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Apr 22nd, 2018
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  1. NAVIGATE
  2. ; set up navigation
  3. movff mainSenseReg, expectReg
  4.  
  5.  
  6.  
  7. cRCE_navSTRAIGHT
  8. ; set an indicator LED
  9. ; uses navFLAG[0]
  10.  
  11. movlw b'00100000'
  12. CPFSLT mainSenseReg
  13. BRA cRCE_rotateRIGHT
  14. movlw b'00000011'
  15. CPFSGT mainSenseReg
  16. BRA cRCE_rotateRIGHT
  17.  
  18. ; go straight
  19. bsf PORTD, 0
  20. call TimerDelay
  21.  
  22. cRCE_rotateRIGHT
  23. ; set an indicator LED
  24.  
  25. btfss mainSenseReg, 6
  26. bra cRCE_rotateLEFT
  27.  
  28. ; rotateRight
  29. bsf PORTD, 4
  30. call TimerDelay
  31.  
  32. cRCE_rotateLEFT
  33. ; set an indicator LED
  34. btfss mainSenseReg, 6
  35. bra cRCE_navRIGHT
  36.  
  37. ;rotateLEFT
  38. bsf PORTD, 3
  39. call TimerDelay
  40.  
  41. cRCE_navRIGHT
  42. ; set an indicator LED
  43.  
  44. btfss mainSenseReg, 5
  45. bra cRCE_navLEFT
  46.  
  47. movlw b'00000010'
  48. cpfseq expectReg
  49. bra cRCE_navLEFT
  50.  
  51. ;TURN RIGHT
  52. bsf PORTD, 2
  53. call TimerDelay
  54.  
  55. cRCE_navLEFT
  56. ; set an indicator LED
  57. btfss mainSenseReg, 1
  58. bra cRCE_navNONE
  59.  
  60. movlw b'00100000'
  61. cpfseq expectReg
  62. bra cRCE_navNONE
  63.  
  64. ;TURN LEFT
  65. bsf PORTD, 1
  66. call TimerDelay
  67.  
  68. cRCE_navNONE
  69. ;just go straight
  70. bsf PORTD, 0
  71. call TimerDelay
  72.  
  73. cReadSensorADCInit
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