| 4,7 → 4,7 |
|---|
| #include "cholerik.h" |
| |
| // Konstanty |
| #define TRESHOLD 0x250 // rozhodovaci uroven pro okraj areny |
| #define TRESHOLD 0x90 // rozhodovaci uroven pro okraj areny |
| //#define DEBUG1 1 // Diagnostika pohonu |
| |
| //motory //Napred vypnout potom zapnout! |
| 53,23 → 53,24 |
|---|
| if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;}; |
| majak++; |
| stav = ((majak & 0b1) == 0b1); |
| if (input(PIN_A3)) arena_r=TRUE; else arena_r=FALSE; |
| if (input(PIN_A2)) arena_l=TRUE; else arena_l=FALSE; |
| if (stav) |
| { |
| if (read_adc(ADC_READ_ONLY) > TRESHOLD) 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); |
| // if (read_adc(ADC_READ_ONLY) > TRESHOLD) 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); |
| set_pwm1_duty(27); // 1:1 |
| } |
| else |
| { |
| if (read_adc(ADC_READ_ONLY) > TRESHOLD) 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); |
| // if (read_adc(ADC_READ_ONLY) > TRESHOLD) 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); |
| set_pwm1_duty(55); // 1:0 |
| }; |
| |
| if (GRAVITY) {if (g<255) g++;} else g=0; |
| if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se |
| } |
| 119,27 → 120,42 |
|---|
| }; |
| #endif |
| |
| if (GRAVITY) { |
| diag=TRUE; |
| enable_interrupts(INT_TIMER0); |
| enable_interrupts(GLOBAL); |
| while (true) // Diagnostika cidel |
| //!!!!!!!!!!!!!!! |
| /* |
| while(true) |
| { |
| set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni |
| delay_us(10); |
| read_adc(ADC_START_ONLY); |
| delay_ms(1); |
| delay_ms(read_adc(ADC_READ_ONLY)); |
| beep(1000,200); |
| } |
| */ |
| if (GRAVITY) |
| { |
| if (g>100) beep(800,100); |
| Delay_ms(50); |
| if (arena_l) beep(1000,200); |
| Delay_ms(50); |
| if (arena_r) beep(2000,300); |
| Delay_ms(50); |
| if (sr>10) beep(3000,400); |
| Delay_ms(50); |
| if (f>10) beep(4000,500); |
| Delay_ms(50); |
| if (sl>10) beep(5000,500); |
| Delay_ms(50); |
| if (b>10) beep(6000,600); |
| Delay_ms(50); |
| }}; |
| diag=TRUE; |
| enable_interrupts(INT_TIMER0); |
| enable_interrupts(GLOBAL); |
| while (true) // Diagnostika cidel |
| { |
| if (g>100) beep(800,100); |
| Delay_ms(50); |
| if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);}; |
| Delay_ms(50); |
| if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);}; |
| Delay_ms(50); |
| |
| if (sr>10) beep(3000,400); |
| Delay_ms(50); |
| if (f>10) beep(4000,500); |
| Delay_ms(50); |
| if (sl>10) beep(5000,500); |
| Delay_ms(50); |
| if (b>10) beep(6000,600); |
| Delay_ms(50); |
| } |
| }; |
| } |
| |
| void main() |
| 149,10 → 165,13 |
|---|
| STOPL; STOPR; // zastavi motory |
| |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); // CPU clock 8MHz |
| setup_adc_ports(sAN2|sAN3|VSS_VDD); // prevodniky na cidla na okraj areny |
| setup_adc(ADC_CLOCK_INTERNAL); |
| // setup_adc_ports(sAN2|sAN3|VSS_VDD); // prevodniky na cidla na okraj areny |
| // setup_adc(ADC_CLOCK_INTERNAL); |
| //!!!!!!!!!!!!!!!!!! |
| setup_adc_ports(NO_ANALOGS); // prevodniky na cidla na okraj areny |
| setup_adc(ADC_OFF); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // Casovac pro SW PWM a cteni cidel |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4); // Casovac pro SW PWM a cteni cidel |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz |
| setup_ccp1(CCP_PWM); // HW PWM ON |
| 170,12 → 189,11 |
|---|
| enable_interrupts(INT_TIMER0); |
| enable_interrupts(GLOBAL); |
| /*---------------------------------------------------------------------------*/ |
| for (n=1;n<=3;n++) // 5s do zacatku souboje |
| for (n=1;n<=5;n++) // 5s do zacatku souboje |
| { |
| Delay_ms(990); |
| Delay_ms(720); |
| Beep(1000,200); |
| } |
| Delay_ms(300); |
| |
| while(true) // hlavni smycka |
| { |