Subversion Repositories svnkaklik

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Rev Author Line No. Line
1 kaklik 1 
#define THRESHOLD 44
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#define POJEZD    OUT_A
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#define VYHAZ     OUT_C
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task main()
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{
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  Wait(500); // 5s
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  SetSensor(SENSOR_2,SENSOR_LIGHT);   // senzor na caru
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  SetSensor(SENSOR_3, SENSOR_TOUCH);  // poloha vyhazovadla
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  SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
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  while (true)
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  {
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   PlaySound (SOUND_CLICK);
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   start k_care;
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   Wait(1000); // 10s
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   stop utok;
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   stop k_care;
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   stop bumper;
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  }
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}
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task k_care()
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{
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  SetPower (POJEZD,OUT_HALF/2);
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  OnFwd (POJEZD);                  // dojezd k care
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  while (SENSOR_2 > THRESHOLD);
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  Off(POJEZD);
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  OnRev (POJEZD);
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  SetPower (POJEZD,OUT_FULL);
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  OnFor (POJEZD, 30);
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  PlaySound (SOUND_LOW_BEEP);
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  start utok;
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  start bumper;
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}
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task utok()
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{
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  ClearSensor (SENSOR_3);
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  while (SENSOR_2 > THRESHOLD);    // jed, kdyz nas neco dotlaci k care
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  stop bumper;
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  SetPower (POJEZD+VYHAZ,OUT_FULL);
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  OnRev (POJEZD);
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  OnFwd(VYHAZ);
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  while (0 == SENSOR_3);
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  Off(VYHAZ);
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  Off(POJEZD);
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  start k_care;
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}
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task bumper()
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{
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  Float(VYHAZ);
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  ClearSensor (SENSOR_3);
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  while (0 == SENSOR_3);           // jed, kdyz nekdo narazi do vyhazovace
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  OnRev(VYHAZ+POJEZD);
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  Wait(50);
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  Off(VYHAZ+POJEZD);
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}