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#include ".\camerus.h"
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#include ".\camerus.h"
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#USE FAST_IO (C)
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#USE FAST_IO (C)
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// kroutitka
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#define  CERVENA  1  // AN1
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#define  CERNA    4  // AN4
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#define  ZELENA   3  // AN3
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#define  MODRA    0  // AN0
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// I/O
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#define LED    PIN_C0
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#define LED    PIN_C0
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#define HREF   PIN_C5
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#define HREF   PIN_C5
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#define PIX    PIN_C6
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#define PIX    PIN_C6
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#define SERVO  PIN_B7
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#define SERVO  PIN_B7
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void main()
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void main()
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{
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{
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   int8 cas;
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   int8 cas;
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   int16 offset;
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   setup_adc_ports(ALL_ANALOG);
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   setup_adc_ports(ALL_ANALOG);
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   setup_adc(ADC_CLOCK_INTERNAL);
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   setup_adc(ADC_CLOCK_INTERNAL);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_1(T1_DISABLED);
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   i2c_write(0x1A);
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   i2c_write(0x1A);
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   i2c_write(45);
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   i2c_write(45);
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   i2c_stop();
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   i2c_stop();
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   output_low(LED);
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   output_low(LED);
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   cas=128;
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   while(true)
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   while(true)
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   {
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   {
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      while(!input(HREF));
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      while(!input(HREF));
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      set_timer0(0);
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      set_timer0(0);
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        {
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        {
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          cas=get_timer0();
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          cas=get_timer0();
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          break;
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          break;
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        }
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        }
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      };
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      };
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      cas=255-cas;
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      set_adc_channel(MODRA);
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      Delay_ms(1);
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      offset=read_adc();
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      output_high(SERVO);
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      output_high(SERVO);
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      delay_us(1000);
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      delay_us(900);
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      delay_us(offset);
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      delay_us(cas);
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      delay_us(cas);
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      delay_us(cas);
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      delay_us(cas);
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      delay_us(cas);
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      delay_us(cas);
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      output_LOW(SERVO);
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      output_LOW(SERVO);
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      set_pwm1_duty(cas);
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      set_pwm1_duty(cas);
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      set_pwm2_duty(255-cas);
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      set_pwm2_duty(255-cas);
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   };
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   };
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}
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}