Subversion Repositories svnkaklik

'robot

'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H


#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H
#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L
#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H
#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L
#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L
#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H
#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H
#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
#pragma DATA _CONFIG7H, _EBTRB_ON_7H

#pragma CLOCK_FREQ 40000000

Function receive() As Byte
        If ( (rcsta.OERR = 1) ) Then
                rcsta.CREN = 0
        rcsta.CREN = 1
        End If
    Do While (pir1.RCIF = 0)
        Loop
        receive = rcreg
        
End Function

Sub send(c As Byte)
        Do while (pir1 & (1 << TXIF)) = 0 Loop
        txreg = c
End Sub

Sub main()
        Dim motors As Byte
        Dim sensors As Byte
        Dim leds As Byte
        Dim leds1 As Byte
        Dim buttons As Byte
        Dim i As Long

        'NASTAVENI IO
        lata=0xFF
        latb=0
        latc=0xFF
        trisa=0xF0
        trisb=0x3F
        trisc=0x9F

        'VYPNOUT ADC
        adcon1=0xC6
        adcon0=0xC0

        'UART 9600bps
        spbrg=64
        txsta = txsta & ~(1 << BRGH)
        txsta = txsta | (1 << TXEN)
        rcsta = rcsta | (1 << CREN)
        rcsta = rcsta | (1 << SPEN)
                                
        
        leds = 0xFF
        leds1 = 0x0F 

        motors = 0x00
                
Do while 1
                
                buttons = portb
                
                If (buttons.1)=0 Then
                        i=0
                        leds1 = leds1 - 1
                        lata = leds1
                        Do while i <= 500000
                        i=i+1
                        loop
                        motors = motors + 0x11
                
                elseif (buttons.4)=0 Then
                        i=0
                        leds1 = leds1 + 1
                        lata = leds1
                        Do while i <= 500000
                        i=i+1
                        loop
                        motors = motors - 0x11
                End If
                
                leds = 0xFF
                sensors =0xFF 
                sensors = Call receive()        'prijmi stav cidel senzoru
                'Bity v bajtu sensors
                'BIT3=LEVE SPODNI, BIT2=PRAVE SPODNI, BIT1=LEVE PREDNI, BIT0=PRAVE PREDNI
                'prislusny bit v nule znamena aktivni senzor
                If (sensors.0)=0 Then
                        'pravy predni senzor aktivni
                        'rozsvit prislusnou LED k senzoru, zatim jen v promenne
                        leds = leds & ~(1 << 1) 'led sviti, kdyz se ji bit znuluje
                End If
                
                If (sensors.1)=0 Then
                        'levy predni senzor aktivni
                        'rozsvit prislusnou LED k senzoru, zatim jen v promenne
                        leds = leds & ~(1 << 2) 'led sviti, kdyz se ji bit znuluje
                End If

                If (sensors.2)=0 Then
                        'pravy spodni senzor aktivni
                        'rozsvit prislusnou LED k senzoru, zatim jen v promenne
                        leds = leds & ~(1 << 0) 'led sviti, kdyz se ji bit znuluje
                End If
                
                If (sensors.3)=0 Then
                        'levy spodni senzor aktivni
                        'rozsvit prislusnou LED k senzoru, zatim jen v promenne
                        leds = leds & ~(1 << 3) 'led sviti, kdyz se ji bit znuluje
                End If 
                
                
        lata = leds
        call send(motors)

                
        Loop

        
End Sub