MLABlibrarysvnkaklikMLAB_E8magsvn

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Ignore whitespace Rev 212 → Rev 213

/roboti/istrobot/camerus/SW/876/camerus.c
33,6 → 33,8
#define CASMAX 192
#define CASAVR ((CASMAX+CASMIN) / 2)
#define OFFSETO 0x9A //0x9F // Vystredeni serva pro objeti prekazky
#byte INTCON = 0x0B // Interrupt configuration register
#bit GIE = INTCON.7
#bit PEIE = INTCON.6
176,23 → 178,6
};
SetServo((CASAVR-CASMIN)); // rovne
/*
set_pwm1_duty(140); // vpred
set_pwm2_duty(140);
output_low(MOT_L);
output_low(MOT_R);
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
//!!! while(true) {disp(MAKE8(get_timer1(),0)); delay_ms(10);};
while(true)
{
if(!input(PROXIMITY)) break; // Je cihla blizko?
if(get_timer1()>(odocounter+7)) return; // nedojeli jsme k cihle, jed dal
};
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_high(MOT_L);
output_high(MOT_R);
*/
delay_ms(100);
brzda();

/roboti/istrobot/camerus/SW/876/objizdka_R.c
103,9 → 103,9
{
set_adc_channel(RMAX); // Pravy UV sensor
for(j=0;j<10000;j++)
{
{
if(input(HREF)) {SetServoQ(CASMIN); while(input(HREF));}; // doleva
if (read_adc()<128) break;
if (read_adc()<128) break;
}
}
else
112,9 → 112,9
{
set_adc_channel(LMAX); // Pravy UV sensor
for(j=0;j<10000;j++)
{
{
if(input(HREF)) {SetServoQ(CASMAX); while(input(HREF));}; // doprava
if (read_adc()<128) break;
if (read_adc()<128) break;
}
}
124,7 → 124,7
set_pwm2_duty(0);
output_high(MOT_L);
output_high(MOT_R);
SetServo(CASAVR-CASMIN); // doprostred
SetServo(CASAVR-CASMIN); // doprostred
delay_ms(100);
brzda();
// Tady jsou s velkou pravdepodobnosti obe cidla za carou a jsme kolmo k care
134,7 → 134,7
set_pwm2_duty(0);
output_low(MOT_L);
output_high(MOT_R);
while (read_adc()>128);
while (read_adc()>128);
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<(odocounter+4)); // Popojed definovanou vzdalenost
set_pwm1_duty(0); // reverz (zabrzdi)
141,7 → 141,7
set_pwm2_duty(255);
output_low(MOT_L);
output_low(MOT_R);
SetServo(CASAVR-CASMIN); // doprostred
SetServo(CASAVR-CASMIN); // doprostred
delay_ms(100);
brzda();