14,16 → 14,12 |
{ |
BYTE incoming, state; |
|
output_low(H1); |
output_low(L1); |
output_low(H2); |
output_low(L2); |
output_a(0); // vypnuti vsech budicu |
|
state = i2c_isr_state(); |
|
if(state < 0x80) //Master is sending data |
{ |
// output_toggle(PIN_A0); |
command = i2c_read(); |
} |
|
40,7 → 36,6 |
|
setup_adc_ports(NO_ANALOGS|VSS_VDD); |
setup_adc(ADC_OFF); |
// setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_144MS); |
setup_timer_1(T1_DISABLED); |
setup_timer_2(T2_DISABLED,0,1); |
67,35 → 62,15 |
|
speed=command+127; // posunuti 0 pro zaporna cisla |
|
output_a(0b10010); |
output_a(0b10010); // vpred |
delay_us(speed); |
output_a(0); |
output_a(0); // vypnuti vsech budicu |
delay_us(1); |
restart_wdt(); |
output_a(0b01100); |
output_a(0b01100); // vzad |
delay_us(254-speed); |
output_a(0); |
output_a(0); // vypnuti vsech budicu |
delay_us(1); |
|
/* |
output_high(H1); // vpred |
output_high(L2); |
delay_us(speed); |
|
output_low(H1); // stop, aby se neseply tranzistory proti sobe! |
output_low(H2); |
output_low(L1); |
output_low(L2); |
|
output_high(H2); // vzad |
output_high(L1); |
delay_us(32-speed); |
|
output_low(H1); // stop, aby se neseply tranzistory proti sobe! |
output_low(H2); |
output_low(L1); |
output_low(L2); |
*/ |
} |
} |
|