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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 252 2007-04-24 08:53:01Z kakl $"
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//"$Id: camerus.c 253 2007-04-24 09:26:46Z 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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// Rychlostni konstanty
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// Rychlostni konstanty
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#define RR_CIHLA 25 // Rozumna rychlost pro objizdeni cihly
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#define RR_CIHLA 18 // Rozumna rychlost pro objizdeni cihly
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#define RR_PRERUSENI 20 // Rozumna rychlost pro priblizeni se k preruseni
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#define RR_PRERUSENI 18 // Rozumna rychlost pro priblizeni se k preruseni
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#define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit
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#define BRZDNA_DRAHA 0x20 // Jak daleko pred problemem se zacne brzdit
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#define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik
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#define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik
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#define ODODO_CIHLA 0xFFF
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#define ODODO_CIHLA 0xFFF
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#define ODODO_TUNEL 0xFFF
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#define ODODO_TUNEL 0xFFF
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#define ODODO_PRERUSENI 0xFFF
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#define ODODO_PRERUSENI 0xFFF
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