Batu: 8 Langkah

2024 Pengarang: John Day | [email protected]. Diubah suai terakhir: 2024-01-30 11:13

Robot ini dikendalikan oleh program asas visual (melalui port bersiri), dan dapat bergerak dalam tiga halaju yang berbeza dengan isyarat modulasi lebar denyut (PWM) yang dihasilkan oleh mikrokontroler PIC (16F877). Robot boleh dikendalikan dalam dua mod, "normal control" dan "light tracker". Dalam mod kawalan biasa, robot dapat membawa objek berukuran 3 - 18 cm dari satu tempat ke tempat lain dalam jarak 150 m. sedangkan dalam mod penjejak cahaya, ia mengikuti cahaya di ruang gelap. Banyak sensor digunakan, seperti sensor cahaya; sensor kecondongan, penginderaan arus stall, pengesan tahap bateri, dan beberapa suis had dan sensor sentuh yang digunakan di tangan. Ia dapat mengekalkan kelajuannya tetap ketika berjalan di atas bukit (miring) dan secara automatik menyalakan cahaya ketika menjadi gelap. Juga untuk memastikan keselamatan IC, ia memutuskan arus semasa tersekat dan tangan berhenti ketika memegang sesuatu. 4 Motor DC digunakan dikendalikan oleh litar pemacu motor mikrokontroler PIC 16F877 dan 3. Ia mengambil masa sekitar 4 bulan, dan harganya sekitar 600 $

Langkah 1: Reka bentuk Projek

pada peringkat awal, reka bentuk projek telah disediakan. terutamanya, menentukan rajah blok; lihat rajahnya.

Diagram Litar yang lebih terperinci diperlukan pada tahap ini, namun, untuk memudahkannya, modul utama yang dikenal pasti adalah: 1. Mikrokontroler 2. Sensor 3. Motor 4. Litar tanpa wayar 5. Program PC. Reka bentuk 3d juga dilakukan, lihat gambarnya.

Langkah 2: Pilih Peranti dan Komponen

Pada peringkat ini, pereka harus memilih peranti dan komponen yang diperlukan untuk membina robot.

Ini merangkumi: litar tanpa wayar (MAX232, LM331, modul pemancar dan Penerima FM), motor (4 motor DC), litar pemacu motor (H-bridge), mikrokontroler PIC (16F877), Bateri, Pengatur voltan (MC7805), Penyaring mikro, Photoresistors, Tilt sensor … dll. Penting untuk memahami kebolehkomputeran peranti ini dan bagaimana ia berfungsi bersama.

Langkah 3: Pengawal Mikro

Langkah ini adalah langkah yang paling penting. pada awalnya, kod yang akan diterima dan dihantar dari PIC harus dikenal pasti.

Mula menyambungkan komponen ke pin PIC yang sesuai, dan aturcara mikrokontroler. Ini mungkin memerlukan pembinaan litar kecil menggunakan pengatur, perintang, sensor … dll.

Langkah 4: Tulis Program PC

Program ini ditulis berdasarkan visual visual.

Komunikasi itu dibuat melalui RS-232. Menggunakan MSComm untuk menghantar data ke mikrokontroler dengan mengkonfigurasi tetapan (nombor port, baud rate, parity number of bit data, stop bit). Saya menggunakan data 8-bit dengan bit berhenti dan pariti pada kadar baud 9600 bps.

Langkah 5: Bina Badan

Reka bentuk badan yang baik adalah penting. Juga memilih susunan roda, lihat gambarnya.

robotnya dibina setelah memastikan programnya berjalan lancar. Langkah ini boleh dilakukan sebelum pengaturcaraan juga.

Langkah 6: Bina Litar Tanpa Wayar

Membina litar tanpa wayar boleh berdikari. Pada peringkat awal, saya telah menggunakan wayar untuk menghubungkan PC dengan robot, dan setelah menyelesaikan robot, rangkaian wayarles disatukan.

Langkah 7: Bersepadu

Inilah saatnya kami mengintegrasikan komponen kami, dan menguji robot.

Langkah 8: Kod Program Pengawal Mikro

; *************** FINAL ******************************** senarai p = 16f877 termasuk decidlocs radix "V" << 8 | "1"; Versi No.config _CP_OFF & _PWRTE_OFF & _WDT_OFF & _XT_OSC; ********** pemboleh ubah utama *************************** cblock 0x20; permulaan bank 0 kawasan ram INPUT_VAR L1 L2 X SPEED11 SPEED12 SPEED21 SPEED22 MSTOP LDET LR1 LR2 endc; ********** permulaan program utama *************** mulakan BSF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X40 MOVWF ADCON1 MOVLW 0XFF; PORT A IS I MOVWF TRISA MOVLW 0X00; PORT B IS O MOVWF TRISB MOVLW 0XF0; PORT C IS I / O MOVWF TROVC MOVWF MOVWF DOVF MOVWF MOVWF TROVC TRISD MOVLW 0X07; PORT E ADALAH SAYA MOVWF TRISE BANKSEL OPTION_REG BCF OPTION_REG, T0CS BCF STATUS, RP1 BCF STATUS, RP0; ************************* ******************; ******************************* ************ TUNGGU BCF PORTB, 1 BCF PORTB, 2 BCF PORTB, 6 CALL PWM1OFF CALL PWM2OFF BCF PORTD, 0 BCF PORTD, 1 BCF PORTD, 2 BCF PORTD, 3 BTFSS LDET, 0 BCF PORTB, 7 MOVLW 0X00 MOVF MSTOP MOVF LDET BANKSEL INTCON BCF INTCON, GIE BANKSEL TXSTA BSF TXSTA, BRGH MOVLW 0X40 MOVWF SPBRG BCF TXSTA, SYNC BANKSEL RCSTA BSF RCSTA, SPF RCSTA, SPST RCSTA, OERR GOTO CLROE BANKSEL PIE1 BSF PIE1, RCIE BANKSEL RCSTA BCF RCSTA, RX9 BSF RCSTA, CRENWAIT1 BANKSEL PORTB BSF PORTB, 3 BSF PORTB, 4 BANKSEL PIR1 BTFSS PIR1, RCIF GOTO, POTF BCB, BCIF GOTO CALL PWM1OFF CALL PWM2OFF CALL DARKLIGHT BTFSC LDET, 0 BSF PORTB, 7RXDATA; BANKSEL RCSTA; BTFSC RCSTA, OERR; GOTO STOPS CALL PWM1OFF CALL PWM2OFF CALL DARKLIGHT BREF, BOLA BALLFF, BALLFALLFALL, BALLFALLS, BALL 4 0; *******************************************; **** *************************************** MOVWF INPUT_VAR MOVLW 0X00 MOVWF RCREG BCF STATUS, RP0 BCF STATUS, RP1 MOVF INPUT_VAR, 0; HENTIKAN SUBLW 0X53 BTFSC STATUS, Z GOTO BERHENTI MOVF INPUT_VAR, 0; CAHAYA DI SUBLW 0X4E BTFSC STATUS, Z GOTO LON MOVF INPUT_VAR, LOVFFF, LOVFFF, BFFF, BFF 0; MOVE FORWARD SLOW SUBLW 0X66 BTFSC STATUS, Z GOTO FSLOW MOVF INPUT_VAR, 0; MOVE RIGHT SLOW SUBLW 0X72 BTFSC STATUS, Z GOTO RSLOW MOVF INPUT_VAR, 0; MOVE LEFT SLOW SUBL X6C BTFSC STATUS, Z GOTO LSLOW MOVF INPUT_VAR, 0; MOVE BACKWARD SLOW SUBLW 0X62 BTFSC STATUS, Z GOTO BSLOW MOVF INPUT_VAR, 0; MOVE FORWARD MEDIUM SUBLW 0X46 BUTFVFFF BVFFFFF BVFFFFF BEDA VFFF STATUS, Z GOTO RMED MOVF INPUT_VAR, 0; MOVE LEFT MEDIUM SUBLW 0X4C BTFSC STATUS, Z GOTO LMED MOVF INPUT_VAR, 0; MOVE BACKWARD MEDIUM SUBLW 0X42 BTFSC, STATUS, BVFFFF, VFFFF Z GOTO FFAST MOVF INPUT_VAR, 0; MOVE RIGHT FAST SUBLW 0X57 BTFSC STATUS, Z GOTO RFAST MOVF INPUT_VAR, 0; MOVE LEFT CEPAT SUBLW 0X56 BTFSC STATUS, Z GOTO LFAST MOVF BFFBB, BUTA BUTA FAST, FAST BOVFFF BFAST MOVF INPUT_VAR, 0; HAND CLOSE SUBLW 0X43 BTFSC STATUS, Z GOTO HCLOSE MOVF INPUT_VAR, 0; TANGAN TERBUKA SUBLW 0X4F BTFSC STATUS, Z GOTO HOPEN MOVF INPUT_VARB, VF, VF, VF, VF, VF, VF, VF.; HAND DOWN SUBLW 0X64 BTFSC STATUS, Z GOTO HDOWN MOVF INPUT_VAR, 0; FOLOWE CAHAYA R SUBLW 0X54 BTFSC STATUS, Z GOTO LFOLLOW; ******************************************** ***; ******************************************* GOTO CLROEFSLOW; BANKSEL RCSTA; BCF RCSTA, OERR; BCF RCSTA, CREN; NOP; BSF RCSTA, CREN BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP; BCF LDET, 0; CALL BUTTLEVEL; BTFSC BOLA, BOLA, BTFSC BOLA LDET, 0; BSF PORTB, 7 NORMALSLOW MOVLW 0XFF MOVWF SPEED11 MOVLW 0X66 MOVWF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X66 MOVWF SPEED22 CALL PWM1ON CALL PWM2, PFPORBOR, 1 PFFORBOR, BSF PORPORBOR, 1, RCIF GOTO RXDATA GOTO REP3 GOTO CLROE; ***************************************** ** LSLOW BCF STATUS, RP0 BCF STATUS, RP1; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS MOVLW 0X00 MOVWF MSTOP BCF LDET, 0 PANGGILAN DARKLIGHT BTFSC LDET, 0; BSF PORTBFWWFFWWFWWFFWWFFWWFFWWFWFFWWFFWWFWFWFFWWFFWFFWWFFWFWFWFWFFWW 0XCF MOVWF SPEED21 MOVLW 0X66 MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BSF PORTD, 0 BCF PORTD, 1 BSF PORTB, 1 BCF POR TB, 2 REP4 BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA GOTO REP4 GOTO CLROE; ********************************* ********** RSLOW BCF STATUS, RP0 BCF STATUS, RP1; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS MOVLW 0X00 MOVWF MSTOP BCF LDET, 0 CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7; MOV PORTB, 7 0XCF MOVWF SPEED11 MOVLW 0X66 MOVWF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X99 MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BCF PORTD, 0 BSF PORTD, 1 BCF PORTB, 1 PORT BTS, PORT BTS **************************** STATUS BSLOW BCF, STATUS RP0 BCF, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 MOVLW 0XCF MOVWF SPEED11 MOVLW 0X99 MOVWF SPEED12 MOVLW 0XCF MOVWF SPEED21 MOVLW 0X99 MOVWF PWFOR, PWFFWW PWF, PWFF2, PWFF2, PWFF2 PORTB, 2 REP5 BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA GOTO REP5 GOTO CLROE; ********************************* ********** F MED BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, MOVWFFWWFFFWWFFWWFFWWFFWWFFWFFWFFWFFWFFWWFWFFWFFWFFWFFWFFWFFWFWFWFWFWFWFWFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1 MOVWF SPEED21 MOVLW 0X99 MOVWF SPEED22 CALL PWM1ON PANGGILAN PWM2ON BCF PORTD, 0 BCF PORTD, 1 BSF PORTB, 1 BSF PORTB, 2 CALL SDELAY REP6 CALL STALL1 BTFSC MSTOP, 0 GOTO STOP BANK BOLA, BANK BOLA GOTO REP6 PLUSEMED MOVLW 0XCF MOVWF SPEED11 MOVLW 0XCC MOVWF SPEED12 MOVLW 0XCF MOVWF SPEED21 MOVLW 0XCC MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BCF PORTD, 1 BCF PORBOR, 1 BCF PORBOR BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA BTFSS PORTD, 7 GOTO NORMALMED GOTO REP7 GOTO CLROE; ******************************* ************ STATUS BCF RMED, STATUS RP0 BCF, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORT B, 7 MOVLW 0XFF MOVWF SPEED11 MOVLW 0X99 MOVWF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X66 MOVWF SPEED22 CALL PWM1ON PANGGILAN PWM2ON BCF PORTD, 0 BSF PORB, 1 BFF PORT, BALL BOPOR BTFSC PIR1, RCIF GOTO RXDATA GOTO REP8 GOTO CLROE; ******************************************* **** LMED BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTBFFWWFFWWFFFWWFFFWWFFWFFWFFFFF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X99 MOVWF SPEED22 CALL PWM1ON PANGGILAN PWM2ON BSF PORTD, 0 BCF PORTD, 1 BSF PORTB, 1 BCF PORTB, 2 REP9; CALL STALL1; BTFSC BOLA, POTONG BOLA, STOP BOPO REP9 GOTO CLROE; ******************************************* STATUS BMED BCF, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 MOVLW 0XFF MOVWF MOVLW 0X7F MOVWF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X7F MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BSF PORTD, 0 BSF PORTD, 1 BCF PORTB, 1 BCF PORTB, 2 BALAPAN BOLA CALL1, BALL STOP 1 REP10 GOTO CLROE; ******************************************* STATUS BCF FFAST, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0 BSF MSTOP, 4; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO TERHENTI CALL Darklight BTFSC LDET, 0; BSF PORTB, 7 MOVLW 0XEF MOVWF SPEED11 MOVLW 0X7F MOVWF SPEED12 MOVLW 0XEF MOVWF SPEED21 MOVLW 0X7F MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BCF PORTD, 0 BCF PORTD, 1 BSF PORTB, 1 BSF PORTB, 2 CALL sdelay NORMALFAST MOVLW 0XCF MOVWF SPEED11 MOVLW 0XCC MOVWF SPEED12 MOVLW 0XCF MOVWF SPEED21 MOVLW 0XCC MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BCF PORTD, 0 BCF PORTD, 1 BTFSC LDET, 0 BSF PORTB, 7 BSF PORTB, 1 BSF PORTB, 2 REP11 CALL STALL1 BTFSC MSTOP, 0 GOTO STOPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA NOP BTFSS, POP REPUS AST MOVLW 0XCF MOVWF SPEED11 MOVLW 0XFF MOVWF SPEED12 MOVLW 0XCF MOVWF SPEED21 MOVLW 0XFF MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BCF PORTD, 0 BCF PORTD, 1 BFF PORT, 1 BTS, RCIF GOTO RXDATA BTFSS PORTD, 7 GOTO NORMALFAST GOTO REP12 GOTO CLROE; *************************************** ******** STATUS RFAST BCF, STATUS RP0 BCF, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTWF, 7 MOVLFFFF, 7 MOVLFFFF SPEED11 MOVLW 0X99 MOVWF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X66 MOVWF SPEED22 CALL PWM1ON PANGGILAN PWM2ON BCF PORTD, 0 BSF PORTD, 1 BCF PORTB, 1 BSF PORTB, BOP BOLA 1, BOLA STOP 1 GOTO REP13 GOTO CLROE; ******************************************* BCF LFAST STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 MOVLW 0xFF MOVWF SPEED11 MOVLW 0X66 MOVWF SPEED12 MOVLW 0xFF MOVWF SPEED21 MOVLW 0X99 MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BSF PORTD, 0 BCF PORTD, 1 BSF PORTB, 1 BCF PORTB, 2 CALL Sdelay MOVLW 0xFF MOVWF SPEED11 MOVLW 0X4C MOVWF SPEED12 MOVLW 0XEF MOVWF SPEED21 MOVLW 0XB3 MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BSF PORTD, 0 BCF PORTD, 1 BSF PORTB, 1 BCF PORTB, 2 REP14 CALL STALL1 BTFSC MSTOP, 0 GOTO STOPS BANK BOLA, BOTO GOTO BOLA ****************************************** STATUS BCF BFAST, STATUS RP0 BCF, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 MOVLW 0XDF MOVWF SPEED11 MOVLWWFWWFOVWWFOVWWFOVWWFWWFWWWWFWWWWWWWWWWWWWWWWWWWWWWWWWW1401E08F1401E08F1401E08F1408F1408F1408F1408F140F1408 PWM2ON BSF PORTD, 0 BSF PORTD, 1 BCF PORTB, 1 BCF PORTB, 2 CALL SDELAY MOVLW 0XEF MOVWF SPEED11 MOVLW 0X66 MOVWF SPEED12 MOVLW 0XEF MOVWF SPEED21 MOVLW 0X66 MOVWFFWWW PWWFW22 POVMFWWWWFWWWWFWWWWFWWWWFWWWFF2W2 PORTD, 0 BSF PORTD, 1 BCF PORTB, 1 BCF PORTB, 2 REP15 CALL STALL1 BTFSC MSTOP, 0 GOTO STOPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA GOTO REP15 GOTO CLROE; ************* ****************************** HCLOSE BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 BTFSC PORTD, 5 GOTO STOPS BTFSC PORTD, 6 GOTO STOPS BSF PORTD, 2 BCF PORTD, 3 REP16 BTFS, PORTS, BTSFOR, BTFS GOTO STOPS CALL SDELAY CALL STALL2 BTFSC MSTOP, 2 GOTO STOPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA GOTO REP16 GOTO CLROE; ************************* ****************** HARAPAN BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 BTFSC PORTD, 4 GOTO STOPS BCF PORTD, 2 BSF PORTD, 3 REP17 BTFSC PORTD, 4 GOTO STOPS CALL SDELAY CALL STALL2 BTFSC MSTOP, 2 GOTO STOPS BANKSEL PIR1 BOTFS, GOTO BOTS GOTO CLROE; ******************************************* HUP BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 BTFSC PORTC, 4 POTTC, POTTC, 4 GOTO BTFSC PORTC, 4 GOTO STOPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA GOTO REP18 GOTO CLROE; ******************************* ************ HDOWN BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BCF LDET, 0; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS CALL DARKLIGHT BTFSC LDET, 0; BSF PORTB, 7 BTFSC PORTC, 5 GOTO STOPS BSF PORTC, 0 BCF PORTC, 3 REP19 BTFSC PORTC, 5 GOTO STOPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA GOTO REP19 GOTO CLROE; *************** **************************** LON BSF PORTB, 7 BSF LDET, 0 GOTO CLROE; ********** ********************************* LOFF BCF PORTB, 7 BCF LDET, 0 GOTO CLROE; ***** ************************************** LFOLLOW BCF STATUS, RP0 BCF STATUS, RP1 BCF PORTB, 1 BCF PORTB, 2 BCF PORTB, 6 BCF PORTB, 7 CALL PWM1OFF CALL PWM2OFF BCF PORTD, 0 BCF PORTD, 1 BCF PORTD, 2 BCF PORTD, 3 BSF MSTOP, 6 REPLF; BANKSEL OPTION_REG; BSF OPTION_REG, 3; BSF OPTION_REG, 3; BSF OPTION_REG, 3; BSF OPER_, 3; CLRFWDT BCF STATUS, RP0 BCF STATUS, RP1; BANKSEL INTCON; BCF INTCON, T0IE; BCF INTCON, T0IF; BANKSEL PIE1; BCF PIE1, 6; BCF PIE1, 0; BANKSEL INTCON, PCF BTC, BCF INTCON, 0 BCF PCON, 1 NOP BSF PCON, 0 BSF PCON, 1 BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP CALL SDELAY CALL LFC1 NOP CALL LFC2 NOP MOVF LR2, 0 SUBWF LR1, 0 BTFSCAT STATUS PANGGILAN SDELAY LFC1 NOP CALL LFC2 NOP MOVF LR2, 0 SUBWF LR1, 0 BTFSC STATUS, C GOTO LR2G LR1G BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP; CALL BUTTOVFFFS, MOVOP BOLA, BOLA BOLA, BOLA BOLA, BOLA SEPAK BOLA TAWAR, BOLA BOLA, BOLA SEPAK BAIK, MOVF BOLA 0X66 MOVWF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X99 MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BSF PORTD, 0 BCF PORTD, 1 BSF PORTB, 1 BCF PORTB, 2 LR1GREP; CALL STALL 1; OPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA CALL LFC1 NOP CALL LFC2 NOP MOVF LR2, 0 SUBWF LR1, 0 BTFSC STATUS, Z GOTO REPLF CALL LFC1 NOP CALL LFC2 NOP MOVF LR2, LFFFFR, LFFFBR, LF2F1 REPLF LR2G STATUS BCF, STATUS RP0 BCF, RP1 MOVLW 0X00 MOVWF MSTOP; CALL BUTTLEVEL; BTFSC MSTOP, 1; GOTO STOPS MOVLW 0xFF MOVWF SPEED11 MOVLW 0X99 MOVWF SPEED12 MOVLW 0xFF MOVWF SPEED21 MOVLW 0X66 MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BCF PORTD, 0 BSF PORTD, 1 BCF PORTB, 1 BSF PORTB, 2 LR2GREP; CALL STALL1; BTFSC MSTOP, 0; GOTO STOPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA CALL LFC1 NOP CALL LFC2 NOP MOVF LR2, SUF, BFF, LF2, 0 REPLF CALL LFC1 NOP CALL LFC2 NOP MOVF LR2, 0 SUBWF LR1, 0 BTFSC STATUS, C GOTO LR2GREP GOTO REPLF FRONT BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MOVWFO, MOVWF MOVOPFOPS, MOVWF MOVOPFOPOPS, MOVWF MOVOPFOVS SPEED11 MOVLW 0X99 MOVWF SPEED12 MOVLW 0XFF MOVWF SPEED21 MOVLW 0X99 MOVWF SPEED22 CALL PWM1ON CALL PWM2ON BCF PORT D, 0 BCF PORTD, 1 BSF PORTB, 1 BSF PORTB, 2 CALL SDELAY FROREP; CALL STALL1; BTFSC MSTOP, 0; GOTO STOPS BANKSEL PIR1 BTFSC PIR1, RCIF GOTO RXDATA; CALL LDIN; BTFSC MOTOP, CALL LOPIN, BTFSC MOPOP, 3 NOP CALL LFC2 NOP MOVF LR2, 0 SUBWF LR1, 0 BTFSC STATUS, Z GOTO FROREP GOTO REPLF GOTO CLROE; *************************** **************** STOPS BTFSS MSTOP, 4 GOTO STOPA MOVLW 0XCF MOVWF SPEED11 MOVLW 0XB3 MOVWF SPEED12 MOVLW 0XCF MOVWF SPEED21 MOVLW 0XB3 MOVWF SPEED22 CALL PWM1ON, CALL PWM1ON, CALL PWM1ON PALL 1 CALL SDELAY STOPA BCF STATUS, RP0 BCF STATUS, RP1 BCF PORTB, 1 BCF PORTB, 2 BCF PORTB, 6 BTFSS LDET, 0; BCF PORTB, 7 BCF PORTC, 0 BCF PORTC, 3 CALL PWM1OFF CALL PWM2TDF BCF PFMOR, BCF PFMOR PORTD, 1 BCF PORTD, 2 BCF PORTD, 3 MOVLW 0X00 MOVWF MSTOP; ********************************** ********* CLROE BANKSEL RCSTA BCF RCSTA, CREN BCF RCSTA, FERR BCF RCSTA, OERR BSF RCSTA, CREN BSF INTCON,GIE BSF INTCON, PEIE GOTO TUNGGU1; ****************************************** *; *******************************************; **** *************************************** STALL1 BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BANKSEL ADCON0 BCF ADCON0, 3 BCF ADCON0, 4 BCF ADCON0, 5 BCF STATUS, RP0 BCF STATUS, RP1 CALL CONVERT MOVF ADRESH, 0 SUBLW 0X70 BTFSS STATUS, C BSF MSTOP, RF STF, STF BCR, STF BCR STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BANKSEL ADCON0 BSF ADCON0, 3 BCF ADCON0, 4 BCF ADCON0, 5 BCF STATUS, RP0 BCF STATUS, RP1 CALL CONVERT MOVF ADRESH, STBFFF, 4 SUBL STATUS, RP0 BCF STATUS, RP1 RETURNBUTTLEVEL BCF STATUS, RP0 BCF STATUS, RP1 MOVLW 0X00 MOVWF MSTOP BANKSEL ADCON0 BCF ADCON0, 3 BCF ADCON0, 4 BSF ADCON0, 5 BCF STATUS, RATUS STATUS BTFSS STATUS, C GOTO BL1 GOTO BL2 BL1 BSF MSTOP, 1 BSF PORTB, 6 BL2 RETURN DARKLIGHT BCF STATUS, RP0 BCF STATUS, RP1 BTFSC LDET, 0 GOTO RETFDL BANKSEL ADCON0 BCF ADCON0, 3 BSF ADCON0, 4 BCF ADCON0, 5 BCF STATUS, RP0 BCF STATUS, RP1 CALL CONVERT MOVF ADRESH, 0 SUBLW 0XEE BTFSS STATUS, C BSF PORTBON, ADBONFON BONFONS, BFF 4 BCF ADCON0, 7 BSF ADCON0, 6 BSF ADCON0, 0 BSF ADCON0, GO WAITADC BTFSC ADCON0, GO GOTO WAITADC BCF STATUS, RP1 BCF STATUS, RP1 BCF STATUS, RP0 RETURNPWM1ON BANKSEL PR2 MOVLWFFFFFFFFFFFFFFFF, STFFFFF, STFFFFFF MOVWF CCP1CON MOVF SPEED12, 0 MOVWF CCPR1L BSF STATUS, RP0 BCF STATUS, RP1 MOVLW 0XF0 MOVWF TRISC BCF STATUS, RP0 BCF STATUS, RP0 BCF STATUS, RP1 BCF T2CON, T2CKPS1 BCF T2CON, T2CCC2, TCC2, TCC2, TCC2 PR2 MOVLW 0XFF MOVWF PR2 BCF STATUS, RP0 BCF STATUS, RP1 MOVF SPEED21, 0 MOVWF CCP2CON MOVF SPEED22, 0 MOVWF CCPR2L BSF STATUS, RP0 BCF STATUS, RP1 MOVLW 0XF0CFF, STFF BCF, STFFFFF, STFFFF, STFFFF T2CON, T2CKPS0 BSF T2CON, TMR2ON BSF CCP2CON, 2 BSF CCP2CON, 3 RETURNPW M1OFF BCF CCP1CON, 2 BCF CCP1CON, 3 BSF T2CON, T2CKPS1 BSF T2CON, T2CKPS0 BCF T2CON, TMR2ON MOVLW 0X00 MOVWF CCP1CON MOVLW 0X00 MOVWF CCPR1L BANKSEL PR2 MOVLW 0X00 MOVWF PR2 BCF STATUS, STATUS RP1 BCF, RP0 RETURNPWM2OFF BCF CCP2CON, 2 BCF CCP2CON, 3 BSF T2CON, T2CKPS1 BSF T2CON, T2CKPS0 BCF T2CON, TMR2ON MOVLW 0X00 MOVWF CCP2CON MOVLW 0X00 MOVWF CCPR2L BANKSEL PR2 MOVLW 0X00 MOVWF PR2 BCF STATUS, BATON STATUS, RP STATUS, RP STATUS 5 BCF STATUS, RP0 BCF STATUS, RP1 CALL CONVERT MOVF ADRESH, W ANDLW 0XF0 MOVWF LR1 BCF STATUS, RP0 BCF STATUS, RP1 RETURN LFC2 BANKSEL ADCON0 BCF ADCON0, 3 BSF ADCON0, BSF ADCON0, 4FF, ADFON0, 4FF RP1 PANGGILAN PANGGILAN MOVF ADRESH, 0 ANDLW 0XF0 MOVWF LR2 BCF STATUS, RP0 BCF STATUS, RP1 RETURN LDIN BANKSEL ADCON0 BCF ADCON0, 3 BSF ADCON0, 4 BCF ADCON0, 5 BCF STATUS, CALL ADFF 0X4C BTFSC STATUS, C GOTO COMP4 BSF MSTOP, 3 COMP4 BCF STATUS, RP0 BCF STATUS, RP1 RETURN SDELAY CLRF L2 XL3 CLRF L1 XL2 CLRF TMR0 XL1 MOVLW 0XFF SUBWF TMR0, W BTFSS STATUS, C GOTO XL1 MOVLW 0X20 INCF L1 SUBWF L1, W BTFSS STATUS, C GOTO L2 WFFF, WFF WFFBW, WF LF2 XL3 KEMBALI NOP NOPEND

Hadiah Kedua dalam Pertandingan Robot Instructables dan RoboGames