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Line 56... Line 56...
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         SetServo(CASAVR-CASMIN);
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         SetServo(CASAVR-CASMIN);
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         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
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         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
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         goto cihla; // Znovu zacni cihlu objizdet
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         goto cihla; // Znovu zacni cihlu objizdet
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         // Pozor! Pamatuje se, jestli jsme uz neprejeli caru!
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         // Pozor! Pamatuje se, jestli jsme uz neprejeli caru!
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      };
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      };
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      if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
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      if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
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      {
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      {
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         cas=CASMIN;
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         cas=CASMIN;
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      }
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      }
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      else
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      else
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      set_pwm2_duty(r2);
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      set_pwm2_duty(r2);
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      SetServoQ(cas);
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      SetServoQ(cas);
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      i2c_start();     // Sonar Ping
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      i2c_start();     // Sonar Ping
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      i2c_write(0xE0);
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      i2c_write(SONAR_ADR);
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      i2c_write(0x0);
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      i2c_write(0x0);
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      i2c_write(0x52);  // mereni v us
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      i2c_write(0x52);  // mereni v us
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      i2c_stop();
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      i2c_stop();
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      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
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      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
Line 102... Line 102...
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         delay_us(100);
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         delay_us(100);
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         if(read_adc()<THR) touch|=R_TOUCH;
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         if(read_adc()<THR) touch|=R_TOUCH;
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      };
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      };
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      i2c_start();     // Odraz ze sonaru
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      i2c_start();     // Odraz ze sonaru
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      i2c_write(0xE0);
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      i2c_write(SONAR_ADR);
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      i2c_write(0x3);
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      i2c_write(0x3);
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      i2c_stop();
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      i2c_stop();
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      i2c_start();
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      i2c_start();
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      i2c_write(0xE1);
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      i2c_write(SONAR_ADR+1);
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      vzdalenost=i2c_read(0);
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      vzdalenost=i2c_read(0);
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      i2c_stop();
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      i2c_stop();
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      if(touch==L_TOUCH) disp(0xC0);
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      if(touch==L_TOUCH) disp(0xC0);
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      if(touch==R_TOUCH) disp(0x03);
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      if(touch==R_TOUCH) disp(0x03);