Subversion Repositories svnkaklik

Rev

Rev 257 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log

Rev 257 Rev 258
Line 28... Line 28...
28 
      cas=CASMIN-5;       // jeste vic nez hodne do leva
 28 
      cas=CASMIN-5;       // jeste vic nez hodne do leva
29 
 
 29 
 
30 
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
 30 
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
31 
      {
 31 
      {
32 
         bum();
 32 
         bum();
33 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
 33 
         SaveLog();      // Zapis Black Boxu do EEPROM
34 
         delay_ms(TUHOS); //!!! Zatuhle prevodovky
 34 
         delay_ms(TUHOS); //!!! Zatuhle prevodovky
35 
         brzda();
 35 
         brzda();
36 
         goto cihla; // Znovu zacni cihlu objizdet
 36 
         goto cihla; // Znovu zacni cihlu objizdet
37 
      };
 37 
      };
38 
 
 38 
 
Line 59... Line 59...
59 
   while(true)
 59 
   while(true)
60 
   {
 60 
   {
61 
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
 61 
      if(BUMPER) // Narazili jsme do cihly, musime couvnout!
62 
      {
 62 
      {
63 
         bum();
 63 
         bum();
64 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
 64 
         SaveLog();      // Zapis Black Boxu do EEPROM
65 
         delay_ms(TUHOS); //!!! Zatuhle prevodovky
 65 
         delay_ms(TUHOS); //!!! Zatuhle prevodovky
66 
         set_pwm1_duty(160);  // vpred
 66 
         set_pwm1_duty(160);  // vpred
67 
         set_pwm2_duty(160);
 67 
         set_pwm2_duty(160);
68 
         output_low(MOT_L);
 68 
         output_low(MOT_L);
69 
         output_low(MOT_R);
 69 
         output_low(MOT_R);