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kakl |
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// **** Objeti cihly vpravo **** RRRR
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int8 n,i;
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int16 j;
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set_adc_channel(RMAX);
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SetServo(CASMIN); // max. doleva L
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set_pwm1_duty(0); // vzad
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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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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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while(get_timer1()<(odocounter+8)); // Popojed definovanou vzdalenost
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set_pwm1_duty(0); // reverz (zabrzdi)
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set_pwm2_duty(255);
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output_low(MOT_L);
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output_low(MOT_R);
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delay_ms(215);
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brzda();
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disp(1);
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SetServo((CASAVR-CASMIN)); // rovne S
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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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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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for(n=1;n<=7;n++)
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{
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while(get_timer1()<(odocounter+n)); // Popojed
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SetServoQ((CASAVR-CASMIN));
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};
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i=0;
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disp(2);
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set_pwm1_duty(130);
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set_pwm2_duty(140);
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odocounter=get_timer1();
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for(n=1;n<=10;n++)
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{
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while(get_timer1()<(odocounter+n));
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SetServoQ((CASAVR-CASMIN)-i);
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set_pwm1_duty(130-i);
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i+=8;
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};
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disp(3);
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odocounter=get_timer1();
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for(n=1;n<=7;n++)
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{
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while(get_timer1()<(odocounter+n));
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SetServoQ((CASAVR-CASMIN)-i);
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set_pwm1_duty(130-i);
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i-=8;
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};
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disp(4);
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odocounter=get_timer1();
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for(n=1;n<=7;n++)
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{
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while(get_timer1()<(odocounter+n));
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SetServoQ((CASAVR-CASMIN)-i);
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set_pwm1_duty(130-i);
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i+=8;
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};
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disp(5);
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odocounter=get_timer1();
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//!!!!for(n=1;n<=5;n++)
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for(n=1;n<=4;n++)
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{
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while(get_timer1()<(odocounter+n));
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SetServoQ((CASAVR-CASMIN)-i);
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set_pwm1_duty(130-i);
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i-=16;
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};
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disp(6);
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set_pwm1_duty(80); // vpred
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set_pwm2_duty(80);
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output_low(MOT_L);
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output_low(MOT_R);
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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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for(n=1;n<=3;n++)
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{
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while(get_timer1()<(odocounter+n));
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SetServoQ((CASAVR-CASMIN));
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};
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disp(7);
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while(true)
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{
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set_adc_channel(LMAX); // Levy UV sensor
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delay_us(40);
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if(read_adc()<TRESHOLD) {delay_us(600); if(read_adc()<TRESHOLD) {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()<TRESHOLD) {delay_us(600); if(read_adc()<TRESHOLD) {cas=CASMAX; break;}; }; // Prejeli jsme caru vpravo
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}
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if(cas==CASMIN)
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{
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set_adc_channel(RMAX); // Pravy UV sensor
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for(j=0;j<10000;j++)
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{
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if(input(HREF)) {SetServoQ(CASMIN); while(input(HREF));}; // doleva
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if (read_adc()<TRESHOLD) break;
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}
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}
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else
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{
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set_adc_channel(LMAX); // Levy UV sensor
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for(j=0;j<10000;j++)
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{
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if(input(HREF)) {SetServoQ(CASMAX); while(input(HREF));}; // doprava
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if (read_adc()<TRESHOLD) break;
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}
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}
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set_adc_channel(RMAX); // Pravy UV sensor
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set_pwm1_duty(0); // zabrzdi
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set_pwm2_duty(0);
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output_high(MOT_L);
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output_high(MOT_R);
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SetServo(CASAVR-CASMIN); // doprostred
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delay_ms(100);
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brzda();
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// Tady jsou s velkou pravdepodobnosti obe cidla za carou a jsme kolmo k care
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SetServo(CASMIN); // max. doleva L
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set_pwm1_duty(0); // vzad
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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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while (read_adc()>TRESHOLD);
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odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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while(get_timer1()<(odocounter+4)); // Popojed definovanou vzdalenost
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set_pwm1_duty(0); // reverz (zabrzdi)
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set_pwm2_duty(255);
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output_low(MOT_L);
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output_low(MOT_R);
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SetServo(CASAVR-CASMIN); // doprostred
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delay_ms(100);
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brzda();
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set_pwm1_duty(255); // max. vpred
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set_pwm2_duty(255);
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output_low(MOT_L);
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output_low(MOT_R);
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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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{
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set_adc_channel(LMAX); // Levy UV sensor
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delay_us(40);
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if(read_adc()<TRESHOLD) {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()<TRESHOLD) {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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stav=cihla; // Stav po objeti cihly, uz zadna cihla asi nebude
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//odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
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//rr=60; // Nerozumna rychlost pro rozjeti
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