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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 213 2007-03-23 14:36:21Z kakl $"
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//"$Id: camerus.c 214 2007-03-23 14:55:54Z 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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#define CASMIN 6           // Rozsah radku snimace
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#define CASMIN 6           // Rozsah radku snimace
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#define CASMAX 192
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#define CASMAX 192
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#define CASAVR ((CASMAX+CASMIN) / 2)
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#define CASAVR ((CASMAX+CASMIN) / 2)
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#define OFFSETO   0x9A //0x9F         // Vystredeni serva pro objeti prekazky
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#define OFFSETO   0x9F //0x9F         // Vystredeni serva pro objeti prekazky
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#byte INTCON      = 0x0B         // Interrupt configuration register
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#byte INTCON      = 0x0B         // Interrupt configuration register
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   #bit GIE       = INTCON.7
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   #bit GIE       = INTCON.7
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   #bit PEIE      = INTCON.6
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   #bit PEIE      = INTCON.6
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   #bit TMR0IE    = INTCON.5
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   #bit TMR0IE    = INTCON.5