| 35,8 → 35,7 |
|---|
| |
| #define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky |
| |
| #define THR_H 128 |
| #define THR_L 90 |
| #define THR 90 // Threshold pro UV cidla na caru |
| |
| #byte INTCON = 0x0B // Interrupt configuration register |
| #bit GIE = INTCON.7 |
| 155,6 → 154,7 |
|---|
| output_low(SERVO); |
| } |
| |
| //---------------------------- INT -------------------------------- |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| 172,7 → 172,7 |
|---|
| return; |
| }; |
| output_low(IRTX); // Zapni LED na detekci prekazky |
| delay_ms(5); |
| delay_ms(10); |
| if (input(IRRX)) // stale nas signal? |
| { |
| output_low(MOT_L); // neni odraz -> vpred |
| 426,10 → 426,10 |
|---|
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<THR_L) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<THR_L) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=rozjezd; |
| 444,10 → 444,10 |
|---|
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR_L) cas=CASMIN; |
| if(read_adc()<THR) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<THR_L) cas=CASMAX; |
| if(read_adc()<THR) cas=CASMAX; |
| }; |
| } |
| } |