WebSVN – svnkaklik – Diff – /roboti/istrobot/cholerik/cholerik.c


// Program pro MiniSumo na R-Day 2006
//"$Id: cholerik.c 361 2007-09-09 15:09:55Z kakl $"
 
#include "cholerik.h"
 
#define THRESHOLD     15     // rozhodovaci uroven pro okraj areny
                             // 0-15 (od 0.25 do 0.75 Vdd)
                             // 0V cerna; 5V bila
 
#define KOLIKRAT     3//10
 
//motory            //Napred vypnout potom zapnout!
#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred
#define FL         output_low(PIN_B7); output_high(PIN_B6)
#define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad
#define BL         output_low(PIN_B6); output_high(PIN_B7)
#define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav
#define STOPL      output_low(PIN_B6);output_low(PIN_B7)
 
//cidla
#define SIDE_R    !input(PIN_A7)     // Sensory na soupere
#define SIDE_L    !input(PIN_A4)
#define FRONT     !input(PIN_A6)
#define BACK      !input(PIN_B3)
#define GRAVITY   !input(PIN_A1)
// PIN_A3   Prave cidlo na okraj areny (C1OUT)
// PIN_A2   Leve cidlo na okraj areny (C2OUT)
 
#DEFINE SOUND_HI   PIN_B1     // komplementarni vystupy pro piezo pipak
#DEFINE SOUND_LO   PIN_B2
 
// makro pro PWM
#define GO(motor, direction, power) if(get_timer0()<=power) \
{direction##motor;} else {stop##motor;}
 
unsigned int8 majak=0;
unsigned int8 sl=0;
unsigned int8 sr=0;
unsigned int8 b=0;
unsigned int8 f=0;
unsigned int8 g=0;
int1  arena_l=FALSE;
int1  arena_r=FALSE;
int1 diag=FALSE;
 
#int_TIMER0
TIMER0_isr()
{
   int1 stav;
 
   stav = ((majak & 0b1) == 0b1);
   if (((SIDE_R && stav) || (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};
   if (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};
   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
   majak++;
   stav = ((majak & 0b1) == 0b1);
 
   if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;
   if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;
 
   if (stav)
   {
      set_pwm1_duty(27);      // 1:1
   }
   else
   {
      set_pwm1_duty(55);      // 1:0
   };
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
   if (GRAVITY) {if (g<255) g++;} else g=0;
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
}
 
// Primitivni Pipani
void beep(unsigned int16 period, unsigned int16 length)
{
   unsigned int16 nn;
 
   disable_interrupts(GLOBAL);
   for(nn=length; nn>0; nn--)
   {
     output_high(SOUND_HI);output_low(SOUND_LO);
     delay_us(period);
     output_high(SOUND_LO);output_low(SOUND_HI);
     delay_us(period);
   }
   enable_interrupts(GLOBAL);
}
 
/**** DIAG ********************************************************************/
inline void diagnostika()
{
   unsigned int16 n;
 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
   if (GRAVITY)
   {
      setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
      diag=TRUE;
      enable_interrupts(INT_TIMER0);
      enable_interrupts(GLOBAL);
      while (true)         // Diagnostika cidel
      {
         if (g>100) beep(800,100);
         Delay_ms(50);
         if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};
         Delay_ms(50);
         if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};
         Delay_ms(50);
 
         if (sr>10) beep(3000,400);
         Delay_ms(50);
         if (f>10) beep(4000,500);
         Delay_ms(50);
         if (sl>10) beep(5000,500);
         Delay_ms(50);
         if (b>10) beep(6000,600);
         Delay_ms(50);
         if((g>100) && arena_l && arena_r) break;  // Preklopen na zada a bily papir na obou cidlech na okraj areny
      };
 
      while(TRUE)   // Diagnostika podvozku
      {
         for (n=500; n<800; n+=100)
         {
            beep(n,n); //beep UP
         };
         Delay_ms(1000);
         //zastav vse
         STOPL; STOPR;
         //pravy pas
         FR; Delay_ms(1000); STOPR; Delay_ms(1000);
         BR; Delay_ms(1000); STOPR; Delay_ms(1000);
         Beep(880,100); Delay_ms(1000);
         //levy pas
         FL; Delay_ms(1000); STOPL; Delay_ms(1000);
         BL; Delay_ms(1000); STOPL; Delay_ms(1000);
         Beep(880,100); Delay_ms(1000);
         //oba pasy
         FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
         BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
      };
   };
}
 
/**** MAIN ********************************************************************/
void main()
{
   unsigned int16 n; // for FOR
 
   STOPL; STOPR;     // zastavi motory
 
   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
   setup_adc_ports(NO_ANALOGS);   // komparatory vypnuty
   setup_adc(ADC_OFF);
   setup_spi(FALSE);
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);  // Casovac pro SW PWM a cteni cidel
   setup_timer_1(T1_DISABLED);
   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
   setup_ccp1(CCP_PWM);    // HW PWM ON
   set_pwm1_duty(27);      // 1:1
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
   setup_vref(VREF_HIGH|THRESHOLD);        // 16 kroku od 0.25 do 0.75 Vdd
 
   Beep(1000,200);     //double beep
   Delay_ms(50);
   Beep(1000,200);
   diagnostika();
 
   enable_interrupts(INT_TIMER0);
   enable_interrupts(GLOBAL);
 
   for (n=1;n<=5;n++)   // 5s do zacatku souboje
   {
      Delay_ms(670); // 5,25s
      Beep(1000,200);
   }
 
/*----- Main Loop ------------------------------------------------------------*/
   while(true)       // hlavni smycka
   {
LOOP:
 
      GO(L, F, 150); GO(R, F, 150);
 
      if (arena_r)
      {
         BL; BR;
         delay_ms(180);
         STOPL; BR;
         for(n=0; n<5000; n++)
         {
            if (!arena_r || arena_l) {BL; BR;};
         };
         FL; BR;
         delay_ms(100);
         STOPL; STOPR;
      }
 
      if (arena_l)
      {
         BL; BR;
         delay_ms(180);
         BL; STOPR;
         for(n=0; n<5000; n++)
         {
            if (!arena_l || arena_r) {BL; BR;};
         };
         BL; FR;
         delay_ms(100);
         STOPL; STOPR;
      }
 
      if (sr>KOLIKRAT)     // Nepritel vpravo
      {
         FL; FR;                 // popojed rovne
         for(n=0; n<5000; n++)
         {
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
         };
         FL; BR;                     // otoc se na nej
         for(n=0; n<10000; n++)
         {
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
            if (f>5)
            {
               FL; FR;               // vytlac ho
            };
            if (sl>5) {BL; FR;};
            if (sr>5) {FL; BR;};
         };
      }
 
      if (sl>KOLIKRAT)     // Nepritel vlevo
      {
         FL; FR;                 // popojed rovne
         for(n=0; n<5000; n++)
         {
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
         };
         BL; FR;                    // otoc se na nej
         for(n=0; n<10000; n++)
         {
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
            if (f>5)
            {
               FL; FR;              // vytlac ho
            };
            if (sl>5) {BL; FR;};
            if (sr>5) {FL; BR;};
         };
      }
 
      if (f>KOLIKRAT)      // Nepritel vpredu
      {
         BL; FR;
         delay_ms(110);
         FL; BR;
         delay_ms(50);
         STOPL; STOPR;
      }
 
      if (b>KOLIKRAT)      // Nepritel vzadu
      {
         BL; FR;
         delay_ms(110);
         FL; BR;
         delay_ms(50);
         STOPL; STOPR;
      }
 
   } // while(true)
}

Rev 251	Rev 361
1	`// Program pro MiniSumo na R-Day 2006`	1	`// Program pro MiniSumo na R-Day 2006`
2	`//"$Id: cholerik.c 251 2007-04-23 21:31:59Z kaklik $"`	2	`//"$Id: cholerik.c 361 2007-09-09 15:09:55Z kakl $"`
3		3
4	`#include "cholerik.h"`	4	`#include "cholerik.h"`
5		5
6	`#define THRESHOLD 15 // rozhodovaci uroven pro okraj areny`	6	`#define THRESHOLD 15 // rozhodovaci uroven pro okraj areny`
7	`// 0-15 (od 0.25 do 0.75 Vdd)`	7	`// 0-15 (od 0.25 do 0.75 Vdd)`
8	`// 0 jasnejsi; 15 tmavsi`	8	`// 0V cerna; 5V bila`
-		9
-		10	`#define KOLIKRAT 3//10`
9		11
10	`//motory //Napred vypnout potom zapnout!`	12	`//motory //Napred vypnout potom zapnout!`
11	`#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`	13	`#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`
12	`#define FL output_low(PIN_B7); output_high(PIN_B6)`	14	`#define FL output_low(PIN_B7); output_high(PIN_B6)`
13	`#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`	15	`#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`
14	`#define BL output_low(PIN_B6); output_high(PIN_B7)`	16	`#define BL output_low(PIN_B6); output_high(PIN_B7)`
15	`#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`	17	`#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`
16	`#define STOPL output_low(PIN_B6);output_low(PIN_B7)`	18	`#define STOPL output_low(PIN_B6);output_low(PIN_B7)`
17		19
18	`//cidla`	20	`//cidla`
19	`#define SIDE_R !input(PIN_A7) // Sensory na soupere`	21	`#define SIDE_R !input(PIN_A7) // Sensory na soupere`
20	`#define SIDE_L !input(PIN_A4)`	22	`#define SIDE_L !input(PIN_A4)`
21	`#define FRONT !input(PIN_A6)`	23	`#define FRONT !input(PIN_A6)`
22	`#define BACK !input(PIN_B3)`	24	`#define BACK !input(PIN_B3)`
23	`#define GRAVITY !input(PIN_A1)`	25	`#define GRAVITY !input(PIN_A1)`
24	`// PIN_A3 Prave cidlo na okraj areny (C1OUT)`	26	`// PIN_A3 Prave cidlo na okraj areny (C1OUT)`
25	`// PIN_A2 Leve cidlo na okraj areny (C2OUT)`	27	`// PIN_A2 Leve cidlo na okraj areny (C2OUT)`
26		28
27	`#DEFINE SOUND_HI PIN_B1 // komplementarni vystupy pro piezo pipak`	29	`#DEFINE SOUND_HI PIN_B1 // komplementarni vystupy pro piezo pipak`
28	`#DEFINE SOUND_LO PIN_B2`	30	`#DEFINE SOUND_LO PIN_B2`
29		31
30	`// makro pro PWM`	32	`// makro pro PWM`
31	`#define GO(motor, direction, power) if(get_timer0()<=power) \`	33	`#define GO(motor, direction, power) if(get_timer0()<=power) \`
32	`{direction##motor;} else {stop##motor;}`	34	`{direction##motor;} else {stop##motor;}`
33		35
34	`unsigned int8 majak=0;`	36	`unsigned int8 majak=0;`
35	`unsigned int8 sl=0;`	37	`unsigned int8 sl=0;`
36	`unsigned int8 sr=0;`	38	`unsigned int8 sr=0;`
37	`unsigned int8 b=0;`	39	`unsigned int8 b=0;`
38	`unsigned int8 f=0;`	40	`unsigned int8 f=0;`
39	`unsigned int8 g=0;`	41	`unsigned int8 g=0;`
40	`int1 arena_l=FALSE;`	42	`int1 arena_l=FALSE;`
41	`int1 arena_r=FALSE;`	43	`int1 arena_r=FALSE;`
42	`int1 diag=FALSE;`	44	`int1 diag=FALSE;`
43		45
44	`#int_TIMER0`	46	`#int_TIMER0`
45	`TIMER0_isr()`	47	`TIMER0_isr()`
46	`{`	48	`{`
47	`int1 stav;`	49	`int1 stav;`
48		50
49	`stav = ((majak & 0b1) == 0b1);`	51	`stav = ((majak & 0b1) == 0b1);`
50	`if (((SIDE_R && stav) \|\| (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};`	52	`if (((SIDE_R && stav) \|\| (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};`
51	`if (((SIDE_L && stav) \|\| (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};`	53	`if (((SIDE_L && stav) \|\| (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};`
52	`if (((BACK && stav) \|\| (!BACK && !stav))) {if (b<255) b++;} else {b=0;};`	54	`if (((BACK && stav) \|\| (!BACK && !stav))) {if (b<255) b++;} else {b=0;};`
53	`if (((FRONT && stav) \|\| (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};`	55	`if (((FRONT && stav) \|\| (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};`
54	`majak++;`	56	`majak++;`
55	`stav = ((majak & 0b1) == 0b1);`	57	`stav = ((majak & 0b1) == 0b1);`
56		58
57	`if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;`	59	`if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;`
58	`if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;`	60	`if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;`
59		61
60	`if (stav)`	62	`if (stav)`
61	`{`	63	`{`
62	`set_pwm1_duty(27); // 1:1`	64	`set_pwm1_duty(27); // 1:1`
63	`}`	65	`}`
64	`else`	66	`else`
65	`{`	67	`{`
66	`set_pwm1_duty(55); // 1:0`	68	`set_pwm1_duty(55); // 1:0`
67	`};`	69	`};`
68	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`	70	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`
69	`if (GRAVITY) {if (g<255) g++;} else g=0;`	71	`if (GRAVITY) {if (g<255) g++;} else g=0;`
70	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`	72	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`
71	`if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se`	73	`if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se`
72	`}`	74	`}`
73		75
74	`// Primitivni Pipani`	76	`// Primitivni Pipani`
75	`void beep(unsigned int16 period, unsigned int16 length)`	77	`void beep(unsigned int16 period, unsigned int16 length)`
76	`{`	78	`{`
77	`unsigned int16 nn;`	79	`unsigned int16 nn;`
78		80
79	`disable_interrupts(GLOBAL);`	81	`disable_interrupts(GLOBAL);`
80	`for(nn=length; nn>0; nn--)`	82	`for(nn=length; nn>0; nn--)`
81	`{`	83	`{`
82	`output_high(SOUND_HI);output_low(SOUND_LO);`	84	`output_high(SOUND_HI);output_low(SOUND_LO);`
83	`delay_us(period);`	85	`delay_us(period);`
84	`output_high(SOUND_LO);output_low(SOUND_HI);`	86	`output_high(SOUND_LO);output_low(SOUND_HI);`
85	`delay_us(period);`	87	`delay_us(period);`
86	`}`	88	`}`
87	`enable_interrupts(GLOBAL);`	89	`enable_interrupts(GLOBAL);`
88	`}`	90	`}`
89		91
90	`/** DIAG ******************************************************************/`	92	`/** DIAG ******************************************************************/`
91	`inline void diagnostika()`	93	`inline void diagnostika()`
92	`{`	94	`{`
93	`unsigned int16 n;`	95	`unsigned int16 n;`
94		96
95	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`	97	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`
96	`if (GRAVITY)`	98	`if (GRAVITY)`
97	`{`	99	`{`
98	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`	100	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`
99	`diag=TRUE;`	101	`diag=TRUE;`
100	`enable_interrupts(INT_TIMER0);`	102	`enable_interrupts(INT_TIMER0);`
101	`enable_interrupts(GLOBAL);`	103	`enable_interrupts(GLOBAL);`
102	`while (true) // Diagnostika cidel`	104	`while (true) // Diagnostika cidel`
103	`{`	105	`{`
104	`if (g>100) beep(800,100);`	106	`if (g>100) beep(800,100);`
105	`Delay_ms(50);`	107	`Delay_ms(50);`
106	`if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};`	108	`if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};`
107	`Delay_ms(50);`	109	`Delay_ms(50);`
108	`if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};`	110	`if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};`
109	`Delay_ms(50);`	111	`Delay_ms(50);`
110		112
111	`if (sr>10) beep(3000,400);`	113	`if (sr>10) beep(3000,400);`
112	`Delay_ms(50);`	114	`Delay_ms(50);`
113	`if (f>10) beep(4000,500);`	115	`if (f>10) beep(4000,500);`
114	`Delay_ms(50);`	116	`Delay_ms(50);`
115	`if (sl>10) beep(5000,500);`	117	`if (sl>10) beep(5000,500);`
116	`Delay_ms(50);`	118	`Delay_ms(50);`
117	`if (b>10) beep(6000,600);`	119	`if (b>10) beep(6000,600);`
118	`Delay_ms(50);`	120	`Delay_ms(50);`
119	`if((g>100) && arena_l && arena_r) break; // Preklopen na zada a bily papir na obou cidlech na okraj areny`	121	`if((g>100) && arena_l && arena_r) break; // Preklopen na zada a bily papir na obou cidlech na okraj areny`
120	`};`	122	`};`
121		123
122	`while(TRUE) // Diagnostika podvozku`	124	`while(TRUE) // Diagnostika podvozku`
123	`{`	125	`{`
124	`for (n=500; n<800; n+=100)`	126	`for (n=500; n<800; n+=100)`
125	`{`	127	`{`
126	`beep(n,n); //beep UP`	128	`beep(n,n); //beep UP`
127	`};`	129	`};`
128	`Delay_ms(1000);`	130	`Delay_ms(1000);`
129	`//zastav vse`	131	`//zastav vse`
130	`STOPL; STOPR;`	132	`STOPL; STOPR;`
131	`//pravy pas`	133	`//pravy pas`
132	`FR; Delay_ms(1000); STOPR; Delay_ms(1000);`	134	`FR; Delay_ms(1000); STOPR; Delay_ms(1000);`
133	`BR; Delay_ms(1000); STOPR; Delay_ms(1000);`	135	`BR; Delay_ms(1000); STOPR; Delay_ms(1000);`
134	`Beep(880,100); Delay_ms(1000);`	136	`Beep(880,100); Delay_ms(1000);`
135	`//levy pas`	137	`//levy pas`
136	`FL; Delay_ms(1000); STOPL; Delay_ms(1000);`	138	`FL; Delay_ms(1000); STOPL; Delay_ms(1000);`
137	`BL; Delay_ms(1000); STOPL; Delay_ms(1000);`	139	`BL; Delay_ms(1000); STOPL; Delay_ms(1000);`
138	`Beep(880,100); Delay_ms(1000);`	140	`Beep(880,100); Delay_ms(1000);`
139	`//oba pasy`	141	`//oba pasy`
140	`FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`	142	`FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
141	`BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`	143	`BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
142	`};`	144	`};`
143	`};`	145	`};`
144	`}`	146	`}`
145		147
146	`/** MAIN ******************************************************************/`	148	`/** MAIN ******************************************************************/`
147	`void main()`	149	`void main()`
148	`{`	150	`{`
149	`unsigned int16 n; // for FOR`	151	`unsigned int16 n; // for FOR`
150		152
151	`STOPL; STOPR; // zastavi motory`	153	`STOPL; STOPR; // zastavi motory`
152		154
153	`setup_oscillator(OSC_8MHZ\|OSC_INTRC); // CPU clock 8MHz`	155	`setup_oscillator(OSC_8MHZ\|OSC_INTRC); // CPU clock 8MHz`
154	`setup_adc_ports(NO_ANALOGS); // komparatory vypnuty`	156	`setup_adc_ports(NO_ANALOGS); // komparatory vypnuty`
155	`setup_adc(ADC_OFF);`	157	`setup_adc(ADC_OFF);`
156	`setup_spi(FALSE);`	158	`setup_spi(FALSE);`
157	`setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_4); // Casovac pro SW PWM a cteni cidel`	159	`setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_4); // Casovac pro SW PWM a cteni cidel`
158	`setup_timer_1(T1_DISABLED);`	160	`setup_timer_1(T1_DISABLED);`
159	`setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz`	161	`setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz`
160	`setup_ccp1(CCP_PWM); // HW PWM ON`	162	`setup_ccp1(CCP_PWM); // HW PWM ON`
161	`set_pwm1_duty(27); // 1:1`	163	`set_pwm1_duty(27); // 1:1`
162	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`	164	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`
163	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`	165	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`
164	`setup_vref(VREF_HIGH\|THRESHOLD); // 16 kroku od 0.25 do 0.75 Vdd`	166	`setup_vref(VREF_HIGH\|THRESHOLD); // 16 kroku od 0.25 do 0.75 Vdd`
165		167
166	`Beep(1000,200); //double beep`	168	`Beep(1000,200); //double beep`
167	`Delay_ms(50);`	169	`Delay_ms(50);`
168	`Beep(1000,200);`	170	`Beep(1000,200);`
169	`diagnostika();`	171	`diagnostika();`
170		172
171	`enable_interrupts(INT_TIMER0);`	173	`enable_interrupts(INT_TIMER0);`
172	`enable_interrupts(GLOBAL);`	174	`enable_interrupts(GLOBAL);`
173		175
174	`for (n=1;n<=5;n++) // 5s do zacatku souboje`	176	`for (n=1;n<=5;n++) // 5s do zacatku souboje`
175	`{`	177	`{`
176	`Delay_ms(670); // 5,25s`	178	`Delay_ms(670); // 5,25s`
177	`Beep(1000,200);`	179	`Beep(1000,200);`
178	`}`	180	`}`
179		181
180	`/----- Main Loop ------------------------------------------------------------/`	182	`/----- Main Loop ------------------------------------------------------------/`
181	`while(true) // hlavni smycka`	183	`while(true) // hlavni smycka`
182	`{`	184	`{`
183	`LOOP:`	185	`LOOP:`
184		186
185	`GO(L, F, 150); GO(R, F, 150);`	187	`GO(L, F, 150); GO(R, F, 150);`
186		188
187	`if (arena_r)`	189	`if (arena_r)`
188	`{`	190	`{`
189	`BL; BR;`	191	`BL; BR;`
190	`delay_ms(180);`	192	`delay_ms(180);`
191	`STOPL; BR;`	193	`STOPL; BR;`
192	`for(n=0; n<5000; n++)`	194	`for(n=0; n<5000; n++)`
193	`{`	195	`{`
194	`if (!arena_r \|\| arena_l) {BL; BR;};`	196	`if (!arena_r \|\| arena_l) {BL; BR;};`
195	`};`	197	`};`
196	`FL; BR;`	198	`FL; BR;`
197	`delay_ms(100);`	199	`delay_ms(100);`
198	`STOPL; STOPR;`	200	`STOPL; STOPR;`
199	`}`	201	`}`
200		202
201	`if (arena_l)`	203	`if (arena_l)`
202	`{`	204	`{`
203	`BL; BR;`	205	`BL; BR;`
204	`delay_ms(180);`	206	`delay_ms(180);`
205	`BL; STOPR;`	207	`BL; STOPR;`
206	`for(n=0; n<5000; n++)`	208	`for(n=0; n<5000; n++)`
207	`{`	209	`{`
208	`if (!arena_l \|\| arena_r) {BL; BR;};`	210	`if (!arena_l \|\| arena_r) {BL; BR;};`
209	`};`	211	`};`
210	`BL; FR;`	212	`BL; FR;`
211	`delay_ms(100);`	213	`delay_ms(100);`
212	`STOPL; STOPR;`	214	`STOPL; STOPR;`
213	`}`	215	`}`
214		216
215	`if (sr>10) // Nepritel vpravo`	217	`if (sr>KOLIKRAT) // Nepritel vpravo`
216	`{`	218	`{`
217	`FL; FR; // popojed rovne`	219	`FL; FR; // popojed rovne`
218	`for(n=0; n<5000; n++)`	220	`for(n=0; n<5000; n++)`
219	`{`	221	`{`
220	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	222	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
221	`};`	223	`};`
222	`FL; BR; // otoc se na nej`	224	`FL; BR; // otoc se na nej`
223	`for(n=0; n<10000; n++)`	225	`for(n=0; n<10000; n++)`
224	`{`	226	`{`
225	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	227	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
226	`if (f>5)`	228	`if (f>5)`
227	`{`	229	`{`
228	`FL; FR; // vytlac ho`	230	`FL; FR; // vytlac ho`
229	`};`	231	`};`
230	`if (sl>5) {BL; FR;};`	232	`if (sl>5) {BL; FR;};`
231	`if (sr>5) {FL; BR;};`	233	`if (sr>5) {FL; BR;};`
232	`};`	234	`};`
233	`}`	235	`}`
234		236
235	`if (sl>10) // Nepritel vlevo`	237	`if (sl>KOLIKRAT) // Nepritel vlevo`
236	`{`	238	`{`
237	`FL; FR; // popojed rovne`	239	`FL; FR; // popojed rovne`
238	`for(n=0; n<5000; n++)`	240	`for(n=0; n<5000; n++)`
239	`{`	241	`{`
240	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	242	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
241	`};`	243	`};`
242	`BL; FR; // otoc se na nej`	244	`BL; FR; // otoc se na nej`
243	`for(n=0; n<10000; n++)`	245	`for(n=0; n<10000; n++)`
244	`{`	246	`{`
245	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	247	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
246	`if (f>5)`	248	`if (f>5)`
247	`{`	249	`{`
248	`FL; FR; // vytlac ho`	250	`FL; FR; // vytlac ho`
249	`};`	251	`};`
250	`if (sl>5) {BL; FR;};`	252	`if (sl>5) {BL; FR;};`
251	`if (sr>5) {FL; BR;};`	253	`if (sr>5) {FL; BR;};`
252	`};`	254	`};`
253	`}`	255	`}`
254		256
255	`if (f>10) // Nepritel vpredu`	257	`if (f>KOLIKRAT) // Nepritel vpredu`
256	`{`	258	`{`
257	`BL; FR;`	259	`BL; FR;`
258	`delay_ms(110);`	260	`delay_ms(110);`
259	`FL; BR;`	261	`FL; BR;`
260	`delay_ms(50);`	262	`delay_ms(50);`
261	`STOPL; STOPR;`	263	`STOPL; STOPR;`
262	`}`	264	`}`
263		265
264	`if (b>10) // Nepritel vzadu`	266	`if (b>KOLIKRAT) // Nepritel vzadu`
265	`{`	267	`{`
266	`BL; FR;`	268	`BL; FR;`
267	`delay_ms(110);`	269	`delay_ms(110);`
268	`FL; BR;`	270	`FL; BR;`
269	`delay_ms(50);`	271	`delay_ms(50);`
270	`STOPL; STOPR;`	272	`STOPL; STOPR;`
271	`}`	273	`}`
272		274
273	`} // while(true)`	275	`} // while(true)`
274	`}`	276	`}`

Subversion Repositories svnkaklik

(root)/roboti/istrobot/cholerik/cholerik.c – Rev 251 → 361