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203 kakl 1 
// Program pro MiniSumo na R-Day 2006
206 kakl 2 
//"$Id: cholerik.c 240 2007-04-19 06:14:36Z kakl $"
205 kakl 3 
 
203 kakl 4 
#include "cholerik.h"
5 
 
240 kakl 6 
#define THRESHOLD     0x8        // rozhodovaci uroven pro okraj areny 0-15 (od 0.25 do 0.75 Vdd)
203 kakl 7 
 
8 
//motory            //Napred vypnout potom zapnout!
9 
#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred
10 
#define FL         output_low(PIN_B7); output_high(PIN_B6)
11 
#define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad
12 
#define BL         output_low(PIN_B6); output_high(PIN_B7)
13 
#define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav
14 
#define STOPL      output_low(PIN_B6);output_low(PIN_B7)
15 
 
16 
//cidla
17 
#define SIDE_R    !input(PIN_A7)     // Sensory na soupere
18 
#define SIDE_L    !input(PIN_A4)
19 
#define FRONT     !input(PIN_A6)
20 
#define BACK      !input(PIN_B3)
21 
#define GRAVITY   !input(PIN_A1)
240 kakl 22 
// PIN_A3   Prave cidlo na okraj areny (C1OUT)
23 
// PIN_A2   Leve cidlo na okraj areny (C2OUT)
203 kakl 24 
 
25 
#DEFINE SOUND_HI   PIN_B1     // komplementarni vystupy pro piezo pipak
26 
#DEFINE SOUND_LO   PIN_B2
27 
 
28 
// makro pro PWM
29 
#define GO(motor, direction, power) if(get_timer0()<=power) \
30 
{direction##motor;} else {stop##motor;}
31 
 
32 
unsigned int8 majak=0;
33 
unsigned int8 sl=0;
34 
unsigned int8 sr=0;
35 
unsigned int8 b=0;
36 
unsigned int8 f=0;
37 
unsigned int8 g=0;
240 kakl 38 
int1  arena_l=FALSE;
39 
int1  arena_r=FALSE;
203 kakl 40 
int1 diag=FALSE;
41 
 
42 
#int_TIMER0
43 
TIMER0_isr()
44 
{
45 
   int1 stav;
46 
 
47 
   stav = ((majak & 0b1) == 0b1);
48 
   if (((SIDE_R && stav) || (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};
49 
   if (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};
50 
   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
51 
   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
52 
   majak++;
53 
   stav = ((majak & 0b1) == 0b1);
240 kakl 54 
 
55 
   if (C1OUT) arena_r=TRUE; else arena_r=FALSE;
56 
   if (C2OUT) arena_l=TRUE; else arena_l=FALSE;
57 
 
203 kakl 58 
   if (stav)
59 
   {
60 
      set_pwm1_duty(27);      // 1:1
61 
   }
62 
   else
63 
   {
64 
      set_pwm1_duty(55);      // 1:0
65 
   };
66 
   if (GRAVITY) {if (g<255) g++;} else g=0;
67 
   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
68 
}
69 
 
70 
// Primitivni Pipani
71 
void beep(unsigned int16 period, unsigned int16 length)
72 
{
73 
   unsigned int16 nn;
74 
 
75 
   disable_interrupts(GLOBAL);
76 
   for(nn=length; nn>0; nn--)
77 
   {
78 
     output_high(SOUND_HI);output_low(SOUND_LO);
79 
     delay_us(period);
80 
     output_high(SOUND_LO);output_low(SOUND_HI);
81 
     delay_us(period);
82 
   }
83 
   enable_interrupts(GLOBAL);
84 
}
85 
 
240 kakl 86 
/**** DIAG ********************************************************************/
203 kakl 87 
inline void diagnostika()
88 
{
89 
   unsigned int16 n;
90 
 
209 kakl 91 
   if (GRAVITY)
203 kakl 92 
   {
209 kakl 93 
      diag=TRUE;
94 
      enable_interrupts(INT_TIMER0);
95 
      enable_interrupts(GLOBAL);
96 
      while (true)         // Diagnostika cidel
97 
      {
98 
         if (g>100) beep(800,100);
99 
         Delay_ms(50);
100 
         if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};
101 
         Delay_ms(50);
102 
         if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};
103 
         Delay_ms(50);
104 
 
105 
         if (sr>10) beep(3000,400);
106 
         Delay_ms(50);
107 
         if (f>10) beep(4000,500);
108 
         Delay_ms(50);
109 
         if (sl>10) beep(5000,500);
110 
         Delay_ms(50);
111 
         if (b>10) beep(6000,600);
112 
         Delay_ms(50);
240 kakl 113 
         if((g>100) && arena_l && arena_r) break;  // Preklopen na zada a bily papir na obou cidlech na okraj areny
114 
      };
115 
 
116 
      while (TRUE)   // Diagnostika podvozku
117 
      {
118 
         for (n=500; n<800; n+=100)
119 
         {
120 
            beep(n,n); //beep UP
121 
         };
122 
         Delay_ms(1000);
123 
         //zastav vse
124 
         STOPL; STOPR;
125 
         //pravy pas
126 
         FR; Delay_ms(1000); STOPR; Delay_ms(1000);
127 
         BR; Delay_ms(1000); STOPR; Delay_ms(1000);
128 
         Beep(880,100); Delay_ms(1000);
129 
         //levy pas
130 
         FL; Delay_ms(1000); STOPL; Delay_ms(1000);
131 
         BL; Delay_ms(1000); STOPL; Delay_ms(1000);
132 
         Beep(880,100); Delay_ms(1000);
133 
         //oba pasy
134 
         FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
135 
         BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
136 
      };
209 kakl 137 
   };
203 kakl 138 
}
139 
 
240 kakl 140 
/**** MAIN ********************************************************************/
203 kakl 141 
void main()
142 
{
143 
   unsigned int16 n; // for FOR
144 
 
145 
   STOPL; STOPR;     // zastavi motory
146 
 
147 
   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
240 kakl 148 
   setup_adc_ports(NO_ANALOGS);   // komparatory vypnuty
209 kakl 149 
   setup_adc(ADC_OFF);
203 kakl 150 
   setup_spi(FALSE);
240 kakl 151 
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);  // Casovac pro SW PWM a cteni cidel
203 kakl 152 
   setup_timer_1(T1_DISABLED);
153 
   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
154 
   setup_ccp1(CCP_PWM);    // HW PWM ON
155 
   set_pwm1_duty(27);      // 1:1
240 kakl 156 
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
157 
   setup_vref(VREF_HIGH|THRESHOLD);        // 16 kroku od 0.25 do 0.75 Vdd
203 kakl 158 
 
159 
   Beep(1000,200);     //double beep
160 
   Delay_ms(50);
161 
   Beep(1000,200);
162 
   diagnostika();
163 
 
164 
   enable_interrupts(INT_TIMER0);
165 
   enable_interrupts(GLOBAL);
240 kakl 166 
 
209 kakl 167 
   for (n=1;n<=5;n++)   // 5s do zacatku souboje
203 kakl 168 
   {
209 kakl 169 
      Delay_ms(720);
203 kakl 170 
      Beep(1000,200);
171 
   }
172 
 
240 kakl 173 
/*----- Main Loop ------------------------------------------------------------*/
203 kakl 174 
   while(true)       // hlavni smycka
175 
   {
176 
LOOP:
177 
 
178 
      GO(L, F, 150); GO(R, F, 150);
179 
 
180 
      if (arena_r)
181 
      {
182 
         BL; BR;
183 
         delay_ms(100);
184 
         STOPL; BR;
185 
         for(n=0; n<5000; n++)
186 
         {
187 
            if (!arena_r || arena_l) {BL; BR;};
188 
         };
189 
         FL; BR;
190 
         delay_ms(100);
191 
         STOPL; STOPR;
192 
      }
193 
 
194 
      if (arena_l)
195 
      {
196 
         BL; BR;
197 
         delay_ms(100);
198 
         BL; STOPR;
199 
         for(n=0; n<5000; n++)
200 
         {
201 
            if (!arena_l || arena_r) {BL; BR;};
202 
         };
203 
         BL; FR;
204 
         delay_ms(100);
205 
         STOPL; STOPR;
206 
      }
207 
 
208 
      if (sr>10)     // Nepritel vpravo
209 
      {
210 
         FL; FR;                 // popojed rovne
211 
         for(n=0; n<5000; n++)
212 
         {
213 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
214 
         };
215 
         FL; BR;                     // otoc se na nej
216 
         for(n=0; n<10000; n++)
217 
         {
218 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
219 
            if (f>5)
220 
            {
221 
               FL; FR;               // vytlac ho
222 
            };
223 
            if (sl>5) {BL; FR;};
224 
            if (sr>5) {FL; BR;};
225 
         };
226 
      }
227 
 
228 
      if (sl>10)     // Nepritel vlevo
229 
      {
230 
         FL; FR;                 // popojed rovne
231 
         for(n=0; n<5000; n++)
232 
         {
233 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
234 
         };
235 
         BL; FR;                    // otoc se na nej
236 
         for(n=0; n<10000; n++)
237 
         {
238 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
239 
            if (f>5)
240 
            {
241 
               FL; FR;              // vytlac ho
242 
            };
243 
            if (sl>5) {BL; FR;};
244 
            if (sr>5) {FL; BR;};
245 
         };
246 
      }
247 
 
248 
      if (f>10)      // Nepritel vpredu
249 
      {
250 
         BL; FR;
251 
         delay_ms(110);
252 
         FL; BR;
253 
         delay_ms(50);
254 
         STOPL; STOPR;
255 
      }
256 
 
257 
      if (b>10)      // Nepritel vzadu
258 
      {
259 
         BL; FR;
260 
         delay_ms(110);
261 
         FL; BR;
262 
         delay_ms(50);
263 
         STOPL; STOPR;
264 
      }
265 
 
266 
   } // while(true)
267 
}