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Rev 257 Rev 258
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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();      // Zapis Black Boxu do EEPROM
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         delay_ms(TUHOS); //!!! Zatuhle prevodovky
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         delay_ms(TUHOS); //!!! Zatuhle prevodovky
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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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   while(true)
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   while(true)
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   {
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   {
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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();      // Zapis Black Boxu do EEPROM
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         delay_ms(TUHOS); //!!! Zatuhle prevodovky
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         delay_ms(TUHOS); //!!! Zatuhle prevodovky
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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);