| 10,9 → 10,14 |
|---|
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| |
| 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 |
| { |
| 22,7 → 27,7 |
|---|
| 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? |
| if(get_timer1()>(odocounter+8)) // konec zatacky? |
| { |
| disp(0x66); |
| cas=CASAVR-CASMIN; // rovne |
| 32,6 → 37,7 |
|---|
| delay_ms(18); |
| }; |
| |
| //------ Objeti cihly v konstantni vzdalenosti ------ |
| touch=0; |
| ridic=pred_carou; |
| output_low(MOT_L); // vpred |
| 38,6 → 44,7 |
|---|
| output_low(MOT_R); |
| while(true) |
| { |
| if(!input(IRRX)) goto cihla; |
| |
| if(!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| 78,9 → 85,9 |
|---|
| }; |
| disp(0xC3); |
| |
| set_pwm1_duty(0); |
| set_pwm2_duty(170); |
| output_low(MOT_L); |
| 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 |
| 105,11 → 112,13 |
|---|
| goto cara; |
| }; |
| } |
| SetServoQ(CASMIN); // max. doleva L |
| 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); |