$prog &HFF , &HE4 , &HD9 , &H00                             ' generated. Take care that the chip supports all fuse bytes.
$regfile = "m32def.dat"                                     ' specify the used micro
$crystal = 8000000                                          ' used crystal frequency
$baud = 1200

Config Pinb.2 = Input                                       ' если 1 то идет зарядка

Config Pind.2 = Output : Portd.2 = 1 :
Config Pind.2 = Input : Tsop1 Alias Pind.2
Config Pind.3 = Input : Tsop2 Alias Pind.3

Config Pinb.0 = Output : Led_ir1 Alias Portb.0
Config Pinb.1 = Output : Led_ir2 Alias Portb.1
Config Pinb.2 = Output : Led_ir3 Alias Portb.2

Config Pinc.4 = Output : Led_r1 Alias Portc.4
Config Pinc.5 = Output : Led_g1 Alias Portc.5
Config Pinc.6 = Output : Led_r2 Alias Portc.6
Config Pinc.7 = Output : Led_g2 Alias Portc.7

Config Pind.6 = Output : Old_ir_led Alias Portd.6
Config Pind.7 = Output : Portd.7 = 0 : Spik Alias Portd.7

Config Timer1 = Pwm , Pwm = 8 , Prescale = 1 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down
Config Pinc.2 = Output : Drl Alias Portc.2 : Config Pind.4 = Output
Config Pinc.3 = Output : Drr Alias Portc.3 : Config Pind.5 = Output


Dim Speed As Byte : Speed = 150
Dim B As Integer : B = 0
Dim C As Integer :


Print "Start"
Wait 2
   Led_r1 = 1
Gosub ПискВкл
   Led_r1 = 0


Config Rc5 = Pind.2
Enable Interrupts
Dim Address As Byte , Command As Byte



' Код управления с пульта от телевизора
Do
   Getrc5(address , Command)
   If Command = 32 Then Gosub Прямо
   If Command = 17 Then Gosub Влево
   If Command = 16 Then Gosub Вправо
   If Command = 33 Then Gosub Назад
   Waitms 50
Gosub Стоп

Loop


' Это когда препятствия нет, едем перед, когда есть едем назад.
' Но в данном случае он не выполняется потому что из-за верхнего цикла
' мы сюда никогда не дойдем :-)
Do
Speed = 150
Gosub Радар1
If Tsop1 = 0 Then
      Gosub Назад
      Led_r1 = 1 : Waitms 100
      Gosub ПискВкл
   Else
      Led_r1 = 0 : Gosub Прямо : Waitms 100
   End If
Waitus 100
Loop


'==============================================================================
'==============================================================================


Влево:
   Drl = 1 : Drr = 0 : Pwm1b = Speed : Pwm1a = Speed:
Return

Вправо:
   Drl = 0 : Drr = 1 : Pwm1b = Speed : Pwm1a = Speed:
Return

Прямо:
   Drl = 0 : Drr = 0 : Pwm1b = Speed : Pwm1a = Speed:
Return

Назад:
   Drl = 1 : Drr = 1 : Pwm1b = Speed : Pwm1a = Speed:
Return

Стоп:
   Drl = 0 : Drr = 0 : Pwm1b = 0 : Pwm1a = 0:
Return

ПискВкл:
For B = 0 To 1000
   Spik = 1
   Waitus 300
   Spik = 0
   Waitus 300
Next
Return

ПискВыкл:
   Spik = 0
Return

Св_Кр_1:
   B = 0
   For B = 0 To 5
      Led_r1 = 1
      Led_g2 = 0
      Waitms 200
      Led_r1 = 0
      Led_g2 = 1
      Waitms 200
   Next
      Led_g2 = 0
Return

Св_Зл_1:
   B = 0
   For B = 0 To 5
      Led_g1 = 1
      Led_r2 = 0
      Waitms 200
      Led_g1 = 0
      Led_r2 = 1
      Waitms 200
   Next
      Led_r2 = 0
Return

Св_Кр_2:
   B = 0
   For B = 0 To 5
      Led_r2 = 1
      Waitms 200
      Led_r2 = 0
      Waitms 200
   Next
Return

Св_Зл_2:
   B = 0
   For B = 0 To 5
      Led_g2 = 1
      Waitms 200
      Led_g2 = 0
      Waitms 200
   Next
Return

Св_Жл_1:
   B = 0
   For B = 0 To 5
      Led_g1 = 1
      Led_r1 = 1
      Led_g2 = 0
      Led_r2 = 0
      Waitms 200
      Led_g1 = 0
      Led_r1 = 0
      Led_g2 = 1
      Led_r2 = 1
      Waitms 200
   Next
      Led_g2 = 0
      Led_r2 = 0
Return


Радар1:
   For B = 0 To 12
      Led_ir1 = 0
      Waitus 18
      Led_ir1 = 1
      Waitus 16
   Next
Return