| 0,0 → 1,161 |
|---|
| #define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
| #define RED_WHITE 60 // maximum bile na cervenem senzoru |
| #define MLEFT OUT_A |
| #define MRIGHT OUT_C |
| #define BLUE SENSOR_3 |
| #define RED SENSOR_2 |
| #define BBUMPER SENSOR_1 |
| #define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
| |
| int semafor; |
| |
| task main() |
| { |
| PlaySound (SOUND_DOUBLE_BEEP); |
| Wait(500); // 5s podle pravidel |
| SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
| SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny |
| SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
| SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
| SetPower (MLEFT,OUT_FULL); |
| SetPower (MRIGHT,OUT_FULL); |
| SetDirection(MLEFT, OUT_FWD); |
| SetDirection(MRIGHT, OUT_FWD); |
| SetTxPower(TX_POWER_HI); // aby daleko videl |
| |
| OnFwd (MLEFT); // cuknuti na shozeni radlic |
| OnFwd (MRIGHT); |
| Wait(20); |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| Wait(70); |
| Off(MLEFT); |
| Off(MRIGHT); |
| |
| Wait(20); // pockej na ustaleni narazniku |
| |
| // rozjed tasky |
| start blue_bumper; |
| start cervena; |
| start cara_modra; |
| start stochastika; |
| } |
| |
| task stochastika() // nahodne otaceni |
| { |
| while(true) Zatoc(); |
| } |
| |
| void GoBlue() // pojezd ve smeru modreho senzoru |
| { |
| OnFwd (MLEFT); |
| OnFwd (MRIGHT); |
| Wait(300); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| } |
| |
| void GoRed() // pojezd ve smeru cerveneho senzoru |
| { |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| Wait(300); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| } |
| |
| void Obrat() // obrat o 180 stupnu |
| { |
| OnRev (MLEFT); |
| OnFwd (MRIGHT); |
| Wait(125); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| } |
| |
| void Zatoc() // nahodne zatoceni, nebo popojeti |
| { |
| switch (Random(1)) |
| { |
| case 0: |
| OnRev (MLEFT); |
| OnFwd (MRIGHT); |
| Wait(50); |
| break; |
| case 1: |
| OnFwd (MLEFT); |
| OnRev (MRIGHT); |
| Wait(50); |
| break; |
| case 2: |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| Wait(70); |
| break; |
| case 3: |
| OnFwd (MLEFT); |
| OnFwd (MRIGHT); |
| Wait(70); |
| break; |
| } |
| } |
| |
| task blue_bumper() // naraznik na modre strane |
| { |
| while(true) |
| { |
| if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
| { |
| stop stochastika; |
| PlaySound (SOUND_FAST_UP); |
| OnFwd (MLEFT); |
| OnFwd (MRIGHT); |
| Wait(50); |
| } |
| } |
| } |
| |
| task cervena() // dalkovy sensor |
| { |
| int lastlevel; |
| |
| lastlevel = 0; |
| while(true) |
| { |
| SendMessage(0); |
| if(lastlevel > SENSOR_2) |
| { |
| PlaySound(SOUND_FAST_UP); |
| stop stochastika; |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| Wait(10); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| Obrat(); |
| GoBlue(); |
| start stochastika; |
| } |
| lastlevel = SENSOR_2; |
| lastlevel -= THRESHOLD; |
| } |
| } |
| |
| task cara_modra() // hlidani cary |
| { |
| while(true) |
| { |
| if (BLUE < THRESHOLD) // cekej na caru |
| { |
| PlaySound (SOUND_DOUBLE_BEEP); |
| stop blue_bumper; |
| stop stochastika; |
| stop cervena; |
| GoRed(); |
| start cervena; |
| start blue_bumper; |
| start stochastika; |
| } |
| } |
| } |
| |