| 33,6 → 33,8 |
|---|
| #define CASMAX 192 |
| #define CASAVR ((CASMAX+CASMIN) / 2) |
| |
| #define OFFSETO 0x9A //0x9F // Vystredeni serva pro objeti prekazky |
| |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| #bit PEIE = INTCON.6 |
| 176,23 → 178,6 |
|---|
| }; |
| |
| 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(); |
| |