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Rev 221 Rev 222
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      if(read_adc()<THR_L) {delay_us(600); if (read_adc()<THR_L) {delay_us(600); if (read_adc()<THR_L) break;};};
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      if(read_adc()<THR_L) {delay_us(600); if (read_adc()<THR_L) {delay_us(600); if (read_adc()<THR_L) break;};};
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   };
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   };
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};
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};
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disp(4);
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disp(4);
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while (read_adc()<THR_L);
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while(read_adc()<THR_L);   // Prejed caru
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odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
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while((read_adc()<THR_L) || (get_timer1()<(odocounter+1))); // Popojed za caru
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SetServo(CASMIN);   // max. doleva                 L
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SetServo(CASMIN);   // max. doleva                 L
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set_pwm1_duty(0);
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set_pwm1_duty(0);
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set_pwm2_duty(140);
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set_pwm2_duty(140);
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while (read_adc()>THR_L);
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while (read_adc()>THR_L);