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2 kaklik 1 
void cikcak()
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{
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short int movement;
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   if(uhel>STRED)
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   {
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      movement = R;
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      uhel=KOLMO1;
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      Delay_ms(60);
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   }
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   if(uhel<STRED)
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   {
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      movement = L;
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      uhel=KOLMO2;
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      Delay_ms(60);
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   }
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sem:
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   sensors = spi_read(0);         // cteni senzoru
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   sensors=~sensors;
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   Delay_ms(5);                  // cekani na SLAVE nez pripravi data od cidel
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   if(!bit_test(sensors,3) == sensors)
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   {
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      if(R == movement)
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      {
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         FR;BL;
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         movement=L;
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         While(bit_test(sensors,3) == sensors)
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         {
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            sensors = spi_read(0);         // cteni senzoru
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            sensors=~sensors;
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            Delay_ms(5);
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         }
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         STOPL;STOPR;
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         GoTo sem;
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      }
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      if(L == movement)
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      {
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         FL;BR;
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         movement=R;
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         While(bit_test(sensors,3) == sensors)
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         {
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            sensors = spi_read(0);
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            sensors =~ sensors;
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            Delay_ms(5);                  // cekani na SLAVE nez pripravi data od cidel
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         }
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         STOPL;STOPR;
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         GoTo sem;
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      }
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   }
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}
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////////////////////////////////////////////////////////////////////////////////
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void objizdka()
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{
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         // zjisti, jestli neni cihla, pouze pokud se jede jakztakz rovne
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   BL; BR;
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   While(bit_test(sensors,3) == sensors)
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   {
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      sensors = spi_read(0);
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      sensors =~ sensors;
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      Delay_ms(5);
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   }
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   STOPR; STOPL;
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   delay_ms(1000);
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   cikcak();
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   delay_ms(1000);
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   STOPR; STOPL;
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   While(true);
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   uhel=STRED-55;
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   FR;STOPL;
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   Delay_ms(370);       // doleva
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   uhel=STRED;
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   FL;FR;
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   Delay_ms(200);       // rovne
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   uhel=STRED+55;
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   STOPR;FL;
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   Delay_ms(300);       // doprava
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   STOPR; STOPL;
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   While(true);
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   uhel=STRED;
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   FR;FL;
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   Delay_ms(250);       // rovne
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   uhel=STRED+80;
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   FL;STOPR;
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   Delay_ms(300);       // doprava
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   uhel=STRED;
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   FR;FL;
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   Delay_ms(100);       // rovne
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   STOPR; STOPL;
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   While(true);
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/*   uhel=STRED;
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   sensors=0b00001000;
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   Delay_ms(1000);
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   FL;FR;*/
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}