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2 kaklik 1 
void objizdka()
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{
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   int8 shure=0;
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   unsigned int16 n;
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// toceni na miste dokud nezmizi cihla
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//------------------------------------
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   uhel=KOLMO1;      // nastav zataceci kolecko kolmo na osu robota
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   Delay_ms(100);
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   BL;FR;
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   Delay_ms(200);    // minimalni toceni, kdyby se zastavilo sikmo k cihle
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   While(bit_test(sensors,7)) // toc, dokud neni cihla z primeho senzoru
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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(4);              // cekani na SLAVE nez pripravi data od cidel
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   }
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   STOPL; STOPR;
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   for (n=0;n<1000;n++)    // vystred se na hranu cihly
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   {
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      if(!input(CIHLA))
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      {
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         GO(L,B,180);GO(R,F,160);   // zapni motory PWM podle promenych Lmotor a Rmotor
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      } else
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      {
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         GO(L,F,180);GO(R,B,160);   // zapni motory PWM podle promenych Lmotor a Rmotor
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      };
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      delay_ms(1);
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   }
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   STOPR;STOPL;
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   uhel=STRED;          // dopredu
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   delay_ms(100);
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   FR; FL;
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   delay_ms(500);
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   BL;BR;
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   delay_ms(200);
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   STOPL;STOPR;
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   uhel=STRED+BEAR3;    // doprava
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   delay_ms(100);
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   FL;
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   delay_ms(400);
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   uhel=STRED+BEAR2;    // min doprava
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   FL;FR;
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   delay_ms(100);
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   uhel=STRED+BEAR1;    // jeste min doprava
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   FL;FR;
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   delay_ms(200);
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   While((sensors & 0b11111110)!=0) //dokud neni cara
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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(4);              // cekani na SLAVE nez pripravi data od cidel
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   }
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   BL; BR;
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   delay_ms(400);
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   uhel=STRED-BEAR3;    // doleva
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}
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////////////////////////////////////////////////////////////////////////////////