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Ignore whitespace Rev 245 → Rev 246

/roboti/istrobot/camerus/SW/876/camerus.c
10,11 → 10,12
#define RR_CIHLA 30 // Rozumna rychlost pro objizdeni cihly
#define RR_PRERUSENI 20 // Rozumna rychlost pro priblizeni se k preruseni
#define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit
#define ODODO1 0x37
#define ODODO2 0x5E
#define ODODO1 0x37
#define ODODO2 0x5E
 
// Adresy IIC periferii
#define CAMERA_ADR 0xC0
#define COMPAS_ADR 0xC0
#define CAMERA_ADR 0xDC
#define SONAR_ADR 0xE0
 
// A/D vstupy
212,6 → 213,8
#int_EXT
EXT_isr() // Preruseni od prekazky
{
int8 bearing, bearing_offset, delta_bearing;
set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni
set_pwm2_duty(0);
output_high(MOT_L);
226,7 → 229,17
return;
};
output_low(IRTX); // Zapni LED na detekci prekazky
delay_ms(10);
 
i2c_start(); // Cteni kompasu
i2c_write(COMPAS_ADR);
i2c_write(0x1);
i2c_stop();
i2c_start();
i2c_write(COMPAS_ADR+1);
bearing_offset=i2c_read(0);
i2c_stop();
 
delay_ms(9);
if (!IRRX) // stale nas signal?
{
output_low(MOT_L); // neni odraz -> vpred
239,11 → 252,10
{
timer_pom=get_timer1(); // Obsah Timeru1 se musi nacist atomicky
bb_l[log]=make8(timer_pom,0); // Zaznam do logu
bb_h[log]=make8(timer_pom,1);
bb_h[log]=make8(timer_pom,1);
bb_f[log]=0xFF; // Cihla
if(log<MAXLOG) log++; // Ukazatel na dalsi zaznam
};
//!!! Vyzkouset, ze nepreteka LOG
 
//!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy
// if(stav==cihla) return; // Po druhe nic neobjizdej
281,6 → 293,26
output_low(MOT_L); // Nastav smer vpred
output_low(MOT_R);
 
disp(0); // Zhasni LEDbar
/*!!!!
while(true)
{
int8 ble;
 
i2c_start(); // Cteni kompasu
i2c_write(COMPAS_ADR);
i2c_write(0x1);
i2c_stop();
i2c_start();
i2c_write(COMPAS_ADR+1);
ble=i2c_read(0);
i2c_stop();
disp(ble);
delay_ms(200);
}
//*/
 
if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log
{
int8 n;
291,10 → 323,18
SaveLog(0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam
while(true)
{
disp(0x55); // Blikni pro potvrzeni
delay_ms(200);
disp(0xAA);
delay_ms(200);
if(!IRRX)
{
disp(0x55); // Blikni pro potvrzeni
delay_ms(200);
disp(0xAA);
delay_ms(200);
}
else
{
disp(0x81); // Diagnostika celniho IR senzoru na prekazku
delay_ms(200);
}
}
}
 
339,7 → 379,7
 
//... Nastaveni kamery ...
i2c_start(); // Soft RESET kamery
i2c_write(CAMERA_ADR); // Pro single slave musi mit vsechny zapisy adresu C0h
i2c_write(CAMERA_ADR); // Adresa kamery
i2c_write(0x12); // Adresa registru COMH
i2c_write(0x80 | 0x24); // Zapis ridiciho slova
i2c_stop();
352,13 → 392,13
 
/*
i2c_start(); // Contrast (nema podstatny vliv na obraz)
i2c_write(0xC0);
i2c_write(CAMERA_ADR);
i2c_write(0x05);
i2c_write(0xA0); // 48h
i2c_stop();
 
i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz)
i2c_write(0xC0);
i2c_write(CAMERA_ADR);
i2c_write(0x2D);
i2c_write(0x04 | 0x03);
i2c_stop();
454,7 → 494,7
 
odo1=ODODO1-BRZDNA_DRAHA;
odo2=ODODO2-BRZDNA_DRAHA;
 
// ........................... Hlavni smycka ................................
while(true)
{
536,7 → 576,7
// Elektronicky diferencial 2. cast
if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni
if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0
// rozsah 1 az 154 pro rr=63
// rozsah 1 az 154 pro rr=63
 
// r1<<=1; // Rychlost je dvojnasobna
// r2<<=1; // Rozsah 2 az 184
600,7 → 640,7
SaveLog(log-1); // Zapis Black Boxu do EEPROM
set_pwm1_duty(140); // pomalu vpred
set_pwm2_duty(140);
output_low(MOT_L);
output_low(MOT_L);
output_low(MOT_R);
};
set_adc_channel(LMAX); // Levy UV sensor
/roboti/istrobot/camerus/SW/876/objizdka_L.c
61,11 → 61,12
SaveLog(log-1); // Zapis Black Boxu do EEPROM
set_pwm1_duty(140); // vpred
set_pwm2_duty(140);
output_low(MOT_L);
output_low(MOT_L);
output_low(MOT_R);
};
 
if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
delta_bearing=bearing-bearing_offset;
if(IRRX || ((delta_bearing>64)&&(delta_bearing<128))) // hrozi celni srazka s cihlou v prubehu objizdeni
{
cas=CASMIN;
}
118,6 → 119,15
vzdalenost=i2c_read(0);
i2c_stop();
 
i2c_start(); // Cteni kompasu
i2c_write(COMPAS_ADR);
i2c_write(0x1); // uhel 0-255
i2c_stop();
i2c_start();
i2c_write(COMPAS_ADR+1);
bearing=i2c_read(0);
i2c_stop();
 
if(touch==L_TOUCH) disp(0xC0);
if(touch==R_TOUCH) disp(0x03);
if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;