MLABlibrarysvnkaklikMLAB_E8magsvn

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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /roboti/istrobot/camerus/SW/ @ 252

  → /roboti/istrobot/camerus/SW/ @ 253

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Regard whitespace Rev 252 → Rev 253

/roboti/istrobot/camerus/SW/876/camerus.c
7,8 → 7,8
#USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
// Rychlostni konstanty
#define RR_CIHLA 25 // Rozumna rychlost pro objizdeni cihly
#define RR_PRERUSENI 20 // Rozumna rychlost pro priblizeni se k preruseni
#define RR_CIHLA 18 // Rozumna rychlost pro objizdeni cihly
#define RR_PRERUSENI 18 // Rozumna rychlost pro priblizeni se k preruseni
#define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit
#define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik
#define ODODO_CIHLA 0xFFF

/roboti/istrobot/camerus/SW/876/objizdka_L.c
26,7 → 26,7
odocounter=get_timer1();
while(true) // Na zacatku se vyhni cihle, zatoc co muzes
{
cas=CASMIN-5; // jeste vic nez hodne do leva
cas=CASMIN;//!!!-5; // jeste vic nez hodne do leva
if(BUMPER) // Narazili jsme do cihly, musime couvnout!
{
148,7 → 148,7
disp(0xC3);
set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200
set_pwm2_duty(255);
set_pwm2_duty(220);
output_high(MOT_L);
output_low(MOT_R);
delay_us(40);