Subversion Repositories svnkaklik

Rev

Details | Last modification | View Log

Rev Author Line No. Line
1 kaklik 1 
#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
2 
#define RED_WHITE  60     // maximum bile na cervenem senzoru
3 
#define MLEFT     OUT_A
4 
#define MRIGHT    OUT_C
5 
#define BLUE      SENSOR_3
6 
#define RED       SENSOR_2
7 
#define BBUMPER   SENSOR_1
8 
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
9 
 
10 
int semafor;
11 
 
12 
task main()
13 
{
14 
  PlaySound (SOUND_DOUBLE_BEEP);
15 
  Wait(500); // 5s podle pravidel
16 
  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
17 
  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
18 
  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
19 
  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
20 
  SetPower (MLEFT,OUT_FULL);
21 
  SetPower (MRIGHT,OUT_FULL);
22 
  SetDirection(MLEFT, OUT_FWD);
23 
  SetDirection(MRIGHT, OUT_FWD);
24 
  SetTxPower(TX_POWER_HI);    // aby daleko videl
25 
 
26 
  OnFwd (MLEFT);         // cuknuti na shozeni radlic
27 
  OnFwd (MRIGHT);
28 
  Wait(20);
29 
  OnRev (MLEFT);
30 
  OnRev (MRIGHT);
31 
  Wait(70);
32 
  Off(MLEFT);
33 
  Off(MRIGHT);
34 
 
35 
  start blue_bumper;
36 
  start cervena;
37 
  start cara_modra;
38 
  start stochastika;
39 
}
40 
 
41 
task stochastika()        // nahodne otaceni
42 
{
43 
  while(true) Zatoc();
44 
}
45 
 
46 
void GoBlue()
47 
{
48 
  OnFwd (MLEFT);
49 
  OnFwd (MRIGHT);
50 
  Wait(300);              // popojed kus
51 
  Off(MLEFT);
52 
  Off(MRIGHT);
53 
}
54 
 
55 
void GoRed()
56 
{
57 
  OnRev (MLEFT);
58 
  OnRev (MRIGHT);
59 
  Wait(300);              // popojed kus
60 
  Off(MLEFT);
61 
  Off(MRIGHT);
62 
}
63 
 
64 
void Obrat()
65 
{
66 
  OnRev (MLEFT);
67 
  OnFwd (MRIGHT);
68 
  Wait(125);              // popojed kus
69 
  Off(MLEFT);
70 
  Off(MRIGHT);
71 
}
72 
 
73 
void Zatoc()
74 
{
75 
  switch (Random(1))
76 
  {
77 
    case 0:
78 
     OnRev (MLEFT);
79 
     OnFwd (MRIGHT);
80 
     Wait(50);
81 
     break;
82 
    case 1:
83 
     OnFwd (MLEFT);
84 
     OnRev (MRIGHT);
85 
     Wait(50);
86 
     break;
87 
    case 2:
88 
     OnRev (MLEFT);
89 
     OnRev (MRIGHT);
90 
     Wait(70);
91 
     break;
92 
    case 3:
93 
     OnFwd (MLEFT);
94 
     OnFwd (MRIGHT);
95 
     Wait(70);
96 
     break;
97 
  }
98 
}
99 
 
100 
task blue_bumper() // naraznik na modre strane
101 
{
102 
  while(true)
103 
  {
104 
    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
105 
    {
106 
      stop stochastika;
107 
      PlaySound (SOUND_FAST_UP);
108 
      OnFwd (MLEFT);
109 
      OnFwd (MRIGHT);
110 
      Wait(50);
111 
    }
112 
  }
113 
}
114 
 
115 
task cervena() // dalkovy sensor
116 
{
117 
  int lastlevel;
118 
 
119 
  lastlevel = 0;
120 
  while(true)
121 
  {
122 
    SendMessage(0);
123 
    if(lastlevel > SENSOR_2)
124 
    {
125 
      PlaySound(SOUND_FAST_UP);
126 
      stop stochastika;
127 
      OnRev (MLEFT);
128 
      OnRev (MRIGHT);
129 
      Wait(10);              // popojed kus
130 
      Off(MLEFT);
131 
      Off(MRIGHT);
132 
      Obrat();
133 
      GoBlue();
134 
      start stochastika;
135 
    }
136 
    lastlevel = SENSOR_2;
137 
    lastlevel -= THRESHOLD;
138 
  }
139 
}
140 
 
141 
task cara_modra()    // hlidani cary
142 
{
143 
  while(true)
144 
  {
145 
     if (BLUE < THRESHOLD)    // cekej na caru
146 
     {
147 
        PlaySound (SOUND_DOUBLE_BEEP);
148 
        stop blue_bumper;
149 
        stop stochastika;
150 
        stop cervena;
151 
        GoRed();
152 
        start cervena;
153 
        start blue_bumper;
154 
        start stochastika;
155 
     }
156 
  }
157 
}
158