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kakl |
1 |
// **** Objeti cihly vlevo **** LLLL
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2 |
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| 221 |
kakl |
3 |
int8 n;
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int8 r1,r2,rr;
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int1 flag;
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| 193 |
kakl |
6 |
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| 221 |
kakl |
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SetServo(CASMIN-3); // max. doleva, zatoc kolmo na caru
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set_pwm1_duty(0);
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set_pwm2_duty(140);
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output_low(MOT_L); // vpred
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| 193 |
kakl |
11 |
output_low(MOT_R);
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| 221 |
kakl |
12 |
disp(1);
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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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while(get_timer1()<(odocounter+6)); // Popojed definovanou vzdalenost
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| 193 |
kakl |
15 |
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| 221 |
kakl |
16 |
set_pwm1_duty(80);
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set_pwm2_duty(80);
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set_adc_channel(LMAX);
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disp(2);
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cas=CASAVR-CASMIN;
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odocounter=get_timer1();
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flag=1;
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rr=20;
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| 193 |
kakl |
24 |
while(true)
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{
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| 221 |
kakl |
26 |
if(input(HREF))
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{
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if(!input(PROXIMITY))
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{
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if(cas>(CASMIN+10)) cas-=10;
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}
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else
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{
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if(cas<(CASMAX-10)) cas+=10;
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};
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| 193 |
kakl |
36 |
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| 221 |
kakl |
37 |
SetServoQ(cas);
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| 193 |
kakl |
38 |
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| 221 |
kakl |
39 |
// 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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| 193 |
kakl |
43 |
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kakl |
44 |
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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| 193 |
kakl |
46 |
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| 221 |
kakl |
47 |
set_pwm1_duty(r1);
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set_pwm2_duty(r2);
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while(input(HREF));
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};
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if(get_timer1()>(odocounter+5)) // Prodleva, nez se zacne detekovat cara
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{
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if(flag==1) {disp(3); flag=0;};
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if(read_adc()<THR_L) {delay_us(600); if (read_adc()<THR_L) {delay_us(600); if (read_adc()<THR_L) break;};};
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};
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};
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disp(4);
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| 222 |
kakl |
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while(read_adc()<THR_L); // Prejed caru
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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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while((read_adc()<THR_L) || (get_timer1()<(odocounter+1))); // Popojed za caru
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| 221 |
kakl |
63 |
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SetServo(CASMIN); // max. doleva L
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set_pwm1_duty(0);
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| 193 |
kakl |
66 |
set_pwm2_duty(140);
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| 221 |
kakl |
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while (read_adc()>THR_L);
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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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while(get_timer1()<(odocounter+3)); // Popojed definovanou vzdalenost
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set_pwm1_duty(0); // vypni motory
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set_pwm2_duty(0);
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/*
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| 193 |
kakl |
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set_pwm1_duty(0); // reverz (zabrzdi)
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set_pwm2_duty(0);
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output_low(MOT_L);
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output_high(MOT_R);
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| 221 |
kakl |
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*/
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| 193 |
kakl |
78 |
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kakl |
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SetServo(CASAVR-CASMIN); // doprostred
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| 193 |
kakl |
80 |
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kakl |
81 |
disp(5);
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set_pwm1_duty(255); // max. vpred
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set_pwm2_duty(255);
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| 193 |
kakl |
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output_low(MOT_L);
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output_low(MOT_R);
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| 221 |
kakl |
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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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while(get_timer1()<(odocounter+2)) // Ujed kousek
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| 193 |
kakl |
88 |
{
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| 221 |
kakl |
89 |
set_adc_channel(LMAX); // Levy UV sensor
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delay_us(40);
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if(read_adc()<THR_L) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo
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set_adc_channel(RMAX); // Pravy UV sensor
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delay_us(40);
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if(read_adc()<THR_L) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo
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cas=CASAVR-CASMIN; // Cara je rovne
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};
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