Subversion Repositories svnkaklik

Rev

Rev 252 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log

Rev 252 Rev 253
Line 24... Line 24...
24 
   output_high(MOT_L);
 24 
   output_high(MOT_L);
25 
   output_low(MOT_R);
 25 
   output_low(MOT_R);
26 
   odocounter=get_timer1();
 26 
   odocounter=get_timer1();
27 
   while(true) // Na zacatku se vyhni cihle, zatoc co muzes
 27 
   while(true) // Na zacatku se vyhni cihle, zatoc co muzes
28 
   {
 28 
   {
29 
      cas=CASMIN-5;       // jeste vic nez hodne do leva
 29 
      cas=CASMIN;//!!!-5;       // jeste vic nez hodne do leva
30 
 
 30 
 
31 
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
 31 
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
32 
      {
 32 
      {
33 
         bum();
 33 
         bum();
34 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
 34 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
Line 146... Line 146...
146 
      disp(visualisation);
 146 
      disp(visualisation);
147 
   };
 147 
   };
148 
   disp(0xC3);
 148 
   disp(0xC3);
149 
 
 149 
 
150 
   set_pwm1_duty(0);    //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200
 150 
   set_pwm1_duty(0);    //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200
151 
   set_pwm2_duty(255);
 151 
   set_pwm2_duty(220);
152 
   output_high(MOT_L);
 152 
   output_high(MOT_L);
153 
   output_low(MOT_R);
 153 
   output_low(MOT_R);
154 
   delay_us(40);
 154 
   delay_us(40);
155 
   odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
 155 
   odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
156 
   while (true)  // Znovu se musime dotknout cary
 156 
   while (true)  // Znovu se musime dotknout cary