Files\PICC\devices\16F88.h


  		




  
  36
  
    
3=


  		




  
  37
  
    
4=C:\Program Files\PICC\devices\16F88.h


  		




  
  38
  
    
5=


  		




  
  39
  
    
6=


  		




  
  40
  
    
7=


  		












  

    
      Designs/ROBOTS/Merkur/SW/turn_L/tank.LST
    
  





  
  1
  
    
CCS PCM C Compiler, Version 3.221, 27853               26-IV-05 21:32


  		




  
  2
  
    

  		




  
  3
  
    
               Filename: D:\KAKLIK\programy\PIC_C\roboti\merkur\PIC16F88\turn_L\tank.LST


  		




  
  4
  
    

  		




  
  5
  
    
               ROM used: 1705 words (42%)


  		




  
  6
  
    
                         Largest free fragment is 2048


  		




  
  7
  
    
               RAM used: 87 (50%) at main() level


  		




  
  8
  
    
                         98 (56%) worst case


  		




  
  9
  
    
               Stack:    4 worst case (3 in main + 1 for interrupts)


  		




  
  10
  
    

  		




  
  11
  
    
*


  		




  
  12
  
    
0000:  MOVLW  00


  		




  
  13
  
    
0001:  MOVWF  0A


  		




  
  14
  
    
0002:  GOTO   4E8


  		




  
  15
  
    
0003:  NOP


  		




  
  16
  
    
0004:  MOVWF  7F


  		




  
  17
  
    
0005:  SWAPF  03,W


  		




  
  18
  
    
0006:  CLRF   03


  		




  
  19
  
    
0007:  MOVWF  21


  		




  
  20
  
    
0008:  MOVF   7F,W


  		




  
  21
  
    
0009:  MOVWF  20


  		




  
  22
  
    
000A:  MOVF   0A,W


  		




  
  23
  
    
000B:  MOVWF  28


  		




  
  24
  
    
000C:  CLRF   0A


  		




  
  25
  
    
000D:  SWAPF  20,F


  		




  
  26
  
    
000E:  MOVF   04,W


  		




  
  27
  
    
000F:  MOVWF  22


  		




  
  28
  
    
0010:  MOVF   77,W


  		




  
  29
  
    
0011:  MOVWF  23


  		




  
  30
  
    
0012:  MOVF   78,W


  		




  
  31
  
    
0013:  MOVWF  24


  		




  
  32
  
    
0014:  MOVF   79,W


  		




  
  33
  
    
0015:  MOVWF  25


  		




  
  34
  
    
0016:  MOVF   7A,W


  		




  
  35
  
    
0017:  MOVWF  26


  		




  
  36
  
    
0018:  MOVF   7B,W


  		




  
  37
  
    
0019:  MOVWF  27


  		




  
  38
  
    
001A:  BCF    03.7


  		




  
  39
  
    
001B:  BCF    03.5


  		




  
  40
  
    
001C:  MOVLW  8C


  		




  
  41
  
    
001D:  MOVWF  04


  		




  
  42
  
    
001E:  BTFSS  00.1


  		




  
  43
  
    
001F:  GOTO   022


  		




  
  44
  
    
0020:  BTFSC  0C.1


  		




  
  45
  
    
0021:  GOTO   035


  		




  
  46
  
    
0022:  MOVF   22,W


  		




  
  47
  
    
0023:  MOVWF  04


  		




  
  48
  
    
0024:  MOVF   23,W


  		




  
  49
  
    
0025:  MOVWF  77


  		




  
  50
  
    
0026:  MOVF   24,W


  		




  
  51
  
    
0027:  MOVWF  78


  		




  
  52
  
    
0028:  MOVF   25,W


  		




  
  53
  
    
0029:  MOVWF  79


  		




  
  54
  
    
002A:  MOVF   26,W


  		




  
  55
  
    
002B:  MOVWF  7A


  		




  
  56
  
    
002C:  MOVF   27,W


  		




  
  57
  
    
002D:  MOVWF  7B


  		




  
  58
  
    
002E:  MOVF   28,W


  		




  
  59
  
    
002F:  MOVWF  0A


  		




  
  60
  
    
0030:  SWAPF  21,W


  		




  
  61
  
    
0031:  MOVWF  03


  		




  
  62
  
    
0032:  SWAPF  7F,F


  		




  
  63
  
    
0033:  SWAPF  7F,W


  		




  
  64
  
    
0034:  RETFIE


  		




  
  65
  
    
0035:  BCF    0A.3


  		




  
  66
  
    
0036:  GOTO   037


  		




  
  67
  
    
....................  #include "tank.h" 


  		




  
  68
  
    
....................  #include <16F88.h> 


  		




  
  69
  
    
....................  //////// Standard Header file for the PIC16F88 device ////////////////  


  		




  
  70
  
    
.................... #device PIC16F88  


  		




  
  71
  
    
.................... #list  


  		




  
  72
  
    
....................  


  		




  
  73
  
    
.................... #device adc=8  


  		




  
  74
  
    
.................... #fuses NOWDT,INTRC_IO, NOPUT, MCLR, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG, NOPROTECT, NOFCMEN, NOIESO  


  		




  
  75
  
    
.................... #use delay(clock=4000000)  


  		




  
  76
  
    
*


  		




  
  77
  
    
0047:  MOVLW  12


  		




  
  78
  
    
0048:  BSF    03.5


  		




  
  79
  
    
0049:  SUBWF  22,F


  		




  
  80
  
    
004A:  BTFSS  03.0


  		




  
  81
  
    
004B:  GOTO   05A


  		




  
  82
  
    
004C:  MOVLW  A2


  		




  
  83
  
    
004D:  MOVWF  04


  		




  
  84
  
    
004E:  MOVLW  FC


  		




  
  85
  
    
004F:  ANDWF  00,F


  		




  
  86
  
    
0050:  BCF    03.0


  		




  
  87
  
    
0051:  RRF    00,F


  		




  
  88
  
    
0052:  RRF    00,F


  		




  
  89
  
    
0053:  MOVF   00,W


  		




  
  90
  
    
0054:  BTFSC  03.2


  		




  
  91
  
    
0055:  GOTO   05A


  		




  
  92
  
    
0056:  GOTO   058


  		




  
  93
  
    
0057:  NOP


  		




  
  94
  
    
0058:  DECFSZ 00,F


  		




  
  95
  
    
0059:  GOTO   057


  		




  
  96
  
    
005A:  BCF    03.5


  		




  
  97
  
    
005B:  RETLW  00


  		




  
  98
  
    
*


  		




  
  99
  
    
0088:  MOVLW  75


  		




  
  100
  
    
0089:  MOVWF  04


  		




  
  101
  
    
008A:  MOVF   00,W


  		




  
  102
  
    
008B:  BTFSC  03.2


  		




  
  103
  
    
008C:  GOTO   09C


  		




  
  104
  
    
008D:  MOVLW  01


  		




  
  105
  
    
008E:  MOVWF  78


  		




  
  106
  
    
008F:  CLRF   77


  		




  
  107
  
    
0090:  DECFSZ 77,F


  		




  
  108
  
    
0091:  GOTO   090


  		




  
  109
  
    
0092:  DECFSZ 78,F


  		




  
  110
  
    
0093:  GOTO   08F


  		




  
  111
  
    
0094:  MOVLW  4A


  		




  
  112
  
    
0095:  MOVWF  77


  		




  
  113
  
    
0096:  DECFSZ 77,F


  		




  
  114
  
    
0097:  GOTO   096


  		




  
  115
  
    
0098:  NOP


  		




  
  116
  
    
0099:  NOP


  		




  
  117
  
    
009A:  DECFSZ 00,F


  		




  
  118
  
    
009B:  GOTO   08D


  		




  
  119
  
    
009C:  RETLW  00


  		




  
  120
  
    
....................   


  		




  
  121
  
    
....................  


  		




  
  122
  
    
....................   


  		




  
  123
  
    
.................... #define DEBUG  


  		




  
  124
  
    
....................   


  		




  
  125
  
    
.................... #define  TXo PIN_A3           // To the transmitter modulator  


  		




  
  126
  
    
.................... #include "AX25.c"             // podprogram pro prenos telemetrie 


  		




  
  127
  
    
.................... #list  


  		




  
  128
  
    
....................  


  		




  
  129
  
    
....................   


  		




  
  130
  
    
.................... unsigned int8 sensors;        // pomocna promenna pro cteni cidel na caru  


  		




  
  131
  
    
.................... unsigned int8 line;           // na ktere strane byla detekovana cara  


  		




  
  132
  
    
.................... unsigned int8 speed;          // rychlost zataceni  


  		




  
  133
  
    
.................... unsigned int8 rovinka;        // pocitadlo pro zjisteni rovneho useku  


  		




  
  134
  
    
.................... unsigned int8 last;           // kde byla cara, kdyz byly minule cidla mimo  


  		




  
  135
  
    
.................... unsigned int8 movement;       // obsahuje aktualni smer zataceni  


  		




  
  136
  
    
.................... unsigned int8 dira;           // pocita dobu po kterou je ztracena cara  


  		




  
  137
  
    
....................   


  		




  
  138
  
    
.................... // Konstanty pro dynamiku pohybu  


  		




  
  139
  
    
.................... #define T_DIRA       87      // po jakem case zataceni se detekuje dira  


  		




  
  140
  
    
.................... #define INC_SPEED    1        // prirustek rychlosti v jednom kroku  


  		




  
  141
  
    
.................... #define FW_POMALU    230      // trochu mimo caru vnitrni pas  


  		




  
  142
  
    
.................... #define FW_ZATACKA   200      // rychlost vnejsiho kola pri zataceni  


  		




  
  143
  
    
.................... #define FW_STREDNE   240      // trochu mimo caru vnejsi pas  


  		




  
  144
  
    
.................... #define COUVANI      600      // couvnuti zpet na caru, po detekci diry  


  		




  
  145
  
    
.................... #define PRES_DIRU    250  


  		




  
  146
  
    
.................... #define MAX_ROVINKA  (255-FW_STREDNE)  


  		




  
  147
  
    
.................... #define TRESHOLD     10        // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd  


  		




  
  148
  
    
.................... #define BUMPER_TRESHOLD 128  


  		




  
  149
  
    
.................... #define CIK_CAK      30000  


  		




  
  150
  
    
.................... #define T_CIHLA      50      // perioda detekce cihly  


  		




  
  151
  
    
....................   


  		




  
  152
  
    
.................... //motory            //Napred vypnout potom zapnout!  


  		




  
  153
  
    
.................... #define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred  


  		




  
  154
  
    
.................... #define FL         output_low(PIN_B7); output_high(PIN_B6)  


  		




  
  155
  
    
.................... #define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad  


  		




  
  156
  
    
.................... #define BL         output_low(PIN_B6); output_high(PIN_B7)  


  		




  
  157
  
    
.................... #define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav  


  		




  
  158
  
    
.................... #define STOPL      output_low(PIN_B6);output_low(PIN_B7)  


  		




  
  159
  
    
....................   


  		




  
  160
  
    
.................... #define L 0b10  // left  


  		




  
  161
  
    
.................... #define R 0b01  // right  


  		




  
  162
  
    
.................... #define S 0b11  // straight  


  		




  
  163
  
    
....................   


  		




  
  164
  
    
.................... //cidla  


  		




  
  165
  
    
.................... #define RSENSOR    C2OUT      // Senzory na caru  


  		




  
  166
  
    
.................... #define LSENSOR    C1OUT  


  		




  
  167
  
    
.................... #define BUMPER     PIN_A4     // Senzor na cihlu  


  		




  
  168
  
    
....................   


  		




  
  169
  
    
.................... #define DIAG_SERVO      PIN_B3   // Propojka pro diagnosticky mod  


  		




  
  170
  
    
.................... #define DIAG_SENSORS    PIN_B2   // Propojka pro diagnosticky mod  


  		




  
  171
  
    
....................   


  		




  
  172
  
    
.................... #DEFINE SOUND_HI   PIN_A6     // komplementarni vystupy pro piezo pipak  


  		




  
  173
  
    
.................... #DEFINE SOUND_LO   PIN_A7  


  		




  
  174
  
    
....................   


  		




  
  175
  
    
.................... char AXstring[40];   // Buffer pro prenos telemetrie  


  		




  
  176
  
    
....................   


  		




  
  177
  
    
.................... // makro pro PWM  


  		




  
  178
  
    
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \  


  		




  
  179
  
    
.................... {direction##motor;} else {stop##motor;}  


  		




  
  180
  
    
....................   


  		




  
  181
  
    
.................... #int_TIMER2  


  		




  
  182
  
    
.................... void TIMER2_isr()  


  		




  
  183
  
    
.................... {  


  		




  
  184
  
    
....................    if (speed<255) speed+=INC_SPEED;  


  		




  
  185
  
    
*


  		




  
  186
  
    
0037:  INCFSZ 42,W


  		




  
  187
  
    
0038:  GOTO   03A


  		




  
  188
  
    
0039:  GOTO   03C


  		




  
  189
  
    
003A:  MOVLW  01


  		




  
  190
  
    
003B:  ADDWF  42,F


  		




  
  191
  
    
....................    if (rovinka<MAX_ROVINKA) rovinka++;  


  		




  
  192
  
    
003C:  MOVF   43,W


  		




  
  193
  
    
003D:  SUBLW  0E


  		




  
  194
  
    
003E:  BTFSC  03.0


  		




  
  195
  
    
003F:  INCF   43,F


  		




  
  196
  
    
....................    if (dira<=T_DIRA) dira++;  


  		




  
  197
  
    
0040:  MOVF   46,W


  		




  
  198
  
    
0041:  SUBLW  57


  		




  
  199
  
    
0042:  BTFSC  03.0


  		




  
  200
  
    
0043:  INCF   46,F


  		




  
  201
  
    
.................... }  


  		




  
  202
  
    
.................... // Primitivni Pipani  


  		




  
  203
  
    
0044:  BCF    0C.1


  		




  
  204
  
    
0045:  BCF    0A.3


  		




  
  205
  
    
0046:  GOTO   022


  		




  
  206
  
    
.................... void beep(unsigned int16 period, unsigned int16 length)  


  		




  
  207
  
    
.................... {  


  		




  
  208
  
    
....................    unsigned int16 nn;  


  		




  
  209
  
    
....................   


  		




  
  210
  
    
....................    for(nn=length; nn>0; nn--)  


  		




  
  211
  
    
*


  		




  
  212
  
    
005C:  MOVF   7D,W


  		




  
  213
  
    
005D:  BSF    03.5


  		




  
  214
  
    
005E:  MOVWF  21


  		




  
  215
  
    
005F:  MOVF   7C,W


  		




  
  216
  
    
0060:  MOVWF  20


  		




  
  217
  
    
0061:  MOVF   20,F


  		




  
  218
  
    
0062:  BTFSS  03.2


  		




  
  219
  
    
0063:  GOTO   067


  		




  
  220
  
    
0064:  MOVF   21,F


  		




  
  221
  
    
0065:  BTFSC  03.2


  		




  
  222
  
    
0066:  GOTO   086


  		




  
  223
  
    
....................    {  


  		




  
  224
  
    
....................      output_high(SOUND_HI);output_low(SOUND_LO);  


  		




  
  225
  
    
0067:  BCF    05.6


  		




  
  226
  
    
0068:  BCF    03.5


  		




  
  227
  
    
0069:  BSF    05.6


  		




  
  228
  
    
006A:  BSF    03.5


  		




  
  229
  
    
006B:  BCF    05.7


  		




  
  230
  
    
006C:  BCF    03.5


  		




  
  231
  
    
006D:  BCF    05.7


  		




  
  232
  
    
....................      delay_us(period);  


  		




  
  233
  
    
006E:  MOVF   74,W


  		




  
  234
  
    
006F:  BSF    03.5


  		




  
  235
  
    
0070:  MOVWF  22


  		




  
  236
  
    
0071:  BCF    03.5


  		




  
  237
  
    
0072:  CALL   047


  		




  
  238
  
    
....................      output_high(SOUND_LO);output_low(SOUND_HI);  


  		




  
  239
  
    
0073:  BSF    03.5


  		




  
  240
  
    
0074:  BCF    05.7


  		




  
  241
  
    
0075:  BCF    03.5


  		




  
  242
  
    
0076:  BSF    05.7


  		




  
  243
  
    
0077:  BSF    03.5


  		




  
  244
  
    
0078:  BCF    05.6


  		




  
  245
  
    
0079:  BCF    03.5


  		




  
  246
  
    
007A:  BCF    05.6


  		




  
  247
  
    
....................      delay_us(period);  


  		




  
  248
  
    
007B:  MOVF   74,W


  		




  
  249
  
    
007C:  BSF    03.5


  		




  
  250
  
    
007D:  MOVWF  22


  		




  
  251
  
    
007E:  BCF    03.5


  		




  
  252
  
    
007F:  CALL   047


  		




  
  253
  
    
....................    }  


  		




  
  254
  
    
0080:  BSF    03.5


  		




  
  255
  
    
0081:  MOVF   20,W


  		




  
  256
  
    
0082:  BTFSC  03.2


  		




  
  257
  
    
0083:  DECF   21,F


  		




  
  258
  
    
0084:  DECF   20,F


  		




  
  259
  
    
0085:  GOTO   061


  		




  
  260
  
    
.................... }  


  		




  
  261
  
    
0086:  BCF    03.5


  		




  
  262
  
    
0087:  RETLW  00


  		




  
  263
  
    
.................... /******************************************************************************/  


  		




  
  264
  
    
.................... void diagnostika()  


  		




  
  265
  
    
.................... {  


  		




  
  266
  
    
....................    unsigned int16 n;  


  		




  
  267
  
    
....................   


  		




  
  268
  
    
....................    while (input(DIAG_SERVO))   // Propojka, ktera spousti diagnostiku  


  		




  
  269
  
    
....................    {  


  		




  
  270
  
    
*


  		




  
  271
  
    
009D:  BSF    03.5


  		




  
  272
  
    
009E:  BSF    06.3


  		




  
  273
  
    
009F:  BCF    03.5


  		




  
  274
  
    
00A0:  BTFSS  06.3


  		




  
  275
  
    
00A1:  GOTO   1C8


  		




  
  276
  
    
....................       for (n=500; n<800; n+=100)  


  		




  
  277
  
    
00A2:  MOVLW  01


  		




  
  278
  
    
00A3:  MOVWF  72


  		




  
  279
  
    
00A4:  MOVLW  F4


  		




  
  280
  
    
00A5:  MOVWF  71


  		




  
  281
  
    
00A6:  MOVF   72,W


  		




  
  282
  
    
00A7:  SUBLW  03


  		




  
  283
  
    
00A8:  BTFSS  03.0


  		




  
  284
  
    
00A9:  GOTO   0BE


  		




  
  285
  
    
00AA:  BTFSS  03.2


  		




  
  286
  
    
00AB:  GOTO   0B0


  		




  
  287
  
    
00AC:  MOVF   71,W


  		




  
  288
  
    
00AD:  SUBLW  1F


  		




  
  289
  
    
00AE:  BTFSS  03.0


  		




  
  290
  
    
00AF:  GOTO   0BE


  		




  
  291
  
    
....................       {  


  		




  
  292
  
    
....................          beep(n,n); //beep UP  


  		




  
  293
  
    
00B0:  MOVF   72,W


  		




  
  294
  
    
00B1:  MOVWF  75


  		




  
  295
  
    
00B2:  MOVF   71,W


  		




  
  296
  
    
00B3:  MOVWF  74


  		




  
  297
  
    
00B4:  MOVF   72,W


  		




  
  298
  
    
00B5:  MOVWF  7D


  		




  
  299
  
    
00B6:  MOVF   71,W


  		




  
  300
  
    
00B7:  MOVWF  7C


  		




  
  301
  
    
00B8:  CALL   05C


  		




  
  302
  
    
....................       };  


  		




  
  303
  
    
00B9:  MOVLW  64


  		




  
  304
  
    
00BA:  ADDWF  71,F


  		




  
  305
  
    
00BB:  BTFSC  03.0


  		




  
  306
  
    
00BC:  INCF   72,F


  		




  
  307
  
    
00BD:  GOTO   0A6


  		




  
  308
  
    
....................       Delay_ms(1000);  


  		




  
  309
  
    
00BE:  MOVLW  04


  		




  
  310
  
    
00BF:  MOVWF  73


  		




  
  311
  
    
00C0:  MOVLW  FA


  		




  
  312
  
    
00C1:  MOVWF  75


  		




  
  313
  
    
00C2:  CALL   088


  		




  
  314
  
    
00C3:  DECFSZ 73,F


  		




  
  315
  
    
00C4:  GOTO   0C0


  		




  
  316
  
    
....................       //zastav vse  


  		




  
  317
  
    
....................       STOPL; STOPR;  


  		




  
  318
  
    
00C5:  BSF    03.5


  		




  
  319
  
    
00C6:  BCF    06.6


  		




  
  320
  
    
00C7:  BCF    03.5


  		




  
  321
  
    
00C8:  BCF    06.6


  		




  
  322
  
    
00C9:  BSF    03.5


  		




  
  323
  
    
00CA:  BCF    06.7


  		




  
  324
  
    
00CB:  BCF    03.5


  		




  
  325
  
    
00CC:  BCF    06.7


  		




  
  326
  
    
00CD:  BSF    03.5


  		




  
  327
  
    
00CE:  BCF    06.4


  		




  
  328
  
    
00CF:  BCF    03.5


  		




  
  329
  
    
00D0:  BCF    06.4


  		




  
  330
  
    
00D1:  BSF    03.5


  		




  
  331
  
    
00D2:  BCF    06.5


  		




  
  332
  
    
00D3:  BCF    03.5


  		




  
  333
  
    
00D4:  BCF    06.5


  		




  
  334
  
    
....................       //pravy pas  


  		




  
  335
  
    
....................       FR; Delay_ms(1000); STOPR; Delay_ms(1000);  


  		




  
  336
  
    
00D5:  BSF    03.5


  		




  
  337
  
    
00D6:  BCF    06.5


  		




  
  338
  
    
00D7:  BCF    03.5


  		




  
  339
  
    
00D8:  BCF    06.5


  		




  
  340
  
    
00D9:  BSF    03.5


  		




  
  341
  
    
00DA:  BCF    06.4


  		




  
  342
  
    
00DB:  BCF    03.5


  		




  
  343
  
    
00DC:  BSF    06.4


  		




  
  344
  
    
00DD:  MOVLW  04


  		




  
  345
  
    
00DE:  MOVWF  73


  		




  
  346
  
    
00DF:  MOVLW  FA


  		




  
  347
  
    
00E0:  MOVWF  75


  		




  
  348
  
    
00E1:  CALL   088


  		




  
  349
  
    
00E2:  DECFSZ 73,F


  		




  
  350
  
    
00E3:  GOTO   0DF


  		




  
  351
  
    
00E4:  BSF    03.5


  		




  
  352
  
    
00E5:  BCF    06.4


  		




  
  353
  
    
00E6:  BCF    03.5


  		




  
  354
  
    
00E7:  BCF    06.4


  		




  
  355
  
    
00E8:  BSF    03.5


  		




  
  356
  
    
00E9:  BCF    06.5


  		




  
  357
  
    
00EA:  BCF    03.5


  		




  
  358
  
    
00EB:  BCF    06.5


  		




  
  359
  
    
00EC:  MOVLW  04


  		




  
  360
  
    
00ED:  MOVWF  73


  		




  
  361
  
    
00EE:  MOVLW  FA


  		




  
  362
  
    
00EF:  MOVWF  75


  		




  
  363
  
    
00F0:  CALL   088


  		




  
  364
  
    
00F1:  DECFSZ 73,F


  		




  
  365
  
    
00F2:  GOTO   0EE


  		




  
  366
  
    
....................       BR; Delay_ms(1000); STOPR; Delay_ms(1000);  


  		




  
  367
  
    
00F3:  BSF    03.5


  		




  
  368
  
    
00F4:  BCF    06.4


  		




  
  369
  
    
00F5:  BCF    03.5


  		




  
  370
  
    
00F6:  BCF    06.4


  		




  
  371
  
    
00F7:  BSF    03.5


  		




  
  372
  
    
00F8:  BCF    06.5


  		




  
  373
  
    
00F9:  BCF    03.5


  		




  
  374
  
    
00FA:  BSF    06.5


  		




  
  375
  
    
00FB:  MOVLW  04


  		




  
  376
  
    
00FC:  MOVWF  73


  		




  
  377
  
    
00FD:  MOVLW  FA


  		




  
  378
  
    
00FE:  MOVWF  75


  		




  
  379
  
    
00FF:  CALL   088


  		




  
  380
  
    
0100:  DECFSZ 73,F


  		




  
  381
  
    
0101:  GOTO   0FD


  		




  
  382
  
    
0102:  BSF    03.5


  		




  
  383
  
    
0103:  BCF    06.4


  		




  
  384
  
    
0104:  BCF    03.5


  		




  
  385
  
    
0105:  BCF    06.4


  		




  
  386
  
    
0106:  BSF    03.5


  		




  
  387
  
    
0107:  BCF    06.5


  		




  
  388
  
    
0108:  BCF    03.5


  		




  
  389
  
    
0109:  BCF    06.5


  		




  
  390
  
    
010A:  MOVLW  04


  		




  
  391
  
    
010B:  MOVWF  73


  		




  
  392
  
    
010C:  MOVLW  FA


  		




  
  393
  
    
010D:  MOVWF  75


  		




  
  394
  
    
010E:  CALL   088


  		




  
  395
  
    
010F:  DECFSZ 73,F


  		




  
  396
  
    
0110:  GOTO   10C


  		




  
  397
  
    
....................       Beep(880,100); Delay_ms(1000);  


  		




  
  398
  
    
0111:  MOVLW  03


  		




  
  399
  
    
0112:  MOVWF  75


  		




  
  400
  
    
0113:  MOVLW  70


  		




  
  401
  
    
0114:  MOVWF  74


  		




  
  402
  
    
0115:  CLRF   7D


  		




  
  403
  
    
0116:  MOVLW  64


  		




  
  404
  
    
0117:  MOVWF  7C


  		




  
  405
  
    
0118:  CALL   05C


  		




  
  406
  
    
0119:  MOVLW  04


  		




  
  407
  
    
011A:  MOVWF  73


  		




  
  408
  
    
011B:  MOVLW  FA


  		




  
  409
  
    
011C:  MOVWF  75


  		




  
  410
  
    
011D:  CALL   088


  		




  
  411
  
    
011E:  DECFSZ 73,F


  		




  
  412
  
    
011F:  GOTO   11B


  		




  
  413
  
    
....................       //levy pas  


  		




  
  414
  
    
....................       FL; Delay_ms(1000); STOPL; Delay_ms(1000);  


  		




  
  415
  
    
0120:  BSF    03.5


  		




  
  416
  
    
0121:  BCF    06.7


  		




  
  417
  
    
0122:  BCF    03.5


  		




  
  418
  
    
0123:  BCF    06.7


  		




  
  419
  
    
0124:  BSF    03.5


  		




  
  420
  
    
0125:  BCF    06.6


  		




  
  421
  
    
0126:  BCF    03.5


  		




  
  422
  
    
0127:  BSF    06.6


  		




  
  423
  
    
0128:  MOVLW  04


  		




  
  424
  
    
0129:  MOVWF  73


  		




  
  425
  
    
012A:  MOVLW  FA


  		




  
  426
  
    
012B:  MOVWF  75


  		




  
  427
  
    
012C:  CALL   088


  		




  
  428
  
    
012D:  DECFSZ 73,F


  		




  
  429
  
    
012E:  GOTO   12A


  		




  
  430
  
    
012F:  BSF    03.5


  		




  
  431
  
    
0130:  BCF    06.6


  		




  
  432
  
    
0131:  BCF    03.5


  		




  
  433
  
    
0132:  BCF    06.6


  		




  
  434
  
    
0133:  BSF    03.5


  		




  
  435
  
    
0134:  BCF    06.7


  		




  
  436
  
    
0135:  BCF    03.5


  		




  
  437
  
    
0136:  BCF    06.7


  		




  
  438
  
    
0137:  MOVLW  04


  		




  
  439
  
    
0138:  MOVWF  73


  		




  
  440
  
    
0139:  MOVLW  FA


  		




  
  441
  
    
013A:  MOVWF  75


  		




  
  442
  
    
013B:  CALL   088


  		




  
  443
  
    
013C:  DECFSZ 73,F


  		




  
  444
  
    
013D:  GOTO   139


  		




  
  445
  
    
....................       BL; Delay_ms(1000); STOPL; Delay_ms(1000);  


  		




  
  446
  
    
013E:  BSF    03.5


  		




  
  447
  
    
013F:  BCF    06.6


  		




  
  448
  
    
0140:  BCF    03.5


  		




  
  449
  
    
0141:  BCF    06.6


  		




  
  450
  
    
0142:  BSF    03.5


  		




  
  451
  
    
0143:  BCF    06.7


  		




  
  452
  
    
0144:  BCF    03.5


  		




  
  453
  
    
0145:  BSF    06.7


  		




  
  454
  
    
0146:  MOVLW  04


  		




  
  455
  
    
0147:  MOVWF  73


  		




  
  456
  
    
0148:  MOVLW  FA


  		




  
  457
  
    
0149:  MOVWF  75


  		




  
  458
  
    
014A:  CALL   088


  		




  
  459
  
    
014B:  DECFSZ 73,F


  		




  
  460
  
    
014C:  GOTO   148


  		




  
  461
  
    
014D:  BSF    03.5


  		




  
  462
  
    
014E:  BCF    06.6


  		




  
  463
  
    
014F:  BCF    03.5


  		




  
  464
  
    
0150:  BCF    06.6


  		




  
  465
  
    
0151:  BSF    03.5


  		




  
  466
  
    
0152:  BCF    06.7


  		




  
  467
  
    
0153:  BCF    03.5


  		




  
  468
  
    
0154:  BCF    06.7


  		




  
  469
  
    
0155:  MOVLW  04


  		




  
  470
  
    
0156:  MOVWF  73


  		




  
  471
  
    
0157:  MOVLW  FA


  		




  
  472
  
    
0158:  MOVWF  75


  		




  
  473
  
    
0159:  CALL   088


  		




  
  474
  
    
015A:  DECFSZ 73,F


  		




  
  475
  
    
015B:  GOTO   157


  		




  
  476
  
    
....................       Beep(880,100); Delay_ms(1000);  


  		




  
  477
  
    
015C:  MOVLW  03


  		




  
  478
  
    
015D:  MOVWF  75


  		




  
  479
  
    
015E:  MOVLW  70


  		




  
  480
  
    
015F:  MOVWF  74


  		




  
  481
  
    
0160:  CLRF   7D


  		




  
  482
  
    
0161:  MOVLW  64


  		




  
  483
  
    
0162:  MOVWF  7C


  		




  
  484
  
    
0163:  CALL   05C


  		




  
  485
  
    
0164:  MOVLW  04


  		




  
  486
  
    
0165:  MOVWF  73


  		




  
  487
  
    
0166:  MOVLW  FA


  		




  
  488
  
    
0167:  MOVWF  75


  		




  
  489
  
    
0168:  CALL   088


  		




  
  490
  
    
0169:  DECFSZ 73,F


  		




  
  491
  
    
016A:  GOTO   166


  		




  
  492
  
    
....................       //oba pasy  


  		




  
  493
  
    
....................       FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);  


  		




  
  494
  
    
016B:  BSF    03.5


  		




  
  495
  
    
016C:  BCF    06.7


  		




  
  496
  
    
016D:  BCF    03.5


  		




  
  497
  
    
016E:  BCF    06.7


  		




  
  498
  
    
016F:  BSF    03.5


  		




  
  499
  
    
0170:  BCF    06.6


  		




  
  500
  
    
0171:  BCF    03.5


  		




  
  501
  
    
0172:  BSF    06.6


  		




  
  502
  
    
0173:  BSF    03.5


  		




  
  503
  
    
0174:  BCF    06.5


  		




  
  504
  
    
0175:  BCF    03.5


  		




  
  505
  
    
0176:  BCF    06.5


  		




  
  506
  
    
0177:  BSF    03.5


  		




  
  507
  
    
0178:  BCF    06.4


  		




  
  508
  
    
0179:  BCF    03.5


  		




  
  509
  
    
017A:  BSF    06.4


  		




  
  510
  
    
017B:  MOVLW  04


  		




  
  511
  
    
017C:  MOVWF  73


  		




  
  512
  
    
017D:  MOVLW  FA


  		




  
  513
  
    
017E:  MOVWF  75


  		




  
  514
  
    
017F:  CALL   088


  		




  
  515
  
    
0180:  DECFSZ 73,F


  		




  
  516
  
    
0181:  GOTO   17D


  		




  
  517
  
    
0182:  BSF    03.5


  		




  
  518
  
    
0183:  BCF    06.6


  		




  
  519
  
    
0184:  BCF    03.5


  		




  
  520
  
    
0185:  BCF    06.6


  		




  
  521
  
    
0186:  BSF    03.5


  		




  
  522
  
    
0187:  BCF    06.7


  		




  
  523
  
    
0188:  BCF    03.5


  		




  
  524
  
    
0189:  BCF    06.7


  		




  
  525
  
    
018A:  BSF    03.5


  		




  
  526
  
    
018B:  BCF    06.4


  		




  
  527
  
    
018C:  BCF    03.5


  		




  
  528
  
    
018D:  BCF    06.4


  		




  
  529
  
    
018E:  BSF    03.5


  		




  
  530
  
    
018F:  BCF    06.5


  		




  
  531
  
    
0190:  BCF    03.5


  		




  
  532
  
    
0191:  BCF    06.5


  		




  
  533
  
    
0192:  MOVLW  04


  		




  
  534
  
    
0193:  MOVWF  73


  		




  
  535
  
    
0194:  MOVLW  FA


  		




  
  536
  
    
0195:  MOVWF  75


  		




  
  537
  
    
0196:  CALL   088


  		




  
  538
  
    
0197:  DECFSZ 73,F


  		




  
  539
  
    
0198:  GOTO   194


  		




  
  540
  
    
....................       BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);  


  		




  
  541
  
    
0199:  BSF    03.5


  		




  
  542
  
    
019A:  BCF    06.6


  		




  
  543
  
    
019B:  BCF    03.5


  		




  
  544
  
    
019C:  BCF    06.6


  		




  
  545
  
    
019D:  BSF    03.5


  		




  
  546
  
    
019E:  BCF    06.7


  		




  
  547
  
    
019F:  BCF    03.5


  		




  
  548
  
    
01A0:  BSF    06.7


  		




  
  549
  
    
01A1:  BSF    03.5


  		




  
  550
  
    
01A2:  BCF    06.4


  		




  
  551
  
    
01A3:  BCF    03.5


  		




  
  552
  
    
01A4:  BCF    06.4


  		




  
  553
  
    
01A5:  BSF    03.5


  		




  
  554
  
    
01A6:  BCF    06.5


  		




  
  555
  
    
01A7:  BCF    03.5


  		




  
  556
  
    
01A8:  BSF    06.5


  		




  
  557
  
    
01A9:  MOVLW  04


  		




  
  558
  
    
01AA:  MOVWF  73


  		




  
  559
  
    
01AB:  MOVLW  FA


  		




  
  560
  
    
01AC:  MOVWF  75


  		




  
  561
  
    
01AD:  CALL   088


  		




  
  562
  
    
01AE:  DECFSZ 73,F


  		




  
  563
  
    
01AF:  GOTO   1AB


  		




  
  564
  
    
01B0:  BSF    03.5


  		




  
  565
  
    
01B1:  BCF    06.6


  		




  
  566
  
    
01B2:  BCF    03.5


  		




  
  567
  
    
01B3:  BCF    06.6


  		




  
  568
  
    
01B4:  BSF    03.5


  		




  
  569
  
    
01B5:  BCF    06.7


  		




  
  570
  
    
01B6:  BCF    03.5


  		




  
  571
  
    
01B7:  BCF    06.7


  		




  
  572
  
    
01B8:  BSF    03.5


  		




  
  573
  
    
01B9:  BCF    06.4


  		




  
  574
  
    
01BA:  BCF    03.5


  		




  
  575
  
    
01BB:  BCF    06.4


  		




  
  576
  
    
01BC:  BSF    03.5


  		




  
  577
  
    
01BD:  BCF    06.5


  		




  
  578
  
    
01BE:  BCF    03.5


  		




  
  579
  
    
01BF:  BCF    06.5


  		




  
  580
  
    
01C0:  MOVLW  04


  		




  
  581
  
    
01C1:  MOVWF  73


  		




  
  582
  
    
01C2:  MOVLW  FA


  		




  
  583
  
    
01C3:  MOVWF  75


  		




  
  584
  
    
01C4:  CALL   088


  		




  
  585
  
    
01C5:  DECFSZ 73,F


  		




  
  586
  
    
01C6:  GOTO   1C2


  		




  
  587
  
    
....................    };  


  		




  
  588
  
    
01C7:  GOTO   09D


  		




  
  589
  
    
....................    while (input(DIAG_SENSORS))  


  		




  
  590
  
    
....................    {  


  		




  
  591
  
    
01C8:  BSF    03.5


  		




  
  592
  
    
01C9:  BSF    06.2


  		




  
  593
  
    
01CA:  BCF    03.5


  		




  
  594
  
    
01CB:  BTFSS  06.2


  		




  
  595
  
    
01CC:  GOTO   1FB


  		




  
  596
  
    
....................       if (RSENSOR) beep(900,500);  


  		




  
  597
  
    
01CD:  BSF    03.5


  		




  
  598
  
    
01CE:  BTFSS  1C.7


  		




  
  599
  
    
01CF:  GOTO   1DB


  		




  
  600
  
    
01D0:  MOVLW  03


  		




  
  601
  
    
01D1:  MOVWF  75


  		




  
  602
  
    
01D2:  MOVLW  84


  		




  
  603
  
    
01D3:  MOVWF  74


  		




  
  604
  
    
01D4:  MOVLW  01


  		




  
  605
  
    
01D5:  MOVWF  7D


  		




  
  606
  
    
01D6:  MOVLW  F4


  		




  
  607
  
    
01D7:  MOVWF  7C


  		




  
  608
  
    
01D8:  BCF    03.5


  		




  
  609
  
    
01D9:  CALL   05C


  		




  
  610
  
    
01DA:  BSF    03.5


  		




  
  611
  
    
....................       if (LSENSOR) beep(800,500);  


  		




  
  612
  
    
01DB:  BTFSS  1C.6


  		




  
  613
  
    
01DC:  GOTO   1E8


  		




  
  614
  
    
01DD:  MOVLW  03


  		




  
  615
  
    
01DE:  MOVWF  75


  		




  
  616
  
    
01DF:  MOVLW  20


  		




  
  617
  
    
01E0:  MOVWF  74


  		




  
  618
  
    
01E1:  MOVLW  01


  		




  
  619
  
    
01E2:  MOVWF  7D


  		




  
  620
  
    
01E3:  MOVLW  F4


  		




  
  621
  
    
01E4:  MOVWF  7C


  		




  
  622
  
    
01E5:  BCF    03.5


  		




  
  623
  
    
01E6:  CALL   05C


  		




  
  624
  
    
01E7:  BSF    03.5


  		




  
  625
  
    
....................       if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(1000,500);  


  		




  
  626
  
    
01E8:  BCF    03.5


  		




  
  627
  
    
01E9:  BTFSS  1F.2


  		




  
  628
  
    
01EA:  GOTO   1ED


  		




  
  629
  
    
01EB:  BSF    03.5


  		




  
  630
  
    
01EC:  GOTO   1E8


  		




  
  631
  
    
01ED:  MOVF   1E,W


  		




  
  632
  
    
01EE:  SUBLW  7F


  		




  
  633
  
    
01EF:  BTFSS  03.0


  		




  
  634
  
    
01F0:  GOTO   1FA


  		




  
  635
  
    
01F1:  MOVLW  03


  		




  
  636
  
    
01F2:  MOVWF  75


  		




  
  637
  
    
01F3:  MOVLW  E8


  		




  
  638
  
    
01F4:  MOVWF  74


  		




  
  639
  
    
01F5:  MOVLW  01


  		




  
  640
  
    
01F6:  MOVWF  7D


  		




  
  641
  
    
01F7:  MOVLW  F4


  		




  
  642
  
    
01F8:  MOVWF  7C


  		




  
  643
  
    
01F9:  CALL   05C


  		




  
  644
  
    
....................    };  


  		




  
  645
  
    
01FA:  GOTO   1C8


  		




  
  646
  
    
.................... }  


  		




  
  647
  
    
01FB:  BCF    0A.3


  		




  
  648
  
    
01FC:  GOTO   596 (RETURN)


  		




  
  649
  
    
.................... ///////////////////////////////////////////////////////////////////////////////  


  		




  
  650
  
    
.................... void cikcak()  


  		




  
  651
  
    
.................... {  


  		




  
  652
  
    
.................... unsigned int16 n;  


  		




  
  653
  
    
.................... sem1:  


  		




  
  654
  
    
....................    n=CIK_CAK;  


  		




  
  655
  
    
01FD:  MOVLW  75


  		




  
  656
  
    
01FE:  MOVWF  75


  		




  
  657
  
    
01FF:  MOVLW  30


  		




  
  658
  
    
0200:  MOVWF  74


  		




  
  659
  
    
.................... 	while (0==RSENSOR||LSENSOR)       // zkontroluj caru  


  		




  
  660
  
    
.................... 	{  


  		




  
  661
  
    
0201:  MOVLW  00


  		




  
  662
  
    
0202:  BSF    03.5


  		




  
  663
  
    
0203:  BTFSC  1C.7


  		




  
  664
  
    
0204:  MOVLW  01


  		




  
  665
  
    
0205:  XORLW  00


  		




  
  666
  
    
0206:  BTFSC  03.2


  		




  
  667
  
    
0207:  GOTO   20A


  		




  
  668
  
    
0208:  BTFSS  1C.6


  		




  
  669
  
    
0209:  GOTO   264


  		




  
  670
  
    
.................... 		if (n==CIK_CAK)							// zmen smer zataceni  


  		




  
  671
  
    
020A:  MOVF   74,W


  		




  
  672
  
    
020B:  SUBLW  30


  		




  
  673
  
    
020C:  BTFSS  03.2


  		




  
  674
  
    
020D:  GOTO   25E


  		




  
  675
  
    
020E:  MOVF   75,W


  		




  
  676
  
    
020F:  SUBLW  75


  		




  
  677
  
    
0210:  BTFSS  03.2


  		




  
  678
  
    
0211:  GOTO   25E


  		




  
  679
  
    
.................... 		{  


  		




  
  680
  
    
.................... 			n=0;  


  		




  
  681
  
    
0212:  CLRF   75


  		




  
  682
  
    
0213:  CLRF   74


  		




  
  683
  
    
.................... 			switch(movement)  


  		




  
  684
  
    
.................... 			{  


  		




  
  685
  
    
0214:  BCF    03.5


  		




  
  686
  
    
0215:  MOVF   45,W


  		




  
  687
  
    
0216:  XORLW  02


  		




  
  688
  
    
0217:  BTFSC  03.2


  		




  
  689
  
    
0218:  GOTO   220


  		




  
  690
  
    
0219:  XORLW  03


  		




  
  691
  
    
021A:  BTFSC  03.2


  		




  
  692
  
    
021B:  GOTO   233


  		




  
  693
  
    
021C:  XORLW  02


  		




  
  694
  
    
021D:  BTFSC  03.2


  		




  
  695
  
    
021E:  GOTO   246


  		




  
  696
  
    
021F:  GOTO   25D


  		




  
  697
  
    
.................... 			case L:  


  		




  
  698
  
    
.................... 						FL;BR;  


  		




  
  699
  
    
0220:  BSF    03.5


  		




  
  700
  
    
0221:  BCF    06.7


  		




  
  701
  
    
0222:  BCF    03.5


  		




  
  702
  
    
0223:  BCF    06.7


  		




  
  703
  
    
0224:  BSF    03.5


  		




  
  704
  
    
0225:  BCF    06.6


  		




  
  705
  
    
0226:  BCF    03.5


  		




  
  706
  
    
0227:  BSF    06.6


  		




  
  707
  
    
0228:  BSF    03.5


  		




  
  708
  
    
0229:  BCF    06.4


  		




  
  709
  
    
022A:  BCF    03.5


  		




  
  710
  
    
022B:  BCF    06.4


  		




  
  711
  
    
022C:  BSF    03.5


  		




  
  712
  
    
022D:  BCF    06.5


  		




  
  713
  
    
022E:  BCF    03.5


  		




  
  714
  
    
022F:  BSF    06.5


  		




  
  715
  
    
.................... 						movement=R;  


  		




  
  716
  
    
0230:  MOVLW  01


  		




  
  717
  
    
0231:  MOVWF  45


  		




  
  718
  
    
.................... 					break;  


  		




  
  719
  
    
0232:  GOTO   25D


  		




  
  720
  
    
.................... 			case R:  


  		




  
  721
  
    
.................... 						FR;BL;  


  		




  
  722
  
    
0233:  BSF    03.5


  		




  
  723
  
    
0234:  BCF    06.5


  		




  
  724
  
    
0235:  BCF    03.5


  		




  
  725
  
    
0236:  BCF    06.5


  		




  
  726
  
    
0237:  BSF    03.5


  		




  
  727
  
    
0238:  BCF    06.4


  		




  
  728
  
    
0239:  BCF    03.5


  		




  
  729
  
    
023A:  BSF    06.4


  		




  
  730
  
    
023B:  BSF    03.5


  		




  
  731
  
    
023C:  BCF    06.6


  		




  
  732
  
    
023D:  BCF    03.5


  		




  
  733
  
    
023E:  BCF    06.6


  		




  
  734
  
    
023F:  BSF    03.5


  		




  
  735
  
    
0240:  BCF    06.7


  		




  
  736
  
    
0241:  BCF    03.5


  		




  
  737
  
    
0242:  BSF    06.7


  		




  
  738
  
    
.................... 						movement=L;  


  		




  
  739
  
    
0243:  MOVLW  02


  		




  
  740
  
    
0244:  MOVWF  45


  		




  
  741
  
    
.................... 					break;  


  		




  
  742
  
    
0245:  GOTO   25D


  		




  
  743
  
    
....................          case S:  


  		




  
  744
  
    
.................... 				     FL;BR;  


  		




  
  745
  
    
0246:  BSF    03.5


  		




  
  746
  
    
0247:  BCF    06.7


  		




  
  747
  
    
0248:  BCF    03.5


  		




  
  748
  
    
0249:  BCF    06.7


  		




  
  749
  
    
024A:  BSF    03.5


  		




  
  750
  
    
024B:  BCF    06.6


  		




  
  751
  
    
024C:  BCF    03.5


  		




  
  752
  
    
024D:  BSF    06.6


  		




  
  753
  
    
024E:  BSF    03.5


  		




  
  754
  
    
024F:  BCF    06.4


  		




  
  755
  
    
0250:  BCF    03.5


  		




  
  756
  
    
0251:  BCF    06.4


  		




  
  757
  
    
0252:  BSF    03.5


  		




  
  758
  
    
0253:  BCF    06.5


  		




  
  759
  
    
0254:  BCF    03.5


  		




  
  760
  
    
0255:  BSF    06.5


  		




  
  761
  
    
.................... 				     movement=R;  


  		




  
  762
  
    
0256:  MOVLW  01


  		




  
  763
  
    
0257:  MOVWF  45


  		




  
  764
  
    
....................                  n=CIK_CAK/2;  


  		




  
  765
  
    
0258:  MOVLW  3A


  		




  
  766
  
    
0259:  MOVWF  75


  		




  
  767
  
    
025A:  MOVLW  98


  		




  
  768
  
    
025B:  MOVWF  74


  		




  
  769
  
    
.................... 			      break;  


  		




  
  770
  
    
025C:  GOTO   25D


  		




  
  771
  
    
025D:  BSF    03.5


  		




  
  772
  
    
.................... 			}  


  		




  
  773
  
    
.................... 		}  


  		




  
  774
  
    
.................... 		n++;  


  		




  
  775
  
    
025E:  INCF   74,F


  		




  
  776
  
    
025F:  BTFSC  03.2


  		




  
  777
  
    
0260:  INCF   75,F


  		




  
  778
  
    
.................... 	}  


  		




  
  779
  
    
0261:  BCF    03.5


  		




  
  780
  
    
0262:  GOTO   201


  		




  
  781
  
    
0263:  BSF    03.5


  		




  
  782
  
    
.................... 	STOPL;STOPR;  


  		




  
  783
  
    
0264:  BCF    06.6


  		




  
  784
  
    
0265:  BCF    03.5


  		




  
  785
  
    
0266:  BCF    06.6


  		




  
  786
  
    
0267:  BSF    03.5


  		




  
  787
  
    
0268:  BCF    06.7


  		




  
  788
  
    
0269:  BCF    03.5


  		




  
  789
  
    
026A:  BCF    06.7


  		




  
  790
  
    
026B:  BSF    03.5


  		




  
  791
  
    
026C:  BCF    06.4


  		




  
  792
  
    
026D:  BCF    03.5


  		




  
  793
  
    
026E:  BCF    06.4


  		




  
  794
  
    
026F:  BSF    03.5


  		




  
  795
  
    
0270:  BCF    06.5


  		




  
  796
  
    
0271:  BCF    03.5


  		




  
  797
  
    
0272:  BCF    06.5


  		




  
  798
  
    
....................    line = RSENSOR;         // cteni senzoru na caru  


  		




  
  799
  
    
0273:  CLRF   41


  		




  
  800
  
    
0274:  BSF    03.5


  		




  
  801
  
    
0275:  BTFSS  1C.7


  		




  
  802
  
    
0276:  GOTO   27A


  		




  
  803
  
    
0277:  BCF    03.5


  		




  
  804
  
    
0278:  INCF   41,F


  		




  
  805
  
    
0279:  BSF    03.5


  		




  
  806
  
    
....................    line |= LSENSOR << 1;  


  		




  
  807
  
    
027A:  MOVLW  00


  		




  
  808
  
    
027B:  BTFSC  1C.6


  		




  
  809
  
    
027C:  MOVLW  01


  		




  
  810
  
    
027D:  MOVWF  77


  		




  
  811
  
    
027E:  BCF    03.0


  		




  
  812
  
    
027F:  RLF    77,F


  		




  
  813
  
    
0280:  MOVF   77,W


  		




  
  814
  
    
0281:  BCF    03.5


  		




  
  815
  
    
0282:  IORWF  41,F


  		




  
  816
  
    
....................    if (line==0) goto sem1;  


  		




  
  817
  
    
0283:  MOVF   41,F


  		




  
  818
  
    
0284:  BTFSC  03.2


  		




  
  819
  
    
0285:  GOTO   1FD


  		




  
  820
  
    
....................    												// nasli jsme caru  


  		




  
  821
  
    
.................... 	line=S;  


  		




  
  822
  
    
0286:  MOVLW  03


  		




  
  823
  
    
0287:  MOVWF  41


  		




  
  824
  
    
.................... }  


  		




  
  825
  
    
0288:  RETLW  00


  		




  
  826
  
    
.................... ///////////////////////////////////////////////////////////////////////////////  


  		




  
  827
  
    
.................... void objizdka()                     // objede cihlu  


  		




  
  828
  
    
.................... {  


  		




  
  829
  
    
.................... unsigned int16 n;  


  		




  
  830
  
    
....................   


  		




  
  831
  
    
.................... 	BL;BR;Delay_ms(200);  


  		




  
  832
  
    
0289:  BSF    03.5


  		




  
  833
  
    
028A:  BCF    06.6


  		




  
  834
  
    
028B:  BCF    03.5


  		




  
  835
  
    
028C:  BCF    06.6


  		




  
  836
  
    
028D:  BSF    03.5


  		




  
  837
  
    
028E:  BCF    06.7


  		




  
  838
  
    
028F:  BCF    03.5


  		




  
  839
  
    
0290:  BSF    06.7


  		




  
  840
  
    
0291:  BSF    03.5


  		




  
  841
  
    
0292:  BCF    06.4


  		




  
  842
  
    
0293:  BCF    03.5


  		




  
  843
  
    
0294:  BCF    06.4


  		




  
  844
  
    
0295:  BSF    03.5


  		




  
  845
  
    
0296:  BCF    06.5


  		




  
  846
  
    
0297:  BCF    03.5


  		




  
  847
  
    
0298:  BSF    06.5


  		




  
  848
  
    
0299:  MOVLW  C8


  		




  
  849
  
    
029A:  MOVWF  75


  		




  
  850
  
    
029B:  CALL   088


  		




  
  851
  
    
.................... 	STOPR;STOPL;  


  		




  
  852
  
    
029C:  BSF    03.5


  		




  
  853
  
    
029D:  BCF    06.4


  		




  
  854
  
    
029E:  BCF    03.5


  		




  
  855
  
    
029F:  BCF    06.4


  		




  
  856
  
    
02A0:  BSF    03.5


  		




  
  857
  
    
02A1:  BCF    06.5


  		




  
  858
  
    
02A2:  BCF    03.5


  		




  
  859
  
    
02A3:  BCF    06.5


  		




  
  860
  
    
02A4:  BSF    03.5


  		




  
  861
  
    
02A5:  BCF    06.6


  		




  
  862
  
    
02A6:  BCF    03.5


  		




  
  863
  
    
02A7:  BCF    06.6


  		




  
  864
  
    
02A8:  BSF    03.5


  		




  
  865
  
    
02A9:  BCF    06.7


  		




  
  866
  
    
02AA:  BCF    03.5


  		




  
  867
  
    
02AB:  BCF    06.7


  		




  
  868
  
    
.................... 	beep(900,1000);  


  		




  
  869
  
    
02AC:  MOVLW  03


  		




  
  870
  
    
02AD:  MOVWF  75


  		




  
  871
  
    
02AE:  MOVLW  84


  		




  
  872
  
    
02AF:  MOVWF  74


  		




  
  873
  
    
02B0:  MOVLW  03


  		




  
  874
  
    
02B1:  MOVWF  7D


  		




  
  875
  
    
02B2:  MOVLW  E8


  		




  
  876
  
    
02B3:  MOVWF  7C


  		




  
  877
  
    
02B4:  CALL   05C


  		




  
  878
  
    
....................   // movement=S;  


  		




  
  879
  
    
....................    //cikcak();  


  		




  
  880
  
    
....................   


  		




  
  881
  
    
....................    BL; FR; Delay_ms(215);           // otoc se 70? do leva  


  		




  
  882
  
    
02B5:  BSF    03.5


  		




  
  883
  
    
02B6:  BCF    06.6


  		




  
  884
  
    
02B7:  BCF    03.5


  		




  
  885
  
    
02B8:  BCF    06.6


  		




  
  886
  
    
02B9:  BSF    03.5


  		




  
  887
  
    
02BA:  BCF    06.7


  		




  
  888
  
    
02BB:  BCF    03.5


  		




  
  889
  
    
02BC:  BSF    06.7


  		




  
  890
  
    
02BD:  BSF    03.5


  		




  
  891
  
    
02BE:  BCF    06.5


  		




  
  892
  
    
02BF:  BCF    03.5


  		




  
  893
  
    
02C0:  BCF    06.5


  		




  
  894
  
    
02C1:  BSF    03.5


  		




  
  895
  
    
02C2:  BCF    06.4


  		




  
  896
  
    
02C3:  BCF    03.5


  		




  
  897
  
    
02C4:  BSF    06.4


  		




  
  898
  
    
02C5:  MOVLW  D7


  		




  
  899
  
    
02C6:  MOVWF  75


  		




  
  900
  
    
02C7:  CALL   088


  		




  
  901
  
    
....................   


  		




  
  902
  
    
....................    FR; FL; Delay_ms(600);           // popojed rovne  


  		




  
  903
  
    
02C8:  BSF    03.5


  		




  
  904
  
    
02C9:  BCF    06.5


  		




  
  905
  
    
02CA:  BCF    03.5


  		




  
  906
  
    
02CB:  BCF    06.5


  		




  
  907
  
    
02CC:  BSF    03.5


  		




  
  908
  
    
02CD:  BCF    06.4


  		




  
  909
  
    
02CE:  BCF    03.5


  		




  
  910
  
    
02CF:  BSF    06.4


  		




  
  911
  
    
02D0:  BSF    03.5


  		




  
  912
  
    
02D1:  BCF    06.7


  		




  
  913
  
    
02D2:  BCF    03.5


  		




  
  914
  
    
02D3:  BCF    06.7


  		




  
  915
  
    
02D4:  BSF    03.5


  		




  
  916
  
    
02D5:  BCF    06.6


  		




  
  917
  
    
02D6:  BCF    03.5


  		




  
  918
  
    
02D7:  BSF    06.6


  		




  
  919
  
    
02D8:  MOVLW  03


  		




  
  920
  
    
02D9:  MOVWF  73


  		




  
  921
  
    
02DA:  MOVLW  C8


  		




  
  922
  
    
02DB:  MOVWF  75


  		




  
  923
  
    
02DC:  CALL   088


  		




  
  924
  
    
02DD:  DECFSZ 73,F


  		




  
  925
  
    
02DE:  GOTO   2DA


  		




  
  926
  
    
....................   


  		




  
  927
  
    
....................    BR; Delay_ms(50);               // otoc se 90? do prava  


  		




  
  928
  
    
02DF:  BSF    03.5


  		




  
  929
  
    
02E0:  BCF    06.4


  		




  
  930
  
    
02E1:  BCF    03.5


  		




  
  931
  
    
02E2:  BCF    06.4


  		




  
  932
  
    
02E3:  BSF    03.5


  		




  
  933
  
    
02E4:  BCF    06.5


  		




  
  934
  
    
02E5:  BCF    03.5


  		




  
  935
  
    
02E6:  BSF    06.5


  		




  
  936
  
    
02E7:  MOVLW  32


  		




  
  937
  
    
02E8:  MOVWF  75


  		




  
  938
  
    
02E9:  CALL   088


  		




  
  939
  
    
....................    STOPR; FL; Delay_ms(600);  


  		




  
  940
  
    
02EA:  BSF    03.5


  		




  
  941
  
    
02EB:  BCF    06.4


  		




  
  942
  
    
02EC:  BCF    03.5


  		




  
  943
  
    
02ED:  BCF    06.4


  		




  
  944
  
    
02EE:  BSF    03.5


  		




  
  945
  
    
02EF:  BCF    06.5


  		




  
  946
  
    
02F0:  BCF    03.5


  		




  
  947
  
    
02F1:  BCF    06.5


  		




  
  948
  
    
02F2:  BSF    03.5


  		




  
  949
  
    
02F3:  BCF    06.7


  		




  
  950
  
    
02F4:  BCF    03.5


  		




  
  951
  
    
02F5:  BCF    06.7


  		




  
  952
  
    
02F6:  BSF    03.5


  		




  
  953
  
    
02F7:  BCF    06.6


  		




  
  954
  
    
02F8:  BCF    03.5


  		




  
  955
  
    
02F9:  BSF    06.6


  		




  
  956
  
    
02FA:  MOVLW  03


  		




  
  957
  
    
02FB:  MOVWF  73


  		




  
  958
  
    
02FC:  MOVLW  C8


  		




  
  959
  
    
02FD:  MOVWF  75


  		




  
  960
  
    
02FE:  CALL   088


  		




  
  961
  
    
02FF:  DECFSZ 73,F


  		




  
  962
  
    
0300:  GOTO   2FC


  		




  
  963
  
    
....................   


  		




  
  964
  
    
....................    FR; FL; Delay_ms(100);           // popojed rovne na slepo  


  		




  
  965
  
    
0301:  BSF    03.5


  		




  
  966
  
    
0302:  BCF    06.5


  		




  
  967
  
    
0303:  BCF    03.5


  		




  
  968
  
    
0304:  BCF    06.5


  		




  
  969
  
    
0305:  BSF    03.5


  		




  
  970
  
    
0306:  BCF    06.4


  		




  
  971
  
    
0307:  BCF    03.5


  		




  
  972
  
    
0308:  BSF    06.4


  		




  
  973
  
    
0309:  BSF    03.5


  		




  
  974
  
    
030A:  BCF    06.7


  		




  
  975
  
    
030B:  BCF    03.5


  		




  
  976
  
    
030C:  BCF    06.7


  		




  
  977
  
    
030D:  BSF    03.5


  		




  
  978
  
    
030E:  BCF    06.6


  		




  
  979
  
    
030F:  BCF    03.5


  		




  
  980
  
    
0310:  BSF    06.6


  		




  
  981
  
    
0311:  MOVLW  64


  		




  
  982
  
    
0312:  MOVWF  75


  		




  
  983
  
    
0313:  CALL   088


  		




  
  984
  
    
....................    for(n=600;n>0;n--)               // popojed rovne ale kontroluj caru  


  		




  
  985
  
    
0314:  MOVLW  02


  		




  
  986
  
    
0315:  MOVWF  72


  		




  
  987
  
    
0316:  MOVLW  58


  		




  
  988
  
    
0317:  MOVWF  71


  		




  
  989
  
    
0318:  MOVF   71,F


  		




  
  990
  
    
0319:  BTFSS  03.2


  		




  
  991
  
    
031A:  GOTO   31E


  		




  
  992
  
    
031B:  MOVF   72,F


  		




  
  993
  
    
031C:  BTFSC  03.2


  		




  
  994
  
    
031D:  GOTO   33D


  		




  
  995
  
    
....................    {  


  		




  
  996
  
    
....................       line = RSENSOR;         // cteni senzoru na caru  


  		




  
  997
  
    
031E:  CLRF   41


  		




  
  998
  
    
031F:  BSF    03.5


  		




  
  999
  
    
0320:  BTFSS  1C.7


  		




  
  1000
  
    
0321:  GOTO   325


  		




  
  1001
  
    
0322:  BCF    03.5


  		




  
  1002
  
    
0323:  INCF   41,F


  		




  
  1003
  
    
0324:  BSF    03.5


  		




  
  1004
  
    
....................       line |= LSENSOR << 1;  


  		




  
  1005
  
    
0325:  MOVLW  00


  		




  
  1006
  
    
0326:  BTFSC  1C.6


  		




  
  1007
  
    
0327:  MOVLW  01


  		




  
  1008
  
    
0328:  MOVWF  77


  		




  
  1009
  
    
0329:  BCF    03.0


  		




  
  1010
  
    
032A:  RLF    77,F


  		




  
  1011
  
    
032B:  MOVF   77,W


  		




  
  1012
  
    
032C:  BCF    03.5


  		




  
  1013
  
    
032D:  IORWF  41,F


  		




  
  1014
  
    
....................       if (line!=0) {Delay_ms(50); break;}       // kdyz narazis na caru, za chvili zastav  


  		




  
  1015
  
    
032E:  MOVF   41,F


  		




  
  1016
  
    
032F:  BTFSC  03.2


  		




  
  1017
  
    
0330:  GOTO   335


  		




  
  1018
  
    
0331:  MOVLW  32


  		




  
  1019
  
    
0332:  MOVWF  75


  		




  
  1020
  
    
0333:  CALL   088


  		




  
  1021
  
    
0334:  GOTO   33D


  		




  
  1022
  
    
....................       Delay_ms(1);  


  		




  
  1023
  
    
0335:  MOVLW  01


  		




  
  1024
  
    
0336:  MOVWF  75


  		




  
  1025
  
    
0337:  CALL   088


  		




  
  1026
  
    
....................    }  


  		




  
  1027
  
    
0338:  MOVF   71,W


  		




  
  1028
  
    
0339:  BTFSC  03.2


  		




  
  1029
  
    
033A:  DECF   72,F


  		




  
  1030
  
    
033B:  DECF   71,F


  		




  
  1031
  
    
033C:  GOTO   318


  		




  
  1032
  
    
....................   


  		




  
  1033
  
    
....................    BL;                              // otoc se 60? do leva  


  		




  
  1034
  
    
033D:  BSF    03.5


  		




  
  1035
  
    
033E:  BCF    06.6


  		




  
  1036
  
    
033F:  BCF    03.5


  		




  
  1037
  
    
0340:  BCF    06.6


  		




  
  1038
  
    
0341:  BSF    03.5


  		




  
  1039
  
    
0342:  BCF    06.7


  		




  
  1040
  
    
0343:  BCF    03.5


  		




  
  1041
  
    
0344:  BSF    06.7


  		




  
  1042
  
    
....................    for(n=600;n>0;n--)  


  		




  
  1043
  
    
0345:  MOVLW  02


  		




  
  1044
  
    
0346:  MOVWF  72


  		




  
  1045
  
    
0347:  MOVLW  58


  		




  
  1046
  
    
0348:  MOVWF  71


  		




  
  1047
  
    
0349:  MOVF   71,F


  		




  
  1048
  
    
034A:  BTFSS  03.2


  		




  
  1049
  
    
034B:  GOTO   34F


  		




  
  1050
  
    
034C:  MOVF   72,F


  		




  
  1051
  
    
034D:  BTFSC  03.2


  		




  
  1052
  
    
034E:  GOTO   36A


  		




  
  1053
  
    
....................    {  


  		




  
  1054
  
    
....................       line = RSENSOR;         // cteni senzoru na caru  


  		




  
  1055
  
    
034F:  CLRF   41


  		




  
  1056
  
    
0350:  BSF    03.5


  		




  
  1057
  
    
0351:  BTFSS  1C.7


  		




  
  1058
  
    
0352:  GOTO   356


  		




  
  1059
  
    
0353:  BCF    03.5


  		




  
  1060
  
    
0354:  INCF   41,F


  		




  
  1061
  
    
0355:  BSF    03.5


  		




  
  1062
  
    
....................       line |= LSENSOR << 1;  


  		




  
  1063
  
    
0356:  MOVLW  00


  		




  
  1064
  
    
0357:  BTFSC  1C.6


  		




  
  1065
  
    
0358:  MOVLW  01


  		




  
  1066
  
    
0359:  MOVWF  77


  		




  
  1067
  
    
035A:  BCF    03.0


  		




  
  1068
  
    
035B:  RLF    77,F


  		




  
  1069
  
    
035C:  MOVF   77,W


  		




  
  1070
  
    
035D:  BCF    03.5


  		




  
  1071
  
    
035E:  IORWF  41,F


  		




  
  1072
  
    
....................       if (line!=0) break;  


  		




  
  1073
  
    
035F:  MOVF   41,F


  		




  
  1074
  
    
0360:  BTFSS  03.2


  		




  
  1075
  
    
0361:  GOTO   36A


  		




  
  1076
  
    
....................       Delay_ms(1);  


  		




  
  1077
  
    
0362:  MOVLW  01


  		




  
  1078
  
    
0363:  MOVWF  75


  		




  
  1079
  
    
0364:  CALL   088


  		




  
  1080
  
    
....................    }  


  		




  
  1081
  
    
0365:  MOVF   71,W


  		




  
  1082
  
    
0366:  BTFSC  03.2


  		




  
  1083
  
    
0367:  DECF   72,F


  		




  
  1084
  
    
0368:  DECF   71,F


  		




  
  1085
  
    
0369:  GOTO   349


  		




  
  1086
  
    
....................    STOPR; STOPL;  


  		




  
  1087
  
    
036A:  BSF    03.5


  		




  
  1088
  
    
036B:  BCF    06.4


  		




  
  1089
  
    
036C:  BCF    03.5


  		




  
  1090
  
    
036D:  BCF    06.4


  		




  
  1091
  
    
036E:  BSF    03.5


  		




  
  1092
  
    
036F:  BCF    06.5


  		




  
  1093
  
    
0370:  BCF    03.5


  		




  
  1094
  
    
0371:  BCF    06.5


  		




  
  1095
  
    
0372:  BSF    03.5


  		




  
  1096
  
    
0373:  BCF    06.6


  		




  
  1097
  
    
0374:  BCF    03.5


  		




  
  1098
  
    
0375:  BCF    06.6


  		




  
  1099
  
    
0376:  BSF    03.5


  		




  
  1100
  
    
0377:  BCF    06.7


  		




  
  1101
  
    
0378:  BCF    03.5


  		




  
  1102
  
    
0379:  BCF    06.7


  		




  
  1103
  
    
....................   


  		




  
  1104
  
    
....................    movement=R;  


  		




  
  1105
  
    
037A:  MOVLW  01


  		




  
  1106
  
    
037B:  MOVWF  45


  		








... Π­Ρ‚ΠΎΡ‚ diff ΠΎΠ³Ρ€Π°Π½ΠΈΡ‡Π΅Π½, Ρ‚Π°ΠΊ ΠΊΠ°ΠΊ ΠΏΡ€Π΅Π²Ρ‹ΡˆΠ°Π΅Ρ‚ ΠΌΠ°ΠΊΡΠΈΠΌΠ°Π»ΡŒΠ½Ρ‹ΠΉ ΠΎΡ‚ΠΎΠ±Ρ€Π°ΠΆΠ°Π΅ΠΌΡ‹ΠΉ Ρ€Π°Π·ΠΌΠ΅Ρ€.

:@created_atf1417826026.4870181+N:@expires_in0