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Regard whitespace Rev 227 → Rev 228

/roboti/istrobot/camerus/SW/876/camerus.c
220,6 → 220,18
NightRider(1); // Aby se poznalo, ze byl RESET
// taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy
 
//... Nastaveni sonaru ...
i2c_start();
i2c_write(0xE0);
i2c_write(0x02); // dosah
i2c_write(0x02); // 86mm
i2c_stop();
i2c_start();
i2c_write(0xE0);
i2c_write(0x01); // zesileni
i2c_write(0x00);
i2c_stop();
 
//... Nastaveni kamery ...
i2c_start(); // Soft RESET kamery
i2c_write(0xC0); // Pro single slave musi mit vsechny zapisy adresu C0h
/roboti/istrobot/camerus/SW/876/objizdka_L.c
9,6 → 9,7
int8 touch;
enum okolo_cihly {pred_carou,na_care,po_care};
okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly
int8 vzdalenost;
 
cihla:
 
27,10 → 28,9
set_pwm2_duty(200);
output_high(MOT_L); // leve kolo reverz
output_low(MOT_R); // prave kolo vpred
if(get_timer1()>(odocounter+8)) // konec zatacky?
if(get_timer1()>(odocounter+5)) // konec zatacky?
{
disp(0x66);
cas=CASAVR-CASMIN; // rovne
break;
}
SetServoQ(cas);
40,13 → 40,14
//------ Objeti cihly v konstantni vzdalenosti ------
touch=0;
ridic=pred_carou;
cas=CASAVR-CASMIN; // rovne
output_low(MOT_L); // vpred
output_low(MOT_R);
while(true)
{
if(!input(IRRX)) goto cihla;
// if(!input(IRRX)) goto cihla;
if(!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly
if((vzdalenost!=0)||!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly
{
if(cas>(CASMIN+20)) cas-=20;
}
68,6 → 69,12
SetServoQ(cas);
i2c_start(); // Sonar Ping
i2c_write(0xE0);
i2c_write(0x0);
i2c_write(0x51);
i2c_stop();
 
for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
{
set_adc_channel(LMAX);
77,6 → 84,16
delay_us(100);
if(read_adc()<THR) touch|=R_TOUCH;
};
 
i2c_start(); // Odraz ze sonaru
i2c_write(0xE0);
i2c_write(0x3);
i2c_stop();
i2c_start();
i2c_write(0xE1);
vzdalenost=i2c_read(0);
i2c_stop();
 
if(touch==L_TOUCH) disp(0xC0);
if(touch==R_TOUCH) disp(0x03);
if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;