Subversion Repositories svnkaklik

Rev

Go to most recent revision | Details | Last modification | View Log

Rev Author Line No. Line
2 kaklik 1 
#define  DOLEVA   0
2 
#define  DOPRAVA  1
3 
 
4 
void cikcak()
5 
{
6 
unsigned int8 i;
7 
 
8 
   uhel=KOLMO1;
9 
   Delay_ms(100);
10 
   if (line==L2) line=L3;
11 
   if (line==S) line=L3;
12 
   if (line==R2) line=R3;
13 
 
14 
   Delay_ms(3);
15 
 
16 
   output_low(STROBE);              // vypni zobrazovani na posuvnem registru
17 
   sensors = spi_read(0);           // cteni senzoru
18 
   sensors=~sensors;
19 
   output_high(STROBE);             // vypni zobrazovani na posuvnem registru
20 
 
21 
   while(!bit_test(sensors,3))
22 
   {
23 
      while(true)
24 
      {
25 
         Delay_ms(3);
26 
 
27 
         if (line==L3)
28 
         {
29 
            GO(L,B,160);GO(R,F,160);
30 
         };
31 
         if (line==R3)
32 
         {
33 
            GO(R,B,160);GO(L,F,160);
34 
         };
35 
         if (line==S) {STOPL;STOPR; i++;}
36 
         else i=0;
37 
 
38 
         if (i>=100) break;
39 
 
40 
         output_low(STROBE);              // vypni zobrazovani na posuvnem registru
41 
         sensors = spi_read(0);         // cteni senzoru
42 
         sensors=~sensors;
43 
         output_high(STROBE);              // vypni zobrazovani na posuvnem registru
44 
 
45 
         if(bit_test(sensors,3)) //...|...//
46 
         {
47 
            line=S;
48 
            continue;
49 
         }
50 
 
51 
         if(bit_test(sensors,0)) //|......//     // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu
52 
         {
53 
            line=L3;
54 
            continue;
55 
         }
56 
 
57 
         if(bit_test(sensors,6)) //......|//
58 
         {
59 
            line=R3;
60 
            continue;
61 
         }
62 
 
63 
         if(bit_test(sensors,1)) //.|.....//
64 
         {
65 
            line=L3;
66 
            continue;
67 
         }
68 
 
69 
         if(bit_test(sensors,5)) //.....|.//
70 
         {
71 
            line=R3;
72 
            continue;
73 
         }
74 
 
75 
         if (bit_test(sensors,2)) //..|....//
76 
         {
77 
            line=L3;
78 
            continue;
79 
         }
80 
 
81 
         if (bit_test(sensors,4)) //....|..//
82 
         {
83 
            line=R3;
84 
            continue;
85 
         }
86 
      }
87 
      delay_ms(100);
88 
 
89 
      output_low(STROBE);              // vypni zobrazovani na posuvnem registru
90 
      sensors = spi_read(0);         // cteni senzoru
91 
      sensors=~sensors;
92 
      output_high(STROBE);              // vypni zobrazovani na posuvnem registru
93 
   }
94 
}
95 
 
96 
/*
97 
void cikcak()
98 
{
99 
short int movement;
100 
unsigned int8 n,i=0;
101 
 
102 
   if(uhel>=STRED)
103 
   {
104 
      uhel=KOLMO1;
105 
      Delay_ms(100);
106 
   }
107 
 
108 
   if(uhel<=STRED)
109 
   {
110 
      uhel=KOLMO2;
111 
      Delay_ms(100);
112 
   }
113 
 
114 
 
115 
   sensors = spi_read(0);         // cteni senzoru
116 
   sensors=~sensors;
117 
   Delay_ms(5);
118 
 
119 
if ((sensors & 0b11100000)!=0) movement=DOPRAVA;
120 
 
121 
   while(i<=100)
122 
   {
123 
      while(!bit_test(sensors,3))
124 
      {
125 
         if(DOPRAVA == movement)
126 
         {
127 
            FR;BL;
128 
            movement=DOLEVA;
129 
            n=0;
130 
//if ((sensors & 0b11100000)!=0) line=L1;
131 
//if ((sensors & 0b00001110)!=0) line=R1;
132 
//if ((sensors & 0b00010000)!=0) line=S;
133 
 
134 
            for(n=0; n<=100; n++)
135 
            {
136 
               sensors = spi_read(0);         // cteni senzoru
137 
               sensors=~sensors;
138 
               Delay_ms(5);                     // cekani na SLAVE nez pripravi data od cidel
139 
               if(bit_test(sensors,3)) break;
140 
               else i=0;
141 
            }
142 
            STOPL;STOPR;
143 
         }
144 
 
145 
         if(DOLEVA == movement)
146 
         {
147 
            FL;BR;
148 
            movement=DOPRAVA;
149 
            n=0;
150 
 
151 
            for(n=0; n<=100; n++)
152 
            {
153 
               sensors = spi_read(0);
154 
               sensors =~ sensors;
155 
               Delay_ms(5);
156 
               if(bit_test(sensors,3)) break;
157 
               else i=0;
158 
            }
159 
            STOPL;STOPR;
160 
         }
161 
         sensors = spi_read(0);         // cteni senzoru
162 
         sensors=~sensors;
163 
         Delay_ms(5);
164 
      }
165 
      i++;
166 
   }
167 
}
168 
*/
169 
////////////////////////////////////////////////////////////////////////////////
170 
void objizdka()
171 
{
172 
   BL;FR;
173 
   Delay_ms(300);
174 
   FL;BR;
175 
   Delay_ms(100);
176 
   STOPL;STOPR;
177 
 
178 
   uhel=STRED;
179 
   FL;FR;
180 
   Delay_ms(400);       // rovne
181 
 
182 
   uhel=STRED+55;
183 
   STOPR;FL;
184 
   Delay_ms(190);       // doprava
185 
 
186 
   uhel=STRED;
187 
   FR;FL;
188 
   Delay_ms(400);       // rovne
189 
 
190 
   uhel=STRED+55;
191 
   FL;STOPR;
192 
   Delay_ms(250);       // doprava
193 
 
194 
   uhel=STRED;
195 
   FR;FL;
196 
   Delay_ms(150);       // rovne
197 
 
198 
   While((sensors & 0b11111110)!=0) //dokud neni cara
199 
   {
200 
       sensors = spi_read(0);         // cteni senzoru
201 
       sensors=~sensors;
202 
       Delay_ms(4);              // cekani na SLAVE nez pripravi data od cidel
203 
   }
204 
   BL;BR;
205 
   Delay_ms(400);
206 
 
207 
   uhel=STRED-55;
208 
   FR;STOPL;         // doleva
209 
   delay_ms(250);
210 
 
211 
   line=L3;
212 
   cikcak();
213 
}
214