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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /roboti/istrobot/camerus/SW/876/objizdka_R.c @ 195

  → /roboti/istrobot/camerus/SW/876/objizdka_R.c @ 196

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 195 → Rev 196

/roboti/istrobot/camerus/SW/876/objizdka_R.c
4,7 → 4,7
SetServo(CASMIN); // max. doleva L
set_pwm1_duty(0); // vzad
set_pwm2_duty(20);
set_pwm2_duty(10);
output_low(MOT_L);
output_high(MOT_R);
n=0;
19,12 → 19,12
set_pwm2_duty(255);
output_low(MOT_L);
output_low(MOT_R);
delay_ms(150);
delay_ms(215);
brzda();
SetServo((CASAVR-CASMIN)); // rovne S
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);
n=0;
39,12 → 39,12
set_pwm2_duty(0);
output_high(MOT_L);
output_high(MOT_R);
delay_ms(200);
delay_ms(250);
brzda();
SetServo(CASMIN); // max. doleva L
set_pwm1_duty(0); // vpred
set_pwm2_duty(200);
set_pwm2_duty(220);
output_low(MOT_L);
output_low(MOT_R);
n=0;
59,12 → 59,12
set_pwm2_duty(0);
output_low(MOT_L);
output_high(MOT_R);
delay_ms(200);
delay_ms(250);
brzda();
SetServo((CASAVR-CASMIN)); // rovne S
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);
n=0;
79,12 → 79,12
set_pwm2_duty(0);
output_high(MOT_L);
output_high(MOT_R);
delay_ms(200);
delay_ms(250);
brzda();
SetServo(CASMIN); // max. doleva L
set_pwm1_duty(0); // vpred
set_pwm2_duty(200);
set_pwm2_duty(220);
output_low(MOT_L);
output_low(MOT_R);
n=0;
93,18 → 93,18
while(input(ODO));
while(!input(ODO));
n++;
if(n==8) break;
if(n==7) break;
}
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_low(MOT_L);
output_high(MOT_R);
delay_ms(200);
delay_ms(250);
brzda();
SetServo((CASAVR-CASMIN)); // rovne S
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);
n=0;
115,15 → 115,28
n++;
if(n==8) break;
}
/*
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_high(MOT_L);
output_high(MOT_R);
delay_ms(200);
delay_ms(250);
brzda();
*/
// Abysme byli natoceni po smeru jizdy
SetServo(CASMAX); // max. doprava R
set_pwm1_duty(200); // vpred
set_pwm2_duty(0);
output_low(MOT_L);
output_low(MOT_R);
n=0;
while(true)
{
while(input(ODO));
while(!input(ODO));
n++;
if(n==2) break;
}
cas=CASMAX; // Cara je vpravo
stav=cihla; // Stav po objeti cihly, uz zadna cihla nebude
//!!!!!!!!!!!!!!!!! stav=cihla; // Stav po objeti cihly, uz zadna cihla nebude