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// **** Objeti cihly vpravo **** RRRR
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// **** Objeti cihly vpravo **** RRRR
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// Verze pouzita na Robot Challenge
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int8 n,i;
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int8 n,i;
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int16 j;
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int16 j;
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set_adc_channel(RMAX);
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set_adc_channel(RMAX);
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SetServo(CASMIN);   // max. doleva                 L
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SetServo(CASMIN);   // max. doleva                 L
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set_pwm1_duty(0);   // vzad
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set_pwm1_duty(0);   // vzad
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set_pwm2_duty(0);
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set_pwm2_duty(0);
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output_low(MOT_L);
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output_low(MOT_L);
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output_high(MOT_R);
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output_high(MOT_R);
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while (read_adc()>TRESHOLD);
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while (read_adc()>TRESHOLD);
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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(get_timer1()<(odocounter+4)); // Popojed definovanou vzdalenost
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while(get_timer1()<(odocounter+4)); // Popojed definovanou vzdalenost
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set_pwm1_duty(0);    // reverz (zabrzdi)
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set_pwm1_duty(0);    // reverz (zabrzdi)
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set_pwm2_duty(255);
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set_pwm2_duty(255);
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output_low(MOT_L);
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output_low(MOT_L);