@ DEVICE pic16F628A, INTRC_OSC_NOCLKOUT 
@ Device MCLR_off
@ Device WDT_off
@ Device Bod_off
'Robotus.Net 
'Kasim 2011
'Rokart 3.1 icin gecerli programdir.
'Cizkon Sensor karti cikislari (1-2-3) b.0, b.1 ve b.2 pinlerine baglidir.
'************    
CMCON = 7
x var word
cizginerede var word
'************
output porta.2
output porta.6
output porta.7
output portb.3
input portb.0
input portb.1
input portb.2
'************
sayim:
for x = 1 to 2
high porta.2
low portb.6
low portb.7
low porta.6
low porta.7
pause 300
low porta.2
low portb.6
low portb.7
low porta.6
low porta.7
pause 300
next 
'************
basla:  
If portb.0=1 and portb.1=1 and portb.2=1 then tamgaz 
If portb.0=1 and portb.1=0 and portb.2=1 then tamgaz  
If portb.0=0 and portb.1=1 and portb.2=1 then tamgaz  
If portb.0=1 and portb.1=1 and portb.2=0 then tamgaz  
If portb.0=0 and portb.1=1 and portb.2=0 then tamgaz 
If portb.0=0 and portb.1=0 and portb.2=1 then cizgisag  
If portb.0=1 and portb.1=0 and portb.2=0 then cizgisol  
If portb.0=0 and portb.1=0 and portb.2=0 then durum                    
goto basla
'-----------------------
tamgaz:
high portb.3
cizginerede=33
high 6
low 7
high porta.6
low porta.7          
goto basla
'-----------------------
cizgisag:
high portb.3
high 6
low 7
low porta.6
low porta.7 
pause 2
cizginerede=5 
goto basla
'-----------------------
cizgisol:
high portb.3
low 6
low 7
high porta.6
low porta.7
pause 2 
cizginerede=7
goto basla
'-----------------------
cizgisag2:
high portb.3
high 6
low 7
low porta.6
high porta.7 
cizginerede=5 
goto basla
'-----------------------
cizgisol2:
high portb.3
low 6
high 7
high porta.6
low porta.7 
cizginerede=7 
goto basla
'-----------------------
durum:
if cizginerede=5 then cizgisag2
if cizginerede=7 then cizgisol2 
goto basla
'-----------------------