WebSVN – svnkaklik – Diff – /roboti/istrobot/camerus/SW/876/objizdka_L.c


// **** Objeti cihly vlevo **** LLLL
 
#define L_TOUCH 1    // Cara vlevo
#define R_TOUCH 2    // Cata vpravo
#define B_TOUCH 3    // Both
 
int8 n;
int8 r1,r2,rr;
int8 touch;
enum okolo_cihly {pred_carou,na_care,po_care};
okolo_cihly ridic;       // V jakem jsme stavu objizdeni cihly
int8 vzdalenost;
 
cihla:
 
   rr=20;
   disp(0x99);
   set_pwm1_duty(0);    // zabrzdi levym kolem, prave vpred
   set_pwm2_duty(150);
   output_high(MOT_L);
   output_low(MOT_R);
   odocounter=get_timer1();
   while(true) // Na zacatku se vyhni cihle, zatoc co muzes
   {
      cas=CASMIN-5;       // jeste vic nez hodne do leva
 
      set_pwm1_duty(0);
      set_pwm2_duty(200);
      output_high(MOT_L);     // leve kolo reverz
      output_low(MOT_R);      // prave kolo vpred
      if(get_timer1()>(odocounter+5))  // konec zatacky?
      {
         disp(0x66);
         break;
      }
      SetServoQ(cas);
      delay_ms(18);
   };
 
   //------ Objeti cihly v konstantni vzdalenosti ------
   touch=0;
   ridic=pred_carou;
   cas=CASAVR-CASMIN;   // rovne
   output_low(MOT_L);   // vpred
   output_low(MOT_R);
   while(true)
   {
 
 
      if(!input(IRRX)) // hrozi celni srazka s cihlou v prubehu objizdeni
      {
         cas=CASMIN;
      }
      else
      {
         if((vzdalenost!=0)||!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly
         {
            if(cas>(CASMIN+20)) cas-=20;
         }
         else
         {
            if(cas<(CASMAX-20)) cas+=20;
         };
      };
 
      // Elektronicky diferencial
      if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace
      if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;};   // pro rizeni rychlosti motoru
      if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92
 
      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);
 
      set_pwm1_duty(r1);   // Nastav rychlost motoru
      set_pwm2_duty(r2);
 
      SetServoQ(cas);
 
      i2c_start();     // Sonar Ping
      i2c_write(0xE0);
      i2c_write(0x0);
      i2c_write(0x52);  // mereni v us
      i2c_stop();
 
      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
      {
         set_adc_channel(LMAX);
         delay_us(100);
         if(read_adc()<THR) touch|=L_TOUCH;
         set_adc_channel(RMAX);
         delay_us(100);
         if(read_adc()<THR) touch|=R_TOUCH;
      };
 
      i2c_start();     // Odraz ze sonaru
      i2c_write(0xE0);
      i2c_write(0x3);
      i2c_stop();
      i2c_start();
      i2c_write(0xE1);
      vzdalenost=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;
      if((ridic==na_care)&&(touch==0)) break;
      if(ridic==na_care) touch=0;
   };
   disp(0xC3);
 
   set_pwm1_duty(20);
   set_pwm2_duty(200);
   output_high(MOT_L);
   output_low(MOT_R);
   delay_us(40);
   odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
   while (true)  // Znovu se musime dotknout cary
   {
      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
      {
         set_adc_channel(LMAX);    // Levy UV sensor
         delay_us(100);
         if(read_adc()<THR)   // Dotkli jsme se levym senzorem
         {
            disp(0xE0);
            cas=CASAVR-CASMIN; // nastavime, ze cara je rovne
            goto cara;
         };
         set_adc_channel(RMAX);    // Pravy UV sensor
         delay_us(100);
         if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!
         {
            disp(0x07);
            cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo
            goto cara;
         };
      }
      SetServoQ(CASMIN-5);   // max. max. doleva                 L
   }
 
cara:
 
   output_low(MOT_L); // oba motory vpred
   output_low(MOT_R);
/*
set_pwm1_duty(0);    // vypni motory
set_pwm2_duty(0);
 
SetServo(CASAVR-CASMIN);   // doprostred
 
set_pwm1_duty(255);    // max. vpred
set_pwm2_duty(255);
output_low(MOT_L);
output_low(MOT_R);
odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
while(get_timer1()<(odocounter+2)) // Ujed kousek
{
   set_adc_channel(LMAX);    // Levy UV sensor
   delay_us(40);
   if(read_adc()<THR) {cas=CASMIN; break;};  // Prejeli jsme caru vlevo
   set_adc_channel(RMAX);    // Pravy UV sensor
   delay_us(40);
   if(read_adc()<THR) {cas=CASMAX; break;};  // Prejeli jsme caru vpravo
};
*/

Rev 229	Rev 230
1	`// ** Objeti cihly vlevo ** LLLL`	1	`// ** Objeti cihly vlevo ** LLLL`
2		2
3	`#define L_TOUCH 1 // Cara vlevo`	3	`#define L_TOUCH 1 // Cara vlevo`
4	`#define R_TOUCH 2 // Cata vpravo`	4	`#define R_TOUCH 2 // Cata vpravo`
5	`#define B_TOUCH 3 // Both`	5	`#define B_TOUCH 3 // Both`
6		6
7	`int8 n;`	7	`int8 n;`
8	`int8 r1,r2,rr;`	8	`int8 r1,r2,rr;`
9	`int8 touch;`	9	`int8 touch;`
10	`enum okolo_cihly {pred_carou,na_care,po_care};`	10	`enum okolo_cihly {pred_carou,na_care,po_care};`
11	`okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly`	11	`okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly`
12	`int8 vzdalenost;`	12	`int8 vzdalenost;`
13		13
14	`cihla:`	14	`cihla:`
15		15
16	`rr=20;`	16	`rr=20;`
17	`disp(0x99);`	17	`disp(0x99);`
18	`set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred`	18	`set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred`
19	`set_pwm2_duty(150);`	19	`set_pwm2_duty(150);`
20	`output_high(MOT_L);`	20	`output_high(MOT_L);`
21	`output_low(MOT_R);`	21	`output_low(MOT_R);`
22	`odocounter=get_timer1();`	22	`odocounter=get_timer1();`
23	`while(true) // Na zacatku se vyhni cihle, zatoc co muzes`	23	`while(true) // Na zacatku se vyhni cihle, zatoc co muzes`
24	`{`	24	`{`
25	`cas=CASMIN-5; // jeste vic nez hodne do leva`	25	`cas=CASMIN-5; // jeste vic nez hodne do leva`
26		26
27	`set_pwm1_duty(0);`	27	`set_pwm1_duty(0);`
28	`set_pwm2_duty(200);`	28	`set_pwm2_duty(200);`
29	`output_high(MOT_L); // leve kolo reverz`	29	`output_high(MOT_L); // leve kolo reverz`
30	`output_low(MOT_R); // prave kolo vpred`	30	`output_low(MOT_R); // prave kolo vpred`
31	`if(get_timer1()>(odocounter+5)) // konec zatacky?`	31	`if(get_timer1()>(odocounter+5)) // konec zatacky?`
32	`{`	32	`{`
33	`disp(0x66);`	33	`disp(0x66);`
34	`break;`	34	`break;`
35	`}`	35	`}`
36	`SetServoQ(cas);`	36	`SetServoQ(cas);`
37	`delay_ms(18);`	37	`delay_ms(18);`
38	`};`	38	`};`
39		39
40	`//------ Objeti cihly v konstantni vzdalenosti ------`	40	`//------ Objeti cihly v konstantni vzdalenosti ------`
41	`touch=0;`	41	`touch=0;`
42	`ridic=pred_carou;`	42	`ridic=pred_carou;`
43	`cas=CASAVR-CASMIN; // rovne`	43	`cas=CASAVR-CASMIN; // rovne`
44	`output_low(MOT_L); // vpred`	44	`output_low(MOT_L); // vpred`
45	`output_low(MOT_R);`	45	`output_low(MOT_R);`
46	`while(true)`	46	`while(true)`
47	`{`	47	`{`
48	`// if(!input(IRRX)) goto cihla;`	-
49		-
50	`if((vzdalenost!=0)\|\|!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly`	48	`if(!input(IRRX)) // hrozi celni srazka s cihlou v prubehu objizdeni`
51	`{`	49	`{`
52	`if(cas>(CASMIN+20)) cas-=20;`	50	`cas=CASMIN;`
53	`}`	51	`}`
54	`else`	52	`else`
55	`{`	53	`{`
-		54	`if((vzdalenost!=0)\|\|!input(PROXIMITY)) // Udrzovani konstantni vzdalenosti od cihly`
-		55	`{`
-		56	`if(cas>(CASMIN+20)) cas-=20;`
-		57	`}`
-		58	`else`
-		59	`{`
56	`if(cas<(CASMAX-20)) cas+=20;`	60	`if(cas<(CASMAX-20)) cas+=20;`
-		61	`};`
57	`};`	62	`};`
58		-
59	`// Elektronicky diferencial`	63	`// Elektronicky diferencial`
60	`if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace`	64	`if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace`
61	`if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru`	65	`if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru`
62	`if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92`	66	`if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92`
63		67
64	`if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni`	68	`if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni`
65	`if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);`	69	`if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);`
66		70
67	`set_pwm1_duty(r1); // Nastav rychlost motoru`	71	`set_pwm1_duty(r1); // Nastav rychlost motoru`
68	`set_pwm2_duty(r2);`	72	`set_pwm2_duty(r2);`
69		73
70	`SetServoQ(cas);`	74	`SetServoQ(cas);`
71		75
72	`i2c_start(); // Sonar Ping`	76	`i2c_start(); // Sonar Ping`
73	`i2c_write(0xE0);`	77	`i2c_write(0xE0);`
74	`i2c_write(0x0);`	78	`i2c_write(0x0);`
75	`i2c_write(0x52); // mereni v us`	79	`i2c_write(0x52); // mereni v us`
76	`i2c_stop();`	80	`i2c_stop();`
77		81
78	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`	82	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`
79	`{`	83	`{`
80	`set_adc_channel(LMAX);`	84	`set_adc_channel(LMAX);`
81	`delay_us(100);`	85	`delay_us(100);`
82	`if(read_adc()<THR) touch\|=L_TOUCH;`	86	`if(read_adc()<THR) touch\|=L_TOUCH;`
83	`set_adc_channel(RMAX);`	87	`set_adc_channel(RMAX);`
84	`delay_us(100);`	88	`delay_us(100);`
85	`if(read_adc()<THR) touch\|=R_TOUCH;`	89	`if(read_adc()<THR) touch\|=R_TOUCH;`
86	`};`	90	`};`
87		91
88	`i2c_start(); // Odraz ze sonaru`	92	`i2c_start(); // Odraz ze sonaru`
89	`i2c_write(0xE0);`	93	`i2c_write(0xE0);`
90	`i2c_write(0x3);`	94	`i2c_write(0x3);`
91	`i2c_stop();`	95	`i2c_stop();`
92	`i2c_start();`	96	`i2c_start();`
93	`i2c_write(0xE1);`	97	`i2c_write(0xE1);`
94	`vzdalenost=i2c_read(0);`	98	`vzdalenost=i2c_read(0);`
95	`i2c_stop();`	99	`i2c_stop();`
96		100
97	`if(touch==L_TOUCH) disp(0xC0);`	101	`if(touch==L_TOUCH) disp(0xC0);`
98	`if(touch==R_TOUCH) disp(0x03);`	102	`if(touch==R_TOUCH) disp(0x03);`
99	`if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;`	103	`if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;`
100	`if((ridic==na_care)&&(touch==0)) break;`	104	`if((ridic==na_care)&&(touch==0)) break;`
101	`if(ridic==na_care) touch=0;`	105	`if(ridic==na_care) touch=0;`
102	`};`	106	`};`
103	`disp(0xC3);`	107	`disp(0xC3);`
104		108
105	`set_pwm1_duty(20);`	109	`set_pwm1_duty(20);`
106	`set_pwm2_duty(200);`	110	`set_pwm2_duty(200);`
107	`output_high(MOT_L);`	111	`output_high(MOT_L);`
108	`output_low(MOT_R);`	112	`output_low(MOT_R);`
109	`delay_us(40);`	113	`delay_us(40);`
110	`odocounter=get_timer1(); // Poznamenej aktualni stav odometrie`	114	`odocounter=get_timer1(); // Poznamenej aktualni stav odometrie`
111	`while (true) // Znovu se musime dotknout cary`	115	`while (true) // Znovu se musime dotknout cary`
112	`{`	116	`{`
113	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`	117	`for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva`
114	`{`	118	`{`
115	`set_adc_channel(LMAX); // Levy UV sensor`	119	`set_adc_channel(LMAX); // Levy UV sensor`
116	`delay_us(100);`	120	`delay_us(100);`
117	`if(read_adc()<THR) // Dotkli jsme se levym senzorem`	121	`if(read_adc()<THR) // Dotkli jsme se levym senzorem`
118	`{`	122	`{`
119	`disp(0xE0);`	123	`disp(0xE0);`
120	`cas=CASAVR-CASMIN; // nastavime, ze cara je rovne`	124	`cas=CASAVR-CASMIN; // nastavime, ze cara je rovne`
121	`goto cara;`	125	`goto cara;`
122	`};`	126	`};`
123	`set_adc_channel(RMAX); // Pravy UV sensor`	127	`set_adc_channel(RMAX); // Pravy UV sensor`
124	`delay_us(100);`	128	`delay_us(100);`
125	`if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!`	129	`if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!`
126	`{`	130	`{`
127	`disp(0x07);`	131	`disp(0x07);`
128	`cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo`	132	`cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo`
129	`goto cara;`	133	`goto cara;`
130	`};`	134	`};`
131	`}`	135	`}`
132	`SetServoQ(CASMIN-5); // max. max. doleva L`	136	`SetServoQ(CASMIN-5); // max. max. doleva L`
133	`}`	137	`}`
134		138
135	`cara:`	139	`cara:`
136		140
137	`output_low(MOT_L); // oba motory vpred`	141	`output_low(MOT_L); // oba motory vpred`
138	`output_low(MOT_R);`	142	`output_low(MOT_R);`
139	`/*`	143	`/*`
140	`set_pwm1_duty(0); // vypni motory`	144	`set_pwm1_duty(0); // vypni motory`
141	`set_pwm2_duty(0);`	145	`set_pwm2_duty(0);`
142		146
143	`SetServo(CASAVR-CASMIN); // doprostred`	147	`SetServo(CASAVR-CASMIN); // doprostred`
144		148
145	`set_pwm1_duty(255); // max. vpred`	149	`set_pwm1_duty(255); // max. vpred`
146	`set_pwm2_duty(255);`	150	`set_pwm2_duty(255);`
147	`output_low(MOT_L);`	151	`output_low(MOT_L);`
148	`output_low(MOT_R);`	152	`output_low(MOT_R);`
149	`odocounter=get_timer1(); // Poznamenej aktualni stav odometrie`	153	`odocounter=get_timer1(); // Poznamenej aktualni stav odometrie`
150	`while(get_timer1()<(odocounter+2)) // Ujed kousek`	154	`while(get_timer1()<(odocounter+2)) // Ujed kousek`
151	`{`	155	`{`
152	`set_adc_channel(LMAX); // Levy UV sensor`	156	`set_adc_channel(LMAX); // Levy UV sensor`
153	`delay_us(40);`	157	`delay_us(40);`
154	`if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo`	158	`if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo`
155	`set_adc_channel(RMAX); // Pravy UV sensor`	159	`set_adc_channel(RMAX); // Pravy UV sensor`
156	`delay_us(40);`	160	`delay_us(40);`
157	`if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo`	161	`if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo`
158	`};`	162	`};`
159	`*/`	163	`*/`

Subversion Repositories svnkaklik

(root)/roboti/istrobot/camerus/SW/876/objizdka_L.c @ 260 – Rev 229 → 230