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Rev 248 Rev 249
Line 35... Line 35...
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         brzda();
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         brzda();
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         goto cihla; // Znovu zacni cihlu objizdet
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         goto cihla; // Znovu zacni cihlu objizdet
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      };
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      };
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      set_pwm1_duty(0);
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      set_pwm1_duty(0);
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      set_pwm2_duty(220);
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      set_pwm2_duty(220);     // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku
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      output_high(MOT_L);     // leve kolo reverz
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      output_high(MOT_L);     // leve kolo reverz
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      output_low(MOT_R);      // prave kolo vpred
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      output_low(MOT_R);      // prave kolo vpred
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      if(get_timer1()>(odocounter+5))  // konec zatacky?
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      if(get_timer1()>(odocounter+5))  // konec zatacky?
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      {
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      {
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         disp(0x66);
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         disp(0x66);
Line 63... Line 63...
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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(160);  // vpred
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         set_pwm1_duty(160);  // vpred
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         set_pwm2_duty(160);
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         set_pwm2_duty(160);
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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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         cas=CASMIN;
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      };
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      };
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      delta_bearing=bearing-bearing_offset;
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      delta_bearing=bearing-bearing_offset;
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      visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F);
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      visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F);
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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