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awul 01.lst
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awul 01.lst
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; LST file generated by mikroListExporter - v.2.0
; Date/Time: 8/30/2016 7:13:51 PM
;----------------------------------------------
;Address Opcode ASM
0x0000 0x2A77 GOTO 631
_Delay_22us:
;__Lib_Delays.c,15 :: void Delay_22us() {
;__Lib_Delays.c,16 :: Delay_us(22);
0x0003 0x300E MOVLW 14
0x0004 0x1283 BCF STATUS, 5
0x0005 0x1303 BCF STATUS, 6
0x0006 0x00FD MOVWF R13
L_Delay_22us1:
0x0007 0x0BFD DECFSZ R13, 1
0x0008 0x2807 GOTO L_Delay_22us1
0x0009 0x0000 NOP
;__Lib_Delays.c,17 :: }
L_end_Delay_22us:
0x000A 0x0008 RETURN
; end of _Delay_22us
_ADC_Read:
;__Lib_ADC_A_C.c,45 ::
;__Lib_ADC_A_C.c,47 ::
0x000B 0x1283 BCF STATUS, 5
0x000C 0x1303 BCF STATUS, 6
0x000D 0x019F CLRF ADCON0
;__Lib_ADC_A_C.c,48 ::
0x000E 0x30C0 MOVLW 192
0x000F 0x049F IORWF ADCON0, 1
;__Lib_ADC_A_C.c,49 ::
0x0010 0x1683 BSF STATUS, 5
0x0011 0x171F BSF ADCON1, 6
;__Lib_ADC_A_C.c,50 ::
0x0012 0x179F BSF ADCON1, 7
;__Lib_ADC_A_C.c,51 ::
0x0013 0x1283 BCF STATUS, 5
0x0014 0x082A MOVF FARG_ADC_Read_channel, 0
0x0015 0x00F0 MOVWF R0
0x0016 0x0DF0 RLF R0, 1
0x0017 0x1070 BCF R0, 0
0x0018 0x0DF0 RLF R0, 1
0x0019 0x1070 BCF R0, 0
0x001A 0x0DF0 RLF R0, 1
0x001B 0x1070 BCF R0, 0
0x001C 0x0870 MOVF R0, 0
0x001D 0x049F IORWF ADCON0, 1
;__Lib_ADC_A_C.c,54 ::
0x001E 0x141F BSF ADCON0, 0
;__Lib_ADC_A_C.c,57 ::
0x001F 0x2003 CALL _Delay_22us
;__Lib_ADC_A_C.c,60 ::
0x0020 0x151F BSF ADCON0, 2
;__Lib_ADC_A_C.c,63 ::
L_ADC_Read2:
0x0021 0x1D1F BTFSS ADCON0, 2
0x0022 0x2825 GOTO L_ADC_Read3
;__Lib_ADC_A_C.c,64 ::
0x0023 0x0000 NOP
0x0024 0x2821 GOTO L_ADC_Read2
L_ADC_Read3:
;__Lib_ADC_A_C.c,67 ::
0x0025 0x101F BCF ADCON0, 0
;__Lib_ADC_A_C.c,70 ::
0x0026 0x081E MOVF ADRESH, 0
0x0027 0x00F1 MOVWF R0+1
0x0028 0x01F0 CLRF R0
0x0029 0x1683 BSF STATUS, 5
0x002A 0x081E MOVF ADRESL, 0
0x002B 0x04F0 IORWF R0, 1
0x002C 0x3000 MOVLW 0
0x002D 0x04F1 IORWF R0+1, 1
;__Lib_ADC_A_C.c,71 ::
L_end_ADC_Read:
0x002E 0x0008 RETURN
; end of _ADC_Read
_____DoICP:
;__Lib_System.c,6 ::
;__Lib_System.c,9 ::
0x002F 0x1283 BCF STATUS, 5
0x0030 0x1303 BCF STATUS, 6
0x0031 0x0829 MOVF ___DoICPAddr+1, 0
0x0032 0x008A MOVWF PCLATH
;__Lib_System.c,10 ::
0x0033 0x0828 MOVF ___DoICPAddr, 0
0x0034 0x0082 MOVWF PCL
;__Lib_System.c,12 ::
L_end_____DoICP:
0x0035 0x0008 RETURN
; end of _____DoICP
_obs_detec:
;awul 01.c,269 :: void obs_detec()
;awul 01.c,271 :: while(1)
L_obs_detec48:
;awul 01.c,273 :: bl=ADC_Read(0); // adc means analog to digital convertor 0-1024
0x0036 0x1283 BCF STATUS, 5
0x0037 0x1303 BCF STATUS, 6
0x0038 0x01AA CLRF FARG_ADC_Read_channel
0x0039 0x200B CALL _ADC_Read
0x003A 0x0870 MOVF R0, 0
0x003B 0x1283 BCF STATUS, 5
0x003C 0x00A6 MOVWF _bl
0x003D 0x0871 MOVF R0+1, 0
0x003E 0x00A7 MOVWF _bl+1
;awul 01.c,274 :: br=ADC_Read(1); // adc means analog to digital convertor
0x003F 0x3001 MOVLW 1
0x0040 0x00AA MOVWF FARG_ADC_Read_channel
0x0041 0x200B CALL _ADC_Read
0x0042 0x0870 MOVF R0, 0
0x0043 0x1283 BCF STATUS, 5
0x0044 0x00A0 MOVWF _br
0x0045 0x0871 MOVF R0+1, 0
0x0046 0x00A1 MOVWF _br+1
;awul 01.c,275 :: fl=ADC_Read(2); // adc means analog to digital convertor 0-1024
0x0047 0x3002 MOVLW 2
0x0048 0x00AA MOVWF FARG_ADC_Read_channel
0x0049 0x200B CALL _ADC_Read
0x004A 0x0870 MOVF R0, 0
0x004B 0x1283 BCF STATUS, 5
0x004C 0x00A2 MOVWF _fl
0x004D 0x0871 MOVF R0+1, 0
0x004E 0x00A3 MOVWF _fl+1
;awul 01.c,276 :: fr=ADC_Read(3); // adc means analog to digital convertor
0x004F 0x3003 MOVLW 3
0x0050 0x00AA MOVWF FARG_ADC_Read_channel
0x0051 0x200B CALL _ADC_Read
0x0052 0x0870 MOVF R0, 0
0x0053 0x1283 BCF STATUS, 5
0x0054 0x00A4 MOVWF _fr
0x0055 0x0871 MOVF R0+1, 0
0x0056 0x00A5 MOVWF _fr+1
;awul 01.c,279 :: if(PORTB==0b11111000)
0x0057 0x0806 MOVF PORTB, 0
0x0058 0x3AF8 XORLW 248
0x0059 0x1D03 BTFSS STATUS, 2
0x005A 0x2881 GOTO L_obs_detec50
;awul 01.c,283 :: PORTD = 0b10100000;
0x005B 0x30A0 MOVLW 160
0x005C 0x0088 MOVWF PORTD
;awul 01.c,284 :: CCPR1L =130;
0x005D 0x3082 MOVLW 130
0x005E 0x0095 MOVWF CCPR1L
;awul 01.c,285 :: CCPR2L =160;
0x005F 0x30A0 MOVLW 160
0x0060 0x009B MOVWF CCPR2L
;awul 01.c,286 :: Delay_ms(800);
0x0061 0x3009 MOVLW 9
0x0062 0x00FB MOVWF R11
0x0063 0x301E MOVLW 30
0x0064 0x00FC MOVWF R12
0x0065 0x30E4 MOVLW 228
0x0066 0x00FD MOVWF R13
L_obs_detec51:
0x0067 0x0BFD DECFSZ R13, 1
0x0068 0x2867 GOTO L_obs_detec51
0x0069 0x0BFC DECFSZ R12, 1
0x006A 0x2867 GOTO L_obs_detec51
0x006B 0x0BFB DECFSZ R11, 1
0x006C 0x2867 GOTO L_obs_detec51
0x006D 0x0000 NOP
;awul 01.c,288 :: PORTD = 0b11110000;
0x006E 0x30F0 MOVLW 240
0x006F 0x0088 MOVWF PORTD
;awul 01.c,289 :: CCPR1L =130;
0x0070 0x3082 MOVLW 130
0x0071 0x0095 MOVWF CCPR1L
;awul 01.c,290 :: CCPR2L =160;
0x0072 0x30A0 MOVLW 160
0x0073 0x009B MOVWF CCPR2L
;awul 01.c,291 :: Delay_ms(20000);
0x0074 0x30CB MOVLW 203
0x0075 0x00FB MOVWF R11
0x0076 0x30EC MOVLW 236
0x0077 0x00FC MOVWF R12
0x0078 0x3084 MOVLW 132
0x0079 0x00FD MOVWF R13
L_obs_detec52:
0x007A 0x0BFD DECFSZ R13, 1
0x007B 0x287A GOTO L_obs_detec52
0x007C 0x0BFC DECFSZ R12, 1
0x007D 0x287A GOTO L_obs_detec52
0x007E 0x0BFB DECFSZ R11, 1
0x007F 0x287A GOTO L_obs_detec52
0x0080 0x0000 NOP
;awul 01.c,293 :: }
L_obs_detec50:
;awul 01.c,305 :: if(fl > 250 && fr < 250 )
0x0081 0x3080 MOVLW 128
0x0082 0x00F0 MOVWF R0
0x0083 0x3080 MOVLW 128
0x0084 0x0623 XORWF _fl+1, 0
0x0085 0x0270 SUBWF R0, 0
0x0086 0x1D03 BTFSS STATUS, 2
0x0087 0x288A GOTO L__obs_detec84
0x0088 0x0822 MOVF _fl, 0
0x0089 0x3CFA SUBLW 250
L__obs_detec84:
0x008A 0x1803 BTFSC STATUS, 0
0x008B 0x289E GOTO L_obs_detec55
0x008C 0x3080 MOVLW 128
0x008D 0x0625 XORWF _fr+1, 0
0x008E 0x00F0 MOVWF R0
0x008F 0x3080 MOVLW 128
0x0090 0x0270 SUBWF R0, 0
0x0091 0x1D03 BTFSS STATUS, 2
0x0092 0x2895 GOTO L__obs_detec85
0x0093 0x30FA MOVLW 250
0x0094 0x0224 SUBWF _fr, 0
L__obs_detec85:
0x0095 0x1803 BTFSC STATUS, 0
0x0096 0x289E GOTO L_obs_detec55
L__obs_detec80:
;awul 01.c,307 :: PORTD=0b10010000;
0x0097 0x3090 MOVLW 144
0x0098 0x0088 MOVWF PORTD
;awul 01.c,308 :: CCPR1L = 120;
0x0099 0x3078 MOVLW 120
0x009A 0x0095 MOVWF CCPR1L
;awul 01.c,309 :: CCPR2L = 140;
0x009B 0x308C MOVLW 140
0x009C 0x009B MOVWF CCPR2L
;awul 01.c,313 :: }
0x009D 0x2952 GOTO L_obs_detec56
L_obs_detec55:
;awul 01.c,315 :: else if(fl < 250 && fr > 250)
0x009E 0x3080 MOVLW 128
0x009F 0x0623 XORWF _fl+1, 0
0x00A0 0x00F0 MOVWF R0
0x00A1 0x3080 MOVLW 128
0x00A2 0x0270 SUBWF R0, 0
0x00A3 0x1D03 BTFSS STATUS, 2
0x00A4 0x28A7 GOTO L__obs_detec86
0x00A5 0x30FA MOVLW 250
0x00A6 0x0222 SUBWF _fl, 0
L__obs_detec86:
0x00A7 0x1803 BTFSC STATUS, 0
0x00A8 0x28BB GOTO L_obs_detec59
0x00A9 0x3080 MOVLW 128
0x00AA 0x00F0 MOVWF R0
0x00AB 0x3080 MOVLW 128
0x00AC 0x0625 XORWF _fr+1, 0
0x00AD 0x0270 SUBWF R0, 0
0x00AE 0x1D03 BTFSS STATUS, 2
0x00AF 0x28B2 GOTO L__obs_detec87
0x00B0 0x0824 MOVF _fr, 0
0x00B1 0x3CFA SUBLW 250
L__obs_detec87:
0x00B2 0x1803 BTFSC STATUS, 0
0x00B3 0x28BB GOTO L_obs_detec59
L__obs_detec79:
;awul 01.c,317 :: PORTD=0b01100000;
0x00B4 0x3060 MOVLW 96
0x00B5 0x0088 MOVWF PORTD
;awul 01.c,318 :: CCPR1L = 120;
0x00B6 0x3078 MOVLW 120
0x00B7 0x0095 MOVWF CCPR1L
;awul 01.c,319 :: CCPR2L = 140;
0x00B8 0x308C MOVLW 140
0x00B9 0x009B MOVWF CCPR2L
;awul 01.c,324 :: }
0x00BA 0x2952 GOTO L_obs_detec60
L_obs_detec59:
;awul 01.c,326 :: else if(fl > 250 && fr > 250)
0x00BB 0x3080 MOVLW 128
0x00BC 0x00F0 MOVWF R0
0x00BD 0x3080 MOVLW 128
0x00BE 0x0623 XORWF _fl+1, 0
0x00BF 0x0270 SUBWF R0, 0
0x00C0 0x1D03 BTFSS STATUS, 2
0x00C1 0x28C4 GOTO L__obs_detec88
0x00C2 0x0822 MOVF _fl, 0
0x00C3 0x3CFA SUBLW 250
L__obs_detec88:
0x00C4 0x1803 BTFSC STATUS, 0
0x00C5 0x2909 GOTO L_obs_detec63
0x00C6 0x3080 MOVLW 128
0x00C7 0x00F0 MOVWF R0
0x00C8 0x3080 MOVLW 128
0x00C9 0x0625 XORWF _fr+1, 0
0x00CA 0x0270 SUBWF R0, 0
0x00CB 0x1D03 BTFSS STATUS, 2
0x00CC 0x28CF GOTO L__obs_detec89
0x00CD 0x0824 MOVF _fr, 0
0x00CE 0x3CFA SUBLW 250
L__obs_detec89:
0x00CF 0x1803 BTFSC STATUS, 0
0x00D0 0x2909 GOTO L_obs_detec63
L__obs_detec78:
;awul 01.c,329 :: if(bl < br)
0x00D1 0x3080 MOVLW 128
0x00D2 0x0627 XORWF _bl+1, 0
0x00D3 0x00F0 MOVWF R0
0x00D4 0x3080 MOVLW 128
0x00D5 0x0621 XORWF _br+1, 0
0x00D6 0x0270 SUBWF R0, 0
0x00D7 0x1D03 BTFSS STATUS, 2
0x00D8 0x28DB GOTO L__obs_detec90
0x00D9 0x0820 MOVF _br, 0
0x00DA 0x0226 SUBWF _bl, 0
L__obs_detec90:
0x00DB 0x1803 BTFSC STATUS, 0
0x00DC 0x28ED GOTO L_obs_detec64
;awul 01.c,331 :: PORTD=0b01100000;
0x00DD 0x3060 MOVLW 96
0x00DE 0x0088 MOVWF PORTD
;awul 01.c,332 :: CCPR1L = 120;
0x00DF 0x3078 MOVLW 120
0x00E0 0x0095 MOVWF CCPR1L
;awul 01.c,333 :: CCPR2L = 140;
0x00E1 0x308C MOVLW 140
0x00E2 0x009B MOVWF CCPR2L
;awul 01.c,334 :: Delay_ms(10);
0x00E3 0x301A MOVLW 26
0x00E4 0x00FC MOVWF R12
0x00E5 0x30F8 MOVLW 248
0x00E6 0x00FD MOVWF R13
L_obs_detec65:
0x00E7 0x0BFD DECFSZ R13, 1
0x00E8 0x28E7 GOTO L_obs_detec65
0x00E9 0x0BFC DECFSZ R12, 1
0x00EA 0x28E7 GOTO L_obs_detec65
0x00EB 0x0000 NOP
;awul 01.c,337 :: }
0x00EC 0x2908 GOTO L_obs_detec66
L_obs_detec64:
;awul 01.c,339 :: else if(br < bl)
0x00ED 0x3080 MOVLW 128
0x00EE 0x0621 XORWF _br+1, 0
0x00EF 0x00F0 MOVWF R0
0x00F0 0x3080 MOVLW 128
0x00F1 0x0627 XORWF _bl+1, 0
0x00F2 0x0270 SUBWF R0, 0
0x00F3 0x1D03 BTFSS STATUS, 2
0x00F4 0x28F7 GOTO L__obs_detec91
0x00F5 0x0826 MOVF _bl, 0
0x00F6 0x0220 SUBWF _br, 0
L__obs_detec91:
0x00F7 0x1803 BTFSC STATUS, 0
0x00F8 0x2908 GOTO L_obs_detec67
;awul 01.c,341 :: PORTD=0b10010000;
0x00F9 0x3090 MOVLW 144
0x00FA 0x0088 MOVWF PORTD
;awul 01.c,342 :: CCPR1L = 120;
0x00FB 0x3078 MOVLW 120
0x00FC 0x0095 MOVWF CCPR1L
;awul 01.c,343 :: CCPR2L = 140;
0x00FD 0x308C MOVLW 140
0x00FE 0x009B MOVWF CCPR2L
;awul 01.c,344 :: Delay_ms(10);
0x00FF 0x301A MOVLW 26
0x0100 0x00FC MOVWF R12
0x0101 0x30F8 MOVLW 248
0x0102 0x00FD MOVWF R13
L_obs_detec68:
0x0103 0x0BFD DECFSZ R13, 1
0x0104 0x2903 GOTO L_obs_detec68
0x0105 0x0BFC DECFSZ R12, 1
0x0106 0x2903 GOTO L_obs_detec68
0x0107 0x0000 NOP
;awul 01.c,347 :: }
L_obs_detec67:
L_obs_detec66:
;awul 01.c,349 :: }
0x0108 0x2952 GOTO L_obs_detec69
L_obs_detec63:
;awul 01.c,351 :: else if(bl > 600)
0x0109 0x3080 MOVLW 128
0x010A 0x3A02 XORLW 2
0x010B 0x00F0 MOVWF R0
0x010C 0x3080 MOVLW 128
0x010D 0x0627 XORWF _bl+1, 0
0x010E 0x0270 SUBWF R0, 0
0x010F 0x1D03 BTFSS STATUS, 2
0x0110 0x2913 GOTO L__obs_detec92
0x0111 0x0826 MOVF _bl, 0
0x0112 0x3C58 SUBLW 88
L__obs_detec92:
0x0113 0x1803 BTFSC STATUS, 0
0x0114 0x291C GOTO L_obs_detec70
;awul 01.c,353 :: PORTD=0b10100000;
0x0115 0x30A0 MOVLW 160
0x0116 0x0088 MOVWF PORTD
;awul 01.c,354 :: CCPR1L = 160;
0x0117 0x30A0 MOVLW 160
0x0118 0x0095 MOVWF CCPR1L
;awul 01.c,355 :: CCPR2L = 110;
0x0119 0x306E MOVLW 110
0x011A 0x009B MOVWF CCPR2L
;awul 01.c,359 :: }
0x011B 0x2952 GOTO L_obs_detec71
L_obs_detec70:
;awul 01.c,360 :: else if(br > 600)
0x011C 0x3080 MOVLW 128
0x011D 0x3A02 XORLW 2
0x011E 0x00F0 MOVWF R0
0x011F 0x3080 MOVLW 128
0x0120 0x0621 XORWF _br+1, 0
0x0121 0x0270 SUBWF R0, 0
0x0122 0x1D03 BTFSS STATUS, 2
0x0123 0x2926 GOTO L__obs_detec93
0x0124 0x0820 MOVF _br, 0
0x0125 0x3C58 SUBLW 88
L__obs_detec93:
0x0126 0x1803 BTFSC STATUS, 0
0x0127 0x292F GOTO L_obs_detec72
;awul 01.c,362 :: PORTD=0b10100000;
0x0128 0x30A0 MOVLW 160
0x0129 0x0088 MOVWF PORTD
;awul 01.c,363 :: CCPR1L = 110;
0x012A 0x306E MOVLW 110
0x012B 0x0095 MOVWF CCPR1L
;awul 01.c,364 :: CCPR2L = 160;
0x012C 0x30A0 MOVLW 160
0x012D 0x009B MOVWF CCPR2L
;awul 01.c,368 :: }
0x012E 0x2952 GOTO L_obs_detec73
L_obs_detec72:
;awul 01.c,382 :: PORTD=0b10100000;
0x012F 0x30A0 MOVLW 160
0x0130 0x0088 MOVWF PORTD
;awul 01.c,383 :: CCPR1L = 125;
0x0131 0x307D MOVLW 125
0x0132 0x0095 MOVWF CCPR1L
;awul 01.c,384 :: CCPR2L = 160;
0x0133 0x30A0 MOVLW 160
0x0134 0x009B MOVWF CCPR2L
;awul 01.c,386 :: if(fl > 100 || fr > 100 )
0x0135 0x3080 MOVLW 128
0x0136 0x00F0 MOVWF R0
0x0137 0x3080 MOVLW 128
0x0138 0x0623 XORWF _fl+1, 0
0x0139 0x0270 SUBWF R0, 0
0x013A 0x1D03 BTFSS STATUS, 2
0x013B 0x293E GOTO L__obs_detec94
0x013C 0x0822 MOVF _fl, 0
0x013D 0x3C64 SUBLW 100
L__obs_detec94:
0x013E 0x1C03 BTFSS STATUS, 0
0x013F 0x294C GOTO L__obs_detec77
0x0140 0x3080 MOVLW 128
0x0141 0x00F0 MOVWF R0
0x0142 0x3080 MOVLW 128
0x0143 0x0625 XORWF _fr+1, 0
0x0144 0x0270 SUBWF R0, 0
0x0145 0x1D03 BTFSS STATUS, 2
0x0146 0x2949 GOTO L__obs_detec95
0x0147 0x0824 MOVF _fr, 0
0x0148 0x3C64 SUBLW 100
L__obs_detec95:
0x0149 0x1C03 BTFSS STATUS, 0
0x014A 0x294C GOTO L__obs_detec77
0x014B 0x2952 GOTO L_obs_detec76
L__obs_detec77:
;awul 01.c,388 :: PORTD=0b10100000;
0x014C 0x30A0 MOVLW 160
0x014D 0x0088 MOVWF PORTD
;awul 01.c,389 :: CCPR1L = 120;
0x014E 0x3078 MOVLW 120
0x014F 0x0095 MOVWF CCPR1L
;awul 01.c,390 :: CCPR2L = 120;
0x0150 0x3078 MOVLW 120
0x0151 0x009B MOVWF CCPR2L
;awul 01.c,391 :: }
L_obs_detec76:
;awul 01.c,392 :: }
L_obs_detec73:
L_obs_detec71:
L_obs_detec69:
L_obs_detec60:
L_obs_detec56:
;awul 01.c,398 :: }
0x0152 0x2836 GOTO L_obs_detec48
;awul 01.c,399 :: }
L_end_obs_detec:
0x0153 0x0008 RETURN
; end of _obs_detec
___CC2DW:
;__Lib_System.c,134 ::
;__Lib_System.c,137 ::
_CC2D_Loop1:
;__Lib_System.c,139 ::
0x0154 0x202F CALL _____DoICP
0x0155 0x118A BCF PCLATH, 3
0x0156 0x120A BCF PCLATH, 4
;__Lib_System.c,141 ::
0x0157 0x0080 MOVWF INDF
;__Lib_System.c,142 ::
0x0158 0x0A84 INCF FSR, 1
;__Lib_System.c,143 ::
0x0159 0x0AA8 INCF ___DoICPAddr, 1
;__Lib_System.c,145 ::
0x015A 0x1903 BTFSC STATUS, 2
;__Lib_System.c,146 ::
0x015B 0x0AA9 INCF ___DoICPAddr+1, 1
;__Lib_System.c,147 ::
0x015C 0x03F0 DECF R0, 1
;__Lib_System.c,149 ::
0x015D 0x1D03 BTFSS STATUS, 2
;__Lib_System.c,150 ::
0x015E 0x2954 GOTO _CC2D_Loop1
;__Lib_System.c,152 ::
L_end___CC2DW:
0x015F 0x0008 RETURN
; end of ___CC2DW
_line_following:
;awul 01.c,38 :: void line_following(){
;awul 01.c,41 :: while(1){
L_line_following2:
;awul 01.c,43 :: if(PORTB==0b00000000){ //
0x0160 0x1283 BCF STATUS, 5
0x0161 0x1303 BCF STATUS, 6
0x0162 0x0806 MOVF PORTB, 0
0x0163 0x3A00 XORLW 0
0x0164 0x1D03 BTFSS STATUS, 2
0x0165 0x29A4 GOTO L_line_following4
;awul 01.c,44 :: PORTD = 0b11110000;
0x0166 0x30F0 MOVLW 240
0x0167 0x0088 MOVWF PORTD
;awul 01.c,45 :: CCPR1L = 130;
0x0168 0x3082 MOVLW 130
0x0169 0x0095 MOVWF CCPR1L
;awul 01.c,46 :: CCPR2L = 160;
0x016A 0x30A0 MOVLW 160
0x016B 0x009B MOVWF CCPR2L
;awul 01.c,47 :: Delay_ms(100);
0x016C 0x3002 MOVLW 2
0x016D 0x00FB MOVWF R11
0x016E 0x3004 MOVLW 4
0x016F 0x00FC MOVWF R12
0x0170 0x30BA MOVLW 186
0x0171 0x00FD MOVWF R13
L_line_following5:
0x0172 0x0BFD DECFSZ R13, 1
0x0173 0x2972 GOTO L_line_following5
0x0174 0x0BFC DECFSZ R12, 1
0x0175 0x2972 GOTO L_line_following5
0x0176 0x0BFB DECFSZ R11, 1
0x0177 0x2972 GOTO L_line_following5
0x0178 0x0000 NOP
;awul 01.c,50 :: PORTD = 0b10100000;
0x0179 0x30A0 MOVLW 160
0x017A 0x0088 MOVWF PORTD
;awul 01.c,51 :: CCPR1L = 130;
0x017B 0x3082 MOVLW 130
0x017C 0x0095 MOVWF CCPR1L
;awul 01.c,52 :: CCPR2L = 160;
0x017D 0x30A0 MOVLW 160
0x017E 0x009B MOVWF CCPR2L
;awul 01.c,53 :: Delay_ms(200);
0x017F 0x3003 MOVLW 3
0x0180 0x00FB MOVWF R11
0x0181 0x3008 MOVLW 8
0x0182 0x00FC MOVWF R12
0x0183 0x3077 MOVLW 119
0x0184 0x00FD MOVWF R13
L_line_following6:
0x0185 0x0BFD DECFSZ R13, 1
0x0186 0x2985 GOTO L_line_following6
0x0187 0x0BFC DECFSZ R12, 1
0x0188 0x2985 GOTO L_line_following6
0x0189 0x0BFB DECFSZ R11, 1
0x018A 0x2985 GOTO L_line_following6
;awul 01.c,55 :: PORTD = 0b11110000;
0x018B 0x30F0 MOVLW 240
0x018C 0x0088 MOVWF PORTD
;awul 01.c,56 :: CCPR1L = 130;
0x018D 0x3082 MOVLW 130
0x018E 0x0095 MOVWF CCPR1L
;awul 01.c,57 :: CCPR2L = 160;
0x018F 0x30A0 MOVLW 160
0x0190 0x009B MOVWF CCPR2L
;awul 01.c,58 :: Delay_ms(100);
0x0191 0x3002 MOVLW 2
0x0192 0x00FB MOVWF R11
0x0193 0x3004 MOVLW 4
0x0194 0x00FC MOVWF R12
0x0195 0x30BA MOVLW 186
0x0196 0x00FD MOVWF R13
L_line_following7:
0x0197 0x0BFD DECFSZ R13, 1
0x0198 0x2997 GOTO L_line_following7
0x0199 0x0BFC DECFSZ R12, 1
0x019A 0x2997 GOTO L_line_following7
0x019B 0x0BFB DECFSZ R11, 1
0x019C 0x2997 GOTO L_line_following7
0x019D 0x0000 NOP
;awul 01.c,59 :: if(PORTB==0b00000000){ // go to obs....
0x019E 0x0806 MOVF PORTB, 0
0x019F 0x3A00 XORLW 0
0x01A0 0x1D03 BTFSS STATUS, 2
0x01A1 0x29A3 GOTO L_line_following8
;awul 01.c,61 :: break;
0x01A2 0x2A76 GOTO L_line_following3
;awul 01.c,63 :: }
L_line_following8:
;awul 01.c,64 :: }
0x01A3 0x2A75 GOTO L_line_following9
L_line_following4:
;awul 01.c,67 :: else if(PORTB==0b11011000){ //go ahead
0x01A4 0x0806 MOVF PORTB, 0
0x01A5 0x3AD8 XORLW 216
0x01A6 0x1D03 BTFSS STATUS, 2
0x01A7 0x29AF GOTO L_line_following10
;awul 01.c,68 :: PORTD = 0b10100000;
0x01A8 0x30A0 MOVLW 160
0x01A9 0x0088 MOVWF PORTD
;awul 01.c,69 :: CCPR1L = 255;
0x01AA 0x30FF MOVLW 255
0x01AB 0x0095 MOVWF CCPR1L
;awul 01.c,70 :: CCPR2L = 255;
0x01AC 0x30FF MOVLW 255
0x01AD 0x009B MOVWF CCPR2L
;awul 01.c,72 :: }
0x01AE 0x2A75 GOTO L_line_following11
L_line_following10:
;awul 01.c,74 :: else if(PORTB==0b10011000){ //smooth left 1
0x01AF 0x0806 MOVF PORTB, 0
0x01B0 0x3A98 XORLW 152
0x01B1 0x1D03 BTFSS STATUS, 2
0x01B2 0x29BA GOTO L_line_following12
;awul 01.c,75 :: PORTD = 0b10100000;
0x01B3 0x30A0 MOVLW 160
0x01B4 0x0088 MOVWF PORTD
;awul 01.c,76 :: CCPR1L = 140;
0x01B5 0x308C MOVLW 140
0x01B6 0x0095 MOVWF CCPR1L
;awul 01.c,77 :: CCPR2L = 250;
0x01B7 0x30FA MOVLW 250
0x01B8 0x009B MOVWF CCPR2L
;awul 01.c,81 :: }
0x01B9 0x2A75 GOTO L_line_following13
L_line_following12:
;awul 01.c,83 :: else if(PORTB==0b11001000){ //smooth right 1
0x01BA 0x0806 MOVF PORTB, 0
0x01BB 0x3AC8 XORLW 200
0x01BC 0x1D03 BTFSS STATUS, 2
0x01BD 0x29C5 GOTO L_line_following14
;awul 01.c,84 :: PORTD = 0b10100000;
0x01BE 0x30A0 MOVLW 160
0x01BF 0x0088 MOVWF PORTD
;awul 01.c,85 :: CCPR1L = 250;
0x01C0 0x30FA MOVLW 250
0x01C1 0x0095 MOVWF CCPR1L
;awul 01.c,86 :: CCPR2L = 140;
0x01C2 0x308C MOVLW 140
0x01C3 0x009B MOVWF CCPR2L
;awul 01.c,89 :: }
0x01C4 0x2A75 GOTO L_line_following15
L_line_following14:
;awul 01.c,91 :: else if(PORTB==0b10111000){ //smooth left 2
0x01C5 0x0806 MOVF PORTB, 0
0x01C6 0x3AB8 XORLW 184
0x01C7 0x1D03 BTFSS STATUS, 2
0x01C8 0x29D0 GOTO L_line_following16
;awul 01.c,92 :: PORTD = 0b10100000;
0x01C9 0x30A0 MOVLW 160
0x01CA 0x0088 MOVWF PORTD
;awul 01.c,93 :: CCPR1L = 110;
0x01CB 0x306E MOVLW 110
0x01CC 0x0095 MOVWF CCPR1L
;awul 01.c,94 :: CCPR2L = 250;
0x01CD 0x30FA MOVLW 250
0x01CE 0x009B MOVWF CCPR2L
;awul 01.c,97 :: }
0x01CF 0x2A75 GOTO L_line_following17
L_line_following16:
;awul 01.c,99 :: else if(PORTB==0b11101000){ //smooth right 2
0x01D0 0x0806 MOVF PORTB, 0
0x01D1 0x3AE8 XORLW 232
0x01D2 0x1D03 BTFSS STATUS, 2
0x01D3 0x29DB GOTO L_line_following18
;awul 01.c,100 :: PORTD = 0b10100000;
0x01D4 0x30A0 MOVLW 160
0x01D5 0x0088 MOVWF PORTD
;awul 01.c,101 :: CCPR1L = 250;
0x01D6 0x30FA MOVLW 250
0x01D7 0x0095 MOVWF CCPR1L
;awul 01.c,102 :: CCPR2L = 110;
0x01D8 0x306E MOVLW 110
0x01D9 0x009B MOVWF CCPR2L
;awul 01.c,105 :: }
0x01DA 0x2A75 GOTO L_line_following19
L_line_following18:
;awul 01.c,107 :: else if(PORTB==0b00111000){ //left 1
0x01DB 0x0806 MOVF PORTB, 0
0x01DC 0x3A38 XORLW 56
0x01DD 0x1D03 BTFSS STATUS, 2
0x01DE 0x29E5 GOTO L_line_following20
;awul 01.c,108 :: PORTD = 0b00100000;
0x01DF 0x3020 MOVLW 32
0x01E0 0x0088 MOVWF PORTD
;awul 01.c,109 :: CCPR1L = 0;
0x01E1 0x0195 CLRF CCPR1L
;awul 01.c,110 :: CCPR2L = 250;
0x01E2 0x30FA MOVLW 250
0x01E3 0x009B MOVWF CCPR2L
;awul 01.c,114 :: }
0x01E4 0x2A75 GOTO L_line_following21
L_line_following20:
;awul 01.c,116 :: else if(PORTB==0b11100000){ //right 1
0x01E5 0x0806 MOVF PORTB, 0
0x01E6 0x3AE0 XORLW 224
0x01E7 0x1D03 BTFSS STATUS, 2
0x01E8 0x29EF GOTO L_line_following22
;awul 01.c,117 :: PORTD = 0b10000000;
0x01E9 0x3080 MOVLW 128
0x01EA 0x0088 MOVWF PORTD
;awul 01.c,118 :: CCPR1L = 250;
0x01EB 0x30FA MOVLW 250
0x01EC 0x0095 MOVWF CCPR1L
;awul 01.c,119 :: CCPR2L = 0;
0x01ED 0x019B CLRF CCPR2L
;awul 01.c,122 :: }
0x01EE 0x2A75 GOTO L_line_following23
L_line_following22:
;awul 01.c,124 :: else if(PORTB==0b01111000){ //left 2
0x01EF 0x0806 MOVF PORTB, 0
0x01F0 0x3A78 XORLW 120
0x01F1 0x1D03 BTFSS STATUS, 2
0x01F2 0x29F9 GOTO L_line_following24
;awul 01.c,125 :: PORTD = 0b00100000;
0x01F3 0x3020 MOVLW 32
0x01F4 0x0088 MOVWF PORTD
;awul 01.c,126 :: CCPR1L = 0;
0x01F5 0x0195 CLRF CCPR1L
;awul 01.c,127 :: CCPR2L = 255;
0x01F6 0x30FF MOVLW 255
0x01F7 0x009B MOVWF CCPR2L
;awul 01.c,131 :: }
0x01F8 0x2A75 GOTO L_line_following25
L_line_following24:
;awul 01.c,133 :: else if(PORTB==0b11110000){ //right 2
0x01F9 0x0806 MOVF PORTB, 0
0x01FA 0x3AF0 XORLW 240
0x01FB 0x1D03 BTFSS STATUS, 2
0x01FC 0x2A03 GOTO L_line_following26
;awul 01.c,134 :: PORTD = 0b10000000;
0x01FD 0x3080 MOVLW 128
0x01FE 0x0088 MOVWF PORTD
;awul 01.c,135 :: CCPR1L = 255;
0x01FF 0x30FF MOVLW 255
0x0200 0x0095 MOVWF CCPR1L
;awul 01.c,136 :: CCPR2L = 0;
0x0201 0x019B CLRF CCPR2L
;awul 01.c,140 :: }
0x0202 0x2A75 GOTO L_line_following27
L_line_following26:
;awul 01.c,141 :: else if(PORTB==0b00011000){ //left 1
0x0203 0x0806 MOVF PORTB, 0
0x0204 0x3A18 XORLW 24
0x0205 0x1D03 BTFSS STATUS, 2
0x0206 0x2A0E GOTO L_line_following28
;awul 01.c,142 :: PORTD = 0b01100000;
0x0207 0x3060 MOVLW 96
0x0208 0x0088 MOVWF PORTD
;awul 01.c,143 :: CCPR1L = 110;
0x0209 0x306E MOVLW 110
0x020A 0x0095 MOVWF CCPR1L
;awul 01.c,144 :: CCPR2L = 255;
0x020B 0x30FF MOVLW 255
0x020C 0x009B MOVWF CCPR2L
;awul 01.c,148 :: }
0x020D 0x2A75 GOTO L_line_following29
L_line_following28:
;awul 01.c,150 :: else if(PORTB==0b11000000){ //right 1
0x020E 0x0806 MOVF PORTB, 0
0x020F 0x3AC0 XORLW 192
0x0210 0x1D03 BTFSS STATUS, 2
0x0211 0x2A19 GOTO L_line_following30
;awul 01.c,151 :: PORTD = 0b10010000;
0x0212 0x3090 MOVLW 144
0x0213 0x0088 MOVWF PORTD
;awul 01.c,152 :: CCPR1L = 255;
0x0214 0x30FF MOVLW 255
0x0215 0x0095 MOVWF CCPR1L
;awul 01.c,153 :: CCPR2L = 110;
0x0216 0x306E MOVLW 110
0x0217 0x009B MOVWF CCPR2L
;awul 01.c,157 :: }
0x0218 0x2A75 GOTO L_line_following31
L_line_following30:
;awul 01.c,159 :: else if(PORTB==0b10001000){ //y juntion
0x0219 0x0806 MOVF PORTB, 0
0x021A 0x3A88 XORLW 136
0x021B 0x1D03 BTFSS STATUS, 2
0x021C 0x2A24 GOTO L_line_following32
;awul 01.c,160 :: PORTD = 0b10100000;
0x021D 0x30A0 MOVLW 160
0x021E 0x0088 MOVWF PORTD
;awul 01.c,161 :: CCPR1L = 250;
0x021F 0x30FA MOVLW 250
0x0220 0x0095 MOVWF CCPR1L
;awul 01.c,162 :: CCPR2L = 250;
0x0221 0x30FA MOVLW 250
0x0222 0x009B MOVWF CCPR2L
;awul 01.c,166 :: }
0x0223 0x2A75 GOTO L_line_following33
L_line_following32:
;awul 01.c,168 :: else if(PORTB==0b10000000){ //y juntion
0x0224 0x0806 MOVF PORTB, 0
0x0225 0x3A80 XORLW 128
0x0226 0x1D03 BTFSS STATUS, 2
0x0227 0x2A2E GOTO L_line_following34
;awul 01.c,169 :: PORTD = 0b10000000;
0x0228 0x3080 MOVLW 128
0x0229 0x0088 MOVWF PORTD
;awul 01.c,170 :: CCPR1L = 250;
0x022A 0x30FA MOVLW 250
0x022B 0x0095 MOVWF CCPR1L
;awul 01.c,171 :: CCPR2L = 0;
0x022C 0x019B CLRF CCPR2L
;awul 01.c,175 :: }
0x022D 0x2A75 GOTO L_line_following35
L_line_following34:
;awul 01.c,177 :: else if(PORTB==0b00001000){ //y juntion
0x022E 0x0806 MOVF PORTB, 0
0x022F 0x3A08 XORLW 8
0x0230 0x1D03 BTFSS STATUS, 2
0x0231 0x2A38 GOTO L_line_following36
;awul 01.c,178 :: PORTD = 0b00100000;
0x0232 0x3020 MOVLW 32
0x0233 0x0088 MOVWF PORTD
;awul 01.c,179 :: CCPR1L = 0;
0x0234 0x0195 CLRF CCPR1L
;awul 01.c,180 :: CCPR2L = 250;
0x0235 0x30FA MOVLW 250
0x0236 0x009B MOVWF CCPR2L
;awul 01.c,184 :: }
0x0237 0x2A75 GOTO L_line_following37
L_line_following36:
;awul 01.c,186 :: else if(PORTB==0b01100000){ //
0x0238 0x0806 MOVF PORTB, 0
0x0239 0x3A60 XORLW 96
0x023A 0x1D03 BTFSS STATUS, 2
0x023B 0x2A43 GOTO L_line_following38
;awul 01.c,187 :: PORTD = 0b01100000;
0x023C 0x3060 MOVLW 96
0x023D 0x0088 MOVWF PORTD
;awul 01.c,188 :: CCPR1L = 255;
0x023E 0x30FF MOVLW 255
0x023F 0x0095 MOVWF CCPR1L
;awul 01.c,189 :: CCPR2L = 255;
0x0240 0x30FF MOVLW 255
0x0241 0x009B MOVWF CCPR2L
;awul 01.c,193 :: }
0x0242 0x2A75 GOTO L_line_following39
L_line_following38:
;awul 01.c,195 :: else if(PORTB==0b00110000){ //
0x0243 0x0806 MOVF PORTB, 0
0x0244 0x3A30 XORLW 48
0x0245 0x1D03 BTFSS STATUS, 2
0x0246 0x2A4E GOTO L_line_following40
;awul 01.c,196 :: PORTD = 0b10010000;
0x0247 0x3090 MOVLW 144
0x0248 0x0088 MOVWF PORTD
;awul 01.c,197 :: CCPR1L = 255;
0x0249 0x30FF MOVLW 255
0x024A 0x0095 MOVWF CCPR1L
;awul 01.c,198 :: CCPR2L = 255;
0x024B 0x30FF MOVLW 255
0x024C 0x009B MOVWF CCPR2L
;awul 01.c,202 :: }
0x024D 0x2A75 GOTO L_line_following41
L_line_following40:
;awul 01.c,204 :: else if(PORTB==0b01101000){ //
0x024E 0x0806 MOVF PORTB, 0
0x024F 0x3A68 XORLW 104
0x0250 0x1D03 BTFSS STATUS, 2
0x0251 0x2A59 GOTO L_line_following42
;awul 01.c,205 :: PORTD = 0b01100000;
0x0252 0x3060 MOVLW 96
0x0253 0x0088 MOVWF PORTD
;awul 01.c,206 :: CCPR1L = 255;
0x0254 0x30FF MOVLW 255
0x0255 0x0095 MOVWF CCPR1L
;awul 01.c,207 :: CCPR2L = 255;
0x0256 0x30FF MOVLW 255
0x0257 0x009B MOVWF CCPR2L
;awul 01.c,210 :: }
0x0258 0x2A75 GOTO L_line_following43
L_line_following42:
;awul 01.c,212 :: else if(PORTB==0b10110000){ //
0x0259 0x0806 MOVF PORTB, 0
0x025A 0x3AB0 XORLW 176
0x025B 0x1D03 BTFSS STATUS, 2
0x025C 0x2A64 GOTO L_line_following44
;awul 01.c,213 :: PORTD = 0b10010000;
0x025D 0x3090 MOVLW 144
0x025E 0x0088 MOVWF PORTD
;awul 01.c,214 :: CCPR1L = 255;
0x025F 0x30FF MOVLW 255
0x0260 0x0095 MOVWF CCPR1L
;awul 01.c,215 :: CCPR2L = 255;
0x0261 0x30FF MOVLW 255
0x0262 0x009B MOVWF CCPR2L
;awul 01.c,219 :: }
0x0263 0x2A75 GOTO L_line_following45
L_line_following44:
;awul 01.c,221 :: else if(PORTB==0b11111000){ //background
0x0264 0x0806 MOVF PORTB, 0
0x0265 0x3AF8 XORLW 248
0x0266 0x1D03 BTFSS STATUS, 2
0x0267 0x2A6F GOTO L_line_following46
;awul 01.c,237 :: PORTD = 0b01010000;
0x0268 0x3050 MOVLW 80
0x0269 0x0088 MOVWF PORTD
;awul 01.c,238 :: CCPR1L =250;
0x026A 0x30FA MOVLW 250
0x026B 0x0095 MOVWF CCPR1L
;awul 01.c,239 :: CCPR2L =250;
0x026C 0x30FA MOVLW 250
0x026D 0x009B MOVWF CCPR2L
;awul 01.c,244 :: }
0x026E 0x2A75 GOTO L_line_following47
L_line_following46:
;awul 01.c,250 :: PORTD = 0b10100000;
0x026F 0x30A0 MOVLW 160
0x0270 0x0088 MOVWF PORTD
;awul 01.c,251 :: CCPR1L = 120;
0x0271 0x3078 MOVLW 120
0x0272 0x0095 MOVWF CCPR1L
;awul 01.c,252 :: CCPR2L = 160;
0x0273 0x30A0 MOVLW 160
0x0274 0x009B MOVWF CCPR2L
;awul 01.c,257 :: }
L_line_following47:
L_line_following45:
L_line_following43:
L_line_following41:
L_line_following39:
L_line_following37:
L_line_following35:
L_line_following33:
L_line_following31:
L_line_following29:
L_line_following27:
L_line_following25:
L_line_following23:
L_line_following21:
L_line_following19:
L_line_following17:
L_line_following15:
L_line_following13:
L_line_following11:
L_line_following9:
;awul 01.c,265 :: }
0x0275 0x2960 GOTO L_line_following2
L_line_following3:
;awul 01.c,268 :: }
L_end_line_following:
0x0276 0x0008 RETURN
; end of _line_following
_main:
0x0277 0x1283 BCF STATUS, 5
0x0278 0x1303 BCF STATUS, 6
0x0279 0x01A0 CLRF _br
0x027A 0x01A1 CLRF 33
0x027B 0x01A2 CLRF _fl
0x027C 0x01A3 CLRF 35
0x027D 0x01A4 CLRF _fr
0x027E 0x01A5 CLRF 37
0x027F 0x01A6 CLRF _bl
0x0280 0x01A7 CLRF 39
;awul 01.c,8 :: void main() {
;awul 01.c,10 :: TRISB = 0b11111000; // portB set inputs (front sener panal)
0x0281 0x30F8 MOVLW 248
0x0282 0x1683 BSF STATUS, 5
0x0283 0x0086 MOVWF TRISB
;awul 01.c,11 :: PORTB = 0x00;
0x0284 0x1283 BCF STATUS, 5
0x0285 0x0186 CLRF PORTB
;awul 01.c,12 :: TRISC = 0x00; // portC set outputs (pwm)
0x0286 0x1683 BSF STATUS, 5
0x0287 0x0187 CLRF TRISC
;awul 01.c,13 :: PORTC = 0b00000110;
0x0288 0x3006 MOVLW 6
0x0289 0x1283 BCF STATUS, 5
0x028A 0x0087 MOVWF PORTC
;awul 01.c,14 :: TRISD = 0x00; // portD set outputs (moter controller)
0x028B 0x1683 BSF STATUS, 5
0x028C 0x0188 CLRF TRISD
;awul 01.c,15 :: PORTD = 0x00;
0x028D 0x1283 BCF STATUS, 5
0x028E 0x0188 CLRF PORTD
;awul 01.c,16 :: TRISE = 0b011; // portE set inputs (back senser panel)
0x028F 0x3003 MOVLW 3
0x0290 0x1683 BSF STATUS, 5
0x0291 0x0089 MOVWF TRISE
;awul 01.c,17 :: PORTE = 0b000;
0x0292 0x1283 BCF STATUS, 5
0x0293 0x0189 CLRF PORTE
;awul 01.c,19 :: ADCON0 = 0b11010001; // set analog
0x0294 0x30D1 MOVLW 209
0x0295 0x009F MOVWF ADCON0
;awul 01.c,20 :: ADCON1 = 0b10000000;
0x0296 0x3080 MOVLW 128
0x0297 0x1683 BSF STATUS, 5
0x0298 0x009F MOVWF ADCON1
;awul 01.c,21 :: TRISA = 0b00001111;
0x0299 0x300F MOVLW 15