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Rev 239 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log

Rev 239 Rev 246
Line 59... Line 59...
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      {
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      {
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         bum();
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         bum();
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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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         set_pwm1_duty(140);  // vpred
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         set_pwm1_duty(140);  // vpred
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         set_pwm2_duty(140);
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         set_pwm2_duty(140);
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         output_low(MOT_L);
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         output_low(MOT_L);
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         output_low(MOT_R);
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         output_low(MOT_R);
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      };
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      };
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- 
 
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      delta_bearing=bearing-bearing_offset;
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      if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
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      if(IRRX || ((delta_bearing>64)&&(delta_bearing<128))) // 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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      {
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      {
Line 116... Line 117...
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      i2c_start();
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      i2c_start();
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      i2c_write(SONAR_ADR+1);
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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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- 
 
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      i2c_start();     // Cteni kompasu
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      i2c_write(COMPAS_ADR);
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      i2c_write(0x1);   // uhel 0-255
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      i2c_stop();
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      i2c_start();
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      i2c_write(COMPAS_ADR+1);
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      bearing=i2c_read(0);
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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);
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      if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;
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      if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;
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      if((ridic==na_care)&&(touch==0)) break;
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      if((ridic==na_care)&&(touch==0)) break;
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      if(ridic==na_care) touch=0;
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      if(ridic==na_care) touch=0;