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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 LMAX 190 // maximalni zatoceni doleva
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#define RMAX 60 // maximalni zatoceni doprava
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#define STRED 128 // sredni poloha zadniho kolecka
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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(1200);
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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=500us)
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void motory() // umoznuje nezavisle rizeni vykonu na obou motorech
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{
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if(Rmotor>0) //pravy motor
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{
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GO(R, F, Rmotor);
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}
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if(Rmotor==0) STOPR;
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if(Rmotor<0)
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{
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GO(R, B, abs(Rmotor));
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}
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if(Lmotor>0) // levy motor
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{
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GO(L, F, Lmotor);
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}
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if(Lmotor==0) STOPL;
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if(Lmotor<0)
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{
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GO(L, B, abs(Lmotor));
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}
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}
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////////////////////////////////////////////////////////////////////////////////
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#task (rate=4ms, max=500us, queue=0)
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void rizeni()
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{
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rizeni:
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sensors = spi_read(0); // cteni senzoru na caru
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output_high(STROBE);
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output_low(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=LMAX;
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Lmotor=60;Rmotor=127;
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goto rizeni;
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}
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if(bit_test(sensors,6)) //......*//
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{
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uhel=RMAX;
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Rmotor=60;Lmotor=127;
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goto rizeni;
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}
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if(bit_test(sensors,1)) //.*.....//
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{
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uhel=STRED+30;
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Lmotor=70;Rmotor=127;
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goto rizeni;
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}
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if(bit_test(sensors,5)) //.....*.//
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{
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uhel=STRED-30;
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Rmotor=70;Lmotor=127;
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goto rizeni;
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}
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if(bit_test(sensors,2)) //..*....//
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{
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uhel=STRED+20;
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Lmotor=90;Rmotor=127;
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goto rizeni;
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}
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if(bit_test(sensors,4)) //....*..//
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{
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uhel=STRED-20;
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Rmotor=90;Lmotor=127;
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goto rizeni;
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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=100;Rmotor=100;
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goto rizeni;
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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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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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// set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu
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// setup_ccp1(CCP_PWM);
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// setup_timer_2(T2_DIV_BY_16,200,1); // perioda
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// setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci
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STOPR; STOPL;
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uhel=STRED;
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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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}
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