| 0,0 → 1,59 |
|---|
| program Orbis; |
| |
| var line, Rychlost, Reverz, Zataceni; |
| var Rovinka, a; |
| |
| #define L 1 |
| #define S 2 |
| #define R 3 |
| |
| line:=2; |
| Rovinka:=0; |
| |
| Rychlost:=30; # omezeni rychlosti (hlavne pro ladici ucely) |
| Reverz := 1; |
| Zataceni := 0.75; |
| |
| while true |
| do |
| if LEYE = 1 and CEYE = 1 then # Cara pod levim sensorem |
| if line = 2 then |
| a:=TIME; |
| LMOT:=-Rychlost; RMOT:=-Rychlost; |
| while TIME < (a + Reverz) do; |
| end; |
| if line = 3 then |
| a:=TIME; |
| RMOT:=-Rychlost; |
| while TIME < (a + Reverz) do; |
| end; |
| LMOT:=0;RMOT:=Rychlost*Zataceni; |
| line:=1; # zaznamenej, kdes videl caru |
| Rovinka:=0; |
| continue; |
| end; |
| |
| if REYE = 1 and CEYE = 1 then |
| if line = 1 then |
| a:=TIME; |
| LMOT:=-Rychlost;RMOT:=-Rychlost; |
| while TIME < (a+Reverz) do; |
| end; |
| if line = 1 then |
| a:=TIME; |
| LMOT:=-Rychlost; |
| while TIME < (a+Reverz) do; |
| end; |
| LMOT:=Rychlost*Zataceni;RMOT:=0; |
| line:=3; |
| Rovinka:=0; |
| continue; |
| end; |
| |
| if CEYE = 1 then |
| LMOT:=Rychlost;RMOT:=Rychlost; |
| line:=2; |
| Rovinka:= Rovinka +1; |
| continue; |
| end; |
| end; |