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// Program pro predvadeni schopnosti robota Merkur

//------------------------------------------------

#include "tank.h"

unsigned int8 sensors;        // pomocna promenna pro cteni cidel na caru

unsigned int8 line;           // na ktere strane byla detekovana cara

unsigned int8 speed;          // rychlost zataceni

unsigned int8 last;           // kde byla cara, kdyz byly minule cidla mimo

unsigned int8 rovinka;        // pocitadlo pro zjisteni rovneho useku

int cirkus;                   // pocitadlo, po kolika akcich se ma delat cirkus

int1 BW;                      // urcuje, jestli je cara cerno/bila nebo

                              // bilo/cerna (true = bila cara, cerny podklad)

// Konstanty pro dynamiku pohybu

#define T_DIRA       120      // po jakem case zataceni se detekuje dira

#define FW_POMALU    170      // trochu mimo caru vnitrni pas

#define FW_ZATACKA   200      // rychlost vnejsiho kola pri zataceni

#define FW_STREDNE   190      // trochu mimo caru vnejsi pas

#define COUVANI      750      // couvnuti zpet na caru, po detekci diry

#define MAX_ROVINKA  (255-FW_STREDNE)

#define TRESHOLD     15       // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd

#define BUMPER_TRESHOLD 128   // rozhodovaci uroven cidla na prekazku

//motory            //Napred vypnout potom zapnout!

#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred

#define FL         output_low(PIN_B7); output_high(PIN_B6)

#define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad

#define BL         output_low(PIN_B6); output_high(PIN_B7)

#define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav

#define STOPL      output_low(PIN_B6);output_low(PIN_B7)

#define L 0b10  // left

#define R 0b01  // right

#define S 0b11  // straight

//cidla

#define RSENSOR    (BW != C2OUT)      // Senzory na caru

#define LSENSOR    (BW != C1OUT)

#define BUMPER     sAN2     // Senzor na cihlu

#define DIAG_SERVO      PIN_B3   // Propojka pro diagnosticky mod

#define DIAG_SENSORS    PIN_B2   // Propojka pro diagnosticky mod

#define BARVY           PIN_B1   // Propojka pro nastaveni barvy cary

#define SPEAKER   PIN_B0     // vystup pro pipak

#define LED1   PIN_A4   // LEDky

#define LED2   PIN_A3

#define LED3   PIN_A7

#define LED4   PIN_A6

// makro pro PWM

#define GO(motor, direction, power) if(get_timer0()<=power) \

{direction##motor;} else {stop##motor;}

#int_TIMER2

void TIMER2_isr()  // obsluha zrychlovani

{

   if (speed<255) speed++;

   if (rovinka<MAX_ROVINKA) rovinka++;

}

// Primitivni Pipani

void beep(unsigned int16 period, unsigned int16 length)

{

   unsigned int16 nn;

   for(nn=length; nn>0; nn--)

   {

     output_high(SPEAKER);

     delay_us(period);

     output_low(SPEAKER);

     delay_us(period);

   }

}

/******************************************************************************/

void diagnostika()

{

   unsigned int16 n;

   while (input(DIAG_SERVO))   // Propojka, ktera spousti diagnostiku

   {

      for (n=500; n<800; n+=100)

      {

         beep(n,n); //beep UP

      };

      Delay_ms(1000);

      //zastav vse

      STOPL; STOPR;

      //pravy pas

      FR; Delay_ms(1000); STOPR; Delay_ms(1000);

      BR; Delay_ms(1000); STOPR; Delay_ms(1000);

      Beep(880,100); Delay_ms(1000);

      //levy pas

      FL; Delay_ms(1000); STOPL; Delay_ms(1000);

      BL; Delay_ms(1000); STOPL; Delay_ms(1000);

      Beep(880,100); Delay_ms(1000);

      //oba pasy

      FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);

      BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);

   };

   while (input(DIAG_SENSORS))         // spusteni diagnostiky cidel

   {

      if (RSENSOR) beep(1000,200);

      Delay_ms(300);

      if (LSENSOR) beep(2000,300);

      Delay_ms(300);

      if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD)) beep(3000,400);

      Delay_ms(300);

   };

}

///////////////////////////////////////////////////////////////////////////////

void OtocSe()                     // otoci se zpet, kdyz je prekazka

{

   unsigned int16 n;

   BL; BR;                    // cukni zpatky

   Delay_ms(200);

	STOPR;STOPL;

	beep(800,400);

	beep(2000,1000);

   output_low(LED4);

	beep(900,400);

   output_low(LED1);

   BR; FL; Delay_ms(100);           // otoc se 30° do prava

   STOPL; STOPR;

   beep(1000,1000);

   output_low(LED3);

   BR; FL;

   for(n=40000;n>0;n--)               // toc se, dokud nenarazis na caru

   {

      line = RSENSOR;         // cteni senzoru na caru

      line |= LSENSOR << 1;

      if (line!=0) break;

   }

   STOPR; STOPL;

   output_high(LED1); output_high(LED3); output_high(LED4);

   line=L; // caru jsme prejeli, tak je vlevo

   cirkus=0;

}

void main()

{

   unsigned int16 n; // pro FOR

   unsigned int16 i;

   STOPL; STOPR;     // prepne vystupy na ovladani motoru na output a zastavi

   setup_oscillator(OSC_4MHZ|OSC_INTRC);     // 4 MHz interni RC oscilator

   port_b_pullups(TRUE);      // pullups pro piano na diagnostiku

   setup_spi(FALSE);

   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);  // Casovac pro PWM

   setup_timer_2(T2_DIV_BY_4,255,10);    // Casovac pro regulaci

                                         // preruseni kazdych 10ms

   setup_adc_ports(BUMPER|VSS_VDD);      // nastaveni A/D prevodniku pro naraznik

   setup_adc(ADC_CLOCK_INTERNAL);

   set_adc_channel(2);

   setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);   // Casovac pro naraznik

   setup_ccp1(CCP_COMPARE_RESET_TIMER);

   CCP_1=(2^10)-1;                        // prevod kazdou 1ms

   output_low(LED1); output_low(LED2); output_low(LED3); output_low(LED4);

   setup_comparator(A0_VR_A1_VR);   // inicializace komparatoru pro cidla cary

   setup_vref(VREF_HIGH|TRESHOLD);        // 32 kroku od 0.25 do 0.75 Vdd

   Beep(1000,200);     //double beep

   Delay_ms(50);

   Beep(1000,200);

   Delay_ms(1000);      // 1s

   // povoleni rizeni rychlosti zataceni pres preruseni

   enable_interrupts(INT_TIMER2);

   enable_interrupts(GLOBAL);

/*---------------------------------------------------------------------------*/

   sensors=S;

   line=S;

   last=S;

   cirkus=0;

//   movement=S;

   speed=FW_POMALU;

   BW=input(BARVY);     // Jaka ma byt barva cary?

   diagnostika();       // Zkus, jestli nekdo nechce, diagnostiku

   Delay_ms(500);

   output_high(LED1); Beep(1000,200); Delay_ms(500);

   output_high(LED2); Beep(1000,200); Delay_ms(500);

   output_high(LED3); Beep(1000,200); Delay_ms(500);

   output_high(LED4); Beep(1000,200); Delay_ms(500);

   while(true)       // hlavni smycka (jizda podle cary)

   {

      sensors = RSENSOR;         // cteni senzoru na caru

      sensors |= LSENSOR << 1;

      if (read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) OtocSe();

      switch (sensors)  // zatacej podle toho, kde vidis caru

      {

         case S:                          // rovne

            GO(L, F, FW_STREDNE+rovinka); GO(R, F, FW_STREDNE+rovinka);

            continue;

         case L:                          // trochu vlevo

            GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka);

            line=L;

            continue;

         case R:                          // trochu vpravo

            GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka);

            line=R;

            continue;

         default:       // kdyz jsou obe cidla mimo caru, tak pokracuj dal

      };

      rovinka=0;

      if (last!=line)   // pokud si prejel caru z jedne strany na druhou stranu,

                        // tak zabrzdi

      {

         output_bit(LED1, !input(LED1));

         last=line;

         speed=FW_ZATACKA;

         cirkus++;

         if (cirkus>8)

         {

            STOPL; STOPR;

            cirkus=0;

            disable_interrupts(GLOBAL);

            beep(1000,400);

            for(n=3000; n>3950; n--) beep(n,10);

            output_low(LED1);

      	   beep(2000,200);

	         beep(900,400);

            for(n=2950; n<3000; n++) beep(n,10);

            output_low(LED2);

            output_high(LED1);

            beep(4000,400);

      	   beep(1000,100);

            output_low(LED3);

	         beep(3000,400);

            Delay_ms(1000);

            output_high(LED1); output_high(LED2);

            output_high(LED3); output_high(LED4);

            enable_interrupts(GLOBAL);

         }

      };

      if (L==line)  // kdyz jsou obe cidla mimo caru, zatoc na caru

      {

         STOPL;

         GO(R, F, speed);

      }

      else

      {

         STOPR;

         GO(L, F, speed);

      }

   } // while(true)

}