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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 257 2007-04-27 13:22:54Z kakl $"
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//"$Id: camerus.c 258 2007-04-27 13:23:35Z 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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   i=0;
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   i=0;
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   disp(i);
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   disp(i);
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}
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}
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// Zaznam LOGu do EEPROM
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// Zaznam LOGu do EEPROM
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void SaveLog(int8 xlog)
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void SaveLog()
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{
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{
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   int8 n,i;
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   int8 n,i,xlog;
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   i=0;
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   i=0;
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   for(n=0;n<=(log*3);n+=3)   // Ulozeni Black Boxu do EEPROM
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   for(n=0;n<=(log*3);n+=3)   // Ulozeni Black Boxu do EEPROM
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   {
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   {
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      write_eeprom(n,bb_f[i]);
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      write_eeprom(n,bb_f[i]);
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      write_eeprom(n+1,bb_h[i]);
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      write_eeprom(n+1,bb_h[i]);
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      write_eeprom(n+2,bb_l[i]);
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      write_eeprom(n+2,bb_l[i]);
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      i++;
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      i++;
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   };
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   };
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   if(log>0) {xlog=log-1;} else {xlog=0;};
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   write_eeprom(EEMAX,xlog);  // Zapis poctu zaznamu na konec EEPROM
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   write_eeprom(EEMAX,xlog);  // Zapis poctu zaznamu na konec EEPROM
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}
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}
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// Zaznam do Logu do RAM
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// Zaznam do Logu do RAM
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void LogLog(int8 reason, int16 log_delay)
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void LogLog(int8 reason, int16 log_delay)
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      while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik
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      while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik
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      {
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      {
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         if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to!
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         if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to!
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         {
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         {
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            bum();
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            bum();
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            SaveLog(log-1);      // Zapis Black Boxu do EEPROM
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            SaveLog();      // Zapis Black Boxu do EEPROM
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            delay_ms(TUHOS); //!!! Zatuhle prevodovky
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            delay_ms(TUHOS); //!!! Zatuhle prevodovky
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            set_pwm1_duty(200);   // pomalu vpred
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            set_pwm1_duty(200);   // pomalu vpred
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            set_pwm2_duty(200);
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            set_pwm2_duty(200);
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            output_low(MOT_L);
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            output_low(MOT_L);
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            output_low(MOT_R);
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            output_low(MOT_R);