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#include "laser.h"
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#include "16F88_Reg.H"
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#define SERVO PIN_B5 // Vystup pro rizeni serva
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#define LASER PIN_B4 // Vstup pro cteni laseru
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// kroutitka
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#define CERVENA 0 // AN0
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#define CERNA 1 // AN1
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//#define ZELENA 3 // AN3
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//#define MODRA 4 // AN4
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//#define OFFSET 100 // Predni kolecko vprostred pri care vprostred
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//#define HYSTERESE 3 // Rozdil mezi behem tam a zpet
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boolean edge;
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int8 uhel;
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#int_EXT
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EXT_isr()
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{
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int n, t1, t2, t;
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set_timer0(0); // Vynulovani casovace pro 2ms
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output_high(SERVO);
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while(get_timer0()<(1000/256)); // Ceka 1ms
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for(n=uhel; n>0; n--) delay_us(3); // Sirka impulzu podle uhlu
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output_low(SERVO);
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while(get_timer0()<(3000/256)); // Ceka do 3ms, nez zacne scanovat
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set_timer0(0); // Vynulovani casovace pro zjisteni polohy cary
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if(edge) // Zrcatko prejizdelo tam nebo zpet?
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{
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edge=false;
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ext_int_edge(H_TO_L); // Pristi inerrupt bude od opacne hrany
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INT0IF_1=0; // Povoleni dalsiho preruseni
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enable_interrupts(INT_EXT);
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enable_interrupts(GLOBAL);
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// do
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{
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while(0==input(LASER)); // Ceka na detekci cary
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// output_high(SERVO);
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t1=get_timer0(); // Poznamena cas nabezne hrany
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while(1==input(LASER)); // Ceka az zkonci cara
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// output_low(SERVO);
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t2=get_timer0(); // Poznamena cas sestupne hrany
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t=t2-t1;
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} //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms
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if ((t>3) && (t<8)) uhel=(160-(read_adc()>>2))-t1;
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set_adc_channel(1);
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}
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else
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{
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edge=true;
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ext_int_edge(L_TO_H);
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INT0IF_1=0; // Povoleni dalsiho preruseni
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enable_interrupts(INT_EXT);
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enable_interrupts(GLOBAL);
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// do
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{
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while(0==input(LASER)); // Ceka na detekci cary
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t1=get_timer0(); // Poznamena cas nabezne hrany
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while(1==input(LASER)); // Ceka az zkonci cara
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t2=get_timer0(); // Poznamena cas sestupne hrany
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t=t2-t1;
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} //while((t<5) || (t>7)); // Cara je detekovana, kdyz trva mezi xx ms
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if ((t>3) && (t<8)) uhel=((read_adc()>>2)+32)+t1;
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set_adc_channel(0);
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}
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while(true);
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}
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void main()
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{
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setup_adc_ports(sAN0|sAN1|VSS_VDD); // AD pro kroutitka
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setup_adc(ADC_CLOCK_INTERNAL);
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setup_spi(FALSE);
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setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256);
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setup_timer_1(T1_DISABLED);
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setup_timer_2(T2_DISABLED,0,1);
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setup_comparator(NC_NC_NC_NC);
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setup_vref(FALSE);
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setup_oscillator(False);
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delay_ms(100);
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set_adc_channel(0);
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Delay_ms(1);
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ext_int_edge(L_TO_H);
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edge=true;
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uhel=((read_adc()>>2)+32)+30;;
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enable_interrupts(INT_EXT);
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enable_interrupts(GLOBAL);
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}
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