| 12,10 → 12,53 |
|---|
| #define LED PIN_C0 // LED signalizujici start programu |
| #define HREF PIN_C5 // Signal HREF z kamery (v H po celou dobu radku) |
| #define PIX PIN_C6 // Vstup pro body z kamery (za trivstupim hradlem OR (dig. komparator)) |
| #define SERVO PIN_B7 // Vystup na servo (1 az 2ms po cca 20ms (synchronizovano snimkovym kmitoctem)) |
| #define SERVO PIN_B4 // Vystup na servo (1 az 2ms po cca 20ms (synchronizovano snimkovym kmitoctem)) |
| #define MOT_L PIN_B5 // Smer otaceni leveho motoru; druhy pol je RC2 |
| #define MOT_R PIN_B6 // Smer otaceni praveho motoru; druhy pol je RC1 |
| |
| #define DATA PIN_B2 |
| #define CP PIN_B1 |
| |
| void disp(int8 x) |
| { |
| int n; |
| |
| x=~x; |
| for(n=0;n<=7;n++) |
| { |
| if (x & 1 == 1) output_high(DATA); else output_low(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| |
| void NightRider(int x) |
| { |
| int n,i,j; |
| |
| for(j=0;j<x;j++) |
| { |
| i=0x01; |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_left(&i, 1); |
| delay_ms(100); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(100); |
| } |
| } |
| disp(i); |
| delay_ms(100); |
| i=0; |
| disp(i); |
| } |
| |
| void main() |
| { |
| int8 cas; // Cas hrany bila/cerna v radce |
| 43,10 → 86,9 |
|---|
| output_low(MOT_L); |
| output_low(MOT_R); |
| |
| output_high(LED); // Budeme blikat LED, aby se poznalo, ze byl RESET |
| NightRider(1); // Aby se poznalo, ze byl RESET |
| // Musi se pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| |
| delay_ms(200); // Musi se pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(0xC0); // Pro single slave musi mit vsechny zapisy adresu C0h |
| 60,19 → 102,20 |
|---|
| i2c_write(0b01000001); |
| i2c_stop(); |
| |
| |
| /* |
| i2c_start(); // Contrast |
| i2c_write(0xC0); |
| i2c_write(0x05); |
| i2c_write(0xA0); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| /* |
| */ |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(0x80); |
| i2c_write(0x90); // 80h |
| i2c_stop(); |
| |
| /* |
| i2c_start(); // Band Filter |
| i2c_write(0xC0); |
| i2c_write(0x2D); |
| 91,16 → 134,25 |
|---|
| i2c_write(45); |
| i2c_stop(); |
| |
| output_low(LED); // Blikani LED |
| delay_ms(200); |
| NightRider(1); // Aby se poznalo, ze byl RESET |
| |
| output_high(LED); // Blikani LED |
| delay_ms(200); |
| output_low(LED); |
| |
| cas=128; // Inicializace promenych, aby neslo servo za roh a aby se to rozjelo jeste dneska |
| ble=0; |
| |
| /* |
| while(true) |
| { |
| disp(ble); |
| i2c_start(); |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(ble); |
| i2c_stop(); |
| delay_ms(1000); |
| ble+=0x10; |
| }; |
| */ |
| |
| // ... Hlavni smycka ... |
| while(true) |
| { |
| 108,11 → 160,17 |
|---|
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(input(HREF)) // Po dobu vysilani radky cekej na hranu W/B |
| { |
| // Dodelat rozpoznani cerne cary napric pro zastaveni |
| // Pockat na shozeni signalu HREF |
| if(!input(PIX)) // Pokud se dvakrat za sebou precetla CERNA |
| if(!input(PIX)) |
| if(!input(PIX)) |
| { |
| cas=get_timer0(); // Precti cas z citace casu hrany |
| cas=255-cas; // Vlevo je vpravo |
| int8 pom; |
| |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| // cas=255-cas; // Vlevo je vpravo |
| if(pom<0b11000000) cas=pom; |
| break; |
| }; |
| }; |
| 137,6 → 195,8 |
|---|
| Delay_ms(1); |
| rr=read_adc(); |
| |
| disp(cas); |
| |
| r1=cas>>1; // Elektronicky diferencial |
| r2=255-offset-(cas>>1); |
| |