| 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; |