| 0,0 → 1,160 |
|---|
| #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_1 |
| #define RED SENSOR_2 |
| #define BBUMPER SENSOR_3 |
| #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_LIGHT); // 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); |
| |
| k_care(); |
| |
| start red_bumper; |
| start blue_bumper; |
| start cara_cervena; |
| start cara_modra; |
| semafor = false; |
| |
| ClearTimer (0); |
| start stochastika; |
| } |
| |
| task stochastika() |
| { |
| while (true) |
| { |
| Wait(500); |
| if (semafor) start blue_bumper; |
| |
| PlaySound (SOUND_CLICK); |
| |
| OnFwd (MLEFT); // dojezd k care |
| OnFwd (MRIGHT); // dojezd k care |
| while (BLUE > THRESHOLD); |
| GoRed(); |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| Wait(100); // popojed kus |
| Zatoc(); |
| |
| ClearTimer (0); |
| } |
| } |
| |
| void GoBlue() |
| { |
| OnFwd (MLEFT); |
| OnFwd (MRIGHT); |
| Wait(100); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| } |
| |
| void GoRed() |
| { |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| Wait(100); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| } |
| |
| void Zatoc() |
| { |
| switch (Random(2)) |
| { |
| case 0: |
| OnRev (MLEFT); |
| OnFwd (MRIGHT); |
| break; |
| case 1: |
| OnFwd (MLEFT); |
| OnRev (MRIGHT); |
| break; |
| case 2: |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| } |
| Wait(100); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| } |
| |
| void k_care() // najed do vyckavaci pozice |
| { |
| OnFwd (MLEFT); // dojezd k care |
| OnFwd (MRIGHT); // dojezd k care |
| while (BLUE > THRESHOLD); |
| GoRed(); |
| OnRev (MLEFT); |
| OnRev (MRIGHT); |
| Wait(100); // popojed kus |
| Off(MLEFT); |
| Off(MRIGHT); |
| } |
| |
| task red_bumper() |
| { |
| while(true) |
| { |
| while (100 != RED); // utoc, kdyz neco narazi do narazniku |
| PlaySound (SOUND_FAST_UP); |
| stop stochastika; |
| Zatoc(); |
| start stochastika; |
| if (semafor) start blue_bumper; |
| } |
| } |
| |
| task blue_bumper() |
| { |
| semafor = false; |
| while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku |
| PlaySound (SOUND_FAST_UP); |
| OnFwd (MLEFT); |
| OnFwd (MRIGHT); |
| semafor = true; |
| } |
| |
| task cara_cervena() // hlidani natlaceni na caru |
| { |
| while(true) |
| { |
| while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care |
| Wait(2); // kontrola za 20ms, aby se to nespletlo s naraznikem |
| if (RED > THRESHOLD && RED < RED_WHITE) |
| { |
| PlaySound (SOUND_DOUBLE_BEEP); |
| GoBlue(); |
| } |
| } |
| } |
| |
| task cara_modra() // hlidani cary |
| { |
| while(true) |
| { |
| while (BLUE > THRESHOLD); // cekej na caru |
| stop cara_cervena; |
| PlaySound (SOUND_DOUBLE_BEEP); |
| GoRed(); |
| if (semafor) start blue_bumper; |
| start cara_cervena; |
| } |
| } |
| |