| /roboti/istrobot/camerus/SW/876/camerus.c |
|---|
| 10,8 → 10,8 |
| #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 0xFFF |
| #define ODODO2 0xFFF |
| // Adresy IIC periferii |
| #define COMPAS_ADR 0xC0 |
| 213,8 → 213,8 |
| #int_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| int8 bearing, bearing_offset, delta_bearing; |
| unsigned int8 bearing, bearing_offset, delta_bearing; |
| set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| 294,25 → 294,7 |
| 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; |
| 321,14 → 303,29 |
| bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0 |
| bb_h[0]=0; |
| SaveLog(0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam |
| for(n=0;n<=4;n++) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| delay_ms(200); |
| disp(0xAA); |
| delay_ms(200); |
| }; |
| while(true) |
| { |
| if(!IRRX) |
| { |
| disp(0x55); // Blikni pro potvrzeni |
| 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); |
| disp(0xAA); |
| delay_ms(200); |
| } |
| else |
| { |
| 638,8 → 635,8 |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| set_pwm1_duty(140); // pomalu vpred |
| set_pwm2_duty(140); |
| set_pwm1_duty(160); // pomalu vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| }; |
| /roboti/istrobot/camerus/SW/876/objizdka_L.c |
|---|
| 10,6 → 10,7 |
| enum okolo_cihly {pred_carou,na_care,po_care}; |
| okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly |
| int8 vzdalenost; |
| int8 visualisation; |
| stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil) |
| touch=0; // Indikator detekce cary pri objizdeni |
| 53,6 → 54,7 |
| cas=CASAVR-CASMIN; // rovne |
| output_low(MOT_L); // vpred |
| output_low(MOT_R); |
| visualisation=0; |
| while(true) |
| { |
| if(BUMPER) // Narazili jsme do cihly, musime couvnout! |
| 59,20 → 61,21 |
| { |
| bum(); |
| SaveLog(log-1); // Zapis Black Boxu do EEPROM |
| set_pwm1_duty(140); // vpred |
| set_pwm2_duty(140); |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| }; |
| delta_bearing=bearing-bearing_offset; |
| if(IRRX || ((delta_bearing>64)&&(delta_bearing<128))) // hrozi celni srazka s cihlou v prubehu objizdeni |
| visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F); |
| if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
| { |
| cas=CASMIN; |
| } |
| else |
| { |
| if((vzdalenost!=0)||!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly |
| if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly |
| { |
| if(cas>(CASMIN+20)) cas-=20; |
| } |
| 128,11 → 131,12 |
| bearing=i2c_read(0); |
| i2c_stop(); |
| if(touch==L_TOUCH) disp(0xC0); |
| if(touch==R_TOUCH) disp(0x03); |
| if(touch==L_TOUCH) visualisation|=0x2; |
| if(touch==R_TOUCH) visualisation|=0x1; |
| if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care; |
| if((ridic==na_care)&&(touch==0)) break; |
| if(ridic==na_care) touch=0; |
| disp(visualisation); |
| }; |
| disp(0xC3); |