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// **** Objeti cihly vlevo **** LLLL
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#define L_TOUCH 1 // Cara vlevo
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#define R_TOUCH 2 // Cata vpravo
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#define B_TOUCH 3 // Both
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int8 n;
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int8 r1,r2,rr;
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int8 touch;
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enum okolo_cihly {pred_carou,na_care,po_care};
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okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly
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int8 vzdalenost;
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int8 visualisation;
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stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil)
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odocounter=get_timer1();
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cihla:
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rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit
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disp(0x99);
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set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred
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set_pwm2_duty(255);
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output_high(MOT_L);
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output_low(MOT_R);
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while(true) // Na zacatku se vyhni cihle, zatoc co muzes
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{
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cas=CASMIN-5; // jeste vic nez hodne do leva
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if(BUMPER) // Narazili jsme do cihly, musime couvnout!
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{
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bum();
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SaveLog(); // Zapis Black Boxu do EEPROM
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delay_ms(TUHOS); //!!! Zatuhle prevodovky
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brzda();
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goto cihla; // Znovu zacni cihlu objizdet
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};
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set_pwm1_duty(0);
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set_pwm2_duty(255); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku
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output_high(MOT_L); // leve kolo reverz
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output_low(MOT_R); // prave kolo vpred
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if(get_timer1()>(odocounter+5)) // konec zatacky?
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{
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disp(0x66);
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break;
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}
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SetServoQ(cas);
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delay_ms(18);
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};
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//------ Objeti cihly v konstantni vzdalenosti ------
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touch=0; // Indikator detekce cary pri objizdeni
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ridic=pred_carou;
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cas=CASAVR-CASMIN; // rovne
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output_low(MOT_L); // vpred
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output_low(MOT_R);
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visualisation=0;
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while(true)
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{
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if(BUMPER) // Narazili jsme do cihly, musime couvnout!
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{
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bum();
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SaveLog(); // Zapis Black Boxu do EEPROM
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delay_ms(TUHOS); //!!! Zatuhle prevodovky
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set_pwm1_duty(160); // vpred
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set_pwm2_duty(160);
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output_low(MOT_L);
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output_low(MOT_R);
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cas=CASMIN;
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};
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delta_bearing=bearing-bearing_offset;
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visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F);
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if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
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{
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cas=CASMIN;
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}
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else
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{
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if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly
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{
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if(cas>(CASMIN+30)) cas-=30;
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}
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else
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{
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if(cas<(CASMAX-30)) cas+=30;
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};
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};
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// Elektronicky diferencial
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if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace
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if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru
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if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92
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if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni
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if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);
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//!!! pro zatuhle prevodovky
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// r1<<=1; // Rychlost je dvojnasobna
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// r2<<=1; // Rozsah 2 az 184 pro rr=0
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set_pwm1_duty(r1); // Nastav rychlost motoru
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set_pwm2_duty(r2);
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SetServoQ(cas);
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i2c_start(); // Sonar Ping
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i2c_write(SONAR_ADR);
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i2c_write(0x0);
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i2c_write(0x52); // mereni v us
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i2c_stop();
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for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
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{
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set_adc_channel(LMAX);
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delay_us(100);
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if(read_adc()<THR) touch|=L_TOUCH;
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set_adc_channel(RMAX);
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delay_us(100);
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if(read_adc()<THR) touch|=R_TOUCH;
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};
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i2c_start(); // Odraz ze sonaru
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i2c_write(SONAR_ADR);
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i2c_write(0x3);
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i2c_stop();
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i2c_start();
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i2c_write(SONAR_ADR+1);
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vzdalenost=i2c_read(0);
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i2c_stop();
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i2c_start(); // Cteni kompasu
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i2c_write(COMPAS_ADR);
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i2c_write(0x1); // uhel 0-255
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i2c_stop();
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i2c_start();
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i2c_write(COMPAS_ADR+1);
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bearing=i2c_read(0);
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i2c_stop();
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if(touch==L_TOUCH) visualisation|=0x2;
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if(touch==R_TOUCH) visualisation|=0x1;
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if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;
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if((ridic==na_care)&&(touch==0)) break;
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if(ridic==na_care) touch=0;
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disp(visualisation);
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};
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disp(0xC3);
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set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200
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set_pwm2_duty(255);
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output_high(MOT_L);
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output_low(MOT_R);
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delay_us(40);
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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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while (true) // Znovu se musime dotknout cary
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{
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for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
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{
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set_adc_channel(LMAX); // Levy UV sensor
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delay_us(100);
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if(read_adc()<THR) // Dotkli jsme se levym senzorem
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{
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disp(0xE0);
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cas=CASAVR-CASMIN; // nastavime, ze cara je rovne
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goto cara;
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};
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set_adc_channel(RMAX); // Pravy UV sensor
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delay_us(100);
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if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!
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{
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disp(0x07);
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cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo
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goto cara;
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};
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}
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SetServoQ(CASMIN-5); // max. max. doleva L
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}
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cara:
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output_low(MOT_L); // oba motory vpred
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output_low(MOT_R);
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