33,6 → 33,8 |
#define CASMAX 192 |
#define CASAVR ((CASMAX+CASMIN) / 2) |
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#define OFFSETO 0x9A //0x9F // Vystredeni serva pro objeti prekazky |
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#byte INTCON = 0x0B // Interrupt configuration register |
#bit GIE = INTCON.7 |
#bit PEIE = INTCON.6 |
176,23 → 178,6 |
}; |
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SetServo((CASAVR-CASMIN)); // rovne |
/* |
set_pwm1_duty(140); // vpred |
set_pwm2_duty(140); |
output_low(MOT_L); |
output_low(MOT_R); |
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
//!!! while(true) {disp(MAKE8(get_timer1(),0)); delay_ms(10);}; |
while(true) |
{ |
if(!input(PROXIMITY)) break; // Je cihla blizko? |
if(get_timer1()>(odocounter+7)) return; // nedojeli jsme k cihle, jed dal |
}; |
set_pwm1_duty(0); // reverz (zabrzdi) |
set_pwm2_duty(0); |
output_high(MOT_L); |
output_high(MOT_R); |
*/ |
delay_ms(100); |
brzda(); |
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