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Line 70... Line 70...
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      SetServoQ(cas);
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      SetServoQ(cas);
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      i2c_start();     // Sonar Ping
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      i2c_start();     // Sonar Ping
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      i2c_write(0xE0);
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      i2c_write(0xE0);
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      i2c_write(0x0);
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      i2c_write(0x0);
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      i2c_write(0x51);
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      i2c_write(0x52);  // mereni v us
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      i2c_stop();
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      i2c_stop();
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      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
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      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
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      {
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      {
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         set_adc_channel(LMAX);
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         set_adc_channel(LMAX);