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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 224 2007-04-06 19:56:01Z kakl $"
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//"$Id: camerus.c 226 2007-04-08 08:03:04Z 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 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   0x9F //0x9F         // Vystredeni serva pro objeti prekazky
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#define OFFSETO   0x9F //0x9F         // Vystredeni serva pro objeti prekazky
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#define THR_H 128
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#define THR 90    // Threshold pro UV cidla na caru
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#define THR_L 90
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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
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   delay_us(angle);
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   delay_us(angle);
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   delay_us(angle);
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   delay_us(angle);
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   output_low(SERVO);
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   output_low(SERVO);
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}
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}
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- 
 
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//---------------------------- INT --------------------------------
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#int_EXT
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#int_EXT
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EXT_isr()   // Preruseni od prekazky
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EXT_isr()   // Preruseni od prekazky
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{
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{
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   set_pwm1_duty(0);    // zabrzdi levym kolem, prave vypni
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   set_pwm1_duty(0);    // zabrzdi levym kolem, prave vypni
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   set_pwm2_duty(0);
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   set_pwm2_duty(0);
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      output_low(MOT_L); // je odraz -> vpred
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      output_low(MOT_L); // je odraz -> vpred
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      output_low(MOT_R);
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      output_low(MOT_R);
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      return;
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      return;
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   };
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   };
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   output_low(IRTX);    // Zapni LED na detekci prekazky
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   output_low(IRTX);    // Zapni LED na detekci prekazky
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   delay_ms(5);
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   delay_ms(10);
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   if (input(IRRX))     // stale nas signal?
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   if (input(IRRX))     // stale nas signal?
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   {
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   {
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      output_low(MOT_L); // neni odraz -> vpred
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      output_low(MOT_L); // neni odraz -> vpred
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      output_low(MOT_R);
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      output_low(MOT_R);
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      return;
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      return;
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            disp(0x01);
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            disp(0x01);
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            while(get_timer1()<=4) // Ujed alespon 12cm
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            while(get_timer1()<=4) // Ujed alespon 12cm
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            {
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            {
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               set_adc_channel(LMAX);    // Levy UV sensor
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               set_adc_channel(LMAX);    // Levy UV sensor
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               delay_us(40);
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               delay_us(40);
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               if(read_adc()<THR_L) {cas=CASMIN; break;};  // Prejeli jsme caru vlevo
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               if(read_adc()<THR) {cas=CASMIN; break;};  // Prejeli jsme caru vlevo
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               set_adc_channel(RMAX);    // Pravy UV sensor
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               set_adc_channel(RMAX);    // Pravy UV sensor
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               delay_us(40);
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               delay_us(40);
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               if(read_adc()<THR_L) {cas=CASMAX; break;};  // Prejeli jsme caru vpravo
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               if(read_adc()<THR) {cas=CASMAX; break;};  // Prejeli jsme caru vpravo
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               cas=CASAVR-CASMIN;    // Cara je rovne
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               cas=CASAVR-CASMIN;    // Cara je rovne
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            };
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            };
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            stav=rozjezd;
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            stav=rozjezd;
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         };
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         };
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      }
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      }
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      while(true) // Ve zbytku casu snimku cti krajni UV senzory
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      while(true) // Ve zbytku casu snimku cti krajni UV senzory
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      {
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      {
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         set_adc_channel(LMAX);    // Levy UV sensor
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         set_adc_channel(LMAX);    // Levy UV sensor
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         for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
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         for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
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         if(read_adc()<THR_L) cas=CASMIN;
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         if(read_adc()<THR) cas=CASMIN;
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         set_adc_channel(RMAX);    // Pravy UV sensor
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         set_adc_channel(RMAX);    // Pravy UV sensor
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         for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
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         for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
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         if(read_adc()<THR_L) cas=CASMAX;
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         if(read_adc()<THR) cas=CASMAX;
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      };
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      };
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   }
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   }
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}
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}