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Rev 253 Rev 254
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   output_high(MOT_L);
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   output_high(MOT_L);
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   output_low(MOT_R);
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   output_low(MOT_R);
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   odocounter=get_timer1();
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   odocounter=get_timer1();
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   while(true) // Na zacatku se vyhni cihle, zatoc co muzes
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   while(true) // Na zacatku se vyhni cihle, zatoc co muzes
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   {
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   {
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      cas=CASMIN;//!!!-5;       // jeste vic nez hodne do leva
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      cas=CASMIN-5;       // jeste vic nez hodne do leva
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      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
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      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
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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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      disp(visualisation);
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      disp(visualisation);
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   };
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   };
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   disp(0xC3);
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   disp(0xC3);
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   set_pwm1_duty(0);    //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200
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   set_pwm1_duty(0);    //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200
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   set_pwm2_duty(220);
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   set_pwm2_duty(255);
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   output_high(MOT_L);
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   output_high(MOT_L);
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   output_low(MOT_R);
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   output_low(MOT_R);
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   delay_us(40);
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   delay_us(40);
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   odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
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   odocounter=get_timer1();    // Poznamenej aktualni stav odometrie
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   while (true)  // Znovu se musime dotknout cary
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   while (true)  // Znovu se musime dotknout cary