Subversion Repositories svnkaklik

CCS PCM C Compiler, Version 3.245, 27853               17-IV-06 12:46

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

               ROM used: 849 words (21%)
                         Largest free fragment is 2048
               RAM used: 27 (15%) at main() level
                         34 (19%) worst case
               Stack:    4 worst case (2 in main + 2 for interrupts)

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   1E3
0003:  NOP
0004:  MOVWF  7F
0005:  SWAPF  03,W
0006:  CLRF   03
0007:  MOVWF  21
0008:  MOVF   7F,W
0009:  MOVWF  20
000A:  MOVF   0A,W
000B:  MOVWF  28
000C:  CLRF   0A
000D:  SWAPF  20,F
000E:  MOVF   04,W
000F:  MOVWF  22
0010:  MOVF   77,W
0011:  MOVWF  23
0012:  MOVF   78,W
0013:  MOVWF  24
0014:  MOVF   79,W
0015:  MOVWF  25
0016:  MOVF   7A,W
0017:  MOVWF  26
0018:  MOVF   7B,W
0019:  MOVWF  27
001A:  BCF    03.7
001B:  BCF    03.5
001C:  MOVLW  8C
001D:  MOVWF  04
001E:  BTFSS  00.1
001F:  GOTO   022
0020:  BTFSC  0C.1
0021:  GOTO   035
0022:  MOVF   22,W
0023:  MOVWF  04
0024:  MOVF   23,W
0025:  MOVWF  77
0026:  MOVF   24,W
0027:  MOVWF  78
0028:  MOVF   25,W
0029:  MOVWF  79
002A:  MOVF   26,W
002B:  MOVWF  7A
002C:  MOVF   27,W
002D:  MOVWF  7B
002E:  MOVF   28,W
002F:  MOVWF  0A
0030:  SWAPF  21,W
0031:  MOVWF  03
0032:  SWAPF  7F,F
0033:  SWAPF  7F,W
0034:  RETFIE
0035:  BCF    0A.3
0036:  GOTO   047
.................... #include ".\main.h" 
.................... #include <16F88.h> 
.................... //////// Standard Header file for the PIC16F88 device //////////////// 
.................... #device PIC16F88 
.................... #list 
....................  
.................... #device adc=8 
....................  
.................... #FUSES NOWDT                       //No Watch Dog Timer 
.................... #FUSES INTRC_IO 
.................... #FUSES NOPUT                       //No Power Up Timer 
.................... #FUSES MCLR                        //Master Clear pin enabled 
.................... #FUSES NOBROWNOUT             //Reset when brownout detected 
.................... #FUSES NOLVP                  //Low Voltage Programming on B3(PIC16) or B5(PIC18) 
.................... #FUSES NOCPD                       //No EE protection 
.................... #FUSES NOWRT                       //Program memory not write protected 
.................... #FUSES NODEBUG                     //No Debug mode for ICD 
.................... #FUSES NOPROTECT                   //Code not protected from reading 
.................... #FUSES NOFCMEN                //Fail-safe clock monitor enabled 
.................... #FUSES NOIESO                      //Internal External Switch Over mode enabled 
....................  
.................... #use delay(clock=8000000,RESTART_WDT) 
0037:  MOVLW  08
0038:  SUBWF  3C,F
0039:  BTFSS  03.0
003A:  GOTO   046
003B:  MOVLW  3C
003C:  MOVWF  04
003D:  BCF    03.0
003E:  RRF    00,F
003F:  MOVF   00,W
0040:  BTFSC  03.2
0041:  GOTO   046
0042:  GOTO   044
0043:  CLRWDT
0044:  DECFSZ 00,F
0045:  GOTO   043
0046:  RETLW  00
*
0065:  MOVLW  39
0066:  MOVWF  04
0067:  MOVF   00,W
0068:  BTFSC  03.2
0069:  GOTO   07C
006A:  MOVLW  02
006B:  MOVWF  78
006C:  MOVLW  BF
006D:  MOVWF  77
006E:  CLRWDT
006F:  DECFSZ 77,F
0070:  GOTO   06E
0071:  DECFSZ 78,F
0072:  GOTO   06C
0073:  MOVLW  96
0074:  MOVWF  77
0075:  DECFSZ 77,F
0076:  GOTO   075
0077:  NOP
0078:  NOP
0079:  CLRWDT
007A:  DECFSZ 00,F
007B:  GOTO   06A
007C:  RETLW  00
....................  
....................  
....................  
.................... #define  KOLMO1      225         // predni kolecko sroubem dopredu 
.................... #define  KOLMO2      30          // predni kolecko je hlavou sroubu dozadu 
.................... #define  STRED       128      // sredni poloha zataceciho kolecka 
.................... #define  BEAR1       12       // 3 stupne zataceni 
.................... #define  BEAR2       34 
.................... #define  BEAR3       55 
.................... #define  SPEEDMAX    140      // maximalni rychlost 
....................  
.................... #define  L           1     // cara vlevo 
.................... #define  S           2     // casa mezi sensory 
.................... #define  R           0     // cara vpravo 
....................  
.................... // servo 
.................... #define  SERVO PIN_A2 
....................  
.................... // IR 
.................... #define IRTX      PIN_B2 
.................... #define  CIHLA    PIN_A3 
....................  
.................... //motory 
.................... #define  FR         output_low(PIN_A7); output_high(PIN_A6)  // Vpred 
.................... #define  FL         output_low(PIN_A1); output_high(PIN_A0) 
.................... #define  BR         output_low(PIN_A6); output_high(PIN_A7)  // Vzad 
.................... #define  BL         output_low(PIN_A0); output_high(PIN_A1) 
.................... #define  STOPR      output_low(PIN_A6);output_low(PIN_A7) 
.................... #define  STOPL      output_low(PIN_A0);output_low(PIN_A1) 
....................  
.................... //HID 
.................... #define  LED1     PIN_B1      //oranzova 
.................... #define  LED2     PIN_B2      //zluta 
....................  
.................... #define  STROBE   PIN_B0 
.................... //#define  SW1      PIN_A2      // Motory On/off 
....................  
.................... unsigned int8 sensors;        // pomocna promenna pro cteni cidel na caru 
.................... unsigned int8 line;           // na ktere strane byla detekovana cara 
.................... //unsigned int8 dira;           // pocita dobu po kterou je ztracena cara 
.................... unsigned int8 uhel;           // urcuje aktualni uhel zataceni 
.................... //unsigned int8 speed;          // maximalni povolena rychlost 
.................... unsigned int8 rovinka;        // pocitadlo na zjisteni rovinky 
....................  
.................... signed int16  Lmotor;         // promene, ktere urcuji velikost vykonu na levem 
.................... signed int16  Rmotor;         // a pravem motoru 
....................  
.................... // makro pro PWM pro motory 
.................... #define GO(motor, direction, power) if(get_timer0()<=power) \ 
.................... {direction##motor;} else {stop##motor;} 
....................  
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... /* 
.................... void diagnostika() 
.................... { 
....................    if(input(SW1))STOPR;STOPL;While(TRUE); 
.................... //   if(LSENSOR==true) output_high(LED2); else output_low(LED2); 
.................... //   if(RSENSOR==true) output_high(LED1); else output_low(LED1); 
.................... } 
.................... */ 
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... #int_TIMER2 
.................... TIMER2_isr()      // ovladani serva 
.................... { 
....................    unsigned int8 n; 
....................  
....................    output_high(SERVO); 
*
0047:  BSF    03.5
0048:  BCF    05.2
0049:  BCF    03.5
004A:  BSF    05.2
....................    delay_us(1000); 
004B:  CLRWDT
004C:  MOVLW  09
004D:  MOVWF  3B
004E:  MOVLW  6D
004F:  MOVWF  3C
0050:  CALL   037
0051:  DECFSZ 3B,F
0052:  GOTO   04E
....................    for(n=uhel; n>0; n--) Delay_us(2); 
0053:  MOVF   2C,W
0054:  MOVWF  3A
0055:  MOVF   3A,F
0056:  BTFSC  03.2
0057:  GOTO   05E
0058:  CLRWDT
0059:  NOP
005A:  NOP
005B:  NOP
005C:  DECF   3A,F
005D:  GOTO   055
....................    output_low(SERVO); 
005E:  BSF    03.5
005F:  BCF    05.2
0060:  BCF    03.5
0061:  BCF    05.2
.................... } 
....................  
.................... //////////////////////////////////////////////////////////////////////////////// 
0062:  BCF    0C.1
0063:  BCF    0A.3
0064:  GOTO   022
.................... short int IRcheck()                 // potvrdi detekci cihly 
.................... { 
....................    output_high(IRTX);               // vypne vysilac IR 
....................    delay_ms(100); 
....................  
....................    output_low(STROBE); 
....................    sensors = spi_read(0);         // cteni senzoru 
....................    sensors=~sensors; 
....................    output_high(STROBE); 
....................  
....................    if(true==bit_test(sensors,7))    // otestuje, jestli je stale detekovan IR signal 
....................    { 
....................       output_low(IRTX);             // zapne vysilac IR 
....................       delay_ms(100); 
....................  
....................       output_low(STROBE); 
....................       sensors = spi_read(0);         // cteni senzoru 
....................       sensors=~sensors; 
....................       output_high(STROBE); 
....................  
....................       if(false==bit_test(sensors,7))      // otestuje, jestli je detekovana cihla 
....................       { 
....................          output_high(IRTX);            // vypne vysilac IR 
....................          delay_ms(100); 
....................  
....................          output_low(STROBE); 
....................          sensors = spi_read(0);         // cteni senzoru 
....................          sensors=~sensors; 
....................          output_high(STROBE); 
....................  
....................          output_low(IRTX);             // zapne vysilac IR 
....................          if(bit_test(sensors,7)) return 1; // vrat 1, kdyz je stale cihla 
....................       } 
....................    }; 
....................    output_low(IRTX);             // zapne vysilac IR 
....................    return 0; // vrat 0, kdyz je detekovano ruseni 
.................... } 
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... void objizdka() 
.................... { 
....................    int8 shure=0; 
*
007D:  CLRF   35
....................    unsigned int16 n; 
....................     
....................    BR;BL; 
007E:  BSF    03.5
007F:  BCF    05.6
0080:  BCF    03.5
0081:  BCF    05.6
0082:  BSF    03.5
0083:  BCF    05.7
0084:  BCF    03.5
0085:  BSF    05.7
0086:  BSF    03.5
0087:  BCF    05.0
0088:  BCF    03.5
0089:  BCF    05.0
008A:  BSF    03.5
008B:  BCF    05.1
008C:  BCF    03.5
008D:  BSF    05.1
....................    Delay_ms(400); 
008E:  MOVLW  02
008F:  MOVWF  38
0090:  MOVLW  C8
0091:  MOVWF  39
0092:  CALL   065
0093:  DECFSZ 38,F
0094:  GOTO   090
....................    STOPR;STOPL; 
0095:  BSF    03.5
0096:  BCF    05.6
0097:  BCF    03.5
0098:  BCF    05.6
0099:  BSF    03.5
009A:  BCF    05.7
009B:  BCF    03.5
009C:  BCF    05.7
009D:  BSF    03.5
009E:  BCF    05.0
009F:  BCF    03.5
00A0:  BCF    05.0
00A1:  BSF    03.5
00A2:  BCF    05.1
00A3:  BCF    03.5
00A4:  BCF    05.1
....................  
....................    uhel=KOLMO1;      // nastav zataceci kolecko kolmo na osu robota 
00A5:  MOVLW  E1
00A6:  MOVWF  2C
....................    Delay_ms(100); 
00A7:  MOVLW  64
00A8:  MOVWF  39
00A9:  CALL   065
....................    BL;FR; 
00AA:  BSF    03.5
00AB:  BCF    05.0
00AC:  BCF    03.5
00AD:  BCF    05.0
00AE:  BSF    03.5
00AF:  BCF    05.1
00B0:  BCF    03.5
00B1:  BSF    05.1
00B2:  BSF    03.5
00B3:  BCF    05.7
00B4:  BCF    03.5
00B5:  BCF    05.7
00B6:  BSF    03.5
00B7:  BCF    05.6
00B8:  BCF    03.5
00B9:  BSF    05.6
....................    Delay_ms(200);    // minimalni toceni, kdyby se zastavilo sikmo k cihle 
00BA:  MOVLW  C8
00BB:  MOVWF  39
00BC:  CALL   065
....................  
....................    While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru 
....................    { 
00BD:  BTFSS  2A.7
00BE:  GOTO   0CE
....................        sensors = spi_read(0);         // cteni senzoru 
00BF:  MOVF   13,W
00C0:  CLRF   13
00C1:  BSF    03.5
00C2:  BTFSC  14.0
00C3:  GOTO   0C6
00C4:  BCF    03.5
00C5:  GOTO   0C1
00C6:  BCF    03.5
00C7:  MOVF   13,W
00C8:  MOVWF  2A
....................        sensors=~sensors; 
00C9:  COMF   2A,F
....................        Delay_ms(4);              // cekani na SLAVE nez pripravi data od cidel 
00CA:  MOVLW  04
00CB:  MOVWF  39
00CC:  CALL   065
....................    } 
00CD:  GOTO   0BD
....................    STOPL; STOPR; 
00CE:  BSF    03.5
00CF:  BCF    05.0
00D0:  BCF    03.5
00D1:  BCF    05.0
00D2:  BSF    03.5
00D3:  BCF    05.1
00D4:  BCF    03.5
00D5:  BCF    05.1
00D6:  BSF    03.5
00D7:  BCF    05.6
00D8:  BCF    03.5
00D9:  BCF    05.6
00DA:  BSF    03.5
00DB:  BCF    05.7
00DC:  BCF    03.5
00DD:  BCF    05.7
....................  
....................    for (n=0;n<1500;n++)    // vystred se na hranu cihly 
00DE:  CLRF   37
00DF:  CLRF   36
00E0:  MOVF   37,W
00E1:  SUBLW  05
00E2:  BTFSS  03.0
00E3:  GOTO   117
00E4:  BTFSS  03.2
00E5:  GOTO   0EA
00E6:  MOVF   36,W
00E7:  SUBLW  DB
00E8:  BTFSS  03.0
00E9:  GOTO   117
....................    { 
....................       if(!input(CIHLA)) {BL; FR;} else {FL; BR;}; 
00EA:  BSF    03.5
00EB:  BSF    05.3
00EC:  BCF    03.5
00ED:  BTFSC  05.3
00EE:  GOTO   100
00EF:  BSF    03.5
00F0:  BCF    05.0
00F1:  BCF    03.5
00F2:  BCF    05.0
00F3:  BSF    03.5
00F4:  BCF    05.1
00F5:  BCF    03.5
00F6:  BSF    05.1
00F7:  BSF    03.5
00F8:  BCF    05.7
00F9:  BCF    03.5
00FA:  BCF    05.7
00FB:  BSF    03.5
00FC:  BCF    05.6
00FD:  BCF    03.5
00FE:  BSF    05.6
00FF:  GOTO   110
0100:  BSF    03.5
0101:  BCF    05.1
0102:  BCF    03.5
0103:  BCF    05.1
0104:  BSF    03.5
0105:  BCF    05.0
0106:  BCF    03.5
0107:  BSF    05.0
0108:  BSF    03.5
0109:  BCF    05.6
010A:  BCF    03.5
010B:  BCF    05.6
010C:  BSF    03.5
010D:  BCF    05.7
010E:  BCF    03.5
010F:  BSF    05.7
....................       delay_ms(1); 
0110:  MOVLW  01
0111:  MOVWF  39
0112:  CALL   065
....................    } 
0113:  INCF   36,F
0114:  BTFSC  03.2
0115:  INCF   37,F
0116:  GOTO   0E0
....................    STOPR;STOPL; 
0117:  BSF    03.5
0118:  BCF    05.6
0119:  BCF    03.5
011A:  BCF    05.6
011B:  BSF    03.5
011C:  BCF    05.7
011D:  BCF    03.5
011E:  BCF    05.7
011F:  BSF    03.5
0120:  BCF    05.0
0121:  BCF    03.5
0122:  BCF    05.0
0123:  BSF    03.5
0124:  BCF    05.1
0125:  BCF    03.5
0126:  BCF    05.1
....................  
....................    uhel=STRED;          // dopredu 
0127:  MOVLW  80
0128:  MOVWF  2C
....................    delay_ms(100);    
0129:  MOVLW  64
012A:  MOVWF  39
012B:  CALL   065
....................    FR; FL; 
012C:  BSF    03.5
012D:  BCF    05.7
012E:  BCF    03.5
012F:  BCF    05.7
0130:  BSF    03.5
0131:  BCF    05.6
0132:  BCF    03.5
0133:  BSF    05.6
0134:  BSF    03.5
0135:  BCF    05.1
0136:  BCF    03.5
0137:  BCF    05.1
0138:  BSF    03.5
0139:  BCF    05.0
013A:  BCF    03.5
013B:  BSF    05.0
....................    delay_ms(500); 
013C:  MOVLW  02
013D:  MOVWF  38
013E:  MOVLW  FA
013F:  MOVWF  39
0140:  CALL   065
0141:  DECFSZ 38,F
0142:  GOTO   13E
....................    BL;BR; 
0143:  BSF    03.5
0144:  BCF    05.0
0145:  BCF    03.5
0146:  BCF    05.0
0147:  BSF    03.5
0148:  BCF    05.1
0149:  BCF    03.5
014A:  BSF    05.1
014B:  BSF    03.5
014C:  BCF    05.6
014D:  BCF    03.5
014E:  BCF    05.6
014F:  BSF    03.5
0150:  BCF    05.7
0151:  BCF    03.5
0152:  BSF    05.7
....................    delay_ms(200); 
0153:  MOVLW  C8
0154:  MOVWF  39
0155:  CALL   065
....................    STOPL;STOPR; 
0156:  BSF    03.5
0157:  BCF    05.0
0158:  BCF    03.5
0159:  BCF    05.0
015A:  BSF    03.5
015B:  BCF    05.1
015C:  BCF    03.5
015D:  BCF    05.1
015E:  BSF    03.5
015F:  BCF    05.6
0160:  BCF    03.5
0161:  BCF    05.6
0162:  BSF    03.5
0163:  BCF    05.7
0164:  BCF    03.5
0165:  BCF    05.7
....................  
....................    uhel=STRED+BEAR3;    // doprava 
0166:  MOVLW  B7
0167:  MOVWF  2C
....................    delay_ms(100);    
0168:  MOVLW  64
0169:  MOVWF  39
016A:  CALL   065
....................    FL; 
016B:  BSF    03.5
016C:  BCF    05.1
016D:  BCF    03.5
016E:  BCF    05.1
016F:  BSF    03.5
0170:  BCF    05.0
0171:  BCF    03.5
0172:  BSF    05.0
....................    delay_ms(200); 
0173:  MOVLW  C8
0174:  MOVWF  39
0175:  CALL   065
....................    uhel=STRED+BEAR2;    // min doprava 
0176:  MOVLW  A2
0177:  MOVWF  2C
....................    FL;FR; 
0178:  BSF    03.5
0179:  BCF    05.1
017A:  BCF    03.5
017B:  BCF    05.1
017C:  BSF    03.5
017D:  BCF    05.0
017E:  BCF    03.5
017F:  BSF    05.0
0180:  BSF    03.5
0181:  BCF    05.7
0182:  BCF    03.5
0183:  BCF    05.7
0184:  BSF    03.5
0185:  BCF    05.6
0186:  BCF    03.5
0187:  BSF    05.6
....................    delay_ms(200); 
0188:  MOVLW  C8
0189:  MOVWF  39
018A:  CALL   065
....................    uhel=STRED+BEAR1;    // jeste min doprava 
018B:  MOVLW  8C
018C:  MOVWF  2C
....................    FL;FR; 
018D:  BSF    03.5
018E:  BCF    05.1
018F:  BCF    03.5
0190:  BCF    05.1
0191:  BSF    03.5
0192:  BCF    05.0
0193:  BCF    03.5
0194:  BSF    05.0
0195:  BSF    03.5
0196:  BCF    05.7
0197:  BCF    03.5
0198:  BCF    05.7
0199:  BSF    03.5
019A:  BCF    05.6
019B:  BCF    03.5
019C:  BSF    05.6
....................    delay_ms(200); 
019D:  MOVLW  C8
019E:  MOVWF  39
019F:  CALL   065
....................    uhel=STRED;          // rovne 
01A0:  MOVLW  80
01A1:  MOVWF  2C
....................    FL;FR; 
01A2:  BSF    03.5
01A3:  BCF    05.1
01A4:  BCF    03.5
01A5:  BCF    05.1
01A6:  BSF    03.5
01A7:  BCF    05.0
01A8:  BCF    03.5
01A9:  BSF    05.0
01AA:  BSF    03.5
01AB:  BCF    05.7
01AC:  BCF    03.5
01AD:  BCF    05.7
01AE:  BSF    03.5
01AF:  BCF    05.6
01B0:  BCF    03.5
01B1:  BSF    05.6
....................    delay_ms(100); 
01B2:  MOVLW  64
01B3:  MOVWF  39
01B4:  CALL   065
....................    While((sensors & 0b01111111)!=0) //dokud neni cara 
....................    { 
01B5:  MOVF   2A,W
01B6:  ANDLW  7F
01B7:  BTFSC  03.2
01B8:  GOTO   1C8
....................        sensors = spi_read(0);         // cteni senzoru 
01B9:  MOVF   13,W
01BA:  CLRF   13
01BB:  BSF    03.5
01BC:  BTFSC  14.0
01BD:  GOTO   1C0
01BE:  BCF    03.5
01BF:  GOTO   1BB
01C0:  BCF    03.5
01C1:  MOVF   13,W
01C2:  MOVWF  2A
....................        sensors=~sensors; 
01C3:  COMF   2A,F
....................        Delay_ms(4);              // cekani na SLAVE nez pripravi data od cidel 
01C4:  MOVLW  04
01C5:  MOVWF  39
01C6:  CALL   065
....................    } 
01C7:  GOTO   1B5
....................    BL; BR; 
01C8:  BSF    03.5
01C9:  BCF    05.0
01CA:  BCF    03.5
01CB:  BCF    05.0
01CC:  BSF    03.5
01CD:  BCF    05.1
01CE:  BCF    03.5
01CF:  BSF    05.1
01D0:  BSF    03.5
01D1:  BCF    05.6
01D2:  BCF    03.5
01D3:  BCF    05.6
01D4:  BSF    03.5
01D5:  BCF    05.7
01D6:  BCF    03.5
01D7:  BSF    05.7
....................    delay_ms(400); 
01D8:  MOVLW  02
01D9:  MOVWF  38
01DA:  MOVLW  C8
01DB:  MOVWF  39
01DC:  CALL   065
01DD:  DECFSZ 38,F
01DE:  GOTO   1DA
....................     
....................    uhel=STRED-BEAR3;    // doleva    
01DF:  MOVLW  49
01E0:  MOVWF  2C
.................... } 
01E1:  BCF    0A.3
01E2:  GOTO   2D1 (RETURN)
....................  
.................... //////////////////////////////////////////////////////////////////////////////// 
.................... void main() 
.................... { 
01E3:  CLRF   04
01E4:  MOVLW  1F
01E5:  ANDWF  03,F
01E6:  MOVLW  70
01E7:  BSF    03.5
01E8:  MOVWF  0F
01E9:  BCF    1F.4
01EA:  BCF    1F.5
01EB:  MOVF   1B,W
01EC:  ANDLW  80
01ED:  MOVWF  1B
01EE:  MOVLW  07
01EF:  MOVWF  1C
....................  
....................    unsigned int16 n; 
....................    unsigned int8 i; 
....................  
....................    setup_adc_ports(NO_ANALOGS); 
01F0:  BCF    1F.4
01F1:  BCF    1F.5
01F2:  MOVF   1B,W
01F3:  ANDLW  80
01F4:  MOVWF  1B
....................    setup_adc(ADC_CLOCK_INTERNAL); 
01F5:  BCF    1F.6
01F6:  BCF    03.5
01F7:  BSF    1F.6
01F8:  BSF    1F.7
01F9:  BSF    03.5
01FA:  BCF    1F.7
01FB:  BCF    03.5
01FC:  BSF    1F.0
....................    setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4); 
01FD:  BCF    14.5
01FE:  BSF    03.5
01FF:  BCF    06.2
0200:  BSF    06.1
0201:  BCF    06.4
0202:  MOVLW  30
0203:  BCF    03.5
0204:  MOVWF  14
0205:  MOVLW  00
0206:  BSF    03.5
0207:  MOVWF  14
....................    setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); 
0208:  MOVF   01,W
0209:  ANDLW  C7
020A:  IORLW  08
020B:  MOVWF  01
....................    setup_timer_1(T1_DISABLED); 
020C:  BCF    03.5
020D:  CLRF   10
....................    setup_timer_2(T2_DIV_BY_16,140,16); 
020E:  MOVLW  78
020F:  MOVWF  78
0210:  IORLW  06
0211:  MOVWF  12
0212:  MOVLW  8C
0213:  BSF    03.5
0214:  MOVWF  12
....................    setup_oscillator(OSC_8MHZ|OSC_INTRC); 
0215:  MOVLW  72
0216:  MOVWF  0F
....................  
....................    STOPR; STOPL;  // zastav motory 
0217:  BCF    05.6
0218:  BCF    03.5
0219:  BCF    05.6
021A:  BSF    03.5
021B:  BCF    05.7
021C:  BCF    03.5
021D:  BCF    05.7
021E:  BSF    03.5
021F:  BCF    05.0
0220:  BCF    03.5
0221:  BCF    05.0
0222:  BSF    03.5
0223:  BCF    05.1
0224:  BCF    03.5
0225:  BCF    05.1
....................    Lmotor=0;Rmotor=0; 
0226:  CLRF   2F
0227:  CLRF   2E
0228:  CLRF   31
0229:  CLRF   30
....................  
....................    uhel=STRED;    // nastav zadni kolecko na stred 
022A:  MOVLW  80
022B:  MOVWF  2C
....................    rovinka=0; 
022C:  CLRF   2D
....................  
....................    enable_interrupts(INT_TIMER2); 
022D:  BSF    03.5
022E:  BSF    0C.1
....................    enable_interrupts(GLOBAL); 
022F:  MOVLW  C0
0230:  BCF    03.5
0231:  IORWF  0B,F
....................  
....................    output_low(IRTX); // zapni IR vysilac 
0232:  BSF    03.5
0233:  BCF    06.2
0234:  BCF    03.5
0235:  BCF    06.2
....................  
....................    delay_ms(1000); 
0236:  MOVLW  04
0237:  MOVWF  35
0238:  MOVLW  FA
0239:  MOVWF  39
023A:  CALL   065
023B:  DECFSZ 35,F
023C:  GOTO   238
....................  
....................    while(true) 
....................    { 
....................  
....................       GO(L,F,Lmotor);GO(R,F,Rmotor); // zapni motory 
023D:  MOVF   01,W
023E:  BTFSS  00.7
023F:  GOTO   243
0240:  BTFSS  2F.7
0241:  GOTO   24B
0242:  GOTO   245
0243:  BTFSC  2F.7
0244:  GOTO   254
0245:  MOVF   2F,F
0246:  BTFSS  03.2
0247:  GOTO   24B
0248:  SUBWF  2E,W
0249:  BTFSS  03.0
024A:  GOTO   254
024B:  BSF    03.5
024C:  BCF    05.1
024D:  BCF    03.5
024E:  BCF    05.1
024F:  BSF    03.5
0250:  BCF    05.0
0251:  BCF    03.5
0252:  BSF    05.0
0253:  GOTO   25C
0254:  BSF    03.5
0255:  BCF    05.0
0256:  BCF    03.5
0257:  BCF    05.0
0258:  BSF    03.5
0259:  BCF    05.1
025A:  BCF    03.5
025B:  BCF    05.1
025C:  MOVF   01,W
025D:  BTFSS  00.7
025E:  GOTO   262
025F:  BTFSS  31.7
0260:  GOTO   26A
0261:  GOTO   264
0262:  BTFSC  31.7
0263:  GOTO   273
0264:  MOVF   31,F
0265:  BTFSS  03.2
0266:  GOTO   26A
0267:  SUBWF  30,W
0268:  BTFSS  03.0
0269:  GOTO   273
026A:  BSF    03.5
026B:  BCF    05.7
026C:  BCF    03.5
026D:  BCF    05.7
026E:  BSF    03.5
026F:  BCF    05.6
0270:  BCF    03.5
0271:  BSF    05.6
0272:  GOTO   27B
0273:  BSF    03.5
0274:  BCF    05.6
0275:  BCF    03.5
0276:  BCF    05.6
0277:  BSF    03.5
0278:  BCF    05.7
0279:  BCF    03.5
027A:  BCF    05.7
....................  
....................       delay_us(1500); 
027B:  CLRWDT
027C:  MOVLW  01
027D:  MOVWF  39
027E:  CALL   065
027F:  MOVLW  02
0280:  MOVWF  35
0281:  CLRF   29
0282:  BTFSC  0B.7
0283:  BSF    29.7
0284:  BCF    0B.7
0285:  MOVLW  F7
0286:  MOVWF  3C
0287:  CALL   037
0288:  BTFSC  29.7
0289:  BSF    0B.7
028A:  DECFSZ 35,F
028B:  GOTO   281
....................  
....................       output_low(STROBE); 
028C:  BSF    03.5
028D:  BCF    06.0
028E:  BCF    03.5
028F:  BCF    06.0
....................       sensors = spi_read(0);         // cteni senzoru 
0290:  MOVF   13,W
0291:  CLRF   13
0292:  BSF    03.5
0293:  BTFSC  14.0
0294:  GOTO   297
0295:  BCF    03.5
0296:  GOTO   292
0297:  BCF    03.5
0298:  MOVF   13,W
0299:  MOVWF  2A
....................       sensors=~sensors; 
029A:  COMF   2A,F
....................       output_high(STROBE); 
029B:  BSF    03.5
029C:  BCF    06.0
029D:  BCF    03.5
029E:  BSF    06.0
....................  
....................       i=0;                    // havarijni kod 
029F:  CLRF   34
....................       for (n=0; n<=6; n++) 
02A0:  CLRF   33
02A1:  CLRF   32
02A2:  MOVF   33,F
02A3:  BTFSS  03.2
02A4:  GOTO   2B9
02A5:  MOVF   32,W
02A6:  SUBLW  06
02A7:  BTFSS  03.0
02A8:  GOTO   2B9
....................       { 
....................          if(bit_test(sensors,n)) i++; 
02A9:  MOVF   2A,W
02AA:  MOVWF  77
02AB:  MOVF   32,W
02AC:  MOVWF  78
02AD:  BTFSC  03.2
02AE:  GOTO   2B3
02AF:  BCF    03.0
02B0:  RRF    77,F
02B1:  DECFSZ 78,F
02B2:  GOTO   2AF
02B3:  BTFSC  77.0
02B4:  INCF   34,F
....................       } 
02B5:  INCF   32,F
02B6:  BTFSC  03.2
02B7:  INCF   33,F
02B8:  GOTO   2A2
....................       if (i>3) While(true){STOPR; STOPL;}; // zastavi, kdyz je cerno pod vice nez tremi cidly 
02B9:  MOVF   34,W
02BA:  SUBLW  03
02BB:  BTFSC  03.0
02BC:  GOTO   2CE
02BD:  BSF    03.5
02BE:  BCF    05.6
02BF:  BCF    03.5
02C0:  BCF    05.6
02C1:  BSF    03.5
02C2:  BCF    05.7
02C3:  BCF    03.5
02C4:  BCF    05.7
02C5:  BSF    03.5
02C6:  BCF    05.0
02C7:  BCF    03.5
02C8:  BCF    05.0
02C9:  BSF    03.5
02CA:  BCF    05.1
02CB:  BCF    03.5
02CC:  BCF    05.1
02CD:  GOTO   2BD
....................  
....................       if(bit_test(sensors,7))    // detekce dihly 
02CE:  BTFSS  2A.7
02CF:  GOTO   2D1
....................       { 
....................          objizdka(); 
02D0:  GOTO   07D
....................       } 
....................  
....................       if(bit_test(sensors,3)) //...|...// 
02D1:  BTFSS  2A.3
02D2:  GOTO   2E1
....................       { 
....................          uhel=STRED; 
02D3:  MOVLW  80
02D4:  MOVWF  2C
....................          Lmotor=SPEEDMAX; 
02D5:  CLRF   2F
02D6:  MOVLW  8C
02D7:  MOVWF  2E
....................          Rmotor=SPEEDMAX; 
02D8:  CLRF   31
02D9:  MOVWF  30
....................          line=S; 
02DA:  MOVLW  02
02DB:  MOVWF  2B
....................          if (rovinka<255) rovinka++; 
02DC:  INCFSZ 2D,W
02DD:  GOTO   2DF
02DE:  GOTO   2E0
02DF:  INCF   2D,F
....................          continue; 
02E0:  GOTO   23D
....................       } 
....................  
....................       if(bit_test(sensors,0)) //|......//     // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu 
02E1:  BTFSS  2A.0
02E2:  GOTO   2ED
....................       { 
....................          uhel=STRED-BEAR3; 
02E3:  MOVLW  49
02E4:  MOVWF  2C
....................          Lmotor=0; 
02E5:  CLRF   2F
02E6:  CLRF   2E
....................          Rmotor=SPEEDMAX; 
02E7:  CLRF   31
02E8:  MOVLW  8C
02E9:  MOVWF  30
....................          line=L; 
02EA:  MOVLW  01
02EB:  MOVWF  2B
....................          continue; 
02EC:  GOTO   23D
....................       } 
....................  
....................       if(bit_test(sensors,6)) //......|// 
02ED:  BTFSS  2A.6
02EE:  GOTO   2F8
....................       { 
....................          uhel=STRED+BEAR3; 
02EF:  MOVLW  B7
02F0:  MOVWF  2C
....................          Rmotor=0; 
02F1:  CLRF   31
02F2:  CLRF   30
....................          Lmotor=SPEEDMAX; 
02F3:  CLRF   2F
02F4:  MOVLW  8C
02F5:  MOVWF  2E
....................          line=R; 
02F6:  CLRF   2B
....................          continue; 
02F7:  GOTO   23D
....................       } 
....................  
....................       if(bit_test(sensors,1)) //.|.....// 
02F8:  BTFSS  2A.1
02F9:  GOTO   305
....................       { 
....................          uhel=STRED-BEAR2; 
02FA:  MOVLW  5E
02FB:  MOVWF  2C
....................          Lmotor=SPEEDMAX-50; 
02FC:  CLRF   2F
02FD:  MOVLW  5A
02FE:  MOVWF  2E
....................          Rmotor=SPEEDMAX; 
02FF:  CLRF   31
0300:  MOVLW  8C
0301:  MOVWF  30
....................          line=S; 
0302:  MOVLW  02
0303:  MOVWF  2B
....................          continue; 
0304:  GOTO   23D
....................       } 
....................  
....................       if(bit_test(sensors,5)) //.....|.// 
0305:  BTFSS  2A.5
0306:  GOTO   312
....................       { 
....................          uhel=STRED+BEAR2; 
0307:  MOVLW  A2
0308:  MOVWF  2C
....................          Rmotor=SPEEDMAX-50; 
0309:  CLRF   31
030A:  MOVLW  5A
030B:  MOVWF  30
....................          Lmotor=SPEEDMAX; 
030C:  CLRF   2F
030D:  MOVLW  8C
030E:  MOVWF  2E
....................          line=S; 
030F:  MOVLW  02
0310:  MOVWF  2B
....................          continue; 
0311:  GOTO   23D
....................       } 
....................  
....................       if (bit_test(sensors,2)) //..|....// 
0312:  BTFSS  2A.2
0313:  GOTO   322
....................       { 
....................          uhel=STRED-BEAR1; 
0314:  MOVLW  74
0315:  MOVWF  2C
....................          Lmotor=SPEEDMAX; 
0316:  CLRF   2F
0317:  MOVLW  8C
0318:  MOVWF  2E
....................          Rmotor=SPEEDMAX; 
0319:  CLRF   31
031A:  MOVWF  30
....................          line=S; 
031B:  MOVLW  02
031C:  MOVWF  2B
....................          if (rovinka<255) rovinka++; 
031D:  INCFSZ 2D,W
031E:  GOTO   320
031F:  GOTO   321
0320:  INCF   2D,F
....................          continue; 
0321:  GOTO   23D
....................       } 
....................  
....................       if (bit_test(sensors,4)) //....|..// 
0322:  BTFSS  2A.4
0323:  GOTO   331
....................       { 
....................          uhel=STRED+BEAR1; 
0324:  MOVLW  8C
0325:  MOVWF  2C
....................          Rmotor=SPEEDMAX; 
0326:  CLRF   31
0327:  MOVWF  30
....................          Lmotor=SPEEDMAX; 
0328:  CLRF   2F
0329:  MOVWF  2E
....................          line=S; 
032A:  MOVLW  02
032B:  MOVWF  2B
....................          if (rovinka<255) rovinka++; 
032C:  INCFSZ 2D,W
032D:  GOTO   32F
032E:  GOTO   330
032F:  INCF   2D,F
....................          continue; 
0330:  GOTO   23D
....................       } 
....................  
....................       if ((L==line) || (R==line)) // Brzdeni pri vyjeti z trate 
0331:  DECFSZ 2B,W
0332:  GOTO   334
0333:  GOTO   337
0334:  MOVF   2B,F
0335:  BTFSS  03.2
0336:  GOTO   34F
....................       { 
....................          if (rovinka>250) 
0337:  MOVF   2D,W
0338:  SUBLW  FA
0339:  BTFSC  03.0
033A:  GOTO   34E
....................          { 
....................             BL; BR; 
033B:  BSF    03.5
033C:  BCF    05.0
033D:  BCF    03.5
033E:  BCF    05.0
033F:  BSF    03.5
0340:  BCF    05.1
0341:  BCF    03.5
0342:  BSF    05.1
0343:  BSF    03.5
0344:  BCF    05.6
0345:  BCF    03.5
0346:  BCF    05.6
0347:  BSF    03.5
0348:  BCF    05.7
0349:  BCF    03.5
034A:  BSF    05.7
....................             Delay_ms(100); 
034B:  MOVLW  64
034C:  MOVWF  39
034D:  CALL   065
....................          }; 
....................          rovinka=0; 
034E:  CLRF   2D
....................       }; 
....................  
....................    } 
034F:  GOTO   23D
.................... } 
0350:  SLEEP

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