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


// Program pro MiniSumo na R-Day 2006
//"$Id: camerus.c 204 2007-03-21 09:14:22Z kakl $"
 
#include "cholerik.h"
 
// Konstanty
#define TRESHOLD     0x250        // rozhodovaci uroven pro okraj areny
//#define DEBUG1 1   // Diagnostika pohonu
 
//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 L         2           // Senzory na okraj areny
#define R         3
#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)
 
#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;
int1  arena_r;
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 (stav)
   {
      if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_l=TRUE; else arena_l=FALSE;
      set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni
      delay_us(10);
      read_adc(ADC_START_ONLY);
      set_pwm1_duty(27);      // 1:1
   }
   else
   {
      if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_r=TRUE; else arena_r=FALSE;
      set_adc_channel(L); // prepnuti kanalu ADC, je treba min 10us na ustaleni
      delay_us(10);
      read_adc(ADC_START_ONLY);
      set_pwm1_duty(55);      // 1:0
   };
 
   if (GRAVITY) {if (g<255) g++;} else g=0;
   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);
}
 
/******************************************************************************/
inline void diagnostika()
{
   unsigned int16 n;
 
#ifdef DEBUG1
   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);
   };
#endif
 
   if (GRAVITY) {
   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(50);
      if (arena_r) 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);
   }};
}
 
void main()
{
   unsigned int16 n; // for FOR
 
   STOPL; STOPR;     // zastavi motory
 
   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
   setup_adc_ports(sAN2|sAN3|VSS_VDD);   // prevodniky na cidla na okraj areny
   setup_adc(ADC_CLOCK_INTERNAL);
   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(NC_NC_NC_NC);
   setup_vref(FALSE);
 
   set_adc_channel(R);
 
   Beep(1000,200);     //double beep
   Delay_ms(50);
   Beep(1000,200);
   diagnostika();
 
   enable_interrupts(INT_TIMER0);
   enable_interrupts(GLOBAL);
/*---------------------------------------------------------------------------*/
   for (n=1;n<=3;n++)   // 5s do zacatku souboje
   {
      Delay_ms(990);
      Beep(1000,200);
   }
   Delay_ms(300);
 
   while(true)       // hlavni smycka
   {
LOOP:
 
      GO(L, F, 150); GO(R, F, 150);
 
      if (arena_r)
      {
         BL; BR;
         delay_ms(100);
         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(100);
         BL; STOPR;
         for(n=0; n<5000; n++)
         {
            if (!arena_l || arena_r) {BL; BR;};
         };
         BL; FR;
         delay_ms(100);
         STOPL; STOPR;
      }
 
      if (sr>10)     // 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>10)     // 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>10)      // Nepritel vpredu
      {
         BL; FR;
         delay_ms(110);
         FL; BR;
         delay_ms(50);
         STOPL; STOPR;
      }
 
      if (b>10)      // Nepritel vzadu
      {
         BL; FR;
         delay_ms(110);
         FL; BR;
         delay_ms(50);
         STOPL; STOPR;
      }
 
   } // while(true)
}

Rev 203	Rev 205
1	`// Program pro MiniSumo na R-Day 2006`	1	`// Program pro MiniSumo na R-Day 2006`
-		2	`//"$Id: camerus.c 204 2007-03-21 09:14:22Z kakl $"`
-		3
2	`#include "cholerik.h"`	4	`#include "cholerik.h"`
3		5
4	`// Konstanty`	6	`// Konstanty`
5	`#define TRESHOLD 0x254 // rozhodovaci uroven pro okraj areny`	7	`#define TRESHOLD 0x250 // rozhodovaci uroven pro okraj areny`
6	`//#define DEBUG1 1 // Diagnostika pohonu`	8	`//#define DEBUG1 1 // Diagnostika pohonu`
7		9
8	`//motory //Napred vypnout potom zapnout!`	10	`//motory //Napred vypnout potom zapnout!`
9	`#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`	11	`#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred`
10	`#define FL output_low(PIN_B7); output_high(PIN_B6)`	12	`#define FL output_low(PIN_B7); output_high(PIN_B6)`
11	`#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`	13	`#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad`
12	`#define BL output_low(PIN_B6); output_high(PIN_B7)`	14	`#define BL output_low(PIN_B6); output_high(PIN_B7)`
13	`#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`	15	`#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav`
14	`#define STOPL output_low(PIN_B6);output_low(PIN_B7)`	16	`#define STOPL output_low(PIN_B6);output_low(PIN_B7)`
15		17
16	`//cidla`	18	`//cidla`
17	`#define L 2 // Senzory na okraj areny`	19	`#define L 2 // Senzory na okraj areny`
18	`#define R 3`	20	`#define R 3`
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		26
25	`#DEFINE SOUND_HI PIN_B1 // komplementarni vystupy pro piezo pipak`	27	`#DEFINE SOUND_HI PIN_B1 // komplementarni vystupy pro piezo pipak`
26	`#DEFINE SOUND_LO PIN_B2`	28	`#DEFINE SOUND_LO PIN_B2`
27		29
28	`// makro pro PWM`	30	`// makro pro PWM`
29	`#define GO(motor, direction, power) if(get_timer0()<=power) \`	31	`#define GO(motor, direction, power) if(get_timer0()<=power) \`
30	`{direction##motor;} else {stop##motor;}`	32	`{direction##motor;} else {stop##motor;}`
31		33
32	`unsigned int8 majak=0;`	34	`unsigned int8 majak=0;`
33	`unsigned int8 sl=0;`	35	`unsigned int8 sl=0;`
34	`unsigned int8 sr=0;`	36	`unsigned int8 sr=0;`
35	`unsigned int8 b=0;`	37	`unsigned int8 b=0;`
36	`unsigned int8 f=0;`	38	`unsigned int8 f=0;`
37	`unsigned int8 g=0;`	39	`unsigned int8 g=0;`
38	`int1 arena_l;`	40	`int1 arena_l;`
39	`int1 arena_r;`	41	`int1 arena_r;`
40	`int1 diag=FALSE;`	42	`int1 diag=FALSE;`
41		43
42	`#int_TIMER0`	44	`#int_TIMER0`
43	`TIMER0_isr()`	45	`TIMER0_isr()`
44	`{`	46	`{`
45	`int1 stav;`	47	`int1 stav;`
46		48
47	`stav = ((majak & 0b1) == 0b1);`	49	`stav = ((majak & 0b1) == 0b1);`
48	`if (((SIDE_R && stav) \|\| (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};`	50	`if (((SIDE_R && stav) \|\| (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};`
49	`if (((SIDE_L && stav) \|\| (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};`	51	`if (((SIDE_L && stav) \|\| (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};`
50	`if (((BACK && stav) \|\| (!BACK && !stav))) {if (b<255) b++;} else {b=0;};`	52	`if (((BACK && stav) \|\| (!BACK && !stav))) {if (b<255) b++;} else {b=0;};`
51	`if (((FRONT && stav) \|\| (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};`	53	`if (((FRONT && stav) \|\| (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};`
52	`majak++;`	54	`majak++;`
53	`stav = ((majak & 0b1) == 0b1);`	55	`stav = ((majak & 0b1) == 0b1);`
54	`if (stav)`	56	`if (stav)`
55	`{`	57	`{`
56	`if (read_adc(ADC_READ_ONLY) > 250) arena_l=TRUE; else arena_l=FALSE;`	58	`if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_l=TRUE; else arena_l=FALSE;`
57	`set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni`	59	`set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni`
58	`delay_us(10);`	60	`delay_us(10);`
59	`read_adc(ADC_START_ONLY);`	61	`read_adc(ADC_START_ONLY);`
60	`set_pwm1_duty(27); // 1:1`	62	`set_pwm1_duty(27); // 1:1`
61	`}`	63	`}`
62	`else`	64	`else`
63	`{`	65	`{`
64	`if (read_adc(ADC_READ_ONLY) > 250) arena_r=TRUE; else arena_r=FALSE;`	66	`if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_r=TRUE; else arena_r=FALSE;`
65	`set_adc_channel(L); // prepnuti kanalu ADC, je treba min 10us na ustaleni`	67	`set_adc_channel(L); // prepnuti kanalu ADC, je treba min 10us na ustaleni`
66	`delay_us(10);`	68	`delay_us(10);`
67	`read_adc(ADC_START_ONLY);`	69	`read_adc(ADC_START_ONLY);`
68	`set_pwm1_duty(55); // 1:0`	70	`set_pwm1_duty(55); // 1:0`
69	`};`	71	`};`
70		72
71	`if (GRAVITY) {if (g<255) g++;} else g=0;`	73	`if (GRAVITY) {if (g<255) g++;} else g=0;`
72	`if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se`	74	`if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se`
73	`}`	75	`}`
74		76
75	`// Primitivni Pipani`	77	`// Primitivni Pipani`
76	`void beep(unsigned int16 period, unsigned int16 length)`	78	`void beep(unsigned int16 period, unsigned int16 length)`
77	`{`	79	`{`
78	`unsigned int16 nn;`	80	`unsigned int16 nn;`
79		81
80	`disable_interrupts(GLOBAL);`	82	`disable_interrupts(GLOBAL);`
81	`for(nn=length; nn>0; nn--)`	83	`for(nn=length; nn>0; nn--)`
82	`{`	84	`{`
83	`output_high(SOUND_HI);output_low(SOUND_LO);`	85	`output_high(SOUND_HI);output_low(SOUND_LO);`
84	`delay_us(period);`	86	`delay_us(period);`
85	`output_high(SOUND_LO);output_low(SOUND_HI);`	87	`output_high(SOUND_LO);output_low(SOUND_HI);`
86	`delay_us(period);`	88	`delay_us(period);`
87	`}`	89	`}`
88	`enable_interrupts(GLOBAL);`	90	`enable_interrupts(GLOBAL);`
89	`}`	91	`}`
90		92
91	`/******************************************************************************/`	93	`/******************************************************************************/`
92	`inline void diagnostika()`	94	`inline void diagnostika()`
93	`{`	95	`{`
94	`unsigned int16 n;`	96	`unsigned int16 n;`
95		97
96	`#ifdef DEBUG1`	98	`#ifdef DEBUG1`
97	`while (true) // Diagnostika podvozku`	99	`while (true) // Diagnostika podvozku`
98	`{`	100	`{`
99	`for (n=500; n<800; n+=100)`	101	`for (n=500; n<800; n+=100)`
100	`{`	102	`{`
101	`beep(n,n); //beep UP`	103	`beep(n,n); //beep UP`
102	`};`	104	`};`
103	`Delay_ms(1000);`	105	`Delay_ms(1000);`
104	`//zastav vse`	106	`//zastav vse`
105	`STOPL; STOPR;`	107	`STOPL; STOPR;`
106	`//pravy pas`	108	`//pravy pas`
107	`FR; Delay_ms(1000); STOPR; Delay_ms(1000);`	109	`FR; Delay_ms(1000); STOPR; Delay_ms(1000);`
108	`BR; Delay_ms(1000); STOPR; Delay_ms(1000);`	110	`BR; Delay_ms(1000); STOPR; Delay_ms(1000);`
109	`Beep(880,100); Delay_ms(1000);`	111	`Beep(880,100); Delay_ms(1000);`
110	`//levy pas`	112	`//levy pas`
111	`FL; Delay_ms(1000); STOPL; Delay_ms(1000);`	113	`FL; Delay_ms(1000); STOPL; Delay_ms(1000);`
112	`BL; Delay_ms(1000); STOPL; Delay_ms(1000);`	114	`BL; Delay_ms(1000); STOPL; Delay_ms(1000);`
113	`Beep(880,100); Delay_ms(1000);`	115	`Beep(880,100); Delay_ms(1000);`
114	`//oba pasy`	116	`//oba pasy`
115	`FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`	117	`FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
116	`BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`	118	`BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);`
117	`};`	119	`};`
118	`#endif`	120	`#endif`
119		121
120	`if (GRAVITY) {`	122	`if (GRAVITY) {`
121	`diag=TRUE;`	123	`diag=TRUE;`
122	`enable_interrupts(INT_TIMER0);`	124	`enable_interrupts(INT_TIMER0);`
123	`enable_interrupts(GLOBAL);`	125	`enable_interrupts(GLOBAL);`
124	`while (true) // Diagnostika cidel`	126	`while (true) // Diagnostika cidel`
125	`{`	127	`{`
126	`if (g>100) beep(800,100);`	128	`if (g>100) beep(800,100);`
127	`Delay_ms(50);`	129	`Delay_ms(50);`
128	`if (arena_l) beep(1000,200);`	130	`if (arena_l) beep(1000,200);`
129	`Delay_ms(50);`	131	`Delay_ms(50);`
130	`if (arena_r) beep(2000,300);`	132	`if (arena_r) beep(2000,300);`
131	`Delay_ms(50);`	133	`Delay_ms(50);`
132	`if (sr>10) beep(3000,400);`	134	`if (sr>10) beep(3000,400);`
133	`Delay_ms(50);`	135	`Delay_ms(50);`
134	`if (f>10) beep(4000,500);`	136	`if (f>10) beep(4000,500);`
135	`Delay_ms(50);`	137	`Delay_ms(50);`
136	`if (sl>10) beep(5000,500);`	138	`if (sl>10) beep(5000,500);`
137	`Delay_ms(50);`	139	`Delay_ms(50);`
138	`if (b>10) beep(6000,600);`	140	`if (b>10) beep(6000,600);`
139	`Delay_ms(50);`	141	`Delay_ms(50);`
140	`}};`	142	`}};`
141	`}`	143	`}`
142		144
143	`void main()`	145	`void main()`
144	`{`	146	`{`
145	`unsigned int16 n; // for FOR`	147	`unsigned int16 n; // for FOR`
146		148
147	`STOPL; STOPR; // zastavi motory`	149	`STOPL; STOPR; // zastavi motory`
148		150
149	`setup_oscillator(OSC_8MHZ\|OSC_INTRC); // CPU clock 8MHz`	151	`setup_oscillator(OSC_8MHZ\|OSC_INTRC); // CPU clock 8MHz`
150	`setup_adc_ports(sAN2\|sAN3\|VSS_VDD); // prevodniky na cidla na okraj areny`	152	`setup_adc_ports(sAN2\|sAN3\|VSS_VDD); // prevodniky na cidla na okraj areny`
151	`setup_adc(ADC_CLOCK_INTERNAL);`	153	`setup_adc(ADC_CLOCK_INTERNAL);`
152	`setup_spi(FALSE);`	154	`setup_spi(FALSE);`
153	`setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_4); // Casovac pro SW PWM a cteni cidel`	155	`setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_4); // Casovac pro SW PWM a cteni cidel`
154	`setup_timer_1(T1_DISABLED);`	156	`setup_timer_1(T1_DISABLED);`
155	`setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz`	157	`setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz`
156	`setup_ccp1(CCP_PWM); // HW PWM ON`	158	`setup_ccp1(CCP_PWM); // HW PWM ON`
157	`set_pwm1_duty(27); // 1:1`	159	`set_pwm1_duty(27); // 1:1`
158	`setup_comparator(NC_NC_NC_NC);`	160	`setup_comparator(NC_NC_NC_NC);`
159	`setup_vref(FALSE);`	161	`setup_vref(FALSE);`
160		162
161	`set_adc_channel(R);`	163	`set_adc_channel(R);`
162		164
163	`Beep(1000,200); //double beep`	165	`Beep(1000,200); //double beep`
164	`Delay_ms(50);`	166	`Delay_ms(50);`
165	`Beep(1000,200);`	167	`Beep(1000,200);`
166	`diagnostika();`	168	`diagnostika();`
167		169
168	`enable_interrupts(INT_TIMER0);`	170	`enable_interrupts(INT_TIMER0);`
169	`enable_interrupts(GLOBAL);`	171	`enable_interrupts(GLOBAL);`
170	`/---------------------------------------------------------------------------/`	172	`/---------------------------------------------------------------------------/`
171	`for (n=1;n<=3;n++) // 5s do zacatku souboje`	173	`for (n=1;n<=3;n++) // 5s do zacatku souboje`
172	`{`	174	`{`
173	`Delay_ms(990);`	175	`Delay_ms(990);`
174	`Beep(1000,200);`	176	`Beep(1000,200);`
175	`}`	177	`}`
176	`Delay_ms(300);`	178	`Delay_ms(300);`
177		179
178	`while(true) // hlavni smycka`	180	`while(true) // hlavni smycka`
179	`{`	181	`{`
180	`LOOP:`	182	`LOOP:`
181		183
182	`GO(L, F, 150); GO(R, F, 150);`	184	`GO(L, F, 150); GO(R, F, 150);`
183		185
184	`if (arena_r)`	186	`if (arena_r)`
185	`{`	187	`{`
186	`BL; BR;`	188	`BL; BR;`
187	`delay_ms(100);`	189	`delay_ms(100);`
188	`STOPL; BR;`	190	`STOPL; BR;`
189	`for(n=0; n<5000; n++)`	191	`for(n=0; n<5000; n++)`
190	`{`	192	`{`
191	`if (!arena_r \|\| arena_l) {BL; BR;};`	193	`if (!arena_r \|\| arena_l) {BL; BR;};`
192	`};`	194	`};`
193	`FL; BR;`	195	`FL; BR;`
194	`delay_ms(100);`	196	`delay_ms(100);`
195	`STOPL; STOPR;`	197	`STOPL; STOPR;`
196	`}`	198	`}`
197		199
198	`if (arena_l)`	200	`if (arena_l)`
199	`{`	201	`{`
200	`BL; BR;`	202	`BL; BR;`
201	`delay_ms(100);`	203	`delay_ms(100);`
202	`BL; STOPR;`	204	`BL; STOPR;`
203	`for(n=0; n<5000; n++)`	205	`for(n=0; n<5000; n++)`
204	`{`	206	`{`
205	`if (!arena_l \|\| arena_r) {BL; BR;};`	207	`if (!arena_l \|\| arena_r) {BL; BR;};`
206	`};`	208	`};`
207	`BL; FR;`	209	`BL; FR;`
208	`delay_ms(100);`	210	`delay_ms(100);`
209	`STOPL; STOPR;`	211	`STOPL; STOPR;`
210	`}`	212	`}`
211		213
212	`if (sr>10) // Nepritel vpravo`	214	`if (sr>10) // Nepritel vpravo`
213	`{`	215	`{`
214	`FL; FR; // popojed rovne`	216	`FL; FR; // popojed rovne`
215	`for(n=0; n<5000; n++)`	217	`for(n=0; n<5000; n++)`
216	`{`	218	`{`
217	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	219	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
218	`};`	220	`};`
219	`FL; BR; // otoc se na nej`	221	`FL; BR; // otoc se na nej`
220	`for(n=0; n<10000; n++)`	222	`for(n=0; n<10000; n++)`
221	`{`	223	`{`
222	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	224	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
223	`if (f>5)`	225	`if (f>5)`
224	`{`	226	`{`
225	`FL; FR; // vytlac ho`	227	`FL; FR; // vytlac ho`
226	`};`	228	`};`
227	`if (sl>5) {BL; FR;};`	229	`if (sl>5) {BL; FR;};`
228	`if (sr>5) {FL; BR;};`	230	`if (sr>5) {FL; BR;};`
229	`};`	231	`};`
230	`}`	232	`}`
231		233
232	`if (sl>10) // Nepritel vlevo`	234	`if (sl>10) // Nepritel vlevo`
233	`{`	235	`{`
234	`FL; FR; // popojed rovne`	236	`FL; FR; // popojed rovne`
235	`for(n=0; n<5000; n++)`	237	`for(n=0; n<5000; n++)`
236	`{`	238	`{`
237	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	239	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
238	`};`	240	`};`
239	`BL; FR; // otoc se na nej`	241	`BL; FR; // otoc se na nej`
240	`for(n=0; n<10000; n++)`	242	`for(n=0; n<10000; n++)`
241	`{`	243	`{`
242	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`	244	`if (arena_l \|\| arena_r) {BL; BR; delay_ms(100); goto LOOP;};`
243	`if (f>5)`	245	`if (f>5)`
244	`{`	246	`{`
245	`FL; FR; // vytlac ho`	247	`FL; FR; // vytlac ho`
246	`};`	248	`};`
247	`if (sl>5) {BL; FR;};`	249	`if (sl>5) {BL; FR;};`
248	`if (sr>5) {FL; BR;};`	250	`if (sr>5) {FL; BR;};`
249	`};`	251	`};`
250	`}`	252	`}`
251		253
252	`if (f>10) // Nepritel vpredu`	254	`if (f>10) // Nepritel vpredu`
253	`{`	255	`{`
254	`BL; FR;`	256	`BL; FR;`
255	`delay_ms(110);`	257	`delay_ms(110);`
256	`FL; BR;`	258	`FL; BR;`
257	`delay_ms(50);`	259	`delay_ms(50);`
258	`STOPL; STOPR;`	260	`STOPL; STOPR;`
259	`}`	261	`}`
260		262
261	`if (b>10) // Nepritel vzadu`	263	`if (b>10) // Nepritel vzadu`
262	`{`	264	`{`
263	`BL; FR;`	265	`BL; FR;`
264	`delay_ms(110);`	266	`delay_ms(110);`
265	`FL; BR;`	267	`FL; BR;`
266	`delay_ms(50);`	268	`delay_ms(50);`
267	`STOPL; STOPR;`	269	`STOPL; STOPR;`
268	`}`	270	`}`
269		271
270	`} // while(true)`	272	`} // while(true)`
271	`}`	273	`}`

Subversion Repositories svnkaklik

(root)/roboti/istrobot/cholerik/cholerik.c – Rev 203 → 205