WebSVN – svnkaklik – Diff – /roboti/istrobot/cholerik/cholerik.c



// Program pro MiniSumo na R-Day 2006
//"$Id: cholerik.c 242 2007-04-19 18:12:00Z kakl $"
 
#include "cholerik.h"
 
#define THRESHOLD     0x8        // rozhodovaci uroven pro okraj areny 0-15 (od 0.25 do 0.75 Vdd)
 

   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
   majak++;
   stav = ((majak & 0b1) == 0b1);
 
   if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;
   if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;
 
   if (stav)
   {
      set_pwm1_duty(27);      // 1:1
   }
   else
   {
      set_pwm1_duty(55);      // 1:0
   };
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
   if (GRAVITY) {if (g<255) g++;} else g=0;
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
}
 
// Primitivni Pipani
void beep(unsigned int16 period, unsigned int16 length)

/**** DIAG ********************************************************************/
inline void diagnostika()
{
   unsigned int16 n;
 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
   if (GRAVITY)
   {
      setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
      diag=TRUE;
      enable_interrupts(INT_TIMER0);
      enable_interrupts(GLOBAL);
      while (true)         // Diagnostika cidel
      {

         if (b>10) beep(6000,600);
         Delay_ms(50);
         if((g>100) && arena_l && arena_r) break;  // Preklopen na zada a bily papir na obou cidlech na okraj areny
      };
 
      while(TRUE)   // Diagnostika podvozku
      {
         for (n=500; n<800; n+=100)
         {
            beep(n,n); //beep UP
         };

   setup_timer_1(T1_DISABLED);
   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
   setup_ccp1(CCP_PWM);    // HW PWM ON
   set_pwm1_duty(27);      // 1:1
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
   setup_vref(VREF_HIGH|THRESHOLD);        // 16 kroku od 0.25 do 0.75 Vdd
 
   Beep(1000,200);     //double beep
   Delay_ms(50);
   Beep(1000,200);

Rev 240	Rev 242
Line 1...	Line 1...
1	`// Program pro MiniSumo na R-Day 2006`	1	`// Program pro MiniSumo na R-Day 2006`
2	`//"$Id: cholerik.c 240 2007-04-19 06:14:36Z kakl $"`	2	`//"$Id: cholerik.c 242 2007-04-19 18:12:00Z kakl $"`
3		3
4	`#include "cholerik.h"`	4	`#include "cholerik.h"`
5		5
6	`#define THRESHOLD 0x8 // rozhodovaci uroven pro okraj areny 0-15 (od 0.25 do 0.75 Vdd)`	6	`#define THRESHOLD 0x8 // rozhodovaci uroven pro okraj areny 0-15 (od 0.25 do 0.75 Vdd)`
7		7
Line 50...	Line 50...
50	`if (((BACK && stav) \|\| (!BACK && !stav))) {if (b<255) b++;} else {b=0;};`	50	`if (((BACK && stav) \|\| (!BACK && !stav))) {if (b<255) b++;} else {b=0;};`
51	`if (((FRONT && stav) \|\| (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};`	51	`if (((FRONT && stav) \|\| (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};`
52	`majak++;`	52	`majak++;`
53	`stav = ((majak & 0b1) == 0b1);`	53	`stav = ((majak & 0b1) == 0b1);`
54		54
55	`if (C1OUT) arena_r=TRUE; else arena_r=FALSE;`	55	`if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;`
56	`if (C2OUT) arena_l=TRUE; else arena_l=FALSE;`	56	`if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;`
57		57
58	`if (stav)`	58	`if (stav)`
59	`{`	59	`{`
60	`set_pwm1_duty(27); // 1:1`	60	`set_pwm1_duty(27); // 1:1`
61	`}`	61	`}`
62	`else`	62	`else`
63	`{`	63	`{`
64	`set_pwm1_duty(55); // 1:0`	64	`set_pwm1_duty(55); // 1:0`
65	`};`	65	`};`
-		66	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`
66	`if (GRAVITY) {if (g<255) g++;} else g=0;`	67	`if (GRAVITY) {if (g<255) g++;} else g=0;`
-		68	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`
67	`if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se`	69	`if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se`
68	`}`	70	`}`
69		71
70	`// Primitivni Pipani`	72	`// Primitivni Pipani`
71	`void beep(unsigned int16 period, unsigned int16 length)`	73	`void beep(unsigned int16 period, unsigned int16 length)`
Line 86...	Line 88...
86	`/** DIAG ******************************************************************/`	88	`/** DIAG ******************************************************************/`
87	`inline void diagnostika()`	89	`inline void diagnostika()`
88	`{`	90	`{`
89	`unsigned int16 n;`	91	`unsigned int16 n;`
90		92
-		93	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`
91	`if (GRAVITY)`	94	`if (GRAVITY)`
92	`{`	95	`{`
-		96	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`
93	`diag=TRUE;`	97	`diag=TRUE;`
94	`enable_interrupts(INT_TIMER0);`	98	`enable_interrupts(INT_TIMER0);`
95	`enable_interrupts(GLOBAL);`	99	`enable_interrupts(GLOBAL);`
96	`while (true) // Diagnostika cidel`	100	`while (true) // Diagnostika cidel`
97	`{`	101	`{`
Line 111...	Line 115...
111	`if (b>10) beep(6000,600);`	115	`if (b>10) beep(6000,600);`
112	`Delay_ms(50);`	116	`Delay_ms(50);`
113	`if((g>100) && arena_l && arena_r) break; // Preklopen na zada a bily papir na obou cidlech na okraj areny`	117	`if((g>100) && arena_l && arena_r) break; // Preklopen na zada a bily papir na obou cidlech na okraj areny`
114	`};`	118	`};`
115		119
116	`while (TRUE) // Diagnostika podvozku`	120	`while(TRUE) // Diagnostika podvozku`
117	`{`	121	`{`
118	`for (n=500; n<800; n+=100)`	122	`for (n=500; n<800; n+=100)`
119	`{`	123	`{`
120	`beep(n,n); //beep UP`	124	`beep(n,n); //beep UP`
121	`};`	125	`};`
Line 152...	Line 156...
152	`setup_timer_1(T1_DISABLED);`	156	`setup_timer_1(T1_DISABLED);`
153	`setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz`	157	`setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz`
154	`setup_ccp1(CCP_PWM); // HW PWM ON`	158	`setup_ccp1(CCP_PWM); // HW PWM ON`
155	`set_pwm1_duty(27); // 1:1`	159	`set_pwm1_duty(27); // 1:1`
156	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`	160	`setup_comparator(A3_VR_A2_VR); // inicializace komparatoru`
-		161	`setup_comparator(NC_NC_NC_NC); // inicializace komparatoru`
157	`setup_vref(VREF_HIGH\|THRESHOLD); // 16 kroku od 0.25 do 0.75 Vdd`	162	`setup_vref(VREF_HIGH\|THRESHOLD); // 16 kroku od 0.25 do 0.75 Vdd`
158		163
159	`Beep(1000,200); //double beep`	164	`Beep(1000,200); //double beep`
160	`Delay_ms(50);`	165	`Delay_ms(50);`
161	`Beep(1000,200);`	166	`Beep(1000,200);`

Subversion Repositories svnkaklik

(root)/roboti/istrobot/cholerik/cholerik.c – Rev 240 → 242