360 |
kakl |
1 |
//********* Robot Camerus pro IstRobot 2007 ************
|
|
|
2 |
//"$Id: camerus.c 214 2007-03-23 14:55:54Z kakl $"
|
|
|
3 |
//*****************************************************
|
|
|
4 |
|
|
|
5 |
#include ".\camerus.h"
|
|
|
6 |
|
|
|
7 |
#USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
|
|
|
8 |
|
|
|
9 |
// A/D vstupy
|
|
|
10 |
#define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary
|
|
|
11 |
#define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary
|
|
|
12 |
#define CERVENA 2 // AN2/RA2 - cervene kroutitko
|
|
|
13 |
#define ZELENA 1 // AN1/RA0 - zelene kroutitko
|
|
|
14 |
#define MODRA 0 // AN0/RA1 - modre kroutitko
|
|
|
15 |
|
|
|
16 |
// I/O
|
|
|
17 |
#define HREF PIN_C5 // Signal HREF z kamery (v H po celou dobu radku)
|
|
|
18 |
#define PIX PIN_C6 // Vstup pro body z kamery (za trivstupim hradlem OR (dig. komparator))
|
|
|
19 |
#define SERVO PIN_B4 // Vystup na servo (1 az 2ms po cca 20ms (synchronizovano snimkovym kmitoctem))
|
|
|
20 |
#define MOT_L PIN_B5 // Smer otaceni leveho motoru; druhy pol je RC2
|
|
|
21 |
#define MOT_R PIN_B6 // Smer otaceni praveho motoru; druhy pol je RC1
|
|
|
22 |
#define MOT_1 PIN_C1 // PWM vystpy motoru
|
|
|
23 |
#define MOT_2 PIN_C2 //
|
|
|
24 |
#define DATA PIN_B2 // K modulu LEDbar data
|
|
|
25 |
#define CP PIN_B1 // K modulu LEDbar hodiny
|
|
|
26 |
//#define ODO PIN_A4 // Ze snimace z odometrie z praveho kola / nove je to na RC0 na TIMER1
|
|
|
27 |
// Jeden impuls je 31,25mm
|
|
|
28 |
#define IRRX PIN_B0 // Vstup INT, generuje preruseni pri prekazce
|
|
|
29 |
#define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky
|
|
|
30 |
#define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu
|
|
|
31 |
|
|
|
32 |
#define CASMIN 6 // Rozsah radku snimace
|
|
|
33 |
#define CASMAX 192
|
|
|
34 |
#define CASAVR ((CASMAX+CASMIN) / 2)
|
|
|
35 |
|
|
|
36 |
#define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky
|
|
|
37 |
|
|
|
38 |
#define TRESHOLD 128
|
|
|
39 |
|
|
|
40 |
#byte INTCON = 0x0B // Interrupt configuration register
|
|
|
41 |
#bit GIE = INTCON.7
|
|
|
42 |
#bit PEIE = INTCON.6
|
|
|
43 |
#bit TMR0IE = INTCON.5
|
|
|
44 |
#bit INT0IE = INTCON.4
|
|
|
45 |
#bit RBIE = INTCON.3
|
|
|
46 |
#bit TMR0IF = INTCON.2
|
|
|
47 |
#bit INT0IF = INTCON.1
|
|
|
48 |
#bit RBIF = INTCON.0
|
|
|
49 |
|
|
|
50 |
enum stavy {start,rozjezd,jizda,cihla,pocihle,cil};
|
|
|
51 |
stavy stav; // Kde jsme na trati
|
|
|
52 |
int8 cas; // Cas hrany bila/cerna v radce
|
|
|
53 |
int8 stred; // Vystredeni kolecka
|
|
|
54 |
int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie
|
|
|
55 |
int8 rr; // Promenna na ulozeni Rozumne rychlost
|
|
|
56 |
int8 rrold;
|
|
|
57 |
|
|
|
58 |
// Zobrazeni jednoho byte na modulu LEDbar
|
|
|
59 |
inline void disp(int8 x)
|
|
|
60 |
{
|
|
|
61 |
int n;
|
|
|
62 |
|
|
|
63 |
for(n=0;n<=7;n++)
|
|
|
64 |
{
|
|
|
65 |
if (x & 1 == 1) output_low(DATA); else output_high(DATA);
|
|
|
66 |
output_high(CP);
|
|
|
67 |
x>>=1;
|
|
|
68 |
output_low(CP);
|
|
|
69 |
}
|
|
|
70 |
}
|
|
|
71 |
|
|
|
72 |
// Blikani LEDbarem ve stilu Night Rider
|
|
|
73 |
void NightRider(int8 x)
|
|
|
74 |
{
|
|
|
75 |
int n,i,j;
|
|
|
76 |
|
|
|
77 |
for(j=0;j<x;j++)
|
|
|
78 |
{
|
|
|
79 |
i=0x01;
|
|
|
80 |
for(n=0;n<7;n++)
|
|
|
81 |
{
|
|
|
82 |
disp(i);
|
|
|
83 |
rotate_left(&i, 1);
|
|
|
84 |
delay_ms(40);
|
|
|
85 |
}
|
|
|
86 |
for(n=0;n<7;n++)
|
|
|
87 |
{
|
|
|
88 |
disp(i);
|
|
|
89 |
rotate_right(&i, 1);
|
|
|
90 |
delay_ms(40);
|
|
|
91 |
}
|
|
|
92 |
}
|
|
|
93 |
disp(i);
|
|
|
94 |
delay_ms(40);
|
|
|
95 |
i=0;
|
|
|
96 |
disp(i);
|
|
|
97 |
}
|
|
|
98 |
|
|
|
99 |
// Brzdeni motorama stridou 1:1
|
|
|
100 |
void brzda()
|
|
|
101 |
{
|
|
|
102 |
int8 n,i;
|
|
|
103 |
|
|
|
104 |
set_pwm1_duty(0); // vypni PWM
|
|
|
105 |
set_pwm2_duty(0);
|
|
|
106 |
setup_ccp1(CCP_OFF);
|
|
|
107 |
setup_ccp2(CCP_OFF);
|
|
|
108 |
for (n=0;n<200;n++)
|
|
|
109 |
{
|
|
|
110 |
output_low(MOT_L);
|
|
|
111 |
output_low(MOT_R);
|
|
|
112 |
output_high(MOT_1);
|
|
|
113 |
output_high(MOT_2);
|
|
|
114 |
delay_us(200);
|
|
|
115 |
output_high(MOT_L);
|
|
|
116 |
output_high(MOT_R);
|
|
|
117 |
output_low(MOT_1);
|
|
|
118 |
output_low(MOT_2);
|
|
|
119 |
delay_us(200);
|
|
|
120 |
}
|
|
|
121 |
output_low(MOT_L); // smer vpred
|
|
|
122 |
output_low(MOT_R);
|
|
|
123 |
setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory
|
|
|
124 |
setup_ccp2(CCP_PWM); // RC2
|
|
|
125 |
}
|
|
|
126 |
|
|
|
127 |
void SetServo(int8 angle)
|
|
|
128 |
{
|
|
|
129 |
int8 n;
|
|
|
130 |
|
|
|
131 |
for(n=0; n<14; n++)
|
|
|
132 |
{
|
|
|
133 |
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
|
|
|
134 |
delay_us(1000);
|
|
|
135 |
delay_us(stred);
|
|
|
136 |
delay_us(stred);
|
|
|
137 |
delay_us(stred);
|
|
|
138 |
delay_us(angle);
|
|
|
139 |
delay_us(angle);
|
|
|
140 |
output_low(SERVO);
|
|
|
141 |
delay_ms(18);
|
|
|
142 |
}
|
|
|
143 |
}
|
|
|
144 |
|
|
|
145 |
inline void SetServoQ(int8 angle)
|
|
|
146 |
{
|
|
|
147 |
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
|
|
|
148 |
delay_us(1000);
|
|
|
149 |
delay_us(stred);
|
|
|
150 |
delay_us(stred);
|
|
|
151 |
delay_us(stred);
|
|
|
152 |
delay_us(angle);
|
|
|
153 |
delay_us(angle);
|
|
|
154 |
output_low(SERVO);
|
|
|
155 |
}
|
|
|
156 |
|
|
|
157 |
#int_EXT
|
|
|
158 |
EXT_isr() // Preruseni od prekazky
|
|
|
159 |
{
|
|
|
160 |
set_pwm1_duty(0); // zabrzdi
|
|
|
161 |
set_pwm2_duty(0);
|
|
|
162 |
output_high(MOT_L);
|
|
|
163 |
output_high(MOT_R);
|
|
|
164 |
// Ujistime se, ze prijaty signal je z naseho IR vysilace
|
|
|
165 |
output_high(IRTX); // Vypni LED na detekci prekazky
|
|
|
166 |
delay_ms(2);
|
|
|
167 |
if (!input(IRRX)) // stale nas signal?
|
|
|
168 |
{
|
|
|
169 |
output_low(MOT_L); // je odraz -> vpred
|
|
|
170 |
output_low(MOT_R);
|
|
|
171 |
return;
|
|
|
172 |
};
|
|
|
173 |
output_low(IRTX); // Zapni LED na detekci prekazky
|
|
|
174 |
delay_ms(10);
|
|
|
175 |
if (input(IRRX)) // stale nas signal?
|
|
|
176 |
{
|
|
|
177 |
output_low(MOT_L); // neni odraz -> vpred
|
|
|
178 |
output_low(MOT_R);
|
|
|
179 |
return;
|
|
|
180 |
};
|
|
|
181 |
|
|
|
182 |
SetServo((CASAVR-CASMIN)); // rovne
|
|
|
183 |
delay_ms(100);
|
|
|
184 |
brzda();
|
|
|
185 |
|
|
|
186 |
//!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy
|
|
|
187 |
// if(stav==cihla) return; // Po druhe nic neobjizdej
|
|
|
188 |
// Pozor na rozjezd
|
|
|
189 |
|
|
|
190 |
if(stav==jizda) // Objed cihlu
|
|
|
191 |
{
|
|
|
192 |
#include ".\objizdka_R.c"
|
|
|
193 |
}
|
|
|
194 |
}
|
|
|
195 |
|
|
|
196 |
|
|
|
197 |
//---------------------------------- MAIN --------------------------------------
|
|
|
198 |
void main()
|
|
|
199 |
{
|
|
|
200 |
int8 offset; // Promena pro ulozeni offsetu
|
|
|
201 |
int8 r1; // Rychlost motoru 1
|
|
|
202 |
int8 r2; // Rychlost motoru 2
|
|
|
203 |
|
|
|
204 |
setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek
|
|
|
205 |
setup_adc(ADC_CLOCK_INTERNAL);
|
|
|
206 |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce
|
|
|
207 |
setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola
|
|
|
208 |
setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru
|
|
|
209 |
setup_ccp1(CCP_PWM); // RC1 // PWM pro motory
|
|
|
210 |
setup_ccp2(CCP_PWM); // RC2
|
|
|
211 |
setup_comparator(NC_NC_NC_NC);
|
|
|
212 |
setup_vref(FALSE);
|
|
|
213 |
|
|
|
214 |
set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se nedela automaticky
|
|
|
215 |
|
|
|
216 |
set_pwm1_duty(0); // Zastav motory
|
|
|
217 |
set_pwm2_duty(0);
|
|
|
218 |
output_low(MOT_L); // Nastav smer vpred
|
|
|
219 |
output_low(MOT_R);
|
|
|
220 |
|
|
|
221 |
output_low(IRTX); // Zapni LED na detekci prekazky
|
|
|
222 |
|
|
|
223 |
NightRider(1); // Aby se poznalo, ze byl RESET
|
|
|
224 |
// taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy
|
|
|
225 |
|
|
|
226 |
//... Nastaveni kamery ...
|
|
|
227 |
i2c_start(); // Soft RESET kamery
|
|
|
228 |
i2c_write(0xC0); // Pro single slave musi mit vsechny zapisy adresu C0h
|
|
|
229 |
i2c_write(0x12); // Adresa registru COMH
|
|
|
230 |
i2c_write(0x80 | 0x24); // Zapis ridiciho slova
|
|
|
231 |
i2c_stop();
|
|
|
232 |
|
|
|
233 |
i2c_start(); // BW
|
|
|
234 |
i2c_write(0xC0);
|
|
|
235 |
i2c_write(0x28);
|
|
|
236 |
i2c_write(0b01000001);
|
|
|
237 |
i2c_stop();
|
|
|
238 |
|
|
|
239 |
/*
|
|
|
240 |
i2c_start(); // Contrast (nema podstatny vliv na obraz)
|
|
|
241 |
i2c_write(0xC0);
|
|
|
242 |
i2c_write(0x05);
|
|
|
243 |
i2c_write(0xA0); // 48h
|
|
|
244 |
i2c_stop();
|
|
|
245 |
|
|
|
246 |
i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz)
|
|
|
247 |
i2c_write(0xC0);
|
|
|
248 |
i2c_write(0x2D);
|
|
|
249 |
i2c_write(0x04 | 0x03);
|
|
|
250 |
i2c_stop();
|
|
|
251 |
*/
|
|
|
252 |
|
|
|
253 |
i2c_start(); // Fame Rate
|
|
|
254 |
i2c_write(0xC0);
|
|
|
255 |
i2c_write(0x2B);
|
|
|
256 |
i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms)
|
|
|
257 |
i2c_stop();
|
|
|
258 |
|
|
|
259 |
i2c_start(); // VSTRT
|
|
|
260 |
i2c_write(0xC0);
|
|
|
261 |
i2c_write(0x19);
|
|
|
262 |
i2c_write(118); // prostredni radka
|
|
|
263 |
i2c_stop();
|
|
|
264 |
|
|
|
265 |
i2c_start(); // VEND
|
|
|
266 |
i2c_write(0xC0);
|
|
|
267 |
i2c_write(0x1A);
|
|
|
268 |
i2c_write(118);
|
|
|
269 |
i2c_stop();
|
|
|
270 |
|
|
|
271 |
NightRider(1); // Musi se dat cas kamere na AGC a AEC
|
|
|
272 |
|
|
|
273 |
{ // Mereni expozice
|
|
|
274 |
int8 t1,t2;
|
|
|
275 |
|
|
|
276 |
i2c_start(); // Brightness, zacni od uplne tmy
|
|
|
277 |
i2c_write(0xC0);
|
|
|
278 |
i2c_write(0x06);
|
|
|
279 |
i2c_write(0); // 80h default
|
|
|
280 |
i2c_stop();
|
|
|
281 |
delay_ms(50);
|
|
|
282 |
|
|
|
283 |
for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h
|
|
|
284 |
{
|
|
|
285 |
i2c_start(); // Brightness
|
|
|
286 |
i2c_write(0xC0);
|
|
|
287 |
i2c_write(0x06);
|
|
|
288 |
i2c_write(offset); // 80h default
|
|
|
289 |
i2c_stop();
|
|
|
290 |
disp(offset);
|
|
|
291 |
delay_ms(50);
|
|
|
292 |
|
|
|
293 |
t1=0;
|
|
|
294 |
t2=0;
|
|
|
295 |
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky
|
|
|
296 |
delay_ms(5);
|
|
|
297 |
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky
|
|
|
298 |
set_timer0(0); // Vynuluj pocitadlo casu
|
|
|
299 |
if(!input(PIX)) continue;
|
|
|
300 |
while(input(PIX));
|
|
|
301 |
t1=get_timer0(); // Precti cas z citace casu hrany
|
|
|
302 |
set_timer0(0); // Vynuluj pocitadlo casu
|
|
|
303 |
while(!input(PIX));
|
|
|
304 |
t2=get_timer0();
|
|
|
305 |
|
|
|
306 |
if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas?
|
|
|
307 |
|
|
|
308 |
delay_ms(2); // Preskoc druhou radku z kamery
|
|
|
309 |
};
|
|
|
310 |
delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu
|
|
|
311 |
}
|
|
|
312 |
|
|
|
313 |
set_adc_channel(CERVENA); // --- Kroutitko pro jas ---
|
|
|
314 |
delay_ms(1);
|
|
|
315 |
offset=read_adc();
|
|
|
316 |
offset &= 0b11111100; // Dva nejnizsi bity ignoruj
|
|
|
317 |
// offset += 0x70; // Jas nebude nikdy nizsi
|
|
|
318 |
disp(offset);
|
|
|
319 |
i2c_start(); // Brightness
|
|
|
320 |
i2c_write(0xC0);
|
|
|
321 |
i2c_write(0x06);
|
|
|
322 |
i2c_write(offset); // 80h default
|
|
|
323 |
i2c_stop();
|
|
|
324 |
delay_ms(1000); // Nech hodnotu chvili na displayi
|
|
|
325 |
|
|
|
326 |
set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru ---
|
|
|
327 |
delay_ms(1);
|
|
|
328 |
rr=read_adc()>>2; // 0-31 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni !!!
|
|
|
329 |
rrold=rr;
|
|
|
330 |
|
|
|
331 |
cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh
|
|
|
332 |
// a aby se to rozjelo jeste dneska
|
|
|
333 |
stav=start; // Jsme na startu
|
|
|
334 |
set_timer1(0); // Vynuluj citac odometrie
|
|
|
335 |
|
|
|
336 |
// ........................... Hlavni smycka ................................
|
|
|
337 |
while(true)
|
|
|
338 |
{
|
|
|
339 |
int8 pom;
|
|
|
340 |
int8 n;
|
|
|
341 |
|
|
|
342 |
next_snap:
|
|
|
343 |
|
|
|
344 |
pom=0;
|
|
|
345 |
disable_interrupts(GLOBAL); //----------------------- Critical
|
|
|
346 |
while(input(HREF)); // Preskoc 1. radku
|
|
|
347 |
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky
|
|
|
348 |
set_timer0(0); // Vynuluj pocitadlo casu
|
|
|
349 |
while(input(HREF)) // Po dobu vysilani radky cekej na hranu W/B
|
|
|
350 |
{
|
|
|
351 |
// !!!!Dodelat rozpoznani cerne cary napric pro zastaveni ?
|
|
|
352 |
if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA
|
|
|
353 |
if(!input(PIX))
|
|
|
354 |
// if(!input(PIX))
|
|
|
355 |
{
|
|
|
356 |
pom=get_timer0(); // Precti cas z citace casu hrany
|
|
|
357 |
break;
|
|
|
358 |
};
|
|
|
359 |
};
|
|
|
360 |
while(input(HREF)); // Pockej na shozeni signalu HREF
|
|
|
361 |
|
|
|
362 |
if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku
|
|
|
363 |
// Na konci obrazovaho radku to blbne. Jednak chyba od apertury
|
|
|
364 |
// a vubec to nejak na kraji nefunguje.
|
|
|
365 |
|
|
|
366 |
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
|
|
|
367 |
delay_us(1000);
|
|
|
368 |
delay_us(stred);
|
|
|
369 |
delay_us(stred);
|
|
|
370 |
delay_us(stred);
|
|
|
371 |
delay_us(cas);
|
|
|
372 |
delay_us(cas);
|
|
|
373 |
output_low(SERVO);
|
|
|
374 |
|
|
|
375 |
// Elektronicky diferencial
|
|
|
376 |
if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace
|
|
|
377 |
if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru
|
|
|
378 |
if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92
|
|
|
379 |
|
|
|
380 |
enable_interrupts(GLOBAL); //----------------------- Critical
|
|
|
381 |
|
|
|
382 |
if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni
|
|
|
383 |
if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);
|
|
|
384 |
|
|
|
385 |
// r1<<=1; // Rychlost je dvojnasobna
|
|
|
386 |
// r2<<=1; // Rozsah 2 az 184
|
|
|
387 |
|
|
|
388 |
/* Nerozumna rychlost po cihle
|
|
|
389 |
if ((stav==cihla)&&(get_timer1()>(odocounter+5))) // Snizime rychlost po ujeti
|
|
|
390 |
{
|
|
|
391 |
rr=rrold;
|
|
|
392 |
stav=pocihle;
|
|
|
393 |
};
|
|
|
394 |
*/
|
|
|
395 |
if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda
|
|
|
396 |
{
|
|
|
397 |
set_pwm1_duty(r1);
|
|
|
398 |
set_pwm2_duty(r2);
|
|
|
399 |
}
|
|
|
400 |
else
|
|
|
401 |
{
|
|
|
402 |
set_pwm1_duty(0); // Zastaveni
|
|
|
403 |
set_pwm2_duty(0);
|
|
|
404 |
};
|
|
|
405 |
|
|
|
406 |
if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm
|
|
|
407 |
{
|
|
|
408 |
ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly
|
|
|
409 |
INT0IF=0; // Zruseni predesle udalosti od startera
|
|
|
410 |
enable_interrupts(INT_EXT);
|
|
|
411 |
enable_interrupts(GLOBAL);
|
|
|
412 |
stav=jizda;
|
|
|
413 |
};
|
|
|
414 |
|
|
|
415 |
if(stav==start) // Snimkuje, toci servem a ceka na start
|
|
|
416 |
{
|
|
|
417 |
set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka
|
|
|
418 |
Delay_ms(1);
|
|
|
419 |
stred=read_adc();
|
|
|
420 |
if(!input(PROXIMITY))
|
|
|
421 |
{
|
|
|
422 |
disp(0x80);
|
|
|
423 |
while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc
|
|
|
424 |
set_timer1(0); // Vynuluj citac odometrie
|
|
|
425 |
set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu
|
|
|
426 |
set_pwm2_duty(255);
|
|
|
427 |
disp(0x01);
|
|
|
428 |
while(get_timer1()<=4) // Ujed alespon 12cm
|
|
|
429 |
{
|
|
|
430 |
set_adc_channel(LMAX); // Levy UV sensor
|
|
|
431 |
delay_us(40);
|
|
|
432 |
if(read_adc()<TRESHOLD) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo
|
|
|
433 |
set_adc_channel(RMAX); // Pravy UV sensor
|
|
|
434 |
delay_us(40);
|
|
|
435 |
if(read_adc()<TRESHOLD) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo
|
|
|
436 |
cas=CASAVR-CASMIN; // Cara je rovne
|
|
|
437 |
};
|
|
|
438 |
stav=rozjezd;
|
|
|
439 |
};
|
|
|
440 |
}
|
|
|
441 |
|
|
|
442 |
pom=0x80; // Zobrazeni pozice cary na displayi
|
|
|
443 |
for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1;
|
|
|
444 |
disp(pom);
|
|
|
445 |
|
|
|
446 |
while(true) // Ve zbytku casu snimku cti krajni UV senzory
|
|
|
447 |
{
|
|
|
448 |
set_adc_channel(LMAX); // Levy UV sensor
|
|
|
449 |
for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
|
|
|
450 |
if(read_adc()<TRESHOLD) cas=CASMIN;
|
|
|
451 |
set_adc_channel(RMAX); // Pravy UV sensor
|
|
|
452 |
for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
|
|
|
453 |
if(read_adc()<TRESHOLD) cas=CASMAX;
|
|
|
454 |
};
|
|
|
455 |
}
|
|
|
456 |
}
|