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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 223 2007-04-02 19:05:22Z kakl $"
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//"$Id: camerus.c 224 2007-04-06 19:56:01Z 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 MOT_R PIN_B6 // Smer otaceni praveho motoru; druhy pol je RC1
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#define MOT_R PIN_B6 // Smer otaceni praveho motoru; druhy pol je RC1
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#define MOT_1 PIN_C1 // PWM vystpy motoru
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#define MOT_1 PIN_C1 // PWM vystpy motoru
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#define MOT_2 PIN_C2 //
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#define MOT_2 PIN_C2 //
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#define DATA PIN_B2 // K modulu LEDbar data
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#define DATA PIN_B2 // K modulu LEDbar data
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#define CP PIN_B1 // K modulu LEDbar hodiny
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#define CP PIN_B1 // K modulu LEDbar hodiny
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//#define ODO PIN_A4 // Ze snimace z odometrie z praveho kola / nove je to na RC0 na TIMER1
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//#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1
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// Jeden impuls je 31,25mm
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// Jeden impuls je 31,25mm
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#define IRRX PIN_B0 // Vstup INT, generuje preruseni pri prekazce
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#define IRRX PIN_B0 // Vstup INT, generuje preruseni pri prekazce
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#define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky
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#define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky
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#define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu
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#define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu
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