Subversion Repositories svnkaklik

Rev

Rev 235 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log

Rev 235 Rev 236
Line 56... Line 56...
56 
         SetServo(CASAVR-CASMIN);
 56 
         SetServo(CASAVR-CASMIN);
57 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
 57 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
58 
         goto cihla; // Znovu zacni cihlu objizdet
 58 
         goto cihla; // Znovu zacni cihlu objizdet
59 
         // Pozor! Pamatuje se, jestli jsme uz neprejeli caru!
 59 
         // Pozor! Pamatuje se, jestli jsme uz neprejeli caru!
60 
      };
 60 
      };
61
61 
 
62 
      if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
 62 
      if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
63 
      {
 63 
      {
64 
         cas=CASMIN;
 64 
         cas=CASMIN;
65 
      }
 65 
      }
66 
      else
 66 
      else
Line 86... Line 86...
86 
      set_pwm2_duty(r2);
 86 
      set_pwm2_duty(r2);
87 
 
 87 
 
88 
      SetServoQ(cas);
 88 
      SetServoQ(cas);
89 
 
 89 
 
90 
      i2c_start();     // Sonar Ping
 90 
      i2c_start();     // Sonar Ping
91 
      i2c_write(0xE0);
 91 
      i2c_write(SONAR_ADR);
92 
      i2c_write(0x0);
 92 
      i2c_write(0x0);
93 
      i2c_write(0x52);  // mereni v us
 93 
      i2c_write(0x52);  // mereni v us
94 
      i2c_stop();
 94 
      i2c_stop();
95 
 
 95 
 
96 
      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
 96 
      for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
Line 102... Line 102...
102 
         delay_us(100);
 102 
         delay_us(100);
103 
         if(read_adc()<THR) touch|=R_TOUCH;
 103 
         if(read_adc()<THR) touch|=R_TOUCH;
104 
      };
 104 
      };
105 
 
 105 
 
106 
      i2c_start();     // Odraz ze sonaru
 106 
      i2c_start();     // Odraz ze sonaru
107 
      i2c_write(0xE0);
 107 
      i2c_write(SONAR_ADR);
108 
      i2c_write(0x3);
 108 
      i2c_write(0x3);
109 
      i2c_stop();
 109 
      i2c_stop();
110 
      i2c_start();
 110 
      i2c_start();
111 
      i2c_write(0xE1);
 111 
      i2c_write(SONAR_ADR+1);
112 
      vzdalenost=i2c_read(0);
 112 
      vzdalenost=i2c_read(0);
113 
      i2c_stop();
 113 
      i2c_stop();
114 
 
 114 
 
115 
      if(touch==L_TOUCH) disp(0xC0);
 115 
      if(touch==L_TOUCH) disp(0xC0);
116 
      if(touch==R_TOUCH) disp(0x03);
 116 
      if(touch==R_TOUCH) disp(0x03);