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#include ".\main.h"
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#use rtos (timer=2, minor_cycle=2ms)
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unsigned int8 sensors;        // pomocna promenna pro cteni cidel na caru
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unsigned int8 line;           // na ktere strane byla detekovana cara
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unsigned int8 dira;           // pocita dobu po kterou je ztracena cara
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unsigned int8 uhel;           // urcuje aktualni uhel zataceni
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signed int16  Lmotor;         // promene, ktere urcuji velikost vykonu na levem
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signed int16  Rmotor;         // a pravem motoru
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#define  STRED       128      // sredni poloha zadniho kolecka
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#define  BEAR1       20       // 3 stupne zataceni
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#define  BEAR2       40
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#define  BEAR3       60
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// servo
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#define  SERVO PIN_A2
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//motory
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#define  FR         output_low(PIN_A7); output_high(PIN_A6)  // Vpred
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#define  FL         output_low(PIN_A1); output_high(PIN_A0)
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#define  BR         output_low(PIN_A6); output_high(PIN_A7)  // Vzad
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#define  BL         output_low(PIN_A0); output_high(PIN_A1)
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#define  STOPR      output_low(PIN_A6);output_low(PIN_A7)
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#define  STOPL      output_low(PIN_A0);output_low(PIN_A1)
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//HID
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#define  LED1     PIN_B1      //oranzova
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#define  LED2     PIN_B2      //zluta
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#define  STROBE   PIN_B0
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//#define  SW1      PIN_A2      // Motory On/off
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// makro pro PWM
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#define GO(motor, direction, power) if(get_timer0()<=power) \
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{direction##motor;} else {stop##motor;}
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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/*
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void diagnostika()
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{
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   if(input(SW1))STOPR;STOPL;While(TRUE);
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//   if(LSENSOR==true) output_high(LED2); else output_low(LED2);
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//   if(RSENSOR==true) output_high(LED1); else output_low(LED1);
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}
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*/
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////////////////////////////////////////////////////////////////////////////////
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#task (rate=16ms,max=2ms)
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void zatoc()   // ridi servo ktere otaci kolem
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{
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   unsigned int8 n;
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   output_high(SERVO);
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   delay_us(1100);
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   for(n=uhel; n>0; n--);
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   output_low(SERVO);
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}
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void diag()   // ridi servo ktere otaci kolem
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{
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   unsigned int8 n;
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   output_high(SERVO);
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   delay_us(1100);
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   for(n=uhel; n>0; n--);
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   output_low(SERVO);
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}
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////////////////////////////////////////////////////////////////////////////////
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#task (rate=2ms, max=1ms)
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void rizeni()
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{
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   GO(L,F,Lmotor);GO(R,F,Rmotor);
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   delay_us(500);
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   output_low(STROBE);
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   sensors = spi_read(0);         // cteni senzoru na caru
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   output_high(STROBE);
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   if(bit_test(sensors,0)) //|......//     // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu
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   {
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      uhel=STRED+BEAR3;
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      Lmotor=0;Rmotor=190;
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      return;
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   }
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   if(bit_test(sensors,6)) //......|//
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   {
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      Rmotor=0;Lmotor=190;
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      uhel=STRED-BEAR3;
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      return;
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   }
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   if(bit_test(sensors,1)) //.|.....//
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   {
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      uhel=STRED+BEAR2;
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      Lmotor=150;Rmotor=190;
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      return;
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   }
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   if(bit_test(sensors,5)) //.....|.//
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   {
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      uhel=STRED-BEAR2;
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      Rmotor=150;Lmotor=190;
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      return;
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   }
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   if (bit_test(sensors,2)) //..|....//
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   {
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      uhel=STRED+BEAR1;
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      Lmotor=150;Rmotor=190;
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      return;
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   }
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   if (bit_test(sensors,4)) //....|..//
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   {
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      uhel=STRED-BEAR1;
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      Rmotor=150;Lmotor=190;
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      return;
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   }
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   if(bit_test(sensors,3)) //...|...//
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   {
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      uhel=STRED;
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      Lmotor=190;Rmotor=190;
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      return;
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   }
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/*STOPL;STOPR;
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      if(bit_test(sensors,7))
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      {
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      }*/
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}
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////////////////////////////////////////////////////////////////////////////////
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void main()
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{
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   unsigned int16 i;
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   setup_adc_ports(NO_ANALOGS);
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   setup_adc(ADC_CLOCK_INTERNAL);
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   setup_spi(SPI_MASTER|SPI_H_TO_L|SPI_XMIT_L_TO_H|SPI_CLK_DIV_4);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_1(T1_DISABLED);
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);
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   STOPR; STOPL;
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   uhel=STRED;
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   for(i=0;i<100;i++)
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   {
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      diag();
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      delay_ms(16);
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   }
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//      diagnostika();
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Lmotor=0;
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Rmotor=0;
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   rtos_run();
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}