Kevin Lara - 201110510072 - Microcontroladores - 25/06/2016

program linefollower

' Declarations section
symbol imput1 =portb.2
symbol imput2 =porta.2
symbol imput3 =portc.6
symbol imput4 =portd.5
symbol imput5 =portd.6

symbol push1 =portd.3
symbol push2 =portd.2
symbol led1 =lata.0
symbol led2 =lata.1

dim line_follow as byte



sub procedure init_MCU()
     adcon0 = %00000000     ' apagamos los canales analogicos
     adcon1 = %00000000
 'configuracion de pines correspondientes al line follower'
portb.2 = 1
porta.2 = 1
portc.6 = 1
portd.5 = 1
portd.6 = 1
  'Configuracion pic cliker led y pulsadores'
trisd.3 =1
trisd.2 =1
trisa.0 =0
trisa.1 =0

      'limpiamos los registros lat y port para evitar datos residuales'
     lata = 0
     latd = 0
     latc = 0
     latb = 0

     porta =0
     portd =0
     portc =0
     portb =0
end sub


sub procedure lec_follow_click()
    line_follow.0 = imput5
    line_follow.1 = imput4
    line_follow.2 = imput3
    line_follow.3 = imput2
    line_follow.4 = imput1
    line_follow.5 = 0
    line_follow.6 = 0
    line_follow.7 = 0
       'si ninguno = 255'
end sub

main:
init_MCU()
'   Main program
while true
 lec_follow_click()
select case line_follow
case 31
led1=1
led2=1

case 1
led2= not led2
delay_ms(200)

case 3
led2= not led2
delay_ms(100)

case 6
led2= not led2
led1 = not led1
delay_ms(100)

case 12
led2= not led2
led1 = not led1
delay_ms(100)

case 24
led1 = not led1
delay_ms(100)

case 16
led1 = not led1
delay_ms(200)




 end select
wend

end.