| /roboti/Robotour/SW/i2c/main.cpp |
|---|
| 0,0 → 1,155 |
| /*****************************************************************************/ |
| /* |
| * Zmena I2C adresy |
| * |
| * Copyright (C) 2007 KAKL |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License as published by |
| * the Free Software Foundation; either version 2 of the License, or |
| * (at your option) any later version. |
| * |
| * This program is distributed in the hope that it will be useful, |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| * GNU General Public License for more details. |
| * |
| */ |
| /*****************************************************************************/ |
| #include <iostream> |
| #include <getopt.h> |
| #include <errno.h> |
| #include <string.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <unistd.h> |
| #include "linux/i2c-dev.h" |
| #include "linux/i2c.h" |
| #include <sys/ioctl.h> |
| #include <sys/types.h> |
| #include <sys/stat.h> |
| #include <fcntl.h> |
| using namespace std; |
| #define BC_Addr 0x0B |
| #define US3_Addr 0x70 // 0xE0 in fact; Sonar na doprovod |
| #define CMPS_Addr 0x60 // 0xC0 |
| #define M1 0x50 // 0xA0 in fact |
| #define M2 0x51 // 0xA2 in fact |
| int file; |
| void I2C_addr (int Addr) |
| { |
| if (ioctl(file, I2C_SLAVE, Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr); |
| exit(-5); |
| } |
| } |
| unsigned int echo(int Addr) // precte vzdalenost z US cidla |
| { |
| char Buf[3]; |
| I2C_addr(Addr); |
| Buf[0]=0x0; |
| Buf[1]=0x51; |
| write(file, Buf, 2); |
| usleep(80000); |
| read(file, Buf, 3); |
| return (Buf[1]*256+Buf[2]); |
| } |
| unsigned char read_azimut_mag() // precte azimut z kompasu |
| { |
| char Buf[3]; // promena pro manipulaci s i2c |
| I2C_addr(CMPS_Addr); |
| Buf[0]=1; |
| write(file,Buf,1); |
| read(file, Buf,1); |
| return Buf[0]; |
| } |
| void calib() // kalibrace kompasu |
| { |
| char Buf[3]; // promena pro manipulaci s i2c |
| I2C_addr(CMPS_Addr); |
| Buf[0]=15; |
| Buf[1]=0xFF; |
| write(file,Buf,2); |
| } |
| int i2c_init() // zinicializuje i2c |
| { |
| file = open("/dev/i2c-0", O_RDWR); |
| if (file < 0) |
| { |
| cerr << "Could not open /dev/i2c-0." << endl; |
| return -1; |
| } |
| return 0; |
| } |
| int main(int argc, char *argv[], char *envp[]) |
| { |
| unsigned int OldAddress, NewAddress; |
| char Buf[10]; |
| fprintf(stdout, "\n **** Change I2C Address **** \n \r"); |
| if (argc<2) |
| { |
| printf("Use:\n%s OldAddress NewAddress - for change address\nOR\n%s Address - for echo\n\n\r",argv[0],argv[0]); |
| return 0; |
| } |
| i2c_init(); |
| sscanf(argv[1],"%x",&OldAddress); |
| if (argc==2) |
| { |
| printf("Vzdalenost: %d\n", echo(OldAddress>>1)); |
| close(file); |
| return 0; |
| } |
| sscanf(argv[2],"%x",&NewAddress); |
| printf("Old: %x New: %x\n", OldAddress, NewAddress); |
| printf("Vzdalenost: %d\n", echo(OldAddress>>1)); |
| I2C_addr(OldAddress>>1); |
| Buf[0]=0x0; |
| Buf[1]=0xA0; |
| write(file, Buf, 2); |
| I2C_addr(OldAddress>>1); |
| Buf[0]=0x0; |
| Buf[1]=0xAA; |
| write(file, Buf, 2); |
| I2C_addr(OldAddress>>1); |
| Buf[0]=0x0; |
| Buf[1]=0xA5; |
| write(file, Buf, 2); |
| I2C_addr(OldAddress>>1); |
| Buf[0]=0x0; |
| Buf[1]=NewAddress; |
| write(file, Buf, 2); |
| usleep(100000); |
| printf("Vzdalenost: %d\n", echo(NewAddress>>1)); |
| close(file); |
| return 0; |
| } |
| /roboti/Robotour/SW/motor/motor.c |
|---|
| 0,0 → 1,75 |
| #include "motor.h" |
| //#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1 |
| #use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2 |
| #define H1 PIN_A1 |
| #define L1 PIN_A2 |
| #define H2 PIN_A3 |
| #define L2 PIN_A4 |
| signed int8 command; // rozsah +-127 |
| #INT_SSP |
| void ssp_interupt () |
| { |
| BYTE incoming, state; |
| output_a(0); // vypnuti vsech budicu |
| state = i2c_isr_state(); |
| if(state < 0x80) //Master is sending data |
| { |
| command = i2c_read(); |
| } |
| if(state == 0x80) //Master is requesting data |
| { |
| i2c_write(command); |
| } |
| } |
| void main() |
| { |
| int8 speed; |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_144MS); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| enable_interrupts(GLOBAL); |
| enable_interrupts(INT_SSP); |
| command=-128; // zastaveni po resetu |
| while(true) |
| { |
| if (command==-128) // prikaz na odpojeni mustku nebo chybna hodnota |
| { |
| output_a(0); // volnobeh |
| continue; |
| }; |
| speed=command+127; // posunuti 0 pro zaporna cisla |
| output_a(0b10010); // vpred |
| delay_us(speed); |
| output_a(0); // vypnuti vsech budicu |
| delay_us(1); |
| restart_wdt(); |
| output_a(0b01100); // vzad |
| delay_us(254-speed); |
| output_a(0); // vypnuti vsech budicu |
| delay_us(1); |
| } |
| } |
| /roboti/Robotour/SW/motor/motor.hex |
|---|
| 0,0 → 1,35 |
| :1000000000308A007B280000FF00030E8301A1005E |
| :100010007F08A0000A08A8008A01A00E0408A20018 |
| :100020007708A3007808A4007908A5007A08A6003C |
| :100030007B08A700831383128C308400801D222844 |
| :100040008C193528220884002308F7002408F800BA |
| :100050002508F9002608FA002708FB0028088A006E |
| :10006000210E8300FF0E7F0E09008A114528130818 |
| :100070003008930014168C118316141C4128831227 |
| :100080003C28F80183128A1168288316850183129F |
| :1000900085018316941A51288312AA011318AA17EE |
| :1000A000831683122A08AA0AAF002F087F3C031C7C |
| :1000B0006128831614185E288312592883121308A6 |
| :1000C000A9002F08803C031D68282908B0003728A4 |
| :1000D0008C118A1122280830AD02031C7A282D3099 |
| :1000E00084000310800C000803197A287828000087 |
| :1000F000800B7728003484011F308305703083160D |
| :100100008F0006168614A2309300363083129400B6 |
| :1001100083161F129F121B0880399B0007309C001A |
| :1001200003308312AA0083161F129F121B08803906 |
| :100130009B0083121F1083160108C03981000B3009 |
| :10014000F700073083128101813084000008F03904 |
| :100150000738800064000008F739F719F039770490 |
| :10016000800090010030F800920000308316920069 |
| :1001700007309C0005080630F700F70BBD2800008B |
| :100180001C0883120D1383169D0172308F00C0303E |
| :1001900083128B0483168C1580308312A9002908E2 |
| :1001A000803C031DD8288316850183128501CF2842 |
| :1001B0007F302907AB00831685011230831285003A |
| :1001C0002B08AD006B20831685018312850100008A |
| :1001D00000006400831685010C30831285002B0813 |
| :1001E000FE3CAC00AD006B208316850183128501B7 |
| :0801F00000000000CF286300AD |
| :04400E00343FFC3F00 |
| :00000001FF |
| ;PIC16F88 |
| /roboti/Robotour/SW/motor/motor.h |
|---|
| 0,0 → 1,18 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES WDT //No Watch Dog Timer |
| #FUSES INTRC_IO //Internal RC Osc, no CLKOUT |
| #FUSES PUT //Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| #FUSES NOIESO //Internal External Switch Over mode disabled |
| #use delay(clock=8000000) |
| /roboti/Robotour/SW/motor/motor.PJT |
|---|
| 0,0 → 1,40 |
| [PROJECT] |
| Target=motor.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [motor.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=motor.c |
| [Windows] |
| 0=0000 motor.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.c |
| 2=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.h |
| 3=C:\Program Files\PICC\devices\16F88.h |
| 4= |
| [Units] |
| Count=1 |
| 1=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.c (main) |
| /roboti/Robotour/SW/vector/vector.cpp |
|---|
| 0,0 → 1,339 |
| /*****************************************************************************/ |
| /* |
| * vector.cpp - Control program for Vector robot |
| * |
| * Copyright (C) 2007 KAKL |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License as published by |
| * the Free Software Foundation; either version 2 of the License, or |
| * (at your option) any later version. |
| * |
| * This program is distributed in the hope that it will be useful, |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| * GNU General Public License for more details. |
| * |
| */ |
| /*****************************************************************************/ |
| #include <iostream> |
| #include <getopt.h> |
| #include <errno.h> |
| #include <string.h> |
| #include <pthread.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <unistd.h> |
| #include "linux/i2c-dev.h" |
| #include "linux/i2c.h" |
| #include <sys/ioctl.h> |
| #include <sys/types.h> |
| #include <sys/stat.h> |
| #include <fcntl.h> |
| #include "geocalc.h" |
| #include "track.h" |
| using namespace std; |
| #define BC_Addr 0x0B |
| #define US3_Addr 0x70 // 0xE0 in fact; Sonar na doprovod |
| #define CMPS_Addr 0x60 // 0xC0 |
| #define M1 0x50 // 0xA0 in fact |
| #define M2 0x51 // 0xA2 in fact |
| #define SEVER 0 |
| char vystup[50]; |
| pthread_t thread_1, thread_2, thread_3; |
| FILE *pRouraO,*pRouraI; |
| unsigned int vzdalenost; |
| char command,ble; |
| int file; |
| double n, e; |
| unsigned char azimut_mag; |
| pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; |
| void *print_tele(void *unused); |
| void *gps(void *unused); |
| //void *sensors(void *unused); |
| void I2C_addr (int Addr) |
| { |
| if (ioctl(file, I2C_SLAVE, Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr); |
| exit(-5); |
| } |
| } |
| void go (int Addr, int speed) // nastavi rychlost motoru |
| { |
| char Buf[1]; |
| I2C_addr (Addr); |
| Buf[0]=speed; |
| write(file, Buf, 1); |
| } |
| unsigned int echo(int Addr) // precte vzdalenost z US cidla |
| { |
| char Buf[3]; |
| I2C_addr(Addr); |
| Buf[0]=0x0; |
| Buf[1]=0x51; |
| write(file, Buf, 2); |
| usleep(80000); |
| read(file, Buf, 3); |
| return (Buf[1]*256+Buf[2]); |
| } |
| void FindNearestCrossing(void) |
| { |
| int n; |
| n=0; |
| do |
| { |
| if (0==cros[n].id) break; |
| if (GeoCalc::EllipsoidDistance(n, e, cros[n].n, cros[n].e) <= cros[n].dia) |
| { |
| #include "nav.h" |
| break; |
| } |
| } while(++n<POINTS); |
| } |
| int i2c_init() // zinicializuje i2c |
| { |
| file = open("/dev/i2c-0", O_RDWR); |
| if (file < 0) |
| { |
| cerr << "Could not open /dev/i2c-0." << endl; |
| return -1; |
| } |
| return 0; |
| } |
| int read_azimut_mag() // precte azimut z kompasu |
| { |
| char Buf[3]; // promena pro manipulaci s i2c |
| I2C_addr(CMPS_Addr); |
| Buf[0]=1; |
| write(file,Buf,1); |
| read(file, Buf,1); |
| return Buf[0]; |
| } |
| void turnL(unsigned char angle, signed char speed) // otoci robota o zadany uhel |
| { |
| int azimut; |
| go(M1, speed); |
| go(M2, -speed); |
| azimut=read_azimut_mag(); |
| while(read_azimut_mag() >= (azimut + angle)) usleep(10000); |
| go(M1, 0); |
| go(M2, 0); |
| command=0; |
| } |
| void turnR() // otoci robota o zadany uhel |
| { |
| } |
| int main(int argc, char *argv[], char *envp[]) |
| { |
| int filtr; |
| signed char test; |
| fprintf(stdout, "\n **** Starting Vector Control Programm **** \n \r"); |
| i2c_init(); |
| pthread_create(&thread_1, NULL, print_tele, NULL); |
| pthread_create(&thread_3, NULL, gps, NULL); |
| // pthread_create(&thread_2, NULL, sensors, NULL); |
| command=0; |
| filtr=0; |
| while(true) |
| { |
| switch (command) |
| { |
| case 'f': // forward |
| go(M1, 70); |
| go(M2, 70); |
| command=0; |
| break; |
| case 'b': // backward |
| go(M1, -70); |
| go(M2, -70); |
| command=0; |
| break; |
| case 'v': // volnobeh |
| go(M1, -128); |
| go(M2, -128); |
| command=0; |
| break; |
| case 's': // stop |
| go(M1, 0); |
| go(M2, 0); |
| command=0; |
| break; |
| case 'a': // test otaceni |
| go(M1, 100); |
| go(M2, -100); |
| azimut_mag=read_azimut_mag(); |
| while(read_azimut_mag() >= (azimut_mag + 45)) usleep(10000); |
| go(M1, 0); |
| go(M2, 0); |
| command=0; |
| break; |
| case 't': // test |
| for(test=0;test<127;test++) |
| { |
| go(M1, test); |
| go(M2, test); |
| usleep(10000); |
| }; |
| go(M1, 127); |
| go(M2, 127); |
| for(test=127;test>-128;test--) |
| { |
| go(M1, test); |
| go(M2, test); |
| usleep(10000); |
| }; |
| go(M1, -128); |
| go(M2, -128); |
| command=0; |
| break; |
| case 'g': |
| usleep(180000); // simulace ostatnich cidel (zdrzeni) |
| azimut_mag=read_azimut_mag(); |
| FindNearestCrossing(); |
| vzdalenost=echo(US3_Addr); |
| if ((vzdalenost>60)&&(vzdalenost<80)) |
| { |
| go(M1, 60); |
| go(M2, 60); |
| filtr=0; |
| break; |
| }; |
| if ((vzdalenost>30)&&(vzdalenost<130)) |
| { |
| filtr=0; |
| if (vzdalenost<55) |
| { |
| go(M1, 30); |
| go(M2, 60); |
| } |
| else |
| { |
| go(M1, 60); |
| go(M2, 30); |
| } |
| } |
| else |
| { |
| filtr++; |
| if (filtr>5) |
| { |
| go(M1, 1); // zastav, neni videt doprovod |
| go(M2, 1); |
| filtr=6; |
| } |
| }; |
| break; |
| } |
| }; |
| close(file); |
| pthread_join(thread_1, NULL); |
| pthread_join(thread_2, NULL); |
| pthread_join(thread_3, NULL); |
| return 0; |
| } |
| void *print_tele(void *unused) |
| { |
| char string[2]; |
| while(true) |
| { |
| pRouraI = fopen("/home/ble/pipe","r"); |
| command=fgetc(pRouraI); |
| string[0]=command; |
| string[1]=0; |
| fclose(pRouraI); |
| pRouraO = fopen("/home/ble/pipe","w"); |
| fprintf(pRouraO,"Vzdalenost: %u cm Command: %s\n",vzdalenost,string); |
| pthread_mutex_lock(&mutex); |
| fprintf(pRouraO,"%f N %f E\n", n, e); |
| fprintf(pRouraO,"Vzdalenost: %.1f m\n", GeoCalc::EllipsoidDistance(n, e, cros[1].n, cros[1].e)); |
| fprintf(pRouraO,"Azimut: %.2f Deg\n", GeoCalc::GCAzimuth(n, e, cros[1].n, cros[1].e)); |
| fprintf(pRouraO,"AzimutMag: %d (0-255)\n", azimut_mag); |
| pthread_mutex_unlock(&mutex); |
| fclose(pRouraO); |
| } |
| } |
| void *gps(void *unused) |
| { |
| FILE *pRS232; |
| double N, E, pomN, pomE, nn, ee; |
| while(true) |
| { |
| pRS232 = fopen("/dev/ttyS1","r"); |
| fscanf(pRS232,"$GPGGA,%*f,%lf,N,%lf,E,*", &N, &E); // parser NMEA |
| fclose(pRS232); |
| nn=ldiv((long)N,100).quot; // prepocet DDMM.MM na DD.DD |
| pomN=(N-nn*100)/60+nn; |
| ee=ldiv((long)E,100).quot; |
| pomE=(E-ee*100)/60+ee; |
| pthread_mutex_lock(&mutex); // prepis souradnic do sdilenych promennych |
| n=pomN; e=pomE; |
| pthread_mutex_unlock(&mutex); |
| usleep(800000); // NMEA nechodi castejc nez 1x za 1s |
| } |
| } |
| /* |
| void *sensors(void *unused) |
| { |
| char Buf[64]; |
| while(true) |
| { |
| I2C_addr(US_Addr); |
| Buf[0]=0x0; |
| Buf[1]=0x51; |
| write(file, Buf, 2); |
| usleep(80000); |
| read(file, Buf, 3); |
| vzdalenost=(Buf[1]*256+Buf[2]); |
| usleep(300000); |
| I2C_addr(PIC_Addr); |
| Buf[0]=command; |
| write(file, Buf, 1); |
| read(file, Buf, 1); |
| ble=Buf[0]; |
| } |
| } |
| */ |
| /roboti/Robotour/SW/vector/vector.cbp |
|---|
| 0,0 → 1,48 |
| <?xml version="1.0" encoding="UTF-8" standalone="yes" ?> |
| <CodeBlocks_project_file> |
| <FileVersion major="1" minor="6" /> |
| <Project> |
| <Option title="vector" /> |
| <Option pch_mode="2" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Build> |
| <Target title="Debug"> |
| <Option output="bin\Debug\vector" prefix_auto="0" extension_auto="0" /> |
| <Option object_output="obj\Debug\" /> |
| <Option type="1" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Compiler> |
| <Add option="-g" /> |
| </Compiler> |
| <Linker> |
| <Add option="-lpthread" /> |
| </Linker> |
| </Target> |
| <Target title="Release"> |
| <Option output="bin\Release\vector" prefix_auto="1" extension_auto="1" /> |
| <Option object_output="obj\Release\" /> |
| <Option type="1" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Compiler> |
| <Add option="-O2" /> |
| </Compiler> |
| <Linker> |
| <Add option="-s" /> |
| </Linker> |
| </Target> |
| </Build> |
| <Compiler> |
| <Add option="-Wall" /> |
| <Add option="-fexceptions" /> |
| </Compiler> |
| <Unit filename="geocalc.cpp" /> |
| <Unit filename="nav.h" /> |
| <Unit filename="track.h" /> |
| <Unit filename="vector.cpp" /> |
| <Extensions> |
| <code_completion /> |
| <envvars /> |
| <debugger /> |
| </Extensions> |
| </Project> |
| </CodeBlocks_project_file> |
| /roboti/Robotour/SW/vector/geocalc.cpp |
|---|
| 0,0 → 1,118 |
| /* Navigation code */ |
| #include "geocalc.h" |
| double GeoCalc::EllipsoidDistance(double lat1, double lon1, double lat2, double lon2) |
| { |
| double distance = 0.0; |
| double faz, baz; |
| double r = 1.0 - GEO::FLATTENING; |
| double tu1, tu2, cu1, su1, cu2, x, sx, cx, sy, cy, y, sa, c2a, cz, e, c, d; |
| double cosy1, cosy2; |
| distance = 0.0; |
| if((lon1 == lon2) && (lat1 == lat2)) return distance; |
| lon1 *= GEO::DE2RA; |
| lon2 *= GEO::DE2RA; |
| lat1 *= GEO::DE2RA; |
| lat2 *= GEO::DE2RA; |
| cosy1 = cos(lat1); |
| cosy2 = cos(lat2); |
| if(cosy1 == 0.0) cosy1 = 0.0000000001; |
| if(cosy2 == 0.0) cosy2 = 0.0000000001; |
| tu1 = r * sin(lat1) / cosy1; |
| tu2 = r * sin(lat2) / cosy2; |
| cu1 = 1.0 / sqrt(tu1 * tu1 + 1.0); |
| su1 = cu1 * tu1; |
| cu2 = 1.0 / sqrt(tu2 * tu2 + 1.0); |
| x = lon2 - lon1; |
| distance = cu1 * cu2; |
| baz = distance * tu2; |
| faz = baz * tu1; |
| do { |
| sx = sin(x); |
| cx = cos(x); |
| tu1 = cu2 * sx; |
| tu2 = baz - su1 * cu2 * cx; |
| sy = sqrt(tu1 * tu1 + tu2 * tu2); |
| cy = distance * cx + faz; |
| y = atan2(sy, cy); |
| sa = distance * sx / sy; |
| c2a = -sa * sa + 1.0; |
| cz = faz + faz; |
| if(c2a > 0.0) cz = -cz / c2a + cy; |
| e = cz * cz * 2. - 1.0; |
| c = ((-3.0 * c2a + 4.0) * GEO::FLATTENING + 4.0) * c2a * GEO::FLATTENING / 16.0; |
| d = x; |
| x = ((e * cy * c + cz) * sy * c + y) * sa; |
| x = (1.0 - c) * x * GEO::FLATTENING + lon2 - lon1; |
| } while(fabs(d - x) > GEO::EPS); |
| x = sqrt((1.0 / r / r - 1.0) * c2a + 1.0) + 1.0; |
| x = (x - 2.0) / x; |
| c = 1.0 - x; |
| c = (x * x / 4.0 + 1.0) / c; |
| d = (0.375 * x * x - 1.0) * x; |
| x = e * cy; |
| distance = 1.0 - e - e; |
| distance = ((((sy * sy * 4.0 - 3.0) * |
| distance * cz * d / 6.0 - x) * d / 4.0 + cz) * sy * d + y) * c * GEO::ERAD * r; |
| return distance*1000; |
| } |
| double GeoCalc::GCAzimuth(double lat1, double lon1, double lat2, double lon2) |
| { |
| double result = 0.0; |
| INT32 ilat1 = (INT32)(0.50 + lat1 * 360000.0); |
| INT32 ilat2 = (INT32)(0.50 + lat2 * 360000.0); |
| INT32 ilon1 = (INT32)(0.50 + lon1 * 360000.0); |
| INT32 ilon2 = (INT32)(0.50 + lon2 * 360000.0); |
| lat1 *= GEO::DE2RA; |
| lon1 *= GEO::DE2RA; |
| lat2 *= GEO::DE2RA; |
| lon2 *= GEO::DE2RA; |
| if ((ilat1 == ilat2) && (ilon1 == ilon2)) |
| { |
| return result; |
| } |
| else if (ilon1 == ilon2) |
| { |
| if (ilat1 > ilat2) |
| result = 180.0; |
| } |
| else |
| { |
| double c = acos(sin(lat2)*sin(lat1) + cos(lat2)*cos(lat1)*cos((lon2-lon1))); |
| double A = asin(cos(lat2)*sin((lon2-lon1))/sin(c)); |
| result = (A * GEO::RA2DE); |
| if ((ilat2 > ilat1) && (ilon2 > ilon1)) |
| { |
| } |
| else if ((ilat2 < ilat1) && (ilon2 < ilon1)) |
| { |
| result = 180.0 - result; |
| } |
| else if ((ilat2 < ilat1) && (ilon2 > ilon1)) |
| { |
| result = 180.0 - result; |
| } |
| else if ((ilat2 > ilat1) && (ilon2 < ilon1)) |
| { |
| result += 360.0; |
| } |
| } |
| return result; |
| } |
| /roboti/Robotour/SW/vector/geocalc.h |
|---|
| 0,0 → 1,27 |
| #include <iostream> |
| #include "math.h" |
| typedef signed int INT32; |
| namespace GEO { |
| const double PI = 3.14159265359; |
| const double PIOVER2 = PI/2.0; |
| const double TWOPI = 6.28318530718; |
| const double DE2RA = 0.01745329252; |
| const double RA2DE = 57.2957795129; |
| const double ERAD = 6378.137; |
| const double FLATTENING = 1.000000/298.257223563;// Earth flattening (WGS84) |
| const double EPS = 0.000000000005; |
| } |
| using namespace std; |
| class GeoCalc { |
| public: |
| // great circle method |
| static double GCAzimuth(double lat1, double lon1, double lat2, double lon2); |
| // ellipsoid methods |
| static double EllipsoidDistance(double lat1, double lon1, double lat2, double lon2); |
| }; |
| /roboti/Robotour/SW/vector/main.cpp |
|---|
| 0,0 → 1,9 |
| #include <iostream> |
| using namespace std; |
| int main() |
| { |
| cout << "Hello world!" << endl; |
| return 0; |
| } |
| /roboti/Robotour/SW/wdt/wdt.c |
|---|
| 0,0 → 1,17 |
| #include "C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\wdt\wdt.h" |
| void main() |
| { |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_144MS); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(VREF_LOW|-2); |
| setup_oscillator(False); |
| } |
| /roboti/Robotour/SW/wdt/wdt.h |
|---|
| 0,0 → 1,18 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES WDT //Watch Dog Timer |
| #FUSES INTRC //Internal RC Osc |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| #FUSES NOIESO //Internal External Switch Over mode disabled |
| #use delay(clock=8000000,RESTART_WDT) |
| /roboti/Robotour/SW/wdt/wdt.hex |
|---|
| 0,0 → 1,13 |
| :1000000000308A000428000084011F30830570300E |
| :1000100083168F001F129F121B0880399B00073028 |
| :100020009C001F129F121B0880399B0083121F1017 |
| :10003000941283160611861406120030831294005F |
| :10004000831694000108C03981000B30F700073097 |
| :1000500083128101813084000008F0390738800064 |
| :1000600064000008F739F719F0397704800090012F |
| :100070000030F800920000308316920007309C0098 |
| :10008000050864000630F700F70B44281C088312AB |
| :100090000D13FE3083169D0005158F010F086300B8 |
| :04400E003D3FFC3FF7 |
| :00000001FF |
| ;PIC16F88 |
| /roboti/Robotour/SW/board/main.cpp |
|---|
| 0,0 → 1,164 |
| /*****************************************************************************/ |
| /* |
| * Board.cpp - communication with NGW100 Board Controller and I2C |
| * |
| * Copyright (C) 2007 Karel Hojdar, KAKL |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License as published by |
| * the Free Software Foundation; either version 2 of the License, or |
| * (at your option) any later version. |
| * |
| * This program is distributed in the hope that it will be useful, |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| * GNU General Public License for more details. |
| * |
| * |
| * |
| * Revision history |
| * 15.06.2007 1.0 Undertaken from KAHO |
| * 09.09.2007 2.0 I2C US Ranger |
| */ |
| /*****************************************************************************/ |
| #include <iostream> |
| #include <getopt.h> |
| #include <errno.h> |
| #include <string.h> |
| #include <pthread.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <unistd.h> |
| #include "linux/i2c-dev.h" |
| #include "linux/i2c.h" |
| #include <sys/ioctl.h> |
| #include <sys/types.h> |
| #include <sys/stat.h> |
| #include <fcntl.h> |
| using namespace std; |
| #define BC_Addr 0x0B |
| #define US_Addr 0x70 // 0xE0 in fact |
| #define PIC_Addr 0x50 // 0xA0 in fact |
| char vystup[30]; |
| pthread_t thread_id; |
| FILE *pRouraO,*pRouraI; |
| unsigned int vzdalenost; |
| char command,ble; |
| void *print_tele(void *unused); |
| void DoExit(int ex) |
| { |
| exit(ex); |
| } |
| unsigned char xfunc[5] = {0x99, 0x9A, 0x9B, 0x9E, 0x8D}; |
| unsigned char xlen[5] = {8, 6, 1, 15, 2}; |
| int main(int argc, char *argv[], char *envp[]) |
| { |
| int Len; |
| int i2cbus = 0; |
| char filename[20],Buf[64]; |
| int file; |
| fprintf(stdout, "Ble................"); |
| sprintf(filename, "/dev/i2c-%d", i2cbus); |
| file = open(filename, O_RDWR); |
| if (file < 0) |
| { |
| cerr << "Could not open /dev/i2c-0." << endl; |
| return -1; |
| } |
| /* |
| if (ioctl(file, I2C_SLAVE, BC_Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", BC_Addr); |
| DoExit(-2); |
| } |
| Buf[0] = xfunc[0]; |
| if ( write(file, Buf, 1) != 1) |
| { |
| fprintf(stderr, "Failed to write byte to address to 0x%02x, errno %i.\n", BC_Addr, errno); |
| DoExit(-3); |
| } |
| if (read(file, Buf, 1) != 1) |
| { |
| fprintf(stderr, "Failed to read response length, errno %i.\n", errno); |
| DoExit(-4); |
| } |
| Len = Buf[0]; |
| if (read(file, Buf, Len) != Len) |
| { |
| fprintf(stderr, "Failed to read response, errno %i.\n", errno); |
| DoExit(-5); |
| } |
| Buf[Len] = 0x00; |
| fprintf(stdout, "Board ID is %s.\n", Buf); |
| */ |
| //!------ US --------------------------------------------------------------------------- |
| pthread_create(&thread_id, NULL, print_tele, NULL); |
| while(true) |
| { |
| if (ioctl(file, I2C_SLAVE, US_Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr); |
| DoExit(-6); |
| } |
| Buf[0]=0x0; |
| Buf[1]=0x51; |
| write(file, Buf, 2); |
| usleep(80000); |
| read(file, Buf, 3); |
| vzdalenost=(Buf[1]*256+Buf[2]); |
| usleep(300000); |
| if (ioctl(file, I2C_SLAVE, PIC_Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr); |
| DoExit(-6); |
| } |
| Buf[0]=command; |
| write(file, Buf, 1); |
| read(file, Buf, 1); |
| ble=Buf[0]; |
| //!-------- |
| printf("Vzdalenost: %u cm Command: %x\n",vzdalenost,ble); |
| }; |
| close(file); |
| pthread_join(thread_id, NULL); |
| fclose(pRouraO); |
| return 0; |
| } |
| void *print_tele(void *unused) |
| { |
| while(1) |
| { |
| pRouraI = fopen("/home/ble/pipe","r"); |
| command=fgetc(pRouraI); |
| fclose(pRouraI); |
| pRouraO = fopen("/home/ble/pipe","w"); |
| fprintf(pRouraO,"Vzdalenost: %u cm Command: %x\n",vzdalenost,ble); |
| fclose(pRouraO); |
| } |
| } |
| /roboti/Robotour/SW/board/board.cbp |
|---|
| 0,0 → 1,45 |
| <?xml version="1.0" encoding="UTF-8" standalone="yes" ?> |
| <CodeBlocks_project_file> |
| <FileVersion major="1" minor="6" /> |
| <Project> |
| <Option title="board" /> |
| <Option pch_mode="2" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Build> |
| <Target title="Debug"> |
| <Option output="bin\Debug\board" prefix_auto="0" extension_auto="0" /> |
| <Option object_output="obj\Debug\" /> |
| <Option type="1" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Compiler> |
| <Add option="-g" /> |
| </Compiler> |
| <Linker> |
| <Add option="-lpthread" /> |
| </Linker> |
| </Target> |
| <Target title="Release"> |
| <Option output="bin\Release\board" prefix_auto="1" extension_auto="1" /> |
| <Option object_output="obj\Release\" /> |
| <Option type="1" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Compiler> |
| <Add option="-O2" /> |
| </Compiler> |
| <Linker> |
| <Add option="-s" /> |
| </Linker> |
| </Target> |
| </Build> |
| <Compiler> |
| <Add option="-Wall" /> |
| <Add option="-fexceptions" /> |
| </Compiler> |
| <Unit filename="main.cpp" /> |
| <Extensions> |
| <code_completion /> |
| <envvars /> |
| <debugger /> |
| </Extensions> |
| </Project> |
| </CodeBlocks_project_file> |
| /roboti/Robotour/SW/board/workspace.workspace |
|---|
| 0,0 → 1,6 |
| <?xml version="1.0" encoding="UTF-8" standalone="yes" ?> |
| <CodeBlocks_workspace_file> |
| <Workspace title="Workspace"> |
| <Project filename="board.cbp" active="1" /> |
| </Workspace> |
| </CodeBlocks_workspace_file> |
| /roboti/Robotour/SW/pic_i2c_slave/test.PJT |
|---|
| 0,0 → 1,40 |
| [PROJECT] |
| Target=test.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [test.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=test.c |
| [Windows] |
| 0=0000 test.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.c |
| 2=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.h |
| 3=C:\Program Files\PICC\devices\16F88.h |
| 4= |
| [Units] |
| Count=1 |
| 1=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.c (main) |
| /roboti/Robotour/SW/pic_i2c_slave/test.c |
|---|
| 0,0 → 1,73 |
| #include "test.h" |
| #define H1 PIN_A1 |
| #define L1 PIN_A2 |
| #define H2 PIN_A3 |
| #define L2 PIN_A4 |
| char command; |
| int n; |
| #INT_SSP |
| void ssp_interupt () |
| { |
| BYTE incoming, state; |
| output_low(H1); |
| output_low(L1); |
| output_low(H2); |
| output_low(L2); |
| state = i2c_isr_state(); |
| if(state < 0x80) //Master is sending data |
| { |
| output_toggle(PIN_A0); |
| command = i2c_read(); |
| } |
| if(state == 0x80) //Master is requesting data |
| { |
| i2c_write(command); |
| } |
| } |
| void main() |
| { |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_oscillator(False); |
| enable_interrupts(GLOBAL); |
| enable_interrupts(INT_SSP); |
| while(true) |
| { |
| if(command=='a') |
| { |
| output_high(H1); |
| output_low(H2); |
| output_low(L1); |
| output_high(L2); |
| } |
| else |
| { |
| output_low(H1); |
| output_high(H2); |
| output_high(L1); |
| output_low(L2); |
| }; |
| delay_us(60); |
| output_low(H1); |
| output_low(H2); |
| output_low(L1); |
| output_low(L2); |
| } |
| } |
| /roboti/Robotour/SW/pic_i2c_slave/test.h |
|---|
| 0,0 → 1,19 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES NOWDT //No Watch Dog Timer |
| #FUSES HS //High speed Osc (> 4mhz) |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| #FUSES NOIESO //Internal External Switch Over mode disabled |
| #use delay(clock=4000000) |
| #use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) |
| /roboti/Robotour/SW/RNDF_MDF_parser/rndf_dbg.cpp |
|---|
| 0,0 → 1,9 |
| /* |
| * Funkce umi jedine... Vypsat zadany retezec |
| */ |
| #include <iostream> |
| template <class T> |
| void echoDbg(T hlaseni) { |
| std::cout << "DBG:\t" << hlaseni << std::endl; |
| } |
| /roboti/Robotour/SW/RNDF_MDF_parser/makefile |
|---|
| 0,0 → 1,15 |
| # makefile pro weboveho klienta |
| # Vasco 2007 |
| CC = g++ |
| DBG += -DDBG |
| ## slinkovane soubory |
| RNDF_parser: rndfparser.o |
| $(CC) -o $@ $< |
| ## *.o soubory |
| rndfparser.o: rndf_parser.cpp |
| $(CC) $(DBG) -c -o $@ $< |
| clean: |
| rm -f *.o RNDF_parser |
| /roboti/Robotour/SW/RNDF_MDF_parser/RNDF_stromovka.txt |
|---|
| 0,0 → 1,3913 |
| RNDF_name stromovka-rndf-0.2 |
| num_segments 22 |
| num_zones 0 |
| format_version 1.0 |
| creation_date 9/29/2006 |
| segment 1 |
| num_lanes 2 |
| segment_name A |
| lane 1.1 |
| num_waypoints 60 |
| checkpoint 1.1.30 1 |
| exit 1.1.60 2.1.1 |
| exit 1.1.60 5.1.1 |
| 1.1.1 50.105220 14.427978 |
| 1.1.2 50.105230 14.427981 |
| 1.1.3 50.105240 14.427985 |
| 1.1.4 50.105250 14.427991 |
| 1.1.5 50.105260 14.427998 |
| 1.1.6 50.105270 14.428006 |
| 1.1.7 50.105280 14.428015 |
| 1.1.8 50.105291 14.428023 |
| 1.1.9 50.105301 14.428031 |
| 1.1.10 50.105313 14.428040 |
| 1.1.11 50.105323 14.428050 |
| 1.1.12 50.105333 14.428058 |
| 1.1.13 50.105343 14.428068 |
| 1.1.14 50.105353 14.428076 |
| 1.1.15 50.105363 14.428083 |
| 1.1.16 50.105375 14.428090 |
| 1.1.17 50.105385 14.428093 |
| 1.1.18 50.105398 14.428096 |
| 1.1.19 50.105410 14.428100 |
| 1.1.20 50.105423 14.428101 |
| 1.1.21 50.105435 14.428103 |
| 1.1.22 50.105446 14.428105 |
| 1.1.23 50.105460 14.428105 |
| 1.1.24 50.105471 14.428105 |
| 1.1.25 50.105481 14.428103 |
| 1.1.26 50.105493 14.428103 |
| 1.1.27 50.105503 14.428100 |
| 1.1.28 50.105515 14.428096 |
| 1.1.29 50.105525 14.428093 |
| 1.1.30 50.105536 14.428090 |
| 1.1.31 50.105546 14.428085 |
| 1.1.32 50.105560 14.428080 |
| 1.1.33 50.105570 14.428073 |
| 1.1.34 50.105581 14.428068 |
| 1.1.35 50.105593 14.428063 |
| 1.1.36 50.105605 14.428058 |
| 1.1.37 50.105616 14.428051 |
| 1.1.38 50.105626 14.428045 |
| 1.1.39 50.105638 14.428038 |
| 1.1.40 50.105650 14.428030 |
| 1.1.41 50.105660 14.428023 |
| 1.1.42 50.105670 14.428015 |
| 1.1.43 50.105680 14.428005 |
| 1.1.44 50.105690 14.427995 |
| 1.1.45 50.105700 14.427986 |
| 1.1.46 50.105710 14.427978 |
| 1.1.47 50.105720 14.427968 |
| 1.1.48 50.105730 14.427958 |
| 1.1.49 50.105740 14.427946 |
| 1.1.50 50.105748 14.427936 |
| 1.1.51 50.105756 14.427928 |
| 1.1.52 50.105765 14.427918 |
| 1.1.53 50.105773 14.427908 |
| 1.1.54 50.105781 14.427895 |
| 1.1.55 50.105790 14.427881 |
| 1.1.56 50.105798 14.427868 |
| 1.1.57 50.105806 14.427853 |
| 1.1.58 50.105813 14.427838 |
| 1.1.59 50.105820 14.427823 |
| 1.1.60 50.105825 14.427808 |
| end_lane |
| lane 1.2 |
| num_waypoints 60 |
| checkpoint 1.2.30 2 |
| exit 1.2.60 20.1.1 |
| exit 1.2.60 21.2.1 |
| 1.2.1 50.105825 14.427808 |
| 1.2.2 50.105820 14.427823 |
| 1.2.3 50.105813 14.427838 |
| 1.2.4 50.105806 14.427853 |
| 1.2.5 50.105798 14.427868 |
| 1.2.6 50.105790 14.427881 |
| 1.2.7 50.105781 14.427895 |
| 1.2.8 50.105773 14.427908 |
| 1.2.9 50.105765 14.427918 |
| 1.2.10 50.105756 14.427928 |
| 1.2.11 50.105748 14.427936 |
| 1.2.12 50.105740 14.427946 |
| 1.2.13 50.105730 14.427958 |
| 1.2.14 50.105720 14.427968 |
| 1.2.15 50.105710 14.427978 |
| 1.2.16 50.105700 14.427986 |
| 1.2.17 50.105690 14.427995 |
| 1.2.18 50.105680 14.428005 |
| 1.2.19 50.105670 14.428015 |
| 1.2.20 50.105660 14.428023 |
| 1.2.21 50.105650 14.428030 |
| 1.2.22 50.105638 14.428038 |
| 1.2.23 50.105626 14.428045 |
| 1.2.24 50.105616 14.428051 |
| 1.2.25 50.105605 14.428058 |
| 1.2.26 50.105593 14.428063 |
| 1.2.27 50.105581 14.428068 |
| 1.2.28 50.105570 14.428073 |
| 1.2.29 50.105560 14.428080 |
| 1.2.30 50.105546 14.428085 |
| 1.2.31 50.105536 14.428090 |
| 1.2.32 50.105525 14.428093 |
| 1.2.33 50.105515 14.428096 |
| 1.2.34 50.105503 14.428100 |
| 1.2.35 50.105493 14.428103 |
| 1.2.36 50.105481 14.428103 |
| 1.2.37 50.105471 14.428105 |
| 1.2.38 50.105460 14.428105 |
| 1.2.39 50.105446 14.428105 |
| 1.2.40 50.105435 14.428103 |
| 1.2.41 50.105423 14.428101 |
| 1.2.42 50.105410 14.428100 |
| 1.2.43 50.105398 14.428096 |
| 1.2.44 50.105385 14.428093 |
| 1.2.45 50.105375 14.428090 |
| 1.2.46 50.105363 14.428083 |
| 1.2.47 50.105353 14.428076 |
| 1.2.48 50.105343 14.428068 |
| 1.2.49 50.105333 14.428058 |
| 1.2.50 50.105323 14.428050 |
| 1.2.51 50.105313 14.428040 |
| 1.2.52 50.105301 14.428031 |
| 1.2.53 50.105291 14.428023 |
| 1.2.54 50.105280 14.428015 |
| 1.2.55 50.105270 14.428006 |
| 1.2.56 50.105260 14.427998 |
| 1.2.57 50.105250 14.427991 |
| 1.2.58 50.105240 14.427985 |
| 1.2.59 50.105230 14.427981 |
| 1.2.60 50.105220 14.427978 |
| end_lane |
| end_segment |
| segment 2 |
| num_lanes 2 |
| segment_name B |
| lane 2.1 |
| num_waypoints 47 |
| checkpoint 2.1.23 3 |
| exit 2.1.47 3.1.1 |
| exit 2.1.47 4.1.1 |
| 2.1.1 50.105846 14.427758 |
| 2.1.2 50.105850 14.427743 |
| 2.1.3 50.105853 14.427728 |
| 2.1.4 50.105856 14.427711 |
| 2.1.5 50.105860 14.427693 |
| 2.1.6 50.105863 14.427676 |
| 2.1.7 50.105866 14.427660 |
| 2.1.8 50.105868 14.427641 |
| 2.1.9 50.105871 14.427623 |
| 2.1.10 50.105873 14.427605 |
| 2.1.11 50.105875 14.427585 |
| 2.1.12 50.105876 14.427566 |
| 2.1.13 50.105876 14.427548 |
| 2.1.14 50.105876 14.427530 |
| 2.1.15 50.105876 14.427510 |
| 2.1.16 50.105875 14.427493 |
| 2.1.17 50.105875 14.427475 |
| 2.1.18 50.105873 14.427455 |
| 2.1.19 50.105871 14.427438 |
| 2.1.20 50.105870 14.427420 |
| 2.1.21 50.105868 14.427403 |
| 2.1.22 50.105865 14.427386 |
| 2.1.23 50.105861 14.427368 |
| 2.1.24 50.105858 14.427350 |
| 2.1.25 50.105855 14.427333 |
| 2.1.26 50.105851 14.427316 |
| 2.1.27 50.105846 14.427300 |
| 2.1.28 50.105841 14.427285 |
| 2.1.29 50.105836 14.427268 |
| 2.1.30 50.105830 14.427253 |
| 2.1.31 50.105825 14.427238 |
| 2.1.32 50.105818 14.427223 |
| 2.1.33 50.105811 14.427210 |
| 2.1.34 50.105805 14.427196 |
| 2.1.35 50.105796 14.427183 |
| 2.1.36 50.105790 14.427168 |
| 2.1.37 50.105783 14.427155 |
| 2.1.38 50.105775 14.427143 |
| 2.1.39 50.105766 14.427131 |
| 2.1.40 50.105758 14.427120 |
| 2.1.41 50.105750 14.427108 |
| 2.1.42 50.105741 14.427098 |
| 2.1.43 50.105733 14.427090 |
| 2.1.44 50.105725 14.427080 |
| 2.1.45 50.105716 14.427071 |
| 2.1.46 50.105708 14.427063 |
| 2.1.47 50.105700 14.427055 |
| end_lane |
| lane 2.2 |
| num_waypoints 47 |
| checkpoint 2.2.23 4 |
| exit 2.2.47 1.2.1 |
| exit 2.2.47 5.1.1 |
| 2.2.1 50.105700 14.427055 |
| 2.2.2 50.105708 14.427063 |
| 2.2.3 50.105716 14.427071 |
| 2.2.4 50.105725 14.427080 |
| 2.2.5 50.105733 14.427090 |
| 2.2.6 50.105741 14.427098 |
| 2.2.7 50.105750 14.427108 |
| 2.2.8 50.105758 14.427120 |
| 2.2.9 50.105766 14.427131 |
| 2.2.10 50.105775 14.427143 |
| 2.2.11 50.105783 14.427155 |
| 2.2.12 50.105790 14.427168 |
| 2.2.13 50.105796 14.427183 |
| 2.2.14 50.105805 14.427196 |
| 2.2.15 50.105811 14.427210 |
| 2.2.16 50.105818 14.427223 |
| 2.2.17 50.105825 14.427238 |
| 2.2.18 50.105830 14.427253 |
| 2.2.19 50.105836 14.427268 |
| 2.2.20 50.105841 14.427285 |
| 2.2.21 50.105846 14.427300 |
| 2.2.22 50.105851 14.427316 |
| 2.2.23 50.105855 14.427333 |
| 2.2.24 50.105858 14.427350 |
| 2.2.25 50.105861 14.427368 |
| 2.2.26 50.105865 14.427386 |
| 2.2.27 50.105868 14.427403 |
| 2.2.28 50.105870 14.427420 |
| 2.2.29 50.105871 14.427438 |
| 2.2.30 50.105873 14.427455 |
| 2.2.31 50.105875 14.427475 |
| 2.2.32 50.105875 14.427493 |
| 2.2.33 50.105876 14.427510 |
| 2.2.34 50.105876 14.427530 |
| 2.2.35 50.105876 14.427548 |
| 2.2.36 50.105876 14.427566 |
| 2.2.37 50.105875 14.427585 |
| 2.2.38 50.105873 14.427605 |
| 2.2.39 50.105871 14.427623 |
| 2.2.40 50.105868 14.427641 |
| 2.2.41 50.105866 14.427660 |
| 2.2.42 50.105863 14.427676 |
| 2.2.43 50.105860 14.427693 |
| 2.2.44 50.105856 14.427711 |
| 2.2.45 50.105853 14.427728 |
| 2.2.46 50.105850 14.427743 |
| 2.2.47 50.105846 14.427758 |
| end_lane |
| end_segment |
| segment 3 |
| num_lanes 2 |
| segment_name C |
| lane 3.1 |
| num_waypoints 42 |
| checkpoint 3.1.21 5 |
| exit 3.1.42 8.2.1 |
| exit 3.1.42 14.2.1 |
| exit 3.1.42 21.1.1 |
| 3.1.1 50.105658 14.427046 |
| 3.1.2 50.105648 14.427041 |
| 3.1.3 50.105640 14.427036 |
| 3.1.4 50.105630 14.427031 |
| 3.1.5 50.105620 14.427026 |
| 3.1.6 50.105608 14.427023 |
| 3.1.7 50.105598 14.427020 |
| 3.1.8 50.105586 14.427016 |
| 3.1.9 50.105576 14.427015 |
| 3.1.10 50.105565 14.427013 |
| 3.1.11 50.105555 14.427011 |
| 3.1.12 50.105543 14.427010 |
| 3.1.13 50.105531 14.427008 |
| 3.1.14 50.105520 14.427010 |
| 3.1.15 50.105510 14.427010 |
| 3.1.16 50.105498 14.427010 |
| 3.1.17 50.105486 14.427011 |
| 3.1.18 50.105475 14.427013 |
| 3.1.19 50.105465 14.427018 |
| 3.1.20 50.105453 14.427020 |
| 3.1.21 50.105443 14.427021 |
| 3.1.22 50.105433 14.427025 |
| 3.1.23 50.105423 14.427028 |
| 3.1.24 50.105411 14.427028 |
| 3.1.25 50.105400 14.427030 |
| 3.1.26 50.105388 14.427033 |
| 3.1.27 50.105376 14.427036 |
| 3.1.28 50.105363 14.427041 |
| 3.1.29 50.105351 14.427045 |
| 3.1.30 50.105340 14.427050 |
| 3.1.31 50.105326 14.427055 |
| 3.1.32 50.105316 14.427060 |
| 3.1.33 50.105305 14.427066 |
| 3.1.34 50.105295 14.427071 |
| 3.1.35 50.105285 14.427076 |
| 3.1.36 50.105273 14.427080 |
| 3.1.37 50.105263 14.427083 |
| 3.1.38 50.105251 14.427086 |
| 3.1.39 50.105241 14.427090 |
| 3.1.40 50.105231 14.427095 |
| 3.1.41 50.105221 14.427098 |
| 3.1.42 50.105211 14.427103 |
| end_lane |
| lane 3.2 |
| num_waypoints 42 |
| checkpoint 3.2.21 6 |
| exit 3.2.42 2.2.1 |
| exit 3.2.42 4.1.1 |
| 3.2.1 50.105211 14.427103 |
| 3.2.2 50.105221 14.427098 |
| 3.2.3 50.105231 14.427095 |
| 3.2.4 50.105241 14.427090 |
| 3.2.5 50.105251 14.427086 |
| 3.2.6 50.105263 14.427083 |
| 3.2.7 50.105273 14.427080 |
| 3.2.8 50.105285 14.427076 |
| 3.2.9 50.105295 14.427071 |
| 3.2.10 50.105305 14.427066 |
| 3.2.11 50.105316 14.427060 |
| 3.2.12 50.105326 14.427055 |
| 3.2.13 50.105340 14.427050 |
| 3.2.14 50.105351 14.427045 |
| 3.2.15 50.105363 14.427041 |
| 3.2.16 50.105376 14.427036 |
| 3.2.17 50.105388 14.427033 |
| 3.2.18 50.105400 14.427030 |
| 3.2.19 50.105411 14.427028 |
| 3.2.20 50.105423 14.427028 |
| 3.2.21 50.105433 14.427025 |
| 3.2.22 50.105443 14.427021 |
| 3.2.23 50.105453 14.427020 |
| 3.2.24 50.105465 14.427018 |
| 3.2.25 50.105475 14.427013 |
| 3.2.26 50.105486 14.427011 |
| 3.2.27 50.105498 14.427010 |
| 3.2.28 50.105510 14.427010 |
| 3.2.29 50.105520 14.427010 |
| 3.2.30 50.105531 14.427008 |
| 3.2.31 50.105543 14.427010 |
| 3.2.32 50.105555 14.427011 |
| 3.2.33 50.105565 14.427013 |
| 3.2.34 50.105576 14.427015 |
| 3.2.35 50.105586 14.427016 |
| 3.2.36 50.105598 14.427020 |
| 3.2.37 50.105608 14.427023 |
| 3.2.38 50.105620 14.427026 |
| 3.2.39 50.105630 14.427031 |
| 3.2.40 50.105640 14.427036 |
| 3.2.41 50.105648 14.427041 |
| 3.2.42 50.105658 14.427046 |
| end_lane |
| end_segment |
| segment 4 |
| num_lanes 2 |
| segment_name D |
| lane 4.1 |
| num_waypoints 47 |
| checkpoint 4.1.23 7 |
| exit 4.1.47 5.2.1 |
| exit 4.1.47 6.1.1 |
| 4.1.1 50.105718 14.427045 |
| 4.1.2 50.105723 14.427043 |
| 4.1.3 50.105730 14.427045 |
| 4.1.4 50.105736 14.427048 |
| 4.1.5 50.105745 14.427051 |
| 4.1.6 50.105751 14.427053 |
| 4.1.7 50.105760 14.427058 |
| 4.1.8 50.105768 14.427061 |
| 4.1.9 50.105775 14.427065 |
| 4.1.10 50.105781 14.427068 |
| 4.1.11 50.105790 14.427071 |
| 4.1.12 50.105796 14.427076 |
| 4.1.13 50.105805 14.427081 |
| 4.1.14 50.105811 14.427088 |
| 4.1.15 50.105820 14.427093 |
| 4.1.16 50.105828 14.427100 |
| 4.1.17 50.105835 14.427106 |
| 4.1.18 50.105843 14.427111 |
| 4.1.19 50.105848 14.427116 |
| 4.1.20 50.105856 14.427123 |
| 4.1.21 50.105863 14.427130 |
| 4.1.22 50.105870 14.427135 |
| 4.1.23 50.105876 14.427143 |
| 4.1.24 50.105883 14.427150 |
| 4.1.25 50.105888 14.427158 |
| 4.1.26 50.105895 14.427165 |
| 4.1.27 50.105900 14.427173 |
| 4.1.28 50.105906 14.427180 |
| 4.1.29 50.105913 14.427188 |
| 4.1.30 50.105918 14.427196 |
| 4.1.31 50.105923 14.427203 |
| 4.1.32 50.105928 14.427211 |
| 4.1.33 50.105933 14.427220 |
| 4.1.34 50.105938 14.427228 |
| 4.1.35 50.105941 14.427236 |
| 4.1.36 50.105946 14.427246 |
| 4.1.37 50.105951 14.427255 |
| 4.1.38 50.105956 14.427263 |
| 4.1.39 50.105961 14.427271 |
| 4.1.40 50.105965 14.427281 |
| 4.1.41 50.105970 14.427290 |
| 4.1.42 50.105975 14.427300 |
| 4.1.43 50.105980 14.427308 |
| 4.1.44 50.105983 14.427318 |
| 4.1.45 50.105988 14.427328 |
| 4.1.46 50.105991 14.427336 |
| 4.1.47 50.105995 14.427346 |
| end_lane |
| lane 4.2 |
| num_waypoints 47 |
| checkpoint 4.2.23 8 |
| exit 4.2.47 2.2.1 |
| exit 4.2.47 3.1.1 |
| 4.2.1 50.105995 14.427346 |
| 4.2.2 50.105991 14.427336 |
| 4.2.3 50.105988 14.427328 |
| 4.2.4 50.105983 14.427318 |
| 4.2.5 50.105980 14.427308 |
| 4.2.6 50.105975 14.427300 |
| 4.2.7 50.105970 14.427290 |
| 4.2.8 50.105965 14.427281 |
| 4.2.9 50.105961 14.427271 |
| 4.2.10 50.105956 14.427263 |
| 4.2.11 50.105951 14.427255 |
| 4.2.12 50.105946 14.427246 |
| 4.2.13 50.105941 14.427236 |
| 4.2.14 50.105938 14.427228 |
| 4.2.15 50.105933 14.427220 |
| 4.2.16 50.105928 14.427211 |
| 4.2.17 50.105923 14.427203 |
| 4.2.18 50.105918 14.427196 |
| 4.2.19 50.105913 14.427188 |
| 4.2.20 50.105906 14.427180 |
| 4.2.21 50.105900 14.427173 |
| 4.2.22 50.105895 14.427165 |
| 4.2.23 50.105888 14.427158 |
| 4.2.24 50.105883 14.427150 |
| 4.2.25 50.105876 14.427143 |
| 4.2.26 50.105870 14.427135 |
| 4.2.27 50.105863 14.427130 |
| 4.2.28 50.105856 14.427123 |
| 4.2.29 50.105848 14.427116 |
| 4.2.30 50.105843 14.427111 |
| 4.2.31 50.105835 14.427106 |
| 4.2.32 50.105828 14.427100 |
| 4.2.33 50.105820 14.427093 |
| 4.2.34 50.105811 14.427088 |
| 4.2.35 50.105805 14.427081 |
| 4.2.36 50.105796 14.427076 |
| 4.2.37 50.105790 14.427071 |
| 4.2.38 50.105781 14.427068 |
| 4.2.39 50.105775 14.427065 |
| 4.2.40 50.105768 14.427061 |
| 4.2.41 50.105760 14.427058 |
| 4.2.42 50.105751 14.427053 |
| 4.2.43 50.105745 14.427051 |
| 4.2.44 50.105736 14.427048 |
| 4.2.45 50.105730 14.427045 |
| 4.2.46 50.105723 14.427043 |
| 4.2.47 50.105718 14.427045 |
| end_lane |
| end_segment |
| segment 5 |
| num_lanes 2 |
| segment_name E |
| lane 5.1 |
| num_waypoints 25 |
| checkpoint 5.1.12 9 |
| exit 5.1.25 4.2.1 |
| exit 5.1.25 6.1.1 |
| 5.1.1 50.105853 14.427771 |
| 5.1.2 50.105861 14.427763 |
| 5.1.3 50.105871 14.427753 |
| 5.1.4 50.105880 14.427740 |
| 5.1.5 50.105888 14.427723 |
| 5.1.6 50.105896 14.427708 |
| 5.1.7 50.105905 14.427691 |
| 5.1.8 50.105913 14.427675 |
| 5.1.9 50.105920 14.427658 |
| 5.1.10 50.105928 14.427641 |
| 5.1.11 50.105935 14.427623 |
| 5.1.12 50.105941 14.427603 |
| 5.1.13 50.105948 14.427585 |
| 5.1.14 50.105953 14.427565 |
| 5.1.15 50.105958 14.427546 |
| 5.1.16 50.105963 14.427528 |
| 5.1.17 50.105968 14.427508 |
| 5.1.18 50.105971 14.427488 |
| 5.1.19 50.105975 14.427470 |
| 5.1.20 50.105978 14.427451 |
| 5.1.21 50.105980 14.427431 |
| 5.1.22 50.105983 14.427411 |
| 5.1.23 50.105985 14.427391 |
| 5.1.24 50.105988 14.427371 |
| 5.1.25 50.105990 14.427355 |
| end_lane |
| lane 5.2 |
| num_waypoints 25 |
| checkpoint 5.2.12 10 |
| exit 5.2.25 1.2.1 |
| exit 5.2.25 2.1.1 |
| 5.2.1 50.105990 14.427355 |
| 5.2.2 50.105988 14.427371 |
| 5.2.3 50.105985 14.427391 |
| 5.2.4 50.105983 14.427411 |
| 5.2.5 50.105980 14.427431 |
| 5.2.6 50.105978 14.427451 |
| 5.2.7 50.105975 14.427470 |
| 5.2.8 50.105971 14.427488 |
| 5.2.9 50.105968 14.427508 |
| 5.2.10 50.105963 14.427528 |
| 5.2.11 50.105958 14.427546 |
| 5.2.12 50.105953 14.427565 |
| 5.2.13 50.105948 14.427585 |
| 5.2.14 50.105941 14.427603 |
| 5.2.15 50.105935 14.427623 |
| 5.2.16 50.105928 14.427641 |
| 5.2.17 50.105920 14.427658 |
| 5.2.18 50.105913 14.427675 |
| 5.2.19 50.105905 14.427691 |
| 5.2.20 50.105896 14.427708 |
| 5.2.21 50.105888 14.427723 |
| 5.2.22 50.105880 14.427740 |
| 5.2.23 50.105871 14.427753 |
| 5.2.24 50.105861 14.427763 |
| 5.2.25 50.105853 14.427771 |
| end_lane |
| end_segment |
| segment 6 |
| num_lanes 2 |
| segment_name F |
| lane 6.1 |
| num_waypoints 40 |
| checkpoint 6.1.20 11 |
| exit 6.1.40 7.2.1 |
| 6.1.1 50.105966 14.427320 |
| 6.1.2 50.105971 14.427330 |
| 6.1.3 50.105976 14.427340 |
| 6.1.4 50.105980 14.427350 |
| 6.1.5 50.105985 14.427360 |
| 6.1.6 50.105991 14.427373 |
| 6.1.7 50.105998 14.427388 |
| 6.1.8 50.106003 14.427401 |
| 6.1.9 50.106010 14.427415 |
| 6.1.10 50.106013 14.427428 |
| 6.1.11 50.106018 14.427441 |
| 6.1.12 50.106023 14.427455 |
| 6.1.13 50.106028 14.427466 |
| 6.1.14 50.106033 14.427478 |
| 6.1.15 50.106036 14.427493 |
| 6.1.16 50.106041 14.427505 |
| 6.1.17 50.106046 14.427520 |
| 6.1.18 50.106050 14.427535 |
| 6.1.19 50.106055 14.427551 |
| 6.1.20 50.106060 14.427565 |
| 6.1.21 50.106065 14.427575 |
| 6.1.22 50.106068 14.427585 |
| 6.1.23 50.106070 14.427598 |
| 6.1.24 50.106073 14.427615 |
| 6.1.25 50.106075 14.427628 |
| 6.1.26 50.106076 14.427641 |
| 6.1.27 50.106080 14.427655 |
| 6.1.28 50.106083 14.427668 |
| 6.1.29 50.106086 14.427681 |
| 6.1.30 50.106090 14.427693 |
| 6.1.31 50.106095 14.427708 |
| 6.1.32 50.106101 14.427725 |
| 6.1.33 50.106105 14.427741 |
| 6.1.34 50.106108 14.427758 |
| 6.1.35 50.106108 14.427768 |
| 6.1.36 50.106111 14.427780 |
| 6.1.37 50.106113 14.427788 |
| 6.1.38 50.106116 14.427796 |
| 6.1.39 50.106123 14.427810 |
| 6.1.40 50.106123 14.427813 |
| end_lane |
| lane 6.2 |
| num_waypoints 40 |
| checkpoint 6.2.20 12 |
| exit 6.2.40 4.2.1 |
| exit 6.2.40 5.2.1 |
| 6.2.1 50.106123 14.427813 |
| 6.2.2 50.106123 14.427810 |
| 6.2.3 50.106116 14.427796 |
| 6.2.4 50.106113 14.427788 |
| 6.2.5 50.106111 14.427780 |
| 6.2.6 50.106108 14.427768 |
| 6.2.7 50.106108 14.427758 |
| 6.2.8 50.106105 14.427741 |
| 6.2.9 50.106101 14.427725 |
| 6.2.10 50.106095 14.427708 |
| 6.2.11 50.106090 14.427693 |
| 6.2.12 50.106086 14.427681 |
| 6.2.13 50.106083 14.427668 |
| 6.2.14 50.106080 14.427655 |
| 6.2.15 50.106076 14.427641 |
| 6.2.16 50.106075 14.427628 |
| 6.2.17 50.106073 14.427615 |
| 6.2.18 50.106070 14.427598 |
| 6.2.19 50.106068 14.427585 |
| 6.2.20 50.106065 14.427575 |
| 6.2.21 50.106060 14.427565 |
| 6.2.22 50.106055 14.427551 |
| 6.2.23 50.106050 14.427535 |
| 6.2.24 50.106046 14.427520 |
| 6.2.25 50.106041 14.427505 |
| 6.2.26 50.106036 14.427493 |
| 6.2.27 50.106033 14.427478 |
| 6.2.28 50.106028 14.427466 |
| 6.2.29 50.106023 14.427455 |
| 6.2.30 50.106018 14.427441 |
| 6.2.31 50.106013 14.427428 |
| 6.2.32 50.106010 14.427415 |
| 6.2.33 50.106003 14.427401 |
| 6.2.34 50.105998 14.427388 |
| 6.2.35 50.105991 14.427373 |
| 6.2.36 50.105985 14.427360 |
| 6.2.37 50.105980 14.427350 |
| 6.2.38 50.105976 14.427340 |
| 6.2.39 50.105971 14.427330 |
| 6.2.40 50.105966 14.427320 |
| end_lane |
| end_segment |
| segment 7 |
| num_lanes 2 |
| segment_name G |
| lane 7.1 |
| num_waypoints 109 |
| checkpoint 7.1.54 13 |
| exit 7.1.109 6.2.1 |
| 7.1.1 50.106011 14.426290 |
| 7.1.2 50.106018 14.426293 |
| 7.1.3 50.106023 14.426301 |
| 7.1.4 50.106028 14.426318 |
| 7.1.5 50.106035 14.426335 |
| 7.1.6 50.106043 14.426351 |
| 7.1.7 50.106050 14.426368 |
| 7.1.8 50.106056 14.426383 |
| 7.1.9 50.106060 14.426393 |
| 7.1.10 50.106063 14.426405 |
| 7.1.11 50.106068 14.426421 |
| 7.1.12 50.106070 14.426435 |
| 7.1.13 50.106073 14.426450 |
| 7.1.14 50.106078 14.426461 |
| 7.1.15 50.106081 14.426473 |
| 7.1.16 50.106083 14.426485 |
| 7.1.17 50.106086 14.426496 |
| 7.1.18 50.106093 14.426508 |
| 7.1.19 50.106096 14.426523 |
| 7.1.20 50.106100 14.426538 |
| 7.1.21 50.106101 14.426550 |
| 7.1.22 50.106101 14.426563 |
| 7.1.23 50.106101 14.426578 |
| 7.1.24 50.106101 14.426590 |
| 7.1.25 50.106103 14.426605 |
| 7.1.26 50.106106 14.426621 |
| 7.1.27 50.106108 14.426636 |
| 7.1.28 50.106110 14.426653 |
| 7.1.29 50.106110 14.426668 |
| 7.1.30 50.106111 14.426686 |
| 7.1.31 50.106115 14.426703 |
| 7.1.32 50.106116 14.426721 |
| 7.1.33 50.106118 14.426736 |
| 7.1.34 50.106121 14.426753 |
| 7.1.35 50.106125 14.426768 |
| 7.1.36 50.106125 14.426785 |
| 7.1.37 50.106126 14.426801 |
| 7.1.38 50.106126 14.426816 |
| 7.1.39 50.106125 14.426830 |
| 7.1.40 50.106126 14.426840 |
| 7.1.41 50.106128 14.426855 |
| 7.1.42 50.106126 14.426863 |
| 7.1.43 50.106126 14.426875 |
| 7.1.44 50.106125 14.426891 |
| 7.1.45 50.106125 14.426905 |
| 7.1.46 50.106121 14.426916 |
| 7.1.47 50.106118 14.426930 |
| 7.1.48 50.106118 14.426948 |
| 7.1.49 50.106120 14.426966 |
| 7.1.50 50.106120 14.426980 |
| 7.1.51 50.106120 14.426990 |
| 7.1.52 50.106118 14.427000 |
| 7.1.53 50.106118 14.427015 |
| 7.1.54 50.106118 14.427033 |
| 7.1.55 50.106118 14.427050 |
| 7.1.56 50.106116 14.427068 |
| 7.1.57 50.106115 14.427086 |
| 7.1.58 50.106115 14.427100 |
| 7.1.59 50.106116 14.427111 |
| 7.1.60 50.106118 14.427123 |
| 7.1.61 50.106118 14.427136 |
| 7.1.62 50.106120 14.427155 |
| 7.1.63 50.106120 14.427165 |
| 7.1.64 50.106121 14.427175 |
| 7.1.65 50.106120 14.427190 |
| 7.1.66 50.106120 14.427203 |
| 7.1.67 50.106118 14.427220 |
| 7.1.68 50.106118 14.427235 |
| 7.1.69 50.106116 14.427255 |
| 7.1.70 50.106115 14.427270 |
| 7.1.71 50.106115 14.427291 |
| 7.1.72 50.106115 14.427310 |
| 7.1.73 50.106115 14.427326 |
| 7.1.74 50.106116 14.427343 |
| 7.1.75 50.106118 14.427360 |
| 7.1.76 50.106118 14.427378 |
| 7.1.77 50.106118 14.427395 |
| 7.1.78 50.106118 14.427413 |
| 7.1.79 50.106120 14.427433 |
| 7.1.80 50.106118 14.427448 |
| 7.1.81 50.106118 14.427463 |
| 7.1.82 50.106116 14.427476 |
| 7.1.83 50.106118 14.427491 |
| 7.1.84 50.106123 14.427505 |
| 7.1.85 50.106128 14.427520 |
| 7.1.86 50.106128 14.427536 |
| 7.1.87 50.106130 14.427553 |
| 7.1.88 50.106128 14.427570 |
| 7.1.89 50.106126 14.427585 |
| 7.1.90 50.106125 14.427601 |
| 7.1.91 50.106125 14.427615 |
| 7.1.92 50.106123 14.427628 |
| 7.1.93 50.106123 14.427648 |
| 7.1.94 50.106123 14.427666 |
| 7.1.95 50.106121 14.427683 |
| 7.1.96 50.106120 14.427700 |
| 7.1.97 50.106118 14.427715 |
| 7.1.98 50.106118 14.427730 |
| 7.1.99 50.106120 14.427738 |
| 7.1.100 50.106121 14.427748 |
| 7.1.101 50.106121 14.427765 |
| 7.1.102 50.106120 14.427780 |
| 7.1.103 50.106118 14.427798 |
| 7.1.104 50.106113 14.427821 |
| 7.1.105 50.106111 14.427841 |
| 7.1.106 50.106111 14.427858 |
| 7.1.107 50.106110 14.427873 |
| 7.1.108 50.106110 14.427885 |
| 7.1.109 50.106111 14.427895 |
| end_lane |
| lane 7.2 |
| num_waypoints 109 |
| checkpoint 7.2.54 14 |
| exit 7.2.109 8.1.1 |
| exit 7.2.109 9.2.1 |
| 7.2.1 50.106111 14.427895 |
| 7.2.2 50.106110 14.427885 |
| 7.2.3 50.106110 14.427873 |
| 7.2.4 50.106111 14.427858 |
| 7.2.5 50.106111 14.427841 |
| 7.2.6 50.106113 14.427821 |
| 7.2.7 50.106118 14.427798 |
| 7.2.8 50.106120 14.427780 |
| 7.2.9 50.106121 14.427765 |
| 7.2.10 50.106121 14.427748 |
| 7.2.11 50.106120 14.427738 |
| 7.2.12 50.106118 14.427730 |
| 7.2.13 50.106118 14.427715 |
| 7.2.14 50.106120 14.427700 |
| 7.2.15 50.106121 14.427683 |
| 7.2.16 50.106123 14.427666 |
| 7.2.17 50.106123 14.427648 |
| 7.2.18 50.106123 14.427628 |
| 7.2.19 50.106125 14.427615 |
| 7.2.20 50.106125 14.427601 |
| 7.2.21 50.106126 14.427585 |
| 7.2.22 50.106128 14.427570 |
| 7.2.23 50.106130 14.427553 |
| 7.2.24 50.106128 14.427536 |
| 7.2.25 50.106128 14.427520 |
| 7.2.26 50.106123 14.427505 |
| 7.2.27 50.106118 14.427491 |
| 7.2.28 50.106116 14.427476 |
| 7.2.29 50.106118 14.427463 |
| 7.2.30 50.106118 14.427448 |
| 7.2.31 50.106120 14.427433 |
| 7.2.32 50.106118 14.427413 |
| 7.2.33 50.106118 14.427395 |
| 7.2.34 50.106118 14.427378 |
| 7.2.35 50.106118 14.427360 |
| 7.2.36 50.106116 14.427343 |
| 7.2.37 50.106115 14.427326 |
| 7.2.38 50.106115 14.427310 |
| 7.2.39 50.106115 14.427291 |
| 7.2.40 50.106115 14.427270 |
| 7.2.41 50.106116 14.427255 |
| 7.2.42 50.106118 14.427235 |
| 7.2.43 50.106118 14.427220 |
| 7.2.44 50.106120 14.427203 |
| 7.2.45 50.106120 14.427190 |
| 7.2.46 50.106121 14.427175 |
| 7.2.47 50.106120 14.427165 |
| 7.2.48 50.106120 14.427155 |
| 7.2.49 50.106118 14.427136 |
| 7.2.50 50.106118 14.427123 |
| 7.2.51 50.106116 14.427111 |
| 7.2.52 50.106115 14.427100 |
| 7.2.53 50.106115 14.427086 |
| 7.2.54 50.106116 14.427068 |
| 7.2.55 50.106118 14.427050 |
| 7.2.56 50.106118 14.427033 |
| 7.2.57 50.106118 14.427015 |
| 7.2.58 50.106118 14.427000 |
| 7.2.59 50.106120 14.426990 |
| 7.2.60 50.106120 14.426980 |
| 7.2.61 50.106120 14.426966 |
| 7.2.62 50.106118 14.426948 |
| 7.2.63 50.106118 14.426930 |
| 7.2.64 50.106121 14.426916 |
| 7.2.65 50.106125 14.426905 |
| 7.2.66 50.106125 14.426891 |
| 7.2.67 50.106126 14.426875 |
| 7.2.68 50.106126 14.426863 |
| 7.2.69 50.106128 14.426855 |
| 7.2.70 50.106126 14.426840 |
| 7.2.71 50.106125 14.426830 |
| 7.2.72 50.106126 14.426816 |
| 7.2.73 50.106126 14.426801 |
| 7.2.74 50.106125 14.426785 |
| 7.2.75 50.106125 14.426768 |
| 7.2.76 50.106121 14.426753 |
| 7.2.77 50.106118 14.426736 |
| 7.2.78 50.106116 14.426721 |
| 7.2.79 50.106115 14.426703 |
| 7.2.80 50.106111 14.426686 |
| 7.2.81 50.106110 14.426668 |
| 7.2.82 50.106110 14.426653 |
| 7.2.83 50.106108 14.426636 |
| 7.2.84 50.106106 14.426621 |
| 7.2.85 50.106103 14.426605 |
| 7.2.86 50.106101 14.426590 |
| 7.2.87 50.106101 14.426578 |
| 7.2.88 50.106101 14.426563 |
| 7.2.89 50.106101 14.426550 |
| 7.2.90 50.106100 14.426538 |
| 7.2.91 50.106096 14.426523 |
| 7.2.92 50.106093 14.426508 |
| 7.2.93 50.106086 14.426496 |
| 7.2.94 50.106083 14.426485 |
| 7.2.95 50.106081 14.426473 |
| 7.2.96 50.106078 14.426461 |
| 7.2.97 50.106073 14.426450 |
| 7.2.98 50.106070 14.426435 |
| 7.2.99 50.106068 14.426421 |
| 7.2.100 50.106063 14.426405 |
| 7.2.101 50.106060 14.426393 |
| 7.2.102 50.106056 14.426383 |
| 7.2.103 50.106050 14.426368 |
| 7.2.104 50.106043 14.426351 |
| 7.2.105 50.106035 14.426335 |
| 7.2.106 50.106028 14.426318 |
| 7.2.107 50.106023 14.426301 |
| 7.2.108 50.106018 14.426293 |
| 7.2.109 50.106011 14.426290 |
| end_lane |
| end_segment |
| segment 8 |
| num_lanes 2 |
| segment_name H |
| lane 8.1 |
| num_waypoints 71 |
| checkpoint 8.1.35 15 |
| exit 8.1.71 3.2.1 |
| exit 8.1.71 11.1.1 |
| exit 8.1.71 14.2.1 |
| exit 8.1.71 21.1.1 |
| 8.1.1 50.105956 14.426205 |
| 8.1.2 50.105950 14.426218 |
| 8.1.3 50.105945 14.426231 |
| 8.1.4 50.105938 14.426245 |
| 8.1.5 50.105933 14.426260 |
| 8.1.6 50.105925 14.426276 |
| 8.1.7 50.105916 14.426293 |
| 8.1.8 50.105908 14.426310 |
| 8.1.9 50.105901 14.426328 |
| 8.1.10 50.105895 14.426346 |
| 8.1.11 50.105886 14.426363 |
| 8.1.12 50.105880 14.426378 |
| 8.1.13 50.105870 14.426395 |
| 8.1.14 50.105865 14.426413 |
| 8.1.15 50.105858 14.426431 |
| 8.1.16 50.105853 14.426450 |
| 8.1.17 50.105848 14.426466 |
| 8.1.18 50.105841 14.426485 |
| 8.1.19 50.105835 14.426503 |
| 8.1.20 50.105828 14.426518 |
| 8.1.21 50.105820 14.426533 |
| 8.1.22 50.105811 14.426551 |
| 8.1.23 50.105803 14.426568 |
| 8.1.24 50.105795 14.426583 |
| 8.1.25 50.105786 14.426598 |
| 8.1.26 50.105778 14.426613 |
| 8.1.27 50.105770 14.426628 |
| 8.1.28 50.105761 14.426645 |
| 8.1.29 50.105753 14.426660 |
| 8.1.30 50.105745 14.426676 |
| 8.1.31 50.105736 14.426688 |
| 8.1.32 50.105728 14.426698 |
| 8.1.33 50.105720 14.426711 |
| 8.1.34 50.105711 14.426723 |
| 8.1.35 50.105703 14.426735 |
| 8.1.36 50.105693 14.426745 |
| 8.1.37 50.105685 14.426753 |
| 8.1.38 50.105675 14.426760 |
| 8.1.39 50.105665 14.426768 |
| 8.1.40 50.105655 14.426775 |
| 8.1.41 50.105645 14.426781 |
| 8.1.42 50.105636 14.426788 |
| 8.1.43 50.105626 14.426796 |
| 8.1.44 50.105615 14.426805 |
| 8.1.45 50.105605 14.426813 |
| 8.1.46 50.105593 14.426820 |
| 8.1.47 50.105583 14.426826 |
| 8.1.48 50.105573 14.426833 |
| 8.1.49 50.105561 14.426841 |
| 8.1.50 50.105550 14.426848 |
| 8.1.51 50.105538 14.426855 |
| 8.1.52 50.105526 14.426860 |
| 8.1.53 50.105515 14.426868 |
| 8.1.54 50.105503 14.426875 |
| 8.1.55 50.105493 14.426881 |
| 8.1.56 50.105483 14.426888 |
| 8.1.57 50.105475 14.426895 |
| 8.1.58 50.105463 14.426901 |
| 8.1.59 50.105453 14.426908 |
| 8.1.60 50.105445 14.426915 |
| 8.1.61 50.105435 14.426923 |
| 8.1.62 50.105425 14.426930 |
| 8.1.63 50.105415 14.426933 |
| 8.1.64 50.105403 14.426936 |
| 8.1.65 50.105391 14.426940 |
| 8.1.66 50.105380 14.426946 |
| 8.1.67 50.105370 14.426953 |
| 8.1.68 50.105360 14.426958 |
| 8.1.69 50.105350 14.426963 |
| 8.1.70 50.105343 14.426968 |
| 8.1.71 50.105338 14.426971 |
| end_lane |
| lane 8.2 |
| num_waypoints 71 |
| checkpoint 8.2.35 16 |
| exit 8.2.71 7.1.1 |
| exit 8.2.71 9.2.1 |
| 8.2.1 50.105338 14.426971 |
| 8.2.2 50.105343 14.426968 |
| 8.2.3 50.105350 14.426963 |
| 8.2.4 50.105360 14.426958 |
| 8.2.5 50.105370 14.426953 |
| 8.2.6 50.105380 14.426946 |
| 8.2.7 50.105391 14.426940 |
| 8.2.8 50.105403 14.426936 |
| 8.2.9 50.105415 14.426933 |
| 8.2.10 50.105425 14.426930 |
| 8.2.11 50.105435 14.426923 |
| 8.2.12 50.105445 14.426915 |
| 8.2.13 50.105453 14.426908 |
| 8.2.14 50.105463 14.426901 |
| 8.2.15 50.105475 14.426895 |
| 8.2.16 50.105483 14.426888 |
| 8.2.17 50.105493 14.426881 |
| 8.2.18 50.105503 14.426875 |
| 8.2.19 50.105515 14.426868 |
| 8.2.20 50.105526 14.426860 |
| 8.2.21 50.105538 14.426855 |
| 8.2.22 50.105550 14.426848 |
| 8.2.23 50.105561 14.426841 |
| 8.2.24 50.105573 14.426833 |
| 8.2.25 50.105583 14.426826 |
| 8.2.26 50.105593 14.426820 |
| 8.2.27 50.105605 14.426813 |
| 8.2.28 50.105615 14.426805 |
| 8.2.29 50.105626 14.426796 |
| 8.2.30 50.105636 14.426788 |
| 8.2.31 50.105645 14.426781 |
| 8.2.32 50.105655 14.426775 |
| 8.2.33 50.105665 14.426768 |
| 8.2.34 50.105675 14.426760 |
| 8.2.35 50.105685 14.426753 |
| 8.2.36 50.105693 14.426745 |
| 8.2.37 50.105703 14.426735 |
| 8.2.38 50.105711 14.426723 |
| 8.2.39 50.105720 14.426711 |
| 8.2.40 50.105728 14.426698 |
| 8.2.41 50.105736 14.426688 |
| 8.2.42 50.105745 14.426676 |
| 8.2.43 50.105753 14.426660 |
| 8.2.44 50.105761 14.426645 |
| 8.2.45 50.105770 14.426628 |
| 8.2.46 50.105778 14.426613 |
| 8.2.47 50.105786 14.426598 |
| 8.2.48 50.105795 14.426583 |
| 8.2.49 50.105803 14.426568 |
| 8.2.50 50.105811 14.426551 |
| 8.2.51 50.105820 14.426533 |
| 8.2.52 50.105828 14.426518 |
| 8.2.53 50.105835 14.426503 |
| 8.2.54 50.105841 14.426485 |
| 8.2.55 50.105848 14.426466 |
| 8.2.56 50.105853 14.426450 |
| 8.2.57 50.105858 14.426431 |
| 8.2.58 50.105865 14.426413 |
| 8.2.59 50.105870 14.426395 |
| 8.2.60 50.105880 14.426378 |
| 8.2.61 50.105886 14.426363 |
| 8.2.62 50.105895 14.426346 |
| 8.2.63 50.105901 14.426328 |
| 8.2.64 50.105908 14.426310 |
| 8.2.65 50.105916 14.426293 |
| 8.2.66 50.105925 14.426276 |
| 8.2.67 50.105933 14.426260 |
| 8.2.68 50.105938 14.426245 |
| 8.2.69 50.105945 14.426231 |
| 8.2.70 50.105950 14.426218 |
| 8.2.71 50.105956 14.426205 |
| end_lane |
| end_segment |
| segment 9 |
| num_lanes 2 |
| segment_name I |
| lane 9.1 |
| num_waypoints 90 |
| checkpoint 9.1.45 17 |
| exit 9.1.90 7.1.1 |
| exit 9.1.90 8.1.1 |
| 9.1.1 50.106301 14.424728 |
| 9.1.2 50.106303 14.424741 |
| 9.1.3 50.106303 14.424760 |
| 9.1.4 50.106306 14.424771 |
| 9.1.5 50.106310 14.424786 |
| 9.1.6 50.106310 14.424803 |
| 9.1.7 50.106310 14.424818 |
| 9.1.8 50.106315 14.424838 |
| 9.1.9 50.106320 14.424856 |
| 9.1.10 50.106321 14.424878 |
| 9.1.11 50.106321 14.424898 |
| 9.1.12 50.106323 14.424923 |
| 9.1.13 50.106325 14.424950 |
| 9.1.14 50.106326 14.424971 |
| 9.1.15 50.106326 14.424993 |
| 9.1.16 50.106328 14.425016 |
| 9.1.17 50.106328 14.425040 |
| 9.1.18 50.106330 14.425060 |
| 9.1.19 50.106331 14.425081 |
| 9.1.20 50.106333 14.425106 |
| 9.1.21 50.106331 14.425133 |
| 9.1.22 50.106330 14.425158 |
| 9.1.23 50.106328 14.425176 |
| 9.1.24 50.106328 14.425196 |
| 9.1.25 50.106328 14.425218 |
| 9.1.26 50.106326 14.425240 |
| 9.1.27 50.106326 14.425260 |
| 9.1.28 50.106326 14.425275 |
| 9.1.29 50.106328 14.425290 |
| 9.1.30 50.106326 14.425306 |
| 9.1.31 50.106325 14.425323 |
| 9.1.32 50.106323 14.425340 |
| 9.1.33 50.106321 14.425355 |
| 9.1.34 50.106318 14.425371 |
| 9.1.35 50.106316 14.425390 |
| 9.1.36 50.106316 14.425406 |
| 9.1.37 50.106313 14.425421 |
| 9.1.38 50.106310 14.425436 |
| 9.1.39 50.106306 14.425450 |
| 9.1.40 50.106303 14.425463 |
| 9.1.41 50.106296 14.425485 |
| 9.1.42 50.106293 14.425505 |
| 9.1.43 50.106290 14.425525 |
| 9.1.44 50.106286 14.425541 |
| 9.1.45 50.106281 14.425561 |
| 9.1.46 50.106280 14.425580 |
| 9.1.47 50.106276 14.425596 |
| 9.1.48 50.106276 14.425611 |
| 9.1.49 50.106273 14.425626 |
| 9.1.50 50.106270 14.425643 |
| 9.1.51 50.106266 14.425656 |
| 9.1.52 50.106265 14.425670 |
| 9.1.53 50.106261 14.425685 |
| 9.1.54 50.106258 14.425700 |
| 9.1.55 50.106256 14.425711 |
| 9.1.56 50.106255 14.425725 |
| 9.1.57 50.106251 14.425741 |
| 9.1.58 50.106243 14.425763 |
| 9.1.59 50.106238 14.425780 |
| 9.1.60 50.106231 14.425796 |
| 9.1.61 50.106225 14.425813 |
| 9.1.62 50.106218 14.425833 |
| 9.1.63 50.106210 14.425855 |
| 9.1.64 50.106203 14.425871 |
| 9.1.65 50.106198 14.425891 |
| 9.1.66 50.106195 14.425910 |
| 9.1.67 50.106188 14.425930 |
| 9.1.68 50.106181 14.425950 |
| 9.1.69 50.106176 14.425968 |
| 9.1.70 50.106168 14.425985 |
| 9.1.71 50.106158 14.426003 |
| 9.1.72 50.106148 14.426020 |
| 9.1.73 50.106141 14.426038 |
| 9.1.74 50.106135 14.426056 |
| 9.1.75 50.106126 14.426073 |
| 9.1.76 50.106118 14.426090 |
| 9.1.77 50.106111 14.426108 |
| 9.1.78 50.106105 14.426128 |
| 9.1.79 50.106096 14.426145 |
| 9.1.80 50.106088 14.426163 |
| 9.1.81 50.106080 14.426178 |
| 9.1.82 50.106070 14.426193 |
| 9.1.83 50.106061 14.426208 |
| 9.1.84 50.106056 14.426221 |
| 9.1.85 50.106050 14.426233 |
| 9.1.86 50.106045 14.426245 |
| 9.1.87 50.106038 14.426255 |
| 9.1.88 50.106031 14.426266 |
| 9.1.89 50.106025 14.426278 |
| 9.1.90 50.106018 14.426288 |
| end_lane |
| lane 9.2 |
| num_waypoints 90 |
| checkpoint 9.2.45 18 |
| exit 9.2.90 10.1.1 |
| 9.2.1 50.106018 14.426288 |
| 9.2.2 50.106025 14.426278 |
| 9.2.3 50.106031 14.426266 |
| 9.2.4 50.106038 14.426255 |
| 9.2.5 50.106045 14.426245 |
| 9.2.6 50.106050 14.426233 |
| 9.2.7 50.106056 14.426221 |
| 9.2.8 50.106061 14.426208 |
| 9.2.9 50.106070 14.426193 |
| 9.2.10 50.106080 14.426178 |
| 9.2.11 50.106088 14.426163 |
| 9.2.12 50.106096 14.426145 |
| 9.2.13 50.106105 14.426128 |
| 9.2.14 50.106111 14.426108 |
| 9.2.15 50.106118 14.426090 |
| 9.2.16 50.106126 14.426073 |
| 9.2.17 50.106135 14.426056 |
| 9.2.18 50.106141 14.426038 |
| 9.2.19 50.106148 14.426020 |
| 9.2.20 50.106158 14.426003 |
| 9.2.21 50.106168 14.425985 |
| 9.2.22 50.106176 14.425968 |
| 9.2.23 50.106181 14.425950 |
| 9.2.24 50.106188 14.425930 |
| 9.2.25 50.106195 14.425910 |
| 9.2.26 50.106198 14.425891 |
| 9.2.27 50.106203 14.425871 |
| 9.2.28 50.106210 14.425855 |
| 9.2.29 50.106218 14.425833 |
| 9.2.30 50.106225 14.425813 |
| 9.2.31 50.106231 14.425796 |
| 9.2.32 50.106238 14.425780 |
| 9.2.33 50.106243 14.425763 |
| 9.2.34 50.106251 14.425741 |
| 9.2.35 50.106255 14.425725 |
| 9.2.36 50.106256 14.425711 |
| 9.2.37 50.106258 14.425700 |
| 9.2.38 50.106261 14.425685 |
| 9.2.39 50.106265 14.425670 |
| 9.2.40 50.106266 14.425656 |
| 9.2.41 50.106270 14.425643 |
| 9.2.42 50.106273 14.425626 |
| 9.2.43 50.106276 14.425611 |
| 9.2.44 50.106276 14.425596 |
| 9.2.45 50.106280 14.425580 |
| 9.2.46 50.106281 14.425561 |
| 9.2.47 50.106286 14.425541 |
| 9.2.48 50.106290 14.425525 |
| 9.2.49 50.106293 14.425505 |
| 9.2.50 50.106296 14.425485 |
| 9.2.51 50.106303 14.425463 |
| 9.2.52 50.106306 14.425450 |
| 9.2.53 50.106310 14.425436 |
| 9.2.54 50.106313 14.425421 |
| 9.2.55 50.106316 14.425406 |
| 9.2.56 50.106316 14.425390 |
| 9.2.57 50.106318 14.425371 |
| 9.2.58 50.106321 14.425355 |
| 9.2.59 50.106323 14.425340 |
| 9.2.60 50.106325 14.425323 |
| 9.2.61 50.106326 14.425306 |
| 9.2.62 50.106328 14.425290 |
| 9.2.63 50.106326 14.425275 |
| 9.2.64 50.106326 14.425260 |
| 9.2.65 50.106326 14.425240 |
| 9.2.66 50.106328 14.425218 |
| 9.2.67 50.106328 14.425196 |
| 9.2.68 50.106328 14.425176 |
| 9.2.69 50.106330 14.425158 |
| 9.2.70 50.106331 14.425133 |
| 9.2.71 50.106333 14.425106 |
| 9.2.72 50.106331 14.425081 |
| 9.2.73 50.106330 14.425060 |
| 9.2.74 50.106328 14.425040 |
| 9.2.75 50.106328 14.425016 |
| 9.2.76 50.106326 14.424993 |
| 9.2.77 50.106326 14.424971 |
| 9.2.78 50.106325 14.424950 |
| 9.2.79 50.106323 14.424923 |
| 9.2.80 50.106321 14.424898 |
| 9.2.81 50.106321 14.424878 |
| 9.2.82 50.106320 14.424856 |
| 9.2.83 50.106315 14.424838 |
| 9.2.84 50.106310 14.424818 |
| 9.2.85 50.106310 14.424803 |
| 9.2.86 50.106310 14.424786 |
| 9.2.87 50.106306 14.424771 |
| 9.2.88 50.106303 14.424760 |
| 9.2.89 50.106303 14.424741 |
| 9.2.90 50.106301 14.424728 |
| end_lane |
| end_segment |
| segment 10 |
| num_lanes 2 |
| segment_name J |
| lane 10.1 |
| num_waypoints 137 |
| checkpoint 10.1.68 19 |
| exit 10.1.137 11.2.1 |
| exit 10.1.137 12.2.1 |
| 10.1.1 50.106301 14.424740 |
| 10.1.2 50.106298 14.424733 |
| 10.1.3 50.106293 14.424723 |
| 10.1.4 50.106290 14.424716 |
| 10.1.5 50.106285 14.424708 |
| 10.1.6 50.106280 14.424698 |
| 10.1.7 50.106276 14.424690 |
| 10.1.8 50.106273 14.424681 |
| 10.1.9 50.106268 14.424668 |
| 10.1.10 50.106261 14.424658 |
| 10.1.11 50.106256 14.424646 |
| 10.1.12 50.106250 14.424633 |
| 10.1.13 50.106245 14.424618 |
| 10.1.14 50.106238 14.424605 |
| 10.1.15 50.106231 14.424591 |
| 10.1.16 50.106225 14.424578 |
| 10.1.17 50.106220 14.424568 |
| 10.1.18 50.106218 14.424560 |
| 10.1.19 50.106213 14.424548 |
| 10.1.20 50.106210 14.424533 |
| 10.1.21 50.106206 14.424521 |
| 10.1.22 50.106203 14.424510 |
| 10.1.23 50.106200 14.424498 |
| 10.1.24 50.106196 14.424486 |
| 10.1.25 50.106191 14.424473 |
| 10.1.26 50.106188 14.424461 |
| 10.1.27 50.106183 14.424451 |
| 10.1.28 50.106175 14.424440 |
| 10.1.29 50.106166 14.424431 |
| 10.1.30 50.106161 14.424421 |
| 10.1.31 50.106156 14.424413 |
| 10.1.32 50.106151 14.424403 |
| 10.1.33 50.106148 14.424393 |
| 10.1.34 50.106143 14.424381 |
| 10.1.35 50.106138 14.424370 |
| 10.1.36 50.106133 14.424356 |
| 10.1.37 50.106125 14.424345 |
| 10.1.38 50.106120 14.424333 |
| 10.1.39 50.106115 14.424323 |
| 10.1.40 50.106110 14.424313 |
| 10.1.41 50.106105 14.424303 |
| 10.1.42 50.106100 14.424293 |
| 10.1.43 50.106095 14.424281 |
| 10.1.44 50.106090 14.424271 |
| 10.1.45 50.106085 14.424260 |
| 10.1.46 50.106080 14.424248 |
| 10.1.47 50.106075 14.424235 |
| 10.1.48 50.106068 14.424221 |
| 10.1.49 50.106061 14.424206 |
| 10.1.50 50.106055 14.424193 |
| 10.1.51 50.106050 14.424181 |
| 10.1.52 50.106043 14.424171 |
| 10.1.53 50.106038 14.424160 |
| 10.1.54 50.106031 14.424148 |
| 10.1.55 50.106026 14.424136 |
| 10.1.56 50.106023 14.424126 |
| 10.1.57 50.106020 14.424116 |
| 10.1.58 50.106018 14.424108 |
| 10.1.59 50.106015 14.424096 |
| 10.1.60 50.106011 14.424088 |
| 10.1.61 50.106008 14.424081 |
| 10.1.62 50.106005 14.424071 |
| 10.1.63 50.106001 14.424063 |
| 10.1.64 50.105998 14.424056 |
| 10.1.65 50.105995 14.424048 |
| 10.1.66 50.105993 14.424040 |
| 10.1.67 50.105990 14.424031 |
| 10.1.68 50.105986 14.424023 |
| 10.1.69 50.105983 14.424015 |
| 10.1.70 50.105980 14.424005 |
| 10.1.71 50.105978 14.423995 |
| 10.1.72 50.105973 14.423985 |
| 10.1.73 50.105970 14.423975 |
| 10.1.74 50.105968 14.423961 |
| 10.1.75 50.105965 14.423951 |
| 10.1.76 50.105963 14.423941 |
| 10.1.77 50.105960 14.423928 |
| 10.1.78 50.105956 14.423916 |
| 10.1.79 50.105955 14.423903 |
| 10.1.80 50.105951 14.423886 |
| 10.1.81 50.105948 14.423875 |
| 10.1.82 50.105945 14.423860 |
| 10.1.83 50.105943 14.423845 |
| 10.1.84 50.105941 14.423830 |
| 10.1.85 50.105941 14.423816 |
| 10.1.86 50.105943 14.423805 |
| 10.1.87 50.105943 14.423791 |
| 10.1.88 50.105943 14.423778 |
| 10.1.89 50.105945 14.423765 |
| 10.1.90 50.105945 14.423751 |
| 10.1.91 50.105943 14.423736 |
| 10.1.92 50.105945 14.423723 |
| 10.1.93 50.105945 14.423710 |
| 10.1.94 50.105945 14.423696 |
| 10.1.95 50.105946 14.423685 |
| 10.1.96 50.105948 14.423675 |
| 10.1.97 50.105950 14.423665 |
| 10.1.98 50.105951 14.423653 |
| 10.1.99 50.105951 14.423641 |
| 10.1.100 50.105953 14.423630 |
| 10.1.101 50.105955 14.423618 |
| 10.1.102 50.105956 14.423610 |
| 10.1.103 50.105958 14.423598 |
| 10.1.104 50.105958 14.423583 |
| 10.1.105 50.105960 14.423571 |
| 10.1.106 50.105961 14.423558 |
| 10.1.107 50.105963 14.423545 |
| 10.1.108 50.105963 14.423533 |
| 10.1.109 50.105965 14.423523 |
| 10.1.110 50.105966 14.423511 |
| 10.1.111 50.105966 14.423498 |
| 10.1.112 50.105966 14.423485 |
| 10.1.113 50.105963 14.423473 |
| 10.1.114 50.105963 14.423461 |
| 10.1.115 50.105961 14.423450 |
| 10.1.116 50.105960 14.423436 |
| 10.1.117 50.105958 14.423426 |
| 10.1.118 50.105956 14.423413 |
| 10.1.119 50.105951 14.423398 |
| 10.1.120 50.105948 14.423383 |
| 10.1.121 50.105945 14.423370 |
| 10.1.122 50.105943 14.423356 |
| 10.1.123 50.105941 14.423343 |
| 10.1.124 50.105940 14.423331 |
| 10.1.125 50.105936 14.423316 |
| 10.1.126 50.105933 14.423305 |
| 10.1.127 50.105930 14.423290 |
| 10.1.128 50.105923 14.423275 |
| 10.1.129 50.105918 14.423260 |
| 10.1.130 50.105915 14.423246 |
| 10.1.131 50.105910 14.423233 |
| 10.1.132 50.105906 14.423221 |
| 10.1.133 50.105903 14.423211 |
| 10.1.134 50.105900 14.423200 |
| 10.1.135 50.105895 14.423188 |
| 10.1.136 50.105888 14.423176 |
| 10.1.137 50.105885 14.423171 |
| end_lane |
| lane 10.2 |
| num_waypoints 137 |
| checkpoint 10.2.68 20 |
| exit 10.2.137 9.1.1 |
| 10.2.1 50.105885 14.423171 |
| 10.2.2 50.105888 14.423176 |
| 10.2.3 50.105895 14.423188 |
| 10.2.4 50.105900 14.423200 |
| 10.2.5 50.105903 14.423211 |
| 10.2.6 50.105906 14.423221 |
| 10.2.7 50.105910 14.423233 |
| 10.2.8 50.105915 14.423246 |
| 10.2.9 50.105918 14.423260 |
| 10.2.10 50.105923 14.423275 |
| 10.2.11 50.105930 14.423290 |
| 10.2.12 50.105933 14.423305 |
| 10.2.13 50.105936 14.423316 |
| 10.2.14 50.105940 14.423331 |
| 10.2.15 50.105941 14.423343 |
| 10.2.16 50.105943 14.423356 |
| 10.2.17 50.105945 14.423370 |
| 10.2.18 50.105948 14.423383 |
| 10.2.19 50.105951 14.423398 |
| 10.2.20 50.105956 14.423413 |
| 10.2.21 50.105958 14.423426 |
| 10.2.22 50.105960 14.423436 |
| 10.2.23 50.105961 14.423450 |
| 10.2.24 50.105963 14.423461 |
| 10.2.25 50.105963 14.423473 |
| 10.2.26 50.105966 14.423485 |
| 10.2.27 50.105966 14.423498 |
| 10.2.28 50.105966 14.423511 |
| 10.2.29 50.105965 14.423523 |
| 10.2.30 50.105963 14.423533 |
| 10.2.31 50.105963 14.423545 |
| 10.2.32 50.105961 14.423558 |
| 10.2.33 50.105960 14.423571 |
| 10.2.34 50.105958 14.423583 |
| 10.2.35 50.105958 14.423598 |
| 10.2.36 50.105956 14.423610 |
| 10.2.37 50.105955 14.423618 |
| 10.2.38 50.105953 14.423630 |
| 10.2.39 50.105951 14.423641 |
| 10.2.40 50.105951 14.423653 |
| 10.2.41 50.105950 14.423665 |
| 10.2.42 50.105948 14.423675 |
| 10.2.43 50.105946 14.423685 |
| 10.2.44 50.105945 14.423696 |
| 10.2.45 50.105945 14.423710 |
| 10.2.46 50.105945 14.423723 |
| 10.2.47 50.105943 14.423736 |
| 10.2.48 50.105945 14.423751 |
| 10.2.49 50.105945 14.423765 |
| 10.2.50 50.105943 14.423778 |
| 10.2.51 50.105943 14.423791 |
| 10.2.52 50.105943 14.423805 |
| 10.2.53 50.105941 14.423816 |
| 10.2.54 50.105941 14.423830 |
| 10.2.55 50.105943 14.423845 |
| 10.2.56 50.105945 14.423860 |
| 10.2.57 50.105948 14.423875 |
| 10.2.58 50.105951 14.423886 |
| 10.2.59 50.105955 14.423903 |
| 10.2.60 50.105956 14.423916 |
| 10.2.61 50.105960 14.423928 |
| 10.2.62 50.105963 14.423941 |
| 10.2.63 50.105965 14.423951 |
| 10.2.64 50.105968 14.423961 |
| 10.2.65 50.105970 14.423975 |
| 10.2.66 50.105973 14.423985 |
| 10.2.67 50.105978 14.423995 |
| 10.2.68 50.105980 14.424005 |
| 10.2.69 50.105983 14.424015 |
| 10.2.70 50.105986 14.424023 |
| 10.2.71 50.105990 14.424031 |
| 10.2.72 50.105993 14.424040 |
| 10.2.73 50.105995 14.424048 |
| 10.2.74 50.105998 14.424056 |
| 10.2.75 50.106001 14.424063 |
| 10.2.76 50.106005 14.424071 |
| 10.2.77 50.106008 14.424081 |
| 10.2.78 50.106011 14.424088 |
| 10.2.79 50.106015 14.424096 |
| 10.2.80 50.106018 14.424108 |
| 10.2.81 50.106020 14.424116 |
| 10.2.82 50.106023 14.424126 |
| 10.2.83 50.106026 14.424136 |
| 10.2.84 50.106031 14.424148 |
| 10.2.85 50.106038 14.424160 |
| 10.2.86 50.106043 14.424171 |
| 10.2.87 50.106050 14.424181 |
| 10.2.88 50.106055 14.424193 |
| 10.2.89 50.106061 14.424206 |
| 10.2.90 50.106068 14.424221 |
| 10.2.91 50.106075 14.424235 |
| 10.2.92 50.106080 14.424248 |
| 10.2.93 50.106085 14.424260 |
| 10.2.94 50.106090 14.424271 |
| 10.2.95 50.106095 14.424281 |
| 10.2.96 50.106100 14.424293 |
| 10.2.97 50.106105 14.424303 |
| 10.2.98 50.106110 14.424313 |
| 10.2.99 50.106115 14.424323 |
| 10.2.100 50.106120 14.424333 |
| 10.2.101 50.106125 14.424345 |
| 10.2.102 50.106133 14.424356 |
| 10.2.103 50.106138 14.424370 |
| 10.2.104 50.106143 14.424381 |
| 10.2.105 50.106148 14.424393 |
| 10.2.106 50.106151 14.424403 |
| 10.2.107 50.106156 14.424413 |
| 10.2.108 50.106161 14.424421 |
| 10.2.109 50.106166 14.424431 |
| 10.2.110 50.106175 14.424440 |
| 10.2.111 50.106183 14.424451 |
| 10.2.112 50.106188 14.424461 |
| 10.2.113 50.106191 14.424473 |
| 10.2.114 50.106196 14.424486 |
| 10.2.115 50.106200 14.424498 |
| 10.2.116 50.106203 14.424510 |
| 10.2.117 50.106206 14.424521 |
| 10.2.118 50.106210 14.424533 |
| 10.2.119 50.106213 14.424548 |
| 10.2.120 50.106218 14.424560 |
| 10.2.121 50.106220 14.424568 |
| 10.2.122 50.106225 14.424578 |
| 10.2.123 50.106231 14.424591 |
| 10.2.124 50.106238 14.424605 |
| 10.2.125 50.106245 14.424618 |
| 10.2.126 50.106250 14.424633 |
| 10.2.127 50.106256 14.424646 |
| 10.2.128 50.106261 14.424658 |
| 10.2.129 50.106268 14.424668 |
| 10.2.130 50.106273 14.424681 |
| 10.2.131 50.106276 14.424690 |
| 10.2.132 50.106280 14.424698 |
| 10.2.133 50.106285 14.424708 |
| 10.2.134 50.106290 14.424716 |
| 10.2.135 50.106293 14.424723 |
| 10.2.136 50.106298 14.424733 |
| 10.2.137 50.106301 14.424740 |
| end_lane |
| end_segment |
| segment 11 |
| num_lanes 2 |
| segment_name L |
| lane 11.1 |
| num_waypoints 172 |
| checkpoint 11.1.86 21 |
| exit 11.1.172 10.2.1 |
| exit 11.1.172 12.2.1 |
| 11.1.1 50.105325 14.426801 |
| 11.1.2 50.105330 14.426790 |
| 11.1.3 50.105335 14.426775 |
| 11.1.4 50.105340 14.426760 |
| 11.1.5 50.105346 14.426741 |
| 11.1.6 50.105355 14.426721 |
| 11.1.7 50.105360 14.426705 |
| 11.1.8 50.105363 14.426690 |
| 11.1.9 50.105366 14.426676 |
| 11.1.10 50.105371 14.426660 |
| 11.1.11 50.105376 14.426641 |
| 11.1.12 50.105381 14.426625 |
| 11.1.13 50.105386 14.426611 |
| 11.1.14 50.105391 14.426595 |
| 11.1.15 50.105395 14.426578 |
| 11.1.16 50.105400 14.426561 |
| 11.1.17 50.105401 14.426545 |
| 11.1.18 50.105401 14.426526 |
| 11.1.19 50.105403 14.426505 |
| 11.1.20 50.105410 14.426483 |
| 11.1.21 50.105415 14.426460 |
| 11.1.22 50.105418 14.426438 |
| 11.1.23 50.105421 14.426413 |
| 11.1.24 50.105428 14.426391 |
| 11.1.25 50.105435 14.426370 |
| 11.1.26 50.105445 14.426348 |
| 11.1.27 50.105455 14.426321 |
| 11.1.28 50.105461 14.426300 |
| 11.1.29 50.105468 14.426281 |
| 11.1.30 50.105471 14.426261 |
| 11.1.31 50.105475 14.426240 |
| 11.1.32 50.105478 14.426216 |
| 11.1.33 50.105483 14.426191 |
| 11.1.34 50.105488 14.426168 |
| 11.1.35 50.105495 14.426145 |
| 11.1.36 50.105500 14.426121 |
| 11.1.37 50.105505 14.426101 |
| 11.1.38 50.105506 14.426085 |
| 11.1.39 50.105508 14.426065 |
| 11.1.40 50.105516 14.426038 |
| 11.1.41 50.105521 14.426015 |
| 11.1.42 50.105521 14.425991 |
| 11.1.43 50.105516 14.425975 |
| 11.1.44 50.105516 14.425953 |
| 11.1.45 50.105516 14.425933 |
| 11.1.46 50.105521 14.425913 |
| 11.1.47 50.105528 14.425890 |
| 11.1.48 50.105531 14.425863 |
| 11.1.49 50.105531 14.425836 |
| 11.1.50 50.105531 14.425818 |
| 11.1.51 50.105533 14.425801 |
| 11.1.52 50.105535 14.425783 |
| 11.1.53 50.105538 14.425761 |
| 11.1.54 50.105541 14.425735 |
| 11.1.55 50.105545 14.425713 |
| 11.1.56 50.105548 14.425688 |
| 11.1.57 50.105550 14.425666 |
| 11.1.58 50.105551 14.425641 |
| 11.1.59 50.105551 14.425620 |
| 11.1.60 50.105551 14.425596 |
| 11.1.61 50.105555 14.425571 |
| 11.1.62 50.105556 14.425551 |
| 11.1.63 50.105560 14.425533 |
| 11.1.64 50.105563 14.425510 |
| 11.1.65 50.105565 14.425490 |
| 11.1.66 50.105565 14.425466 |
| 11.1.67 50.105570 14.425443 |
| 11.1.68 50.105570 14.425423 |
| 11.1.69 50.105571 14.425405 |
| 11.1.70 50.105575 14.425383 |
| 11.1.71 50.105576 14.425363 |
| 11.1.72 50.105580 14.425341 |
| 11.1.73 50.105583 14.425320 |
| 11.1.74 50.105588 14.425296 |
| 11.1.75 50.105591 14.425273 |
| 11.1.76 50.105595 14.425253 |
| 11.1.77 50.105598 14.425233 |
| 11.1.78 50.105601 14.425211 |
| 11.1.79 50.105605 14.425191 |
| 11.1.80 50.105606 14.425171 |
| 11.1.81 50.105608 14.425150 |
| 11.1.82 50.105610 14.425128 |
| 11.1.83 50.105611 14.425106 |
| 11.1.84 50.105613 14.425085 |
| 11.1.85 50.105615 14.425063 |
| 11.1.86 50.105618 14.425041 |
| 11.1.87 50.105621 14.425018 |
| 11.1.88 50.105625 14.424996 |
| 11.1.89 50.105626 14.424976 |
| 11.1.90 50.105630 14.424953 |
| 11.1.91 50.105633 14.424931 |
| 11.1.92 50.105638 14.424908 |
| 11.1.93 50.105640 14.424886 |
| 11.1.94 50.105641 14.424865 |
| 11.1.95 50.105646 14.424845 |
| 11.1.96 50.105650 14.424823 |
| 11.1.97 50.105655 14.424801 |
| 11.1.98 50.105661 14.424775 |
| 11.1.99 50.105665 14.424751 |
| 11.1.100 50.105675 14.424731 |
| 11.1.101 50.105683 14.424710 |
| 11.1.102 50.105691 14.424686 |
| 11.1.103 50.105700 14.424658 |
| 11.1.104 50.105705 14.424626 |
| 11.1.105 50.105705 14.424595 |
| 11.1.106 50.105706 14.424566 |
| 11.1.107 50.105711 14.424545 |
| 11.1.108 50.105713 14.424531 |
| 11.1.109 50.105715 14.424518 |
| 11.1.110 50.105718 14.424501 |
| 11.1.111 50.105718 14.424478 |
| 11.1.112 50.105716 14.424448 |
| 11.1.113 50.105720 14.424420 |
| 11.1.114 50.105721 14.424401 |
| 11.1.115 50.105718 14.424381 |
| 11.1.116 50.105716 14.424365 |
| 11.1.117 50.105716 14.424350 |
| 11.1.118 50.105720 14.424328 |
| 11.1.119 50.105720 14.424310 |
| 11.1.120 50.105723 14.424286 |
| 11.1.121 50.105726 14.424265 |
| 11.1.122 50.105730 14.424240 |
| 11.1.123 50.105735 14.424216 |
| 11.1.124 50.105733 14.424198 |
| 11.1.125 50.105731 14.424181 |
| 11.1.126 50.105731 14.424160 |
| 11.1.127 50.105736 14.424138 |
| 11.1.128 50.105743 14.424115 |
| 11.1.129 50.105743 14.424091 |
| 11.1.130 50.105745 14.424070 |
| 11.1.131 50.105748 14.424043 |
| 11.1.132 50.105755 14.424013 |
| 11.1.133 50.105756 14.423988 |
| 11.1.134 50.105760 14.423963 |
| 11.1.135 50.105763 14.423943 |
| 11.1.136 50.105765 14.423920 |
| 11.1.137 50.105766 14.423895 |
| 11.1.138 50.105766 14.423873 |
| 11.1.139 50.105770 14.423851 |
| 11.1.140 50.105771 14.423833 |
| 11.1.141 50.105775 14.423816 |
| 11.1.142 50.105778 14.423800 |
| 11.1.143 50.105783 14.423780 |
| 11.1.144 50.105786 14.423760 |
| 11.1.145 50.105785 14.423740 |
| 11.1.146 50.105786 14.423720 |
| 11.1.147 50.105790 14.423698 |
| 11.1.148 50.105793 14.423673 |
| 11.1.149 50.105796 14.423651 |
| 11.1.150 50.105800 14.423630 |
| 11.1.151 50.105803 14.423608 |
| 11.1.152 50.105806 14.423581 |
| 11.1.153 50.105813 14.423561 |
| 11.1.154 50.105816 14.423545 |
| 11.1.155 50.105820 14.423528 |
| 11.1.156 50.105826 14.423508 |
| 11.1.157 50.105828 14.423486 |
| 11.1.158 50.105828 14.423461 |
| 11.1.159 50.105830 14.423435 |
| 11.1.160 50.105830 14.423415 |
| 11.1.161 50.105833 14.423390 |
| 11.1.162 50.105835 14.423370 |
| 11.1.163 50.105836 14.423351 |
| 11.1.164 50.105838 14.423331 |
| 11.1.165 50.105843 14.423308 |
| 11.1.166 50.105848 14.423286 |
| 11.1.167 50.105848 14.423266 |
| 11.1.168 50.105846 14.423246 |
| 11.1.169 50.105846 14.423228 |
| 11.1.170 50.105853 14.423213 |
| 11.1.171 50.105861 14.423201 |
| 11.1.172 50.105868 14.423190 |
| end_lane |
| lane 11.2 |
| num_waypoints 172 |
| checkpoint 11.2.86 22 |
| exit 11.2.172 8.2.1 |
| 11.2.1 50.105868 14.423190 |
| 11.2.2 50.105861 14.423201 |
| 11.2.3 50.105853 14.423213 |
| 11.2.4 50.105846 14.423228 |
| 11.2.5 50.105846 14.423246 |
| 11.2.6 50.105848 14.423266 |
| 11.2.7 50.105848 14.423286 |
| 11.2.8 50.105843 14.423308 |
| 11.2.9 50.105838 14.423331 |
| 11.2.10 50.105836 14.423351 |
| 11.2.11 50.105835 14.423370 |
| 11.2.12 50.105833 14.423390 |
| 11.2.13 50.105830 14.423415 |
| 11.2.14 50.105830 14.423435 |
| 11.2.15 50.105828 14.423461 |
| 11.2.16 50.105828 14.423486 |
| 11.2.17 50.105826 14.423508 |
| 11.2.18 50.105820 14.423528 |
| 11.2.19 50.105816 14.423545 |
| 11.2.20 50.105813 14.423561 |
| 11.2.21 50.105806 14.423581 |
| 11.2.22 50.105803 14.423608 |
| 11.2.23 50.105800 14.423630 |
| 11.2.24 50.105796 14.423651 |
| 11.2.25 50.105793 14.423673 |
| 11.2.26 50.105790 14.423698 |
| 11.2.27 50.105786 14.423720 |
| 11.2.28 50.105785 14.423740 |
| 11.2.29 50.105786 14.423760 |
| 11.2.30 50.105783 14.423780 |
| 11.2.31 50.105778 14.423800 |
| 11.2.32 50.105775 14.423816 |
| 11.2.33 50.105771 14.423833 |
| 11.2.34 50.105770 14.423851 |
| 11.2.35 50.105766 14.423873 |
| 11.2.36 50.105766 14.423895 |
| 11.2.37 50.105765 14.423920 |
| 11.2.38 50.105763 14.423943 |
| 11.2.39 50.105760 14.423963 |
| 11.2.40 50.105756 14.423988 |
| 11.2.41 50.105755 14.424013 |
| 11.2.42 50.105748 14.424043 |
| 11.2.43 50.105745 14.424070 |
| 11.2.44 50.105743 14.424091 |
| 11.2.45 50.105743 14.424115 |
| 11.2.46 50.105736 14.424138 |
| 11.2.47 50.105731 14.424160 |
| 11.2.48 50.105731 14.424181 |
| 11.2.49 50.105733 14.424198 |
| 11.2.50 50.105735 14.424216 |
| 11.2.51 50.105730 14.424240 |
| 11.2.52 50.105726 14.424265 |
| 11.2.53 50.105723 14.424286 |
| 11.2.54 50.105720 14.424310 |
| 11.2.55 50.105720 14.424328 |
| 11.2.56 50.105716 14.424350 |
| 11.2.57 50.105716 14.424365 |
| 11.2.58 50.105718 14.424381 |
| 11.2.59 50.105721 14.424401 |
| 11.2.60 50.105720 14.424420 |
| 11.2.61 50.105716 14.424448 |
| 11.2.62 50.105718 14.424478 |
| 11.2.63 50.105718 14.424501 |
| 11.2.64 50.105715 14.424518 |
| 11.2.65 50.105713 14.424531 |
| 11.2.66 50.105711 14.424545 |
| 11.2.67 50.105706 14.424566 |
| 11.2.68 50.105705 14.424595 |
| 11.2.69 50.105705 14.424626 |
| 11.2.70 50.105700 14.424658 |
| 11.2.71 50.105691 14.424686 |
| 11.2.72 50.105683 14.424710 |
| 11.2.73 50.105675 14.424731 |
| 11.2.74 50.105665 14.424751 |
| 11.2.75 50.105661 14.424775 |
| 11.2.76 50.105655 14.424801 |
| 11.2.77 50.105650 14.424823 |
| 11.2.78 50.105646 14.424845 |
| 11.2.79 50.105641 14.424865 |
| 11.2.80 50.105640 14.424886 |
| 11.2.81 50.105638 14.424908 |
| 11.2.82 50.105633 14.424931 |
| 11.2.83 50.105630 14.424953 |
| 11.2.84 50.105626 14.424976 |
| 11.2.85 50.105625 14.424996 |
| 11.2.86 50.105621 14.425018 |
| 11.2.87 50.105618 14.425041 |
| 11.2.88 50.105615 14.425063 |
| 11.2.89 50.105613 14.425085 |
| 11.2.90 50.105611 14.425106 |
| 11.2.91 50.105610 14.425128 |
| 11.2.92 50.105608 14.425150 |
| 11.2.93 50.105606 14.425171 |
| 11.2.94 50.105605 14.425191 |
| 11.2.95 50.105601 14.425211 |
| 11.2.96 50.105598 14.425233 |
| 11.2.97 50.105595 14.425253 |
| 11.2.98 50.105591 14.425273 |
| 11.2.99 50.105588 14.425296 |
| 11.2.100 50.105583 14.425320 |
| 11.2.101 50.105580 14.425341 |
| 11.2.102 50.105576 14.425363 |
| 11.2.103 50.105575 14.425383 |
| 11.2.104 50.105571 14.425405 |
| 11.2.105 50.105570 14.425423 |
| 11.2.106 50.105570 14.425443 |
| 11.2.107 50.105565 14.425466 |
| 11.2.108 50.105565 14.425490 |
| 11.2.109 50.105563 14.425510 |
| 11.2.110 50.105560 14.425533 |
| 11.2.111 50.105556 14.425551 |
| 11.2.112 50.105555 14.425571 |
| 11.2.113 50.105551 14.425596 |
| 11.2.114 50.105551 14.425620 |
| 11.2.115 50.105551 14.425641 |
| 11.2.116 50.105550 14.425666 |
| 11.2.117 50.105548 14.425688 |
| 11.2.118 50.105545 14.425713 |
| 11.2.119 50.105541 14.425735 |
| 11.2.120 50.105538 14.425761 |
| 11.2.121 50.105535 14.425783 |
| 11.2.122 50.105533 14.425801 |
| 11.2.123 50.105531 14.425818 |
| 11.2.124 50.105531 14.425836 |
| 11.2.125 50.105531 14.425863 |
| 11.2.126 50.105528 14.425890 |
| 11.2.127 50.105521 14.425913 |
| 11.2.128 50.105516 14.425933 |
| 11.2.129 50.105516 14.425953 |
| 11.2.130 50.105516 14.425975 |
| 11.2.131 50.105521 14.425991 |
| 11.2.132 50.105521 14.426015 |
| 11.2.133 50.105516 14.426038 |
| 11.2.134 50.105508 14.426065 |
| 11.2.135 50.105506 14.426085 |
| 11.2.136 50.105505 14.426101 |
| 11.2.137 50.105500 14.426121 |
| 11.2.138 50.105495 14.426145 |
| 11.2.139 50.105488 14.426168 |
| 11.2.140 50.105483 14.426191 |
| 11.2.141 50.105478 14.426216 |
| 11.2.142 50.105475 14.426240 |
| 11.2.143 50.105471 14.426261 |
| 11.2.144 50.105468 14.426281 |
| 11.2.145 50.105461 14.426300 |
| 11.2.146 50.105455 14.426321 |
| 11.2.147 50.105445 14.426348 |
| 11.2.148 50.105435 14.426370 |
| 11.2.149 50.105428 14.426391 |
| 11.2.150 50.105421 14.426413 |
| 11.2.151 50.105418 14.426438 |
| 11.2.152 50.105415 14.426460 |
| 11.2.153 50.105410 14.426483 |
| 11.2.154 50.105403 14.426505 |
| 11.2.155 50.105401 14.426526 |
| 11.2.156 50.105401 14.426545 |
| 11.2.157 50.105400 14.426561 |
| 11.2.158 50.105395 14.426578 |
| 11.2.159 50.105391 14.426595 |
| 11.2.160 50.105386 14.426611 |
| 11.2.161 50.105381 14.426625 |
| 11.2.162 50.105376 14.426641 |
| 11.2.163 50.105371 14.426660 |
| 11.2.164 50.105366 14.426676 |
| 11.2.165 50.105363 14.426690 |
| 11.2.166 50.105360 14.426705 |
| 11.2.167 50.105355 14.426721 |
| 11.2.168 50.105346 14.426741 |
| 11.2.169 50.105340 14.426760 |
| 11.2.170 50.105335 14.426775 |
| 11.2.171 50.105330 14.426790 |
| 11.2.172 50.105325 14.426801 |
| end_lane |
| end_segment |
| segment 12 |
| num_lanes 2 |
| segment_name M |
| lane 12.1 |
| num_waypoints 68 |
| checkpoint 12.1.34 23 |
| exit 12.1.68 10.2.1 |
| exit 12.1.68 11.2.1 |
| 12.1.1 50.105120 14.423268 |
| 12.1.2 50.105128 14.423261 |
| 12.1.3 50.105136 14.423253 |
| 12.1.4 50.105145 14.423243 |
| 12.1.5 50.105155 14.423235 |
| 12.1.6 50.105166 14.423225 |
| 12.1.7 50.105176 14.423215 |
| 12.1.8 50.105188 14.423206 |
| 12.1.9 50.105198 14.423198 |
| 12.1.10 50.105208 14.423190 |
| 12.1.11 50.105220 14.423181 |
| 12.1.12 50.105230 14.423173 |
| 12.1.13 50.105240 14.423165 |
| 12.1.14 50.105251 14.423155 |
| 12.1.15 50.105263 14.423146 |
| 12.1.16 50.105273 14.423136 |
| 12.1.17 50.105283 14.423126 |
| 12.1.18 50.105293 14.423118 |
| 12.1.19 50.105303 14.423108 |
| 12.1.20 50.105313 14.423100 |
| 12.1.21 50.105323 14.423091 |
| 12.1.22 50.105333 14.423083 |
| 12.1.23 50.105343 14.423073 |
| 12.1.24 50.105355 14.423066 |
| 12.1.25 50.105366 14.423060 |
| 12.1.26 50.105375 14.423053 |
| 12.1.27 50.105383 14.423048 |
| 12.1.28 50.105393 14.423043 |
| 12.1.29 50.105403 14.423038 |
| 12.1.30 50.105410 14.423030 |
| 12.1.31 50.105418 14.423025 |
| 12.1.32 50.105428 14.423020 |
| 12.1.33 50.105440 14.423015 |
| 12.1.34 50.105451 14.423008 |
| 12.1.35 50.105465 14.423000 |
| 12.1.36 50.105480 14.422995 |
| 12.1.37 50.105491 14.422990 |
| 12.1.38 50.105501 14.422988 |
| 12.1.39 50.105513 14.422985 |
| 12.1.40 50.105526 14.422981 |
| 12.1.41 50.105538 14.422978 |
| 12.1.42 50.105551 14.422981 |
| 12.1.43 50.105563 14.422983 |
| 12.1.44 50.105575 14.422985 |
| 12.1.45 50.105588 14.422986 |
| 12.1.46 50.105603 14.422993 |
| 12.1.47 50.105616 14.423001 |
| 12.1.48 50.105628 14.423010 |
| 12.1.49 50.105640 14.423016 |
| 12.1.50 50.105650 14.423025 |
| 12.1.51 50.105660 14.423033 |
| 12.1.52 50.105671 14.423040 |
| 12.1.53 50.105681 14.423043 |
| 12.1.54 50.105690 14.423045 |
| 12.1.55 50.105700 14.423051 |
| 12.1.56 50.105711 14.423061 |
| 12.1.57 50.105721 14.423070 |
| 12.1.58 50.105733 14.423080 |
| 12.1.59 50.105741 14.423086 |
| 12.1.60 50.105751 14.423095 |
| 12.1.61 50.105763 14.423103 |
| 12.1.62 50.105773 14.423108 |
| 12.1.63 50.105783 14.423116 |
| 12.1.64 50.105791 14.423121 |
| 12.1.65 50.105800 14.423123 |
| 12.1.66 50.105808 14.423130 |
| 12.1.67 50.105818 14.423135 |
| 12.1.68 50.105826 14.423140 |
| end_lane |
| lane 12.2 |
| num_waypoints 68 |
| checkpoint 12.2.34 24 |
| exit 12.2.68 13.1.1 |
| exit 12.2.68 15.2.1 |
| 12.2.1 50.105826 14.423140 |
| 12.2.2 50.105818 14.423135 |
| 12.2.3 50.105808 14.423130 |
| 12.2.4 50.105800 14.423123 |
| 12.2.5 50.105791 14.423121 |
| 12.2.6 50.105783 14.423116 |
| 12.2.7 50.105773 14.423108 |
| 12.2.8 50.105763 14.423103 |
| 12.2.9 50.105751 14.423095 |
| 12.2.10 50.105741 14.423086 |
| 12.2.11 50.105733 14.423080 |
| 12.2.12 50.105721 14.423070 |
| 12.2.13 50.105711 14.423061 |
| 12.2.14 50.105700 14.423051 |
| 12.2.15 50.105690 14.423045 |
| 12.2.16 50.105681 14.423043 |
| 12.2.17 50.105671 14.423040 |
| 12.2.18 50.105660 14.423033 |
| 12.2.19 50.105650 14.423025 |
| 12.2.20 50.105640 14.423016 |
| 12.2.21 50.105628 14.423010 |
| 12.2.22 50.105616 14.423001 |
| 12.2.23 50.105603 14.422993 |
| 12.2.24 50.105588 14.422986 |
| 12.2.25 50.105575 14.422985 |
| 12.2.26 50.105563 14.422983 |
| 12.2.27 50.105551 14.422981 |
| 12.2.28 50.105538 14.422978 |
| 12.2.29 50.105526 14.422981 |
| 12.2.30 50.105513 14.422985 |
| 12.2.31 50.105501 14.422988 |
| 12.2.32 50.105491 14.422990 |
| 12.2.33 50.105480 14.422995 |
| 12.2.34 50.105465 14.423000 |
| 12.2.35 50.105451 14.423008 |
| 12.2.36 50.105440 14.423015 |
| 12.2.37 50.105428 14.423020 |
| 12.2.38 50.105418 14.423025 |
| 12.2.39 50.105410 14.423030 |
| 12.2.40 50.105403 14.423038 |
| 12.2.41 50.105393 14.423043 |
| 12.2.42 50.105383 14.423048 |
| 12.2.43 50.105375 14.423053 |
| 12.2.44 50.105366 14.423060 |
| 12.2.45 50.105355 14.423066 |
| 12.2.46 50.105343 14.423073 |
| 12.2.47 50.105333 14.423083 |
| 12.2.48 50.105323 14.423091 |
| 12.2.49 50.105313 14.423100 |
| 12.2.50 50.105303 14.423108 |
| 12.2.51 50.105293 14.423118 |
| 12.2.52 50.105283 14.423126 |
| 12.2.53 50.105273 14.423136 |
| 12.2.54 50.105263 14.423146 |
| 12.2.55 50.105251 14.423155 |
| 12.2.56 50.105240 14.423165 |
| 12.2.57 50.105230 14.423173 |
| 12.2.58 50.105220 14.423181 |
| 12.2.59 50.105208 14.423190 |
| 12.2.60 50.105198 14.423198 |
| 12.2.61 50.105188 14.423206 |
| 12.2.62 50.105176 14.423215 |
| 12.2.63 50.105166 14.423225 |
| 12.2.64 50.105155 14.423235 |
| 12.2.65 50.105145 14.423243 |
| 12.2.66 50.105136 14.423253 |
| 12.2.67 50.105128 14.423261 |
| 12.2.68 50.105120 14.423268 |
| end_lane |
| end_segment |
| segment 13 |
| num_lanes 2 |
| segment_name N |
| lane 13.1 |
| num_waypoints 194 |
| checkpoint 13.1.97 25 |
| exit 13.1.194 14.1.1 |
| exit 13.1.194 19.2.1 |
| exit 13.1.194 22.1.1 |
| 13.1.1 50.105140 14.423273 |
| 13.1.2 50.105143 14.423283 |
| 13.1.3 50.105146 14.423295 |
| 13.1.4 50.105150 14.423310 |
| 13.1.5 50.105151 14.423325 |
| 13.1.6 50.105153 14.423340 |
| 13.1.7 50.105153 14.423355 |
| 13.1.8 50.105153 14.423371 |
| 13.1.9 50.105155 14.423388 |
| 13.1.10 50.105155 14.423406 |
| 13.1.11 50.105156 14.423426 |
| 13.1.12 50.105156 14.423446 |
| 13.1.13 50.105153 14.423468 |
| 13.1.14 50.105151 14.423491 |
| 13.1.15 50.105150 14.423516 |
| 13.1.16 50.105148 14.423538 |
| 13.1.17 50.105148 14.423560 |
| 13.1.18 50.105148 14.423580 |
| 13.1.19 50.105150 14.423598 |
| 13.1.20 50.105153 14.423615 |
| 13.1.21 50.105155 14.423630 |
| 13.1.22 50.105156 14.423648 |
| 13.1.23 50.105158 14.423666 |
| 13.1.24 50.105158 14.423688 |
| 13.1.25 50.105158 14.423708 |
| 13.1.26 50.105158 14.423726 |
| 13.1.27 50.105156 14.423743 |
| 13.1.28 50.105153 14.423763 |
| 13.1.29 50.105151 14.423785 |
| 13.1.30 50.105150 14.423808 |
| 13.1.31 50.105150 14.423831 |
| 13.1.32 50.105150 14.423855 |
| 13.1.33 50.105150 14.423876 |
| 13.1.34 50.105148 14.423895 |
| 13.1.35 50.105146 14.423910 |
| 13.1.36 50.105145 14.423926 |
| 13.1.37 50.105143 14.423948 |
| 13.1.38 50.105143 14.423968 |
| 13.1.39 50.105143 14.423988 |
| 13.1.40 50.105145 14.424006 |
| 13.1.41 50.105145 14.424026 |
| 13.1.42 50.105145 14.424046 |
| 13.1.43 50.105145 14.424066 |
| 13.1.44 50.105145 14.424081 |
| 13.1.45 50.105143 14.424093 |
| 13.1.46 50.105143 14.424110 |
| 13.1.47 50.105145 14.424126 |
| 13.1.48 50.105145 14.424143 |
| 13.1.49 50.105146 14.424158 |
| 13.1.50 50.105148 14.424176 |
| 13.1.51 50.105150 14.424198 |
| 13.1.52 50.105150 14.424216 |
| 13.1.53 50.105150 14.424231 |
| 13.1.54 50.105153 14.424250 |
| 13.1.55 50.105155 14.424270 |
| 13.1.56 50.105156 14.424286 |
| 13.1.57 50.105158 14.424303 |
| 13.1.58 50.105158 14.424320 |
| 13.1.59 50.105158 14.424340 |
| 13.1.60 50.105156 14.424360 |
| 13.1.61 50.105155 14.424380 |
| 13.1.62 50.105155 14.424400 |
| 13.1.63 50.105155 14.424415 |
| 13.1.64 50.105156 14.424431 |
| 13.1.65 50.105155 14.424446 |
| 13.1.66 50.105153 14.424465 |
| 13.1.67 50.105151 14.424486 |
| 13.1.68 50.105150 14.424510 |
| 13.1.69 50.105150 14.424530 |
| 13.1.70 50.105148 14.424555 |
| 13.1.71 50.105146 14.424578 |
| 13.1.72 50.105145 14.424603 |
| 13.1.73 50.105145 14.424625 |
| 13.1.74 50.105145 14.424650 |
| 13.1.75 50.105145 14.424673 |
| 13.1.76 50.105145 14.424696 |
| 13.1.77 50.105146 14.424718 |
| 13.1.78 50.105146 14.424738 |
| 13.1.79 50.105146 14.424760 |
| 13.1.80 50.105146 14.424778 |
| 13.1.81 50.105148 14.424798 |
| 13.1.82 50.105148 14.424816 |
| 13.1.83 50.105150 14.424833 |
| 13.1.84 50.105150 14.424851 |
| 13.1.85 50.105151 14.424868 |
| 13.1.86 50.105153 14.424886 |
| 13.1.87 50.105153 14.424906 |
| 13.1.88 50.105155 14.424926 |
| 13.1.89 50.105156 14.424946 |
| 13.1.90 50.105155 14.424966 |
| 13.1.91 50.105153 14.424988 |
| 13.1.92 50.105155 14.425006 |
| 13.1.93 50.105156 14.425023 |
| 13.1.94 50.105156 14.425040 |
| 13.1.95 50.105155 14.425055 |
| 13.1.96 50.105155 14.425073 |
| 13.1.97 50.105156 14.425091 |
| 13.1.98 50.105156 14.425110 |
| 13.1.99 50.105158 14.425125 |
| 13.1.100 50.105158 14.425143 |
| 13.1.101 50.105158 14.425161 |
| 13.1.102 50.105158 14.425180 |
| 13.1.103 50.105156 14.425198 |
| 13.1.104 50.105156 14.425218 |
| 13.1.105 50.105156 14.425235 |
| 13.1.106 50.105155 14.425255 |
| 13.1.107 50.105156 14.425271 |
| 13.1.108 50.105156 14.425291 |
| 13.1.109 50.105155 14.425315 |
| 13.1.110 50.105155 14.425336 |
| 13.1.111 50.105156 14.425358 |
| 13.1.112 50.105155 14.425380 |
| 13.1.113 50.105155 14.425400 |
| 13.1.114 50.105153 14.425421 |
| 13.1.115 50.105151 14.425443 |
| 13.1.116 50.105150 14.425466 |
| 13.1.117 50.105148 14.425490 |
| 13.1.118 50.105148 14.425511 |
| 13.1.119 50.105148 14.425531 |
| 13.1.120 50.105148 14.425550 |
| 13.1.121 50.105146 14.425570 |
| 13.1.122 50.105145 14.425588 |
| 13.1.123 50.105143 14.425608 |
| 13.1.124 50.105143 14.425626 |
| 13.1.125 50.105143 14.425645 |
| 13.1.126 50.105143 14.425663 |
| 13.1.127 50.105141 14.425683 |
| 13.1.128 50.105141 14.425701 |
| 13.1.129 50.105143 14.425718 |
| 13.1.130 50.105143 14.425735 |
| 13.1.131 50.105143 14.425751 |
| 13.1.132 50.105143 14.425770 |
| 13.1.133 50.105145 14.425785 |
| 13.1.134 50.105145 14.425803 |
| 13.1.135 50.105143 14.425823 |
| 13.1.136 50.105140 14.425845 |
| 13.1.137 50.105136 14.425868 |
| 13.1.138 50.105135 14.425893 |
| 13.1.139 50.105131 14.425911 |
| 13.1.140 50.105128 14.425930 |
| 13.1.141 50.105128 14.425951 |
| 13.1.142 50.105126 14.425975 |
| 13.1.143 50.105125 14.425995 |
| 13.1.144 50.105123 14.426011 |
| 13.1.145 50.105121 14.426028 |
| 13.1.146 50.105118 14.426043 |
| 13.1.147 50.105116 14.426060 |
| 13.1.148 50.105115 14.426076 |
| 13.1.149 50.105113 14.426095 |
| 13.1.150 50.105111 14.426111 |
| 13.1.151 50.105110 14.426128 |
| 13.1.152 50.105108 14.426143 |
| 13.1.153 50.105106 14.426161 |
| 13.1.154 50.105103 14.426178 |
| 13.1.155 50.105101 14.426198 |
| 13.1.156 50.105098 14.426216 |
| 13.1.157 50.105096 14.426233 |
| 13.1.158 50.105095 14.426248 |
| 13.1.159 50.105088 14.426268 |
| 13.1.160 50.105083 14.426291 |
| 13.1.161 50.105078 14.426311 |
| 13.1.162 50.105075 14.426330 |
| 13.1.163 50.105073 14.426346 |
| 13.1.164 50.105071 14.426361 |
| 13.1.165 50.105068 14.426380 |
| 13.1.166 50.105065 14.426398 |
| 13.1.167 50.105061 14.426418 |
| 13.1.168 50.105058 14.426438 |
| 13.1.169 50.105058 14.426458 |
| 13.1.170 50.105055 14.426476 |
| 13.1.171 50.105053 14.426493 |
| 13.1.172 50.105050 14.426511 |
| 13.1.173 50.105048 14.426530 |
| 13.1.174 50.105046 14.426546 |
| 13.1.175 50.105043 14.426565 |
| 13.1.176 50.105040 14.426583 |
| 13.1.177 50.105036 14.426603 |
| 13.1.178 50.105033 14.426625 |
| 13.1.179 50.105030 14.426643 |
| 13.1.180 50.105026 14.426663 |
| 13.1.181 50.105025 14.426681 |
| 13.1.182 50.105021 14.426700 |
| 13.1.183 50.105018 14.426720 |
| 13.1.184 50.105015 14.426738 |
| 13.1.185 50.105011 14.426755 |
| 13.1.186 50.105010 14.426771 |
| 13.1.187 50.105010 14.426783 |
| 13.1.188 50.105011 14.426793 |
| 13.1.189 50.105010 14.426808 |
| 13.1.190 50.105006 14.426826 |
| 13.1.191 50.105005 14.426843 |
| 13.1.192 50.105001 14.426858 |
| 13.1.193 50.104998 14.426873 |
| 13.1.194 50.104995 14.426890 |
| end_lane |
| lane 13.2 |
| num_waypoints 194 |
| checkpoint 13.2.97 26 |
| exit 13.2.194 12.1.1 |
| exit 13.2.194 15.2.1 |
| 13.2.1 50.104995 14.426890 |
| 13.2.2 50.104998 14.426873 |
| 13.2.3 50.105001 14.426858 |
| 13.2.4 50.105005 14.426843 |
| 13.2.5 50.105006 14.426826 |
| 13.2.6 50.105010 14.426808 |
| 13.2.7 50.105011 14.426793 |
| 13.2.8 50.105010 14.426783 |
| 13.2.9 50.105010 14.426771 |
| 13.2.10 50.105011 14.426755 |
| 13.2.11 50.105015 14.426738 |
| 13.2.12 50.105018 14.426720 |
| 13.2.13 50.105021 14.426700 |
| 13.2.14 50.105025 14.426681 |
| 13.2.15 50.105026 14.426663 |
| 13.2.16 50.105030 14.426643 |
| 13.2.17 50.105033 14.426625 |
| 13.2.18 50.105036 14.426603 |
| 13.2.19 50.105040 14.426583 |
| 13.2.20 50.105043 14.426565 |
| 13.2.21 50.105046 14.426546 |
| 13.2.22 50.105048 14.426530 |
| 13.2.23 50.105050 14.426511 |
| 13.2.24 50.105053 14.426493 |
| 13.2.25 50.105055 14.426476 |
| 13.2.26 50.105058 14.426458 |
| 13.2.27 50.105058 14.426438 |
| 13.2.28 50.105061 14.426418 |
| 13.2.29 50.105065 14.426398 |
| 13.2.30 50.105068 14.426380 |
| 13.2.31 50.105071 14.426361 |
| 13.2.32 50.105073 14.426346 |
| 13.2.33 50.105075 14.426330 |
| 13.2.34 50.105078 14.426311 |
| 13.2.35 50.105083 14.426291 |
| 13.2.36 50.105088 14.426268 |
| 13.2.37 50.105095 14.426248 |
| 13.2.38 50.105096 14.426233 |
| 13.2.39 50.105098 14.426216 |
| 13.2.40 50.105101 14.426198 |
| 13.2.41 50.105103 14.426178 |
| 13.2.42 50.105106 14.426161 |
| 13.2.43 50.105108 14.426143 |
| 13.2.44 50.105110 14.426128 |
| 13.2.45 50.105111 14.426111 |
| 13.2.46 50.105113 14.426095 |
| 13.2.47 50.105115 14.426076 |
| 13.2.48 50.105116 14.426060 |
| 13.2.49 50.105118 14.426043 |
| 13.2.50 50.105121 14.426028 |
| 13.2.51 50.105123 14.426011 |
| 13.2.52 50.105125 14.425995 |
| 13.2.53 50.105126 14.425975 |
| 13.2.54 50.105128 14.425951 |
| 13.2.55 50.105128 14.425930 |
| 13.2.56 50.105131 14.425911 |
| 13.2.57 50.105135 14.425893 |
| 13.2.58 50.105136 14.425868 |
| 13.2.59 50.105140 14.425845 |
| 13.2.60 50.105143 14.425823 |
| 13.2.61 50.105145 14.425803 |
| 13.2.62 50.105145 14.425785 |
| 13.2.63 50.105143 14.425770 |
| 13.2.64 50.105143 14.425751 |
| 13.2.65 50.105143 14.425735 |
| 13.2.66 50.105143 14.425718 |
| 13.2.67 50.105141 14.425701 |
| 13.2.68 50.105141 14.425683 |
| 13.2.69 50.105143 14.425663 |
| 13.2.70 50.105143 14.425645 |
| 13.2.71 50.105143 14.425626 |
| 13.2.72 50.105143 14.425608 |
| 13.2.73 50.105145 14.425588 |
| 13.2.74 50.105146 14.425570 |
| 13.2.75 50.105148 14.425550 |
| 13.2.76 50.105148 14.425531 |
| 13.2.77 50.105148 14.425511 |
| 13.2.78 50.105148 14.425490 |
| 13.2.79 50.105150 14.425466 |
| 13.2.80 50.105151 14.425443 |
| 13.2.81 50.105153 14.425421 |
| 13.2.82 50.105155 14.425400 |
| 13.2.83 50.105155 14.425380 |
| 13.2.84 50.105156 14.425358 |
| 13.2.85 50.105155 14.425336 |
| 13.2.86 50.105155 14.425315 |
| 13.2.87 50.105156 14.425291 |
| 13.2.88 50.105156 14.425271 |
| 13.2.89 50.105155 14.425255 |
| 13.2.90 50.105156 14.425235 |
| 13.2.91 50.105156 14.425218 |
| 13.2.92 50.105156 14.425198 |
| 13.2.93 50.105158 14.425180 |
| 13.2.94 50.105158 14.425161 |
| 13.2.95 50.105158 14.425143 |
| 13.2.96 50.105158 14.425125 |
| 13.2.97 50.105156 14.425110 |
| 13.2.98 50.105156 14.425091 |
| 13.2.99 50.105155 14.425073 |
| 13.2.100 50.105155 14.425055 |
| 13.2.101 50.105156 14.425040 |
| 13.2.102 50.105156 14.425023 |
| 13.2.103 50.105155 14.425006 |
| 13.2.104 50.105153 14.424988 |
| 13.2.105 50.105155 14.424966 |
| 13.2.106 50.105156 14.424946 |
| 13.2.107 50.105155 14.424926 |
| 13.2.108 50.105153 14.424906 |
| 13.2.109 50.105153 14.424886 |
| 13.2.110 50.105151 14.424868 |
| 13.2.111 50.105150 14.424851 |
| 13.2.112 50.105150 14.424833 |
| 13.2.113 50.105148 14.424816 |
| 13.2.114 50.105148 14.424798 |
| 13.2.115 50.105146 14.424778 |
| 13.2.116 50.105146 14.424760 |
| 13.2.117 50.105146 14.424738 |
| 13.2.118 50.105146 14.424718 |
| 13.2.119 50.105145 14.424696 |
| 13.2.120 50.105145 14.424673 |
| 13.2.121 50.105145 14.424650 |
| 13.2.122 50.105145 14.424625 |
| 13.2.123 50.105145 14.424603 |
| 13.2.124 50.105146 14.424578 |
| 13.2.125 50.105148 14.424555 |
| 13.2.126 50.105150 14.424530 |
| 13.2.127 50.105150 14.424510 |
| 13.2.128 50.105151 14.424486 |
| 13.2.129 50.105153 14.424465 |
| 13.2.130 50.105155 14.424446 |
| 13.2.131 50.105156 14.424431 |
| 13.2.132 50.105155 14.424415 |
| 13.2.133 50.105155 14.424400 |
| 13.2.134 50.105155 14.424380 |
| 13.2.135 50.105156 14.424360 |
| 13.2.136 50.105158 14.424340 |
| 13.2.137 50.105158 14.424320 |
| 13.2.138 50.105158 14.424303 |
| 13.2.139 50.105156 14.424286 |
| 13.2.140 50.105155 14.424270 |
| 13.2.141 50.105153 14.424250 |
| 13.2.142 50.105150 14.424231 |
| 13.2.143 50.105150 14.424216 |
| 13.2.144 50.105150 14.424198 |
| 13.2.145 50.105148 14.424176 |
| 13.2.146 50.105146 14.424158 |
| 13.2.147 50.105145 14.424143 |
| 13.2.148 50.105145 14.424126 |
| 13.2.149 50.105143 14.424110 |
| 13.2.150 50.105143 14.424093 |
| 13.2.151 50.105145 14.424081 |
| 13.2.152 50.105145 14.424066 |
| 13.2.153 50.105145 14.424046 |
| 13.2.154 50.105145 14.424026 |
| 13.2.155 50.105145 14.424006 |
| 13.2.156 50.105143 14.423988 |
| 13.2.157 50.105143 14.423968 |
| 13.2.158 50.105143 14.423948 |
| 13.2.159 50.105145 14.423926 |
| 13.2.160 50.105146 14.423910 |
| 13.2.161 50.105148 14.423895 |
| 13.2.162 50.105150 14.423876 |
| 13.2.163 50.105150 14.423855 |
| 13.2.164 50.105150 14.423831 |
| 13.2.165 50.105150 14.423808 |
| 13.2.166 50.105151 14.423785 |
| 13.2.167 50.105153 14.423763 |
| 13.2.168 50.105156 14.423743 |
| 13.2.169 50.105158 14.423726 |
| 13.2.170 50.105158 14.423708 |
| 13.2.171 50.105158 14.423688 |
| 13.2.172 50.105158 14.423666 |
| 13.2.173 50.105156 14.423648 |
| 13.2.174 50.105155 14.423630 |
| 13.2.175 50.105153 14.423615 |
| 13.2.176 50.105150 14.423598 |
| 13.2.177 50.105148 14.423580 |
| 13.2.178 50.105148 14.423560 |
| 13.2.179 50.105148 14.423538 |
| 13.2.180 50.105150 14.423516 |
| 13.2.181 50.105151 14.423491 |
| 13.2.182 50.105153 14.423468 |
| 13.2.183 50.105156 14.423446 |
| 13.2.184 50.105156 14.423426 |
| 13.2.185 50.105155 14.423406 |
| 13.2.186 50.105155 14.423388 |
| 13.2.187 50.105153 14.423371 |
| 13.2.188 50.105153 14.423355 |
| 13.2.189 50.105153 14.423340 |
| 13.2.190 50.105151 14.423325 |
| 13.2.191 50.105150 14.423310 |
| 13.2.192 50.105146 14.423295 |
| 13.2.193 50.105143 14.423283 |
| 13.2.194 50.105140 14.423273 |
| end_lane |
| end_segment |
| segment 14 |
| num_lanes 2 |
| segment_name O |
| lane 14.1 |
| num_waypoints 24 |
| checkpoint 14.1.12 27 |
| exit 14.1.24 3.2.1 |
| exit 14.1.24 8.2.1 |
| exit 14.1.24 21.1.1 |
| 14.1.1 50.104951 14.426865 |
| 14.1.2 50.104958 14.426871 |
| 14.1.3 50.104966 14.426876 |
| 14.1.4 50.104980 14.426888 |
| 14.1.5 50.104995 14.426901 |
| 14.1.6 50.105008 14.426915 |
| 14.1.7 50.105021 14.426925 |
| 14.1.8 50.105035 14.426933 |
| 14.1.9 50.105045 14.426943 |
| 14.1.10 50.105053 14.426950 |
| 14.1.11 50.105063 14.426955 |
| 14.1.12 50.105075 14.426958 |
| 14.1.13 50.105090 14.426965 |
| 14.1.14 50.105101 14.426976 |
| 14.1.15 50.105115 14.426986 |
| 14.1.16 50.105128 14.426996 |
| 14.1.17 50.105140 14.427008 |
| 14.1.18 50.105153 14.427018 |
| 14.1.19 50.105166 14.427025 |
| 14.1.20 50.105178 14.427031 |
| 14.1.21 50.105188 14.427036 |
| 14.1.22 50.105196 14.427043 |
| 14.1.23 50.105203 14.427050 |
| 14.1.24 50.105213 14.427056 |
| end_lane |
| lane 14.2 |
| num_waypoints 24 |
| checkpoint 14.2.12 28 |
| exit 14.2.24 13.2.1 |
| exit 14.2.24 19.2.1 |
| exit 14.2.24 22.1.1 |
| 14.2.1 50.105213 14.427056 |
| 14.2.2 50.105203 14.427050 |
| 14.2.3 50.105196 14.427043 |
| 14.2.4 50.105188 14.427036 |
| 14.2.5 50.105178 14.427031 |
| 14.2.6 50.105166 14.427025 |
| 14.2.7 50.105153 14.427018 |
| 14.2.8 50.105140 14.427008 |
| 14.2.9 50.105128 14.426996 |
| 14.2.10 50.105115 14.426986 |
| 14.2.11 50.105101 14.426976 |
| 14.2.12 50.105090 14.426965 |
| 14.2.13 50.105075 14.426958 |
| 14.2.14 50.105063 14.426955 |
| 14.2.15 50.105053 14.426950 |
| 14.2.16 50.105045 14.426943 |
| 14.2.17 50.105035 14.426933 |
| 14.2.18 50.105021 14.426925 |
| 14.2.19 50.105008 14.426915 |
| 14.2.20 50.104995 14.426901 |
| 14.2.21 50.104980 14.426888 |
| 14.2.22 50.104966 14.426876 |
| 14.2.23 50.104958 14.426871 |
| 14.2.24 50.104951 14.426865 |
| end_lane |
| end_segment |
| segment 15 |
| num_lanes 2 |
| segment_name P |
| lane 15.1 |
| num_waypoints 106 |
| checkpoint 15.1.53 29 |
| exit 15.1.106 12.1.1 |
| exit 15.1.106 13.1.1 |
| 15.1.1 50.104028 14.424180 |
| 15.1.2 50.104036 14.424175 |
| 15.1.3 50.104043 14.424168 |
| 15.1.4 50.104050 14.424163 |
| 15.1.5 50.104058 14.424155 |
| 15.1.6 50.104066 14.424146 |
| 15.1.7 50.104073 14.424140 |
| 15.1.8 50.104080 14.424135 |
| 15.1.9 50.104088 14.424133 |
| 15.1.10 50.104091 14.424133 |
| 15.1.11 50.104098 14.424126 |
| 15.1.12 50.104106 14.424121 |
| 15.1.13 50.104118 14.424113 |
| 15.1.14 50.104130 14.424105 |
| 15.1.15 50.104141 14.424095 |
| 15.1.16 50.104153 14.424083 |
| 15.1.17 50.104165 14.424070 |
| 15.1.18 50.104171 14.424056 |
| 15.1.19 50.104180 14.424046 |
| 15.1.20 50.104188 14.424038 |
| 15.1.21 50.104200 14.424028 |
| 15.1.22 50.104211 14.424018 |
| 15.1.23 50.104223 14.424008 |
| 15.1.24 50.104236 14.423998 |
| 15.1.25 50.104246 14.423988 |
| 15.1.26 50.104260 14.423978 |
| 15.1.27 50.104271 14.423966 |
| 15.1.28 50.104283 14.423955 |
| 15.1.29 50.104293 14.423943 |
| 15.1.30 50.104303 14.423931 |
| 15.1.31 50.104316 14.423920 |
| 15.1.32 50.104330 14.423906 |
| 15.1.33 50.104346 14.423893 |
| 15.1.34 50.104360 14.423880 |
| 15.1.35 50.104373 14.423866 |
| 15.1.36 50.104385 14.423853 |
| 15.1.37 50.104398 14.423841 |
| 15.1.38 50.104411 14.423833 |
| 15.1.39 50.104421 14.423823 |
| 15.1.40 50.104435 14.423815 |
| 15.1.41 50.104443 14.423806 |
| 15.1.42 50.104453 14.423798 |
| 15.1.43 50.104465 14.423788 |
| 15.1.44 50.104475 14.423781 |
| 15.1.45 50.104488 14.423775 |
| 15.1.46 50.104498 14.423765 |
| 15.1.47 50.104510 14.423758 |
| 15.1.48 50.104521 14.423750 |
| 15.1.49 50.104535 14.423741 |
| 15.1.50 50.104545 14.423733 |
| 15.1.51 50.104556 14.423725 |
| 15.1.52 50.104568 14.423716 |
| 15.1.53 50.104580 14.423708 |
| 15.1.54 50.104593 14.423700 |
| 15.1.55 50.104605 14.423690 |
| 15.1.56 50.104616 14.423681 |
| 15.1.57 50.104625 14.423671 |
| 15.1.58 50.104636 14.423663 |
| 15.1.59 50.104648 14.423656 |
| 15.1.60 50.104660 14.423648 |
| 15.1.61 50.104671 14.423643 |
| 15.1.62 50.104685 14.423636 |
| 15.1.63 50.104696 14.423628 |
| 15.1.64 50.104708 14.423620 |
| 15.1.65 50.104720 14.423613 |
| 15.1.66 50.104731 14.423608 |
| 15.1.67 50.104740 14.423598 |
| 15.1.68 50.104751 14.423590 |
| 15.1.69 50.104761 14.423581 |
| 15.1.70 50.104771 14.423575 |
| 15.1.71 50.104781 14.423568 |
| 15.1.72 50.104796 14.423561 |
| 15.1.73 50.104810 14.423556 |
| 15.1.74 50.104816 14.423550 |
| 15.1.75 50.104821 14.423541 |
| 15.1.76 50.104830 14.423535 |
| 15.1.77 50.104841 14.423528 |
| 15.1.78 50.104846 14.423521 |
| 15.1.79 50.104855 14.423515 |
| 15.1.80 50.104863 14.423508 |
| 15.1.81 50.104871 14.423501 |
| 15.1.82 50.104883 14.423495 |
| 15.1.83 50.104895 14.423486 |
| 15.1.84 50.104903 14.423476 |
| 15.1.85 50.104911 14.423468 |
| 15.1.86 50.104920 14.423460 |
| 15.1.87 50.104928 14.423451 |
| 15.1.88 50.104935 14.423441 |
| 15.1.89 50.104943 14.423431 |
| 15.1.90 50.104953 14.423423 |
| 15.1.91 50.104963 14.423415 |
| 15.1.92 50.104973 14.423406 |
| 15.1.93 50.104981 14.423400 |
| 15.1.94 50.104988 14.423391 |
| 15.1.95 50.104998 14.423381 |
| 15.1.96 50.105006 14.423371 |
| 15.1.97 50.105015 14.423361 |
| 15.1.98 50.105023 14.423351 |
| 15.1.99 50.105031 14.423341 |
| 15.1.100 50.105043 14.423333 |
| 15.1.101 50.105056 14.423326 |
| 15.1.102 50.105068 14.423320 |
| 15.1.103 50.105081 14.423311 |
| 15.1.104 50.105091 14.423303 |
| 15.1.105 50.105101 14.423295 |
| 15.1.106 50.105108 14.423288 |
| end_lane |
| lane 15.2 |
| num_waypoints 106 |
| checkpoint 15.2.53 30 |
| exit 15.2.106 16.1.1 |
| 15.2.1 50.105108 14.423288 |
| 15.2.2 50.105101 14.423295 |
| 15.2.3 50.105091 14.423303 |
| 15.2.4 50.105081 14.423311 |
| 15.2.5 50.105068 14.423320 |
| 15.2.6 50.105056 14.423326 |
| 15.2.7 50.105043 14.423333 |
| 15.2.8 50.105031 14.423341 |
| 15.2.9 50.105023 14.423351 |
| 15.2.10 50.105015 14.423361 |
| 15.2.11 50.105006 14.423371 |
| 15.2.12 50.104998 14.423381 |
| 15.2.13 50.104988 14.423391 |
| 15.2.14 50.104981 14.423400 |
| 15.2.15 50.104973 14.423406 |
| 15.2.16 50.104963 14.423415 |
| 15.2.17 50.104953 14.423423 |
| 15.2.18 50.104943 14.423431 |
| 15.2.19 50.104935 14.423441 |
| 15.2.20 50.104928 14.423451 |
| 15.2.21 50.104920 14.423460 |
| 15.2.22 50.104911 14.423468 |
| 15.2.23 50.104903 14.423476 |
| 15.2.24 50.104895 14.423486 |
| 15.2.25 50.104883 14.423495 |
| 15.2.26 50.104871 14.423501 |
| 15.2.27 50.104863 14.423508 |
| 15.2.28 50.104855 14.423515 |
| 15.2.29 50.104846 14.423521 |
| 15.2.30 50.104841 14.423528 |
| 15.2.31 50.104830 14.423535 |
| 15.2.32 50.104821 14.423541 |
| 15.2.33 50.104816 14.423550 |
| 15.2.34 50.104810 14.423556 |
| 15.2.35 50.104796 14.423561 |
| 15.2.36 50.104781 14.423568 |
| 15.2.37 50.104771 14.423575 |
| 15.2.38 50.104761 14.423581 |
| 15.2.39 50.104751 14.423590 |
| 15.2.40 50.104740 14.423598 |
| 15.2.41 50.104731 14.423608 |
| 15.2.42 50.104720 14.423613 |
| 15.2.43 50.104708 14.423620 |
| 15.2.44 50.104696 14.423628 |
| 15.2.45 50.104685 14.423636 |
| 15.2.46 50.104671 14.423643 |
| 15.2.47 50.104660 14.423648 |
| 15.2.48 50.104648 14.423656 |
| 15.2.49 50.104636 14.423663 |
| 15.2.50 50.104625 14.423671 |
| 15.2.51 50.104616 14.423681 |
| 15.2.52 50.104605 14.423690 |
| 15.2.53 50.104593 14.423700 |
| 15.2.54 50.104580 14.423708 |
| 15.2.55 50.104568 14.423716 |
| 15.2.56 50.104556 14.423725 |
| 15.2.57 50.104545 14.423733 |
| 15.2.58 50.104535 14.423741 |
| 15.2.59 50.104521 14.423750 |
| 15.2.60 50.104510 14.423758 |
| 15.2.61 50.104498 14.423765 |
| 15.2.62 50.104488 14.423775 |
| 15.2.63 50.104475 14.423781 |
| 15.2.64 50.104465 14.423788 |
| 15.2.65 50.104453 14.423798 |
| 15.2.66 50.104443 14.423806 |
| 15.2.67 50.104435 14.423815 |
| 15.2.68 50.104421 14.423823 |
| 15.2.69 50.104411 14.423833 |
| 15.2.70 50.104398 14.423841 |
| 15.2.71 50.104385 14.423853 |
| 15.2.72 50.104373 14.423866 |
| 15.2.73 50.104360 14.423880 |
| 15.2.74 50.104346 14.423893 |
| 15.2.75 50.104330 14.423906 |
| 15.2.76 50.104316 14.423920 |
| 15.2.77 50.104303 14.423931 |
| 15.2.78 50.104293 14.423943 |
| 15.2.79 50.104283 14.423955 |
| 15.2.80 50.104271 14.423966 |
| 15.2.81 50.104260 14.423978 |
| 15.2.82 50.104246 14.423988 |
| 15.2.83 50.104236 14.423998 |
| 15.2.84 50.104223 14.424008 |
| 15.2.85 50.104211 14.424018 |
| 15.2.86 50.104200 14.424028 |
| 15.2.87 50.104188 14.424038 |
| 15.2.88 50.104180 14.424046 |
| 15.2.89 50.104171 14.424056 |
| 15.2.90 50.104165 14.424070 |
| 15.2.91 50.104153 14.424083 |
| 15.2.92 50.104141 14.424095 |
| 15.2.93 50.104130 14.424105 |
| 15.2.94 50.104118 14.424113 |
| 15.2.95 50.104106 14.424121 |
| 15.2.96 50.104098 14.424126 |
| 15.2.97 50.104091 14.424133 |
| 15.2.98 50.104088 14.424133 |
| 15.2.99 50.104080 14.424135 |
| 15.2.100 50.104073 14.424140 |
| 15.2.101 50.104066 14.424146 |
| 15.2.102 50.104058 14.424155 |
| 15.2.103 50.104050 14.424163 |
| 15.2.104 50.104043 14.424168 |
| 15.2.105 50.104036 14.424175 |
| 15.2.106 50.104028 14.424180 |
| end_lane |
| end_segment |
| segment 16 |
| num_lanes 2 |
| segment_name Q |
| lane 16.1 |
| num_waypoints 127 |
| checkpoint 16.1.63 31 |
| exit 16.1.127 17.2.1 |
| exit 16.1.127 22.2.1 |
| 16.1.1 50.104025 14.424263 |
| 16.1.2 50.104030 14.424268 |
| 16.1.3 50.104035 14.424275 |
| 16.1.4 50.104041 14.424285 |
| 16.1.5 50.104050 14.424300 |
| 16.1.6 50.104058 14.424313 |
| 16.1.7 50.104065 14.424325 |
| 16.1.8 50.104071 14.424338 |
| 16.1.9 50.104083 14.424353 |
| 16.1.10 50.104093 14.424368 |
| 16.1.11 50.104105 14.424381 |
| 16.1.12 50.104115 14.424395 |
| 16.1.13 50.104123 14.424406 |
| 16.1.14 50.104133 14.424420 |
| 16.1.15 50.104140 14.424430 |
| 16.1.16 50.104150 14.424440 |
| 16.1.17 50.104158 14.424453 |
| 16.1.18 50.104170 14.424468 |
| 16.1.19 50.104180 14.424486 |
| 16.1.20 50.104188 14.424501 |
| 16.1.21 50.104193 14.424516 |
| 16.1.22 50.104198 14.424526 |
| 16.1.23 50.104208 14.424536 |
| 16.1.24 50.104216 14.424553 |
| 16.1.25 50.104226 14.424566 |
| 16.1.26 50.104235 14.424580 |
| 16.1.27 50.104243 14.424595 |
| 16.1.28 50.104250 14.424606 |
| 16.1.29 50.104255 14.424618 |
| 16.1.30 50.104263 14.424631 |
| 16.1.31 50.104270 14.424643 |
| 16.1.32 50.104278 14.424653 |
| 16.1.33 50.104286 14.424661 |
| 16.1.34 50.104291 14.424666 |
| 16.1.35 50.104298 14.424675 |
| 16.1.36 50.104308 14.424683 |
| 16.1.37 50.104318 14.424693 |
| 16.1.38 50.104325 14.424700 |
| 16.1.39 50.104331 14.424710 |
| 16.1.40 50.104341 14.424720 |
| 16.1.41 50.104353 14.424735 |
| 16.1.42 50.104361 14.424741 |
| 16.1.43 50.104371 14.424750 |
| 16.1.44 50.104381 14.424756 |
| 16.1.45 50.104390 14.424765 |
| 16.1.46 50.104400 14.424773 |
| 16.1.47 50.104408 14.424781 |
| 16.1.48 50.104413 14.424790 |
| 16.1.49 50.104421 14.424801 |
| 16.1.50 50.104426 14.424813 |
| 16.1.51 50.104433 14.424823 |
| 16.1.52 50.104445 14.424831 |
| 16.1.53 50.104455 14.424838 |
| 16.1.54 50.104463 14.424850 |
| 16.1.55 50.104468 14.424863 |
| 16.1.56 50.104475 14.424876 |
| 16.1.57 50.104480 14.424891 |
| 16.1.58 50.104488 14.424905 |
| 16.1.59 50.104496 14.424916 |
| 16.1.60 50.104505 14.424930 |
| 16.1.61 50.104511 14.424941 |
| 16.1.62 50.104516 14.424955 |
| 16.1.63 50.104521 14.424970 |
| 16.1.64 50.104526 14.424985 |
| 16.1.65 50.104533 14.425001 |
| 16.1.66 50.104540 14.425018 |
| 16.1.67 50.104545 14.425033 |
| 16.1.68 50.104550 14.425050 |
| 16.1.69 50.104556 14.425066 |
| 16.1.70 50.104563 14.425080 |
| 16.1.71 50.104568 14.425096 |
| 16.1.72 50.104571 14.425113 |
| 16.1.73 50.104575 14.425130 |
| 16.1.74 50.104578 14.425143 |
| 16.1.75 50.104583 14.425160 |
| 16.1.76 50.104588 14.425183 |
| 16.1.77 50.104591 14.425201 |
| 16.1.78 50.104595 14.425216 |
| 16.1.79 50.104598 14.425231 |
| 16.1.80 50.104603 14.425246 |
| 16.1.81 50.104610 14.425260 |
| 16.1.82 50.104616 14.425275 |
| 16.1.83 50.104625 14.425288 |
| 16.1.84 50.104633 14.425305 |
| 16.1.85 50.104638 14.425323 |
| 16.1.86 50.104645 14.425341 |
| 16.1.87 50.104651 14.425360 |
| 16.1.88 50.104655 14.425380 |
| 16.1.89 50.104656 14.425396 |
| 16.1.90 50.104658 14.425413 |
| 16.1.91 50.104660 14.425430 |
| 16.1.92 50.104661 14.425446 |
| 16.1.93 50.104665 14.425465 |
| 16.1.94 50.104666 14.425480 |
| 16.1.95 50.104666 14.425498 |
| 16.1.96 50.104665 14.425518 |
| 16.1.97 50.104665 14.425536 |
| 16.1.98 50.104666 14.425555 |
| 16.1.99 50.104668 14.425575 |
| 16.1.100 50.104666 14.425593 |
| 16.1.101 50.104665 14.425613 |
| 16.1.102 50.104661 14.425633 |
| 16.1.103 50.104656 14.425653 |
| 16.1.104 50.104653 14.425670 |
| 16.1.105 50.104650 14.425688 |
| 16.1.106 50.104648 14.425706 |
| 16.1.107 50.104646 14.425721 |
| 16.1.108 50.104641 14.425740 |
| 16.1.109 50.104638 14.425758 |
| 16.1.110 50.104636 14.425778 |
| 16.1.111 50.104631 14.425793 |
| 16.1.112 50.104630 14.425813 |
| 16.1.113 50.104628 14.425833 |
| 16.1.114 50.104623 14.425848 |
| 16.1.115 50.104615 14.425861 |
| 16.1.116 50.104606 14.425876 |
| 16.1.117 50.104605 14.425891 |
| 16.1.118 50.104600 14.425908 |
| 16.1.119 50.104598 14.425928 |
| 16.1.120 50.104595 14.425946 |
| 16.1.121 50.104590 14.425965 |
| 16.1.122 50.104590 14.425981 |
| 16.1.123 50.104588 14.425998 |
| 16.1.124 50.104585 14.426015 |
| 16.1.125 50.104583 14.426031 |
| 16.1.126 50.104578 14.426048 |
| 16.1.127 50.104573 14.426058 |
| end_lane |
| lane 16.2 |
| num_waypoints 127 |
| checkpoint 16.2.63 32 |
| exit 16.2.127 15.1.1 |
| 16.2.1 50.104573 14.426058 |
| 16.2.2 50.104578 14.426048 |
| 16.2.3 50.104583 14.426031 |
| 16.2.4 50.104585 14.426015 |
| 16.2.5 50.104588 14.425998 |
| 16.2.6 50.104590 14.425981 |
| 16.2.7 50.104590 14.425965 |
| 16.2.8 50.104595 14.425946 |
| 16.2.9 50.104598 14.425928 |
| 16.2.10 50.104600 14.425908 |
| 16.2.11 50.104605 14.425891 |
| 16.2.12 50.104606 14.425876 |
| 16.2.13 50.104615 14.425861 |
| 16.2.14 50.104623 14.425848 |
| 16.2.15 50.104628 14.425833 |
| 16.2.16 50.104630 14.425813 |
| 16.2.17 50.104631 14.425793 |
| 16.2.18 50.104636 14.425778 |
| 16.2.19 50.104638 14.425758 |
| 16.2.20 50.104641 14.425740 |
| 16.2.21 50.104646 14.425721 |
| 16.2.22 50.104648 14.425706 |
| 16.2.23 50.104650 14.425688 |
| 16.2.24 50.104653 14.425670 |
| 16.2.25 50.104656 14.425653 |
| 16.2.26 50.104661 14.425633 |
| 16.2.27 50.104665 14.425613 |
| 16.2.28 50.104666 14.425593 |
| 16.2.29 50.104668 14.425575 |
| 16.2.30 50.104666 14.425555 |
| 16.2.31 50.104665 14.425536 |
| 16.2.32 50.104665 14.425518 |
| 16.2.33 50.104666 14.425498 |
| 16.2.34 50.104666 14.425480 |
| 16.2.35 50.104665 14.425465 |
| 16.2.36 50.104661 14.425446 |
| 16.2.37 50.104660 14.425430 |
| 16.2.38 50.104658 14.425413 |
| 16.2.39 50.104656 14.425396 |
| 16.2.40 50.104655 14.425380 |
| 16.2.41 50.104651 14.425360 |
| 16.2.42 50.104645 14.425341 |
| 16.2.43 50.104638 14.425323 |
| 16.2.44 50.104633 14.425305 |
| 16.2.45 50.104625 14.425288 |
| 16.2.46 50.104616 14.425275 |
| 16.2.47 50.104610 14.425260 |
| 16.2.48 50.104603 14.425246 |
| 16.2.49 50.104598 14.425231 |
| 16.2.50 50.104595 14.425216 |
| 16.2.51 50.104591 14.425201 |
| 16.2.52 50.104588 14.425183 |
| 16.2.53 50.104583 14.425160 |
| 16.2.54 50.104578 14.425143 |
| 16.2.55 50.104575 14.425130 |
| 16.2.56 50.104571 14.425113 |
| 16.2.57 50.104568 14.425096 |
| 16.2.58 50.104563 14.425080 |
| 16.2.59 50.104556 14.425066 |
| 16.2.60 50.104550 14.425050 |
| 16.2.61 50.104545 14.425033 |
| 16.2.62 50.104540 14.425018 |
| 16.2.63 50.104533 14.425001 |
| 16.2.64 50.104526 14.424985 |
| 16.2.65 50.104521 14.424970 |
| 16.2.66 50.104516 14.424955 |
| 16.2.67 50.104511 14.424941 |
| 16.2.68 50.104505 14.424930 |
| 16.2.69 50.104496 14.424916 |
| 16.2.70 50.104488 14.424905 |
| 16.2.71 50.104480 14.424891 |
| 16.2.72 50.104475 14.424876 |
| 16.2.73 50.104468 14.424863 |
| 16.2.74 50.104463 14.424850 |
| 16.2.75 50.104455 14.424838 |
| 16.2.76 50.104445 14.424831 |
| 16.2.77 50.104433 14.424823 |
| 16.2.78 50.104426 14.424813 |
| 16.2.79 50.104421 14.424801 |
| 16.2.80 50.104413 14.424790 |
| 16.2.81 50.104408 14.424781 |
| 16.2.82 50.104400 14.424773 |
| 16.2.83 50.104390 14.424765 |
| 16.2.84 50.104381 14.424756 |
| 16.2.85 50.104371 14.424750 |
| 16.2.86 50.104361 14.424741 |
| 16.2.87 50.104353 14.424735 |
| 16.2.88 50.104341 14.424720 |
| 16.2.89 50.104331 14.424710 |
| 16.2.90 50.104325 14.424700 |
| 16.2.91 50.104318 14.424693 |
| 16.2.92 50.104308 14.424683 |
| 16.2.93 50.104298 14.424675 |
| 16.2.94 50.104291 14.424666 |
| 16.2.95 50.104286 14.424661 |
| 16.2.96 50.104278 14.424653 |
| 16.2.97 50.104270 14.424643 |
| 16.2.98 50.104263 14.424631 |
| 16.2.99 50.104255 14.424618 |
| 16.2.100 50.104250 14.424606 |
| 16.2.101 50.104243 14.424595 |
| 16.2.102 50.104235 14.424580 |
| 16.2.103 50.104226 14.424566 |
| 16.2.104 50.104216 14.424553 |
| 16.2.105 50.104208 14.424536 |
| 16.2.106 50.104198 14.424526 |
| 16.2.107 50.104193 14.424516 |
| 16.2.108 50.104188 14.424501 |
| 16.2.109 50.104180 14.424486 |
| 16.2.110 50.104170 14.424468 |
| 16.2.111 50.104158 14.424453 |
| 16.2.112 50.104150 14.424440 |
| 16.2.113 50.104140 14.424430 |
| 16.2.114 50.104133 14.424420 |
| 16.2.115 50.104123 14.424406 |
| 16.2.116 50.104115 14.424395 |
| 16.2.117 50.104105 14.424381 |
| 16.2.118 50.104093 14.424368 |
| 16.2.119 50.104083 14.424353 |
| 16.2.120 50.104071 14.424338 |
| 16.2.121 50.104065 14.424325 |
| 16.2.122 50.104058 14.424313 |
| 16.2.123 50.104050 14.424300 |
| 16.2.124 50.104041 14.424285 |
| 16.2.125 50.104035 14.424275 |
| 16.2.126 50.104030 14.424268 |
| 16.2.127 50.104025 14.424263 |
| end_lane |
| end_segment |
| segment 17 |
| num_lanes 2 |
| segment_name S |
| lane 17.1 |
| num_waypoints 143 |
| checkpoint 17.1.71 33 |
| exit 17.1.143 16.2.1 |
| exit 17.1.143 22.2.1 |
| 17.1.1 50.104270 14.428455 |
| 17.1.2 50.104268 14.428443 |
| 17.1.3 50.104268 14.428430 |
| 17.1.4 50.104266 14.428415 |
| 17.1.5 50.104265 14.428400 |
| 17.1.6 50.104263 14.428388 |
| 17.1.7 50.104260 14.428375 |
| 17.1.8 50.104258 14.428360 |
| 17.1.9 50.104258 14.428346 |
| 17.1.10 50.104256 14.428333 |
| 17.1.11 50.104255 14.428318 |
| 17.1.12 50.104253 14.428303 |
| 17.1.13 50.104251 14.428290 |
| 17.1.14 50.104250 14.428275 |
| 17.1.15 50.104248 14.428258 |
| 17.1.16 50.104248 14.428241 |
| 17.1.17 50.104246 14.428226 |
| 17.1.18 50.104245 14.428211 |
| 17.1.19 50.104241 14.428196 |
| 17.1.20 50.104238 14.428181 |
| 17.1.21 50.104235 14.428166 |
| 17.1.22 50.104230 14.428150 |
| 17.1.23 50.104226 14.428133 |
| 17.1.24 50.104225 14.428118 |
| 17.1.25 50.104223 14.428101 |
| 17.1.26 50.104221 14.428085 |
| 17.1.27 50.104220 14.428063 |
| 17.1.28 50.104216 14.428041 |
| 17.1.29 50.104213 14.428021 |
| 17.1.30 50.104211 14.428000 |
| 17.1.31 50.104208 14.427980 |
| 17.1.32 50.104206 14.427963 |
| 17.1.33 50.104203 14.427943 |
| 17.1.34 50.104200 14.427923 |
| 17.1.35 50.104195 14.427903 |
| 17.1.36 50.104190 14.427885 |
| 17.1.37 50.104188 14.427866 |
| 17.1.38 50.104186 14.427850 |
| 17.1.39 50.104185 14.427831 |
| 17.1.40 50.104180 14.427813 |
| 17.1.41 50.104175 14.427793 |
| 17.1.42 50.104171 14.427773 |
| 17.1.43 50.104171 14.427751 |
| 17.1.44 50.104168 14.427731 |
| 17.1.45 50.104165 14.427710 |
| 17.1.46 50.104163 14.427690 |
| 17.1.47 50.104160 14.427671 |
| 17.1.48 50.104158 14.427650 |
| 17.1.49 50.104160 14.427631 |
| 17.1.50 50.104160 14.427611 |
| 17.1.51 50.104160 14.427595 |
| 17.1.52 50.104163 14.427576 |
| 17.1.53 50.104166 14.427558 |
| 17.1.54 50.104168 14.427535 |
| 17.1.55 50.104168 14.427513 |
| 17.1.56 50.104170 14.427495 |
| 17.1.57 50.104170 14.427475 |
| 17.1.58 50.104170 14.427456 |
| 17.1.59 50.104168 14.427440 |
| 17.1.60 50.104168 14.427421 |
| 17.1.61 50.104171 14.427405 |
| 17.1.62 50.104173 14.427386 |
| 17.1.63 50.104171 14.427366 |
| 17.1.64 50.104173 14.427343 |
| 17.1.65 50.104176 14.427320 |
| 17.1.66 50.104180 14.427300 |
| 17.1.67 50.104181 14.427278 |
| 17.1.68 50.104185 14.427256 |
| 17.1.69 50.104188 14.427235 |
| 17.1.70 50.104190 14.427216 |
| 17.1.71 50.104195 14.427196 |
| 17.1.72 50.104200 14.427175 |
| 17.1.73 50.104205 14.427155 |
| 17.1.74 50.104208 14.427136 |
| 17.1.75 50.104211 14.427118 |
| 17.1.76 50.104216 14.427098 |
| 17.1.77 50.104220 14.427078 |
| 17.1.78 50.104221 14.427058 |
| 17.1.79 50.104223 14.427038 |
| 17.1.80 50.104226 14.427020 |
| 17.1.81 50.104230 14.427006 |
| 17.1.82 50.104231 14.426991 |
| 17.1.83 50.104235 14.426971 |
| 17.1.84 50.104236 14.426953 |
| 17.1.85 50.104240 14.426936 |
| 17.1.86 50.104240 14.426920 |
| 17.1.87 50.104238 14.426906 |
| 17.1.88 50.104236 14.426890 |
| 17.1.89 50.104236 14.426875 |
| 17.1.90 50.104235 14.426861 |
| 17.1.91 50.104236 14.426843 |
| 17.1.92 50.104236 14.426825 |
| 17.1.93 50.104238 14.426805 |
| 17.1.94 50.104241 14.426788 |
| 17.1.95 50.104245 14.426771 |
| 17.1.96 50.104245 14.426751 |
| 17.1.97 50.104246 14.426733 |
| 17.1.98 50.104250 14.426718 |
| 17.1.99 50.104253 14.426700 |
| 17.1.100 50.104255 14.426681 |
| 17.1.101 50.104258 14.426661 |
| 17.1.102 50.104263 14.426645 |
| 17.1.103 50.104268 14.426631 |
| 17.1.104 50.104273 14.426618 |
| 17.1.105 50.104275 14.426603 |
| 17.1.106 50.104278 14.426586 |
| 17.1.107 50.104283 14.426573 |
| 17.1.108 50.104288 14.426556 |
| 17.1.109 50.104296 14.426538 |
| 17.1.110 50.104308 14.426515 |
| 17.1.111 50.104315 14.426498 |
| 17.1.112 50.104320 14.426478 |
| 17.1.113 50.104326 14.426461 |
| 17.1.114 50.104335 14.426448 |
| 17.1.115 50.104343 14.426433 |
| 17.1.116 50.104348 14.426418 |
| 17.1.117 50.104356 14.426396 |
| 17.1.118 50.104365 14.426376 |
| 17.1.119 50.104371 14.426358 |
| 17.1.120 50.104378 14.426340 |
| 17.1.121 50.104386 14.426323 |
| 17.1.122 50.104395 14.426306 |
| 17.1.123 50.104401 14.426291 |
| 17.1.124 50.104406 14.426276 |
| 17.1.125 50.104411 14.426263 |
| 17.1.126 50.104421 14.426250 |
| 17.1.127 50.104433 14.426235 |
| 17.1.128 50.104443 14.426225 |
| 17.1.129 50.104451 14.426213 |
| 17.1.130 50.104460 14.426196 |
| 17.1.131 50.104466 14.426178 |
| 17.1.132 50.104475 14.426163 |
| 17.1.133 50.104483 14.426148 |
| 17.1.134 50.104490 14.426135 |
| 17.1.135 50.104495 14.426121 |
| 17.1.136 50.104500 14.426110 |
| 17.1.137 50.104506 14.426098 |
| 17.1.138 50.104515 14.426088 |
| 17.1.139 50.104530 14.426076 |
| 17.1.140 50.104546 14.426065 |
| 17.1.141 50.104558 14.426058 |
| 17.1.142 50.104568 14.426055 |
| 17.1.143 50.104578 14.426053 |
| end_lane |
| lane 17.2 |
| num_waypoints 143 |
| checkpoint 17.2.71 34 |
| exit 17.2.143 18.2.1 |
| 17.2.1 50.104578 14.426053 |
| 17.2.2 50.104568 14.426055 |
| 17.2.3 50.104558 14.426058 |
| 17.2.4 50.104546 14.426065 |
| 17.2.5 50.104530 14.426076 |
| 17.2.6 50.104515 14.426088 |
| 17.2.7 50.104506 14.426098 |
| 17.2.8 50.104500 14.426110 |
| 17.2.9 50.104495 14.426121 |
| 17.2.10 50.104490 14.426135 |
| 17.2.11 50.104483 14.426148 |
| 17.2.12 50.104475 14.426163 |
| 17.2.13 50.104466 14.426178 |
| 17.2.14 50.104460 14.426196 |
| 17.2.15 50.104451 14.426213 |
| 17.2.16 50.104443 14.426225 |
| 17.2.17 50.104433 14.426235 |
| 17.2.18 50.104421 14.426250 |
| 17.2.19 50.104411 14.426263 |
| 17.2.20 50.104406 14.426276 |
| 17.2.21 50.104401 14.426291 |
| 17.2.22 50.104395 14.426306 |
| 17.2.23 50.104386 14.426323 |
| 17.2.24 50.104378 14.426340 |
| 17.2.25 50.104371 14.426358 |
| 17.2.26 50.104365 14.426376 |
| 17.2.27 50.104356 14.426396 |
| 17.2.28 50.104348 14.426418 |
| 17.2.29 50.104343 14.426433 |
| 17.2.30 50.104335 14.426448 |
| 17.2.31 50.104326 14.426461 |
| 17.2.32 50.104320 14.426478 |
| 17.2.33 50.104315 14.426498 |
| 17.2.34 50.104308 14.426515 |
| 17.2.35 50.104296 14.426538 |
| 17.2.36 50.104288 14.426556 |
| 17.2.37 50.104283 14.426573 |
| 17.2.38 50.104278 14.426586 |
| 17.2.39 50.104275 14.426603 |
| 17.2.40 50.104273 14.426618 |
| 17.2.41 50.104268 14.426631 |
| 17.2.42 50.104263 14.426645 |
| 17.2.43 50.104258 14.426661 |
| 17.2.44 50.104255 14.426681 |
| 17.2.45 50.104253 14.426700 |
| 17.2.46 50.104250 14.426718 |
| 17.2.47 50.104246 14.426733 |
| 17.2.48 50.104245 14.426751 |
| 17.2.49 50.104245 14.426771 |
| 17.2.50 50.104241 14.426788 |
| 17.2.51 50.104238 14.426805 |
| 17.2.52 50.104236 14.426825 |
| 17.2.53 50.104236 14.426843 |
| 17.2.54 50.104235 14.426861 |
| 17.2.55 50.104236 14.426875 |
| 17.2.56 50.104236 14.426890 |
| 17.2.57 50.104238 14.426906 |
| 17.2.58 50.104240 14.426920 |
| 17.2.59 50.104240 14.426936 |
| 17.2.60 50.104236 14.426953 |
| 17.2.61 50.104235 14.426971 |
| 17.2.62 50.104231 14.426991 |
| 17.2.63 50.104230 14.427006 |
| 17.2.64 50.104226 14.427020 |
| 17.2.65 50.104223 14.427038 |
| 17.2.66 50.104221 14.427058 |
| 17.2.67 50.104220 14.427078 |
| 17.2.68 50.104216 14.427098 |
| 17.2.69 50.104211 14.427118 |
| 17.2.70 50.104208 14.427136 |
| 17.2.71 50.104205 14.427155 |
| 17.2.72 50.104200 14.427175 |
| 17.2.73 50.104195 14.427196 |
| 17.2.74 50.104190 14.427216 |
| 17.2.75 50.104188 14.427235 |
| 17.2.76 50.104185 14.427256 |
| 17.2.77 50.104181 14.427278 |
| 17.2.78 50.104180 14.427300 |
| 17.2.79 50.104176 14.427320 |
| 17.2.80 50.104173 14.427343 |
| 17.2.81 50.104171 14.427366 |
| 17.2.82 50.104173 14.427386 |
| 17.2.83 50.104171 14.427405 |
| 17.2.84 50.104168 14.427421 |
| 17.2.85 50.104168 14.427440 |
| 17.2.86 50.104170 14.427456 |
| 17.2.87 50.104170 14.427475 |
| 17.2.88 50.104170 14.427495 |
| 17.2.89 50.104168 14.427513 |
| 17.2.90 50.104168 14.427535 |
| 17.2.91 50.104166 14.427558 |
| 17.2.92 50.104163 14.427576 |
| 17.2.93 50.104160 14.427595 |
| 17.2.94 50.104160 14.427611 |
| 17.2.95 50.104160 14.427631 |
| 17.2.96 50.104158 14.427650 |
| 17.2.97 50.104160 14.427671 |
| 17.2.98 50.104163 14.427690 |
| 17.2.99 50.104165 14.427710 |
| 17.2.100 50.104168 14.427731 |
| 17.2.101 50.104171 14.427751 |
| 17.2.102 50.104171 14.427773 |
| 17.2.103 50.104175 14.427793 |
| 17.2.104 50.104180 14.427813 |
| 17.2.105 50.104185 14.427831 |
| 17.2.106 50.104186 14.427850 |
| 17.2.107 50.104188 14.427866 |
| 17.2.108 50.104190 14.427885 |
| 17.2.109 50.104195 14.427903 |
| 17.2.110 50.104200 14.427923 |
| 17.2.111 50.104203 14.427943 |
| 17.2.112 50.104206 14.427963 |
| 17.2.113 50.104208 14.427980 |
| 17.2.114 50.104211 14.428000 |
| 17.2.115 50.104213 14.428021 |
| 17.2.116 50.104216 14.428041 |
| 17.2.117 50.104220 14.428063 |
| 17.2.118 50.104221 14.428085 |
| 17.2.119 50.104223 14.428101 |
| 17.2.120 50.104225 14.428118 |
| 17.2.121 50.104226 14.428133 |
| 17.2.122 50.104230 14.428150 |
| 17.2.123 50.104235 14.428166 |
| 17.2.124 50.104238 14.428181 |
| 17.2.125 50.104241 14.428196 |
| 17.2.126 50.104245 14.428211 |
| 17.2.127 50.104246 14.428226 |
| 17.2.128 50.104248 14.428241 |
| 17.2.129 50.104248 14.428258 |
| 17.2.130 50.104250 14.428275 |
| 17.2.131 50.104251 14.428290 |
| 17.2.132 50.104253 14.428303 |
| 17.2.133 50.104255 14.428318 |
| 17.2.134 50.104256 14.428333 |
| 17.2.135 50.104258 14.428346 |
| 17.2.136 50.104258 14.428360 |
| 17.2.137 50.104260 14.428375 |
| 17.2.138 50.104263 14.428388 |
| 17.2.139 50.104265 14.428400 |
| 17.2.140 50.104266 14.428415 |
| 17.2.141 50.104268 14.428430 |
| 17.2.142 50.104268 14.428443 |
| 17.2.143 50.104270 14.428455 |
| end_lane |
| end_segment |
| segment 18 |
| num_lanes 2 |
| segment_name T |
| lane 18.1 |
| num_waypoints 41 |
| checkpoint 18.1.20 35 |
| exit 18.1.41 17.1.1 |
| 18.1.1 50.104648 14.428108 |
| 18.1.2 50.104640 14.428113 |
| 18.1.3 50.104630 14.428118 |
| 18.1.4 50.104620 14.428123 |
| 18.1.5 50.104610 14.428126 |
| 18.1.6 50.104600 14.428131 |
| 18.1.7 50.104591 14.428140 |
| 18.1.8 50.104583 14.428150 |
| 18.1.9 50.104573 14.428158 |
| 18.1.10 50.104563 14.428165 |
| 18.1.11 50.104555 14.428173 |
| 18.1.12 50.104543 14.428180 |
| 18.1.13 50.104535 14.428188 |
| 18.1.14 50.104526 14.428196 |
| 18.1.15 50.104518 14.428206 |
| 18.1.16 50.104510 14.428215 |
| 18.1.17 50.104500 14.428225 |
| 18.1.18 50.104493 14.428235 |
| 18.1.19 50.104485 14.428243 |
| 18.1.20 50.104476 14.428253 |
| 18.1.21 50.104466 14.428261 |
| 18.1.22 50.104456 14.428273 |
| 18.1.23 50.104446 14.428286 |
| 18.1.24 50.104438 14.428298 |
| 18.1.25 50.104428 14.428310 |
| 18.1.26 50.104420 14.428320 |
| 18.1.27 50.104411 14.428330 |
| 18.1.28 50.104403 14.428341 |
| 18.1.29 50.104395 14.428353 |
| 18.1.30 50.104386 14.428365 |
| 18.1.31 50.104378 14.428376 |
| 18.1.32 50.104370 14.428388 |
| 18.1.33 50.104361 14.428398 |
| 18.1.34 50.104351 14.428408 |
| 18.1.35 50.104341 14.428418 |
| 18.1.36 50.104333 14.428426 |
| 18.1.37 50.104323 14.428435 |
| 18.1.38 50.104315 14.428441 |
| 18.1.39 50.104308 14.428448 |
| 18.1.40 50.104300 14.428458 |
| 18.1.41 50.104293 14.428468 |
| end_lane |
| lane 18.2 |
| num_waypoints 41 |
| checkpoint 18.2.20 36 |
| exit 18.2.41 19.1.1 |
| exit 18.2.41 20.2.1 |
| 18.2.1 50.104293 14.428468 |
| 18.2.2 50.104300 14.428458 |
| 18.2.3 50.104308 14.428448 |
| 18.2.4 50.104315 14.428441 |
| 18.2.5 50.104323 14.428435 |
| 18.2.6 50.104333 14.428426 |
| 18.2.7 50.104341 14.428418 |
| 18.2.8 50.104351 14.428408 |
| 18.2.9 50.104361 14.428398 |
| 18.2.10 50.104370 14.428388 |
| 18.2.11 50.104378 14.428376 |
| 18.2.12 50.104386 14.428365 |
| 18.2.13 50.104395 14.428353 |
| 18.2.14 50.104403 14.428341 |
| 18.2.15 50.104411 14.428330 |
| 18.2.16 50.104420 14.428320 |
| 18.2.17 50.104428 14.428310 |
| 18.2.18 50.104438 14.428298 |
| 18.2.19 50.104446 14.428286 |
| 18.2.20 50.104456 14.428273 |
| 18.2.21 50.104466 14.428261 |
| 18.2.22 50.104476 14.428253 |
| 18.2.23 50.104485 14.428243 |
| 18.2.24 50.104493 14.428235 |
| 18.2.25 50.104500 14.428225 |
| 18.2.26 50.104510 14.428215 |
| 18.2.27 50.104518 14.428206 |
| 18.2.28 50.104526 14.428196 |
| 18.2.29 50.104535 14.428188 |
| 18.2.30 50.104543 14.428180 |
| 18.2.31 50.104555 14.428173 |
| 18.2.32 50.104563 14.428165 |
| 18.2.33 50.104573 14.428158 |
| 18.2.34 50.104583 14.428150 |
| 18.2.35 50.104591 14.428140 |
| 18.2.36 50.104600 14.428131 |
| 18.2.37 50.104610 14.428126 |
| 18.2.38 50.104620 14.428123 |
| 18.2.39 50.104630 14.428118 |
| 18.2.40 50.104640 14.428113 |
| 18.2.41 50.104648 14.428108 |
| end_lane |
| end_segment |
| segment 19 |
| num_lanes 2 |
| segment_name U |
| lane 19.1 |
| num_waypoints 65 |
| checkpoint 19.1.32 37 |
| exit 19.1.65 13.2.1 |
| exit 19.1.65 14.1.1 |
| exit 19.1.65 22.1.1 |
| 19.1.1 50.104701 14.428131 |
| 19.1.2 50.104708 14.428121 |
| 19.1.3 50.104713 14.428106 |
| 19.1.4 50.104720 14.428090 |
| 19.1.5 50.104728 14.428071 |
| 19.1.6 50.104733 14.428053 |
| 19.1.7 50.104741 14.428038 |
| 19.1.8 50.104746 14.428020 |
| 19.1.9 50.104751 14.427996 |
| 19.1.10 50.104756 14.427978 |
| 19.1.11 50.104763 14.427965 |
| 19.1.12 50.104768 14.427950 |
| 19.1.13 50.104775 14.427928 |
| 19.1.14 50.104780 14.427906 |
| 19.1.15 50.104785 14.427886 |
| 19.1.16 50.104791 14.427871 |
| 19.1.17 50.104796 14.427851 |
| 19.1.18 50.104803 14.427831 |
| 19.1.19 50.104808 14.427813 |
| 19.1.20 50.104813 14.427793 |
| 19.1.21 50.104818 14.427775 |
| 19.1.22 50.104823 14.427755 |
| 19.1.23 50.104831 14.427738 |
| 19.1.24 50.104838 14.427720 |
| 19.1.25 50.104843 14.427700 |
| 19.1.26 50.104851 14.427683 |
| 19.1.27 50.104856 14.427663 |
| 19.1.28 50.104863 14.427645 |
| 19.1.29 50.104871 14.427626 |
| 19.1.30 50.104876 14.427610 |
| 19.1.31 50.104883 14.427590 |
| 19.1.32 50.104890 14.427570 |
| 19.1.33 50.104895 14.427551 |
| 19.1.34 50.104900 14.427531 |
| 19.1.35 50.104901 14.427510 |
| 19.1.36 50.104906 14.427490 |
| 19.1.37 50.104911 14.427471 |
| 19.1.38 50.104918 14.427453 |
| 19.1.39 50.104925 14.427435 |
| 19.1.40 50.104931 14.427416 |
| 19.1.41 50.104936 14.427396 |
| 19.1.42 50.104938 14.427375 |
| 19.1.43 50.104940 14.427355 |
| 19.1.44 50.104945 14.427338 |
| 19.1.45 50.104950 14.427321 |
| 19.1.46 50.104953 14.427303 |
| 19.1.47 50.104956 14.427285 |
| 19.1.48 50.104963 14.427270 |
| 19.1.49 50.104970 14.427253 |
| 19.1.50 50.104973 14.427236 |
| 19.1.51 50.104978 14.427220 |
| 19.1.52 50.104980 14.427201 |
| 19.1.53 50.104981 14.427183 |
| 19.1.54 50.104981 14.427161 |
| 19.1.55 50.104985 14.427145 |
| 19.1.56 50.104986 14.427130 |
| 19.1.57 50.104990 14.427113 |
| 19.1.58 50.104991 14.427095 |
| 19.1.59 50.104993 14.427076 |
| 19.1.60 50.104995 14.427056 |
| 19.1.61 50.104996 14.427036 |
| 19.1.62 50.105000 14.427013 |
| 19.1.63 50.105003 14.426995 |
| 19.1.64 50.105003 14.426976 |
| 19.1.65 50.105006 14.426961 |
| end_lane |
| lane 19.2 |
| num_waypoints 65 |
| checkpoint 19.2.32 38 |
| exit 19.2.65 18.1.1 |
| exit 19.2.65 20.2.1 |
| 19.2.1 50.105006 14.426961 |
| 19.2.2 50.105003 14.426976 |
| 19.2.3 50.105003 14.426995 |
| 19.2.4 50.105000 14.427013 |
| 19.2.5 50.104996 14.427036 |
| 19.2.6 50.104995 14.427056 |
| 19.2.7 50.104993 14.427076 |
| 19.2.8 50.104991 14.427095 |
| 19.2.9 50.104990 14.427113 |
| 19.2.10 50.104986 14.427130 |
| 19.2.11 50.104985 14.427145 |
| 19.2.12 50.104981 14.427161 |
| 19.2.13 50.104981 14.427183 |
| 19.2.14 50.104980 14.427201 |
| 19.2.15 50.104978 14.427220 |
| 19.2.16 50.104973 14.427236 |
| 19.2.17 50.104970 14.427253 |
| 19.2.18 50.104963 14.427270 |
| 19.2.19 50.104956 14.427285 |
| 19.2.20 50.104953 14.427303 |
| 19.2.21 50.104950 14.427321 |
| 19.2.22 50.104945 14.427338 |
| 19.2.23 50.104940 14.427355 |
| 19.2.24 50.104938 14.427375 |
| 19.2.25 50.104936 14.427396 |
| 19.2.26 50.104931 14.427416 |
| 19.2.27 50.104925 14.427435 |
| 19.2.28 50.104918 14.427453 |
| 19.2.29 50.104911 14.427471 |
| 19.2.30 50.104906 14.427490 |
| 19.2.31 50.104901 14.427510 |
| 19.2.32 50.104900 14.427531 |
| 19.2.33 50.104895 14.427551 |
| 19.2.34 50.104890 14.427570 |
| 19.2.35 50.104883 14.427590 |
| 19.2.36 50.104876 14.427610 |
| 19.2.37 50.104871 14.427626 |
| 19.2.38 50.104863 14.427645 |
| 19.2.39 50.104856 14.427663 |
| 19.2.40 50.104851 14.427683 |
| 19.2.41 50.104843 14.427700 |
| 19.2.42 50.104838 14.427720 |
| 19.2.43 50.104831 14.427738 |
| 19.2.44 50.104823 14.427755 |
| 19.2.45 50.104818 14.427775 |
| 19.2.46 50.104813 14.427793 |
| 19.2.47 50.104808 14.427813 |
| 19.2.48 50.104803 14.427831 |
| 19.2.49 50.104796 14.427851 |
| 19.2.50 50.104791 14.427871 |
| 19.2.51 50.104785 14.427886 |
| 19.2.52 50.104780 14.427906 |
| 19.2.53 50.104775 14.427928 |
| 19.2.54 50.104768 14.427950 |
| 19.2.55 50.104763 14.427965 |
| 19.2.56 50.104756 14.427978 |
| 19.2.57 50.104751 14.427996 |
| 19.2.58 50.104746 14.428020 |
| 19.2.59 50.104741 14.428038 |
| 19.2.60 50.104733 14.428053 |
| 19.2.61 50.104728 14.428071 |
| 19.2.62 50.104720 14.428090 |
| 19.2.63 50.104713 14.428106 |
| 19.2.64 50.104708 14.428121 |
| 19.2.65 50.104701 14.428131 |
| end_lane |
| end_segment |
| segment 20 |
| num_lanes 2 |
| segment_name V |
| lane 20.1 |
| num_waypoints 49 |
| checkpoint 20.1.24 39 |
| exit 20.1.49 18.1.1 |
| exit 20.1.49 19.1.1 |
| 20.1.1 50.105193 14.428016 |
| 20.1.2 50.105183 14.428021 |
| 20.1.3 50.105173 14.428026 |
| 20.1.4 50.105161 14.428031 |
| 20.1.5 50.105150 14.428035 |
| 20.1.6 50.105140 14.428038 |
| 20.1.7 50.105128 14.428041 |
| 20.1.8 50.105118 14.428045 |
| 20.1.9 50.105106 14.428046 |
| 20.1.10 50.105095 14.428048 |
| 20.1.11 50.105083 14.428051 |
| 20.1.12 50.105073 14.428055 |
| 20.1.13 50.105061 14.428056 |
| 20.1.14 50.105050 14.428058 |
| 20.1.15 50.105040 14.428060 |
| 20.1.16 50.105030 14.428061 |
| 20.1.17 50.105020 14.428065 |
| 20.1.18 50.105008 14.428066 |
| 20.1.19 50.104996 14.428068 |
| 20.1.20 50.104985 14.428068 |
| 20.1.21 50.104973 14.428071 |
| 20.1.22 50.104963 14.428075 |
| 20.1.23 50.104953 14.428075 |
| 20.1.24 50.104941 14.428075 |
| 20.1.25 50.104930 14.428075 |
| 20.1.26 50.104918 14.428070 |
| 20.1.27 50.104906 14.428066 |
| 20.1.28 50.104896 14.428065 |
| 20.1.29 50.104883 14.428065 |
| 20.1.30 50.104873 14.428066 |
| 20.1.31 50.104861 14.428065 |
| 20.1.32 50.104851 14.428063 |
| 20.1.33 50.104841 14.428063 |
| 20.1.34 50.104831 14.428063 |
| 20.1.35 50.104821 14.428063 |
| 20.1.36 50.104811 14.428063 |
| 20.1.37 50.104800 14.428063 |
| 20.1.38 50.104788 14.428061 |
| 20.1.39 50.104778 14.428060 |
| 20.1.40 50.104766 14.428060 |
| 20.1.41 50.104756 14.428058 |
| 20.1.42 50.104746 14.428060 |
| 20.1.43 50.104735 14.428060 |
| 20.1.44 50.104726 14.428058 |
| 20.1.45 50.104718 14.428058 |
| 20.1.46 50.104710 14.428060 |
| 20.1.47 50.104700 14.428061 |
| 20.1.48 50.104691 14.428060 |
| 20.1.49 50.104683 14.428060 |
| end_lane |
| lane 20.2 |
| num_waypoints 49 |
| checkpoint 20.2.24 40 |
| exit 20.2.49 1.1.1 |
| exit 20.2.49 21.2.1 |
| 20.2.1 50.104683 14.428060 |
| 20.2.2 50.104691 14.428060 |
| 20.2.3 50.104700 14.428061 |
| 20.2.4 50.104710 14.428060 |
| 20.2.5 50.104718 14.428058 |
| 20.2.6 50.104726 14.428058 |
| 20.2.7 50.104735 14.428060 |
| 20.2.8 50.104746 14.428060 |
| 20.2.9 50.104756 14.428058 |
| 20.2.10 50.104766 14.428060 |
| 20.2.11 50.104778 14.428060 |
| 20.2.12 50.104788 14.428061 |
| 20.2.13 50.104800 14.428063 |
| 20.2.14 50.104811 14.428063 |
| 20.2.15 50.104821 14.428063 |
| 20.2.16 50.104831 14.428063 |
| 20.2.17 50.104841 14.428063 |
| 20.2.18 50.104851 14.428063 |
| 20.2.19 50.104861 14.428065 |
| 20.2.20 50.104873 14.428066 |
| 20.2.21 50.104883 14.428065 |
| 20.2.22 50.104896 14.428065 |
| 20.2.23 50.104906 14.428066 |
| 20.2.24 50.104918 14.428070 |
| 20.2.25 50.104930 14.428075 |
| 20.2.26 50.104941 14.428075 |
| 20.2.27 50.104953 14.428075 |
| 20.2.28 50.104963 14.428075 |
| 20.2.29 50.104973 14.428071 |
| 20.2.30 50.104985 14.428068 |
| 20.2.31 50.104996 14.428068 |
| 20.2.32 50.105008 14.428066 |
| 20.2.33 50.105020 14.428065 |
| 20.2.34 50.105030 14.428061 |
| 20.2.35 50.105040 14.428060 |
| 20.2.36 50.105050 14.428058 |
| 20.2.37 50.105061 14.428056 |
| 20.2.38 50.105073 14.428055 |
| 20.2.39 50.105083 14.428051 |
| 20.2.40 50.105095 14.428048 |
| 20.2.41 50.105106 14.428046 |
| 20.2.42 50.105118 14.428045 |
| 20.2.43 50.105128 14.428041 |
| 20.2.44 50.105140 14.428038 |
| 20.2.45 50.105150 14.428035 |
| 20.2.46 50.105161 14.428031 |
| 20.2.47 50.105173 14.428026 |
| 20.2.48 50.105183 14.428021 |
| 20.2.49 50.105193 14.428016 |
| end_lane |
| end_segment |
| segment 21 |
| num_lanes 2 |
| segment_name W |
| lane 21.1 |
| num_waypoints 56 |
| checkpoint 21.1.28 41 |
| exit 21.1.56 1.1.1 |
| exit 21.1.56 20.1.1 |
| 21.1.1 50.105228 14.427126 |
| 21.1.2 50.105226 14.427141 |
| 21.1.3 50.105223 14.427158 |
| 21.1.4 50.105221 14.427173 |
| 21.1.5 50.105218 14.427190 |
| 21.1.6 50.105215 14.427206 |
| 21.1.7 50.105211 14.427220 |
| 21.1.8 50.105206 14.427235 |
| 21.1.9 50.105200 14.427251 |
| 21.1.10 50.105193 14.427270 |
| 21.1.11 50.105186 14.427286 |
| 21.1.12 50.105181 14.427301 |
| 21.1.13 50.105176 14.427318 |
| 21.1.14 50.105173 14.427333 |
| 21.1.15 50.105170 14.427346 |
| 21.1.16 50.105165 14.427360 |
| 21.1.17 50.105160 14.427376 |
| 21.1.18 50.105155 14.427393 |
| 21.1.19 50.105150 14.427405 |
| 21.1.20 50.105145 14.427418 |
| 21.1.21 50.105140 14.427430 |
| 21.1.22 50.105135 14.427443 |
| 21.1.23 50.105130 14.427458 |
| 21.1.24 50.105125 14.427470 |
| 21.1.25 50.105123 14.427481 |
| 21.1.26 50.105123 14.427493 |
| 21.1.27 50.105123 14.427508 |
| 21.1.28 50.105123 14.427526 |
| 21.1.29 50.105125 14.427541 |
| 21.1.30 50.105126 14.427558 |
| 21.1.31 50.105130 14.427575 |
| 21.1.32 50.105131 14.427593 |
| 21.1.33 50.105133 14.427610 |
| 21.1.34 50.105135 14.427626 |
| 21.1.35 50.105136 14.427641 |
| 21.1.36 50.105140 14.427658 |
| 21.1.37 50.105141 14.427675 |
| 21.1.38 50.105146 14.427690 |
| 21.1.39 50.105150 14.427706 |
| 21.1.40 50.105151 14.427726 |
| 21.1.41 50.105155 14.427743 |
| 21.1.42 50.105158 14.427758 |
| 21.1.43 50.105161 14.427776 |
| 21.1.44 50.105165 14.427793 |
| 21.1.45 50.105170 14.427810 |
| 21.1.46 50.105176 14.427825 |
| 21.1.47 50.105181 14.427840 |
| 21.1.48 50.105186 14.427855 |
| 21.1.49 50.105191 14.427870 |
| 21.1.50 50.105196 14.427885 |
| 21.1.51 50.105203 14.427898 |
| 21.1.52 50.105210 14.427911 |
| 21.1.53 50.105216 14.427926 |
| 21.1.54 50.105221 14.427941 |
| 21.1.55 50.105228 14.427955 |
| 21.1.56 50.105233 14.427968 |
| end_lane |
| lane 21.2 |
| num_waypoints 56 |
| checkpoint 21.2.28 42 |
| exit 21.2.56 3.2.1 |
| exit 21.2.56 8.2.1 |
| exit 21.2.56 14.2.1 |
| 21.2.1 50.105233 14.427968 |
| 21.2.2 50.105228 14.427955 |
| 21.2.3 50.105221 14.427941 |
| 21.2.4 50.105216 14.427926 |
| 21.2.5 50.105210 14.427911 |
| 21.2.6 50.105203 14.427898 |
| 21.2.7 50.105196 14.427885 |
| 21.2.8 50.105191 14.427870 |
| 21.2.9 50.105186 14.427855 |
| 21.2.10 50.105181 14.427840 |
| 21.2.11 50.105176 14.427825 |
| 21.2.12 50.105170 14.427810 |
| 21.2.13 50.105165 14.427793 |
| 21.2.14 50.105161 14.427776 |
| 21.2.15 50.105158 14.427758 |
| 21.2.16 50.105155 14.427743 |
| 21.2.17 50.105151 14.427726 |
| 21.2.18 50.105150 14.427706 |
| 21.2.19 50.105146 14.427690 |
| 21.2.20 50.105141 14.427675 |
| 21.2.21 50.105140 14.427658 |
| 21.2.22 50.105136 14.427641 |
| 21.2.23 50.105135 14.427626 |
| 21.2.24 50.105133 14.427610 |
| 21.2.25 50.105131 14.427593 |
| 21.2.26 50.105130 14.427575 |
| 21.2.27 50.105126 14.427558 |
| 21.2.28 50.105125 14.427541 |
| 21.2.29 50.105123 14.427526 |
| 21.2.30 50.105123 14.427508 |
| 21.2.31 50.105123 14.427493 |
| 21.2.32 50.105123 14.427481 |
| 21.2.33 50.105125 14.427470 |
| 21.2.34 50.105130 14.427458 |
| 21.2.35 50.105135 14.427443 |
| 21.2.36 50.105140 14.427430 |
| 21.2.37 50.105145 14.427418 |
| 21.2.38 50.105150 14.427405 |
| 21.2.39 50.105155 14.427393 |
| 21.2.40 50.105160 14.427376 |
| 21.2.41 50.105165 14.427360 |
| 21.2.42 50.105170 14.427346 |
| 21.2.43 50.105173 14.427333 |
| 21.2.44 50.105176 14.427318 |
| 21.2.45 50.105181 14.427301 |
| 21.2.46 50.105186 14.427286 |
| 21.2.47 50.105193 14.427270 |
| 21.2.48 50.105200 14.427251 |
| 21.2.49 50.105206 14.427235 |
| 21.2.50 50.105211 14.427220 |
| 21.2.51 50.105215 14.427206 |
| 21.2.52 50.105218 14.427190 |
| 21.2.53 50.105221 14.427173 |
| 21.2.54 50.105223 14.427158 |
| 21.2.55 50.105226 14.427141 |
| 21.2.56 50.105228 14.427126 |
| end_lane |
| end_segment |
| segment 22 |
| num_lanes 2 |
| segment_name R |
| lane 22.1 |
| num_waypoints 64 |
| checkpoint 22.1.32 43 |
| exit 22.1.64 16.2.1 |
| exit 22.1.64 17.2.1 |
| 22.1.1 50.104991 14.426938 |
| 22.1.2 50.104991 14.426930 |
| 22.1.3 50.104990 14.426913 |
| 22.1.4 50.104985 14.426890 |
| 22.1.5 50.104975 14.426866 |
| 22.1.6 50.104963 14.426845 |
| 22.1.7 50.104951 14.426825 |
| 22.1.8 50.104938 14.426808 |
| 22.1.9 50.104926 14.426795 |
| 22.1.10 50.104915 14.426781 |
| 22.1.11 50.104906 14.426768 |
| 22.1.12 50.104898 14.426756 |
| 22.1.13 50.104890 14.426743 |
| 22.1.14 50.104881 14.426730 |
| 22.1.15 50.104871 14.426716 |
| 22.1.16 50.104863 14.426703 |
| 22.1.17 50.104856 14.426691 |
| 22.1.18 50.104846 14.426680 |
| 22.1.19 50.104838 14.426666 |
| 22.1.20 50.104830 14.426655 |
| 22.1.21 50.104823 14.426643 |
| 22.1.22 50.104816 14.426631 |
| 22.1.23 50.104815 14.426625 |
| 22.1.24 50.104808 14.426613 |
| 22.1.25 50.104800 14.426600 |
| 22.1.26 50.104791 14.426586 |
| 22.1.27 50.104785 14.426576 |
| 22.1.28 50.104778 14.426563 |
| 22.1.29 50.104771 14.426551 |
| 22.1.30 50.104766 14.426543 |
| 22.1.31 50.104760 14.426533 |
| 22.1.32 50.104753 14.426523 |
| 22.1.33 50.104746 14.426513 |
| 22.1.34 50.104741 14.426503 |
| 22.1.35 50.104735 14.426491 |
| 22.1.36 50.104726 14.426481 |
| 22.1.37 50.104721 14.426470 |
| 22.1.38 50.104715 14.426456 |
| 22.1.39 50.104708 14.426443 |
| 22.1.40 50.104703 14.426430 |
| 22.1.41 50.104698 14.426418 |
| 22.1.42 50.104695 14.426406 |
| 22.1.43 50.104691 14.426393 |
| 22.1.44 50.104686 14.426380 |
| 22.1.45 50.104683 14.426366 |
| 22.1.46 50.104680 14.426353 |
| 22.1.47 50.104676 14.426336 |
| 22.1.48 50.104673 14.426323 |
| 22.1.49 50.104670 14.426308 |
| 22.1.50 50.104666 14.426293 |
| 22.1.51 50.104661 14.426278 |
| 22.1.52 50.104658 14.426263 |
| 22.1.53 50.104658 14.426248 |
| 22.1.54 50.104651 14.426230 |
| 22.1.55 50.104648 14.426213 |
| 22.1.56 50.104646 14.426196 |
| 22.1.57 50.104645 14.426180 |
| 22.1.58 50.104641 14.426163 |
| 22.1.59 50.104636 14.426148 |
| 22.1.60 50.104635 14.426133 |
| 22.1.61 50.104631 14.426118 |
| 22.1.62 50.104630 14.426103 |
| 22.1.63 50.104625 14.426086 |
| 22.1.64 50.104621 14.426073 |
| end_lane |
| lane 22.2 |
| num_waypoints 64 |
| checkpoint 22.2.32 44 |
| exit 22.2.64 13.2.1 |
| exit 22.2.64 14.1.1 |
| exit 22.2.64 19.2.1 |
| 22.2.1 50.104621 14.426073 |
| 22.2.2 50.104625 14.426086 |
| 22.2.3 50.104630 14.426103 |
| 22.2.4 50.104631 14.426118 |
| 22.2.5 50.104635 14.426133 |
| 22.2.6 50.104636 14.426148 |
| 22.2.7 50.104641 14.426163 |
| 22.2.8 50.104645 14.426180 |
| 22.2.9 50.104646 14.426196 |
| 22.2.10 50.104648 14.426213 |
| 22.2.11 50.104651 14.426230 |
| 22.2.12 50.104658 14.426248 |
| 22.2.13 50.104658 14.426263 |
| 22.2.14 50.104661 14.426278 |
| 22.2.15 50.104666 14.426293 |
| 22.2.16 50.104670 14.426308 |
| 22.2.17 50.104673 14.426323 |
| 22.2.18 50.104676 14.426336 |
| 22.2.19 50.104680 14.426353 |
| 22.2.20 50.104683 14.426366 |
| 22.2.21 50.104686 14.426380 |
| 22.2.22 50.104691 14.426393 |
| 22.2.23 50.104695 14.426406 |
| 22.2.24 50.104698 14.426418 |
| 22.2.25 50.104703 14.426430 |
| 22.2.26 50.104708 14.426443 |
| 22.2.27 50.104715 14.426456 |
| 22.2.28 50.104721 14.426470 |
| 22.2.29 50.104726 14.426481 |
| 22.2.30 50.104735 14.426491 |
| 22.2.31 50.104741 14.426503 |
| 22.2.32 50.104746 14.426513 |
| 22.2.33 50.104753 14.426523 |
| 22.2.34 50.104760 14.426533 |
| 22.2.35 50.104766 14.426543 |
| 22.2.36 50.104771 14.426551 |
| 22.2.37 50.104778 14.426563 |
| 22.2.38 50.104785 14.426576 |
| 22.2.39 50.104791 14.426586 |
| 22.2.40 50.104800 14.426600 |
| 22.2.41 50.104808 14.426613 |
| 22.2.42 50.104815 14.426625 |
| 22.2.43 50.104816 14.426631 |
| 22.2.44 50.104823 14.426643 |
| 22.2.45 50.104830 14.426655 |
| 22.2.46 50.104838 14.426666 |
| 22.2.47 50.104846 14.426680 |
| 22.2.48 50.104856 14.426691 |
| 22.2.49 50.104863 14.426703 |
| 22.2.50 50.104871 14.426716 |
| 22.2.51 50.104881 14.426730 |
| 22.2.52 50.104890 14.426743 |
| 22.2.53 50.104898 14.426756 |
| 22.2.54 50.104906 14.426768 |
| 22.2.55 50.104915 14.426781 |
| 22.2.56 50.104926 14.426795 |
| 22.2.57 50.104938 14.426808 |
| 22.2.58 50.104951 14.426825 |
| 22.2.59 50.104963 14.426845 |
| 22.2.60 50.104975 14.426866 |
| 22.2.61 50.104985 14.426890 |
| 22.2.62 50.104990 14.426913 |
| 22.2.63 50.104991 14.426930 |
| 22.2.64 50.104991 14.426938 |
| end_lane |
| end_segment |
| end_file |
| /roboti/Robotour/SW/RNDF_MDF_parser/rndf_parser.cpp |
|---|
| 0,0 → 1,95 |
| /* |
| * Trida RNDFParser poskytuje metody ke zpracovani textoveho souboru ve |
| * formatu RNDF definovaneho v soutezi Rotobour 2007 |
| * |
| * @author: Vasco |
| * @date: Sat, 21 Jul 2007 15:56:28 +0200 |
| * @version: 0.0.0 |
| * |
| */ |
| #include <iostream> |
| #include <string> |
| #include <map> |
| #include <vector> |
| #include <cctype> |
| #ifdef DBG |
| // vypisuje ladici hlaseni |
| #include "rndf_dbg.cpp" |
| #endif |
| class RNDFParser { |
| private: |
| std::string rndfname; |
| protected: |
| /* funkce vezme retezec a rozlozi jej na slova, vraci vector<std::string> */ |
| std::vector<std::string> toWord(const std::string& veta); |
| public: |
| RNDFParser(std::string name) { rndfname = name; } // konstruktor, ulozi jmeno souboru |
| std::string rndfName() { return rndfname; } // vrati jmeno zpracovavaneho souboru |
| std::map<double, double> parseSegment(int numSegment); // rozparsuje zadany segment cesty |
| }; |
| /** |
| * @param veta retezec, ktery chceme rozlozit na slova |
| * |
| * Metoda vezme vstupni retezec a rozlozi jej na slova. Slovo zacina a konci libovolnym poctem |
| * bilych znaku, veta konci s koncem retezce. Vysledna slova jsou ukladana do vector<string>, |
| * ktery je nasledne vracen volajicimu. |
| */ |
| std::vector<std::string> RNDFParser::toWord(const std::string& veta) { |
| // definice vlastnich typu |
| typedef std::string::size_type vel_vety; // velikost retezce |
| // mistni promnene |
| std::vector<std::string> slova; // sem se budou ukladat slova |
| vel_vety i = 0; // velikost zadane vety |
| #ifdef DBG |
| // pro kontrolu vypiseme vetu |
| echoDbg(veta); |
| #endif |
| // dokud nedojdeme na konec retezce |
| while(i != veta.size()) { |
| // jsou na zacatku mezery? preskoc je |
| while(i != veta.size() && std::isspace(veta[i])) |
| i++; |
| // uloz pozici zacatku slova |
| vel_vety j = i; // pomocny ukazatel v retezci |
| // slovo, dokud nenarazime na dalsi mezeru |
| while(j != veta.size() && !(std::isspace(veta[j]))) |
| j++; |
| // pokud se ve vete vyskytovaly slova |
| if(i != j) { |
| // vloz slovo do vectoru |
| slova.push_back(veta.substr(i, j - i)); |
| // opet ulozime pozici a jdem na dalsi slovo |
| i = j; |
| } |
| } //end while |
| return slova; |
| } |
| /* funkce main je jen pro testovaci ucely, prelozi se pouze s definovanym makrem 'DBG' */ |
| #ifdef DBG |
| int main(void) { |
| std::cout << "PARSER:\tvypisuji RNDF soubor:" << std::endl; |
| RNDFParser parser("RNDF_stromovka.txt"); |
| std::cout << "PARSER:\tJmeno souboru je " << parser.rndfName() << std::endl; |
| return 0; |
| } |
| #endif |
| /roboti/istrobot/camerus/SW/873/bak/camerus.c |
|---|
| 0,0 → 1,66 |
| #include ".\camerus.h" |
| void main() |
| { |
| setup_adc_ports(NO_ANALOGS); |
| setup_adc(ADC_OFF); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| output_high(PIN_C0); |
| i2c_start(); // Reset |
| i2c_write(0xC0); |
| i2c_write(0x12); |
| i2c_write(0x80 | 0x24); |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(0xC0); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| i2c_start(); // Contrast |
| i2c_write(0xC0); |
| i2c_write(0x05); |
| i2c_write(0xFF); |
| i2c_stop(); |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(0x80); |
| i2c_stop(); |
| /* |
| i2c_start(); // Band Filter |
| i2c_write(0xC0); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| i2c_start(); // 4-bit, (CLK/4) |
| i2c_write(0xC0); |
| i2c_write(0x3E); |
| i2c_write(0x10 | 0x80); |
| i2c_stop(); |
| */ |
| i2c_start(); // VSTRT |
| i2c_write(0xC0); |
| i2c_write(0x19); |
| i2c_write(45); |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(0xC0); |
| i2c_write(0x1A); |
| i2c_write(45); |
| i2c_stop(); |
| output_low(PIN_C0); |
| while(true); |
| } |
| /roboti/istrobot/camerus/SW/873/objizdka_L.c |
|---|
| 0,0 → 1,163 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| cihla: |
| rr=20; |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(150); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| set_pwm1_duty(0); |
| set_pwm2_duty(200); |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| while(true) |
| { |
| if(!input(IRRX)) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+20)) cas-=20; |
| } |
| else |
| { |
| if(cas<(CASMAX-20)) cas+=20; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) disp(0xC0); |
| if(touch==R_TOUCH) disp(0x03); |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| }; |
| disp(0xC3); |
| set_pwm1_duty(20); |
| set_pwm2_duty(200); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /* |
| set_pwm1_duty(0); // vypni motory |
| set_pwm2_duty(0); |
| SetServo(CASAVR-CASMIN); // doprostred |
| set_pwm1_duty(255); // max. vpred |
| set_pwm2_duty(255); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while(get_timer1()<(odocounter+2)) // Ujed kousek |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| }; |
| */ |
| /roboti/istrobot/camerus/SW/873/camerus.PJT |
|---|
| 0,0 → 1,55 |
| [PROJECT] |
| Target=camerus.HEX |
| Development_Mode= |
| Processor=0x873A |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [camerus.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=camerus.c |
| [Windows] |
| 0=0000 camerus.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.c |
| 2=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.h |
| 3=C:\Program Files\PICC\devices\16F873A.h |
| 4= |
| [debugperif] |
| selected=Analog/Digital Conv |
| [debugram] |
| autoread=1 |
| [debugeedata] |
| autoread=1 |
| [debugbreak] |
| count=0 |
| [pcwdebug] |
| watchcol0=75 |
| [debugwatch] |
| count=0 |
| [debugexpr] |
| expr= |
| sideeffects=0 |
| [Units] |
| Count=1 |
| 1=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.c (main) |
| /roboti/istrobot/camerus/SW/873/camerus.c |
|---|
| 0,0 → 1,512 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 229 2007-04-09 11:41:19Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX PIN_B0 // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| //int8 pole_h[0x40]; |
| int8 pole_l[0x40]; |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (x & 1 == 1) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<14; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (!input(IRRX)) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| delay_ms(10); |
| if (input(IRRX)) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if(stav==jizda) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| } |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Aby se poznalo, ze byl RESET |
| // taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| /* |
| for(cas=0;cas<=0x3F;cas++) |
| { |
| pole_h[cas]=0x80|cas; |
| pole_l[cas]=cas; |
| } |
| for(cas=0;cas<=0x7F;cas+=2) |
| { |
| write_eeprom(cas,pole_h[cas/2]); |
| write_eeprom(cas+1,pole_l[cas/2]); |
| } |
| */ |
| while(true) |
| { |
| output_high(PIN_B0); |
| delay_ms(200); |
| output_low(PIN_B0); |
| delay_ms(200); |
| } |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(0xE0); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE0); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| // pro ladeni sonaru |
| /* |
| while(true) |
| { |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| cas=i2c_read(0); |
| i2c_stop(); |
| disp(cas); |
| } |
| */ |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(0xC0); // Pro single slave musi mit vsechny zapisy adresu C0h |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(0xC0); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(0xC0); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(0xC0); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(0xC0); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(0xC0); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(0xC0); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-31 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni !!! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- Critical |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 |
| /* Nerozumna rychlost po cihle |
| if ((stav==cihla)&&(get_timer1()>(odocounter+5))) // Snizime rychlost po ujeti |
| { |
| rr=rrold; |
| stav=pocihle; |
| }; |
| */ |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/873/camerus.h |
|---|
| 0,0 → 1,16 |
| #include <16F873A.h> |
| #device adc=8 |
| #FUSES NOWDT //No Watch Dog Timer |
| #FUSES HS //High speed Osc (> 4mhz) |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #use delay(clock=20000000) |
| #use i2c(Master,Fast,sda=PIN_C4,scl=PIN_C3,force_hw) |
| /roboti/istrobot/camerus/SW/873 |
|---|
| Property changes: |
| Added: svn:ignore |
| +*.bak |
| +*.BAK |
| +*.cof |
| +*.err |
| +*.hex |
| +*.lst |
| +*.sta |
| +*.sym |
| +*.tre |
| /roboti/istrobot/camerus/SW/diferencial.xls |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/camerus/SW/876/backup/camerus.c |
|---|
| 0,0 → 1,657 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x15 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xD0 |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF//0xB4 |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog() |
| { |
| int8 n,i,xlog; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| if(log>0) {xlog=log-1;} else {xlog=0;}; |
| write_eeprom(EEMAX,xlog); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 reason, int16 log_delay) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=reason; // Typ zaznamu |
| if(log<(MAXLOG-1)) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+log_delay; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| int16 ble; |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru |
| { |
| if((cas>(CASMIN+15))&&(cas<(CASMAX-15))) // Nebyla minule cara moc u kraje? |
| { |
| gap++; |
| if(gap>=3) // Trva preruseni cary alespon 2 snimky? |
| { |
| cas=CASAVR-CASMIN; |
| // disp(0xAA); |
| } |
| } |
| } |
| else |
| { |
| gap=0; |
| }; |
| /* |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=4) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| cas=CASAVR-CASMIN; |
| disp(0xAA); |
| } |
| gap=0; |
| }; |
| if(!input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0xDD,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| */ |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/backup/diag.c |
|---|
| 0,0 → 1,68 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| bb_f[0]=0; |
| write_eeprom(EEMAX,0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/backup/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| odocounter=get_timer1(); |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(255); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; // Indikator detekce cary pri objizdeni |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+30)) cas-=30; |
| } |
| else |
| { |
| if(cas<(CASMAX-30)) cas+=30; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/bak/camerus.c |
|---|
| 0,0 → 1,633 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 30 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xFFF |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog(int8 log) |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| write_eeprom(EEMAX,log); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 flag, int16 gap) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=flag; // Typ zaznamu |
| if(log<MAXLOG) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+gap; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=2) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| } |
| gap=0; |
| }; |
| if(input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/bak/diag.c |
|---|
| 0,0 → 1,67 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| SaveLog(0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/bak/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| touch=0; // Indikator detekce cary pri objizdeni |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(220); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(220); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+20)) cas-=20; |
| } |
| else |
| { |
| if(cas<(CASMAX-20)) cas+=20; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(20); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(250); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/bak2/camerus.c |
|---|
| 0,0 → 1,633 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 60 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xFFF |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog(int8 log) |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| write_eeprom(EEMAX,log); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 flag, int16 gap) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=flag; // Typ zaznamu |
| if(log<MAXLOG) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+gap; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=2) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| } |
| gap=0; |
| }; |
| if(input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/bak2/diag.c |
|---|
| 0,0 → 1,67 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| SaveLog(0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/bak2/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| odocounter=get_timer1(); |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(220); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; // Indikator detekce cary pri objizdeni |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+20)) cas-=20; |
| } |
| else |
| { |
| if(cas<(CASMAX-20)) cas+=20; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(20); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(250); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/camerus.c |
|---|
| 0,0 → 1,661 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id$" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x15 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_PROBLEM1 0xFFF |
| #define ODODO_PROBLEM2 0xFFF |
| #define ODODO_PROBLEM3 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| int16 odo_problem1, odo_problem2, odo_problem3; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog() |
| { |
| int8 n,i,xlog; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| if(log>0) {xlog=log-1;} else {xlog=0;}; |
| write_eeprom(EEMAX,xlog); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 reason, int16 log_delay) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=reason; // Typ zaznamu |
| if(log<(MAXLOG-1)) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+log_delay; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| int16 ble; |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_problem1=ODODO_PROBLEM1-BRZDNA_DRAHA; |
| odo_problem2=ODODO_PROBLEM2-BRZDNA_DRAHA; |
| odo_problem3=ODODO_PROBLEM3-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru |
| { |
| if((cas>(CASMIN+15))&&(cas<(CASMAX-15))) // Nebyla minule cara moc u kraje? |
| { |
| gap++; |
| if(gap>=3) // Trva preruseni cary alespon 2 snimky? |
| { |
| cas=CASAVR-CASMIN; |
| // disp(0xAA); |
| } |
| } |
| } |
| else |
| { |
| gap=0; |
| }; |
| /* |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=4) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| cas=CASAVR-CASMIN; |
| disp(0xAA); |
| } |
| gap=0; |
| }; |
| if(!input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0xDD,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| */ |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_problem1)&&(ododo<(odo_problem1+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_problem2)&&(ododo<(odo_problem2+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_problem3)&&(ododo<(odo_problem3+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| Property changes: |
| Added: svn:keywords |
| +Id Rev |
| \ No newline at end of property |
| /roboti/istrobot/camerus/SW/876/jiny_zapis_do_eeprom/camerus.c |
|---|
| 0,0 → 1,634 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xFFF |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog() |
| { |
| int8 n,i,xlog; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| if(log>0) {xlog=log-1;} else {xlog=0;}; |
| write_eeprom(EEMAX,xlog); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 reason, int16 log_delay) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=reason; // Typ zaznamu |
| if(log<(MAXLOG-1)) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+log_delay; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=2) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| } |
| gap=0; |
| }; |
| if(!input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0xDD,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/jiny_zapis_do_eeprom/diag.c |
|---|
| 0,0 → 1,68 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| bb_f[0]=0; |
| write_eeprom(EEMAX,0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/jiny_zapis_do_eeprom/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| odocounter=get_timer1(); |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(200); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; // Indikator detekce cary pri objizdeni |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+30)) cas-=30; |
| } |
| else |
| { |
| if(cas<(CASMAX-30)) cas+=30; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(240); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/pred_finale/camerus.c |
|---|
| 0,0 → 1,657 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x15 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xD0 |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF//0xB4 |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog() |
| { |
| int8 n,i,xlog; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| if(log>0) {xlog=log-1;} else {xlog=0;}; |
| write_eeprom(EEMAX,xlog); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 reason, int16 log_delay) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=reason; // Typ zaznamu |
| if(log<(MAXLOG-1)) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+log_delay; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| int16 ble; |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru |
| { |
| if((cas>(CASMIN+15))&&(cas<(CASMAX-15))) // Nebyla minule cara moc u kraje? |
| { |
| gap++; |
| if(gap>=3) // Trva preruseni cary alespon 2 snimky? |
| { |
| cas=CASAVR-CASMIN; |
| // disp(0xAA); |
| } |
| } |
| } |
| else |
| { |
| gap=0; |
| }; |
| /* |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=4) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| cas=CASAVR-CASMIN; |
| disp(0xAA); |
| } |
| gap=0; |
| }; |
| if(!input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0xDD,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| */ |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/pred_finale/diag.c |
|---|
| 0,0 → 1,68 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| bb_f[0]=0; |
| write_eeprom(EEMAX,0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/pred_finale/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| odocounter=get_timer1(); |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(255); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; // Indikator detekce cary pri objizdeni |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+30)) cas-=30; |
| } |
| else |
| { |
| if(cas<(CASMAX-30)) cas+=30; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/pred_soutezi_rano/camerus.c |
|---|
| 0,0 → 1,633 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xFFF |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog(int8 xlog) |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| write_eeprom(EEMAX,xlog); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 reason, int16 log_delay) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=reason; // Typ zaznamu |
| if(log<(MAXLOG-1)) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+log_delay; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=2) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| } |
| gap=0; |
| }; |
| if(!input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0xDD,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/pred_soutezi_rano/diag.c |
|---|
| 0,0 → 1,68 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| bb_f[0]=0; |
| SaveLog(0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/pred_soutezi_rano/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| odocounter=get_timer1(); |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(200); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; // Indikator detekce cary pri objizdeni |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+30)) cas-=30; |
| } |
| else |
| { |
| if(cas<(CASMAX-30)) cas+=30; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(240); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/robotchallenge/camerus.c |
|---|
| 0,0 → 1,456 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 214 2007-03-23 14:55:54Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_A4 // Ze snimace z odometrie z praveho kola / nove je to na RC0 na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX PIN_B0 // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define TRESHOLD 128 |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (x & 1 == 1) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<14; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| set_pwm1_duty(0); // zabrzdi |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (!input(IRRX)) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| delay_ms(10); |
| if (input(IRRX)) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| SetServo((CASAVR-CASMIN)); // rovne |
| delay_ms(100); |
| brzda(); |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if(stav==jizda) // Objed cihlu |
| { |
| #include ".\objizdka_R.c" |
| } |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Aby se poznalo, ze byl RESET |
| // taky se musi 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 |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(0xC0); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(0xC0); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(0xC0); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(0xC0); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(0xC0); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(0xC0); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-31 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni !!! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- Critical |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 |
| /* Nerozumna rychlost po cihle |
| if ((stav==cihla)&&(get_timer1()>(odocounter+5))) // Snizime rychlost po ujeti |
| { |
| rr=rrold; |
| stav=pocihle; |
| }; |
| */ |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<TRESHOLD) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<TRESHOLD) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/robotchallenge/objizdka_R.c |
|---|
| 0,0 → 1,167 |
| // **** Objeti cihly vpravo **** RRRR |
| int8 n,i; |
| int16 j; |
| set_adc_channel(RMAX); |
| SetServo(CASMIN); // max. doleva L |
| set_pwm1_duty(0); // vzad |
| set_pwm2_duty(0); |
| output_low(MOT_L); |
| output_high(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while(get_timer1()<(odocounter+8)); // Popojed definovanou vzdalenost |
| set_pwm1_duty(0); // reverz (zabrzdi) |
| set_pwm2_duty(255); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| delay_ms(215); |
| brzda(); |
| disp(1); |
| SetServo((CASAVR-CASMIN)); // rovne S |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| for(n=1;n<=7;n++) |
| { |
| while(get_timer1()<(odocounter+n)); // Popojed |
| SetServoQ((CASAVR-CASMIN)); |
| }; |
| i=0; |
| disp(2); |
| set_pwm1_duty(130); |
| set_pwm2_duty(140); |
| odocounter=get_timer1(); |
| for(n=1;n<=10;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i+=8; |
| }; |
| disp(3); |
| odocounter=get_timer1(); |
| for(n=1;n<=7;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i-=8; |
| }; |
| disp(4); |
| odocounter=get_timer1(); |
| for(n=1;n<=7;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i+=8; |
| }; |
| disp(5); |
| odocounter=get_timer1(); |
| //!!!!for(n=1;n<=5;n++) |
| for(n=1;n<=4;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i-=16; |
| }; |
| disp(6); |
| set_pwm1_duty(80); // vpred |
| set_pwm2_duty(80); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| for(n=1;n<=3;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)); |
| }; |
| disp(7); |
| while(true) |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {delay_us(600); if(read_adc()<TRESHOLD) {cas=CASMIN; break;}; }; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {delay_us(600); if(read_adc()<TRESHOLD) {cas=CASMAX; break;}; }; // Prejeli jsme caru vpravo |
| } |
| if(cas==CASMIN) |
| { |
| 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()<TRESHOLD) break; |
| } |
| } |
| else |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(j=0;j<10000;j++) |
| { |
| if(input(HREF)) {SetServoQ(CASMAX); while(input(HREF));}; // doprava |
| if (read_adc()<TRESHOLD) break; |
| } |
| } |
| set_adc_channel(RMAX); // Pravy UV sensor |
| set_pwm1_duty(0); // zabrzdi |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| SetServo(CASAVR-CASMIN); // doprostred |
| delay_ms(100); |
| brzda(); |
| // Tady jsou s velkou pravdepodobnosti obe cidla za carou a jsme kolmo k care |
| SetServo(CASMIN); // max. doleva L |
| set_pwm1_duty(0); // vzad |
| set_pwm2_duty(0); |
| output_low(MOT_L); |
| output_high(MOT_R); |
| while (read_adc()>TRESHOLD); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while(get_timer1()<(odocounter+4)); // Popojed definovanou vzdalenost |
| set_pwm1_duty(0); // reverz (zabrzdi) |
| set_pwm2_duty(255); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| SetServo(CASAVR-CASMIN); // doprostred |
| delay_ms(100); |
| brzda(); |
| set_pwm1_duty(255); // max. vpred |
| set_pwm2_duty(255); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while(get_timer1()<(odocounter+2)) // Ujed kousek |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=cihla; // Stav po objeti cihly, uz zadna cihla asi nebude |
| //odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| //rr=60; // Nerozumna rychlost pro rozjeti |
| /roboti/istrobot/camerus/SW/876/zatuhle_prevodovky/camerus.c |
|---|
| 0,0 → 1,632 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 252 2007-04-24 08:53:01Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 25 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 20 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xFFF |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog(int8 log) |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| write_eeprom(EEMAX,log); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 flag, int16 gap) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=flag; // Typ zaznamu |
| if(log<MAXLOG) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+gap; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| //!!! setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| //!!! rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr=read_adc()>>3; // 0-31 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=2) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| } |
| gap=0; |
| }; |
| if(input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| r1<<=1; // Rychlost je dvojnasobna |
| r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/zatuhle_prevodovky/diag.c |
|---|
| 0,0 → 1,67 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| SaveLog(0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/zatuhle_prevodovky/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| touch=0; // Indikator detekce cary pri objizdeni |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(255); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+20)) cas-=20; |
| } |
| else |
| { |
| if(cas<(CASMAX-20)) cas+=20; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| r1<<=1; // Rychlost je dvojnasobna |
| r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/zmensena brzdna draha na 0x15/camerus.c |
|---|
| 0,0 → 1,634 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #include ".\camerus.h" |
| #USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery |
| // Rychlostni konstanty |
| #define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x15 // Jak daleko pred problemem se zacne brzdit |
| #define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik |
| #define ODODO_CIHLA 0xFFF |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| #define CAMERA_ADR 0xDC |
| #define SONAR_ADR 0xE0 |
| // A/D vstupy |
| #define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary |
| #define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary |
| #define CERVENA 2 // AN2/RA2 - cervene kroutitko |
| #define ZELENA 1 // AN1/RA0 - zelene kroutitko |
| #define MODRA 0 // AN0/RA1 - modre kroutitko |
| // I/O |
| #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_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 MOT_1 PIN_C1 // PWM vystpy motoru |
| #define MOT_2 PIN_C2 // |
| #define DATA PIN_B2 // K modulu LEDbar data |
| #define CP PIN_B1 // K modulu LEDbar hodiny |
| //#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1 |
| // Jeden impuls je 31,25mm |
| #define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce |
| #define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky |
| #define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu |
| #define BUMPER !input(PIN_A4) // Naraznik |
| #define CASMIN 6 // Rozsah radku snimace |
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| #define EEMAX 255 // Konec EEPROM |
| #define MAXLOG 0x10 // Maximalni pocet zaznamu v logu |
| #if MAXLOG>(EEMAX/3) |
| #error Prekrocena velikost EEPROM |
| #endif |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| #define THR 90 // Threshold pro UV cidla na caru |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| #bit TMR0IE = INTCON.5 |
| #bit INT0IE = INTCON.4 |
| #bit RBIE = INTCON.3 |
| #bit TMR0IF = INTCON.2 |
| #bit INT0IF = INTCON.1 |
| #bit RBIF = INTCON.0 |
| enum stavy {start,rozjezd,jizda,cihla,pocihle,cil}; |
| stavy stav; // Kde jsme na trati |
| int8 cas; // Cas hrany bila/cerna v radce |
| int8 stred; // Vystredeni kolecka |
| int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie |
| int16 last_log_odo; // Posledni stav odometrie poznamenany do logu |
| int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM |
| int8 bb_h[MAXLOG]; // Cerna skrinka MSB |
| int8 bb_l[MAXLOG]; // Cerna skrinka LSB |
| int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu) |
| int8 log; // Pocitadlo pro cernou skrinku |
| int8 rr; // Promenna na ulozeni Rozumne rychlost |
| int8 rrold; |
| int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati |
| // Zobrazeni jednoho byte na modulu LEDbar |
| inline void disp(int8 x) |
| { |
| int n; |
| for(n=0;n<=7;n++) |
| { |
| if (bit_test(x,0)) output_low(DATA); else output_high(DATA); |
| output_high(CP); |
| x>>=1; |
| output_low(CP); |
| } |
| } |
| // Blikani LEDbarem ve stilu Night Rider |
| void NightRider(int8 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(40); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(40); |
| } |
| } |
| disp(i); |
| delay_ms(40); |
| i=0; |
| disp(i); |
| } |
| // Zaznam LOGu do EEPROM |
| void SaveLog() |
| { |
| int8 n,i,xlog; |
| i=0; |
| for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM |
| { |
| write_eeprom(n,bb_f[i]); |
| write_eeprom(n+1,bb_h[i]); |
| write_eeprom(n+2,bb_l[i]); |
| i++; |
| }; |
| if(log>0) {xlog=log-1;} else {xlog=0;}; |
| write_eeprom(EEMAX,xlog); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 reason, int16 log_delay) |
| { |
| int16 timer_pom; |
| timer_pom=get_timer1(); // Timer se musi vycist atomicky |
| bb_l[log]=make8(timer_pom,0); // Zaznam |
| bb_h[log]=make8(timer_pom,1); |
| bb_f[log]=reason; // Typ zaznamu |
| if(log<(MAXLOG-1)) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+log_delay; // Dalsi mereni nejdrive po ujeti def. vzdalenosti |
| rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti |
| } |
| void ReadBlackBox() |
| { |
| last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano? |
| { |
| int8 n,i; |
| i=0; |
| for(n=0;n<=last_log;n++) |
| { |
| if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1)); |
| } |
| } |
| } |
| // Brzdeni motorama stridou 1:1 |
| void brzda() |
| { |
| int8 n,i; |
| set_pwm1_duty(0); // vypni PWM |
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<200;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| output_high(MOT_1); |
| output_high(MOT_2); |
| delay_us(200); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| output_low(MOT_1); |
| output_low(MOT_2); |
| delay_us(200); |
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| void SetServo(int8 angle) |
| { |
| int8 n; |
| for(n=0; n<10; n++) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| delay_ms(18); |
| } |
| } |
| inline void SetServoQ(int8 angle) |
| { |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(angle); |
| delay_us(angle); |
| output_low(SERVO); |
| } |
| // Couvni po narazu na naraznik |
| inline void bum() |
| { |
| set_pwm1_duty(0); // couvni, rovne dozadu |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| disp(0xA5); |
| SetServo(CASAVR-CASMIN); |
| } |
| #include ".\diag.c" |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| // Ujistime se, ze prijaty signal je z naseho IR vysilace |
| output_high(IRTX); // Vypni LED na detekci prekazky |
| delay_ms(2); |
| if (IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // je odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // 0-255 (odpovida 0-359) |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou |
| i2c_stop(); |
| delay_ms(9); |
| if (!IRRX) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| output_low(MOT_R); |
| return; |
| }; |
| rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti |
| if(stav!=cihla) |
| { |
| LogLog(0xFF,3); // Cihla |
| }; |
| //!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy |
| // if(stav==cihla) return; // Po druhe nic neobjizdej |
| // Pozor na rozjezd |
| if((stav==jizda)||(stav==cihla)) // Objed cihlu |
| { |
| #include ".\objizdka_L.c" |
| }; |
| last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu |
| } |
| //---------------------------------- MAIN -------------------------------------- |
| void main() |
| { |
| int8 offset; // Promena pro ulozeni offsetu |
| int8 r1; // Rychlost motoru 1 |
| int8 r2; // Rychlost motoru 2 |
| setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce |
| setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola |
| setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru |
| //!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); // Nastav smer vpred |
| output_low(MOT_R); |
| disp(0); // Zhasni LEDbar |
| if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku |
| { |
| diag(); |
| } |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| NightRider(1); // Zablikej, aby se poznalo, ze byl RESET |
| // Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy |
| //... Nastaveni sonaru ... |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| //... Nastaveni kamery ... |
| i2c_start(); // Soft RESET kamery |
| i2c_write(CAMERA_ADR); // Adresa kamery |
| i2c_write(0x12); // Adresa registru COMH |
| i2c_write(0x80 | 0x24); // Zapis ridiciho slova |
| i2c_stop(); |
| i2c_start(); // BW |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x28); |
| i2c_write(0b01000001); |
| i2c_stop(); |
| /* |
| i2c_start(); // Contrast (nema podstatny vliv na obraz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz) |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2D); |
| i2c_write(0x04 | 0x03); |
| i2c_stop(); |
| */ |
| i2c_start(); // Fame Rate |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x2B); |
| i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms) |
| i2c_stop(); |
| i2c_start(); // VSTRT |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x19); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| i2c_start(); // VEND |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x1A); |
| i2c_write(118); |
| i2c_stop(); |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| { // Mereni expozice |
| int8 t1,t2; |
| i2c_start(); // Brightness, zacni od uplne tmy |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(0); // 80h default |
| i2c_stop(); |
| delay_ms(50); |
| for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h |
| { |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_ADR); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(50); |
| t1=0; |
| t2=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| delay_ms(5); |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| if(!input(PIX)) continue; |
| while(input(PIX)); |
| t1=get_timer0(); // Precti cas z citace casu hrany |
| set_timer0(0); // Vynuluj pocitadlo casu |
| while(!input(PIX)); |
| t2=get_timer0(); |
| if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas? |
| delay_ms(2); // Preskoc druhou radku z kamery |
| }; |
| delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu |
| } |
| set_adc_channel(CERVENA); // --- Kroutitko pro jas --- |
| delay_ms(1); |
| offset=read_adc(); |
| offset &= 0b11111100; // Dva nejnizsi bity ignoruj |
| // offset += 0x70; // Jas nebude nikdy nizsi |
| disp(offset); |
| i2c_start(); // Brightness |
| i2c_write(CAMERA_adr); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| delay_ms(1000); // Nech hodnotu chvili na displayi |
| set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru --- |
| delay_ms(1); |
| rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rr+=27; // 27-90 |
| //!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni! |
| rrold=rr; |
| cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh |
| // a aby se to rozjelo jeste dneska |
| stav=start; // Jsme na startu |
| set_timer1(0); // Vynuluj citac odometrie |
| log=0; // Zacatek logu v cerne skrince |
| last_log_odo=0; // Posledni zaznam odometrie do logu |
| // ReadBlackBox(); // Vycteni zaznamu z Black Boxu |
| odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA; |
| odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA; |
| odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA; |
| // ........................... Hlavni smycka ................................ |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| int8 gap; |
| int16 ododo; |
| gap=0; // Vynuluj pocitadlo preruseni |
| next_snap: |
| pom=0; |
| disable_interrupts(GLOBAL); //----------------------- Critical Section |
| while(input(HREF)); // Preskoc 1. radku |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky |
| 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 ? |
| if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| }; |
| }; |
| while(input(HREF)); // Pockej na shozeni signalu HREF |
| if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku |
| // Na konci obrazovaho radku to blbne. Jednak chyba od apertury |
| // a vubec to nejak na kraji nefunguje. |
| output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo |
| delay_us(1000); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(stred); |
| delay_us(cas); |
| delay_us(cas); |
| output_low(SERVO); |
| // Elektronicky diferencial 1. cast |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| enable_interrupts(GLOBAL); //----------------------- End Critical Section |
| if(pom==0) // Kamera nevidi caru, poznamenej to do logu |
| { |
| if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje? |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| gap++; |
| } |
| } |
| else |
| { |
| if(gap>=2) // Trva preruseni cary alespon 2 snimky? |
| { |
| LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm |
| rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti |
| } |
| gap=0; |
| }; |
| if(!input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel |
| { |
| if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu |
| { |
| LogLog(0xDD,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm |
| rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle |
| } |
| }; |
| //ODODO |
| ododo=get_timer1(); |
| if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI; |
| // Elektronicky diferencial 2. cast |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63 |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda |
| { |
| set_pwm1_duty(r1); |
| set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); // Zastaveni |
| set_pwm2_duty(0); |
| }; |
| if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm |
| { |
| ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly |
| INT0IF=0; // Zruseni predesle udalosti od startera |
| enable_interrupts(INT_EXT); |
| enable_interrupts(GLOBAL); |
| stav=jizda; |
| }; |
| if(stav==start) // Snimkuje, toci servem a ceka na start |
| { |
| set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka |
| Delay_ms(1); |
| stred=read_adc(); |
| if(!input(PROXIMITY)) |
| { |
| disp(0x80); |
| while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc |
| set_timer1(0); // Vynuluj citac odometrie |
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x01); |
| while(get_timer1()<=4) // Ujed alespon 12cm |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| }; |
| } |
| pom=0x80; // Zobrazeni pozice cary na displayi |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1; |
| disp(pom); |
| while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik |
| { |
| if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(200); // pomalu vpred |
| set_pwm2_duty(200); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASAVR-CASMIN; |
| }; |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/zmensena brzdna draha na 0x15/diag.c |
|---|
| 0,0 → 1,68 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| bb_f[0]=0; |
| write_eeprom(EEMAX,0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/zmensena brzdna draha na 0x15/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| odocounter=get_timer1(); |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(200); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; // Indikator detekce cary pri objizdeni |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+30)) cas-=30; |
| } |
| else |
| { |
| if(cas<(CASMAX-30)) cas+=30; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(240); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/objizdka_L.c |
|---|
| 0,0 → 1,183 |
| // **** Objeti cihly vlevo **** LLLL |
| #define L_TOUCH 1 // Cara vlevo |
| #define R_TOUCH 2 // Cata vpravo |
| #define B_TOUCH 3 // Both |
| int8 n; |
| int8 r1,r2,rr; |
| int8 touch; |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| odocounter=get_timer1(); |
| cihla: |
| rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit |
| disp(0x99); |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| while(true) // Na zacatku se vyhni cihle, zatoc co muzes |
| { |
| cas=CASMIN-5; // jeste vic nez hodne do leva |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(255); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku |
| output_high(MOT_L); // leve kolo reverz |
| output_low(MOT_R); // prave kolo vpred |
| if(get_timer1()>(odocounter+5)) // konec zatacky? |
| { |
| disp(0x66); |
| break; |
| } |
| SetServoQ(cas); |
| delay_ms(18); |
| }; |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; // Indikator detekce cary pri objizdeni |
| ridic=pred_carou; |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| { |
| bum(); |
| SaveLog(); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| cas=CASMIN; |
| }; |
| delta_bearing=bearing-bearing_offset; |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+30)) cas-=30; |
| } |
| else |
| { |
| if(cas<(CASMAX-30)) cas+=30; |
| }; |
| }; |
| // Elektronicky diferencial |
| if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace |
| if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru |
| if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92 |
| if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni |
| if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); |
| //!!! pro zatuhle prevodovky |
| // r1<<=1; // Rychlost je dvojnasobna |
| // r2<<=1; // Rozsah 2 az 184 pro rr=0 |
| set_pwm1_duty(r1); // Nastav rychlost motoru |
| set_pwm2_duty(r2); |
| SetServoQ(cas); |
| i2c_start(); // Sonar Ping |
| i2c_write(SONAR_ADR); |
| i2c_write(0x0); |
| i2c_write(0x52); // mereni v us |
| i2c_stop(); |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=L_TOUCH; |
| set_adc_channel(RMAX); |
| delay_us(100); |
| if(read_adc()<THR) touch|=R_TOUCH; |
| }; |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR+1); |
| vzdalenost=i2c_read(0); |
| i2c_stop(); |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); // uhel 0-255 |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(255); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| delay_us(40); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while (true) // Znovu se musime dotknout cary |
| { |
| for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(100); |
| if(read_adc()<THR) // Dotkli jsme se levym senzorem |
| { |
| disp(0xE0); |
| cas=CASAVR-CASMIN; // nastavime, ze cara je rovne |
| goto cara; |
| }; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(100); |
| if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet! |
| { |
| disp(0x07); |
| cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo |
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN-5); // max. max. doleva L |
| } |
| cara: |
| output_low(MOT_L); // oba motory vpred |
| output_low(MOT_R); |
| /roboti/istrobot/camerus/SW/876/diag.c |
|---|
| 0,0 → 1,68 |
| //--- Diagnostika cidel a vymazani EEPROM --- |
| void diag() |
| { |
| int8 n; |
| // Vymaz Black Box v EEPROM |
| for(n=0;n<255;n++) write_eeprom(n,0); |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| bb_f[0]=0; |
| write_eeprom(EEMAX,0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| int8 ble; |
| i2c_start(); // Cteni kompasu |
| i2c_write(COMPAS_ADR); |
| i2c_write(0x1); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(COMPAS_ADR+1); |
| ble=i2c_read(0); |
| i2c_stop(); |
| disp(ble); |
| delay_ms(200); |
| } |
| else |
| { |
| i2c_start(); // Diagnostika sonaru |
| i2c_write(SONAR_ADR); |
| i2c_write(0x02); // dosah |
| i2c_write(0x03); // n*43mm |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(SONAR_ADR); |
| i2c_write(0x01); // zesileni |
| i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni |
| i2c_stop(); |
| i2c_start(); // Sonar Ping |
| i2c_write(0xE0); |
| i2c_write(0x0); |
| i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us |
| i2c_stop(); |
| delay_ms(100); |
| i2c_start(); // Odraz ze sonaru |
| i2c_write(0xE0); |
| i2c_write(0x3); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(0xE1); |
| n=i2c_read(0); |
| i2c_stop(); |
| disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla |
| delay_ms(200); |
| } |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/camerus.PJT |
|---|
| 0,0 → 1,57 |
| [PROJECT] |
| Target=camerus.HEX |
| Development_Mode= |
| Processor=0x876A |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\camerus.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [camerus.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=camerus.c |
| [Windows] |
| 0=0000 camerus.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\camerus.c |
| 2=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\camerus.h |
| 3=C:\Program Files\PICC\devices\16F876A.h |
| 4=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\objizdka_L.c |
| 5=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\diag.c |
| 6= |
| [debugperif] |
| selected=Analog/Digital Conv |
| [debugram] |
| autoread=1 |
| [debugeedata] |
| autoread=1 |
| [debugbreak] |
| count=0 |
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| /roboti/istrobot/camerus/SW/876/camerus.h |
|---|
| 0,0 → 1,16 |
| #include <16F876A.h> |
| #device adc=8 |
| #FUSES NOWDT //No Watch Dog Timer |
| #FUSES HS //High speed Osc (> 4mhz) |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #use delay(clock=20000000) |
| #use i2c(Master,Fast,sda=PIN_C4,scl=PIN_C3,force_hw) |
| /roboti/istrobot/camerus/SW/876 |
|---|
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| /roboti/istrobot/camerus/DOC/camerus.pdf |
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| /roboti/istrobot/camerus/DOC/prevodovky/README.txt |
|---|
| 0,0 → 1,3 |
| Pøevodovka 5:1 pro motor speed 300 |
| Pøi zalepování loisek je nutno dbát, aby loisko v èele u motoru bylo na stranì motoru srovnáno s rovinou èela, jinak by docházelo k vyklánìní osy pøevodovky. |
| /roboti/istrobot/camerus/DOC/Fotky/P3110001.JPG |
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| /roboti/istrobot/camerus/ToDo.txt |
|---|
| 0,0 → 1,11 |
| - Tlaèítko na vypnutí, pøípadnì (IRDA) |
| - vyrobit modul na oci |
| - Udìlat podsvìtlení, aby se robot líbil porotì. |
| +- modul s LED, nebo neosadit stabilizator do modulu LEDrobot |
| + |
| +- vymyslet postup kalibrace kamery (jak vizualizovat co kamera vidi) |
| + - co pouzit LEDbar? |
| + |
| +- projit problemy lonske konstrukce |
| /roboti/istrobot/camerus/HW/CAM_AMA/BOARD.pdf |
|---|
| 0,0 → 1,159 |
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| /roboti/istrobot/camerus/HW/CAM_PROFI/BOARD.rep |
|---|
| 0,0 → 1,13 |
| Photo-Plotter Apertures Report |
| ============================== |
| Position Width Hgt/ID Shape Qty |
| ======== ===== ====== ===== === |
| 24 1 0 RND 4 |
| 25 10 0 RND 26 |
| /roboti/istrobot/camerus/HW/CAM_PROFI/DRILL.DRL |
|---|
| 0,0 → 1,43 |
| % |
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| /roboti/istrobot/camerus/HW/CAM_PROFI/DRILL.lst |
|---|
| 0,0 → 1,46 |
| Drill Listing |
| ============= |
| Drill: .035 Tool: 1 Feed: 197 Speed: 550 |
| X 140000 Y 145062 |
| X 140000 Y 154937 |
| X 194600 Y 154937 |
| X 194600 Y 145062 |
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| X 631400 Y 154937 |
| X 631400 Y 145062 |
| Drill: .12598 Tool: 2 Feed: 35 Speed: 794 |
| X 168000 Y 134000 |
| X 278000 Y 136000 |
| X 494000 Y 134000 |
| X 604000 Y 134000 |
| End of Listing |
| /roboti/istrobot/camerus/HW/CAM_PROFI/DRILL.rep |
|---|
| 0,0 → 1,13 |
| Drill Sizes Report |
| ================== |
| Tool Size Pltd Feed Speed Qty |
| ==== ==== ==== ==== ===== === |
| 1 35 x 197 550 35 |
| 2 125.98 x 35 794 4 |
| /roboti/istrobot/camerus/HW/CAM_PROFI/V2.PHO |
|---|
| 0,0 → 1,1574 |
| * |
| * |
| G04 PADS Layout (Build Number 2006.45.1) generated Gerber (RS-274-X) file* |
| G04 PC Version=2.1* |
| * |
| %IN "LEDpanel.pcb"*% |
| * |
| %MOIN*% |
| * |
| %FSLAX35Y35*% |
| * |
| * |
| * |
| * |
| G04 PC Standard Apertures* |
| * |
| * |
| G04 Thermal Relief Aperture macro.* |
| %AMTER* |
| 1,1,$1,0,0* |
| 1,0,$1-$2,0,0* |
| 21,0,$3,$4,0,0,45* |
| 21,0,$3,$4,0,0,135* |
| % |
| * |
| * |
| G04 Annular Aperture macro.* |
| %AMANN* |
| 1,1,$1,0,0* |
| 1,0,$2,0,0* |
| % |
| * |
| * |
| G04 Odd Aperture macro.* |
| %AMODD* |
| 1,1,$1,0,0* |
| 1,0,$1-0.005,0,0* |
| % |
| * |
| * |
| G04 PC Custom Aperture Macros* |
| * |
| * |
| * |
| * |
| * |
| * |
| G04 PC Aperture Table* |
| * |
| %ADD012R,0.07X0.07*% |
| %ADD013C,0.23622*% |
| %ADD025C,0.01*% |
| %ADD031C,0.07*% |
| %ADD042C,0.045*% |
| %ADD043R,0.066X0.066*% |
| %ADD044C,0.066*% |
| %ADD045R,0.065X0.065*% |
| %ADD046C,0.08268*% |
| %ADD047C,0.035*% |
| %ADD048C,0.025*% |
| * |
| * |
| * |
| * |
| G04 PC Copper Outlines (0)* |
| G04 Layer Name LEDpanel.pcb - dark (0)* |
| %LPD*% |
| * |
| * |
| G04 PC Area=ANP000000* |
| G75* |
| G36* |
| G01* |
| X648700Y123000D02* |
| Y176100D01* |
| G03* |
| X648200Y176600I-500J-0D01* |
| G01* |
| X555558D01* |
| G03* |
| X555136Y175833I0J-500D01* |
| G02* |
| X545345Y167138I-5606J-3548D01* |
| G03* |
| X545029Y167250I-316J-388D01* |
| G01* |
| X451254D01* |
| G03* |
| X450939Y167138I0J-500D01* |
| G02* |
| X442568I-4186J5147D01* |
| G03* |
| X442252Y167250I-316J-388D01* |
| G01* |
| X437893D01* |
| G03* |
| X437578Y167138I0J-500D01* |
| G02* |
| X429207I-4186J5147D01* |
| G03* |
| X428891Y167250I-316J-388D01* |
| G01* |
| X400923D01* |
| G03* |
| X400492Y166497I0J-500D01* |
| G02* |
| X400837Y165229I-2155J-1268D01* |
| G01* |
| Y158729D01* |
| G02* |
| X398337Y156229I-2500J0D01* |
| G01* |
| X391837D01* |
| G02* |
| X390587Y156564I0J2500D01* |
| G03* |
| X389837Y156131I-250J-433D01* |
| G01* |
| Y151057D01* |
| G03* |
| X389984Y150703I500J-0D01* |
| G01* |
| X392541Y148146D01* |
| G03* |
| X392894Y148000I353J354D01* |
| G01* |
| X394500D01* |
| G02* |
| X397000Y145500I0J-2500D01* |
| G01* |
| Y138750D01* |
| G03* |
| X397500Y138250I500J0D01* |
| G01* |
| X399969D01* |
| G03* |
| X400323Y138396I0J500D01* |
| G01* |
| X407054Y145127D01* |
| G03* |
| X407200Y145481I-354J354D01* |
| G01* |
| Y148363D01* |
| G02* |
| X408401Y150499I2500J-0D01* |
| G03* |
| X408527Y151245I-260J427D01* |
| G02* |
| X417600Y158470I4473J3692D01* |
| G03* |
| X417643Y158421I397J304D01* |
| G01* |
| X425022Y151042D01* |
| G03* |
| X425204Y150926I354J353D01* |
| G02* |
| X426748Y149940I-1462J-3991D01* |
| G01* |
| X432634Y144054D01* |
| G03* |
| X433016Y143908I353J353D01* |
| G02* |
| X439605Y139612I376J-6623D01* |
| G03* |
| X440541I468J175D01* |
| G02* |
| X447130Y143908I6212J-2327D01* |
| G03* |
| X447512Y144054I28J499D01* |
| G01* |
| X452463Y149005D01* |
| G02* |
| X454579Y150156I3005J-3005D01* |
| G03* |
| X454827Y150291I-105J489D01* |
| G01* |
| X462957Y158421D01* |
| G03* |
| X463000Y158470I-354J353D01* |
| G02* |
| X472073Y151245I4600J-3533D01* |
| G03* |
| X472199Y150499I386J-319D01* |
| G02* |
| X473089Y149571I-1299J-2136D01* |
| G03* |
| X473526Y149313I437J242D01* |
| G01* |
| X476186D01* |
| G03* |
| X476539Y149459I-0J500D01* |
| G01* |
| X485022Y157942D01* |
| G02* |
| X488027Y159187I3005J-3005D01* |
| G01* |
| X518061D01* |
| G03* |
| X518390Y159310I0J500D01* |
| G02* |
| X526673Y151245I3810J-4373D01* |
| G03* |
| X526799Y150499I386J-319D01* |
| G02* |
| X528000Y148363I-1299J-2136D01* |
| G01* |
| Y141763D01* |
| G02* |
| X525500Y139263I-2500J-0D01* |
| G01* |
| X518900D01* |
| G02* |
| X516400Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X516915Y149883I2500J-0D01* |
| G03* |
| X516518Y150687I-397J304D01* |
| G01* |
| X489995D01* |
| G03* |
| X489641Y150541I-0J-500D01* |
| G01* |
| X481158Y142058D01* |
| G02* |
| X478153Y140813I-3005J3005D01* |
| G01* |
| X473526D01* |
| G03* |
| X473089Y140555I0J-500D01* |
| G02* |
| X470900Y139263I-2189J1208D01* |
| G01* |
| X464300D01* |
| G02* |
| X461800Y141763I0J2500D01* |
| G01* |
| Y144036D01* |
| G03* |
| X460946Y144389I-500J-0D01* |
| G01* |
| X459552Y142995D01* |
| G02* |
| X457437Y141844I-3005J3005D01* |
| G03* |
| X457188Y141709I104J-489D01* |
| G01* |
| X453522Y138043D01* |
| G03* |
| X453376Y137661I354J-353D01* |
| G02* |
| X440541Y134958I-6623J-376D01* |
| G03* |
| X439605I-468J-176D01* |
| G02* |
| X426769Y137661I-6213J2327D01* |
| G03* |
| X426623Y138043I-499J29D01* |
| G01* |
| X421839Y142828D01* |
| G03* |
| X421657Y142944I-354J-354D01* |
| G02* |
| X420113Y143930I1462J3991D01* |
| G01* |
| X419654Y144389D01* |
| G03* |
| X418800Y144036I-354J-353D01* |
| G01* |
| Y141763D01* |
| G02* |
| X416300Y139263I-2500J-0D01* |
| G01* |
| X413418D01* |
| G03* |
| X413064Y139117I-0J-500D01* |
| G01* |
| X404942Y130995D01* |
| G02* |
| X401937Y129750I-3005J3005D01* |
| G01* |
| X378747D01* |
| G02* |
| X375742Y130995I-0J4250D01* |
| G01* |
| X366995Y139742D01* |
| G02* |
| X365750Y142747I3005J3005D01* |
| G01* |
| Y143486D01* |
| G03* |
| X365604Y143839I-500J-0D01* |
| G01* |
| X365054Y144389D01* |
| G03* |
| X364200Y144036I-354J-353D01* |
| G01* |
| Y141763D01* |
| G02* |
| X361700Y139263I-2500J-0D01* |
| G01* |
| X355100D01* |
| G02* |
| X352600Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X353801Y150499I2500J-0D01* |
| G03* |
| X353927Y151245I-260J427D01* |
| G02* |
| X363000Y158470I4473J3692D01* |
| G03* |
| X363043Y158421I397J304D01* |
| G01* |
| X373005Y148459D01* |
| G02* |
| X374250Y145453I-3005J-3006D01* |
| G01* |
| Y144714D01* |
| G03* |
| X374396Y144361I500J0D01* |
| G01* |
| X380361Y138396D01* |
| G03* |
| X380714Y138250I353J354D01* |
| G01* |
| X384500D01* |
| G03* |
| X385000Y138750I-0J500D01* |
| G01* |
| Y142045D01* |
| G03* |
| X384854Y142398I-500J-0D01* |
| G01* |
| X381728Y145523D01* |
| G02* |
| X380337Y148882I3359J3359D01* |
| G01* |
| Y156131D01* |
| G03* |
| X379587Y156564I-500J0D01* |
| G02* |
| X378337Y156229I-1250J2165D01* |
| G01* |
| X371837D01* |
| G02* |
| X369337Y158729I0J2500D01* |
| G01* |
| Y165229D01* |
| G02* |
| X369841Y166734I2500J0D01* |
| G03* |
| X369441Y167535I-400J301D01* |
| G01* |
| X335959D01* |
| G03* |
| X335621Y167403I0J-500D01* |
| G02* |
| X326638I-4492J4882D01* |
| G03* |
| X326299Y167535I-339J-368D01* |
| G01* |
| X227016D01* |
| G03* |
| X226678Y167403I0J-500D01* |
| G02* |
| X216581Y175833I-4492J4882D01* |
| G03* |
| X216158Y176600I-423J267D01* |
| G01* |
| X123000D01* |
| G03* |
| X122500Y176100I0J-500D01* |
| G01* |
| Y123000D01* |
| G03* |
| X123000Y122500I500J0D01* |
| G01* |
| X648200D01* |
| G03* |
| X648700Y123000I-0J500D01* |
| G37* |
| G74* |
| * |
| * |
| G04 PC Void Outlines (0)* |
| G04 Layer Name LEDpanel.pcb - clear (0)* |
| %LPC*% |
| * |
| * |
| G04 PC Area=ANP000000* |
| G75* |
| G36* |
| G01* |
| X627590Y159310D02* |
| G02* |
| X635873Y151245I3810J-4373D01* |
| G03* |
| X635999Y150499I386J-319D01* |
| G02* |
| X637200Y148363I-1299J-2136D01* |
| G01* |
| Y141763D01* |
| G02* |
| X634700Y139263I-2500J-0D01* |
| G01* |
| X628100D01* |
| G02* |
| X625600Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X626115Y149883I2500J-0D01* |
| G03* |
| X625718Y150687I-397J304D01* |
| G01* |
| X599595D01* |
| G03* |
| X599241Y150541I-0J-500D01* |
| G01* |
| X590758Y142058D01* |
| G02* |
| X587753Y140813I-3005J3005D01* |
| G01* |
| X582726D01* |
| G03* |
| X582289Y140555I0J-500D01* |
| G02* |
| X580100Y139263I-2189J1208D01* |
| G01* |
| X573500D01* |
| G02* |
| X571000Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X571515Y149883I2500J-0D01* |
| G03* |
| X571118Y150687I-397J304D01* |
| G01* |
| X569150D01* |
| G03* |
| X568796Y150541I-0J-500D01* |
| G01* |
| X556299Y138043D01* |
| G03* |
| X556153Y137661I353J-353D01* |
| G02* |
| X549907Y143908I-6623J-376D01* |
| G03* |
| X550288Y144054I28J499D01* |
| G01* |
| X564177Y157942D01* |
| G02* |
| X567182Y159187I3005J-3005D01* |
| G01* |
| X572661D01* |
| G03* |
| X572990Y159310I0J500D01* |
| G02* |
| X581273Y151245I3810J-4373D01* |
| G03* |
| X581399Y150499I386J-319D01* |
| G02* |
| X582289Y149571I-1299J-2136D01* |
| G03* |
| X582726Y149313I437J242D01* |
| G01* |
| X585786D01* |
| G03* |
| X586139Y149459I-0J500D01* |
| G01* |
| X594622Y157942D01* |
| G02* |
| X597627Y159187I3005J-3005D01* |
| G01* |
| X627261D01* |
| G03* |
| X627590Y159310I0J500D01* |
| G37* |
| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X617000Y172750D02* |
| Y163750D01* |
| G02* |
| X614500Y161250I-2500J0D01* |
| G01* |
| X585682D01* |
| G02* |
| X583182Y163750I-0J2500D01* |
| G01* |
| Y172750D01* |
| G02* |
| X585682Y175250I2500J0D01* |
| G01* |
| X614500D01* |
| G02* |
| X617000Y172750I0J-2500D01* |
| G37* |
| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X330753Y143908D02* |
| G02* |
| X324506Y137661I376J-6623D01* |
| G03* |
| X324361Y138043I-499J29D01* |
| G01* |
| X311863Y150541D01* |
| G03* |
| X311510Y150687I-353J-354D01* |
| G01* |
| X309482D01* |
| G03* |
| X309085Y149883I-0J-500D01* |
| G02* |
| X309600Y148363I-1985J-1520D01* |
| G01* |
| Y141763D01* |
| G02* |
| X307100Y139263I-2500J-0D01* |
| G01* |
| X300500D01* |
| G02* |
| X298311Y140555I0J2500D01* |
| G03* |
| X297874Y140813I-437J-242D01* |
| G01* |
| X294547D01* |
| G02* |
| X291542Y142058I-0J4250D01* |
| G01* |
| X283059Y150541D01* |
| G03* |
| X282705Y150687I-354J-354D01* |
| G01* |
| X254882D01* |
| G03* |
| X254485Y149883I-0J-500D01* |
| G02* |
| X255000Y148363I-1985J-1520D01* |
| G01* |
| Y141763D01* |
| G02* |
| X252500Y139263I-2500J-0D01* |
| G01* |
| X245900D01* |
| G02* |
| X243400Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X244601Y150499I2500J-0D01* |
| G03* |
| X244727Y151245I-260J427D01* |
| G02* |
| X253010Y159310I4473J3692D01* |
| G03* |
| X253339Y159187I329J377D01* |
| G01* |
| X284673D01* |
| G02* |
| X287678Y157942I-0J-4250D01* |
| G01* |
| X296161Y149459D01* |
| G03* |
| X296514Y149313I353J354D01* |
| G01* |
| X297874D01* |
| G03* |
| X298311Y149571I-0J500D01* |
| G02* |
| X299201Y150499I2189J-1208D01* |
| G03* |
| X299327Y151245I-260J427D01* |
| G02* |
| X307610Y159310I4473J3692D01* |
| G03* |
| X307939Y159187I329J377D01* |
| G01* |
| X313477D01* |
| G02* |
| X316482Y157942I0J-4250D01* |
| G01* |
| X330371Y144054D01* |
| G03* |
| X330753Y143908I354J353D01* |
| G37* |
| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X221810D02* |
| G02* |
| X215563Y137661I376J-6623D01* |
| G03* |
| X215417Y138043I-499J29D01* |
| G01* |
| X202920Y150541D01* |
| G03* |
| X202566Y150687I-354J-354D01* |
| G01* |
| X200282D01* |
| G03* |
| X199885Y149883I-0J-500D01* |
| G02* |
| X200400Y148363I-1985J-1520D01* |
| G01* |
| Y141763D01* |
| G02* |
| X197900Y139263I-2500J-0D01* |
| G01* |
| X191300D01* |
| G02* |
| X189111Y140555I0J2500D01* |
| G03* |
| X188674Y140813I-437J-242D01* |
| G01* |
| X183947D01* |
| G02* |
| X180942Y142058I-0J4250D01* |
| G01* |
| X172459Y150541D01* |
| G03* |
| X172105Y150687I-354J-354D01* |
| G01* |
| X145682D01* |
| G03* |
| X145285Y149883I-0J-500D01* |
| G02* |
| X145800Y148363I-1985J-1520D01* |
| G01* |
| Y141763D01* |
| G02* |
| X143300Y139263I-2500J-0D01* |
| G01* |
| X136700D01* |
| G02* |
| X134200Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X135401Y150499I2500J-0D01* |
| G03* |
| X135527Y151245I-260J427D01* |
| G02* |
| X141719Y160476I4473J3692D01* |
| G03* |
| X141850Y160454I148J478D01* |
| X141967Y160393I287J410D01* |
| G02* |
| X143810Y159310I-1967J-5456D01* |
| G03* |
| X144139Y159187I329J377D01* |
| G01* |
| X174073D01* |
| G02* |
| X177078Y157942I-0J-4250D01* |
| G01* |
| X185561Y149459D01* |
| G03* |
| X185914Y149313I353J354D01* |
| G01* |
| X188674D01* |
| G03* |
| X189111Y149571I-0J500D01* |
| G02* |
| X190001Y150499I2189J-1208D01* |
| G03* |
| X190127Y151245I-260J427D01* |
| G02* |
| X198410Y159310I4473J3692D01* |
| G03* |
| X198739Y159187I329J377D01* |
| G01* |
| X204534D01* |
| G02* |
| X207539Y157942I-0J-4250D01* |
| G01* |
| X221428Y144054D01* |
| G03* |
| X221810Y143908I353J353D01* |
| G37* |
| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X189000Y172750D02* |
| Y163750D01* |
| G02* |
| X186500Y161250I-2500J0D01* |
| G01* |
| X142955D01* |
| G02* |
| X142273Y161345I-0J2500D01* |
| G03* |
| X142154Y161363I-136J-481D01* |
| X142048Y161420I-287J-409D01* |
| G02* |
| X140455Y163750I907J2330D01* |
| G01* |
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| %LPD*% |
| * |
| * |
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| * |
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| %LPD*% |
| * |
| * |
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| %LPD*% |
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| /roboti/istrobot/camerus/HW/CAM_PROFI/V2.rep |
|---|
| 0,0 → 1,22 |
| Photo-Plotter Apertures Report |
| ============================== |
| Position Width Hgt/ID Shape Qty |
| ======== ===== ====== ===== === |
| 12 70 0 SQR 1 |
| 13 236.22 0 RND 4 |
| 25 10 0 RND 306 |
| 31 70 0 RND 1 |
| 42 45 0 RND 17 |
| 43 66 0 SQR 10 |
| 44 66 0 RND 10 |
| 45 65 0 SQR 3 |
| 46 82.68 0 RND 10 |
| 47 35 0 RND 32 |
| 48 25 0 RND 25 |
| /roboti/istrobot/camerus/HW/PCB/LEDpanel.pcb |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/camerus/HW/SCH/LEDPANEL.DSN |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/camerus/HW/SCH/LEDPANEL.ONL |
|---|
| 0,0 → 1,274 |
| (PCB LEDPANEL |
| (description |
| (timeStamp "2007 03 11 21 45 48") |
| (program "CAPTURE.EXE" (Version "10.5.0.p001 CIS - D")) |
| (source "Original data from OrCAD/CAPTURE schematic") |
| (title "LEDpanel") |
| (date "Sunday, March 11, 2007") |
| (document "D:\\KAKLIK\\PROJEKTY\\ROBOTI\\ISTROBOT\\CAMERUS\\HW\\SCH\\LEDPANEL.DSN") |
| (revision "") |
| (organization "") |
| (address1 "") |
| (address2 "") |
| (address3 "") |
| (address4 "") |
| (partvaluecombine "{Value}") |
| (pcbfootprintcombine "{Device},{Value}@{PCB Footprint}")) |
| (structure ) |
| (placement |
| (component JUMP3 |
| (place J1 |
| (property |
| ("PCB Footprint" JUMP3) |
| (Device JUMP3) |
| (timestamp 000003DB) |
| ("Source Package" JUMP3) |
| (Value JUMP3)))) |
| (component RL090 |
| (place R1 |
| (property |
| ("PCB Footprint" RL090) |
| (Device R) |
| (timestamp 000000CF) |
| ("Source Package" RL090) |
| (Value RL090))) |
| (place R2 |
| (property |
| ("PCB Footprint" RL090) |
| (Device R) |
| (timestamp 000000DF) |
| ("Source Package" RL090) |
| (Value RL090))) |
| (place R3 |
| (property |
| ("PCB Footprint" RL090) |
| (Device R) |
| (timestamp 000000EF) |
| ("Source Package" RL090) |
| (Value RL090))) |
| (place R4 |
| (property |
| ("PCB Footprint" RL090) |
| (Device R) |
| (timestamp 000000FF) |
| ("Source Package" RL090) |
| (Value RL090))) |
| (place R5 |
| (property |
| ("PCB Footprint" RL090) |
| (Device R) |
| (timestamp 0000010F) |
| ("Source Package" RL090) |
| (Value RL090)))) |
| (component LED5mm |
| (place D10 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 000000B6) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D1 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000026) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D2 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000036) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D3 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000046) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D4 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000056) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D5 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000066) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D6 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000076) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D7 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000086) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D8 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 00000096) |
| ("Source Package" LED5mm) |
| (Value LED5mm))) |
| (place D9 |
| (property |
| ("PCB Footprint" LED5) |
| (Device LED) |
| (timestamp 000000A6) |
| ("Source Package" LED5mm) |
| (Value LED5mm)))) |
| (component "C-ELYT-CE025X6" |
| (place C1 |
| (property |
| ("PCB Footprint" CE025X6) |
| (Device "C-ELYT") |
| (timestamp 000003AA) |
| ("Source Package" "C-ELYT-CE025X6") |
| (Value 1000uF)))) |
| (component HOLE_M3 |
| (place M1 |
| (property |
| ("PCB Footprint" HOLE_M3) |
| (Device PAD) |
| (timestamp 00000619) |
| ("Source Package" HOLE_M3) |
| (Value HOLE_M3))) |
| (place M2 |
| (property |
| ("PCB Footprint" HOLE_M3) |
| (Device PAD) |
| (timestamp 00000643) |
| ("Source Package" HOLE_M3) |
| (Value HOLE_M3))) |
| (place M3 |
| (property |
| ("PCB Footprint" HOLE_M3) |
| (Device PAD) |
| (timestamp 0000066D) |
| ("Source Package" HOLE_M3) |
| (Value HOLE_M3))) |
| (place M4 |
| (property |
| ("PCB Footprint" HOLE_M3) |
| (Device PAD) |
| (timestamp 00000697) |
| ("Source Package" HOLE_M3) |
| (Value HOLE_M3))))) |
| (library |
| (image RL090 |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\COM_RLC.OLB) |
| (Device R)) |
| (pin 999 1 |
| (property |
| (pinname 1) |
| (pintype 4))) |
| (pin 999 2 |
| (property |
| (pinname 2) |
| (pintype 4)))) |
| (image "C-ELYT-CE025X6" |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\COM_RLC.OLB) |
| (Device "C-ELYT")) |
| (pin 999 A |
| (property |
| (pinname A) |
| (pintype 4))) |
| (pin 999 C |
| (property |
| (pinname C) |
| (pintype 4)))) |
| (image HOLE_M3 |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\PAD.OLB) |
| (Device PAD)) |
| (pin 999 1 |
| (property |
| (pinname PIN) |
| (pintype 4)))) |
| (image JUMP3 |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\JUMP.OLB) |
| (Device JUMP3)) |
| (pin 999 1 |
| (property |
| (pinname 1) |
| (pintype 4))) |
| (pin 999 2 |
| (property |
| (pinname 2) |
| (pintype 4))) |
| (pin 999 3 |
| (property |
| (pinname 3) |
| (pintype 4)))) |
| (image LED5mm |
| (property |
| (sourcelib C:\\LIBRARY\\ORCAD9X\\COM_OPTO.OLB) |
| (Device LED)) |
| (pin 999 A |
| (property |
| (pinname A) |
| (pintype 4))) |
| (pin 999 C |
| (property |
| (pinname C) |
| (pintype 4))))) |
| (network |
| (net VCC |
| (property |
| (nettype S)) |
| (pins |
| R3-2 C1-A J1-2 R5-2 R1-2 R2-2 R4-2)) |
| (net GND |
| (property |
| (nettype S)) |
| (pins |
| D8-C C1-C D4-C M1-1 D2-C M3-1 M4-1 D6-C J1-3 |
| J1-1 M2-1 D10-C)) |
| (net N00380 |
| (pins |
| R1-1 D1-A)) |
| (net N00388 |
| (pins |
| D1-C D2-A)) |
| (net N00433 |
| (pins |
| D4-A D3-C)) |
| (net N00446 |
| (pins |
| D3-A R2-1)) |
| (net N00494 |
| (pins |
| R3-1 D5-A)) |
| (net N00649 |
| (pins |
| D5-C D6-A)) |
| (net N00715 |
| (pins |
| D7-A R4-1)) |
| (net N00793 |
| (pins |
| R5-1 D9-A)) |
| (net N00822 |
| (pins |
| D9-C D10-A)) |
| (net N00885 |
| (pins |
| D7-C D8-A))) |
| ) |
| /roboti/istrobot/camerus/HW/SCH/LEDPANEL.asc |
|---|
| 0,0 → 1,51 |
| *PADS-PCB* |
| *PART* |
| C1 C-ELYT,1000uF@CE025X6 |
| D1 LED,LED5mm@LED5 |
| D10 LED,LED5mm@LED5 |
| D2 LED,LED5mm@LED5 |
| D3 LED,LED5mm@LED5 |
| D4 LED,LED5mm@LED5 |
| D5 LED,LED5mm@LED5 |
| D6 LED,LED5mm@LED5 |
| D7 LED,LED5mm@LED5 |
| D8 LED,LED5mm@LED5 |
| D9 LED,LED5mm@LED5 |
| J1 JUMP3,JUMP3@JUMP3 |
| M1 PAD,HOLE_M3@HOLE_M3 |
| M2 PAD,HOLE_M3@HOLE_M3 |
| M3 PAD,HOLE_M3@HOLE_M3 |
| M4 PAD,HOLE_M3@HOLE_M3 |
| R1 R,RL090@RL090 |
| R2 R,RL090@RL090 |
| R3 R,RL090@RL090 |
| R4 R,RL090@RL090 |
| R5 R,RL090@RL090 |
| *NET* |
| *SIGNAL* VCC |
| R3.2 C1.A J1.2 R5.2 R1.2 R2.2 R4.2 |
| *SIGNAL* GND |
| D8.C C1.C D4.C M1.1 D2.C M3.1 M4.1 D6.C |
| J1.3 J1.1 M2.1 D10.C |
| *SIGNAL* N00380 |
| R1.1 D1.A |
| *SIGNAL* N00388 |
| D1.C D2.A |
| *SIGNAL* N00433 |
| D4.A D3.C |
| *SIGNAL* N00446 |
| D3.A R2.1 |
| *SIGNAL* N00494 |
| R3.1 D5.A |
| *SIGNAL* N00649 |
| D5.C D6.A |
| *SIGNAL* N00715 |
| D7.A R4.1 |
| *SIGNAL* N00793 |
| R5.1 D9.A |
| *SIGNAL* N00822 |
| D9.C D10.A |
| *SIGNAL* N00885 |
| D7.C D8.A |
| *END* |
| /roboti/istrobot/camerus/HW/SCH/LEDPANEL_0.DBK |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/camerus |
|---|
| Property changes: |
| Added: svn:ignore |
| +*.bak |
| +*.BAK |
| +*.cof |
| +*.err |
| +*.hex |
| +*.lst |
| +*.sta |
| +*.sym |
| +*.tre |
| /roboti/istrobot/cholerik/cholerik.c |
|---|
| 0,0 → 1,276 |
| // Program pro MiniSumo na R-Day 2006 |
| //"$Id$" |
| #include "cholerik.h" |
| #define THRESHOLD 15 // rozhodovaci uroven pro okraj areny |
| // 0-15 (od 0.25 do 0.75 Vdd) |
| // 0V cerna; 5V bila |
| #define KOLIKRAT 3//10 |
| //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) |
| //cidla |
| #define SIDE_R !input(PIN_A7) // Sensory na soupere |
| #define SIDE_L !input(PIN_A4) |
| #define FRONT !input(PIN_A6) |
| #define BACK !input(PIN_B3) |
| #define GRAVITY !input(PIN_A1) |
| // PIN_A3 Prave cidlo na okraj areny (C1OUT) |
| // PIN_A2 Leve cidlo na okraj areny (C2OUT) |
| #DEFINE SOUND_HI PIN_B1 // komplementarni vystupy pro piezo pipak |
| #DEFINE SOUND_LO PIN_B2 |
| // makro pro PWM |
| #define GO(motor, direction, power) if(get_timer0()<=power) \ |
| {direction##motor;} else {stop##motor;} |
| unsigned int8 majak=0; |
| unsigned int8 sl=0; |
| unsigned int8 sr=0; |
| unsigned int8 b=0; |
| unsigned int8 f=0; |
| unsigned int8 g=0; |
| int1 arena_l=FALSE; |
| int1 arena_r=FALSE; |
| int1 diag=FALSE; |
| #int_TIMER0 |
| TIMER0_isr() |
| { |
| int1 stav; |
| stav = ((majak & 0b1) == 0b1); |
| if (((SIDE_R && stav) || (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;}; |
| if (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;}; |
| if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;}; |
| if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;}; |
| majak++; |
| stav = ((majak & 0b1) == 0b1); |
| if (!C1OUT) arena_r=TRUE; else arena_r=FALSE; |
| if (!C2OUT) arena_l=TRUE; else arena_l=FALSE; |
| if (stav) |
| { |
| set_pwm1_duty(27); // 1:1 |
| } |
| else |
| { |
| set_pwm1_duty(55); // 1:0 |
| }; |
| setup_comparator(NC_NC_NC_NC); // inicializace komparatoru |
| if (GRAVITY) {if (g<255) g++;} else g=0; |
| setup_comparator(A3_VR_A2_VR); // inicializace komparatoru |
| if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se |
| } |
| // Primitivni Pipani |
| void beep(unsigned int16 period, unsigned int16 length) |
| { |
| unsigned int16 nn; |
| disable_interrupts(GLOBAL); |
| for(nn=length; nn>0; nn--) |
| { |
| output_high(SOUND_HI);output_low(SOUND_LO); |
| delay_us(period); |
| output_high(SOUND_LO);output_low(SOUND_HI); |
| delay_us(period); |
| } |
| enable_interrupts(GLOBAL); |
| } |
| /**** DIAG ********************************************************************/ |
| inline void diagnostika() |
| { |
| unsigned int16 n; |
| setup_comparator(NC_NC_NC_NC); // inicializace komparatoru |
| if (GRAVITY) |
| { |
| setup_comparator(A3_VR_A2_VR); // inicializace komparatoru |
| diag=TRUE; |
| enable_interrupts(INT_TIMER0); |
| enable_interrupts(GLOBAL); |
| while (true) // Diagnostika cidel |
| { |
| if (g>100) beep(800,100); |
| Delay_ms(50); |
| if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);}; |
| Delay_ms(50); |
| if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);}; |
| Delay_ms(50); |
| if (sr>10) beep(3000,400); |
| Delay_ms(50); |
| if (f>10) beep(4000,500); |
| Delay_ms(50); |
| if (sl>10) beep(5000,500); |
| Delay_ms(50); |
| if (b>10) beep(6000,600); |
| Delay_ms(50); |
| if((g>100) && arena_l && arena_r) break; // Preklopen na zada a bily papir na obou cidlech na okraj areny |
| }; |
| while(TRUE) // Diagnostika podvozku |
| { |
| 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); |
| }; |
| }; |
| } |
| /**** MAIN ********************************************************************/ |
| void main() |
| { |
| unsigned int16 n; // for FOR |
| STOPL; STOPR; // zastavi motory |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); // CPU clock 8MHz |
| setup_adc_ports(NO_ANALOGS); // komparatory vypnuty |
| setup_adc(ADC_OFF); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // Casovac pro SW PWM a cteni cidel |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz |
| setup_ccp1(CCP_PWM); // HW PWM ON |
| set_pwm1_duty(27); // 1:1 |
| setup_comparator(A3_VR_A2_VR); // inicializace komparatoru |
| setup_comparator(NC_NC_NC_NC); // inicializace komparatoru |
| setup_vref(VREF_HIGH|THRESHOLD); // 16 kroku od 0.25 do 0.75 Vdd |
| Beep(1000,200); //double beep |
| Delay_ms(50); |
| Beep(1000,200); |
| diagnostika(); |
| enable_interrupts(INT_TIMER0); |
| enable_interrupts(GLOBAL); |
| for (n=1;n<=5;n++) // 5s do zacatku souboje |
| { |
| Delay_ms(670); // 5,25s |
| Beep(1000,200); |
| } |
| /*----- Main Loop ------------------------------------------------------------*/ |
| while(true) // hlavni smycka |
| { |
| LOOP: |
| GO(L, F, 150); GO(R, F, 150); |
| if (arena_r) |
| { |
| BL; BR; |
| delay_ms(180); |
| STOPL; BR; |
| for(n=0; n<5000; n++) |
| { |
| if (!arena_r || arena_l) {BL; BR;}; |
| }; |
| FL; BR; |
| delay_ms(100); |
| STOPL; STOPR; |
| } |
| if (arena_l) |
| { |
| BL; BR; |
| delay_ms(180); |
| BL; STOPR; |
| for(n=0; n<5000; n++) |
| { |
| if (!arena_l || arena_r) {BL; BR;}; |
| }; |
| BL; FR; |
| delay_ms(100); |
| STOPL; STOPR; |
| } |
| if (sr>KOLIKRAT) // Nepritel vpravo |
| { |
| FL; FR; // popojed rovne |
| for(n=0; n<5000; n++) |
| { |
| if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;}; |
| }; |
| FL; BR; // otoc se na nej |
| for(n=0; n<10000; n++) |
| { |
| if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;}; |
| if (f>5) |
| { |
| FL; FR; // vytlac ho |
| }; |
| if (sl>5) {BL; FR;}; |
| if (sr>5) {FL; BR;}; |
| }; |
| } |
| if (sl>KOLIKRAT) // Nepritel vlevo |
| { |
| FL; FR; // popojed rovne |
| for(n=0; n<5000; n++) |
| { |
| if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;}; |
| }; |
| BL; FR; // otoc se na nej |
| for(n=0; n<10000; n++) |
| { |
| if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;}; |
| if (f>5) |
| { |
| FL; FR; // vytlac ho |
| }; |
| if (sl>5) {BL; FR;}; |
| if (sr>5) {FL; BR;}; |
| }; |
| } |
| if (f>KOLIKRAT) // Nepritel vpredu |
| { |
| BL; FR; |
| delay_ms(110); |
| FL; BR; |
| delay_ms(50); |
| STOPL; STOPR; |
| } |
| if (b>KOLIKRAT) // Nepritel vzadu |
| { |
| BL; FR; |
| delay_ms(110); |
| FL; BR; |
| delay_ms(50); |
| STOPL; STOPR; |
| } |
| } // while(true) |
| } |
| Property changes: |
| Added: svn:keywords |
| +Id Rev |
| \ No newline at end of property |
| /roboti/istrobot/cholerik/cholerik.hex |
|---|
| 0,0 → 1,214 |
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| ;PIC16F88 |
| /roboti/istrobot/cholerik/cholerik.PJT |
|---|
| 0,0 → 1,43 |
| [PROJECT] |
| Target=tank.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\drivers\;C:\library\CCS; |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=D:\KAKLIK\projekty\roboti\istrobot\cholerik\cholerik.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [tank.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=tank.c |
| [Windows] |
| 0=0000 tank.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=D:\KAKLIK\projekty\roboti\istrobot\cholerik\cholerik.c |
| 2= |
| 3=C:\Program Files\PICC\devices\16F88.h |
| 4= |
| 5= |
| 6= |
| 7= |
| [Units] |
| Count=1 |
| 1=D:\KAKLIK\projekty\roboti\istrobot\cholerik\cholerik.c (main) |
| /roboti/istrobot/cholerik/cholerik.h |
|---|
| 0,0 → 1,19 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES NOWDT //No Watch Dog Timer |
| #FUSES INTRC_IO //Internal RC Osc, no CLKOUT |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| #FUSES NOIESO //Internal External Switch Over mode disabled |
| #FUSES CCPB0 //Vystup PWM |
| #use delay(clock=8000000) |
| /roboti/istrobot/camerusII/HW/PCB/WhiteLEDPanel.pcb |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/camerusII/HW/WHITELEDPANEL.DSN |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/camerusII/HW/WHITELEDPANEL.asc |
|---|
| 0,0 → 1,49 |
| *PADS-PCB* |
| *PART* |
| D1 LED,LED5mm@LED5 |
| D10 LED,LED5mm@LED5 |
| D2 LED,LED5mm@LED5 |
| D3 LED,LED5mm@LED5 |
| D4 LED,LED5mm@LED5 |
| D5 LED,LED5mm@LED5 |
| D6 LED,LED5mm@LED5 |
| D7 LED,LED5mm@LED5 |
| D8 LED,LED5mm@LED5 |
| D9 LED,LED5mm@LED5 |
| J1 SCW2,ARK210/2@ARK210/2 |
| J2 UNIPAD2,UNIPAD2@UNIPAD2 |
| M1 PAD,HOLE_M3@HOLE_M3 |
| M2 PAD,HOLE_M3@HOLE_M3 |
| M3 PAD,HOLE_M3@HOLE_M3 |
| M4 PAD,HOLE_M3@HOLE_M3 |
| P1 R-TRIM,100@PT6V |
| R1 R,20@RL090 |
| *NET* |
| *SIGNAL* N00284 |
| D2.A D1.C |
| *SIGNAL* N00288 |
| D2.C D3.A |
| *SIGNAL* N00294 |
| D3.C D4.A |
| *SIGNAL* N00302 |
| D4.C D5.A |
| *SIGNAL* N00312 |
| D5.C D6.A |
| *SIGNAL* N00324 |
| D6.C D7.A |
| *SIGNAL* N00338 |
| D7.C D8.A |
| *SIGNAL* N00354 |
| D8.C D9.A |
| *SIGNAL* N00372 |
| D9.C D10.A |
| *SIGNAL* N00482 |
| P1.3 D10.C J2.1 J2.2 P1.1 |
| *SIGNAL* N00504 |
| P1.2 R1.1 |
| *SIGNAL* VCC |
| D1.A J1.2 |
| *SIGNAL* GND |
| R1.2 M2.1 M3.1 J1.1 M1.1 M4.1 |
| *END* |
| /roboti/istrobot/3Orbis/dokumentace/Video/3Orbis_kmitani.wmv |
|---|
| Cannot display: file marked as a binary type. |
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| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis.doc |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/3Orbis/dokumentace/fotky/prevodovka.jpg |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/P1010003.JPG |
|---|
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| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/P1010004.JPG |
|---|
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| Property changes: |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/P1010005.JPG |
|---|
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| Property changes: |
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| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/P1010006.JPG |
|---|
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| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/P4090008.JPG |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/P4140001.JPG |
|---|
| Cannot display: file marked as a binary type. |
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| Property changes: |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/soutezni verze/P5030001.JPG |
|---|
| Cannot display: file marked as a binary type. |
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| Property changes: |
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|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
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|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/soutezni verze/P5030004.JPG |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
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| /roboti/istrobot/3Orbis/dokumentace/fotky/soutezni verze/P5070003.JPG |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/3Orbis.pdf |
|---|
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/HBRIDGE01A/Hbridge.PDF |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/HBRIDGE01A/V2.PDF |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDBAR01A/LEDBAR01A.pdf |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDBAR01A/T1.PDF |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDBAR01A/V2.PDF |
|---|
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| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDROBOT01A/LEDROBOT_T1_AMA.pdf |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDROBOT01A/LEDROBOT_V2_AMA.pdf |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDROBOT01A/LEDROBOT_V2_REAL.pdf |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDROBOT01A/LEDrobot.PDF |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/3Orbis/dokumentace/3Orbis/LEDROBOT01A/sch.pdf |
|---|
| 0,0 → 1,625 |
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