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_1
6 
#define RED       SENSOR_2
7 
#define BBUMPER   SENSOR_3
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_LIGHT);   // 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 
 
25 
  OnFwd (MLEFT);         // cuknuti na shozeni radlic
26 
  OnFwd (MRIGHT);
27 
  Wait(50);
28 
  OnRev (MLEFT);
29 
  OnRev (MRIGHT);
30 
  Wait(100);              // popojed kus
31 
  Off(MLEFT);
32 
  Off(MRIGHT);
33 
 
34 
  start red_bumper;
35 
  start blue_bumper;
36 
  start cara_cervena;
37 
  start cara_modra;
38 
  start stochastika;
39 
}
40 
 
41 
task stochastika()
42 
{
43 
  while(true) Zatoc();
44 
}
45 
 
46 
 
47 
void GoBlue()
48 
{
49 
  OnFwd (MLEFT);
50 
  OnFwd (MRIGHT);
51 
  Wait(300);              // popojed kus
52 
  Off(MLEFT);
53 
  Off(MRIGHT);
54 
}
55 
 
56 
void GoRed()
57 
{
58 
  OnRev (MLEFT);
59 
  OnRev (MRIGHT);
60 
  Wait(300);              // popojed kus
61 
  Off(MLEFT);
62 
  Off(MRIGHT);
63 
}
64 
 
65 
void Zatoc()
66 
{
67 
  switch (Random(3))
68 
  {
69 
    case 0:
70 
     OnRev (MLEFT);
71 
     OnFwd (MRIGHT);
72 
     Wait(20);
73 
     break;
74 
    case 1:
75 
     OnFwd (MLEFT);
76 
     OnRev (MRIGHT);
77 
     Wait(20);
78 
     break;
79 
    case 2:
80 
     OnRev (MLEFT);
81 
     OnRev (MRIGHT);
82 
     Wait(70);
83 
     break;
84 
    case 3:
85 
     OnFwd (MLEFT);
86 
     OnFwd (MRIGHT);
87 
     Wait(70);
88 
     break;
89 
  }
90 
}
91 
 
92 
task red_bumper()
93 
{
94 
  while(true)
95 
  {
96 
    if (100 == RED) // utoc, kdyz neco narazi do narazniku
97 
    {
98 
      PlaySound (SOUND_FAST_UP);
99 
      stop stochastika;
100 
      OnRev (MLEFT);
101 
      OnRev (MRIGHT);
102 
      Wait(50);
103 
    }
104 
  }
105 
}
106 
 
107 
task blue_bumper()
108 
{
109 
  while(true)
110 
  {
111 
    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
112 
    {
113 
      PlaySound (SOUND_FAST_UP);
114 
      stop stochastika;
115 
      OnFwd (MLEFT);
116 
      OnFwd (MRIGHT);
117 
      Wait(50);
118 
    }
119 
  }
120 
}
121 
 
122 
task cara_cervena() // hlidani natlaceni na caru
123 
{
124 
  while(true)
125 
  {
126 
    if ((RED > THRESHOLD) && (RED < RED_WHITE))
127 
    {
128 
      Wait(2);
129 
      if ((RED > THRESHOLD) && (RED < RED_WHITE))
130 
      {
131 
        PlaySound (SOUND_DOUBLE_BEEP);
132 
        stop red_bumper;
133 
        GoBlue();
134 
        start red_bumper;
135 
        start stochastika;
136 
      }
137 
    }
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 
        GoRed();
150 
        start blue_bumper;
151 
        start stochastika;
152 
     }
153 
  }
154 
}
155