Pic Basic Pro ile yazılan Çizgi İzleyen Robot Programı

@ DEVICE pic16F628
@ DEVICE pic16F628, MCLR_OFF
@ DEVICE pic16F628, INTRC_OSC_NOCLKOUT

CMCON=7
VRCON=0

‘—Girişler—-

input PORTB.0
INPUT PORTB.1
INPUT PORTB.2

‘—-Çıkışlar—

OUTPUT PORTB.3
OUTPUT PORTB.4

‘—Değişkenler—

SYMBOL SOLCNY=PORTB.0
SYMBOL ORTACNY=PORTB.1
SYMBOL SAGCNY=PORTB.2

SYMBOL SOLILERI=PORTB.3
SYMBOL SAGILERI=PORTB.4

‘——–Ana Döngü——————

BASLA:
IF SOLCNY=0 AND ORTACNY=0 AND SAGCNY=0 THEN GOSUB ILERI
IF SOLCNY=0 AND ORTACNY=0 AND SAGCNY=1 THEN GOSUB SOLA_DON
IF SOLCNY=0 AND ORTACNY=1 AND SAGCNY=0 THEN GOSUB ILERI
IF SOLCNY=0 AND ORTACNY=1 AND SAGCNY=1 THEN GOSUB SOLA_DON
IF SOLCNY=1 AND ORTACNY=0 AND SAGCNY=0 THEN GOSUB SAGA_DON
IF SOLCNY=1 AND ORTACNY=0 AND SAGCNY=1 THEN GOSUB ILERI
IF SOLCNY=1 AND ORTACNY=1 AND SAGCNY=0 THEN GOSUB SAGA_DON
IF SOLCNY=1 AND ORTACNY=1 AND SAGCNY=1 THEN GOSUB ILERI
GOTO BASLA
END
‘———Etiketler——————

ILERI:
HIGH SOLILERI
HIGH SAGILERI
GOTO BASLA
END

SAGA_DON:
HIGH SOLILERI
low SAGILERI
GOTO BASLA
END

SOLA_DON:
HIGH SAGILERI
LOW SOLILERI
GOTO BASLA
END