| 54,7 → 54,7 |
|---|
| set_pwm2_duty(0); |
| setup_ccp1(CCP_OFF); |
| setup_ccp2(CCP_OFF); |
| for (n=0;n<150;n++) |
| for (n=0;n<100;n++) |
| { |
| output_low(MOT_L); |
| output_low(MOT_R); |
| 69,13 → 69,13 |
|---|
| } |
| output_low(MOT_L); // smer vpred |
| output_low(MOT_R); |
| setup_ccp1(CCP_PWM); // RC1 // PWM pro motory |
| setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory |
| setup_ccp2(CCP_PWM); // RC2 |
| } |
| |
| void SetServo(int8 angle) |
| { |
| int8 n, offset; |
| int8 n; |
| |
| for(n=0; n<14; n++) |
| { |
| 121,8 → 121,8 |
|---|
| set_adc_channel(DALKOMER); // Prepni A/D prevodnik na detektor cihly |
| SetServo((CASAVR-CASMIN)); // rovne |
| |
| set_pwm1_duty(100); // vpred |
| set_pwm2_duty(100); |
| set_pwm1_duty(140); // vpred |
| set_pwm2_duty(140); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| i=0; |
| 131,14 → 131,15 |
|---|
| while(input(ODO)) if(read_adc()<128) goto brzdi; // Je cihla blizko? |
| while(!input(ODO)); |
| i++; |
| if(i==8) return; // nedojeli jsme k cihle, jed dal |
| if(i==7) return; // nedojeli jsme k cihle, jed dal |
| }; |
| |
| brzdi: |
| set_pwm1_duty(0); // reverz (zabrzdi) |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| delay_ms(100); |
| delay_ms(150); |
| brzda(); |
| |
| if (stav==cihla) while(true); // Zastav na furt, konec drahy |
| 410,7 → 411,7 |
|---|
| set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu |
| set_pwm2_duty(255); |
| disp(0x1); |
| delay_ms(400); |
| delay_ms(300); |
| stav=jizda; |
| }; |
| } |