.dbline 294
;       if(online==0x01)       //只有1號燈亮
	cpi R20,1
	brne L111
	.dbline 295
;          Revise(InLine1());  //線上走偏
	rcall _InLine1
	rcall _Revise
L111:
	.dbline 296
;       if(online==0x02)       //只有2號燈亮
	cpi R20,2
	brne L113
	.dbline 297
;          Revise(InLine2());  //線上走偏
	rcall _InLine2
	rcall _Revise
L113:
	.dbline 298
;       if (online==0x00)      //1，2都不亮
	tst R20
	brne L115
	.dbline 299
	rcall _OutLine
	rcall _Revise
L115:
	.dbline 299
L109:
	.dbline 299
L103:
	.dbline -2
	.dbline 300
;          Revise(OutLine());}}//線外走偏
; }
L98:
	rcall pop_gset3
	.dbline 0 ; func end
	ret
	.dbsym r y 10 c
	.dbsym r online 20 c
	.dbsym r l78 22 c
	.dbend
	.dbfunc e stop _stop fV
	.even
_stop::
	.dbline -1
	.dbline 304
; 
; //***************************停止函數********************************//
; void stop()
; {PORTD=PORTD|0xCF;
	.dbline 304
	in R24,0x12
	ori R24,207
	out 0x12,R24
	.dbline -2
	.dbline 305
; }	
L117:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e action _action fc
;              i -> R20
;          light -> R20
;      direction -> R22
	.even
_action::
	rcall push_gset2
	mov R22,R16
	.dbline -1
	.dbline 309
; 
; //***************************轉向函數********************************//
; char action(char direction)  // =1為右轉，==0為左轉，=2為停止
; {char light;
	.dbline 310
;  char i=0;
	clr R20
	.dbline 311
;  if(direction==2)   
	cpi R22,2
	brne L119
	.dbline 312
;    {desireV = 0x00;          //將設定速度置為0
	.dbline 312
	clr R2
	clr R3
	sts _desireV+1,R3
	sts _desireV,R2
	.dbline 313
; 	SetOutputComReg1A(0x03FF);
	ldi R16,1023
	ldi R17,3
	rcall _SetOutputComReg1A
	.dbline 314
;     SetOutputComReg1B(0x03FF);}
	ldi R16,1023
	ldi R17,3
	rcall _SetOutputComReg1B
	.dbline 314
	rjmp L120
L119:
	.dbline 316
;  else
;    {if (direction==1)
	.dbline 316
	cpi R22,1
	brne L121
	.dbline 317
;      {PORTB = 0x08;          //右轉
	.dbline 317
	ldi R24,8
	out 0x18,R24
L123:
	.dbline 318
; 	  do{
	.dbline 319
;          light = PINA^0xFF;    
	ldi R24,255
	ldi R25,0
	in R20,0x19
	clr R21
	eor R20,R24
	eor R21,R25
	.dbline 320
;          if ((light&0x44)!=0x00)  //當檢測到3號燈亮轉向完成
	mov R24,R20
	andi R24,68
	breq L126
	.dbline 321
	rjmp L125
L126:
	.dbline 321
L124:
	.dbline 321
	rjmp L123
L125:
	.dbline 321
;          break;}while(1);}
L121:
	.dbline 322
;     if (direction==0)
	tst R22
	brne L128
	.dbline 323
;      {PORTB = 0x04;          //左轉
	.dbline 323
	ldi R24,4
	out 0x18,R24
	.dbline 324
; 	  DELAY(6);
	ldi R16,6
	ldi R17,0
	rcall _DELAY
L130:
	.dbline 325
;       do{
	.dbline 326
;          light = PINA^0xFF;   
	ldi R24,255
	ldi R25,0
	in R20,0x19
	clr R21
	eor R20,R24
	eor R21,R25
	.dbline 327
;          if ((light&0x88)!=0x00)  //4號燈亮轉向完成
	mov R24,R20
	andi R24,136
	breq L133
	.dbline 328
	rjmp L132
L133:
	.dbline 328
L131:
	.dbline 328
	rjmp L130
L132:
	.dbline 328
;          break;}while(1);}
L128:
	.dbline 329
;      DELAY(2);               //轉向退出延時，防止錯誤讀值
	ldi R16,2
	ldi R17,0
	rcall _DELAY
	.dbline 330
;     return(1);}
	ldi R16,1
	rjmp L118
L120:
	.dbline 331
;  return(0);
	clr R16
	.dbline -2
L118:
	rcall pop_gset2
	.dbline 0 ; func end
	ret
	.dbsym r i 20 c
	.dbsym r light 20 c
	.dbsym r direction 22 c
	.dbend
	.dbfunc e Forward _Forward fV
;          flagj -> R14
;    postionflag -> R20
;        middle2 -> R22
;          flagi -> R10
;        middle1 -> R12
;            fob -> y+14
;      direction -> y+12
;           step -> y+10
	.even
_Forward::
	rcall push_arg4
	rcall push_gset5
	.dbline -1
	.dbline 336
; } 
;    								 
; //*******************************前進函數****************************//
; void Forward(char step,char direction,char fob)
; {char flagi=0;               //單邊過線標志，整即過線后清0
	.dbline 336
	clr R10
	.dbline 338
;  char flagj;                 //過線輔助判斷標志
;  char middle1=0x00;          //過線檢測狀態寄存器
	clr R12
	.dbline 339
;  char middle2=0x00;          //前次過線檢測狀態寄存器
	clr R22
	.dbline 340
;  char postionflag=0;         //位置標志
	clr R20
	.dbline 341
;  desireV = MaxSpeed;
	ldi R24,64
	ldi R25,0
	sts _desireV+1,R25
	sts _desireV,R24
	.dbline 342
;  if (fob==1)                 //1為后退
	ldd R24,y+14
	cpi R24,1
	brne L136
	.dbline 343
;  PORTB=0x00;
	clr R2
	out 0x18,R2
L136:
	.dbline 344
;  if (fob==0)                 //0為前進
	ldd R0,y+14
	tst R0
	brne L138
	.dbline 345
;  PORTB=0x0C;
	ldi R24,12
	out 0x18,R24
L138:
L140:
	.dbline 346
;  do{
	.dbline 347
;     flagj = 0;
	clr R14
	.dbline 348
; 	middle1 = PINB^0xFF;     //讀取PB口，并取反
	ldi R24,255
	ldi R25,0
	in R12,0x16
	clr R13
	eor R12,R24
	eor R13,R25
	.dbline 349
;     middle1 = middle1&0xC0;  //提取PB6,PB7
	mov R24,R12
	andi R24,192
	mov R12,R24
	.dbline 350
;     middle1 = middle1>>6;    
	lsr R12
	lsr R12
	lsr R12
	lsr R12
	lsr R12
	lsr R12
	.dbline 351
; 	if((middle1==0x03)&&(middle2!=0x03)) //兩邊同時亮且前一次不是同時亮則為過線
	mov R24,R12
	cpi R24,3
	brne L143
	cpi R22,3
	breq L143
	.dbline 352
;      {postionflag++;         //位置標志加1
	.dbline 352
	inc R20
	.dbline 353
; 	  if(postionflag==(step-1))
	ldd R24,y+10
	subi R24,1
	cp R20,R24
	brne L145
	.dbline 354
; 	   desireV=MidSpeed;     //將設定速度降低,便于轉彎
	ldi R24,24
	sts _desireV+1,R25
	sts _desireV,R24
L145:
	.dbline 355
; 	  if(postionflag==step)
	ldd R0,y+10
	cp R20,R0
	brne L147
	.dbline 356
	.dbline 356
	ldd R16,y+12
	rcall _action
	cpi R16,1
	brne L149
	.dbline 356
	rjmp L135
L149:
	.dbline 356
; 	   {if(action(direction)==1) break;}
L147:
	.dbline 357
;       DELAY(30);             //延時確保不重復檢測
	ldi R16,30
	ldi R17,0
	rcall _DELAY
	.dbline 358
; 	  flagi = 0;} 	
	clr R10
	.dbline 358
L143:
	.dbline 359
; 	if(flagi!=0)             //兩邊未同時過線
	tst R10
	brne X7
	rjmp L151
X7:
	.dbline 360
; 	 {if(flagi==1)           //左邊先到
	.dbline 360
	mov R24,R10
	cpi R24,1
	brne L153
	.dbline 361
; 	   {if((middle1==0x02)&&((middle2&0x02)==0x00))   //檢測右邊上升沿
	.dbline 361
	mov R24,R12
	cpi R24,2
	brne L155
	sbrc R22,1
	rjmp L155
	.dbline 362
; 	     {postionflag++;
	.dbline 362
	inc R20
	.dbline 363
; 	      if(postionflag==(step-1))
	ldd R24,y+10
	subi R24,1
	cp R20,R24
	brne L157
	.dbline 364
; 	        desireV=MidSpeed;
	ldi R24,24
	ldi R25,0
	sts _desireV+1,R25
	sts _desireV,R24
L157:
	.dbline 365
; 	      if(postionflag==step)
	ldd R0,y+10
	cp R20,R0
	brne L159
	.dbline 366
	.dbline 366
	ldd R16,y+12
	rcall _action
	cpi R16,1
	brne L161
	.dbline 366
	rjmp L135
L161:
	.dbline 366
; 	       {if(action(direction)==1) break;}
L159:
	.dbline 367
; 	      DELAY(30);
	ldi R16,30
	ldi R17,0
	rcall _DELAY
	.dbline 368
; 	      flagi = 0;
	clr R10
	.dbline 369
	clr R14
	inc R14
	.dbline 369
L155:
	.dbline 369
; 	      flagj = 1;}}
L153:
	.dbline 370
; 	    if(flagi==2)                                  //右邊先到
	mov R24,R10
	cpi R24,2
	brne L163
	.dbline 371
; 	     {if((middle1==0x01)&&((middle2&0x01)==0x00)) //檢測左邊上升沿
	.dbline 371
	mov R24,R12
	cpi R24,1
	brne L165
	sbrc R22,0
	rjmp L165
	.dbline 372
;            {postionflag++;
	.dbline 372
	inc R20
	.dbline 373
; 	        if(postionflag==(step-1))  desireV=MidSpeed;
	ldd R24,y+10
	subi R24,1
	cp R20,R24
	brne L167
	.dbline 373
	ldi R24,24
	ldi R25,0
	sts _desireV+1,R25
	sts _desireV,R24
L167:
	.dbline 374
; 	        if(postionflag==step)
	ldd R0,y+10
	cp R20,R0
	brne L169
	.dbline 375
; 	         {if(action(direction)==1)
	.dbline 375
	ldd R16,y+12
	rcall _action
	cpi R16,1
	brne L171
	.dbline 376
	rjmp L135
L171:
	.dbline 376
; 		      break;}
L169:
	.dbline 377
;             DELAY(30);
	ldi R16,30
	ldi R17,0
	rcall _DELAY
	.dbline 378
; 	        flagi = 0;
	clr R10
	.dbline 379
	clr R14
	inc R14
	.dbline 379
L165:
	.dbline 379
L163:
	.dbline 379
; 	        flagj = 1;}}}
L151:
	.dbline 380
;     if(flagj==0)
	tst R14
	brne L173
	.dbline 381
;      {if((middle1==0x01)&&((middle2&0x01)==0x00))  //左邊到線，右邊未到線
	.dbline 381
	mov R24,R12
	cpi R24,1
	brne L175
	sbrc R22,0
	rjmp L175
	.dbline 382
; 	     flagi=1;
	clr R10
	inc R10
L175:
	.dbline 383
; 	  if((middle1==0x02)&&((middle2&0x02)==0x00)) //右邊到線，左邊未到線
	mov R24,R12
	cpi R24,2
	brne L177
	sbrc R22,1
	rjmp L177
	.dbline 384
	ldi R24,2
	mov R10,R24
L177:
	.dbline 384
L173:
	.dbline 384
L141:
	.dbline 384
; 	     flagi=2;}}while(1);
	rjmp L140
X6:
	.dbline 385
;  return;
	.dbline -2
L135:
	rcall pop_gset5
	adiw R28,4
	.dbline 0 ; func end
	ret
	.dbsym r flagj 14 c
	.dbsym r postionflag 20 c
	.dbsym r middle2 22 c
	.dbsym r flagi 10 c
	.dbsym r middle1 12 c
	.dbsym l fob 14 c
	.dbsym l direction 12 c
	.dbsym l step 10 c
	.dbend
	.dbfunc e main _main fV
;  movedirection -> R20
;      movesteps -> R22
	.even
_main::
	sbiw R28,2
	.dbline -1
	.dbline 390
; }
; 
; //***************************主函數**********************************//
; void main()
;  {char movesteps;            //傳遞前進或后退步數
	.dbline 392
;   char movedirection;        //運動方向
;   DDRA=0x00;                 //PA口輸入
	clr R2
	out 0x1a,R2
	.dbline 393
;   DDRB=0xFF;                 //PB口輸出
	ldi R24,255
	out 0x17,R24
	.dbline 394
;   DDRC=0xFF;                 //PC口輸出
	out 0x14,R24
	.dbline 395
;   DDRD=0xFF;                 //PD口輸出
	out 0x11,R24
	.dbline 396
;   PORTA=0xFF;
	out 0x1b,R24
	.dbline 397
;   PORTB=0x08;                //PB2=0，PB3=1//
	ldi R24,8
	out 0x18,R24
	.dbline 398
;   PORTC=0xFF;
	ldi R24,255
	out 0x15,R24
	.dbline 399
;   PORTD=0x88;
	ldi R24,136
	out 0x12,R24
	.dbline 400
;   SetOutputComReg1A(0x03FF);
	ldi R16,1023
	ldi R17,3
	rcall _SetOutputComReg1A
	.dbline 401
;   SetOutputComReg1B(0x03FF);
	ldi R16,1023
	ldi R17,3
	rcall _SetOutputComReg1B
	.dbline 402
;   Timer1Init( 0x82,0xF3,0x01);
	ldi R24,1
	ldi R25,0
	std y+1,R25
	std y+0,R24
	ldi R18,243
	ldi R19,0
	ldi R16,130
	ldi R17,0
	rcall _Timer1Init
	.dbline 403
;   TCNT0=0x00;
	clr R2
	out 0x32,R2
	.dbline 404
;   TCCR0=0x07;                //T0上升沿驅動
	ldi R24,7
	out 0x33,R24
	.dbline 405
;   ASSR=0x08;                 //外部TOSC1觸發
	ldi R24,8
	out 0x22,R24
	.dbline 406
;   TCCR2=0x01;
	ldi R24,1
	out 0x25,R24
	.dbline 407
;   SEI();
	sei
L180:
	.dbline 408
;   do{  
	.dbline 409
;      if ((Task[time]&0x01)==1)                
	ldi R24,<_Task
	ldi R25,>_Task
	lds R30,_time
	clr R31
	add R30,R24
	adc R31,R25
	ldd R24,z+0
	andi R24,1
	cpi R24,1
	breq X8
	rjmp L183
X8:
	.dbline 410
;       {if((Task[time]&0x02)==0x02)              //判斷指定運動方向，1為前進
	.dbline 410
	ldi R24,<_Task
	ldi R25,>_Task
	lds R30,_time
	clr R31
	add R30,R24
	adc R31,R25
	ldd R24,z+0
	andi R24,2
	cpi R24,2
	brne L185
	.dbline 411
; 	    {movesteps=(Task[time]&0xF0)>>4;        //取高四位，運動格數
	.dbline 411
	ldi R24,<_Task
	ldi R25,>_Task
	lds R30,_time
	clr R31
	add R30,R24
	adc R31,R25
	ldd R22,z+0
	andi R22,240
	swap R22
	andi R22,#0x0F
	.dbline 412
; 	     movedirection=(Task[time]&0x0C)>>2;    //提取低四位中的高兩位，轉向  
	lds R30,_time
	clr R31
	add R30,R24
	adc R31,R25
	ldd R20,z+0
	andi R20,12
	lsr R20
	lsr R20
	.dbline 413
; 	     Forward(movesteps,movedirection,0);}
	clr R2
	std y+0,R2
	mov R18,R20
	mov R16,R22
	rcall _Forward
	.dbline 413
L185:
	.dbline 414
;        if((Task[time]&0x02)==0x00)              //判斷指定運動方向，0為后退
	ldi R24,<_Task
	ldi R25,>_Task
	lds R30,_time
	clr R31
	add R30,R24
	adc R31,R25
	ldd R2,z+0
	sbrc R2,1
	rjmp L187
	.dbline 415
; 	    {movesteps=(Task[time]&0xF0)>>4;        //取高四位，運動格數
	.dbline 415
	lds R30,_time
	clr R31
	add R30,R24
	adc R31,R25
	ldd R22,z+0
	andi R22,240
	swap R22
	andi R22,#0x0F
	.dbline 416
; 	     movedirection=(Task[time]&0x0C)>>2;    //提取低四位中的高兩位，轉向   
	lds R30,_time
	clr R31
	add R30,R24
	adc R31,R25
	ldd R20,z+0
	andi R20,12
	lsr R20
	lsr R20
	.dbline 417
	ldi R24,1
	std y+0,R24
	mov R18,R20
	mov R16,R22
	rcall _Forward
	.dbline 417
L187:
	.dbline 417
; 	     Forward( movesteps,movedirection,1 );} }
L183:
	.dbline 418
;      time++;
	lds R24,_time
	subi R24,255    ; addi 1
	sts _time,R24
	.dbline 419
	cpi R24,6
	brne L189
	.dbline 419
	rjmp L182
L189:
	.dbline 419
L181:
	.dbline 419
	rjmp L180
L182:
	.dbline -2
	.dbline 420
;      if(time==Size) break;}while(1);
; }
L179:
	adiw R28,2
	.dbline 0 ; func end
	ret
	.dbsym r movedirection 20 c
	.dbsym r movesteps 22 c
	.dbend
	.area vector(rom, abs)
	.org 10
	rjmp _TIM1_OVF
	.area text(rom, con, rel)
	.dbfile H:\第八章源程序\Robbot.c
	.dbfunc e TIM1_OVF _TIM1_OVF fV
;          light -> <dead>
	.even
_TIM1_OVF::
	rcall push_lset
	.dbline -1
	.dbline 425
; 
; //***************************中斷服務程序****************************//
; #pragma interrupt_handler TIM1_OVF:6
; void TIM1_OVF(void)                             //計時器時間到,進入中斷
; {char light;
	.dbline 426
;  CLI();
	cli
	.dbline 427
;  a++;
	lds R24,_a
	subi R24,255    ; addi 1
	sts _a,R24
	.dbline 428
;  c++;
	lds R24,_c
	subi R24,255    ; addi 1
	sts _c,R24
	.dbline 429
;  if(a==40)                   //速度采樣時間到
	lds R24,_a
	cpi R24,40
	brne L192
	.dbline 430
;   {a=0;
	.dbline 430
	clr R2
	sts _a,R2
	.dbline 431
;    PIDA();
	rcall _PIDA
	.dbline 432
;    PIDB();}
	rcall _PIDB
	.dbline 432
L192:
	.dbline 433
;  if(c=100)                  //尋線采樣時間到
	ldi R24,100
	sts _c,R24
	tst R24
	breq L194
	.dbline 434
;   {c=0;
	.dbline 434
	clr R2
	sts _c,R2
	.dbline 435
;    SearchLine();} 
	rcall _SearchLine
	.dbline 435
L194:
	.dbline 436
;  SEI();
	sei
	.dbline -2
	.dbline 437
; }
L191:
	rcall pop_lset
	.dbline 0 ; func end
	reti
	.dbsym l light 1 c
	.dbend
	.area bss(ram, con, rel)
	.dbfile H:\第八章源程序\Robbot.c
_EkB::
	.blkb 4
	.dbsym e EkB _EkB D
_EkA::
	.blkb 4
	.dbsym e EkA _EkA D
_forlight::
	.blkb 1
	.dbsym e forlight _forlight c
	.area lit(rom, con, rel)
L32:
	.word 0xcccd,0xbdcc
L31:
	.word 0x51ec,0x3db8
L27:
	.word 0x0,0x4140
L26:
	.word 0xc000,0x447f
L25:
	.word 0x0,0x0
L24:
	.word 0x0,0xbf00
L23:
	.word 0x0,0x3f00