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//********* Robot Camerus pro IstRobot 2007 ************
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//********* Robot Camerus pro IstRobot 2007 ************
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//"$Id: camerus.c 246 2007-04-22 15:43:09Z kakl $"
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//"$Id: camerus.c 247 2007-04-22 19:31:58Z kakl $"
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//*****************************************************
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//*****************************************************
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#include ".\camerus.h"
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#include ".\camerus.h"
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#USE FAST_IO (C)     // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
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#USE FAST_IO (C)     // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
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// Rychlostni konstanty
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// Rychlostni konstanty
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#define RR_CIHLA     30       // Rozumna rychlost pro objizdeni cihly
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#define RR_CIHLA     30       // Rozumna rychlost pro objizdeni cihly
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#define RR_PRERUSENI 20       // Rozumna rychlost pro priblizeni se k preruseni
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#define RR_PRERUSENI 20       // Rozumna rychlost pro priblizeni se k preruseni
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#define BRZDNA_DRAHA 0x20        // Jak daleko pred problemem se zacne brzdit
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#define BRZDNA_DRAHA 0x20        // Jak daleko pred problemem se zacne brzdit
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#define ODODO1 0x37
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#define ODODO1 0xFFF
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#define ODODO2 0x5E
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#define ODODO2 0xFFF
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// Adresy IIC periferii
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// Adresy IIC periferii
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#define COMPAS_ADR   0xC0
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#define COMPAS_ADR   0xC0
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#define CAMERA_ADR   0xDC
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#define CAMERA_ADR   0xDC
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#define SONAR_ADR    0xE0
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#define SONAR_ADR    0xE0
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//---------------------------- INT --------------------------------
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//---------------------------- INT --------------------------------
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#int_EXT
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#int_EXT
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EXT_isr()   // Preruseni od prekazky
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EXT_isr()   // Preruseni od prekazky
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{
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{
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   int8 bearing, bearing_offset, delta_bearing;
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   unsigned int8 bearing, bearing_offset, delta_bearing;
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   set_pwm1_duty(0);    // zabrzdi levym kolem, prave vypni
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   set_pwm1_duty(0);    // zabrzdi levym kolem, prave vypni
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   set_pwm2_duty(0);
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   set_pwm2_duty(0);
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   output_high(MOT_L);
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   output_high(MOT_L);
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   output_low(MOT_R);
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   output_low(MOT_R);
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   output_low(MOT_L);   // Nastav smer vpred
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   output_low(MOT_L);   // Nastav smer vpred
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   output_low(MOT_R);
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   output_low(MOT_R);
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   disp(0);    // Zhasni LEDbar
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   disp(0);    // Zhasni LEDbar
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   if(BUMPER)  // Kdyz nekdo na zacatku drzi naraznik, vymaz log
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   {
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      int8 n;
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      for(n=0;n<255;n++) write_eeprom(n,0);
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      bb_l[0]=0;        // Zapis na pozici 0 vzdalenost 0
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      bb_h[0]=0;
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      SaveLog(0);       // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam
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      for(n=0;n<=4;n++)
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/*!!!!
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      {
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         disp(0x55);       // Blikni pro potvrzeni
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         delay_ms(200);
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         disp(0xAA);
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         delay_ms(200);
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      };
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while(true)
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      while(true)
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{
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      {
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         if(!IRRX)
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         {
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   int8 ble;
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            int8 ble;
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   i2c_start();     // Cteni kompasu
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            i2c_start();     // Cteni kompasu
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   i2c_write(COMPAS_ADR);
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            i2c_write(COMPAS_ADR);
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   i2c_write(0x1);
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            i2c_write(0x1);
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   ble=i2c_read(0);
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            ble=i2c_read(0);
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   i2c_stop();
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            i2c_stop();
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   disp(ble);
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            disp(ble);
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   delay_ms(200);
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            delay_ms(200);
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}
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         }
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//*/
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   if(BUMPER)  // Kdyz nekdo na zacatku drzi naraznik, vymaz log
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   {
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      int8 n;
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      for(n=0;n<255;n++) write_eeprom(n,0);
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      bb_l[0]=0;        // Zapis na pozici 0 vzdalenost 0
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      bb_h[0]=0;
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      SaveLog(0);       // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam
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      while(true)
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      {
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         if(!IRRX)
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         {
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            disp(0x55);       // Blikni pro potvrzeni
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            delay_ms(200);
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            disp(0xAA);
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            delay_ms(200);
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         }
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         else
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         else
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         {
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         {
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            disp(0x81);       // Diagnostika celniho IR senzoru na prekazku
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            disp(0x81);       // Diagnostika celniho IR senzoru na prekazku
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            delay_ms(200);
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            delay_ms(200);
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         }
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         }
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      {
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      {
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         if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to!
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         if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to!
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         {
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         {
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            bum();
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            bum();
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            SaveLog(log-1);      // Zapis Black Boxu do EEPROM
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            SaveLog(log-1);      // Zapis Black Boxu do EEPROM
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            set_pwm1_duty(140);   // pomalu vpred
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            set_pwm1_duty(160);   // pomalu vpred
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            set_pwm2_duty(140);
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            set_pwm2_duty(160);
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            output_low(MOT_L);
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            output_low(MOT_L);
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            output_low(MOT_R);
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            output_low(MOT_R);
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         };
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         };
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         set_adc_channel(LMAX);    // Levy UV sensor
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         set_adc_channel(LMAX);    // Levy UV sensor
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         for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
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         for(n=0;n<20;n++) if(input(HREF)) goto next_snap;