| 0,0 → 1,214 |
|---|
| #define DOLEVA 0 |
| #define DOPRAVA 1 |
| |
| void cikcak() |
| { |
| unsigned int8 i; |
| |
| uhel=KOLMO1; |
| Delay_ms(100); |
| if (line==L2) line=L3; |
| if (line==S) line=L3; |
| if (line==R2) line=R3; |
| |
| Delay_ms(3); |
| |
| output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| |
| while(!bit_test(sensors,3)) |
| { |
| while(true) |
| { |
| Delay_ms(3); |
| |
| if (line==L3) |
| { |
| GO(L,B,160);GO(R,F,160); |
| }; |
| if (line==R3) |
| { |
| GO(R,B,160);GO(L,F,160); |
| }; |
| if (line==S) {STOPL;STOPR; i++;} |
| else i=0; |
| |
| if (i>=100) break; |
| |
| output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| |
| if(bit_test(sensors,3)) //...|...// |
| { |
| line=S; |
| continue; |
| } |
| |
| if(bit_test(sensors,0)) //|......// // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu |
| { |
| line=L3; |
| continue; |
| } |
| |
| if(bit_test(sensors,6)) //......|// |
| { |
| line=R3; |
| continue; |
| } |
| |
| if(bit_test(sensors,1)) //.|.....// |
| { |
| line=L3; |
| continue; |
| } |
| |
| if(bit_test(sensors,5)) //.....|.// |
| { |
| line=R3; |
| continue; |
| } |
| |
| if (bit_test(sensors,2)) //..|....// |
| { |
| line=L3; |
| continue; |
| } |
| |
| if (bit_test(sensors,4)) //....|..// |
| { |
| line=R3; |
| continue; |
| } |
| } |
| delay_ms(100); |
| |
| output_low(STROBE); // vypni zobrazovani na posuvnem registru |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| output_high(STROBE); // vypni zobrazovani na posuvnem registru |
| } |
| } |
| |
| /* |
| void cikcak() |
| { |
| short int movement; |
| unsigned int8 n,i=0; |
| |
| if(uhel>=STRED) |
| { |
| uhel=KOLMO1; |
| Delay_ms(100); |
| } |
| |
| if(uhel<=STRED) |
| { |
| uhel=KOLMO2; |
| Delay_ms(100); |
| } |
| |
| |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(5); |
| |
| if ((sensors & 0b11100000)!=0) movement=DOPRAVA; |
| |
| while(i<=100) |
| { |
| while(!bit_test(sensors,3)) |
| { |
| if(DOPRAVA == movement) |
| { |
| FR;BL; |
| movement=DOLEVA; |
| n=0; |
| //if ((sensors & 0b11100000)!=0) line=L1; |
| //if ((sensors & 0b00001110)!=0) line=R1; |
| //if ((sensors & 0b00010000)!=0) line=S; |
| |
| for(n=0; n<=100; n++) |
| { |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(5); // cekani na SLAVE nez pripravi data od cidel |
| if(bit_test(sensors,3)) break; |
| else i=0; |
| } |
| STOPL;STOPR; |
| } |
| |
| if(DOLEVA == movement) |
| { |
| FL;BR; |
| movement=DOPRAVA; |
| n=0; |
| |
| for(n=0; n<=100; n++) |
| { |
| sensors = spi_read(0); |
| sensors =~ sensors; |
| Delay_ms(5); |
| if(bit_test(sensors,3)) break; |
| else i=0; |
| } |
| STOPL;STOPR; |
| } |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(5); |
| } |
| i++; |
| } |
| } |
| */ |
| //////////////////////////////////////////////////////////////////////////////// |
| void objizdka() |
| { |
| BL;FR; |
| Delay_ms(300); |
| FL;BR; |
| Delay_ms(100); |
| STOPL;STOPR; |
| |
| uhel=STRED; |
| FL;FR; |
| Delay_ms(500); // rovne |
| |
| uhel=STRED+55; |
| STOPR;FL; |
| Delay_ms(190); // doprava |
| |
| uhel=STRED; |
| FR;FL; |
| Delay_ms(500); // rovne |
| |
| uhel=STRED+55; |
| FL;STOPR; |
| Delay_ms(200); // doprava |
| |
| uhel=STRED; |
| FR;FL; |
| Delay_ms(150); // rovne |
| |
| While((sensors & 0b11111110)!=0) //dokud neni cara |
| { |
| sensors = spi_read(0); // cteni senzoru |
| sensors=~sensors; |
| Delay_ms(4); // cekani na SLAVE nez pripravi data od cidel |
| } |
| BL;BR; |
| Delay_ms(400); |
| |
| uhel=STRED-55; |
| FR;STOPL; // doleva |
| delay_ms(250); |
| |
| line=L3; |
| cikcak(); |
| } |
| |