WebSVN – svnkaklik – Path Comparison – / – /roboti/Robotour/SW/vector/nav.h Rev 379 and /roboti/Robotour/SW/vector/nav.h Rev 380

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 /roboti/Robotour/SW/vector/nav.h
 ,28 → 1,36
 switch (cros[n].id)
 {
     case 1:
-//        TL(20);
         azimut=read_azimut_mag();
-        if ((azimut>0)&&(azimut<45))
+        if ((azimut>0)&&(azimut<100))
         {
-            if(azimut>20) SlowLeft(); else SlowRight();
+            if(azimut>0) SlowLeft(); else SlowRight();
             korekce=1;
         };
-//        last_cross=cros[n].id;
         break;
-    case 10:
-        TR(250);
-        last_cross=cros[n].id;
+    case 2:
+        azimut=read_azimut_mag();
+        if ((azimut>0)&&(azimut<80))
+        {
+            if(azimut>0) SlowLeft(); else SlowRight();
+            korekce=1;
+        };
         break;
     case 3:
-        TR(195);
-        last_cross=cros[n].id;
+        azimut=read_azimut_mag();
+        if ((azimut>0)&&(azimut<100))
+        {
+            if(azimut>40) SlowLeft(); else SlowRight();
+            korekce=1;
+        };
         break;
     case 4:
-//        TL(194);
-        if ((lus>100)&&(lus<300)) SlowLeft();
+        azimut=read_azimut_mag();
+        if ((azimut>0)&&(azimut<100))
+        {
+            if(azimut>45) SlowLeft(); else SlowRight();
             korekce=1;
-//        last_cross=cros[n].id;
+        };
         break;
     case 5:
         TL(176);