__CONFIG _CONFIG1, 0X20D5

__CONFIG _CONFIG2, 0X3FFF

G EQU 0x21
NUM EQU 0x22
menos EQU 0x23
X EQU 0x24
NUM2 EQU 0x25
NUM3 EQU 0x26
ESPACIO2 EQU 0x27
Y EQU 0x28
NUM4 EQU 0x29
NUM5 EQU 0x2A
M EQU 0x2B
NUM6 EQU 0x2C
NUM7 EQU 0x2D
NUM8 EQU 0x2E
s EQU 0x2F
NUM9 EQU 0x30
NUM10 EQU 0x31
p EQU 0x32
NUM11 EQU 0x33
NUM12 EQU 0x34
NUM13 EQU 0x35
ENTER EQU 0x36
CONT1 EQU 0x37
CONT2 EQU 0x38
CONT3 EQU 0x39
CONT4 EQU 0X3A
CONT250 EQU 0x3B
guard EQU 0x3C
guardado EQU 0x3D
Wdeward EQU 0x3E
V1X EQU 0x3F
V2X EQU 0x40
VY EQU 0x41
VTX EQU 0x42
TMP0 EQU 0x43
VRESET ORG 0X00
GOTO INICIO

INICIO: ORG 0X10

CALL CONF_PTOS
CALL CONF_RX

CONF_PTOS:
BANKSEL ANSEL
CLRF ANSEL
CLRF ANSELH
BANKSEL TRISA
bcf TRISA,0
BSF TRISC,7
CLRF TRISB
BANKSEL PORTA
RETURN

CONF_RX:
BANKSEL TXSTA
MOVLW B'00000100'
MOVWF TXSTA
MOVLW D'25'
MOVWF SPBRG
CLRF SPBRGH
BANKSEL PORTA
MOVLW B'10010000'
MOVWF RCSTA
RETURN

;CONFIG_TMR1 configurar el tmr1

;CONFIG_TMR2 configurar el tmr2

RX_DATO:
LOQUESEA: BTFSS PIR1,RCIF
GOTO LOQUESEA
movf RCREG,W
sublw D'71'
btfsc STATUS, Z
goto check_M
movf RCREG, W
movwf G
goto check_X
check_M:
MOVF RCREG, W
SUBLW D'77'
BTFSC STATUS,Z
goto LOQUESEA
movf RCREG, W
movwf M
goto check_1

check_1:
MOVF RCREG, W
sublw D'49'
BTFSC STATUS,Z
GOTO bajar
movf RCREG, W
movwf M
goto subir
 bajar: ;irse a 90 grados (mover
servo)
bcf PORTB, 4
bsf PORTB, 5
goto check_X

subir: ;mover servo a 0 grados

bsf PORTB, 4
bcf PORTB, 5
goto check_X

check_X: MOVF RCREG, W

SUBLW D'88'
BTFSC STATUS,Z
goto check_X
movf RCREG, W
movwf X
goto signo

signo: MOVF RCREG, W

SUBLW D'45'
BTFSC STATUS,Z
goto num_pos
bcf PORTB, 0
movf RCREG, W
movwf menos
goto num_neg
num_pos:
call guardar
MOVF S, W
SUBLW D'48'
BTFSC STATUS,Z
bsf PORTB, 0
clrf V1X
goto checar1
movf S, W
movwf NUM2
goto num2

checar1:
MOVF S, W
SUBLW D'49'
BTFSC STATUS,Z
goto num_pos
movlw D'10'
movwf V1X
movf S, W
movwf NUM2
goto num2

num2:
call guardadito
 movf P,W
SUBLW D'48'
BTFSC STATUS,Z
goto checar01
clrf V2X
movf P, W
movwf NUM3
goto sumar

checar01:
movf P,W
SUBLW D'49'
BTFSC STATUS,Z
goto checar02
movlw D'1'
movwf V2X
movf P, W
movwf NUM3
goto sumar
checar02:
movf P,W
SUBLW D'50'
BTFSC STATUS,Z
goto checar03
movlw D'2'
movwf V2X
movf P, W
movwf NUM3
goto sumar
checar03:
movf P,W
SUBLW D'51'
BTFSC STATUS,Z
goto checar04
movlw D'3'
movwf V2X
movf P, W
movwf NUM3
goto sumar
checar04:
movf P,W
SUBLW D'52'
BTFSC STATUS,Z
goto checar04
movlw D'4'
movwf V2X
movf P, W
movwf NUM3
goto sumar
checar05:
movf P,W
 SUBLW D'53'
BTFSC STATUS,Z
goto checar04
movlw D'5'
movwf V2X
movf P, W
movwf NUM3
goto sumar
checar06:
movf P,W
SUBLW D'54'
BTFSC STATUS,Z
goto checar04
movlw D'6'
movwf V2X
movf P, W
movwf NUM3
goto sumar

sumar: movf V1X, w

addwf V2X,w
movwf VTX
goto yey

num_neg:
call guardar
MOVF S, W
SUBLW D'48'
BTFSC STATUS,Z
goto checar1
movf S, W
movwf NUM6
goto num2

yey: MOVF RCREG, W

SUBLW D'89'
BTFSC STATUS,Z
goto yey
movf RCREG, W
movwf Y
goto signo2

signo2: MOVF RCREG, W

SUBLW D'45'
BTFSC STATUS,Z
goto num_pos2
bcf PORTB, 1
movf RCREG, W
 movwf NUM8
goto num_neg2

num_pos2: call guardadito2

MOVF NUM11, W
SUBLW D'48'
BTFSC STATUS,Z
goto checary1
BSF PORTB, 1
clrf VY
movf NUM11, W
movwf NUM4
goto enter

checary1:
MOVF NUM11, W
SUBLW D'49'
BTFSC STATUS,Z
goto checary2
movlw D'1'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
checary2:
MOVF NUM11, W
SUBLW D'50'
BTFSC STATUS,Z
goto checary3
movlw D'2'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
checary3:
MOVF NUM11, W
SUBLW D'51'
BTFSC STATUS,Z
goto checary4
movlw D'3'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
checary4:
MOVF NUM11, W
SUBLW D'52'
BTFSC STATUS,Z
goto checary5
movlw D'4'
movwf VY
movf NUM11, W
 movwf NUM4
goto enter
checary5:
MOVF NUM11, W
SUBLW D'53'
BTFSC STATUS,Z
goto checary6
movlw D'5'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
checary6:
MOVF NUM11, W
SUBLW D'54'
BTFSC STATUS,Z
goto checary7
movlw D'6'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
checary7:
MOVF NUM11, W
SUBLW D'55'
BTFSC STATUS,Z
goto checary8
movlw D'7'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
checary8:
MOVF NUM11, W
SUBLW D'56'
BTFSC STATUS,Z
goto checary9
movlw D'8'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
checary9:
MOVF NUM11, W
SUBLW D'57'
BTFSC STATUS,Z
goto checary3
movlw D'9'
movwf VY
movf NUM11, W
movwf NUM4
goto enter
 num_neg2: call guardadito2
MOVF NUM11, W
SUBLW D'48'
BTFSC STATUS,Z
goto checary1
movf NUM11, W
movwf NUM4
goto enter

enter: MOVF RCREG, W

SUBLW D'47'
BTFSC STATUS,Z
goto enter
movf RCREG, W
movwf ENTER

goto motores

motores:
dec: decf VTX
bsf PORTB, 2
call retardo
btfsc STATUS,Z
goto dec
goto MY

MY: decf VTX

bsf PORTB, 3
call retardo
btfsc STATUS,Z
goto MY
goto RX_DATO

retardo: movlw D'20'

movwf TMP0
dec2: decfsz TMP0
goto dec
return

RETURN
;es con la diagonal el enter (/)