WebSVN – svnkaklik – Path Comparison – / – /roboti/istrobot Rev 4 and /roboti/istrobot Rev 5

Ignore whitespace Rev 4 → Rev 5

/roboti/istrobot/callis/CARA.xls
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 /roboti/istrobot/callis/Callis.bak
 ,0 → 1,202
+// Soutezni robot pro Istrobot 2004
+// $Archive: /Lego/Callis/callis.nqc $
+// $Date: 27.04.04 21:19 $
+// $Revision: 23 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetPower (ML,OUT_FULL);     // vykon motoru
+  SetPower (MR,OUT_FULL);
+  movement=R;
+  line=S;
+  dira=0;
+  cikcak();    // toc se, abys nasel caru
+  FL; FR;      // vpred
+  // Sledovani cary
+  while(true)
+  {
+    if(BUMPER)  // je cihla?
+    {
+      PlaySound(SOUND_DOWN);
+      objizdka();     // objed cihlu
+    }
+    if (THRESHOLD < RSENSOR)    // Cara pod pravym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=R;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    if (THRESHOLD < LSENSOR)    // Cara pod levym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=L;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+  } // while(true)
+}
+void objizdka()
+{
+  BL; BR;                 // zacouvej
+  Wait(15);
+  STOP;
+  cikcak();               // vyrovnej se na caru
+  cikcak();               // radeji 3x, aby se vyrovnaly setrvacne sily
+  cikcak();
+  BL; FR; Wait(22);               // vlevo
+  STOP;
+  FL; FR; Wait(65);               // rovne
+  STOP;
+  FL; BR; Wait(22);               // vpravo
+  STOP;
+  FL; FR; Wait(77);               // rovne
+  STOP;
+  FL; BR; Wait(22);               // vpravo
+  STOP;
+  FL; FR;
+  Wait(20);                       // kousek rovne
+  // rovne, dokud nenarazis na caru
+  while(THRESHOLD > RSENSOR);     // pravej senzor, protoze cihla je vpravo
+  STOP;
+  BL; FR;                         // toc se doleva, dokud nenarazis na caru
+  while(THRESHOLD > LSENSOR);     // levej senzor, protoze cara je urcite vlevo
+  STOP;
+  line=R;      // caru predpokladame vpravo, kdybysme ji prejeli
+  dira=0;
+  FL; FR;                         // vpred
+}

 /roboti/istrobot/callis/Callis.nqc
 ,0 → 1,202
+// Soutezni robot pro Istrobot 2004
+// $Archive: /Lego/Callis/callis.nqc $
+// $Date: 27.04.04 22:51 $
+// $Revision: 24 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetPower (ML,OUT_FULL);     // vykon motoru
+  SetPower (MR,OUT_FULL);
+  movement=R;
+  line=S;
+  dira=0;
+  cikcak();    // toc se, abys nasel caru
+  FL; FR;      // vpred
+  // Sledovani cary
+  while(true)
+  {
+    if(BUMPER)  // je cihla?
+    {
+      PlaySound(SOUND_DOWN);
+      objizdka();     // objed cihlu
+    }
+    if (THRESHOLD < RSENSOR)    // Cara pod pravym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=R;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    if (THRESHOLD < LSENSOR)    // Cara pod levym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=L;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+  } // while(true)
+}
+void objizdka()
+{
+  BL; BR;                 // zacouvej
+  Wait(15);
+  STOP;
+  cikcak();               // vyrovnej se na caru
+  cikcak();               // radeji 3x, aby se vyrovnaly setrvacne sily
+  cikcak();
+  BL; FR; Wait(22);               // vlevo
+  STOP;
+  FL; FR; Wait(65);               // rovne
+  STOP;
+  FL; BR; Wait(22);               // vpravo
+  STOP;
+  FL; FR; Wait(77);               // rovne
+  STOP;
+  FL; BR; Wait(21);               // vpravo
+  STOP;
+  FL; FR;
+  Wait(20);                       // kousek rovne
+  // rovne, dokud nenarazis na caru
+  while(THRESHOLD > RSENSOR);     // pravej senzor, protoze cihla je vpravo
+  STOP;
+  BL; FR;                         // toc se doleva, dokud nenarazis na caru
+  while(THRESHOLD > LSENSOR);     // levej senzor, protoze cara je urcite vlevo
+  STOP;
+  line=R;      // caru predpokladame vpravo, kdybysme ji prejeli
+  dira=0;
+  FL; FR;                         // vpred
+}

/roboti/istrobot/callis/Callis_NQC.PDF
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 /roboti/istrobot/callis/Callis_R.bak
 ,0 → 1,203
+// Soutezni robot pro Istrobot 2004
+// Objeti cihly vpravo
+// $Archive: /Lego/Callis/Callis_R.nqc $
+// $Date: 27.04.04 20:52 $
+// $Revision: 3 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetPower (ML,OUT_FULL);     // vykon motoru
+  SetPower (MR,OUT_FULL);
+  movement=R;
+  line=S;
+  dira=0;
+  cikcak();    // toc se, abys nasel caru
+  FL; FR;      // vpred
+  // Sledovani cary
+  while(true)
+  {
+    if(BUMPER)  // je cihla?
+    {
+      PlaySound(SOUND_DOWN);
+      objizdka();     // objed cihlu
+    }
+    if (THRESHOLD < RSENSOR)    // Cara pod pravym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=R;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    if (THRESHOLD < LSENSOR)    // Cara pod levym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=L;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+  } // while(true)
+}
+void objizdka()
+{
+  BL; BR;                 // zacouvej
+  Wait(15);
+  STOP;
+  cikcak();               // vyrovnej se na caru
+  cikcak();               // radeji 3x, aby se vyrovnaly setrvacne sily
+  cikcak();
+  FL; BR; Wait(23);               // vpravo
+  STOP;
+  FL; FR; Wait(65);               // rovne
+  STOP;
+  BL; FR; Wait(23);               // vlevo
+  STOP;
+  FL; FR; Wait(75);               // rovne
+  STOP;
+  BL; FR; Wait(23);               // vlevo
+  STOP;
+  FL; FR;
+  Wait(20);                       // kousek rovne
+  // rovne, dokud nenarazis na caru
+  while(THRESHOLD > LSENSOR);     // levej senzor, protoze cihla je levo
+  STOP;
+  FL; BR;                         // toc se doprava, dokud nenarazis na caru
+  while(THRESHOLD > RSENSOR);     // pravej senzor, protoze cara je urcite vpravo
+  STOP;
+  line=L;      // caru predpokladame vlevo, kdybysme ji prejeli
+  dira=0;
+  FL; FR;                         // vpred
+}

 /roboti/istrobot/callis/Callis_R.nqc
 ,0 → 1,203
+// Soutezni robot pro Istrobot 2004
+// Objeti cihly vpravo
+// $Archive: /Lego/Callis/Callis_R.nqc $
+// $Date: 27.04.04 20:52 $
+// $Revision: 3 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetPower (ML,OUT_FULL);     // vykon motoru
+  SetPower (MR,OUT_FULL);
+  movement=R;
+  line=S;
+  dira=0;
+  cikcak();    // toc se, abys nasel caru
+  FL; FR;      // vpred
+  // Sledovani cary
+  while(true)
+  {
+    if(BUMPER)  // je cihla?
+    {
+      PlaySound(SOUND_DOWN);
+      objizdka();     // objed cihlu
+    }
+    if (THRESHOLD < RSENSOR)    // Cara pod pravym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=R;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    if (THRESHOLD < LSENSOR)    // Cara pod levym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=L;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+  } // while(true)
+}
+void objizdka()
+{
+  BL; BR;                 // zacouvej
+  Wait(15);
+  STOP;
+  cikcak();               // vyrovnej se na caru
+  cikcak();               // radeji 3x, aby se vyrovnaly setrvacne sily
+  cikcak();
+  FL; BR; Wait(23);               // vpravo
+  STOP;
+  FL; FR; Wait(65);               // rovne
+  STOP;
+  BL; FR; Wait(23);               // vlevo
+  STOP;
+  FL; FR; Wait(75);               // rovne
+  STOP;
+  BL; FR; Wait(23);               // vlevo
+  STOP;
+  FL; FR;
+  Wait(20);                       // kousek rovne
+  // rovne, dokud nenarazis na caru
+  while(THRESHOLD > LSENSOR);     // levej senzor, protoze cihla je vlevo
+  STOP;
+  FL; BR;                         // toc se doprava, dokud nenarazis na caru
+  while(THRESHOLD > RSENSOR);     // pravej senzor, protoze cara je urcite vpravo
+  STOP;
+  line=L;      // caru predpokladame vlevo, kdybysme ji prejeli
+  dira=0;
+  FL; FR;                         // vpred
+}

 /roboti/istrobot/callis/Callis_R_rovne.bak
 ,0 → 1,203
+// Soutezni robot pro Istrobot 2004
+// Objeti cihly vpravo
+// $Archive: /Lego/Callis/Callis_R.nqc $
+// $Date: 27.04.04 20:52 $
+// $Revision: 3 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetPower (ML,OUT_FULL);     // vykon motoru
+  SetPower (MR,OUT_FULL);
+  movement=R;
+  line=S;
+  dira=0;
+  cikcak();    // toc se, abys nasel caru
+  FL; FR;      // vpred
+  // Sledovani cary
+  while(true)
+  {
+    if(BUMPER)  // je cihla?
+    {
+      PlaySound(SOUND_DOWN);
+      objizdka();     // objed cihlu
+    }
+    if (THRESHOLD < RSENSOR)    // Cara pod pravym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=R;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    if (THRESHOLD < LSENSOR)    // Cara pod levym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=L;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+  } // while(true)
+}
+void objizdka()
+{
+  BL; BR;                 // zacouvej
+  Wait(15);
+  STOP;
+  cikcak();               // vyrovnej se na caru
+  cikcak();               // radeji 3x, aby se vyrovnaly setrvacne sily
+  cikcak();
+  FL; BR; Wait(23);               // vpravo
+  STOP;
+  FL; FR; Wait(65);               // rovne
+  STOP;
+  BL; FR; Wait(23);               // vlevo
+  STOP;
+  FL; FR; Wait(75);               // rovne
+// STOP;
+//  BL; FR; Wait(23);               // vlevo
+//  STOP;
+//  FL; FR;
+//  Wait(20);                       // kousek rovne
+  // rovne, dokud nenarazis na caru
+  while(THRESHOLD > LSENSOR);     // levej senzor, protoze cihla je levo
+  STOP;
+  FL; BR;                         // toc se doprava, dokud nenarazis na caru
+  while(THRESHOLD > RSENSOR);     // pravej senzor, protoze cara je urcite vpravo
+  STOP;
+  line=L;      // caru predpokladame vlevo, kdybysme ji prejeli
+  dira=0;
+  FL; FR;                         // vpred
+}

 /roboti/istrobot/callis/Callis_R_rovne.nqc
 ,0 → 1,203
+// Soutezni robot pro Istrobot 2004
+// Objeti cihly vpravo
+// $Archive: /Lego/Callis/Callis_R.nqc $
+// $Date: 27.04.04 20:52 $
+// $Revision: 3 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetPower (ML,OUT_FULL);     // vykon motoru
+  SetPower (MR,OUT_FULL);
+  movement=R;
+  line=S;
+  dira=0;
+  cikcak();    // toc se, abys nasel caru
+  FL; FR;      // vpred
+  // Sledovani cary
+  while(true)
+  {
+    if(BUMPER)  // je cihla?
+    {
+      PlaySound(SOUND_DOWN);
+      objizdka();     // objed cihlu
+    }
+    if (THRESHOLD < RSENSOR)    // Cara pod pravym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=R;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    if (THRESHOLD < LSENSOR)    // Cara pod levym senzorem
+    {
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+      line=L;    // zaznamenej, kdes videl caru
+      FL; FR;    // rovne
+      continue;
+    }
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+  } // while(true)
+}
+void objizdka()
+{
+  BL; BR;                 // zacouvej
+  Wait(15);
+  STOP;
+  cikcak();               // vyrovnej se na caru
+  cikcak();               // radeji 3x, aby se vyrovnaly setrvacne sily
+  cikcak();
+  FL; BR; Wait(23);               // vpravo
+  STOP;
+  FL; FR; Wait(60);               // rovne
+  STOP;
+  BL; FR; Wait(23);               // vlevo
+  STOP;
+  FL; FR; Wait(75);               // rovne
+// STOP;
+//  BL; FR; Wait(23);               // vlevo
+//  STOP;
+//  FL; FR;
+//  Wait(20);                       // kousek rovne
+  // rovne, dokud nenarazis na caru
+  while(THRESHOLD > LSENSOR);     // levej senzor, protoze cihla je levo
+  STOP;
+  FL; BR;                         // toc se doprava, dokud nenarazis na caru
+  while(THRESHOLD > RSENSOR);     // pravej senzor, protoze cara je urcite vpravo
+  STOP;
+  line=L;      // caru predpokladame vlevo, kdybysme ji prejeli
+  dira=0;
+  FL; FR;                         // vpred
+}

 /roboti/istrobot/callis/Callis_log.bak
 ,0 → 1,173
+// Soutezni robot pro Istrobot 2004
+// $Archive: /Lego/Callis/Callis_log.nqc $
+// $Date: 9.05.04 6:34 $
+// $Revision: 1 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetEvent(L, LSENSOR, EVENT_TYPE_HIGH);
+  SetEvent(R, RSENSOR, EVENT_TYPE_HIGH);
+  SetPower (ML,OUT_HALF);     // vykon motoru
+  SetPower (MR,OUT_HALF);
+  movement=R;
+  line=S;
+  dira=0;
+  cikcak();    // toc se, abys nasel caru
+  FL; FR;      // vpred
+  CreateDatalog(1000);
+  // Sledovani cary
+  while(true)
+  {
+    monitor( EVENT_MASK(L) | EVENT_MASK(R) )
+    {
+      FL; FR;    // rovne
+    }
+    catch (EVENT_MASK(L))
+    {
+      line=L;    // zaznamenej, kdes videl caru
+      n=-dira;
+      AddToDatalog(n);
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+    }
+    catch (EVENT_MASK(R))
+    {
+      line=R;    // zaznamenej, kdes videl caru
+      n=dira;
+      AddToDatalog(n);
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+    }
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+  } // while(true)
+}
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}

 /roboti/istrobot/callis/Callis_log.nqc
 ,0 → 1,184
+// Soutezni robot pro Istrobot 2004
+// $Archive: /Lego/Callis/Callis_log.nqc $
+// $Date: 9.05.04 6:34 $
+// $Revision: 1 $
+#define THRESHOLD  50         // rozhodovaci uroven mezi cernou a bilou
+#define ML         OUT_A      // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Senzory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Senzor na cihlu
+#define MEZERA     38         // jak se muze jet dlouho bez cary
+#define COUVEJ     70         // kolik se ma couvat po detekci diry
+#define CIKCAK     40         // kolik se ma jet cik/cak
+#define PRES_DIRU  35         // jak predpokladame velkou diru
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+#define STOP    Off(ML + MR); Wait(10);    // zastav  8
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int n;            // pomocna promena pro cyklus FOR
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,SENSOR_TOUCH);    // sensor na prekazku
+  SetEvent(L, LSENSOR, EVENT_TYPE_PRESSED);
+  SetEvent(R, RSENSOR, EVENT_TYPE_PRESSED);
+  SetPower (ML,OUT_HALF);     // vykon motoru
+  SetPower (MR,OUT_HALF);
+  movement=R;
+  line=S;
+  dira=0;
+//  cikcak();    // toc se, abys nasel caru
+//!!!  FL; FR;      // vpred
+  CreateDatalog(1000);
+  // Sledovani cary
+  while(true)
+  {
+    monitor( EVENT_MASK(L) | EVENT_MASK(R) )
+    {
+//!!!      FL; FR;    // rovne
+Wait(1);
+    }
+    catch (EVENT_MASK(L))
+    {
+SetUserDisplay(2, 1);
+PlaySound(SOUND_CLICK);
+Wait(50);
+      line=L;    // zaznamenej, kdes videl caru
+      n=-dira;
+//      AddToDatalog(n);
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+    }
+    catch (EVENT_MASK(R))
+    {
+SetUserDisplay(3, 1);
+PlaySound(SOUND_LOW_BEEP);
+Wait(50);
+      line=R;    // zaznamenej, kdes videl caru
+      n=dira;
+//      AddToDatalog(n);
+      dira=0;    // nuluj pocitadlo diry, protoze jsme videli caru
+    }
+SetUserDisplay(1, 1);
+Wait(50);
+/*
+    // oba senzory mimo caru
+    if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
+                 // v ostatnich cyklech nedelame nic (pro urychleni snimani)
+    {
+       switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+       {
+         case L:
+              Off(ML);       // doleva
+              movement=L;    // poznamenej kam jedes
+           break;
+         case R:
+              Off(MR);       // doprava
+              movement=R;    // poznamenej kam jedes
+           break;
+       };
+       dira++;   // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
+       continue; // co nejrychleji se vrat na snimani cary
+    }
+    if (MEZERA < dira++)  // nejedeme uz moc dlouho bez cary?
+    {
+      dira=0;
+      PlaySound (SOUND_FAST_UP);
+      switch(movement)  // kam se jelo ?
+      {
+       case L:
+            Off(ML);  // couvej doprava
+            BR;
+            Wait(COUVEJ+10);
+            movement=R;
+         break;
+       case R:
+            BL;       // couvej doleva
+            Off(MR);
+            Wait(COUVEJ);
+            movement=L;
+         break;
+      }
+      PlaySound(SOUND_CLICK);
+      STOP;                    // konec couvani
+      FL; FR;                  // rovne pres diru
+      Wait(PRES_DIRU);
+      STOP;
+      cikcak();                // najdi caru
+      FR; FL;                  // vpred
+    } // dira
+*/
+  } // while(true)
+}
+void cikcak()   // Hledani cary
+{
+  n=CIKCAK/2;       // poprve hned zatoc opacne, nez se jelo pred detekci diry
+  switch(movement)  // zmenime smer zataceni
+  {
+   case L:
+        FL; BR;       // doprava
+        movement=R;        // poznamenej kam jedem
+        line=L;            // kdyz prejedem, tak bude cara vlevo
+     break;
+   case R:
+        FR; BL;       // doleva
+        movement=L;        // poznamenej kam jedem
+        line=R;            // kdyz prejedem, tak bude cara vpravo
+     break;
+  }
+  while(true)   // jed cik-cak, dokud nenajdes caru
+  {
+    if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR))   // je cara ?
+    {
+         STOP;
+         break;
+    };
+    if (CIKCAK < n++)  // Jedeme uz dost dlouho cik? Pak jed cak.
+    {
+       n=0;
+       STOP;
+       switch(movement)     // zmenime smer zataceni
+       {
+         case L:
+              FL; BR;       // doprava
+              movement=R;        // poznamenej kam jedem
+              line=L;            // kdyz prejedem, tak bude cara vlevo
+           break;
+         case R:
+              FR; BL;       // doleva
+              movement=L;        // poznamenej kam jedem
+              line=R;            // kdyz prejedem, tak bude cara vpravo
+           break;
+       }
+    }
+  }
+}

 /roboti/istrobot/callis/FAQ.htm
 ,0 → 1,8
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Frameset//EN">
+<!-- saved from url=(0032)http://www.robotika.sk/mains.htm -->
+<HTML><HEAD><TITLE>Slovenská verzia</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=iso-8859-2">
+<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD><FRAMESET border=0
+frameSpacing=0 frameBorder=0 cols=137,*><FRAME name=menu
+src="FAQ_soubory/menus.htm" frameBorder=0 noResize scrolling=no><FRAME name=telo
+src="FAQ_soubory/poradna.htm" frameBorder=0 noResize></FRAMESET></HTML>

 /roboti/istrobot/callis/FAQ_soubory/menus.htm
 ,0 → 1,99
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0032)http://www.robotika.sk/menus.htm -->
+<HTML><HEAD><TITLE></TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250">
+<META content="MSHTML 6.00.2800.1400" name=GENERATOR>
+<SCRIPT language=JavaScript>
+<!--
+function fwLoadMenus() {
+  if (window.fw_menu_0) return;
+  window.fw_menu_0 = new Menu("root",115,21,"Verdana, Arial, Helvetica, sans-serif",12,"#ffff00","#ffffff","#000099","#0066ff");
+  fw_menu_0.addMenuItem("Novinky","window.open('./contest/novinky.html', 'telo');");
+  fw_menu_0.addMenuItem("Pravidl&aacute;","window.open('./contest/pravidla.html','telo');");
+  fw_menu_0.addMenuItem("Roboti","window.open('./contest/roboti.html','telo');");
+  fw_menu_0.addMenuItem("Poradna","window.open('./contest/poradna.html','telo');");
+  fw_menu_0.addMenuItem("Arch&iacute;v","window.open('./contest/archive/index.html','telo');");
+   fw_menu_0.fontWeight="normal";
+   fw_menu_0.hideOnMouseOut=true;
+  fw_menu_0.writeMenus();
+} // fwLoadMenus()
+//-->
+</SCRIPT>
+<SCRIPT language=JavaScript1.2 src="menus_soubory/fw_menu.js"></SCRIPT>
+<SCRIPT language=javascript>
+<!--
+ active = new Image(135,80);
+ active.src = "enveron.jpg";
+ inactive = new Image(135,80);
+ inactive.src = "enverof.jpg";
+ //-->
+</SCRIPT>
+</HEAD>
+<BODY text=#000000 vLink=#ff00ff aLink=#ff0000 link=#0000ff leftMargin=0
+background=menus_soubory/fuga1.gif topMargin=0 marginheigh="0" marginwidth="0">
+<SCRIPT language=JavaScript1.2>fwLoadMenus();</SCRIPT>
+<TABLE cellSpacing=0 cellPadding=0 width=135 border=0><!-- fwtable fwsrc="Untitled" fwbase="menu.gif" fwstyle="Dreamweaver" fwdocid = "742308039" fwnested="0" -->
+  <TBODY>
+  <TR>
+    <TD><IMG height=15 alt="" src="menus_soubory/fuga.gif" width=135
+    border=0></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/novinky.htm" target=telo><IMG height=40
+      alt=Novinky src="menus_soubory/novinky.jpg" width=135 border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/domov.htm" target=telo><IMG height=40
+      alt="O nás" src="menus_soubory/onas.jpg" width=135 border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/projects/projekty.htm" target=telo><IMG
+      height=40 alt=Projekty src="menus_soubory/pro.jpg" width=135
+    border=0></A></TD></TR><!-- Publikacie v menu su disabled
+<TR>
+<TD><IMG SRC="pub.jpg" WIDTH="135" HEIGHT="40" BORDER="0" ALT=""></TD>
+</TR>
+-->
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/holls/2003/index.html" target=telo><IMG
+      height=40 alt="Robotické prázdniny" src="menus_soubory/pra.jpg" width=135
+      border=0></A></TD></TR><!-- Na chvilu vymenime odkazy
+<TR>
+<TD><A HREF="contest/novinky.html" TARGET="telo" onMouseOver="window.status='';return true"><IMG SRC="menu_r2_c1.gif" WIDTH="135" HEIGHT="40" BORDER="0" ALT="Sutaz"></A></TD>
+</TR>
+-->
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/contest/index.html" target=telo><IMG
+      height=40 alt=Sutaz src="menus_soubory/menu_r2_c1.gif" width=135
+      border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/forum/messageboard.php" target=telo><IMG
+      height=40 alt="Diskusné fórum" src="menus_soubory/forum.jpg" width=135
+      border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/kontakt.htm" target=telo><IMG height=40
+      alt=Kontakt src="menus_soubory/kon.jpg" width=135 border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/linky.htm" target=telo><IMG height=40
+      alt="Zaujímavé adresy" src="menus_soubory/lin.jpg" width=135
+    border=0></A></TD></TR>
+  <TR>
+    <TD><IMG height=15 alt="" src="menus_soubory/fuga.jpg" width=135
+    border=0></TD></TR>
+  <TR>
+    <TD><A
+      onmouseover="inactive.src=active.src; window.status='English version';return true"
+      onmouseout="inactive.src='enverof.jpg'; window.status=''"
+      href="http://www.robotika.sk/maine.htm" target=_parent><IMG height=80
+      alt="" src="menus_soubory/enverof.jpg" width=135 border=0
+      name=inactive></A></TD></TR></TBODY></TABLE></BODY></HTML>

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/roboti/istrobot/callis/FAQ_soubory/menus_soubory/fw_menu.js
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 /roboti/istrobot/callis/FAQ_soubory/poradna.htm
 ,0 → 1,438
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0043)http://www.robotika.sk/contest/poradna.html -->
+<HTML><HEAD><TITLE>Istrobot - poradna</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250"><LINK
+title="Orange Style for Istrobot" href="poradna_soubory/istrobot.css"
+type=text/css rel=StyleSheet>
+<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD>
+<BODY>
+<P align=center>[<A
+href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
+href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
+href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [Poradòa] [<A
+href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
+<P><A name=top></P>
+<H1>Poradòa</H1></A>
+<P>Na tejto stránke nájdete odpovede od naich odborníkov na najèastejie
+otázky, ktoré nám v súvislosti so súaou posielate. Odpovede na technické
+otázky mono nájdete aj na niektorej z mnohých robotických stránok na internete,
+ktorá sa zaoberá podobnou problematikou. Tie najzaujímavejie sme pre vás
+zozbierali na samostatnej stránke <A
+href="http://www.robotika.sk/contest/links.html">Odkazy</A>.
+<P><B>Obsah</B>
+<OL>
+  <LI><A
+  href="http://www.robotika.sk/contest/poradna.html#organizacne">Organizaèné
+  problémy</A>
+  <LI><A href="http://www.robotika.sk/contest/poradna.html#pravidla">Otázky
+  týkajúce sa pravidiel</A>
+  <LI><A href="http://www.robotika.sk/contest/poradna.html#technicke">Technické
+  problémy</A>
+  <LI><A href="http://www.robotika.sk/contest/poradna.html#hladame">H¾adáme
+  odpoveï</A>
+  <LI><A href="mailto:balogh@elf.stuba.sk">Posla otázku</A> </LI></OL>
+<P>
+<UL><A name=organizacne>
+  <H2>Organizaèné problémy</H2></A>
+  <LI><I>Preèo ISTROBOT?</I>
+  <P>Latinský názov Bratislavy je Istropolis, preto Istro + robot. Okrem toho je
+  to jediná takáto súa v bývalých "East European" krajinách, take tie
+  <I>Eastrobot</I> [ístrobot].
+  <HR>
+  <P></P>
+  <LI><I>Na internete sme nasli program a je tam na stredu pisane: Prezentacia
+  na Cofaxe. Co to presne znamena? Velmi radi by sme tam isli, ale ako by to
+  bolo z ubytovanim?</I>
+  <P>To znamená, e generálny sponzor Datalan, by rád vo svojomo stánku na
+  výstave Cofax ukázal nejakých robotov. Ak máte záujem predvies sa aj tu,
+  dajte mi vedie a zabzpeèíme predåenie ubytovania a stravy a vetko ostatné.
+  Nejaký èas budte predvádza a potom sa samozrejme môete poobzera aj po
+  výstave.
+  <P></P>
+  <LI><I>Robota asi nesthnem dokonèi, preto radej neprídem.</I>
+  <P>Ja by som na Vaom mieste nehádzal hneï flintu do ita. Aj vlani priiel
+  jeden úèastník, ktorý napokon ani neodtartoval. Podstatné je prís a skúsi.
+  Ak máte kontrukciu hotovú, potom neverím, e by ste nieèo nedoprogramovali.
+  <P>Deò pred súaou bude dráha k dispozícii na testovanie, take ak by ste
+  prili na dva dni, mono by sa ete velièo dalo odladi. Nemusíte vyhra, ale
+  aspoò to skúsi, aj keï budete posledný, svet sa nezrúti. Aspoò ale získate
+  skúsenosti a na budúci rok vyhráte ;-)
+  <P>
+  <HR>
+  <LI><I>Potøebuji vìdìt, co ve je hrazeno a co ve si musím hradit sám. Buïte
+  tak laskav a toto mi sdìlte.</I>
+  <P>Organizátori vám preplatia cestovné, ubytovanie a zrejme aj stravu. Jediný
+  problém môe by s cestovným, neviem urèite, èi ho preplatíme v Kè, alebo len
+  Sk.
+  <P>
+  <HR>
+  <LI><I>Môem jedného robota prihlási do viacerých kategórií?</I>
+  <P>Áno, môete.
+  <P>
+  <HR>
+  <LI><I>Budeme si môc dráhu vyskúa?</I>
+  <P>Áno, dráhy sú prístupné verejnosti. Nie je na nich ale súaný tvar dráhy.
+  Presný pravidelný termín bude uvedený neskôr, zatia¾ pod¾a dohody.
+  <P>Dráha bude okrem toho k dispozícii na testovanie deò pred súaou, take ak
+  prídete na oba dni, mono ete velièo doladíte.
+  <P>Bratislavèania majú výhodu, môu zaèa testova u dnes.
+  <P>
+  <HR>
+  <HR>
+  <LI><I>Da sa zabezpecit nejake lacne ubytovanie?</I>
+  <P>Ano, malo by byt zadarmo (ale len pre sutaziacich, nie pre vsetkych co vas
+  pridu povzbudzovat). Potom este mozem zohnat nejake ubytko na intraku, stoji
+  okolo 250,-Sk/noc, ale to bude jasnejsie az v marci.
+  <P>
+  <HR>
+  <LI><I>Mohli by ste poslat nejaku oficialnu pozvanku na skolu, aby sme sa
+  mohli uvolnit z vyucovania kvoli testovaniu?</I>
+  <P>Hm. Ak vam staci papierova verzia toho co je na www.robotika.sk tak to
+  mozem poslat, (napiste mi adresu kam), pripadne si sami nieco napiste, poslite
+  mi to a ja tam dam peciatku a take nezmysly.
+  <P>
+  <HR>
+  <LI><I>Da sa dohodnut na termine testovania?</I>
+  <P>Da.
+  <P>
+  <HR>
+  <LI><I>Kolko ludi si mozme doniest do publika(viete ked vyhra zavisi od sily
+  potlesku)?</I>
+  <P>Kolko chcete, kapacita miestnosti je 300 ludi ;-)
+  <P><A name=pravidla></P>
+  <H2>Otázky týkajúce sa pravidiel</H2></A>
+  <P></P>
+  <LI><I>Bude svietit priame slnecne svetlo na drahu?</I>
+  <P>Pravidlá takúto situáciu nevyluèujú. Ale keïe súa sa bude kona v
+  posluchárni, ktorá je dos tmavá a poèítame aj s premietaním na ve¾koplonú
+  obrazovku, zrejme do miestnosti ve¾a slnka neprenikne.
+  <P>
+  <HR>
+  <LI><I>Dale v popisu trati uvadite, ze se budou vyskytovat ruzne prekazky,
+  zajima me, jake ruzne prekazky a hlavne s jakym povrchem, jake barvy a
+  materialu. Dale preruseni drahy bude na jakou vzdalenost a zda druhy konec
+  preruseni bude v ose prvniho preruseni.</I>
+  <P>To u by som Vám mohol rovno nakresli súanú dráhu ;-)
+  <P>Dráha vak nebude príli odliná od minulého roèníka (na stránke je jej
+  obrázok). Prekáku si predstavte ako tehlu (cihlu), alebo drevený palík.
+  <P>Farba a rozmery sa môu líi, take sa na ne nespoliehajte. O tom je práve
+  súa, e neviete celkom vetko a robot sa tomu musí prispôsobi...
+  <P>
+  <HR>
+  <LI><I>Co sa povazuje za nakladny robot?</I>
+  <P>To posudi porota. Nie je to ktovieaka definicia, ale musi vam stacit. Ak by
+  sme dali napriklad cenove obmedzenie, tazko by sa dokazovalo. Toto pravidlo je
+  urcene hlavne pre tych, ktori mozu vyuzivat relativne neobmedzene zdroje.
+  Napriklad ak niekto pracuje (alebo brigaduje) v pocitacovej firme, nie je
+  problem "pozicat" si trebars aj priemyselnu kameru a jednodoskovy priemyselny
+  pocitac. Takym ludom by mali porotcovia "dohovorit" aby radsej robota
+  predviedli vo Volnej jazde.
+  <P>Aj preto je dobre, aby ste mi cim skorej zacali posielat nejake popisy,
+  nakresy a fotky robotov, aby sme pripadne nejasnosti vyriesili cim skorej, nie
+  az na sutazi.
+  <P>
+  <HR>
+  <LI><I>moze byt riadeny vstavanou 486 (teda taka 486 na kolieskach)</I>
+  <P>Ano, moze. Ak to nie je nahodou priemyselna verzia, pripadne DIMM PC
+  verzia, lebo to by asi spadalo do tej kategorie "prilis nakladny". Kde by ste
+  na to asi vzali?
+  <P>
+  <HR>
+  <LI><I>Co znamena pojem tehla na drahe (max rozmery, vaha, material)?</I>
+  <P><A
+  href="http://www.nr.psg.sk/prezenta/wienerberger/vyrobky.html#part9">Toto je
+  tehla.</A>.
+  <P>
+  <HR>
+  <LI><I>mozu byt v tunely zatacky?</I>
+  <P>Preco nie, dobry napad.
+  <P>
+  <HR>
+  <LI><I>ake su rozmery tunelov?</I>
+  <P>A co vlastne bude robit vas robot? ;-)
+  <P>
+  <HR>
+  <LI><I>Moze si robot v kategorii pathfollower pri prvom a dalsom pokuse
+  zapamatat doteraz prejdenu drahu (teda, ci je mozne trasu najprv prejst
+  pomalicky a poznacit si vsetky prekazky, a potom pri druhom pokuse len tak
+  preletiet)? lebo to nie je v rozpore s pravidlami na stranke</I>
+  <P>Ano, moze. Dokonca je to tam vyslovne uvedene.
+  <P>
+  <HR>
+  <LI><I>odrazaju prekazky na drahe ultrazvuky?</I>
+  <P>Ano.
+  <P>
+  <HR>
+  <LI><I>Ake su podmienky na prerusene miesto?</I>
+  <P>Ziadne. Akurat ze nebude prilis dlhe.
+  <P>
+  <HR>
+  <LI><I>K tej volnej jazde, naozaj vitazstvo zavisi iba od sily potlesku ?</I>
+  <P>Ano.
+  <P>
+  <HR>
+  <LI><I>Robot sutaziaci v kategorii volna jazda musi mat tiez maximalne rozmery
+x25x25 cm ? V ramci volnej jazdy moze byt dialkovo riadeny ?</I>
+  <P>Nie. Ano.
+  <P>
+  <HR>
+  <LI><I>Mozem sa viacerych rocnikov sutaze zucasnit s tym istym robotom ?</I>
+  <P>Ano.
+  <P>
+  <HR>
+  <LI><I>Moze robot opustit nahodou (napr. chyba senzorov) na moment drahu a
+  hned ju najst a pokracovat v kole, alebo bude diskvalifikovany.</I>
+  <P>Zrejme ano, zalezi co povie porota.
+  <P>
+  <HR>
+  <LI><I>Co vsetko na trati sa da poskodit ? Vydrzia tehlicky aj naraz maleho
+  "buldozera" ?</I>
+  <P>Zoberte niekde normalnu tehlu a skuste.
+  <P>
+  <HR>
+  <LI><I>Aka podrobna ma byt dokumentacia ?</I>
+  <P>Dost.
+  <P>
+  <HR>
+  <LI><I>Pred prekazkou je, alebo nie je prerusena ciara ?</I>
+  <P>Nie je.
+  <P>
+  <HR>
+  <LI><I>Cas medzi pokusmi mozem pouzit aj na manualne naprogramovanie prip.
+  upravenie uz zaznamenanej drahy (robotom) ?</I>
+  <P>V ziadnom pripade!
+  <P>
+  <HR>
+  <LI><I>Kedy je mozne otestovat drahu a je mozne v mieste testovania pozicanie
+  PC monitora ?</I>
+  <P>Ked sa dohodneme, najblizsi termin je uvedeny v <A
+  href="http://www.robotika.sk/contest/novinky.htm">Novinkach</A>. Monitor sa da
+  pozicat.
+  <P>
+  <HR>
+  <LI><I>Moze sa stat, ked nas robot bude napr. 24 cm siroky a pri jazde po
+  rovnej ciare ma mozny rozkmit 2 cm do stran, ze neprejde tunelom, resp. ze ho
+  poskodi a bude diskvalifikovany ? </I>
+  <P>Nebude az taky maly...
+  <P>
+  <HR>
+  <LI><I>Pred tunelmi bude rovna draha, alebo moze byt tunel na zakrute ?</I>
+  <P>Nechajte sa prekvapit.
+  <P>
+  <HR>
+  <LI><I>Kto bude v publiku ?</I>
+  <P>Vselikto. Koho si privediete.
+  <P>
+  <HR>
+  <LI><I>Moze byt na trati viacej robotov naraz?</I>
+  <P>Kde by sa tam vzali?
+  <P>
+  <HR>
+  <LI><I>Ak ano mozme im skodit?</I>
+  <P>Ak nahodou ano, tak mozete.
+  <P>
+  <HR>
+  <LI><I>Ake su toho roku ceny?</I>
+  <P>Dobre ;-)
+  <P>
+  <HR>
+  <LI><I>Jaky tvar bude mit zaèátek závodní dráhy? V pravidlech na www je cosi o
+  kruhu ze kter`ho robot vyjí¾dí, ale na fotkách z loòsk`ho roku je jen èára,
+  která prost^ zaène. Jak~ start tedy bude letos?</I>
+  <P>Start je vzdy rovnaky. Ten kruh tam nemoze byt namalovany plnou ciarou,
+  lebo robot by samozrejme chytil "stopu" a jazdil dokola. Preto je ten kruh
+  mysleny. V skutocnosti je vyznaceny slabou ceruzkou, takze na fotke ho nie je
+  vidno.
+  <P>
+  <HR>
+  <LI><I>Bude mo¾no robata postavit pcímo na èáru, nebo musí b~t "vypuÒt^n" na
+  bíl` ploÒe a musí si èáru najít?</I>
+  <P>Idealny start vyzera tak, ze ho umiestnite do toho pomysleneho kruhu,
+  napriklad kolmo k ciare, on si ju najde a pusti sa po nej. Ale porota vlani
+  nemala namietky ani voci priamemu postaveniu na ciaru. KEdze sa tam este
+  nemeria cas, nie je to az take podstatne.
+  <P>Asi vas niektore odpovede neuspokojili, ale o tom je sutaz, ze robot sa
+  musi aj trocha samostatne rozhodovat. Ak by ste vedeli rozmery prekazok,
+  tunelov atd. tak mozete vsetko vopred naprogramovat a uz to nie je autonomny
+  robot. Takze sa nechajte prekvapit.
+  <P align=right><I>Richard Balogh</I>
+  <P><BR>
+  <P><A name=technicke></P>
+  <H2>Technické problémy</H2></A>
+  <P></P>
+  <LI><I>Nemame celkom jasno v oblasti IR snimacov, chceli by sme ich pouzit na
+  sledovanie drahy, a nevieme aky pocet tychto snimacov je potrebne pouzit, a
+  ako ich vhodne vzajomne umiestnit.</I>
+  <P>To, aky pocet snimacou pouzijete je vasa vec. Potrebujete aspon dva, aby
+  ste mohli sledovat odchylku vlavo, vpravo. Niektori pouzivaju rad (6-8)
+  snimacov a maju presnejsiu informaciu - skratka to musite vymysliet, o tom je
+  prave sutaz.
+  <P>Podrobnejie odpovedá <A href="mailto:gacho@nov1.kar.elf.stuba.sk">Ing.
+  Juraj Gacho:</A><BR>
+  <P>No, co sa tyka drahy, bude to cierna ciara na bielom podklade. Ked na tu
+  drahu niecim zasvietite, tak z toho cierneho povrchu sa bude odrazat menej
+  svetla ako z bieleho - a to sa vlastne bude vyuzivat. V minulom rocniku mali
+  vsetky zucastnene roboty (aspon myslim) pouzite 2 snimace, jeden z nich
+  sledoval ciaru a jeden bielu podlahu vedla ciary. Z toho vyplyval aj
+  algoritmus riadenia, kedy cielom riadenia bolo chodit tak, aby jeden snimac
+  isiel ponad biele pasmo (podlahu) a jeden ponad cierne pasmo (ciaru). Daju sa
+  pouzit fototranzistory, fotodiody alebo fotorezistory, alebo je mozne pouzit
+  aj integrovane snimace-zvacsa IR. (v principe je jedno, ci robite s viditelnym
+  svetlom, alebo infracervenym). Je vhodne zabezpecit, aby bocne svetlo
+  nesposobovalo problemy (nejako odtienit snimace a mat vlastne osvetlenie. Ak
+  nieco o takychto snimacoch viete, tak vam odporucam pozriet na internete
+  nejake katalogove listy, alebo skocit niekde do obchodu so suciastkami a
+  porozpravat sa s predavacom, alebo mozete skocit za niekym na fakulte, kto sa
+  tym zaobera. Mozno by ste nieco nasli aj v casopise <A
+  href="http://www.atpjournal.sk/">AT&amp;P Journal</A>, kde uz viac ako rok
+  bezi serial Senzory v automatizacii (autor - Miroslav Toman). Niekde v
+  kniznici by ste to hadam nasli.
+  <P>Co sa poctu tyka, je potrebne, aby ste vedeli kde je ciara a ked ciaru
+  stratite, tak aby ste vedeli, ze sa nachadzate napr. vlavo alebo vpravo od
+  ciary. Najjednoduchsie je riesenie s dvomi snimacmi, ako som uz popisal hore.
+  Ale tieto by nemali byt od seba vzdialene viac ako je sirka ciary, aby sa
+  nestalo, ze obidvomi snimacmi idete ponad bielu podlahu a nebudete vediet, kde
+  je ciara, ked bude medzi snimacmi. Ale mozete mat samozrejme aj viac snimacov
+  a potom budete vediet, ako daleko je ciara napr. od stredu robota...
+  <P>
+  <HR>
+  <LI><I>Je vhodne na detekciu prekazky pouzit IR snimac, alebo dotykovy snimac?
+  Nestrati robot pri detekcii prekazky pri pouziti dotykoveho snimaca viac casu
+  tym, ze musi prist az k nej a dotknut sa jej? V pripade pouzitia IR snimaca by
+  robot prekazku zaregistroval skor a tiez by ju mohol zacat skor obchadzat?</I>
+  <P>Samozrejme, ze pri pouziti bezdotykoveh snimaca (napr IR) vyzera aj
+  spravanie sa robota "inteligentnejsie", ale dotykovy snimac je jednoduchsi. Je
+  pravda aj to, ze ked prekazku zaregistruje skor, moze ju obist s mensou
+  casovou stratou. No mozno sa hodi pouzit kombinaciu - aj IR aj dotykovy snimac
+  na prekazku.
+  <P>Tuto uvahu musite vyriesit sami. Mate teda pravdu, ze IR by mohlo byt
+  lepsie, zalezi vsak velmi aj na algoritme obchadzania.
+  <P>
+  <HR>
+  <LI><I>Bolo by mozne zvysit rychlost pohybu robota pouzitim vacsieho napajania
+  krokovych motorcekov (z disketovej mechaniky)?</I>
+  <P>Nie. Od velkosti napatia (prudu) zavisi moment krokoveho motora (KM), ale
+  rychlost KM v ustalenom stave zavisi od frekvencie impulzov. Zvacsenim
+  napajania je mozne docielit, ako som uz spominal, vacsi moment a teda aj
+  lepsie zrychlenie, ale na druhej strane sa zvysi spotreba.
+  <P>Ale musim vas upozornit, ze krokace maju iste fyzikalne obmedzenia a tak
+  ani frekvenciu nemozete zvysovat lubovolne. Od istej hodnoty motor tzv.
+  vypadava, t.j. nestiha reagovat na vsetky impulzy, teda "straca krok".
+  <P>
+  <HR>
+  <LI><I>Musime si zakladnu dosku, do ktorej osadime mikropocitac vyrobit sami,
+  alebo pravidla povoluju pouzitie kupenej dosky?</I>
+  <P>Mozete si kupit skoro vsetko, vylucene je len kupit celeho robota hotoveho.
+  Su (na zapade) aj take stavebnice....
+  <P>V sutazi ide najma o pouzity algoritmus (teda riadiaci program) a vhodnu
+  volbu snimacov.
+  <P>
+  <HR>
+  <LI><I>Stavam robotka na tu sutaz mobilnych robotov a mam taky napad pohanat
+  ho nie krokovymi motormi, ale jednosmernymi motormi( z teslackych
+  magnetofonov). Celkom vy to islo, prevod by som mal porieseny, ale neviem ako
+  sa to da riadit. Mam pouzit krokove motory, alebo mozem aj tie jednosmerne? A
+  ako sa daju riadit jednosmerne motory?</I>
+  <P>S jednosmernými motormi môu by isté problémy, pretoe ich rýchlos v
+  ustálenom stave (teda v stave kedy sa u rýchlos nemení) závisí okrem
+  vstupného napätia aj od zaaenia. V dynamickom reime (teda pri rozbiehaní a
+  brzdení) závisí priebeh rýchlosti tie napr. od hmotnosti robota. Keïe
+  hmotnos robota ani zaaenie motora nevieme vhodne ovplyvòova, môeme motor
+  riadi zmenou napájacieho napätia.
+  <P>Pouitie jednosmerných motorov na pohon robota závisí do istej miery aj od
+  koncepcie podvozku robota. Ak má by robot poháòaný tak, e sa vyaduje, aby
+  boli rýchlosti rôznych motorov v elanom pomere, (napr. by boli poháòané 2
+  kolesá kadé vlastným motorom, smer zatáèania robota by bol potom odvodený od
+  vzájomného pomeru rýchlostí jdnotlivých motorov), pouitie jednosmerných
+  motorov by som neodporúèal, lebo by boli potrebné snímaèe rýchlostí a
+  dostatoène rýchle regulátory obidvoch motorov. V tomto prípade je pouitie
+  krokových motorov omnoho jednoduchie.
+  <P>Ak by vak bol na pohon robota pouitý iba jeden motor a zatáèanie robota
+  by bolo rieené nejako inak, potom by sa dal jednosmerný motor poui napr.
+  tak, e by sa vstupným napätím nastavila vhodná rýchlos. Keïe by sa
+  zaaenie motora poèas jazdy menilo iba minimálne (nerovnosti na trati),
+  otáèky motora by sa tie menili iba v malom rozsahu.
+  <P>A ako zmeni napájacie napätie motora? Najjednoduchím rieením je zapoji
+  vhodný odpor (potenciometer) do série s motorom. "Krajím" rieením je napája
+  motor írkovo modulovaným napätím. Na generovanie riadiaceho signálu pre
+  írkovú moduláciu je moné vyui nejaký oscilátor, alebo riadiaci procesor,
+  pokia¾ disponuje írkovou moduláciou alebo pulzným generátorom. Riadiaci
+  signál bude potom vstupom do spínacieho tranzistora, alebo, ak je potrebná
+  reverzácia otáèok motora, do H-mostu, cez ktorý bude motor napájaný.
+  <P>Na záver: Ak sa rozhodnete poui jednosmerné motory namiesto krokových,
+  zvolili ste si nároènejiu, nie vak neschodnú cestu. Zaèiatoèníkom by som
+  vak odporuèil poui krokové motory.
+  <P>Juraj Gacho <TT>&lt;gacho@nov1.kar.elf.stuba.sk&gt;</TT>
+  <HR>
+  </LI></UL><A name=hladame>
+<H2>H¾adáme odpovede:</H2></A>
+<UL>
+  <P>
+  <LI><I>Kde by som naiel schémy zapojení robotov do súae?</I>
+  <HR>
+  </LI></UL>Na otázky odpovedali pracovníci a doktoranti Katedry automatizácie FEI
+STU.
+<P><BR>
+<P align=center>[<A
+href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
+href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
+href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [Poradòa] [<A
+href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
+<P><BR>
+<P>
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+href="http://www.datalan.sk/" target=_blank><IMG height=79 alt=DATALAN
+src="poradna_soubory/datlogo3.gif" width=273 border=0></A> <A
+href="http://www.microstep-mis.sk/" target=_blank><IMG height=79 alt=MS-MIS
+src="poradna_soubory/mislogo.gif" width=173 border=0></A>
+<P><BR>
+<P>
+<HR>
+<P align=center><FONT size=-2>© 2002 Katedra automatizácie a regulácie FEI
+STU<BR>Ilkovièova 3, 812 19 Bratislava <BR>Posledná zmena: 12. októbra
+.<BR>Zodpovedný èlovek: <I><A href="mailto:balogh@elf.stuba.sk">Richard
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 /roboti/istrobot/callis/Kopie (2) - callis_1.nqc
 ,0 → 1,192
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define FTHRESHOLD 100    // Rozhodovaci uroven dalkoveho sensoru
+#define MLEFT     OUT_C   // Motory
+#define MRIGHT    OUT_A
+#define RSENSOR   SENSOR_1   // Sensory na caru
+#define LSENSOR   SENSOR_3
+#define BUMPER    SENSOR_2   // Dalkovy sensor
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int derivace;     // jak moc se bude zachovavat predesly smer
+void Straight()   // rovne
+{
+    OnRev(MLEFT);
+    OnFwd(MRIGHT);
+    movement=S;
+}
+void Left()    // doleva
+{
+    Off(MLEFT);
+    OnFwd(MRIGHT);
+    movement=L;
+}
+void Right()   // doprava
+{
+    OnRev(MLEFT);
+    Off(MRIGHT);
+    movement=R;
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  // sensor na prekazku
+  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  movement=S;
+  line=S;
+  dira=0;
+  start cara;
+  start cihla;
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+}
+task cara()
+{
+  Straight();
+  while(true)
+  {
+       if (THRESHOLD < RSENSOR)
+       {
+          line=R;
+          dira=0;
+          switch(movement)
+          {
+            case L:
+               Right();
+              break;
+            default:
+              Straight();
+          };
+       }
+       else
+       if (THRESHOLD < LSENSOR)
+       {
+          line=L;
+          dira=0;
+          switch(movement)
+          {
+            case R:
+               Left();
+              break;
+            default:
+              Straight();
+          };
+       }
+       else
+       {
+       if (20 < dira++)
+       {
+         PlaySound (SOUND_FAST_UP);
+         switch(movement)
+         {
+            case L:
+               line=R;
+               Off(MLEFT);     //couvej
+               OnRev(MRIGHT);
+              break;
+            case R:
+               line=L;
+               OnFwd(MLEFT);    // couvej
+               Off(MRIGHT);
+             break;
+         };
+         Wait(50);
+         Straight();
+         Wait(5);
+         dira=0;
+       };
+       switch(line)
+       {
+          case L:
+               Left();
+            break;
+          case R:
+               Right();
+            break;
+         };
+       }
+  } // while(true)
+}
+task cihla() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > BUMPER)
+    {
+      PlaySound(SOUND_DOWN);
+      stop cara;
+      Off(MLEFT);           // stop
+      Off(MRIGHT);
+      Wait(5);
+      OnRev(MLEFT);           // do leva
+      OnRev(MRIGHT);
+      Wait(30);
+      Off(MLEFT);           // stop
+      Off(MRIGHT);
+      Wait(5);
+      OnRev(MLEFT);           // rovne
+      OnFwd(MRIGHT);
+      Wait(70);
+      Off(MLEFT);           // stop
+      Off(MRIGHT);
+      Wait(5);
+      OnFwd(MLEFT);           // do prava
+      OnFwd(MRIGHT);
+      Wait(25);
+      Off(MLEFT);           // stop
+      Off(MRIGHT);
+      Wait(5);
+      OnRev(MLEFT);           // rovne
+      OnFwd(MRIGHT);
+      Wait(80);
+      Off(MLEFT);           // stop
+      Off(MRIGHT);
+      Wait(5);
+      OnFwd(MLEFT);           // do prava
+      OnFwd(MRIGHT);
+      Wait(25);
+      Off(MLEFT);           // stop
+      Off(MRIGHT);
+      Wait(5);
+      OnRev(MLEFT);           // rovne
+      OnFwd(MRIGHT);
+      Wait(60);
+      OnRev(MLEFT);           // do leva
+      OnRev(MRIGHT);
+      Wait(20);
+      while(THRESHOLD > RSENSOR); // toc se dokud neni cara
+      Off(MLEFT);           // stop
+      Off(MRIGHT);
+      Wait(30);
+      line=R;
+      start cara;
+    }
+    lastlevel = BUMPER;
+    lastlevel -= FTHRESHOLD;
+  }
+}

 /roboti/istrobot/callis/Kopie (2) - callis_spravne motory.nqc
 ,0 → 1,154
+#define THRESHOLD  44      // rozhodovaci uroven mezi cernou a bilou
+#define FTHRESHOLD 100     // Rozhodovaci uroven dalkoveho sensoru
+#define ML         OUT_A   // Motory
+#define MR         OUT_C
+#define FL         OnFwd(ML)  // Vpred
+#define FR         OnRev(MR)
+#define BL         OnRev(ML)  // Vzad
+#define BR         OnFwd(MR)
+#define RSENSOR    SENSOR_3   // Sensory na caru
+#define LSENSOR    SENSOR_1
+#define BUMPER     SENSOR_2   // Dalkovy sensor
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+void Straight()   // rovne
+{
+    FL;
+    FR;
+    movement=S;
+}
+void Left()    // doleva
+{
+    Off(ML);
+    FR;
+    movement=L;
+}
+void Right()   // doprava
+{
+    FL;
+    Off(MR);
+    movement=R;
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  // sensor na prekazku
+  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  SetPower (ML,OUT_FULL);     // vykon motoru
+  SetPower (MR,OUT_FULL);
+  movement=S;
+  line=S;
+  dira=0;
+  start cara;
+  start cihla;
+}
+task cara()              // sledovani cary
+{
+  Straight();
+  while(true)
+  {
+       if (THRESHOLD < RSENSOR)    // Cara vpravo
+       {
+          line=R;    // cara zrejme bude na druhe strane
+          dira=0;    // nuluj pocitadlo diry
+          switch(movement)
+          {
+            case L:
+               Right();
+              break;
+            default:
+              Straight();
+          };
+       }
+       else
+       if (THRESHOLD < LSENSOR)    // Cara vlevo
+       {
+          line=L;    // zaznamenej, kdes videl caru
+          dira=0;    // nuluj pocitadlo diry
+          switch(movement)
+          {
+            case R:
+               Left();
+              break;
+            default:
+              Straight();
+          };
+       }
+       else   // sensory mimo caru
+       {
+         if (20 < dira++)  // nejedeme uz moc dlouho bez cary?
+         {
+           PlaySound (SOUND_FAST_UP);
+           switch(movement)
+           {
+             case L:
+                line=R;   // cara zrejme bude na druhe strane
+                Off(ML);  //couvej
+                BR;
+               break;
+             case R:
+                line=L;   // cara zrejme bude na druhe strane
+                BL;       // couvej
+                Off(MR);
+               break;
+           };
+           Wait(50);   // zpet, ale ne uplne a kousek rovne
+           Straight();
+           Wait(5);
+           dira=0;    // myslime si, ze diru jsme vyresili
+         };
+         switch(line)  // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
+         {
+           case L:
+                Left();
+             break;
+           case R:
+                Right();
+             break;
+         };
+       }
+  } // while(true)
+}
+task cihla() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > BUMPER)
+    {
+      PlaySound(SOUND_DOWN);
+      stop cara;
+      Off(ML);           // zatim pouze zastav
+      Off(MR);
+      Wait(300);
+      start cara;
+    }
+    lastlevel = BUMPER;
+    lastlevel -= FTHRESHOLD;
+  }
+}

 /roboti/istrobot/callis/Kopie (3) - callis.nqc
 ,0 → 1,153
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define FTHRESHOLD 100    // Rozhodovaci uroven dalkoveho sensoru
+#define MLEFT     OUT_C   // Motory
+#define MRIGHT    OUT_A
+#define RSENSOR   SENSOR_1   // Sensory na caru
+#define LSENSOR   SENSOR_3
+#define BUMPER    SENSOR_2   // Dalkovy sensor
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int derivace;     // jak moc se bude zachovavat predesly smer
+void Straight()   // rovne
+{
+    SetPower (MLEFT,OUT_FULL);
+    SetPower (MRIGHT,OUT_FULL);
+    OnRev(MLEFT);
+    OnFwd(MRIGHT);
+    derivace=5;
+    movement=S;
+}
+void Left()    // doleva
+{
+    SetPower (MLEFT,OUT_LOW);
+    SetPower (MRIGHT,OUT_FULL);
+    Off(MLEFT);
+    OnFwd(MRIGHT);
+    derivace=3;
+    movement=L;
+}
+void Right()   // doprava
+{
+    SetPower (MLEFT,OUT_FULL);
+    SetPower (MRIGHT,OUT_LOW);
+    OnRev(MLEFT);
+    Off(MRIGHT);
+    derivace=3;
+    movement=R;
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  // sensor na prekazku
+  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  movement=S;
+  line=S;
+  dira=0;
+//  start cara;
+  start cihla;
+  Straight();
+  while(true)
+  {
+       if (THRESHOLD < RSENSOR)
+       {
+           line=R;
+           dira=0;
+           Right();
+           if (THRESHOLD < RSENSOR)
+           {
+             while(THRESHOLD < RSENSOR);
+           }
+           else
+       };
+       if (THRESHOLD < LSENSOR)
+       {
+         if (L==movement)
+         {
+            Straight();
+         }
+         else
+         {
+           line=L;
+           dira=0;
+           Left();
+         };
+       };
+  }
+}
+task cara()
+{
+Left();
+ while(true)
+ {
+          if (8 < dira++)
+          {
+            PlaySound(SOUND_DOUBLE_BEEP);
+            if (L==line) line=R; else line=L;
+            Off(MLEFT);
+            Off(MRIGHT);
+            Wait(500);
+            dira=0;
+          };
+   switch(line)
+   {
+      case S:
+          break;
+      case L:
+            Left();
+          break;
+      case R:
+            Right();
+          break;
+   };
+//   line=S;
+   Wait(5);
+   Straight();
+   Wait(5);
+ }
+}
+task cihla() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > BUMPER)
+    {
+      PlaySound(SOUND_FAST_UP);
+      stop cara;
+      Off(MLEFT);
+      Off(MRIGHT);
+      Wait(300);
+      start cara;
+    }
+    lastlevel = BUMPER;
+    lastlevel -= FTHRESHOLD;
+  }
+}

 /roboti/istrobot/callis/Kopie - calis.nqc
 ,0 → 1,118
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define FTHRESHOLD 150    // Rozhodovaci uroven dalkoveho sensoru
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_C
+#define MRIGHT    OUT_A
+#define RSENSOR   SENSOR_1
+#define LSENSOR   SENSOR_3
+#define BUMPER    SENSOR_2
+#define L 0
+#define R 1
+#define S 2
+int line;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na prekazku
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+//  start cihla;
+//  start cara;
+    SetPower (MLEFT,OUT_HALF);
+    SetPower (MRIGHT,OUT_HALF);
+    OnRev(MLEFT);         // rozjed se vpred
+    OnFwd(MRIGHT);
+    line=S;
+  while(true)
+  {
+    if (THRESHOLD < RSENSOR)
+    {
+      line=R;
+    SetPower (MRIGHT,OUT_LOW);
+    OnRev(MLEFT);
+    };
+    if (THRESHOLD < LSENSOR)
+    {
+      line=L;
+    SetPower (MLEFT,OUT_LOW);
+    OnFwd(MRIGHT);
+    };
+    if ((THRESHOLD > LSENSOR)&&(THRESHOLD > RSENSOR))
+    {
+       if(L==line)
+       {
+         Off(MLEFT);
+         OnFwd(MRIGHT);
+         while(THRESHOLD > LSENSOR);
+         while(THRESHOLD < LSENSOR);
+       };
+       if(R==line)
+       {
+         Off(MRIGHT);
+         OnRev(MLEFT);
+         while(THRESHOLD > RSENSOR);
+         while(THRESHOLD < RSENSOR);
+       };
+       line=S;
+       SetPower (MLEFT,OUT_HALF);
+       SetPower (MRIGHT,OUT_HALF);
+       OnRev(MLEFT);         // rozjed se vpred
+       OnFwd(MRIGHT);
+    }
+  }
+}
+task cara()
+{
+  while(true)
+  {
+    OnRev(MLEFT);         // rozjed se vpred
+    OnFwd(MRIGHT);
+    if (THRESHOLD < RSENSOR)
+    {
+       OnRev(MRIGHT);
+       Wait(1);
+       Off(MRIGHT);
+    };
+    if (THRESHOLD < LSENSOR)
+    {
+       OnFwd(MLEFT);
+       Wait(1);
+       Off(MLEFT);
+    };
+    while((THRESHOLD < RSENSOR)||(THRESHOLD < LSENSOR));
+  }
+}
+task cihla() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > BUMPER)
+    {
+      PlaySound(SOUND_FAST_UP);
+      stop cara;
+      Off(MLEFT);
+      Off(MRIGHT);
+      Wait(100);
+      start cara;
+    }
+    lastlevel = BUMPER;
+    lastlevel -= FTHRESHOLD;
+  }
+}

 /roboti/istrobot/callis/Kopie - callis.nqc
 ,0 → 1,139
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define FTHRESHOLD 100    // Rozhodovaci uroven dalkoveho sensoru
+#define MLEFT     OUT_C   // Motory
+#define MRIGHT    OUT_A
+#define RSENSOR   SENSOR_1   // Sensory na caru
+#define LSENSOR   SENSOR_3
+#define BUMPER    SENSOR_2   // Dalkovy sensor
+#define L 0  // left
+#define R 1  // right
+#define S 2  // straight
+int movement;     // smer minuleho pohybu
+int line;         // na ktere strane byla detekovana cara
+int dira;         // pocitadlo pro nalezeni preruseni cary
+int derivace;     // jak moc se bude zachovavat predesly smer
+void Straight()   // rovne
+{
+    SetPower (MLEFT,OUT_FULL);
+    SetPower (MRIGHT,OUT_FULL);
+    OnRev(MLEFT);
+    OnFwd(MRIGHT);
+    derivace=5;
+    movement=S;
+}
+void Left()    // doleva
+{
+    SetPower (MLEFT,OUT_LOW);
+    SetPower (MRIGHT,OUT_FULL);
+    Off(MLEFT);
+    OnFwd(MRIGHT);
+    derivace=5;
+    movement=L;
+}
+void Right()   // doprava
+{
+    SetPower (MLEFT,OUT_FULL);
+    SetPower (MRIGHT,OUT_LOW);
+    OnRev(MLEFT);
+    Off(MRIGHT);
+    derivace=5;
+    movement=R;
+}
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(100); // 1s
+  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
+  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
+  // sensor na prekazku
+  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  movement=S;
+  line=S;
+  dira=0;
+  start cara;
+  start cihla;
+  while(true)
+  {
+       if (THRESHOLD < RSENSOR) {line=R; dira=0;};
+       if (THRESHOLD < LSENSOR) {line=L; dira=0;};
+  }
+}
+task cara()
+{
+Left();
+ while(true)
+ {
+   switch(line)
+   {
+      case S:
+          if (3 < dira++)
+          {
+            PlaySound(SOUND_DOUBLE_BEEP);
+          };
+          break;
+      case L:
+          switch(movement)
+          {
+//            case S:
+            case R:
+                    Left();
+                 break;
+            case L:
+                    Right();
+                 break;
+          };
+          break;
+      case R:
+          switch(movement)
+          {
+//            case S:
+            case L:
+                    Right();
+                 break;
+            case R:
+                    Left();
+                 break;
+          };
+          break;
+   };
+   line=S;
+   Wait(10);
+ }
+}
+task cihla() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > BUMPER)
+    {
+      PlaySound(SOUND_FAST_UP);
+      stop cara;
+      Off(MLEFT);
+      Off(MRIGHT);
+      Wait(300);
+      start cara;
+    }
+    lastlevel = BUMPER;
+    lastlevel -= FTHRESHOLD;
+  }
+}

 /roboti/istrobot/callis/Lego MindStorms Bumper1.htm
 ,0 → 1,51
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0062)http://www.cs.uu.nl/people/markov/lego/tips/bumper1/index.html -->
+<HTML><HEAD><TITLE>Lego MindStorms: Bumper1</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250">
+<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD>
+<BODY background="Lego MindStorms Bumper1_soubory/back.jpg">
+<TABLE>
+  <TBODY>
+  <TR vAlign=top>
+    <TD>
+      <P><IMG src="Lego MindStorms Bumper1_soubory/logo.gif"></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG
+      height=58 alt=[Home] src="Lego MindStorms Bumper1_soubory/homeoff.gif"
+      width=78 align=ABSCENTER border=0></A></P>
+      <P><A
+      href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG
+      height=58 alt=[Challenge]
+      src="Lego MindStorms Bumper1_soubory/challengeoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG
+      height=58 alt=[RcxCC] src="Lego MindStorms Bumper1_soubory/rcxccoff.gif"
+      width=78 align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG
+      height=58 alt=[Robots] src="Lego MindStorms Bumper1_soubory/robotsoff.gif"
+      width=78 align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG
+      height=58 alt=[Tips] src="Lego MindStorms Bumper1_soubory/tipsoff.gif"
+      width=78 align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG
+      height=58 alt=[Links] src="Lego MindStorms Bumper1_soubory/linksoff.gif"
+      width=78 align=ABSCENTER border=0></A></P></TD>
+    <TD><IMG src="Lego MindStorms Bumper1_soubory/bumper1.jpg"> <FONT
+      size=+4>Bumper Design</FONT>
+      <P><IMG src="Lego MindStorms Bumper1_soubory/divide.gif"></P>Here is a
+      design for a bumper. The advantages of this bumper are that it uses only
+      one touch sensor and still covers the whole front of the robot. Moreover,
+      the sensor is on when touched and off otherwise (contrary to many of the
+      designs that come with MindStorms. This means you can multiplex it with
+      other touch or light sensors on one input. It can be made from the pieces
+      of the Robotic Invention System. Here are the instruction:
+      <P><IMG src="Lego MindStorms Bumper1_soubory/step1.jpg"> <IMG
+      src="Lego MindStorms Bumper1_soubory/step2.jpg">
+      <P><IMG src="Lego MindStorms Bumper1_soubory/step3.jpg"> <IMG
+      src="Lego MindStorms Bumper1_soubory/step4.jpg">
+      <P><IMG src="Lego MindStorms Bumper1_soubory/step5.jpg"> <IMG
+      src="Lego MindStorms Bumper1_soubory/step6.jpg">
+      <P><IMG src="Lego MindStorms Bumper1_soubory/step7.jpg"> <IMG
+      src="Lego MindStorms Bumper1_soubory/step8.jpg">
+      <P><IMG src="Lego MindStorms Bumper1_soubory/divide.gif"></P>Comments to:
+      <ADDRESS><A href="mailto:markov@cs.uu.nl"
+      subject="MindStorms">markov@cs.uu.nl</A></ADDRESS></TD></TR></TBODY></TABLE></BODY></HTML>

/roboti/istrobot/callis/Lego MindStorms Bumper1_soubory/Thumbs.db
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 /roboti/istrobot/callis/Lego MindStorms Drive-Steer Car.htm
 ,0 → 1,57
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0068)http://www.cs.uu.nl/people/markov/lego/tips/Differential1/index.html -->
+<HTML><HEAD><TITLE>Lego MindStorms: Drive-Steer Car</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250">
+<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD>
+<BODY background="Lego MindStorms Drive-Steer Car_soubory/back.jpg">
+<TABLE>
+  <TBODY>
+  <TR vAlign=top>
+    <TD>
+      <P><IMG src="Lego MindStorms Drive-Steer Car_soubory/logo.gif"></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG
+      height=58 alt=[Home]
+      src="Lego MindStorms Drive-Steer Car_soubory/homeoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A
+      href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG
+      height=58 alt=[Challenge]
+      src="Lego MindStorms Drive-Steer Car_soubory/challengeoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG
+      height=58 alt=[RcxCC]
+      src="Lego MindStorms Drive-Steer Car_soubory/rcxccoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG
+      height=58 alt=[Robots]
+      src="Lego MindStorms Drive-Steer Car_soubory/robotsoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG
+      height=58 alt=[Tips]
+      src="Lego MindStorms Drive-Steer Car_soubory/tipsoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG
+      height=58 alt=[Links]
+      src="Lego MindStorms Drive-Steer Car_soubory/linksoff.gif" width=78
+      align=ABSCENTER border=0></A></P></TD>
+    <TD><IMG src="Lego MindStorms Drive-Steer Car_soubory/final.jpg"> <FONT
+      size=+4>Drive-Steer Car</FONT>
+      <P><IMG src="Lego MindStorms Drive-Steer Car_soubory/divide.gif"></P>This
+      mechanism is based on the adder-subtractors of <A
+      href="http://carol.wins.uva.nl/~leo/lego/diff.html">Leo </A>and <A
+      href="http://www.phred.org/~alex/lego/">Alex </A>. It must be driven by
+      two motors; one connected to one of the four gears on one side, and the
+      other connected to one of the three gears on the other side. One motor
+      makes the wheels move in the same direction. The other sterrs by making
+      the wheels move in opposite direction. My design is acccording to me
+      stronger than the other ones. Here are some more pictures
+      <P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step1.jpg"> <IMG
+      src="Lego MindStorms Drive-Steer Car_soubory/step2.jpg">
+      <P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step3.jpg"> <IMG
+      src="Lego MindStorms Drive-Steer Car_soubory/step4.jpg">
+      <P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step5.jpg"> <IMG
+      src="Lego MindStorms Drive-Steer Car_soubory/final.jpg">
+      <P><IMG
+      src="Lego MindStorms Drive-Steer Car_soubory/divide.gif"></P>Comments to:
+      <ADDRESS><A href="mailto:markov@cs.uu.nl"
+      subject="MindStorms">markov@cs.uu.nl</A></ADDRESS></TD></TR></TBODY></TABLE></BODY></HTML>

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 /roboti/istrobot/callis/Lego Robots Tips and Tricks.htm
 ,0 → 1,125
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0054)http://www.cs.uu.nl/people/markov/lego/tips/index.html -->
+<HTML><HEAD><TITLE>Lego Robots: Tips and Tricks</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250">
+<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD>
+<BODY background="Lego Robots Tips and Tricks_soubory/back.jpg">
+<TABLE>
+  <TBODY>
+  <TR vAlign=top>
+    <TD>
+      <P><IMG src="Lego Robots Tips and Tricks_soubory/logo.gif"></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG
+      height=58 alt=[Home] src="Lego Robots Tips and Tricks_soubory/homeoff.gif"
+      width=78 align=ABSCENTER border=0></A></P>
+      <P><A
+      href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG
+      height=58 alt=[Challenge]
+      src="Lego Robots Tips and Tricks_soubory/challengeoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG
+      height=58 alt=[RcxCC]
+      src="Lego Robots Tips and Tricks_soubory/rcxccoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG
+      height=58 alt=[Robots]
+      src="Lego Robots Tips and Tricks_soubory/robotsoff.gif" width=78
+      align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG
+      height=58 alt=[Tips] src="Lego Robots Tips and Tricks_soubory/tipson.gif"
+      width=78 align=ABSCENTER border=0></A></P>
+      <P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG
+      height=58 alt=[Links]
+      src="Lego Robots Tips and Tricks_soubory/linksoff.gif" width=78
+      align=ABSCENTER border=0></A></P></TD>
+    <TD><FONT size=+4>Lego Robots Tips and Tricks</FONT>
+      <P><IMG src="Lego Robots Tips and Tricks_soubory/divide.gif"></P>
+      <P>
+      <H2>Sensors</H2>
+      <H3>Putting light and touch sensors on one input</H3>It is easy to put
+      touch and light sensors on one sensor input. In this case better set the
+      sensor mode to raw. In nqc this can be done as follows: <PRE>   SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+</PRE>Now a value below 100 is a touch sensor event. Values above this
+      correspond to light levels (the higher the darker).
+      <H3>Using the IR port for proximity detection</H3>It turns out that the
+      light sensor is very sensitive to the infra-red light produced by the the
+      IR port on the robot. To uses this, mount the light sensor above the IR
+      port, pointing forward. Now regularly send messages. When there is a wall
+      close in front of the robot, you can notice this by high intensity changes
+      in the reading of the light sensor (preferably in raw mode). The closer
+      you get, the higher the fluctuations become. After a bit of tuning you can
+      rather accurately predict the distance. Here is a simple <A
+      href="http://www.cs.uu.nl/people/markov/lego/tips/ping.nqc">nqc
+      program</A> to demonstrate how this works. Thanks to Dave Chen and Simen
+      Svale Skogsrud for finding out about this.
+      <H2>Design</H2>
+      <H3>Front and back</H3>All designs that come with Lego MindStorms use the
+      IR-port side of the RCX as the front. This is not a good idea because you
+      normally add a lot of stuff at the front, making the IR-port almost
+      invisible. Also, for balance reasons, it is good to put the motors under
+      the middle of the RCX. Finally, if you use a swivelling wheel, put it at
+      the back, not at the front. Pulling a swivelling wheel gives a much
+      straighter motion than pushing it.
+      <H3>Drive-Steer mechanism</H3>
+      <P>
+      <TABLE>
+        <TBODY>
+        <TR vAlign=top>
+          <TD><IMG src="Lego Robots Tips and Tricks_soubory/step3.jpg"> </TD>
+          <TD>This mechanism is based on the adder-subtractors of <A
+            href="http://carol.wins.uva.nl/~leo/lego/diff.html">Leo </A>and <A
+            href="http://www.phred.org/~alex/lego/">Alex </A>. It must be driven
+            by two motors; one connected to one of the four gears on one side,
+            and the other connected to one of the three gears on the other side.
+            One motor makes the wheels move in the same direction. The other
+            sterrs by making the wheels move in opposite direction. My design is
+            acccording to me stronger than the other ones. More pictures can be
+            found <A
+            href="http://www.cs.uu.nl/people/markov/lego/tips/Differential1/index.html">here</A>.
+          </TD></TR></TBODY></TABLE>
+      <H3>Double motor power</H3>
+      <P>
+      <TABLE>
+        <TBODY>
+        <TR vAlign=top>
+          <TD><IMG src="Lego Robots Tips and Tricks_soubory/twomotors.jpg">
+</TD>
+          <TD>If you need extra motor power, and you have enough motors,
+            connect two together. You can out them both on the same output to
+            drive them simultaneously. This is especially good for heavy robots
+            or if you want your robots to go fast. I assume you can do the same
+            with three or more motors, but I am not sure how many you can
+            connect to one output. </TD></TR></TBODY></TABLE>
+      <H3>Bumpers</H3>
+      <P>
+      <TABLE>
+        <TBODY>
+        <TR vAlign=top>
+          <TD><IMG src="Lego Robots Tips and Tricks_soubory/bumper1.jpg"> </TD>
+          <TD>Here is bumper I designed that uses only one touch sensor.
+            Instructions for building it can be found <A
+            href="http://www.cs.uu.nl/people/markov/lego/tips/bumper1/index.html">here</A>.
+          </TD></TR></TBODY></TABLE>
+      <H2>Internals</H2>
+      <H3>Free memory</H3>After loading the firmware, it seems that there is
+      about 6K of memory available for programs. You can use the <B>RCX Command
+      Center</B> to free this memory when required.
+      <H2>Programming with SPIRIT.OCX</H2>
+      <H3>Using the joystick</H3>Here is an <A
+      href="http://www.cs.uu.nl/people/markov/lego/tips/RCXJoystick.zip">example
+      program</A> (in Delphi 3) of how you can use the joystick to steer the
+      RCX. It comes with full source and is freeware. It is a simplified
+      stand-alone version of the joystick window in my RCX Command Center
+      version 2.0.
+      <H3>Registering SPIRIT.OCX</H3>If you don't want to install the lego
+      software on your system but still use programs like the <B>RCX Command
+      Center</B> you must register the OCX. Copy the spirit.ocx file from the
+      lego Cdrom to you harddisk and use the Run command in the windows Start
+      menu to execute <PRE>   REGSVR32.EXE spirit.ocx
+</PRE>This will register the ocx on your machine. (You might need to
+      specify the path of the ocx in the above command.)
+      <H3>Bugs</H3>There is a bug in the OCX: When polling the mode of a sensor
+      (e.g. Poll(11,0)) you don't get the right mode but 32* the mode.
+      <P>There is another bug in the polling command. Polling the watch gives
+      you the total time in minutes, and not divided in hours and minutes as the
+      doc suggests. </P></TD></TR></TBODY></TABLE></BODY></HTML>

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 /roboti/istrobot/callis/ModelHobby2004.bak
 ,0 → 1,118
+// Robot na MiniSumo pro Model Hobby 2004
+// $Archive: /Lego/ModelHobby2004.nqc $
+// $Date: 2.10.04 0:44 $
+// $Revision: 3 $
+#define THRESHOLD  65      // rozhodovaci uroven mezi cernou a bilou
+#define FTHRESHOLD 100     // Rozhodovaci uroven dalkoveho sensoru
+#define POHON      OUT_A   // Motory
+#define MULETA     OUT_C
+#define VPRED      OnFwd(POHON)
+#define VZAD       OnRev(POHON)
+#define NAHORU     OnRev(MULETA)
+#define DOLU       OnFwd(MULETA)
+#define PREDNI     SENSOR_1   // Sensory na okraj
+#define ZADNI      SENSOR_3
+#define BUMPER     SENSOR_2   // Dalkovy sensor
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(400); // 5s podle pravidel - prvni prodleva procedury zapas
+  SetSensor(PREDNI,SENSOR_LIGHT);   // senzor na caru predni
+  SetSensor(ZADNI,SENSOR_LIGHT);   // senzor na caru zadni
+  // sensor na prekazku
+  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  SetPower (POHON,OUT_FULL);     // vykon motoru
+  SetPower (MULETA,OUT_HALF);
+  start radar;
+  start zapas;
+  start nevypadni;
+  start toro;
+}
+task toro()
+{
+  int i=1;
+  while(true)
+  {
+     if (i++ & 1) {DOLU;} else {NAHORU;};
+     Wait(50);
+     Off(MULETA);
+     Wait(200);
+  }
+}
+task zapas()
+{
+  Wait(100);
+  while(true)
+  {
+     VZAD;
+     Wait(50);
+     Off(POHON);
+     Wait(100);
+     VPRED;
+     Wait(50);
+     Off(POHON);
+     Wait(100);
+     Off(POHON);
+     Wait(100);
+  }
+}
+task nevypadni()
+{
+  while(true)
+  {
+     if (THRESHOLD > PREDNI)    // Cara vpredu
+     {
+        stop zapas;
+        stop radar;
+        PlaySound (SOUND_FAST_UP);
+        VZAD;
+        Wait(50);
+        start radar;
+        start zapas;
+     }
+     else
+     if (THRESHOLD > ZADNI)    // Cara vzadu
+     {
+        stop zapas;
+        stop radar;
+        PlaySound (SOUND_FAST_UP);
+        VPRED;
+        Wait(50);
+        start radar;
+        start zapas;
+     }
+  } // while(true)
+}
+task radar() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > BUMPER)  // vidime robota?
+    {
+      stop zapas;
+      PlaySound(SOUND_DOWN);
+      VPRED;
+      Wait(50);
+    }
+    lastlevel = BUMPER;
+    lastlevel -= FTHRESHOLD;
+  }
+}

 /roboti/istrobot/callis/ModelHobby2004.nqc
 ,0 → 1,118
+// Robot na MiniSumo pro Model Hobby 2004
+// $Archive: /Lego/ModelHobby2004.nqc $
+// $Date: 2.10.04 10:45 $
+// $Revision: 4 $
+#define THRESHOLD  65      // rozhodovaci uroven mezi cernou a bilou
+#define FTHRESHOLD 100     // Rozhodovaci uroven dalkoveho sensoru
+#define POHON      OUT_A   // Motory
+#define MULETA     OUT_C
+#define VPRED      OnFwd(POHON)
+#define VZAD       OnRev(POHON)
+#define NAHORU     OnRev(MULETA)
+#define DOLU       OnFwd(MULETA)
+#define PREDNI     SENSOR_1   // Sensory na okraj
+#define ZADNI      SENSOR_3
+#define BUMPER     SENSOR_2   // Dalkovy sensor
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(400); // 5s podle pravidel - prvni prodleva procedury zapas
+  SetSensor(PREDNI,SENSOR_LIGHT);   // senzor na caru predni
+  SetSensor(ZADNI,SENSOR_LIGHT);   // senzor na caru zadni
+  // sensor na prekazku
+  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  SetPower (POHON,OUT_FULL);     // vykon motoru
+  SetPower (MULETA,OUT_HALF);
+  start radar;
+  start zapas;
+  start nevypadni;
+  start toro;
+}
+task toro()
+{
+  int i=1;
+  while(true)
+  {
+     if (i++ & 1) {DOLU;} else {NAHORU;};
+     Wait(50);
+     Off(MULETA);
+     Wait(200);
+  }
+}
+task zapas()
+{
+  Wait(100);       // napodruhe pojedeme dele dozadu
+  while(true)
+  {
+     VZAD;         // mateni telem
+     Wait(50);
+     Off(POHON);
+     Wait(100);
+     VPRED;
+     Wait(50);
+     Off(POHON);
+     Wait(100);
+     Off(POHON);
+     Wait(100);
+  }
+}
+task nevypadni()
+{
+  while(true)
+  {
+     if (THRESHOLD > PREDNI)    // Cara vpredu
+     {
+        stop zapas;
+        stop radar;
+        PlaySound (SOUND_FAST_UP);
+        VZAD;
+        Wait(50);
+        start radar;
+        start zapas;
+     }
+     else
+     if (THRESHOLD > ZADNI)    // Cara vzadu
+     {
+        stop zapas;
+        stop radar;
+        PlaySound (SOUND_FAST_UP);
+        VPRED;
+        Wait(50);
+        start radar;
+        start zapas;
+     }
+  } // while(true)
+}
+task radar() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > BUMPER)  // vidime robota?
+    {
+      stop zapas;
+      PlaySound(SOUND_DOWN);
+      VPRED;
+      Wait(50);
+    }
+    lastlevel = BUMPER;
+    lastlevel -= FTHRESHOLD;
+  }
+}

 /roboti/istrobot/callis/NQC FAQ.htm
 ,0 → 1,445
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0046)http://www.baumfamily.org/nqc_old/doc/faq.html -->
+<HTML><HEAD><TITLE>NQC FAQ</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250"><!-- Copyright 1998 Dave Baum -->
+<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD>
+<BODY bgColor=#ffffff>
+<H2>NQC FAQ</H2>
+<H3>General</H3>
+<UL>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#nqc">What is
+  NQC?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#mindstorms">What
+  is LEGO MINDSTORMS?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#RIS2">Does NQC
+  support RIS 2.0?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#firmware">How can
+  I get the RCX 2.0 firmware?</A> </LI></UL>
+<H3>NQC Compiler Usage</H3>
+<UL>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#dos">I'm using
+  Windows, and when I click on NQC a window with some text flashes on the screen
+  then disappears. What's going on?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#-Trcx2">I'm using
+  the RCX 2.0 firmware but get errors when trying to call 2.0 functions (e.g.
+  SetUserDisplay). What's wrong?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#errors">How can I
+  redirect errors to a file?</A>
+  <LI><A
+  href="http://www.baumfamily.org/nqc_old/doc/faq.html#spiritinstall">Where is
+  Spirit.ocx? RcxCC complains that it is not installed.</A> </LI></UL>
+<H3>IR Communication</H3>
+<UL>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#usb">How do I get
+  NQC to work with my USB IR tower?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#control">How do I
+  use a computer to control the RCX?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irusb">How do I
+  use the IR tower with a USB Macintosh?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irdebug">Help,
+  RcxCC/MacNQC/NQC can't communicate with my RCX!</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irlaptop">How do I
+  use my computer IR port with the RCX?</A>
+  <LI><A href="file:///Users/dave/WebSite/nqc/doc/faq.html#irxp">How can I get
+  the USB IR tower to work under Win XP?</A> </LI></UL>
+<H3>Miscellaneous</H3>
+<UL>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#spirit">Why
+  doesn't NQC use the Spirit OCX?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#vision">Does NQC
+  support Vision Command?</A>
+  <LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#build">What
+  computers/tools/etc do you use to develop NQC?</A> </LI></UL>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=nqc></A>What is NQC?</H3>
+<P>NQC (Not Quite C) is a programming language for several LEGO MINDSTORMS
+products including the RCX, CyberMaster, and Scout. NQC's syntax is very similar
+to the C programming langauge, so experienced C programmers (and Java
+programmers) should find it very easy to get started with. Even if you aren't an
+experienced programmer, NQC is relatively easy to learn.</P>
+<P>The two primary reasons people move up to NQC from the standard tools (RCX
+Code and Robolab) is that NQC is a textual langauge, and it is more powerful.
+Graphical languages are often easier to learn (no syntax errors!) but are
+generally more tedious to use than a textual langauge. The graphical metaphors
+of RCX Code (and to a certain extent Robolab) also significantly limit the types
+of programs you can write.</P>
+<P>NQC uses the same firmware as LEGO's standard tools (RCX Code and Robolab).
+This means it is possible to have RCX Code, Robolab, and NQC programs loaded
+onto the RCX at the same time. NQC also benefits from the stability and user
+interface (e.g. the View button) provided by the standard firmware. On the minus
+side, NQC must live within the constraints of the standard firmware. For
+example, since the firmware does not provide floating point support, NQC cannot
+provide it either. Other altermatives for programming the RCX (notably legOS and
+pbForth) do not have such restrictions.</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=mindstorms></A>What is LEGO MINDSTORMS?</H3>
+<P>LEGO MINDSTORMS is a series of LEGO sets that use special programmable bricks
+to allow construction of robots. The most versatile programmable brick is the
+RCX, which can be found in the Robotics Invention System set. A simpler brick,
+the Scout, can be found in the Robotics Discovery set. The simplest brick, Micro
+Scout, is featured in two sets with a Star Wars theme: Droid Developer Kit, and
+Dark Side Developer Kit. Even though it is the most expensive, the RCX based set
+is still the best value due to the versatility of the RCX itself. The Scout is a
+bit more limited, but still can be programmed (using NQC) to do some interesting
+things. The Micro-Scout is extremely limited, and it useful mainly as an
+accessory to another programmable brick such as the RCX or Scout. Further
+information on MINDSTORMS sets can be found at the official site: <A
+href="http://www.legomindstorms.com/"
+target=_blank>http://www.legomindstorms.com/</A>.</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=RIS2></A>Does NQC Support RIS 2.0?</H3>
+<P>The RCX in the RIS 2.0 is nearly identical to the 1.0 RCX. However, new
+firmware is used to give the RCX some new capabilities. Fortunately for existing
+RCX owners, this firmware is available for download from www.legomindstorms.com
+(as part of the RIS 2.0 SDK). NQC supports this new firmware (see <A
+href="http://www.baumfamily.org/nqc_old/doc/faq.html#-Trcx2">here for more
+info</A>).</P>
+<P>RIS 2.0 also uses a new IR tower with a USB connection (instead of the
+eariler RS-232 based towers). Support for the USB tower under Windows and Mac OS
+X is currently in <A
+href="http://www.baumfamily.org/nqc_old/beta/index.html">beta test</A>. Support
+for Mac OS 9 will be added shortly and several other people are working on Linux
+support.</P>
+<H3>
+<HR align=left>
+<A name=firmware></A>How can I get the RCX 2.0 firmware?</H3>
+<P>The RCX 2.0 firmware is contained in a file named FIRM0328.LGO and is
+installed on your PC when you install the standard LEGO software. It is also
+installed as part of the Vision Command software and the 2.0 SDK.</P>
+<P>Unfortunately, all previously mentioned sources for the firmware require
+software to be installed on a Windows computer. If you are using a different
+operating system, then you will need to download the earlier Beta version of the
+.0 SDK which was packaged as a .zip file rather than a full installer. This
+.zip file may then be expanded to get the FIRM0328.LGO file. The SDK 2.0 Beta
+can be found at <A href="http://mindstorms.lego.com/sdk2beta/default.asp"
+target=_blank>http://mindstorms.lego.com/sdk2beta/default.asp</A>.</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=dos></A>I'm using Windows, and when I click on NQC a window with
+some text flashes on the screen then disappears. What's going on?</H3>
+<P>NQC is a command line based tool - normally you run it by typing an
+appropriate command into an MS-DOS window. When you double-click the exe file it
+launches an MS-DOS console, runs NQC within it, then since NQC finishes almost
+immediately, the entire window disappears.</P>
+<P>Some people prefer command line based tools because they allow you to use the
+text editor of your choice, etc. It also makes for identical behavior under
+Windows, Mac, and Linux. In order to use the command line version of NQC you'll
+need to do two things:</P>
+<P>1) Use some sort of text editor (such as Notepad) to edit and save a source
+file for NQC to compile.</P>
+<P>2) From an MS-DOS window type the appropriate NQC command. Its usually best
+to either put all of your programs and nqc.exe in the same directory, or make
+sure the directory containing NQC is in your command path. For example, to
+compile and download the program "test.nqc" using the default serial port you
+would type the following command:</P>
+<P>nqc -d test.nqc</P>
+<P>An alternative is to use the <A href="http://www.cs.uu.nl/~markov/lego/"
+target=_parent>RCX Command Center</A> by Mark Overmars, which is a familiar
+Windows style application that provides a front end to the NQC compiler.</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=-Trcx2></A>I'm using the RCX 2.0 firmware but get errors when trying
+to call 2.0 functions (e.g. SetUserDisplay). What's wrong?</H3>
+<P>When NQC compiles a program it needs to know what kind of programmable brick
+you want it to generate code for (this is called the <I>target</I> for the
+compile). By default, NQC assumes you are targetting RCX 1.0. If you want to use
+RCX 2.0 features, you need to tell the compiler you are using an RCX 2.0 target.
+If you are using a command line version of NQC, then add <TT>-Trcx2</TT> to the
+command line:</P>
+<P><TT>nqc -Trcx2 -d foo.nqc</TT></P>
+<P>If you don't want to type <TT>-Trcx2</TT> all the time, then just use the
+environment variable <TT>NQC_OPTIONS</TT> - NQC reads this environment variable
+and inserts any options in this variable at the front of the command line. For
+example, if <TT>NQC_OPTIONS</TT> was set to <TT>-Trcx2</TT> and you issued the
+following command</P>
+<P><TT>nqc -d foo.nqc</TT></P>
+<P>NQC would behave as if you actually typed</P>
+<P><TT>nqc -Trcx2 -d foo.nqc</TT></P>
+<P>The specifics of setting environment variables depends on your operating
+system and shell. For example, under Windows you could type the following in a
+command shell:</P>
+<P><TT>set NQC_OPTIONS=-Trcx2</TT></P>
+<P>If you want to always use RCX 2.0, then you can make this setting permament
+by editing the AUTOEXEC.BAT file and adding the above command to the end of the
+file. This way, the variable will get set every time Windows is started.</P>
+<P>If you are using a GUI based version of NQC (such as MacNQC), then there
+should be some preference setting for the target - just make sure it is set to
+"RCX 2.0". Unfortunately, RcxCC does not have an "RCX 2.0" setting, but there is
+a workaround. Leave the target as "RCX" (which means RcxCC won't specify any
+target information and just rely on the fact that NQC defaults to RCX), then use
+the <TT>NQC_OPTIONS</TT> environment variable to specify RCX 2.0 (as described
+above).</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=errors></A>How can I redirect errors to a file?</H3>
+<P>Compile errors are written to stderr, not stdout. This is to allow the
+calling program to separate errors from the program listing (-l option) that
+appears on stdout. The normal redirection facility of a shell only redirects
+stdout, thus the errors will still be printed to the screen. Most shells have
+additional syntax that allows the stderr stream to be redirected (use
+"option-&gt;" in MPW, or "2&gt;" for WinNT). I do not know of any mechanism to
+redirect stderr in Win95 command.com.</P>
+<P>In addition, nqcc now supports (verion 1.1 b1) the ability to route error
+messages to stdout with the -E option.</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=spiritinstall></A>Where is Spirit.ocx? RcxCC complains that it is
+not installed.</H3>
+<P>NQC has never used Spirit.ocx, but RcxCC used to require Spirit.ocx for
+communication with the RCX. Lego no longer supports Spirit.ocx as of RIS 2.0,
+but fortunately RcxCC has been updated to no longer require it. In addition,
+RcxCC has been renamed to BricxCC (due to trademark concerns from Lego). You can
+download the latest version of BricxCC <A
+href="http://members.aol.com/johnbinder/bricxcc.htm" target=_blank>here</A>.</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=usb></A>How do I get NQC to work with my USB IR tower?</H3>
+<P>Presently, USB towers are only supported under Mac OS X and Windows. I will
+be releasing Mac OS 9 support shortly. Some other developers are working on a
+Linux solution.</P>
+<P>USB support is in beta test and requires version 2.4a4 of NQC.</P>
+<P><B>IMPORTANT</B>- you need to tell NQC that you want it to look for a USB
+tower, otherwise it assumes you have a serial tower and uses the default serial
+port for your operating system (e.g. COM1 under Windows). Add <TT>-Susb</TT> to
+the command line or set the <TT>RCX_PORT</TT> environment variable to
+<TT>usb</TT>. When adding a command line option, put it near the beginning of
+the command:</P>
+<P><TT>nqc -Susb -d test.nqc</TT></P>
+<P><B>Windows only:</B> NQC uses the USB driver installed by the Lego RIS 2.0
+software, so you will need to install the RIS software and run it once with the
+USB tower connected in order for the driver to be correctly installed.</P>
+<P><B>Mac OS X only:</B> NQC talks directly to the USB tower. There is no
+driver, so you'll never see the tower show up in /dev.<BR></P>
+<P><SPAN style="FONT-WEIGHT: bold">FreeBSD (unoffical port):</SPAN> As of NQC
+.5 a5, the USB tower is supported when running a FreeBSD build from 02/28/03 or
+later (the upcoming FreeBSD 5.1 will work).<BR></P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=control></A>How do I use a computer to control the RCX?</H3>
+<P>There are two basic ways to do this: send raw commands to the RCX, or send
+'messages' which are then listened to by a program running on the RCX.</P>
+<H4>Sending Messages</H4>
+<P>This is generally the simplest way to interact with the RCX. First you write
+a program for the RCX that continuously checks for received messages (using the
+Message() and ClearMessage() calls) and then dispatches the messages
+accordingly. The messages may have any value between 1 and 255. There is no
+predefined meaning for these messages - your program can do whatever it wants
+with each message.</P>
+<P>There are several ways to send the message. You can use another RCX (or a
+Scout) by calling the SendMessage() function. You can also use the nqc command
+with the -msg option, for example to send message #3:</P>
+<P>nqc -msg 3</P>
+<P>You can use the LEGO remote control to send messages 1, 2, or 3. It is also
+possible to send the message by sending the appropriate command packet (see
+below)</P>
+<H4>Sending Raw Commands</H4>
+<P>Sending raw commands gives you complete control over the RCX. The commands
+(a.k.a. opcodes or bytecodes) and the general packet format are unofficially
+documented at <A href="http://graphics.stanford.edu/~kekoa/rcx/"
+target=_parent>http://graphics.stanford.edu/~kekoa/rcx/</A>. For example, to
+make the RCX play system sound #3 (upward tones), you would send a two-byte
+command (shown in hex):</P>
+<P>51 03</P>
+<P>Messages are just a specific type of command - F7 followed by the message
+value, so message #4 would be the packet</P>
+<P>F7 04</P>
+<P>If you are using NQC, you can let NQC take care of all the details of packet
+formatting, getting an acknowledgement from the RCX, and retrying if a failure
+occurs. You do this with the -raw option, which takes a single parameter listing
+all of the bytes (in hex format) for the command:</P>
+<P>nqc -raw 5103</P>
+<P>If you are writing your own program, you can build up the packet yourself. A
+suitable packet (for the plays sound command) would be:</P>
+<P>55 ff 00 51 ae 03 fc 54 ab</P>
+<H3>
+<HR align=left>
+<A name=irusb></A>How do I use the IR tower with a USB Macintosh?</H3>
+<P>Since a USB version of the IR tower doesn't exist (yet), you will need a USB
+to serial converter (such as the Keyspan TWIN adapter). If the adapter provides
+a 9-pin serial connector, then you should be able to use the standard Mindstorms
+cable between the adapter and the IR tower. If the adapter provides mac-style
+serial connector, then you will also need an appropriate cable as desribed <A
+href="http://www.baumfamily.org/lego/macmind/cables.html">here</A>.</P>
+<P><I>Note: I have heard several reports of the Palm USB adapter not working. I
+am not sure if this is a problem with the adapter itself, or some unusual
+interaction between it and the OS. If you have been able to use a Palm USB
+adapter with MacNQC or NQC, please let me know. I would like to get a definitive
+answer on whether this adapter can be made to work. Personally, I use the
+Keyspan Twin adapter (USA-28X), and I've heard that both the Keyspan PDA adapter
+(USA-19) and Xircom PortGear USB also work.</I></P>
+<P>If you are using MacNQC, then the popup menu in the Preferences dialog box
+will list all available serial ports (including those provided by USB
+converters).</P>
+<P>If you are using the MPW version of NQC, then you will need to specify the
+serial port either on the command line (using the -S option) or in the RCX_PORT
+environment variable. Both methods require that you know the name of the serial
+port driver. The easiest way to make this work is to use the adapter's control
+panel to configure the serial port to "emulate the printer port". This will
+cause the serial port to be named "B", thus you could do either of the
+following:</P>
+<P><TT>nqc -SB -d foo.nqc</TT></P>
+<P>or</P>
+<P><TT>set -e RCX_PORT B</TT></P>
+<P><TT>nqc -d foo.nqc</TT></P>
+<P>If you choose the second option, the <TT>set</TT> command only needs to be
+executed once per MPW session - adding it to a Startup file will make life
+simpler.</P>
+<H3>
+<HR align=left>
+<A name=irdebug></A>Help, RcxCC/MacNQC/NQC can't communicate with my RCX!</H3>
+<P>In most cases, problems like this boil down to a configuration issue, bad
+cable, or dead battery. Here are some troubleshooting tips.</P>
+<P>If the program says it cannot open the serial port, then this is almost
+certainly a configuration problem. For MacNQC, make sure you have a valid serial
+port selected in the Preferences dialog box. For NQC, make sure you have
+specified the appropriate serial port name (default is modem port, "B" is the
+printer port, see <A
+href="http://www.baumfamily.org/nqc_old/doc/faq.html#irusb">above</A> for USB
+based macs). For RcxCC, I suggest trying once with auto-detection, and if that
+fails, then manually set the serial port in the RcxCC program.</P>
+<P>If the program reports that it cannot communicate with the IR device, then
+either the program is talking to the wrong serial port (see the previous item),
+or there's a problem with the cable and/or battery. Make sure you have a fresh
+v battery installed in the IR tower, and if possible use the cable supplied by
+Lego.</P>
+<P>If the program reports that it cannot communicate with the RCX, then
+communication with the IR tower is probably OK, and the problem is between the
+tower and the RCX.</P>
+<UL>
+  <LI>Certain light sources (bright sunlight, certain projection TVs) can cause
+  interference...try using a towel or other item to shield the IR tower and RCX
+  from other light.
+  <LI>The tower and RCX should be about 6 inches apart. Tty the switch on the
+  front of the tower in both positions - some people report better success with
+  "near" mode, and some with "far" mode.
+  <LI>Make sure you have firmware downloaded into the RCX. If the display only
+  shows "1" on it, then firmware isn't installed yet...download the firmware
+  using the Lego software or the -firmware option for NQC (the firmware itself
+  must be copied from the Lego CD or downloaded from <A
+  href="http://www.legomindstorms.com/"
+  target=_blank>http://www.legomindstorms.com/</A>). Once the firmware is
+  installed you should see something like "00.00 1" on the display. </LI></UL>
+<P>If you have a terminal program (e.g. HyperTerminal for Windows, Zterm for the
+Mac), then you can check the IR tower directly. Open up a session to the
+appropriate serial port at 2400 baud, 1 stop bit, odd parity, and 8 data bits.
+Turn off local echo. Start typing a few characters. A green LED on the front of
+the IR tower should light up, and the characters you typed should be echoed back
+to the screen (with an occasional mistake depending on how much interference
+there is).</P>
+<P>If you are using the command line version of NQC, then you can have it log
+any serial communication. This is helpful in trying to isolate where
+communication is failing. A good general-purpose test is</P>
+<P><TT>nqc -v -raw 10</TT></P>
+<P>Please include the output of this test in any e-mail to me regarding IR
+communication problems.</P>
+<P></P>
+<HR align=left>
+<P></P>
+<H3><A name=irlaptop></A>How do I use my computer IR port with the RCX?</H3>
+<P>You can't. At least not easily.</P>
+<P>Most computers use the IrDA protocols for IR communication. The RCX uses a
+proprietary protocol developed by Lego for communication. Quite simply, these
+protocols are incompatable.</P>
+<H4>What about IrCom? Doesn't that let me use the IR port as a regular serial
+port?</H4>
+<P>Yes and no. From an application's point of view, IrCom looks like a serial
+port (complete with hardware handshaking and control lines). However, the IrCom
+layer actually resides on top of normal IrDA communication, so what appears to
+the application to be async serial communication, is in fact a bunch of IrDA
+packets getting sent back and forth. Since the RCX doesn't understand IrDA
+packets, it can't understand IrCom either.</P>
+<H4>What if I access the hardware directly?</H4>
+<P>Even if you bypassed the IrDA protocol stacks on the computer and somehow
+managed to control the hardware directly (a task that is likely to be different
+for different computer vendors), it still may not be possible. The Lego
+protocols encode bits using a 38kHz carrier frequency. This frequency is
+generated an filtered in hardware. IrDA doesn't really use a carrier frequency,
+and the actual specs on bit times provide a lot of lattitued to device
+manufacturers. As a result, it is difficult to get generic IrDA hardware to
+generate the required 38kHz carrier reliably. Filtering the recieve side is even
+more problematic.</P>
+<P>I would hesitate to say that this problem is "impossible" to solve, but
+people have been asking about this for over a year, and to my knowledge no
+general solution has emerged. There are, however, specialized solutions for
+specific pieces of hardware (usually PDAs or other handled devices such as a
+Palm III).<BR></P>
+<HR align=left>
+<H3><A name=irxp></A>How can I get the USB IR tower to work under Win XP?</H3>
+<P>There appear to be some timing related difficulties when using NQC with the
+USB tower under Windows XP.&nbsp; If you are having difficulty downloading
+programs, open the LEGO USB Tower control panel, select the Advanced Tab, and
+set the Read Timeout to 300 msec.&nbsp; This generally fixes the
+problem.<BR></P>
+<H3>
+<HR align=left>
+<A name=spirit></A>Why doesn't NQC use the Spirit OCX?</H3>
+<P>The Spirit OCX is only available on the PC. My personal preference is to use
+a Macintosh, so I needed to have a platform independent means for communicating
+with the RCX.</P>
+<H3>
+<HR align=left>
+<A name=vision></A>Does NQC Support Vision Command?</H3>
+<P>Vision command programs run in two places...all of the image processing
+software runs on the PC, then sends messages to a program running on the RCX.
+The messages that are sent are ordinary RCX messages, and by using Message() and
+ClearMessage(), NQC programs can respond to them. Mike Gasperi calls this "<A
+href="http://www.plazaearth.com/usr/gasperi/vcsensor.htm" target=_blank>Using
+Vision Command as a Smart Sensor</A>".</P>
+<P>Note that I have never tried this myself (Vision Command doesn't run on Mac),
+so I can't really help if things don't work as expected.</P>
+<H3>
+<HR align=left>
+</H3>
+<H3><A name=build></A>What computers/tools/etc do you use to develop NQC?</H3>
+<P>All of the NQC development takes place on my Macintosh PowerBook. I use
+Metrowerks CodeWarrior to write and debug the code as a Macintosh
+application.</P>
+<P>The Code Warrior project also has targets to build the MPW version of NQC as
+well as the Win32 version. Regression tests on the compiler are done on the PPC
+version of the MPW tool (via a couple of MPW scripts and a bunch of sample
+programs). Some minimal testing of the Win32 version is done from within Virtual
+PC - I just make sure that the build went fine and that the serial port works
+since that is really the only code custom to Win32.</P>
+<P>For the source release, I boot into Mac OS X, copy over the NQC source tree
+and build it (using make, gcc, etc). A simple test (again just to make sure the
+serial port code for Unix is working) is performed. I then use a shell script to
+create a source release tree, strip out any unwanted binaries, and package the
+entire thing up as a .tar.gz. Recently, I've also been packaging up a Mac OS X
+binary version.</P>
+<P>So there you have it...development for Mac, Windows, and Unix all done on my
+trusty PowerBook.</P>
+<P></P>
+<HR align=left>
+<TABLE height=24 cellSpacing=0 cellPadding=0 width="100%" border=0>
+  <TBODY>
+  <TR>
+    <TD width="50%" height=17>&nbsp;<A
+      href="http://www.baumfamily.org/nqc_old/doc/index.html"
+      target=_parent>[Home]</A></TD>
+    <TD align=right width="50%">&nbsp;<IMG height=31
+      src="NQC FAQ_soubory/contact.gif" width=128 align=bottom
+      naturalsizeflag="3"></TD></TR></TBODY></TABLE></BODY></HTML>

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 /roboti/istrobot/callis/datalog.txt
 ,0 → 1,67
+Variable 3: 0
+Variable 3: 5
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: -15
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: -6
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: -11
+Variable 3: 0
+Variable 3: 0
+Variable 3: -8
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 3
+Variable 3: 0
+Variable 3: -8
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: -10
+Variable 3: 0
+Variable 3: 0
+Variable 3: 3
+Variable 3: 0
+Variable 3: 0
+Variable 3: -16
+Variable 3: 0
+Variable 3: 0
+Variable 3: -17
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 0
+Variable 3: 7
+Variable 3: 1
+Variable 3: 0
+Variable 3: -3
+Variable 3: 0
+Variable 3: 0
+Variable 3: 6

 /roboti/istrobot/callis/ping.bak
 ,0 → 1,43
+/*
+ * Ping
+ * ====
+ * Adapted from a program by Dave Chen and Simen Svale Skogsrud
+ *
+ * This program assumes that the light sensor is on IN_2 and
+ * that it points in the same direction as the infrared connection
+ * on the robot. It beeps when the robot gets close to an obstacle.
+ * This is done by repeatedly sending IR messages. These cause a
+ * large fluctuation in light intensity.
+ *
+ * This is a nice mechanism to find a close by wall without bumping
+ * in to it.
+ */
+#define THRESHOLD 200    // Making this larger decreases the distance
+int lastlevel;
+task Ping()
+// Constantly test whether there is a high fluctuation
+{
+  SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > SENSOR_2)
+    {
+      // Close to something
+      PlaySound(1);
+      Wait(30);
+    }
+    lastlevel = SENSOR_2;
+    lastlevel -= THRESHOLD;
+  }
+}
+task main()
+{
+  start Ping;
+}

 /roboti/istrobot/callis/ping.nqc
 ,0 → 1,43
+/*
+ * Ping
+ * ====
+ * Adapted from a program by Dave Chen and Simen Svale Skogsrud
+ *
+ * This program assumes that the light sensor is on IN_2 and
+ * that it points in the same direction as the infrared connection
+ * on the robot. It beeps when the robot gets close to an obstacle.
+ * This is done by repeatedly sending IR messages. These cause a
+ * large fluctuation in light intensity.
+ *
+ * This is a nice mechanism to find a close by wall without bumping
+ * in to it.
+ */
+#define THRESHOLD 100    // Making this larger decreases the distance
+int lastlevel;
+task Ping()
+// Constantly test whether there is a high fluctuation
+{
+  SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > SENSOR_2)
+    {
+      // Close to something
+      PlaySound(1);
+      Wait(30);
+    }
+    lastlevel = SENSOR_2;
+    lastlevel -= THRESHOLD;
+  }
+}
+task main()
+{
+  start Ping;
+}

 /roboti/istrobot/callis/pokus.bak
 ,0 → 1,14
+#pragma reserve 0 3
+int n;
+task main()
+{
+     PlaySound(SOUND_DOUBLE_BEEP);
+     asm{0x14, 3, 2, 10, 0};   // setv 3, constant, 10
+     CreateDatalog(100);
+     while (true)
+     {
+        AddToDatalog(n);
+        SetUserDisplay(n++, 0);
+        Wait(100);
+     }
+}

 /roboti/istrobot/callis/pokus.nqc
 ,0 → 1,15
+#pragma reserve 0 3
+#define n  @3    // VAR 3
+task main()
+{
+     PlaySound(SOUND_DOUBLE_BEEP);
+//     asm{0x14, 3, 2, 10, 0};   // setv 3, constant, 10
+     CreateDatalog(100);
+     while (true)
+     {
+        AddToDatalog(n);
+        n=n+1;
+        SetUserDisplay(n, 0);
+        Wait(100);
+     }
+}

 /roboti/istrobot/callis/reset.nqc
 ,0 → 1,10
+task main()
+{
+     SetSensor (SENSOR_1, SENSOR_TOUCH);
+     SetSensor (SENSOR_2, SENSOR_TOUCH);
+     SetSensor (SENSOR_3, SENSOR_TOUCH);
+     Float (OUT_A);
+     Float (OUT_B);
+     Float (OUT_C);
+     StopAllTasks ();
+}

 /roboti/istrobot/callis/stopar_pravidla.htm
 ,0 → 1,9
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Frameset//EN">
+<!-- saved from url=(0032)http://www.robotika.sk/mains.htm -->
+<HTML><HEAD><TITLE>Slovenská verzia</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=iso-8859-2">
+<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD><FRAMESET border=0
+frameSpacing=0 frameBorder=0 cols=137,*><FRAME name=menu
+src="stopar_pravidla_soubory/menus.htm" frameBorder=0 noResize
+scrolling=no><FRAME name=telo src="stopar_pravidla_soubory/follower.htm"
+frameBorder=0 noResize></FRAMESET></HTML>

 /roboti/istrobot/callis/stopar_pravidla_soubory/follower.htm
 ,0 → 1,195
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0044)http://www.robotika.sk/contest/follower.html -->
+<HTML><HEAD><TITLE>Istrobot - pravidla: Stopar</TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250"><LINK
+title="Orange Style for Robots" href="follower_soubory/istrobot.css"
+type=text/css rel=StyleSheet>
+<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD>
+<BODY bgColor=white><FONT face=Helvetica,Arial size=-1>
+<P align=center>[<A
+href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
+href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
+href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [<A
+href="http://www.robotika.sk/contest/poradna.html">Poradòa</A>] [<A
+href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
+<P></P>
+<H1>Propozície kategórie Stopár</H1><IMG height=4 alt=""
+src="follower_soubory/bluelin.gif" width=500 align=top border=0>
+<P><BR>
+<P></P>
+<H3>Súaná úloha </H3>
+<P>Zostroji elektronicky riadeného autonómneho mobilného robota, ktorý prejde
+po urèenej dráhe a v&nbsp;èasovom limite do cie¾a. Smer a&nbsp;trasa je daná
+nama¾ovaným tmavým pruhom, na dráhe sú umiestnené rozlièné prekáky.
+<P>Toto zadanie prestavuje reálnu úlohu napríklad pre automatické skladové
+manipulátory a podobne.
+<P></P>
+<H3>Dráha</H3>Podklad dráhy bude svetlý (biely) s&nbsp;tmavou (èiernou) vodiacou
+èiarou írky 15+/-1&nbsp;mm. Celková dåka dráhy nepresiahne 20&nbsp;m. Materiál
+bude papier, drevo, linoleum alebo podobné materiály.
+<P>Najmení polomer oblúkov na trati bude 10&nbsp;cm. Celkové prevýenie
+nepresiahne 3&nbsp;cm, maximálne stúpanie a&nbsp;klesanie je 5%. Na dráhe,
+podobne ako v&nbsp;reálnom svete, sa môu vyskytova náhodné prekáky (preruená
+vodiaca èiara, prekáka na vodiacej èiare, zmena osvetlenia èiary a iné).
+<P>Úlohou robota nie je nájs správnu cestu (nebudú iadne kriovatky a
+odboèky), ale výhradne sledova nama¾ovanú èiaru. Na dráhe sa môe vyskytnú aj
+tunel s&nbsp;minimálnym prierezom 25x25&nbsp;cm. Dráha sa poèas súae nemení,
+take robot sa môe uèi a napr. rovné úseky pri ïalej jazde prechádza
+rýchlejie.
+<P>Robot vytartuje z&nbsp;kruhu o&nbsp;polomere 30&nbsp;cm oznaèeného nápisom
+TART, za ktorým nasleduje asi 50&nbsp;cm dlhý priamy úsek, na ktorom musí nájs
+stopu a nastavi sa na òu. Za týmto úsekom sa nachádza tartovacia èiara, po
+preruení svetelného lúèa (10&nbsp;mm nad povrchom dráhy) ¾ubovo¾nou èasou
+robota sa zaène mera èas.
+<P>Èasomiera sa zastaví po preruení podobného lúèa na konci dráhy.
+<P></P>
+<H3>Èinnos robota</H3>
+<P>Po umiestnení robota do tartovacieho kruhu a jeho zapnutí súaiaci nesmie
+do jeho èinnosti nijakým spôsobom zasahova. Robot musí by riadený výluène
+vstavanými elektronickými obvodmi.
+<P>Po prekroèení tartovacej èiary robot nesmie opusti dráhu vyznaèenú tmavou
+èiarou s výnimkou obchádzania prekáky. Pri pohybe nesmie zanecháva iadne
+stopy a znaèky. Na dráhe nesmie osta ani iadna jeho súèas.
+<P>Pri pokodení súanej dráhy je robot diskvalifikovaný.
+<P></P>
+<H3>Rozmery a ve¾kos robota</H3>
+<P>Rozmer robota nesmie v&nbsp;iadnom smere presiahnu 25cm. Uvedomte si aj
+obmedzenia dané tunelmi a polomermi oblúkov na dráhe.
+<P>Minimálne rozmery nie sú obmedzené. Hmotnos nie je obmedzená.
+<P></P>
+<H3>Kontrukcia a materiály</H3>
+<P>Na kontrukciu sa nekladú iadne obmedzenia. Jedinou poiadavkou je to, aby
+robot bol výrobkom súaiaceho (súaiacich). To nevyluèuje komerèné stavebnice
+(LEGO, Fischertechnik), iba hotové výrobky.
+<P></P>
+<H3>Senzorika</H3>
+<P>Nie sú kladené iadne obmedzenia na typ, poèet a rozmery pouitých snímaèov,
+ak neporuujú iné pravidlá.
+<P>Súaiaci nesmú poui iadne vonkajie pomôcky na zlepenie navigácie
+(nálepky, znaèky, zrkadielka,...)
+<P></P>
+<H3>Elektronika</H3>
+<P>iadna èas robota nesmie pracova s&nbsp;väèím napätím ako je 24V. Celková
+spotreba by nemala by viac ako 20A. Výnimky z&nbsp;tohto pravidla schva¾uje
+porota. Vetky riadiace obvody musia by súèasou robota, nie je moné riadi
+jeho pohyb napríklad z&nbsp;externého PC pripojeného èi u káblom, alebo
+bezdrôtovo.
+<P>Na pouité elektronické súèiastky nie je iadne obmedzenie.
+<P>Zdroje energie sú problém súaiacich.
+<P></P>
+<H3>Poradie úèastníkov a priebeh súae</H3>
+<P>Poradie súaiacich bude vylosované tesne pred súaou. Úèastníci musia
+absolvova predpísanú dráhu v&nbsp;poradí urèenom losovaním. Kadý súaiaci
+robot môe prejs dráhu trikrát vo vylosovanom poradí. Èas medzi pokusmi môe
+úèastník vyui na ¾ubovo¾né opravy a úpravy. Ak sa vak nedostaví do 1 minúty
+po výzve na tart, stráca právo absolvova pokus. V&nbsp;prípade, e sa prihlási
+ve¾a súaiacich, porota môe zníi poèet pokusov, prípadne vyhlási
+kvalifikaèné kolo.
+<P></P>
+<H3>Èasové limity</H3>
+<P>Na prejdenie dráhy je stanovený èasový limit 5 minút. Po piatich minútach sa
+meranie èasu zastaví a pokus sa zruí. Aj napriek tomuto handicapu vak nie je
+diskvalifikovaný. Zastavenie merania èasu nemá nijaký vplyv na ostatné pokusy.
+<P></P>
+<H3>Hodnotenie a ceny</H3>
+<P>Kadý prihlásený robot, ktorý prejde stanovenú dráhu, dostane diplom. Víazom
+sa stane robot s&nbsp;najniím dosiahnutým èasom zo vetkých pokusov. Okrem
+toho môe porota udeli cenu za najlepiu kontrukciu a najelegantnejiu
+kontrukciu (kapotá).
+<P></P>
+<H3>Diskvalifikácia</H3>
+<P>Vo veobecnosti platí, e pri kadom poruení pravidiel je robot zo súae
+vylúèený. To platí najmä v týchto situáciach:
+<UL>
+  <LI>nebezpeèné správanie, ohrozenie bezpeènosti,
+  <LI>pokodenie dráhy,
+  <LI>ak sa robot poèas jazdy rozpadne. </LI></UL>
+<P></P>
+<H3>Bezpeènos</H3>
+<P>Tri zákony robotiky:
+<OL type=1>
+  <P>
+  <LI><B>Robot nesmie ublíi èloveku</B> alebo svojou neèinnosou dopusti, aby
+  bolo èloveku ublíené.
+  <LI><B>Robot musí poslúchnu príkaz èloveka</B>, s&nbsp;výnimkou prípadov, keï
+  je taký príkaz v&nbsp;rozpore s&nbsp;prvým zákonom.
+  <LI><B>Robot musí chráni sám seba pred znièením</B>, s&nbsp;výnimkou
+  prípadov, keï je to v&nbsp;rozpore s&nbsp;prvým a druhým zákonom. </LI></OL>
+<P>
+<DIV align=right><EM>Isaac Asimov: The Complete Robot, Nightfall Inc.,
+.</EM> </DIV>
+<P>V&nbsp;prípade, e zariadenie nebude spåòa základné bezpeènostné predpisy,
+porota ho nesmie pripusti k&nbsp;súai a nesmie dovoli jeho prevádzkovanie.
+<P>Kadý robot, ktorý by mohol ohrozi úèastníkov, divákov, alebo zariadenie,
+bude vypnutý.
+<P>
+<P><BR>
+<P><BR></P>
+<H3>Klimatické podmienky</H3>
+<P>Súa bude prebieha v bených klimatických podmienkach (T = 270 -
+&nbsp;K, <I>p</I> = 90 - 120&nbsp;kPa, 0 - 90% RH).
+<P>Skutoènú úroveò osvetlenia scény nie je moné vopred urèi. Pred súaou bude
+vyhradený èas, ktorý môu súaiaci vyui na optimálne nastavenie citlivosti
+snímaèov. Organizátor nemôe zaruèi, e diváci nebudú vrha na dráhu tiene.
+<P>Upozornenie: Kontruktéri si musia uvedomi, e moderné filmové a
+fotografické prístroje pouívajú zábleskové zariadenia a infraèervené vysielaèe
+na zaostrovanie. Pretoe priebeh súae bude zaznamenávaný, pri kontrukcii
+treba poèíta aj s takýmito poruchovými signálmi.
+<P></P>
+<H3>Dokumentácia</H3>
+<P>Kadý súaiaci musí odovzda pred súaou dokumetáciu popisujúcu
+elektroniku, kotrukciu a riadiaci algoritmus. Najlepia forma je <TT>html</TT>,
+organizátor poskytne priestor na jej uverejnenie na svojom serveri.
+<P></P>
+<H3>Porota</H3>
+<P>Nad priebehom súae a dodriavaním pravidiel bdie porota.
+<P>Porota je najmenej trojèlenná, skladá sa zo zástupcov fakulty, tudentov a
+sponzorov.
+<P>Výroky poroty sú záväzné vo vetkých sporných bodoch i v&nbsp;otázkach
+výkladu pravidiel.
+<P></P>
+<H3>Kedy a kde?</H3>
+<P>Súa bude prebieha v&nbsp;priestoroch Fakulty elektrotechniky a informatiky
+na Ilkovièovej 3 v&nbsp;Bratislave 23. apríla 2003. Úèastníci budú ma monos
+otestova dráhu (pravdae nie jej súaný tvar) v stanovených termínoch a deò
+pred súaou.
+<P></P>
+<H3>Podpora úèastníkov</H3>
+<P>Organizátor (KAR) umoní prihláseným úèastníkom pracova na zariadeniach KAR
+a pod¾a monosti ich bude pri kontrukcii podporova. Pracovníci katedry
+prispejú odbornými radami, oddelenie AP poskytne vývojové prostriedky pre
+procesory radu 8051.
+<P>Súa môe by doplnená ukákami profesionálnych robotov, prípadne
+demontráciami sponzorujúcich firiem.
+<P></P>
+<H3>Registrácia a prihláky</H3>
+<P>Súae sa môu zúèastni jednotlivci a tímy (max. 5-èlenné) bez oh¾adu na vek
+èi zamestnanie.
+<P>Predbenú prihláku treba posla najneskôr do 1.&nbsp;februára 2003 na adresu
+Ing. Richard BALOGH, Katedra automatizácie a regulácie, FEI STU,
+Ilkovièova&nbsp;3, 812 19&nbsp;Bratislava, e-mail: <A
+href="mailto:balogh@elf.stuba.sk"><TT>balogh@elf.stuba.sk</TT></A>, tel. +421 -
+- 602 91 411. Prihlási sa je moné aj pomocou formulára na www stránke
+<P align=center><A
+href="http://www.robotika.sk/contest/pravidla.html#prihlaska"><TT>http://www.robotika.sk/</TT></A>
+<P>Tam nájdete aj pravidlá, kontrukèné návody, rady, inpiraèné obrázky a
+odkazy na podobné súae vo svete.
+<P>Akáko¾vek pripomienka a podpora je vítaná. <A
+href="http://www.robotika.sk/contest/pravidla.html#prihlaska"></P>
+<H3>Prihláka...</H3></A>
+<P><BR></FONT>
+<P align=center>[<A
+href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
+href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
+href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [<A
+href="http://www.robotika.sk/contest/poradna.html">Poradòa</A>] [<A
+href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
+<P><BR>
+<P>
+<HR>
+<P align=center><FONT size=-2>© 2002 Katedra automatizácie a regulácie FEI
+STU<BR>Ilkovièova 3, 812 19 Bratislava <BR>Posledná zmena: 19. septembra
+.<BR>Zodpovedný èlovek: <I><A href="mailto:balogh@elf.stuba.sk">Richard
+Balogh</A></I>. </FONT></P></BODY></HTML>

/roboti/istrobot/callis/stopar_pravidla_soubory/follower_soubory/bluelin.gif
Cannot display: file marked as a binary type.
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 /roboti/istrobot/callis/stopar_pravidla_soubory/follower_soubory/istrobot.css
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+BODY {
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+A:link {
+        FONT-WEIGHT: bold; COLOR: #ff8c1d; TEXT-DECORATION: none
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+A:visited {
+        FONT-WEIGHT: bold; COLOR: #ff8c3d; TEXT-DECORATION: none
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+A:hover {
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+A:active {
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+}
+H1 {
+        FONT-WEIGHT: normal; FONT-SIZE: 3em; WIDTH: 80%; BORDER-BOTTOM: #ffd700 thin solid; FONT-STYLE: normal; FONT-VARIANT: normal
+}
+H2 {
+        FONT-WEIGHT: normal; FONT-SIZE: 2em; WIDTH: 65%; COLOR: black; BORDER-BOTTOM: #ffd700 thin solid; FONT-STYLE: normal; FONT-VARIANT: normal
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+H3 {
+        FONT-WEIGHT: normal; FONT-SIZE: 1.5em; WIDTH: 50%; COLOR: black; BORDER-BOTTOM: #ffd700 thin solid; FONT-STYLE: normal; FONT-VARIANT: normal
+}

 /roboti/istrobot/callis/stopar_pravidla_soubory/menus.htm
 ,0 → 1,99
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
+<!-- saved from url=(0032)http://www.robotika.sk/menus.htm -->
+<HTML><HEAD><TITLE></TITLE>
+<META http-equiv=Content-Type content="text/html; charset=windows-1250">
+<META content="MSHTML 6.00.2800.1400" name=GENERATOR>
+<SCRIPT language=JavaScript>
+<!--
+function fwLoadMenus() {
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+    <TD><A onmouseover="window.status='';return true"
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+  <TR>
+    <TD><A onmouseover="window.status='';return true"
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+  <TR>
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+      href="http://www.robotika.sk/projects/projekty.htm" target=telo><IMG
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+    border=0></A></TD></TR><!-- Publikacie v menu su disabled
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+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/holls/2003/index.html" target=telo><IMG
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+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/contest/index.html" target=telo><IMG
+      height=40 alt=Sutaz src="menus_soubory/menu_r2_c1.gif" width=135
+      border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/forum/messageboard.php" target=telo><IMG
+      height=40 alt="Diskusné fórum" src="menus_soubory/forum.jpg" width=135
+      border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/kontakt.htm" target=telo><IMG height=40
+      alt=Kontakt src="menus_soubory/kon.jpg" width=135 border=0></A></TD></TR>
+  <TR>
+    <TD><A onmouseover="window.status='';return true"
+      href="http://www.robotika.sk/linky.htm" target=telo><IMG height=40
+      alt="Zaujímavé adresy" src="menus_soubory/lin.jpg" width=135
+    border=0></A></TD></TR>
+  <TR>
+    <TD><IMG height=15 alt="" src="menus_soubory/fuga.jpg" width=135
+    border=0></TD></TR>
+  <TR>
+    <TD><A
+      onmouseover="inactive.src=active.src; window.status='English version';return true"
+      onmouseout="inactive.src='enverof.jpg'; window.status=''"
+      href="http://www.robotika.sk/maine.htm" target=_parent><IMG height=80
+      alt="" src="menus_soubory/enverof.jpg" width=135 border=0
+      name=inactive></A></TD></TR></TBODY></TABLE></BODY></HTML>

/roboti/istrobot/callis/stopar_pravidla_soubory/menus_soubory/enverof.jpg
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 /roboti/istrobot/callis/sumo.bak
 ,0 → 1,60
+#define THRESHOLD 44
+#define POJEZD    OUT_A
+#define VYHAZ     OUT_C
+task main()
+{
+  Wait(500); // 5s
+  SetSensor(SENSOR_2,SENSOR_LIGHT);   // senzor na caru
+  SetSensor(SENSOR_3, SENSOR_TOUCH);  // poloha vyhazovadla
+  SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
+  while (true)
+  {
+   PlaySound (SOUND_CLICK);
+   start k_care;
+   Wait(1000); // 10s
+   stop utok;
+   stop k_care;
+   stop bumper;
+  }
+}
+task k_care()
+{
+  SetPower (POJEZD,OUT_HALF/2);
+  OnFwd (POJEZD);                  // dojezd k care
+  while (SENSOR_2 > THRESHOLD);
+  Off(POJEZD);
+  OnRev (POJEZD);
+  SetPower (POJEZD,OUT_FULL);
+  OnFor (POJEZD, 30);
+  PlaySound (SOUND_LOW_BEEP);
+  start utok;
+  start bumper;
+}
+task utok()
+{
+  ClearSensor (SENSOR_3);
+  while (SENSOR_2 > THRESHOLD);    // jed, kdyz nas neco dotlaci k care
+  stop bumper;
+  SetPower (POJEZD+VYHAZ,OUT_FULL);
+  OnRev (POJEZD);
+  OnFwd(VYHAZ);
+  while (0 == SENSOR_3);
+  Off(VYHAZ);
+  Off(POJEZD);
+  start k_care;
+}
+task bumper()
+{
+  Float(VYHAZ);
+  ClearSensor (SENSOR_3);
+  while (0 == SENSOR_3);
+  OnRev(VYHAZ+POJEZD);
+  Wait(50);
+  Off(VYHAZ+POJEZD);
+}

 /roboti/istrobot/callis/sumo.nqc
 ,0 → 1,60
+#define THRESHOLD 44
+#define POJEZD    OUT_A
+#define VYHAZ     OUT_C
+task main()
+{
+  Wait(500); // 5s
+  SetSensor(SENSOR_2,SENSOR_LIGHT);   // senzor na caru
+  SetSensor(SENSOR_3, SENSOR_TOUCH);  // poloha vyhazovadla
+  SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
+  while (true)
+  {
+   PlaySound (SOUND_CLICK);
+   start k_care;
+   Wait(1000); // 10s
+   stop utok;
+   stop k_care;
+   stop bumper;
+  }
+}
+task k_care()
+{
+  SetPower (POJEZD,OUT_HALF/2);
+  OnFwd (POJEZD);                  // dojezd k care
+  while (SENSOR_2 > THRESHOLD);
+  Off(POJEZD);
+  OnRev (POJEZD);
+  SetPower (POJEZD,OUT_FULL);
+  OnFor (POJEZD, 30);
+  PlaySound (SOUND_LOW_BEEP);
+  start utok;
+  start bumper;
+}
+task utok()
+{
+  ClearSensor (SENSOR_3);
+  while (SENSOR_2 > THRESHOLD);    // jed, kdyz nas neco dotlaci k care
+  stop bumper;
+  SetPower (POJEZD+VYHAZ,OUT_FULL);
+  OnRev (POJEZD);
+  OnFwd(VYHAZ);
+  while (0 == SENSOR_3);
+  Off(VYHAZ);
+  Off(POJEZD);
+  start k_care;
+}
+task bumper()
+{
+  Float(VYHAZ);
+  ClearSensor (SENSOR_3);
+  while (0 == SENSOR_3);           // jed, kdyz nekdo narazi do vyhazovace
+  OnRev(VYHAZ+POJEZD);
+  Wait(50);
+  Off(VYHAZ+POJEZD);
+}

 /roboti/istrobot/callis/sumo2.bak
 ,0 → 1,98
+#define THRESHOLD  44
+#define POJEZD     OUT_B
+#define VYHAZ      OUT_C
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(SENSOR_1,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(SENSOR_2,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(SENSOR_3, SENSOR_TOUCH);  // poloha vyhazovadla
+  SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
+  while (true)
+  {
+   // kazdych 10s dojed k care a zpet do vyckavaci pozice
+   PlaySound (SOUND_CLICK);
+   start k_care;
+   Wait(1000); // 10s
+   stop k_care;
+   stop radar;
+   stop cara;
+  }
+}
+// udrazeni soupere, pokud drcnul do radaru nebo nas natlacil na caru
+task utok()
+{
+  stop radar;
+  stop cara;
+  PlaySound (SOUND_FAST_UP);
+  SetPower (POJEZD+VYHAZ,OUT_FULL);        // plnou parou vpred
+  OnFwd(POJEZD);
+  OnRev(VYHAZ);
+  ClearSensor (SENSOR_3);
+// tlac, dokud se radar 2x neotoci nebo je jeste videt cara
+  while ( (2 > SENSOR_3) || (SENSOR_2 > THRESHOLD) );
+  Off(VYHAZ);
+  Off(POJEZD);
+  start k_care;          // po odrazeni soupere se vrat do vyckavaci pozice
+  stop utok;
+}
+task k_care()  // najed do vyckavaci pozice
+{
+  SetPower (POJEZD,OUT_FULL);
+  OnRev (POJEZD);                  // dojezd k care
+  while (SENSOR_2 < THRESHOLD);
+  OnFwd (POJEZD);
+  SetPower (POJEZD,OUT_FULL);
+  OnFor (POJEZD, 30);              // popojed kus od cary
+  PlaySound (SOUND_DOUBLE_BEEP);
+  start radar;
+  start cara;
+  start cara2;
+  stop k_care;
+}
+task cara() // hlidani natlaceni na caru
+{
+  while (SENSOR_2 < THRESHOLD); // utoc, kdyz nas neco dotlaci k care
+  start utok;
+}
+task radar()   // hlidani najeti do prostoru vyhazovace
+{
+  OnFwd(VYHAZ);                    // roztoceni radaru
+  SetPower (VYHAZ,OUT_FULL);
+  OnFor(VYHAZ,50);
+  SetPower (VYHAZ,OUT_LOW);        // snizeni vykonu po roztoceni
+  while (true)
+  {
+    ClearSensor (SENSOR_3);
+    OnFwd(VYHAZ);                  // stouchni do radaru na 400ms
+    Wait(40);
+    Float(VYHAZ);                  // volnobeh
+    ClearTimer (0);
+    while (0 == SENSOR_3) // testuje se, zda se do 700ms radar otoci
+    {
+      if (Timer (0) > 7) start utok; // utoc, pokud je zablokovan radar
+    }
+  }
+}
+task cara2()    // hlidani cary ze strany "radaru"
+{
+   while (SENSOR_1 > THRESHOLD);    // cekej na caru
+   stop radar;     // vsechno zastav
+   stop cara;
+   stop k_care;
+   stop utok;
+   Off(POJEZD);
+   Off(VYHAZ);
+   start k_care;   // snaz se dojet k care na druhe strane
+   stop cara2;
+}

 /roboti/istrobot/callis/sumo2.nqc
 ,0 → 1,98
+#define THRESHOLD  44
+#define POJEZD     OUT_B
+#define VYHAZ      OUT_C
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(SENSOR_1,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(SENSOR_2,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(SENSOR_3, SENSOR_TOUCH);  // poloha vyhazovadla
+  SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
+  while (true)
+  {
+   // kazdych 10s dojed k care a zpet do vyckavaci pozice
+   PlaySound (SOUND_CLICK);
+   start k_care;
+   Wait(1000); // 10s
+   stop k_care;
+   stop radar;
+   stop cara;
+  }
+}
+// udrazeni soupere, pokud drcnul do radaru nebo nas natlacil na caru
+task utok()
+{
+  stop radar;
+  stop cara;
+  PlaySound (SOUND_FAST_UP);
+  SetPower (POJEZD+VYHAZ,OUT_FULL);        // plnou parou vpred
+  OnFwd(POJEZD);
+  OnRev(VYHAZ);
+  ClearSensor (SENSOR_3);
+// tlac, dokud se radar 2x neotoci nebo je jeste videt cara
+  while ( (2 > SENSOR_3) || (SENSOR_2 > THRESHOLD) );
+  Off(VYHAZ);
+  Off(POJEZD);
+  start k_care;          // po odrazeni soupere se vrat do vyckavaci pozice
+  stop utok;
+}
+task k_care()  // najed do vyckavaci pozice
+{
+  SetPower (POJEZD,OUT_FULL);
+  OnRev (POJEZD);                  // dojezd k care
+  while (SENSOR_2 < THRESHOLD);
+  OnFwd (POJEZD);
+  SetPower (POJEZD,OUT_FULL);
+  OnFor (POJEZD, 50);              // popojed kus od cary
+  PlaySound (SOUND_DOUBLE_BEEP);
+  start radar;
+  start cara;
+  start cara2;
+  stop k_care;
+}
+task cara() // hlidani natlaceni na caru
+{
+  while (SENSOR_2 < THRESHOLD); // utoc, kdyz nas neco dotlaci k care
+  start utok;
+}
+task radar()   // hlidani najeti do prostoru vyhazovace
+{
+  OnFwd(VYHAZ);                    // roztoceni radaru
+  SetPower (VYHAZ,OUT_FULL);
+  OnFor(VYHAZ,50);
+  SetPower (VYHAZ,OUT_LOW);        // snizeni vykonu po roztoceni
+  while (true)
+  {
+    ClearSensor (SENSOR_3);
+    OnFwd(VYHAZ);                  // stouchni do radaru na 400ms
+    Wait(40);
+    Float(VYHAZ);                  // volnobeh
+    ClearTimer (0);
+    while (0 == SENSOR_3) // testuje se, zda se do 700ms radar otoci
+    {
+      if (Timer (0) > 7) start utok; // utoc, pokud je zablokovan radar
+    }
+  }
+}
+task cara2()    // hlidani cary ze strany "radaru"
+{
+   while (SENSOR_1 > THRESHOLD);    // cekej na caru
+   stop radar;     // vsechno zastav
+   stop cara;
+   stop k_care;
+   stop utok;
+   Off(POJEZD);
+   Off(VYHAZ);
+   start k_care;   // snaz se dojet k care na druhe strane
+   stop cara2;
+}

 /roboti/istrobot/callis/sumo_bumper.bak
 ,0 → 1,152
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_3
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_1
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(50);
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(50);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+  start blue_bumper;
+  start cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Obrat()
+{
+  OnRev (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(150);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(1))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(50);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(50);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(70);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(70);
+     break;
+  }
+}
+task blue_bumper() // naraznik na modre strane
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      stop stochastika;
+      PlaySound (SOUND_FAST_UP);
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cervena() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > SENSOR_2)
+    {
+      // Close to something
+      PlaySound(SOUND_FAST_UP);
+      stop stochastika;
+      Obrat();
+      start stochastika;
+    }
+    lastlevel = SENSOR_2;
+    lastlevel -= THRESHOLD;
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        stop stochastika;
+        GoRed();
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_bumper.nqc
 ,0 → 1,153
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_3
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_1
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(50);
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(50);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+  start blue_bumper;
+  start cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Obrat()
+{
+  OnRev (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(150);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(1))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(50);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(50);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(70);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(70);
+     break;
+  }
+}
+task blue_bumper() // naraznik na modre strane
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      stop stochastika;
+      PlaySound (SOUND_FAST_UP);
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cervena() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > SENSOR_2)
+    {
+      // Close to something
+      PlaySound(SOUND_FAST_UP);
+      stop stochastika;
+      Obrat();
+      Wait(50);
+      start stochastika;
+    }
+    lastlevel = SENSOR_2;
+    lastlevel -= THRESHOLD;
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        stop stochastika;
+        GoRed();
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_kaklik.nqc
 ,0 → 1,158
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_3
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_1
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(20);
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(70);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+  start blue_bumper;
+  start cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Obrat()
+{
+  OnRev (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(125);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(1))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(50);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(50);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(70);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(70);
+     break;
+  }
+}
+task blue_bumper() // naraznik na modre strane
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      stop stochastika;
+      PlaySound (SOUND_FAST_UP);
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cervena() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > SENSOR_2)
+    {
+      // Close to something
+      PlaySound(SOUND_FAST_UP);
+      stop stochastika;
+      OnRev (MLEFT);
+      OnRev (MRIGHT);
+      Wait(10);              // popojed kus
+      Off(MLEFT);
+      Off(MRIGHT);
+      Obrat();
+      Wait(50);
+      start stochastika;
+    }
+    lastlevel = SENSOR_2;
+    lastlevel -= THRESHOLD;
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        stop stochastika;
+        GoRed();
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_kaklik2.bak
 ,0 → 1,158
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_3
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_1
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(20);
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(70);
+  Off(MLEFT);
+  Off(MRIGHT);
+  start blue_bumper;
+  start cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()        // nahodne otaceni
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Obrat()
+{
+  OnRev (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(125);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(1))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(50);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(50);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(70);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(70);
+     break;
+  }
+}
+task blue_bumper() // naraznik na modre strane
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      stop stochastika;
+      PlaySound (SOUND_FAST_UP);
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cervena() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > SENSOR_2)
+    {
+      PlaySound(SOUND_FAST_UP);
+      stop stochastika;
+      OnRev (MLEFT);
+      OnRev (MRIGHT);
+      Wait(10);              // popojed kus
+      Off(MLEFT);
+      Off(MRIGHT);
+      Obrat();
+      GoBlue();
+      start stochastika;
+    }
+    lastlevel = SENSOR_2;
+    lastlevel -= THRESHOLD;
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        stop stochastika;
+        stop cervena;
+        GoRed();
+        start cervena;
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_kaklik2.nqc
 ,0 → 1,161
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_3
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_1
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  SetTxPower(TX_POWER_HI);    // aby daleko videl
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(20);
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(70);
+  Off(MLEFT);
+  Off(MRIGHT);
+  Wait(20);  // pockej na ustaleni narazniku
+  // rozjed tasky
+  start blue_bumper;
+  start cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()        // nahodne otaceni
+{
+  while(true) Zatoc();
+}
+void GoBlue()       // pojezd ve smeru modreho senzoru
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()         // pojezd ve smeru cerveneho senzoru
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Obrat()         // obrat o 180 stupnu
+{
+  OnRev (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(125);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()  // nahodne zatoceni, nebo popojeti
+{
+  switch (Random(1))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(50);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(50);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(70);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(70);
+     break;
+  }
+}
+task blue_bumper() // naraznik na modre strane
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      stop stochastika;
+      PlaySound (SOUND_FAST_UP);
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cervena() // dalkovy sensor
+{
+  int lastlevel;
+  lastlevel = 0;
+  while(true)
+  {
+    SendMessage(0);
+    if(lastlevel > SENSOR_2)
+    {
+      PlaySound(SOUND_FAST_UP);
+      stop stochastika;
+      OnRev (MLEFT);
+      OnRev (MRIGHT);
+      Wait(10);              // popojed kus
+      Off(MLEFT);
+      Off(MRIGHT);
+      Obrat();
+      GoBlue();
+      start stochastika;
+    }
+    lastlevel = SENSOR_2;
+    lastlevel -= THRESHOLD;
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        stop stochastika;
+        stop cervena;
+        GoRed();
+        start cervena;
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_zataceci.bak
 ,0 → 1,160
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_1
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_3
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  k_care();
+  start red_bumper;
+  start blue_bumper;
+  start cara_cervena;
+  start cara_modra;
+  semafor = false;
+  ClearTimer (0);
+  start stochastika;
+}
+task stochastika()
+{
+   while (true)
+   {
+     Wait(500);
+     if (semafor) start blue_bumper;
+     PlaySound (SOUND_CLICK);
+     OnFwd (MLEFT);                  // dojezd k care
+     OnFwd (MRIGHT);                 // dojezd k care
+     while (BLUE > THRESHOLD);
+     GoRed();
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(100);              // popojed kus
+     Zatoc();
+     ClearTimer (0);
+   }
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(2))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+  }
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void k_care()  // najed do vyckavaci pozice
+{
+  OnFwd (MLEFT);                  // dojezd k care
+  OnFwd (MRIGHT);                  // dojezd k care
+  while (BLUE > THRESHOLD);
+  GoRed();
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+task red_bumper()
+{
+  while(true)
+  {
+    while (100 != RED); // utoc, kdyz neco narazi do narazniku
+    PlaySound (SOUND_FAST_UP);
+    stop stochastika;
+    Zatoc();
+    start stochastika;
+    if (semafor) start blue_bumper;
+  }
+}
+task blue_bumper()
+{
+    semafor = false;
+    while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku
+    PlaySound (SOUND_FAST_UP);
+    OnFwd (MLEFT);
+    OnFwd (MRIGHT);
+    semafor = true;
+}
+task cara_cervena() // hlidani natlaceni na caru
+{
+  while(true)
+  {
+    while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care
+    Wait(2);        // kontrola za 20ms, aby se to nespletlo s naraznikem
+    if (RED > THRESHOLD && RED < RED_WHITE)
+    {
+      PlaySound (SOUND_DOUBLE_BEEP);
+      GoBlue();
+    }
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     while (BLUE > THRESHOLD);    // cekej na caru
+     stop cara_cervena;
+     PlaySound (SOUND_DOUBLE_BEEP);
+     GoRed();
+     if (semafor) start blue_bumper;
+     start cara_cervena;
+  }
+}

 /roboti/istrobot/callis/sumo_zataceci.nqc
 ,0 → 1,165
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_1
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_3
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+//  k_care();
+  OnFwd (MLEFT);                  // dojezd k care
+  OnFwd (MRIGHT);                  // dojezd k care
+  Wait(50);
+  GoRed();
+  start red_bumper;
+  start blue_bumper;
+  start cara_cervena;
+  start cara_modra;
+  semafor = false;
+  ClearTimer (0);
+  start stochastika;
+}
+task stochastika()
+{
+   while (true)
+   {
+     Wait(500);
+     if (semafor) start blue_bumper;
+     PlaySound (SOUND_CLICK);
+     OnFwd (MLEFT);                  // dojezd k care
+     OnFwd (MRIGHT);                 // dojezd k care
+     while (BLUE > THRESHOLD);
+     GoRed();
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(100);              // popojed kus
+     Zatoc();
+     ClearTimer (0);
+   }
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(2))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+  }
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void k_care()  // najed do vyckavaci pozice
+{
+  OnFwd (MLEFT);                  // dojezd k care
+  OnFwd (MRIGHT);                  // dojezd k care
+  while (BLUE > THRESHOLD);
+  GoRed();
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+task red_bumper()
+{
+  while(true)
+  {
+    while (100 != RED); // utoc, kdyz neco narazi do narazniku
+    PlaySound (SOUND_FAST_UP);
+    stop stochastika;
+    GoRed();
+//!!!    Zatoc();
+    start stochastika;
+    if (semafor) start blue_bumper;
+  }
+}
+task blue_bumper()
+{
+    semafor = false;
+    while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku
+    PlaySound (SOUND_FAST_UP);
+    OnFwd (MLEFT);
+    OnFwd (MRIGHT);
+    semafor = true;
+}
+task cara_cervena() // hlidani natlaceni na caru
+{
+  while(true)
+  {
+    while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care
+    Wait(2);        // kontrola za 20ms, aby se to nespletlo s naraznikem
+    if (RED > THRESHOLD && RED < RED_WHITE)
+    {
+      PlaySound (SOUND_DOUBLE_BEEP);
+      GoBlue();
+    }
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     while (BLUE > THRESHOLD);    // cekej na caru
+     stop cara_cervena;
+     PlaySound (SOUND_DOUBLE_BEEP);
+     GoRed();
+     if (semafor) start blue_bumper;
+     start cara_cervena;
+  }
+}

 /roboti/istrobot/callis/sumo_zataceci2.bak
 ,0 → 1,164
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_1
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_3
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(50);
+  GoRed();
+  start red_bumper;
+  start blue_bumper;
+  start cara_cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(3))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(200);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(200);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(20);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(20);
+     break;
+  }
+}
+void k_care()  // najed do vyckavaci pozice
+{
+  OnFwd (MLEFT);                  // dojezd k care
+  OnFwd (MRIGHT);                  // dojezd k care
+  while (BLUE > THRESHOLD);
+  GoRed();
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+task red_bumper()
+{
+  while(true)
+  {
+    if (100 == RED) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnRev (MLEFT);
+      OnRev (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task blue_bumper()
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cara_cervena() // hlidani natlaceni na caru
+{
+  while(true)
+  {
+    if ((RED > THRESHOLD) && (RED < RED_WHITE))
+    {
+      Wait(2);
+      if ((RED > THRESHOLD) && (RED < RED_WHITE))
+      {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop red_bumper;
+        GoBlue();
+        start red_bumper;
+        start stochastika;
+      }
+    }
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        GoRed();
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_zataceci2.nqc
 ,0 → 1,151
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_1
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_3
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(50);
+  GoRed();
+  start red_bumper;
+  start blue_bumper;
+  start cara_cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(3))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(200);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(200);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(20);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(20);
+     break;
+  }
+}
+task red_bumper()
+{
+  while(true)
+  {
+    if (100 == RED) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnRev (MLEFT);
+      OnRev (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task blue_bumper()
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cara_cervena() // hlidani natlaceni na caru
+{
+  while(true)
+  {
+    if ((RED > THRESHOLD) && (RED < RED_WHITE))
+    {
+      Wait(2);
+      if ((RED > THRESHOLD) && (RED < RED_WHITE))
+      {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop red_bumper;
+        GoBlue();
+        start red_bumper;
+        start stochastika;
+      }
+    }
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        GoRed();
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_zataceci3.bak
 ,0 → 1,155
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_1
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_3
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(50);
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+  start red_bumper;
+  start blue_bumper;
+  start cara_cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(3))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(20);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(20);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(200);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(200);
+     break;
+  }
+}
+task red_bumper()
+{
+  while(true)
+  {
+    if (100 == RED) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnRev (MLEFT);
+      OnRev (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task blue_bumper()
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cara_cervena() // hlidani natlaceni na caru
+{
+  while(true)
+  {
+    if ((RED > THRESHOLD) && (RED < RED_WHITE))
+    {
+      Wait(2);
+      if ((RED > THRESHOLD) && (RED < RED_WHITE))
+      {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop red_bumper;
+        GoBlue();
+        start red_bumper;
+        start stochastika;
+      }
+    }
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        GoRed();
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

 /roboti/istrobot/callis/sumo_zataceci3.nqc
 ,0 → 1,155
+#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
+#define RED_WHITE  60     // maximum bile na cervenem senzoru
+#define MLEFT     OUT_A
+#define MRIGHT    OUT_C
+#define BLUE      SENSOR_1
+#define RED       SENSOR_2
+#define BBUMPER   SENSOR_3
+#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
+int semafor;
+task main()
+{
+  PlaySound (SOUND_DOUBLE_BEEP);
+  Wait(500); // 5s podle pravidel
+  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
+  SetSensor(RED,SENSOR_LIGHT);   // senzor na caru cerveny
+  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
+  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
+  SetPower (MLEFT,OUT_FULL);
+  SetPower (MRIGHT,OUT_FULL);
+  SetDirection(MLEFT, OUT_FWD);
+  SetDirection(MRIGHT, OUT_FWD);
+  OnFwd (MLEFT);         // cuknuti na shozeni radlic
+  OnFwd (MRIGHT);
+  Wait(50);
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(100);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+  start red_bumper;
+  start blue_bumper;
+  start cara_cervena;
+  start cara_modra;
+  start stochastika;
+}
+task stochastika()
+{
+  while(true) Zatoc();
+}
+void GoBlue()
+{
+  OnFwd (MLEFT);
+  OnFwd (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void GoRed()
+{
+  OnRev (MLEFT);
+  OnRev (MRIGHT);
+  Wait(300);              // popojed kus
+  Off(MLEFT);
+  Off(MRIGHT);
+}
+void Zatoc()
+{
+  switch (Random(3))
+  {
+    case 0:
+     OnRev (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(20);
+     break;
+    case 1:
+     OnFwd (MLEFT);
+     OnRev (MRIGHT);
+     Wait(20);
+     break;
+    case 2:
+     OnRev (MLEFT);
+     OnRev (MRIGHT);
+     Wait(70);
+     break;
+    case 3:
+     OnFwd (MLEFT);
+     OnFwd (MRIGHT);
+     Wait(70);
+     break;
+  }
+}
+task red_bumper()
+{
+  while(true)
+  {
+    if (100 == RED) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnRev (MLEFT);
+      OnRev (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task blue_bumper()
+{
+  while(true)
+  {
+    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
+    {
+      PlaySound (SOUND_FAST_UP);
+      stop stochastika;
+      OnFwd (MLEFT);
+      OnFwd (MRIGHT);
+      Wait(50);
+    }
+  }
+}
+task cara_cervena() // hlidani natlaceni na caru
+{
+  while(true)
+  {
+    if ((RED > THRESHOLD) && (RED < RED_WHITE))
+    {
+      Wait(2);
+      if ((RED > THRESHOLD) && (RED < RED_WHITE))
+      {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop red_bumper;
+        GoBlue();
+        start red_bumper;
+        start stochastika;
+      }
+    }
+  }
+}
+task cara_modra()    // hlidani cary
+{
+  while(true)
+  {
+     if (BLUE < THRESHOLD)    // cekej na caru
+     {
+        PlaySound (SOUND_DOUBLE_BEEP);
+        stop blue_bumper;
+        GoRed();
+        start blue_bumper;
+        start stochastika;
+     }
+  }
+}

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/roboti/istrobot/callis/vssver.scc
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