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2 kaklik 1 
#define  DOLEVA   0
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#define  DOPRAVA  1
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4 
void cikcak()
5 
{
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unsigned int8 i;
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8 
   uhel=KOLMO1;
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   Delay_ms(100);
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   if (line==L2) line=L3;
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   if (line==S) line=L3;
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   if (line==R2) line=R3;
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   Delay_ms(3);
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   output_low(STROBE);              // vypni zobrazovani na posuvnem registru
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   sensors = spi_read(0);           // cteni senzoru
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   sensors=~sensors;
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   output_high(STROBE);             // vypni zobrazovani na posuvnem registru
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   while(!bit_test(sensors,3))
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   {
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      while(true)
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      {
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         Delay_ms(3);
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         if (line==L3)
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         {
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            GO(L,B,160);GO(R,F,160);
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         };
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         if (line==R3)
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         {
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            GO(R,B,160);GO(L,F,160);
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         };
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         if (line==S) {STOPL;STOPR; i++;}
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         else i=0;
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         if (i>=100) break;
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         output_low(STROBE);              // vypni zobrazovani na posuvnem registru
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         sensors = spi_read(0);         // cteni senzoru
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         sensors=~sensors;
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         output_high(STROBE);              // vypni zobrazovani na posuvnem registru
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         if(bit_test(sensors,3)) //...|...//
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         {
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            line=S;
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            continue;
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         }
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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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            line=L3;
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            continue;
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         }
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         if(bit_test(sensors,6)) //......|//
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         {
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            line=R3;
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            continue;
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         }
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         if(bit_test(sensors,1)) //.|.....//
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         {
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            line=L3;
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            continue;
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         }
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         if(bit_test(sensors,5)) //.....|.//
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         {
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            line=R3;
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            continue;
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         }
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         if (bit_test(sensors,2)) //..|....//
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         {
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            line=L3;
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            continue;
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         }
80 
 
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         if (bit_test(sensors,4)) //....|..//
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         {
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            line=R3;
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            continue;
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         }
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      }
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      delay_ms(100);
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      output_low(STROBE);              // vypni zobrazovani na posuvnem registru
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      sensors = spi_read(0);         // cteni senzoru
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      sensors=~sensors;
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      output_high(STROBE);              // vypni zobrazovani na posuvnem registru
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   }
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}
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/*
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void cikcak()
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{
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short int movement;
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unsigned int8 n,i=0;
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102 
   if(uhel>=STRED)
103 
   {
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      uhel=KOLMO1;
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      Delay_ms(100);
106 
   }
107 
 
108 
   if(uhel<=STRED)
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   {
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      uhel=KOLMO2;
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      Delay_ms(100);
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   }
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114 
 
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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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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;
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            movement=DOLEVA;
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            n=0;
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//if ((sensors & 0b11100000)!=0) line=L1;
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//if ((sensors & 0b00001110)!=0) line=R1;
132 
//if ((sensors & 0b00010000)!=0) line=S;
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134 
            for(n=0; n<=100; n++)
135 
            {
136 
               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)) break;
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               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;
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               else i=0;
158 
            }
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            STOPL;STOPR;
160 
         }
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         sensors = spi_read(0);         // cteni senzoru
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         sensors=~sensors;
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         Delay_ms(5);
164 
      }
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      i++;
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   }
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}
168 
*/
169 
////////////////////////////////////////////////////////////////////////////////
170 
void objizdka()
171 
{
172 
   BL;FR;
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   Delay_ms(300);
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   FL;BR;
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   Delay_ms(100);
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   STOPL;STOPR;
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178 
   uhel=STRED;
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   FL;FR;
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   Delay_ms(500);       // rovne
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182 
   uhel=STRED+55;
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   STOPR;FL;
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   Delay_ms(190);       // doprava
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186 
   uhel=STRED;
187 
   FR;FL;
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   Delay_ms(500);       // rovne
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190 
   uhel=STRED+55;
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   FL;STOPR;
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   Delay_ms(200);       // doprava
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194 
   uhel=STRED;
195 
   FR;FL;
196 
   Delay_ms(150);       // rovne
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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