MLABlibrarysvnkaklikMLAB_E8magsvn

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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /roboti/istrobot/camerus/SW/876/objizdka_R.c @ 197

  → /roboti/istrobot/camerus/SW/876/objizdka_R.c @ 198

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 197 → Rev 198

/roboti/istrobot/camerus/SW/876/objizdka_R.c
1,20 → 1,12
// **** Objeti cihly vpravo **** RRRR
int n;
SetServo(CASMIN); // max. doleva L
set_pwm1_duty(0); // vzad
set_pwm2_duty(10);
output_low(MOT_L);
output_high(MOT_R);
n=0;
while(true)
{
while(input(ODO));
while(!input(ODO));
n++;
if(n==9) break;
}
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<odocounter+9); // Popojed definovanou vzdalenost
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(255);
output_low(MOT_L);
27,14 → 19,8
set_pwm2_duty(160);
output_low(MOT_L);
output_low(MOT_R);
n=0;
while(true)
{
while(input(ODO));
while(!input(ODO));
n++;
if(n==10) break;
}
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<odocounter+10); // Popojed definovanou vzdalenost
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_high(MOT_L);
47,14 → 33,8
set_pwm2_duty(220);
output_low(MOT_L);
output_low(MOT_R);
n=0;
while(true)
{
while(input(ODO));
while(!input(ODO));
n++;
if(n==9) break;
}
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<odocounter+9); // Popojed definovanou vzdalenost
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_low(MOT_L);
67,14 → 47,8
set_pwm2_duty(160);
output_low(MOT_L);
output_low(MOT_R);
n=0;
while(true)
{
while(input(ODO));
while(!input(ODO));
n++;
if(n==10) break;
}
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<odocounter+10); // Popojed definovanou vzdalenost
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_high(MOT_L);
87,14 → 61,8
set_pwm2_duty(220);
output_low(MOT_L);
output_low(MOT_R);
n=0;
while(true)
{
while(input(ODO));
while(!input(ODO));
n++;
if(n==7) break;
}
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<odocounter+7); // Popojed definovanou vzdalenost
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_low(MOT_L);
107,14 → 75,8
set_pwm2_duty(160);
output_low(MOT_L);
output_low(MOT_R);
n=0;
while(true)
{
while(input(ODO));
while(!input(ODO));
n++;
if(n==10) break;
}
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<odocounter+10); // Popojed definovanou vzdalenost
set_pwm1_duty(0); // reverz (zabrzdi)
set_pwm2_duty(0);
output_high(MOT_L);
128,14 → 90,8
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;
}
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while(get_timer1()<odocounter+2); // Popojed definovanou vzdalenost
cas=CASMAX; // Cara je vpravo