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#include ".\camerus.h"
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#include ".\camerus.h"
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#USE FAST_IO (C)
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#USE FAST_IO (C)
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// kroutitka
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// kroutitka
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#define  CERVENA  1  // AN1
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#define  CERVENA  3  // AN3/RA3
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#define  CERNA    4  // AN4
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#define  CERNA    2  // AN2/RA2
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#define  ZELENA   3  // AN3
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#define  ZELENA   1  // AN1/RA0
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#define  MODRA    0  // AN0
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#define  MODRA    0  // AN0/RA1
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// I/O
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// I/O
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#define LED    PIN_C0
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#define LED    PIN_C0
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#define HREF   PIN_C5
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#define HREF   PIN_C5
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#define PIX    PIN_C6
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#define PIX    PIN_C6
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#define SERVO  PIN_B7
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#define SERVO  PIN_B7
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#define MOT_L  PIN_B5
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#define MOT_R  PIN_B6
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void main()
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void main()
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{
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{
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   int8 cas;
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   int8 cas;
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   int16 offset;
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   int8 offset;
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   int8 rr; // Rozumna rychlost
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   int8 r1;
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   int8 r2;
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   int16 ble;
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   setup_adc_ports(ALL_ANALOG);
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   setup_adc_ports(ALL_ANALOG);
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   setup_adc(ADC_CLOCK_INTERNAL);
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   setup_adc(ADC_CLOCK_INTERNAL);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_2(T2_DIV_BY_16,255,1);
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   setup_timer_2(T2_DIV_BY_16,255,1);
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   setup_comparator(NC_NC_NC_NC);
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   setup_comparator(NC_NC_NC_NC);
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   setup_vref(FALSE);
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   setup_vref(FALSE);
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   set_tris_c(0b11111000);
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   set_tris_c(0b11111000);
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- 
 
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   set_pwm1_duty(0);   // Zastav motory
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   set_pwm2_duty(0);
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   output_low(MOT_L);
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   output_low(MOT_R);
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   output_high(LED);
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   output_high(LED);
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   delay_ms(200);
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   delay_ms(200);
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   i2c_start();      // Reset
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   i2c_start();      // Reset
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   i2c_write(0x1A);
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   i2c_write(0x1A);
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   i2c_write(45);
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   i2c_write(45);
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   i2c_stop();
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   i2c_stop();
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   output_low(LED);
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   output_low(LED);
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   delay_ms(100);
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   delay_ms(200);
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/*
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/*
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   i2c_start();      // BW + freeze AGC/AEC
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   i2c_start();      // BW + freeze AGC/AEC
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   i2c_write(0xC0);
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   i2c_write(0xC0);
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   i2c_write(0x28);
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   i2c_write(0x28);
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   i2c_write(0b01010001);
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   i2c_write(0b01010001);
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   i2c_stop();
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   i2c_stop();
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*/
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*/
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   output_high(LED);
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   output_high(LED);
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   delay_ms(100);
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   delay_ms(200);
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   output_low(LED);
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   output_low(LED);
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   cas=128;
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   cas=128;
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   ble=0;
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   while(true)
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   while(true)
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   {
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   {
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      while(!input(HREF));
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      while(!input(HREF));
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//      delay_cycles(4);
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//      delay_cycles(4);
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      set_timer0(0);
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      set_timer0(0);
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      delay_us(offset);
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      delay_us(offset);
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      delay_us(cas);
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      delay_us(cas);
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      delay_us(cas);
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      delay_us(cas);
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//      delay_us(cas);
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//      delay_us(cas);
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      output_low(SERVO);
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      output_low(SERVO);
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      ble++;
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      set_adc_channel(ZELENA);
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      Delay_ms(1);
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      offset=read_adc();
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      set_adc_channel(CERNA);
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      Delay_ms(1);
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      rr=read_adc();
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      r1=cas>>1;
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      r2=255-offset-(cas>>1);
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      if (ble==99)
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      {
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      set_pwm1_duty(cas);
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         set_pwm1_duty(rr);
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         set_pwm2_duty(rr);
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      };
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      if ((ble>100)&&(ble<60000))
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      {
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         if (r1<=rr) set_pwm1_duty(r1);
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         if (r2<=rr) set_pwm2_duty(r2);
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      }
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      else
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      {
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         set_pwm1_duty(0);
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      set_pwm2_duty(255-cas);
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         set_pwm2_duty(0);
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      }
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   };
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   };
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}
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}