| 33,11 → 33,21 |
|---|
| txreg = c |
| End Sub |
| |
| Sub delay(cas As Byte) |
| Dim i As Byte |
| Dim x As Byte |
| Do while i <= cas |
| Do While x <= 100 |
| Call receive() |
| x=x+1 |
| loop |
| i=i+1 |
| loop |
| End Sub |
| |
| Sub main() |
| Dim motors As Byte |
| Dim sensors As Byte |
| Dim leds As Byte |
| Dim leds1 As Byte |
| Dim buttons As Byte |
| Dim i As Long |
| |
| 60,65 → 70,42 |
|---|
| rcsta = rcsta | (1 << CREN) |
| rcsta = rcsta | (1 << SPEN) |
| |
| motors = 0x00 |
| |
| leds = 0xFF |
| leds1 = 0x0F |
| lata = 0x0E |
| Call delay(200) |
| lata = 0x0D |
| Call delay(200) |
| lata = 0x0B |
| Call delay(200) |
| lata = 0x07 |
| Call delay(200) |
| |
| motors = 0x00 |
| motors = 0x77 |
| |
| Call delay(100) |
| |
| |
| Do while 1 |
| |
| Do while i <= 500000 |
| i=i+1 |
| loop |
| motors = motors + 0x11 |
| |
| elseif (buttons.4)=0 Then |
| i=0 |
| leds1 = leds1 + 1 |
| lata = leds1 |
| Do while i <= 500000 |
| i=i+1 |
| loop |
| motors = motors - 0x11 |
| End If |
| |
| leds = 0xFF |
| sensors =0xFF |
| sensors = Call receive() 'prijmi stav cidel senzoru |
| 'Bity v bajtu sensors |
| 'BIT3=LEVE SPODNI, BIT2=PRAVE SPODNI, BIT1=LEVE PREDNI, BIT0=PRAVE PREDNI |
| 'prislusny bit v nule znamena aktivni senzor |
| If (sensors.0)=0 Then |
| 'pravy predni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 1) 'led sviti, kdyz se ji bit znuluje |
| End If |
| |
| If (sensors.1)=0 Then |
| 'levy predni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 2) 'led sviti, kdyz se ji bit znuluje |
| End If |
| |
| If (sensors.2)=0 Then |
| 'pravy spodni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 0) 'led sviti, kdyz se ji bit znuluje |
| End If |
| sensors =0xFF |
| sensors = Call receive() 'prijmi stav cidel senzoru |
| |
| If (sensors.3)=0 Then |
| 'levy spodni senzor aktivni |
| 'rozsvit prislusnou LED k senzoru, zatim jen v promenne |
| leds = leds & ~(1 << 3) 'led sviti, kdyz se ji bit znuluje |
| End If |
| If (!((sensors.0) and (sensors.1))) Then |
| motors = 0x77 |
| End If |
| |
| If (!(sensors.2)) Then |
| motors = 0xF7 |
| End If |
| |
| If (!(sensors.3)) Then |
| motors = 0x7F |
| End If |
| |
| lata = sensors |
| call send(motors) |
| |
| lata = leds |
| call send(motors) |
| |
| |
| Loop |
| |
| |
| Loop |
| |
| End Sub |