| 50,17 → 50,17 |
|---|
| { |
| disp(i); |
| rotate_left(&i, 1); |
| delay_ms(100); |
| delay_ms(50); |
| } |
| for(n=0;n<7;n++) |
| { |
| disp(i); |
| rotate_right(&i, 1); |
| delay_ms(100); |
| delay_ms(50); |
| } |
| } |
| disp(i); |
| delay_ms(100); |
| delay_ms(30); |
| i=0; |
| disp(i); |
| } |
| 115,14 → 115,13 |
|---|
| i2c_write(0x05); |
| i2c_write(0xA0); // 48h |
| i2c_stop(); |
| */ |
| |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(0x9A); // 80h |
| i2c_write(0x0); // 80h //9Ah |
| i2c_stop(); |
| |
| /* |
| i2c_start(); // Band Filter |
| i2c_write(0xC0); |
| i2c_write(0x2D); |
| 129,30 → 128,71 |
|---|
| 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(45); |
| i2c_write(118); // prostredni radka |
| i2c_stop(); |
| |
| i2c_start(); // VEND |
| i2c_write(0xC0); |
| i2c_write(0x1A); |
| i2c_write(45); |
| i2c_write(118); |
| i2c_stop(); |
| |
| NightRider(1); // Musi se dat cas kamere na AGC a AEC |
| |
| { // Kalibrace kamery |
| int8 t1,t2; |
| |
| for(offset=0;offset<=255;offset+=0x04) // Cita porad dokola |
| { |
| i2c_start(); // Brightness |
| i2c_write(0xC0); |
| i2c_write(0x06); |
| i2c_write(offset); // 80h default |
| i2c_stop(); |
| disp(offset); |
| delay_ms(100); |
| |
| 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; |
| |
| delay_ms(2); |
| } |
| } |
| |
| delay_ms(1000); |
| |
| cas=128; // Inicializace promenych, aby neslo servo za roh a aby se to rozjelo jeste dneska |
| stav=start; |
| trasa=0; |
| |
| |
| // ... Hlavni smycka ... |
| while(true) |
| { |
| int8 pom; |
| int8 n; |
| |
| |
| pom=0; |
| while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky |
| set_timer0(0); // Vynuluj pocitadlo casu |
| 161,7 → 201,7 |
|---|
| // !!!!Dodelat rozpoznani cerne cary napric pro zastaveni |
| if(!input(PIX)) // Pokud se 3x za sebou precetla CERNA |
| if(!input(PIX)) |
| if(!input(PIX)) |
| // if(!input(PIX)) |
| { |
| pom=get_timer0(); // Precti cas z citace casu hrany |
| break; |
| 189,14 → 229,11 |
|---|
| Delay_ms(1); |
| rr=read_adc()>>2; //!!! // 0-31 |
| |
| disp(cas & 0b11110000); |
| |
| // 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); |
| |
| 217,12 → 254,12 |
|---|
| |
| set_adc_channel(DALKOMER); // Prepni A/D prevodnik na detektor cihly |
| Delay_ms(1); |
| for(n=0;n<5;n++) // Detekce prekazky |
| for(n=0;n<200;n++) // Detekce prekazky |
| { |
| if(read_adc()<128) |
| { |
| if(stav==start) |
| { |
| { |
| disp(0x55); |
| while(read_adc()<128); // Cekej, dokud starter neda ruku pryc |
| set_pwm1_duty(255); |
| 238,7 → 275,7 |
|---|
| set_pwm2_duty(0); |
| output_high(MOT_L); // zabrzdi |
| output_high(MOT_R); |
| delay_ms(300); |
| delay_ms(300); |
| output_low(MOT_L); // zastav |
| output_low(MOT_R); |
| stav=cil; |
| 247,5 → 284,16 |
|---|
| } |
| } |
| |
| pom=0x80; |
| for(n=CASMAX/8; n<cas; n+=CASMAX/8) |
| { |
| pom>>=1; |
| } |
| disp(pom); |
| |
| output_high(PIN_C0); |
| delay_ms(1); |
| output_low(PIN_C0); |
| |
| }; |
| } |