Subversion Repositories svnkaklik

Rev

Rev 239 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log

Rev 239 Rev 246
Line 59... Line 59...
59 
      {
 59 
      {
60 
         bum();
 60 
         bum();
61 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
 61 
         SaveLog(log-1);      // Zapis Black Boxu do EEPROM
62 
         set_pwm1_duty(140);  // vpred
 62 
         set_pwm1_duty(140);  // vpred
63 
         set_pwm2_duty(140);
 63 
         set_pwm2_duty(140);
64 
         output_low(MOT_L);
64 
         output_low(MOT_L);
65 
         output_low(MOT_R);
 65 
         output_low(MOT_R);
66 
      };
 66 
      };
67 
 
 67 
 
- 
 
 68 
      delta_bearing=bearing-bearing_offset;
68 
      if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
 69 
      if(IRRX || ((delta_bearing>64)&&(delta_bearing<128))) // hrozi celni srazka s cihlou v prubehu objizdeni
69 
      {
 70 
      {
70 
         cas=CASMIN;
 71 
         cas=CASMIN;
71 
      }
 72 
      }
72 
      else
 73 
      else
73 
      {
 74 
      {
Line 116... Line 117...
116 
      i2c_start();
 117 
      i2c_start();
117 
      i2c_write(SONAR_ADR+1);
 118 
      i2c_write(SONAR_ADR+1);
118 
      vzdalenost=i2c_read(0);
 119 
      vzdalenost=i2c_read(0);
119 
      i2c_stop();
 120 
      i2c_stop();
120 
 
 121 
 
- 
 
 122 
      i2c_start();     // Cteni kompasu
- 
 
 123 
      i2c_write(COMPAS_ADR);
- 
 
 124 
      i2c_write(0x1);   // uhel 0-255
- 
 
 125 
      i2c_stop();
- 
 
 126 
      i2c_start();
- 
 
 127 
      i2c_write(COMPAS_ADR+1);
- 
 
 128 
      bearing=i2c_read(0);
- 
 
 129 
      i2c_stop();
- 
 
 130 
 
121 
      if(touch==L_TOUCH) disp(0xC0);
 131 
      if(touch==L_TOUCH) disp(0xC0);
122 
      if(touch==R_TOUCH) disp(0x03);
 132 
      if(touch==R_TOUCH) disp(0x03);
123 
      if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;
 133 
      if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;
124 
      if((ridic==na_care)&&(touch==0)) break;
 134 
      if((ridic==na_care)&&(touch==0)) break;
125 
      if(ridic==na_care) touch=0;
 135 
      if(ridic==na_care) touch=0;