bcf updirectionflag		;不再處于上升狀態

	bcf storeflag
	call writedatasub	;保存數據
	btfss mainflag		;不是主控制器則跳過延時
	goto upnotmainbranch
	call delay10ssub	;延時10S
	call changeparametersub	;改變系統參數	
upnotmainbranch
	movlw topstart	;計算延時數據地址
	addwf topcount,w
	movwf fsr
	movf indf,w
	movwf delaytemp
	;movwf indf		;把延時數據保存
	btfss runmodeflag
	goto modesetbranch
	bcf bottomerrorflag
	;bcf storeflag
	;call writedatasub	;保存數據
	goto downnormalrunstart	;轉到向下正常運轉
updelay10sbranch

	bcf storeflag
	call writedatasub	;保存數據
	btfss mainflag
	goto upnotmainbranch1 
	call delay10ssub	;延時10S
	call changeparametersub	;改變系統參數
upnotmainbranch1	
	movlw topstart	;計算延時數據地址
	addwf topcount,w
	movwf fsr
	movf indf,w
	movwf delaytemp
	;movwf indf		;把延時數據保存
	;incf topcount,f	;指向下一組地址
	
	btfss runmodeflag
	goto modesetbranch
	bcf storeflag
	call writedatasub	;保存數據

	goto upnormalrun	;繼續向上正常運轉

downnormalrunstart	;下降開始
	;call readdatasub	;數據重新讀取
	movf advcount,w
	movwf advcounttemp

	;movlw 3h
	;subwf topcount,f
	;clrf topcount

	bcf topflag		;不再處于頂部
	bsf downdirectionflag	;處于下降狀態
	;goto downnormalrunbranch1	
downnormalrun
downnormalrunbranch

	btfsc stopflag
	goto waitdownstartrun1
	btfsc notrunvoltagestopflag
	goto downcall1	;如由于停電引起則downcall1
	btfsc mainflag
	goto continuedownbranch	;為主控制器則直接運轉
	btfss finishflag	;一幅畫已完成?
	goto continuedownbranch	;沒有完成則應完成該幅畫
downcheckinput
	btfsc mode
	goto modeset	;處于參數設置狀態
	call voltagecomparesub ;比較電壓低于規定值則斷開蓄電池并保存數據
	btfsc startpulseinput	;檢測有沒有負脈沖發生
	goto downcheckinput
	call delaysub
	call delaysub
	btfsc startpulseinput
	goto downcheckinput
	btfsc directioninput	;是否向下運行
	goto downcheckinput	;不是則等待向下運行

continuedownbranch
	movlw d'3'
	subwf topcount,f	;指向下一組地址
	
	movlw d'1'
	subwf topcount,w	
	btfsc status,z	;判斷TOPCOUNT是否為1
	goto topcountisone
	
	movlw d'4'
	subwf topcount,f
	call getdatafromramsub	;從RAM中提取數據
	goto addspeeddatalowbranch
topcountisone
	movf bottomlow,w	;是則置0
	movwf toplow
	movwf lowspeedlow
	movf bottommed,w
	movwf topmed
	movwf lowspeedmed
	movf bottomhig,w
	movwf tophig
	movwf lowspeedhig
	movlw topstart
	movwf fsr	;第一幅畫的停留時間
	movf indf,w
	movwf delaytemp
addspeeddatalowbranch
	call addspeeddatalowsub	;計算需要減速的位置
	goto downcall
downcall1
	bcf notrunvoltagestopflag
	goto downcall
downcall2
	bcf stopflag
downcall
	bcf storeflag
	call writedatasub
	bsf pclath,3h
	call downsub		;電機下降
	bcf pclath,3h

	btfss stopflag
	goto downrunbranch1	;如沒有按停止鍵則繼續往復運轉
waitdownstartrun1
	btfsc lockerrorflag
	call lockerrorhowtodosub
	btfsc bottomerrorflag
	call bottomerrorhowtodosub
	;goto downcall2
					;如按下停止鍵則等待按下開始運行鍵
waitdownstartrun
	movlw remotemask	
	andwf remote,w	;讀取遙控器輸入數據
	movwf remotetemp		
	movlw increasekey	;是否為increasekey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	goto downcall2	

	call presschangespeedkeysub	;是否按下速度變化鍵
	call writedatasub	;保存數據
	call cannotrunvoltagesub	;電壓低于規定值則關閉電源
	btfsc mode
	goto modeset	;處于參數設置狀態
	goto waitdownstartrun

downrunbranch1
	decfsz advcounttemp,f
	goto downdelay10sbranch
	bsf bottomflag	;處于最低位置
	bcf downdirectionflag	;不再處于下降狀態
	bcf storeflag
	call writedatasub	;保存數據
	btfss mainflag
	goto downnotmainbranch
	call delay10ssub	;延時10S	
	call changeparametersub	;改變系統參數
downnotmainbranch
	movlw topstart	;計算延時數據地址
	movwf fsr
	movf indf,w
	movwf delaytemp
	;movwf indf		;把延時數據保存	

	btfss runmodeflag
	goto modesetbranch
	;bcf storeflag
	;call writedatasub	;保存數據
	movlw bottommin
	movwf pulselow1
	clrf pulsemed1
	clrf pulsehig1
	bcf toperrorflag
	goto upnormalrunstart	;轉到向上正常運轉
downdelay10sbranch
	bcf storeflag
	call writedatasub	;保存數據
	btfss mainflag
	goto downnotmainbranch1
	call delay10ssub	;延時10S
	call changeparametersub	;改變系統參數
downnotmainbranch1
	movlw topstart	;計算延時數據地址
	addwf topcount,w
	movwf fsr
	movf indf,w
	movwf delaytemp
	;movwf indf		;把延時數據保存
	btfss runmodeflag
	goto modesetbranch	
	;bcf storeflag
	;call writedatasub	;保存數據
	goto downnormalrun	;繼續向下正常運轉
	return

;****************
;主控制器判斷子程序
;****************
mainchecksub
	bsf directionsignal	;7輸出高電平
	banksel trisc
	movlw b'10001111'	;0,1,2,3,7輸入,其他輸出
	movwf trisc
	banksel portc
	bcf startpulsesignal	;輸出低電平
	call delaysub
	btfss directionsignal	;判斷PORT6,PORT7是否聯在一起
	goto notmain
	bsf mainflag	;沒有聯在一起則為主控制
	;call delaysub
	;call delaysub
notmain
	banksel trisc
	movlw b'00001111'
	movwf trisc
	banksel portc
	bsf startpulsesignal
	bsf directionsignal	
	return

	

;*********************
;上限超錯誤處理子程序
;*********************
toperrorhowtodosub
	bsf systemerror
	call threehightonesub
	call delaysub
	call delaysub
	call delaysub
	call threehightonesub
	call delaysub
	call delaysub
	call delaysub
	call threehightonesub
	call delaysub
	call delaysub
	call delaysub
	return
;*********************
;下限超錯誤處理子程序
bottomerrorhowtodosub
	bsf systemerror
	call threelowtonesub
	call delaysub
	call delaysub
	call delaysub
	call threelowtonesub
	call delaysub
	call delaysub
	call delaysub
	call threelowtonesub
	call delaysub
	call delaysub
	call delaysub
	return
;********************
;按速度改變鍵子程序
;********************
presschangespeedkeysub
	movlw highspeedkey	;是否為highspeedkey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call highspeedkeysub

	movlw medspeedkey	;是否為medspeedkey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call medspeedkeysub

	movlw lowspeedkey	;是否為lowspeedkey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call lowspeedkeysub

	movlw stoptime1minkey	;是否為stoptime1minkey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call stoptime1minkeysub

	movlw stoptime5minkey	;是否為stoptime5minkey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call stoptime5minkeysub

	movlw stoptime10minkey	;是否為stoptime10minkey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call stoptime10minkeysub
	

	return
;***********************
;系統發生堵轉錯誤時處理子程序
;***********************
lockerrorhowtodosub
	bsf systemerror
	call threelowtonesub
	call delaysub
	call delaysub
	call delaysub
	call threehightonesub
	call delaysub
	call delaysub
	call delaysub
	call threelowtonesub
	call delaysub
	call delaysub
	call delaysub
waitpersondo
	call cannotrunvoltagesub
	movlw remotemask
	andwf remote,w	;讀取遙控器輸入數據
	movwf remotetemp
		
	movlw increasekey	 ;是否為increasekey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfss status,z		;=0?
	goto waitpersondo
	call delaysub
	call delaysub
	movlw remotemask
	andwf remote,w	;讀取遙控器輸入數據
	movwf remotetemp
		
	movlw increasekey	 ;是否為increasekey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	goto waitpersondo
	bcf lockerrorflag
	bcf systemerror
	call threelowtonesub
	return
;**************************
;計算繼電器吸合斷開電壓子程序
;**************************
calculatevoltagesub
	bsf adcon0,go		;開始轉換
	call readadcsub		;讀取輸入電壓
	movf adcvoltage,w
	movwf turnonvoltagereg
	movwf turnoffvoltagereg
	movlw deltturnoffvoltage
	subwf turnoffvoltagereg,f	;計算實際的繼電器斷開電壓
	movlw deltturnonvoltage
	subwf turnonvoltagereg,f	;計算實際的繼電器吸合電壓
	return
;*********************
;檢查電機HALL輸入子程序
;*********************
checkhallinputsub
checkhallinputstart
				;判斷上電機霍爾元件輸入信號是否正確
	movlw upsensormask	;retain only the sensor bits
	andwf sensorport,w	;get sensor data
	btfsc status,z	;sensor=0?
	GOTO DOSYSTEMERROR	;sensor=0則錯誤燈亮
	;bsf systemerror
	xorlw b'00000111'	;sensor=7?
	btfss status,z
	goto upsensornotequal7	
	bsf systemerror	;sensor=7則錯誤燈亮
	goto dosystemerror
upsensornotequal7
	bcf systemerror	;其他則錯誤燈滅
upsensorend		
					;判斷下電機霍爾元件輸入信號是否正確
	movlw downsensormask	;retain only the sensor bits
	andwf sensorport,w	;get sensor data
	btfsc status,z	;sensor=0?
	goto dosystemerror	;sensor=0則錯誤燈亮
	;bcf systemerror
	xorlw b'00111000'	;sensor=7?
	btfss status,z
	goto downsensornotequal7
dosystemerror	
	bsf systemerror	;sensor=7則錯誤燈亮
	call threelowtonesub	;三聲低音
	;call threelowtonesub	;三聲低音
	goto checkhallinputstart
downsensornotequal7
	bcf systemerror	;其他則錯誤燈滅
	return


;**************
;改變參數子程序
;**************
changeparametersub
changeparameterstart
	btfss changeparameterflag
	return
	movlw remotemask
	andwf remote,w	;讀取遙控器輸入數據
	movwf remotetemp
		
	movlw increasekey	 ;是否為increasekey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call increasekeysub	;=0則調用increasekeysub

	movlw decreasekey	 ;是否為decreasekey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call decreasekeysub	;=0則調用decreasekeysub
	
	movlw runtomodekey	 ;是否為runtomodekey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call runtomodekeysub	;=0則調用runtomodekeysub

	movlw stopandrunkey	 ;是否為stopandrunkey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z		;=0?
	call clearchangeparameterflagsub	;=0則調用clearchangeparameterflagsub

	movlw stoptimekey	;是否為stoptimekey按鈕
	subwf remotetemp,w	;remotetemp-w
	btfsc status,z
	call stoptimekeysub		;=0則調用stoptimekeysub	

	movlw allstoptimekey	;是否為allstoptimekey按鈕
	subwf remotetemp,w		;remotetemp-w
	btfsc status,z
	call allstoptimekeysub		;=0則調用allstoptimekeysub
	
	movlw allstoptime3key	;是否為allstoptime3key按鈕
	subwf remotetemp,w		;remotetemp-w
	btfsc status,z
	call allstoptime3keysub		;=0則調用allstoptime3keysub
	
	movlw defaultspeedkey	;是否為defaultspeedkey按鈕
	subwf remotetemp,w		;remotetemp-w
	btfsc status,z
	call defaultspeedkeysub		;=0則調用defaultspeedkeysub
	
	call cannotrunvoltagesub	;低于規定電壓則需關閉系統

	btfsc mode
	bcf runmodeflag	;處于參數設置狀態
	goto changeparameterstart

	return
;********************
;從RAM中取數據子程序
;********************
getdatafromramsub
	movlw topstart	;取出比較數據
	addwf topcount,w
	movwf fsr
	movf indf,w
	movwf toplow		;停止位置
	movwf lowspeedlow	;開始減速位置
	incf fsr,f
	movf indf,w
	movwf topmed		;停止位置
	movwf lowspeedmed	;開始減速位置
	incf fsr,f
	movf indf,w
	movwf tophig		;停止位置
	movwf lowspeedhig	;開始減速位置

	incf fsr,f
	movf indf,w
	movwf delaytemp
	movlw 3h
	addwf topcount,f	;到延時數據地址
	return
;********************
;減去SPEEDDATALOWSUB
;********************
subspeeddatalowsub
	movlw speeddatalow
	subwf lowspeedlow,f	
	btfsc status,c
	goto subspeedmed	;lowspeedmed-speedatamed
	movlw 1h	;有借位則LOWSPEEDMED-1
	subwf lowspeedmed,f
	btfsc status,c
	goto subspeedmed	;lowspeedmed-speeddatamed
	decf lowspeedhig,f	;有借位則LOWSPEEDHIG-1
subspeedmed
	movlw speeddatamed
	subwf lowspeedmed,f
	btfsc status,c
	return	
	decf lowspeedhig,f	;有借位則LOWSPEEDHIG-1
	return
;********************
;增加speeddatalowsub
;********************
addspeeddatalowsub
	
addspeeddatabranch1
	movlw speeddatalow
	addwf lowspeedlow,f		;lowspeedlow+speeddatalow