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// Program pro MiniSumo na R-Day 2006
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// Program pro MiniSumo na R-Day 2006
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//"$Id: camerus.c 204 2007-03-21 09:14:22Z kakl $"
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#include "cholerik.h"
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#include "cholerik.h"
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// Konstanty
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// Konstanty
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#define TRESHOLD     0x254        // rozhodovaci uroven pro okraj areny
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#define TRESHOLD     0x250        // rozhodovaci uroven pro okraj areny
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//#define DEBUG1 1   // Diagnostika pohonu
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//#define DEBUG1 1   // Diagnostika pohonu
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//motory            //Napred vypnout potom zapnout!
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//motory            //Napred vypnout potom zapnout!
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#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred
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#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred
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#define FL         output_low(PIN_B7); output_high(PIN_B6)
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#define FL         output_low(PIN_B7); output_high(PIN_B6)
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   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
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   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
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   majak++;
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   majak++;
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   stav = ((majak & 0b1) == 0b1);
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   stav = ((majak & 0b1) == 0b1);
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   if (stav)
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   if (stav)
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   {
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   {
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      if (read_adc(ADC_READ_ONLY) > 250) arena_l=TRUE; else arena_l=FALSE;
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      if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_l=TRUE; else arena_l=FALSE;
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      set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni
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      set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni
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      delay_us(10);
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      delay_us(10);
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      read_adc(ADC_START_ONLY);
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      read_adc(ADC_START_ONLY);
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      set_pwm1_duty(27);      // 1:1
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      set_pwm1_duty(27);      // 1:1
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   }
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   }
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   else
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   else
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   {
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   {
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      if (read_adc(ADC_READ_ONLY) > 250) arena_r=TRUE; else arena_r=FALSE;
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      if (read_adc(ADC_READ_ONLY) > TRESHOLD) arena_r=TRUE; else arena_r=FALSE;
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      set_adc_channel(L); // prepnuti kanalu ADC, je treba min 10us na ustaleni
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      set_adc_channel(L); // prepnuti kanalu ADC, je treba min 10us na ustaleni
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      delay_us(10);
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      delay_us(10);
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      read_adc(ADC_START_ONLY);
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      read_adc(ADC_START_ONLY);
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      set_pwm1_duty(55);      // 1:0
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      set_pwm1_duty(55);      // 1:0
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   };
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   };