| 10,6 → 10,7 |
|---|
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| touch=0; // Indikator detekce cary pri objizdeni |
| 53,6 → 54,7 |
|---|
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| 59,20 → 61,21 |
|---|
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| set_pwm1_duty(140); // vpred |
| set_pwm2_duty(140); |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| }; |
| |
| delta_bearing=bearing-bearing_offset; |
| if(IRRX || ((delta_bearing>64)&&(delta_bearing<128))) // hrozi celni srazka s cihlou v prubehu objizdeni |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+20)) cas-=20; |
| } |
| 128,11 → 131,12 |
|---|
| bearing=i2c_read(0); |
| i2c_stop(); |
| |
| if(touch==L_TOUCH) disp(0xC0); |
| if(touch==R_TOUCH) disp(0x03); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |
| |