61,11 → 61,12 |
SaveLog(log-1); // Zapis Black Boxu do EEPROM |
set_pwm1_duty(140); // vpred |
set_pwm2_duty(140); |
output_low(MOT_L); |
output_low(MOT_L); |
output_low(MOT_R); |
}; |
|
if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
delta_bearing=bearing-bearing_offset; |
if(IRRX || ((delta_bearing>64)&&(delta_bearing<128))) // hrozi celni srazka s cihlou v prubehu objizdeni |
{ |
cas=CASMIN; |
} |
118,6 → 119,15 |
vzdalenost=i2c_read(0); |
i2c_stop(); |
|
i2c_start(); // Cteni kompasu |
i2c_write(COMPAS_ADR); |
i2c_write(0x1); // uhel 0-255 |
i2c_stop(); |
i2c_start(); |
i2c_write(COMPAS_ADR+1); |
bearing=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; |