Subversion Repositories svnkaklik

Rev

Rev 221 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log

Rev 221 Rev 223
Line 1... Line 1...
1 
//********* Robot Camerus pro IstRobot 2007 ************
 1 
//********* Robot Camerus pro IstRobot 2007 ************
2 
//"$Id: camerus.c 221 2007-04-01 21:34:53Z kakl $"
 2 
//"$Id: camerus.c 223 2007-04-02 19:05:22Z kakl $"
3 
//*****************************************************
 3 
//*****************************************************
4 
 
 4 
 
5 
#include ".\camerus.h"
 5 
#include ".\camerus.h"
6 
 
 6 
 
7 
#USE FAST_IO (C)     // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
 7 
#USE FAST_IO (C)     // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
Line 156... Line 156...
156 
}
 156 
}
157 
 
 157 
 
158 
#int_EXT
 158 
#int_EXT
159 
EXT_isr()   // Preruseni od prekazky
 159 
EXT_isr()   // Preruseni od prekazky
160 
{
 160 
{
161 
   set_pwm1_duty(0);    // zabrzdi
 161 
   set_pwm1_duty(0);    // zabrzdi levym kolem, prave vypni
162 
   set_pwm2_duty(0);
 162 
   set_pwm2_duty(0);
163 
   output_high(MOT_L);
 163 
   output_high(MOT_L);
164 
   output_high(MOT_R);
 164 
   output_low(MOT_R);
165 
   // Ujistime se, ze prijaty signal je z naseho IR vysilace
 165 
   // Ujistime se, ze prijaty signal je z naseho IR vysilace
166 
   output_high(IRTX);   // Vypni LED na detekci prekazky
 166 
   output_high(IRTX);   // Vypni LED na detekci prekazky
167 
   delay_ms(2);
 167 
   delay_ms(2);
168 
   if (!input(IRRX))    // stale nas signal?
 168 
   if (!input(IRRX))    // stale nas signal?
169 
   {
 169 
   {