	.module senstst.c
	.dbfile senstst.c
	.area data
_servo_limits::
	.blkb 2
	.area idata
	.word 600
	.area data
	.blkb 2
	.area idata
	.word 4800
	.area data
	.blkb 2
	.area idata
	.word 600
	.area data
	.blkb 2
	.area idata
	.word 4800
	.area data
	.blkb 2
	.area idata
	.word 600
	.area data
	.blkb 2
	.area idata
	.word 4800
	.area data
	.blkb 2
	.area idata
	.word 600
	.area data
	.blkb 2
	.area idata
	.word 4800
	.area data
	.blkb 2
	.area idata
	.word 600
	.area data
	.blkb 2
	.area idata
	.word 4800
	.area data
_srv_lim_default::
	.blkb 1
	.area idata
	.byte 1
	.area text
;  IX -> 0,x
_SCI_isr::
	.dbfile C:\ICCME\include/isrdecl.h
	.dbfunc SCI_isr
	.dbline 41
; /***************INCLUDES**********************/
; 
; #include <analog.h>
; #include <clocktjp.h>
; #include <motorme.h>
; #include <servome.h>
; #include <serialtp.h>
; #include <isrdecl.h>
; #include <vectors.h>
; #include <stdio.h>
; 
; 
; /*************END INCLUDES*****************/
; 
; /**************CONSTANTS*********************/
; 
; #define LEFT_MOTOR 0
; #define RIGHT_MOTOR 1
; #define MAX_SPEED 100
; #define MIN_SPEED 0
; #define AVOID_THRESHOLD 100
; #define LEFT_IR analog(3)
; #define MID_IR analog(4)
; #define RIGHT_IR analog(5)
; #define SCAN analog(6)
; #define BACK_IR analog(0)
; #define REAR_IR analog(1)
; #define FRONT_IR analog(2)
; #define IRE *(unsigned char *) (0x7000)
; /***********END CONSTANTS**************/
; 
; void main(void)
; {
; 
; int irdr, irdl,irdb,irdsf,irdsr, irdm, speedr, speedl;
; 
; init_analog();
; init_motorme();
; init_servome();
; init_clocktjp();
; init_serial();
L2:
	rti
;  IX -> 0,x
_SPI_isr::
	.dbfunc SPI_isr
	.dbline 47
; IRE = 7;
; 
; 
; 
; while(1)
; {
L3:
	rti
;  IX -> 0,x
_PAIE_isr::
	.dbfunc PAIE_isr
	.dbline 53
; 
; 	irdr= RIGHT_IR;
; 	irdl= LEFT_IR;
; 	irdm= MID_IR;
; 	irdb= BACK_IR;
; 	irdsr= REAR_IR;
L4:
	rti
;  IX -> 0,x
_PAV_isr::
	.dbfunc PAV_isr
	.dbline 59
; 	irdsf= FRONT_IR;
; 	 
;    
; 	printf("%d ,%d ,%d, %d,%d, %d, %d\n\n",irdb, irdsr, irdsf, irdl, irdm, irdr, SCAN);
; 	
; 
L5:
	rti
;  IX -> 0,x
_TOF_isr::
	.dbfunc TOF_isr
	.dbline 65
; 	
; }
; }
; }
; }
; }
L6:
	rti
;  IX -> 0,x
_TOC2_isr::
	.dbfunc TOC2_isr
	.dbline 83
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
L7:
	rti
;  IX -> 0,x
_TOC3_isr::
	.dbfunc TOC3_isr
	.dbline 89
; }
; }
; }
; }
; }
; }
L8:
	rti
;  IX -> 0,x
_TIC3_isr::
	.dbfunc TIC3_isr
	.dbline 101
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
L9:
	rti
;  IX -> 0,x
_TIC2_isr::
	.dbfunc TIC2_isr
	.dbline 107
; }
; }
; }
; }
; }
; }
L10:
	rti
;  IX -> 0,x
_TIC1_isr::
	.dbfunc TIC1_isr
	.dbline 113
; }
; }
; }
; }
; }
; }
L11:
	rti
;  IX -> 0,x
_RTI_isr::
	.dbfunc RTI_isr
	.dbline 119
; }
; }
; }
; }
; }
; }
L12:
	rti
;  IX -> 0,x
_IRQ_isr::
	.dbfunc IRQ_isr
	.dbline 125
; }
; }
; }
; }
; }
; }
L13:
	rti
;  IX -> 0,x
_XIRQ_isr::
	.dbfunc XIRQ_isr
	.dbline 131
; }
; }
; }
; }
; }
; }
L14:
	rti
;  IX -> 0,x
_SWI_isr::
	.dbfunc SWI_isr
	.dbline 137
; }
; }
; }
; }
; }
; }
L15:
	rti
;  IX -> 0,x
_ILLOP_isr::
	.dbfunc ILLOP_isr
	.dbline 143
; }
; }
; }
; }
; }
; }
L16:
	rti
;  IX -> 0,x
_COP_isr::
	.dbfunc COP_isr
	.dbline 149
; }
; }
; }
; }
; }
; }
L17:
	rti
;  IX -> 0,x
_CLMON_isr::
	.dbfunc CLMON_isr
	.dbline 155
; }
; }
; }
; }
; }
; }
L18:
	rti
	.area data
_drew::
	.blkw 1
	.area idata
	.word _interrupt_vectors
	.area text
;  IX -> 0,x
;         speedl -> 2,x
;         speedr -> 4,x
;           irdm -> 6,x
;          irdsr -> 8,x
;          irdsf -> 10,x
;           irdb -> 12,x
;           irdl -> 14,x
;           irdr -> 16,x
_main::
	jsr __enterb
	.byte 0x12
	.dbfile senstst.c
	.dbfunc main
	.dbline 37
	jsr _init_analog
	.dbline 38
	jsr _init_motorme
	.dbline 39
	jsr _init_servome
	.dbline 40
	jsr _init_clocktjp
	.dbline 41
	jsr _init_serial
	.dbline 42
	ldab #7
	stab 0x7000
	bra L21
L20:
	.dbline 49
	ldd #5
	jsr _analog
	std 16,x
	.dbline 50
	ldd #3
	jsr _analog
	std 14,x
	.dbline 51
	ldd #4
	jsr _analog
	std 6,x
	.dbline 52
	ldd #0
	jsr _analog
	std 12,x
	.dbline 53
	ldd #1
	jsr _analog
	std 8,x
	.dbline 54
	ldd #2
	jsr _analog
	std 10,x
	.dbline 57
	ldd #6
	jsr _analog
	pshb
	psha
	ldd 16,x
	pshb
	psha
	ldd 6,x
	pshb
	psha
	ldd 14,x
	pshb
	psha
	ldd 10,x
	pshb
	psha
	ldd 8,x
	pshb
	psha
	ldd 12,x
	pshb
	psha
	ldd #L23
	jsr _printf
	jsr __movspb
	.byte 14
	.dbline 61
L21:
	.dbline 46
	bra L20
L19:
	xgdx
	addd #18
	xgdx
	txs
	pulx
	rts
	.area bss
_servo_width::
	.blkb 10
_timertjp::
	.blkb 2
_days::
	.blkb 2
_hours::
	.blkb 2
_minutes::
	.blkb 2
_seconds::
	.blkb 2
_msec::
	.blkb 2
	.area text
L23:
	.byte 37,'d,32,44,37,'d,32,44,37,'d,44,32,37,'d,44,37
	.byte 'd,44,32,37,'d,44,32,37,'d,10,10,0
