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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 212 2007-03-22 23:48:28Z kakl $"
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//"$Id: camerus.c 213 2007-03-23 14:36:21Z 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 CASMIN 6           // Rozsah radku snimace
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#define CASMIN 6           // Rozsah radku snimace
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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   0x9A //0x9F         // Vystredeni serva pro objeti prekazky
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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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   #bit INT0IE    = INTCON.4
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   #bit INT0IE    = INTCON.4
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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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   SetServo((CASAVR-CASMIN));   // rovne
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   SetServo((CASAVR-CASMIN));   // rovne
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/*
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   set_pwm1_duty(140);  // vpred
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   set_pwm2_duty(140);
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   output_low(MOT_L);
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   output_low(MOT_R);
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   odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
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//!!! while(true) {disp(MAKE8(get_timer1(),0)); delay_ms(10);};
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   while(true)
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   {
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      if(!input(PROXIMITY)) break; // Je cihla blizko?
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      if(get_timer1()>(odocounter+7)) return; // nedojeli jsme k cihle, jed dal
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   };
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   set_pwm1_duty(0);    // reverz (zabrzdi)
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   set_pwm2_duty(0);
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   output_high(MOT_L);
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   output_high(MOT_R);
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*/
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   delay_ms(100);
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   delay_ms(100);
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   brzda();
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   brzda();
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//!!!   if(stav==cihla) while(true); // Zastav na furt, konec drahy
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//!!!   if(stav==cihla) while(true); // Zastav na furt, konec drahy
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//   if(stav==cihla) return; // Po druhe nic neobjizdej
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//   if(stav==cihla) return; // Po druhe nic neobjizdej