| /roboti/auto/main.c |
|---|
| 0,0 → 1,100 |
| #include "D:\@Kaklik\programy\PIC_C\robot\auto\main.h" |
| #DEFINE CIDLO1L PIN_B0 |
| #DEFINE CIDLO1R PIN_B1 |
| #DEFINE CIDLO2L PIN_B2 |
| #DEFINE CIDLO2R PIN_B3 |
| #DEFINE RELE1 PIN_B5 |
| #DEFINE RELE2 PIN_B6 |
| #DEFINE MOTOR1 PIN_B4 |
| #DEFINE MOTOR2 PIN_A0 |
| #DEFINE MOTOR2a PIN_A1 |
| #DEFINE LASER PIN_A2 |
| #DEFINE L 0 |
| #DEFINE R 1 |
| int cara; |
| int movement; |
| void left() |
| { |
| output_high(RELE1); |
| output_high(RELE2); |
| delay_ms(100); |
| output_high(MOTOR1); |
| output_high(MOTOR2); |
| output_high(MOTOR2a); |
| } |
| void right() |
| { |
| output_low(RELE1); |
| output_low(RELE2); |
| delay_ms(100); |
| output_high(MOTOR1); |
| output_high(MOTOR2); |
| output_high(MOTOR2a); |
| } |
| void rovne() |
| { |
| output_low(RELE1); // oba motory vpred |
| output_high(RELE2); |
| delay_ms(100); |
| output_high(MOTOR1); |
| output_high(MOTOR2); |
| output_high(MOTOR2a); |
| } |
| void stop() |
| { |
| output_low(MOTOR1); |
| output_low(MOTOR2); |
| output_low(MOTOR2a); |
| delay_ms(100); |
| } |
| void main() |
| { |
| cara=L; |
| movement=R; |
| output_low(RELE1); // oba motory vpred |
| output_high(RELE2); |
| delay_ms(100); |
| while (true) |
| { |
| if (!input(CIDLO1R)) cara=R; // cara vpravo |
| if (!input(CIDLO1L)) cara=L; // cara vlevo |
| if (cara != movement) |
| { |
| switch(cara) |
| { |
| case L: |
| output_high(LASER); |
| stop(); |
| rovne(); |
| delay_ms(100); |
| stop(); |
| left(); |
| movement=L; |
| break; |
| case R: |
| stop(); |
| rovne(); |
| delay_ms(100); |
| output_low(LASER); |
| stop(); |
| right(); |
| movement=R; |
| break; |
| } |
| } |
| } |
| } |