| 1,10 → 1,8 |
|---|
| // Program pro MiniSumo na R-Day 2006 |
| //"$Id: camerus.c 204 2007-03-21 09:14:22Z kakl $" |
| |
| #include "cholerik.h" |
| |
| // Konstanty |
| #define TRESHOLD 0x250 // rozhodovaci uroven pro okraj areny |
| #define TRESHOLD 0x254 // rozhodovaci uroven pro okraj areny |
| //#define DEBUG1 1 // Diagnostika pohonu |
| |
| //motory //Napred vypnout potom zapnout! |
| 55,7 → 53,7 |
|---|
| stav = ((majak & 0b1) == 0b1); |
| if (stav) |
| { |
| if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_l=TRUE; else arena_l=FALSE; |
| if (read_adc(ADC_READ_ONLY) > 250) arena_l=TRUE; else arena_l=FALSE; |
| set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni |
| delay_us(10); |
| read_adc(ADC_START_ONLY); |
| 63,7 → 61,7 |
|---|
| } |
| else |
| { |
| if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_r=TRUE; else arena_r=FALSE; |
| if (read_adc(ADC_READ_ONLY) > 250) arena_r=TRUE; else arena_r=FALSE; |
| set_adc_channel(L); // prepnuti kanalu ADC, je treba min 10us na ustaleni |
| delay_us(10); |
| read_adc(ADC_START_ONLY); |