| 3,10 → 3,10 |
|---|
| #USE FAST_IO (C) |
| |
| // kroutitka |
| #define CERVENA 1 // AN1 |
| #define CERNA 4 // AN4 |
| #define ZELENA 3 // AN3 |
| #define MODRA 0 // AN0 |
| #define CERVENA 3 // AN3/RA3 |
| #define CERNA 2 // AN2/RA2 |
| #define ZELENA 1 // AN1/RA0 |
| #define MODRA 0 // AN0/RA1 |
| |
| // I/O |
| #define LED PIN_C0 |
| 13,12 → 13,19 |
|---|
| #define HREF PIN_C5 |
| #define PIX PIN_C6 |
| #define SERVO PIN_B7 |
| #define MOT_L PIN_B5 |
| #define MOT_R PIN_B6 |
| |
| void main() |
| { |
| int8 cas; |
| int16 offset; |
| int8 offset; |
| int8 rr; // Rozumna rychlost |
| int8 r1; |
| int8 r2; |
| |
| int16 ble; |
| |
| setup_adc_ports(ALL_ANALOG); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 31,6 → 38,11 |
|---|
| |
| set_tris_c(0b11111000); |
| |
| set_pwm1_duty(0); // Zastav motory |
| set_pwm2_duty(0); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| |
| output_high(LED); |
| |
| delay_ms(200); |
| 86,7 → 98,7 |
|---|
| i2c_stop(); |
| |
| output_low(LED); |
| delay_ms(100); |
| delay_ms(200); |
| |
| /* |
| i2c_start(); // BW + freeze AGC/AEC |
| 96,11 → 108,13 |
|---|
| i2c_stop(); |
| */ |
| output_high(LED); |
| delay_ms(100); |
| delay_ms(200); |
| output_low(LED); |
| |
| cas=128; |
| |
| ble=0; |
| |
| while(true) |
| { |
| while(!input(HREF)); |
| 128,7 → 142,30 |
|---|
| delay_us(cas); |
| // delay_us(cas); |
| output_low(SERVO); |
| set_pwm1_duty(cas); |
| set_pwm2_duty(255-cas); |
| |
| ble++; |
| set_adc_channel(ZELENA); |
| Delay_ms(1); |
| offset=read_adc(); |
| set_adc_channel(CERNA); |
| Delay_ms(1); |
| rr=read_adc(); |
| r1=cas>>1; |
| r2=255-offset-(cas>>1); |
| if (ble==99) |
| { |
| set_pwm1_duty(rr); |
| set_pwm2_duty(rr); |
| }; |
| if ((ble>100)&&(ble<60000)) |
| { |
| if (r1<=rr) set_pwm1_duty(r1); |
| if (r2<=rr) set_pwm2_duty(r2); |
| } |
| else |
| { |
| set_pwm1_duty(0); |
| set_pwm2_duty(0); |
| } |
| }; |
| } |