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203 kakl 1 
// Program pro MiniSumo na R-Day 2006
206 kakl 2 
//"$Id: cholerik.c 361 2007-09-09 15:09:55Z kakl $"
205 kakl 3 
 
203 kakl 4 
#include "cholerik.h"
5 
 
243 kakl 6 
#define THRESHOLD     15     // rozhodovaci uroven pro okraj areny
361 kakl 7 
                             // 0-15 (od 0.25 do 0.75 Vdd)
8 
                             // 0V cerna; 5V bila
203 kakl 9 
 
361 kakl 10 
#define KOLIKRAT     3//10
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203 kakl 12 
//motory            //Napred vypnout potom zapnout!
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#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred
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#define FL         output_low(PIN_B7); output_high(PIN_B6)
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#define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad
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#define BL         output_low(PIN_B6); output_high(PIN_B7)
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#define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav
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#define STOPL      output_low(PIN_B6);output_low(PIN_B7)
19 
 
20 
//cidla
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#define SIDE_R    !input(PIN_A7)     // Sensory na soupere
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#define SIDE_L    !input(PIN_A4)
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#define FRONT     !input(PIN_A6)
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#define BACK      !input(PIN_B3)
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#define GRAVITY   !input(PIN_A1)
240 kakl 26 
// PIN_A3   Prave cidlo na okraj areny (C1OUT)
27 
// PIN_A2   Leve cidlo na okraj areny (C2OUT)
203 kakl 28 
 
29 
#DEFINE SOUND_HI   PIN_B1     // komplementarni vystupy pro piezo pipak
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#DEFINE SOUND_LO   PIN_B2
31 
 
32 
// makro pro PWM
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#define GO(motor, direction, power) if(get_timer0()<=power) \
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{direction##motor;} else {stop##motor;}
35 
 
36 
unsigned int8 majak=0;
37 
unsigned int8 sl=0;
38 
unsigned int8 sr=0;
39 
unsigned int8 b=0;
40 
unsigned int8 f=0;
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unsigned int8 g=0;
240 kakl 42 
int1  arena_l=FALSE;
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int1  arena_r=FALSE;
203 kakl 44 
int1 diag=FALSE;
45 
 
46 
#int_TIMER0
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TIMER0_isr()
48 
{
49 
   int1 stav;
50 
 
51 
   stav = ((majak & 0b1) == 0b1);
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   if (((SIDE_R && stav) || (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};
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   if (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};
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   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
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   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
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   majak++;
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   stav = ((majak & 0b1) == 0b1);
240 kakl 58 
 
242 kakl 59 
   if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;
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   if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;
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203 kakl 62 
   if (stav)
63 
   {
64 
      set_pwm1_duty(27);      // 1:1
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   }
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   else
67 
   {
68 
      set_pwm1_duty(55);      // 1:0
69 
   };
242 kakl 70 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
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   if (GRAVITY) {if (g<255) g++;} else g=0;
242 kakl 72 
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
203 kakl 73 
   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
74 
}
75 
 
76 
// Primitivni Pipani
77 
void beep(unsigned int16 period, unsigned int16 length)
78 
{
79 
   unsigned int16 nn;
80 
 
81 
   disable_interrupts(GLOBAL);
82 
   for(nn=length; nn>0; nn--)
83 
   {
84 
     output_high(SOUND_HI);output_low(SOUND_LO);
85 
     delay_us(period);
86 
     output_high(SOUND_LO);output_low(SOUND_HI);
87 
     delay_us(period);
88 
   }
89 
   enable_interrupts(GLOBAL);
90 
}
91 
 
240 kakl 92 
/**** DIAG ********************************************************************/
203 kakl 93 
inline void diagnostika()
94 
{
95 
   unsigned int16 n;
96 
 
242 kakl 97 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
209 kakl 98 
   if (GRAVITY)
203 kakl 99 
   {
242 kakl 100 
      setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
209 kakl 101 
      diag=TRUE;
102 
      enable_interrupts(INT_TIMER0);
103 
      enable_interrupts(GLOBAL);
104 
      while (true)         // Diagnostika cidel
105 
      {
106 
         if (g>100) beep(800,100);
107 
         Delay_ms(50);
108 
         if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};
109 
         Delay_ms(50);
110 
         if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};
111 
         Delay_ms(50);
112 
 
113 
         if (sr>10) beep(3000,400);
114 
         Delay_ms(50);
115 
         if (f>10) beep(4000,500);
116 
         Delay_ms(50);
117 
         if (sl>10) beep(5000,500);
118 
         Delay_ms(50);
119 
         if (b>10) beep(6000,600);
120 
         Delay_ms(50);
240 kakl 121 
         if((g>100) && arena_l && arena_r) break;  // Preklopen na zada a bily papir na obou cidlech na okraj areny
122 
      };
123 
 
242 kakl 124 
      while(TRUE)   // Diagnostika podvozku
240 kakl 125 
      {
126 
         for (n=500; n<800; n+=100)
127 
         {
128 
            beep(n,n); //beep UP
129 
         };
130 
         Delay_ms(1000);
131 
         //zastav vse
132 
         STOPL; STOPR;
133 
         //pravy pas
134 
         FR; Delay_ms(1000); STOPR; Delay_ms(1000);
135 
         BR; Delay_ms(1000); STOPR; Delay_ms(1000);
136 
         Beep(880,100); Delay_ms(1000);
137 
         //levy pas
138 
         FL; Delay_ms(1000); STOPL; Delay_ms(1000);
139 
         BL; Delay_ms(1000); STOPL; Delay_ms(1000);
140 
         Beep(880,100); Delay_ms(1000);
141 
         //oba pasy
142 
         FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
143 
         BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
144 
      };
209 kakl 145 
   };
203 kakl 146 
}
147 
 
240 kakl 148 
/**** MAIN ********************************************************************/
203 kakl 149 
void main()
150 
{
151 
   unsigned int16 n; // for FOR
152 
 
153 
   STOPL; STOPR;     // zastavi motory
154 
 
155 
   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
240 kakl 156 
   setup_adc_ports(NO_ANALOGS);   // komparatory vypnuty
209 kakl 157 
   setup_adc(ADC_OFF);
203 kakl 158 
   setup_spi(FALSE);
240 kakl 159 
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);  // Casovac pro SW PWM a cteni cidel
203 kakl 160 
   setup_timer_1(T1_DISABLED);
161 
   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
162 
   setup_ccp1(CCP_PWM);    // HW PWM ON
163 
   set_pwm1_duty(27);      // 1:1
240 kakl 164 
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
242 kakl 165 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
240 kakl 166 
   setup_vref(VREF_HIGH|THRESHOLD);        // 16 kroku od 0.25 do 0.75 Vdd
203 kakl 167 
 
168 
   Beep(1000,200);     //double beep
169 
   Delay_ms(50);
170 
   Beep(1000,200);
171 
   diagnostika();
172 
 
173 
   enable_interrupts(INT_TIMER0);
174 
   enable_interrupts(GLOBAL);
240 kakl 175 
 
209 kakl 176 
   for (n=1;n<=5;n++)   // 5s do zacatku souboje
203 kakl 177 
   {
244 kakl 178 
      Delay_ms(670); // 5,25s
203 kakl 179 
      Beep(1000,200);
180 
   }
181 
 
240 kakl 182 
/*----- Main Loop ------------------------------------------------------------*/
203 kakl 183 
   while(true)       // hlavni smycka
184 
   {
185 
LOOP:
186 
 
187 
      GO(L, F, 150); GO(R, F, 150);
188 
 
189 
      if (arena_r)
190 
      {
191 
         BL; BR;
251 kaklik 192 
         delay_ms(180);
203 kakl 193 
         STOPL; BR;
194 
         for(n=0; n<5000; n++)
195 
         {
196 
            if (!arena_r || arena_l) {BL; BR;};
197 
         };
198 
         FL; BR;
199 
         delay_ms(100);
200 
         STOPL; STOPR;
201 
      }
202 
 
203 
      if (arena_l)
204 
      {
205 
         BL; BR;
251 kaklik 206 
         delay_ms(180);
203 kakl 207 
         BL; STOPR;
208 
         for(n=0; n<5000; n++)
209 
         {
210 
            if (!arena_l || arena_r) {BL; BR;};
211 
         };
212 
         BL; FR;
213 
         delay_ms(100);
214 
         STOPL; STOPR;
215 
      }
216 
 
361 kakl 217 
      if (sr>KOLIKRAT)     // Nepritel vpravo
203 kakl 218 
      {
219 
         FL; FR;                 // popojed rovne
220 
         for(n=0; n<5000; n++)
221 
         {
222 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
223 
         };
224 
         FL; BR;                     // otoc se na nej
225 
         for(n=0; n<10000; n++)
226 
         {
227 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
228 
            if (f>5)
229 
            {
230 
               FL; FR;               // vytlac ho
231 
            };
232 
            if (sl>5) {BL; FR;};
233 
            if (sr>5) {FL; BR;};
234 
         };
235 
      }
236 
 
361 kakl 237 
      if (sl>KOLIKRAT)     // Nepritel vlevo
203 kakl 238 
      {
239 
         FL; FR;                 // popojed rovne
240 
         for(n=0; n<5000; n++)
241 
         {
242 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
243 
         };
244 
         BL; FR;                    // otoc se na nej
245 
         for(n=0; n<10000; n++)
246 
         {
247 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
248 
            if (f>5)
249 
            {
250 
               FL; FR;              // vytlac ho
251 
            };
252 
            if (sl>5) {BL; FR;};
253 
            if (sr>5) {FL; BR;};
254 
         };
255 
      }
256 
 
361 kakl 257 
      if (f>KOLIKRAT)      // Nepritel vpredu
203 kakl 258 
      {
259 
         BL; FR;
260 
         delay_ms(110);
261 
         FL; BR;
262 
         delay_ms(50);
263 
         STOPL; STOPR;
264 
      }
265 
 
361 kakl 266 
      if (b>KOLIKRAT)      // Nepritel vzadu
203 kakl 267 
      {
268 
         BL; FR;
269 
         delay_ms(110);
270 
         FL; BR;
271 
         delay_ms(50);
272 
         STOPL; STOPR;
273 
      }
274 
 
275 
   } // while(true)
276 
}