$regfile = "m8def.dat"
$crystal = 1000000

Config Portb = &B011111111 : Portb = &B00000000
Config Portc = &B00000000 : Portc = &B00000000
Config Portd = &B11111101

Config Timer1 = Pwm , Pwm = 8 , Prescale = 1 , Compare A Pwm = Clear Up , Compare B Pwm = Clear Up

Config Pind.1 = Input
Config Portd.7 = Output                                     'mostek
Config Portd.6 = Output                                     'mostek
Config Portd.5 = Output                                     'mostek
Config Portd.4 = Output                                     'mostek


Mset1b Alias Portd.4
Mset1a Alias Portd.5

Mset2a Alias Portd.6
Mset2b Alias Portd.7

Dioda_zielona Alias Portd.2
Dioda_czerwona Alias Portd.3
Przycisk Alias Pind.1

Dim Tcrt1 As Word                                           'prawy czujnik linii (patrzac na tyl robota)
Dim Tcrt2 As Word

Dim V1 As Byte
Dim V2 As Byte

Pwm1a = 0                                                   'silnik prawy (patrząc na tyl robota) - wypelnienie PWM
Pwm1b = 0

Dim Flag As Byte
Set Dioda_czerwona
Set Dioda_zielona

   Do
      Waitms 200
      If Przycisk = 0 Then

         Flag = 1
         Set Dioda_zielona
      End If
      If Flag = 1 Then
         Set Dioda_czerwona
        Gosub Odczytadc

        Set Mset1a : Reset Mset1b
        Set Mset2a : Reset Mset2b

        Pwm1a = V1
        Pwm1b = V2

        Waitms 500
      End If
      Reset Dioda_zielona
      Reset Dioda_czerwona
   Loop

End


Odczytadc:
   Start Adc

   Tcrt1 = Getadc(2)                                        'PC.2
   Tcrt2 = Getadc(3)
   If Tcrt1 > 255 Then
      V1 = 255
   Else
      V1 = Tcrt1
   End If
   If Tcrt2 > 255 Then
      V2 = 255
   Else
      V2 = Tcrt2
   End If                                                    'PC.3

   Stop Adc
Return