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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: cholerik.c 206 2007-03-21 10:02:02Z kakl $"
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//"$Id: cholerik.c 209 2007-03-22 22:03:46Z 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     0x250        // rozhodovaci uroven pro okraj areny
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#define TRESHOLD     0x90        // 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 (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};
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   if (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};
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   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
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   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
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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 (input(PIN_A3)) arena_r=TRUE; else arena_r=FALSE;
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if (input(PIN_A2)) arena_l=TRUE; else arena_l=FALSE;
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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) > TRESHOLD) 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) > TRESHOLD) 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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   };
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 - 
 
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   if (GRAVITY) {if (g<255) g++;} else g=0;
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   if (GRAVITY) {if (g<255) g++;} else g=0;
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   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
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   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
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}
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}
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// Primitivni Pipani
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// Primitivni Pipani
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      FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
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      FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
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      BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
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      BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
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   };
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   };
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#endif
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#endif
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- 
 
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//!!!!!!!!!!!!!!!
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/*
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   if (GRAVITY) {
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while(true)
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{
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      set_adc_channel(R); // prepnuti kanalu ADC, je treba min 10us na ustaleni
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   diag=TRUE;
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      delay_us(10);
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   enable_interrupts(INT_TIMER0);
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      read_adc(ADC_START_ONLY);
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   enable_interrupts(GLOBAL);
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      delay_ms(1);
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   while (true)         // Diagnostika cidel
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      delay_ms(read_adc(ADC_READ_ONLY));
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      beep(1000,200);
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}
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*/
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   if (GRAVITY)
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   {
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   {
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      diag=TRUE;
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      enable_interrupts(INT_TIMER0);
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      enable_interrupts(GLOBAL);
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      while (true)         // Diagnostika cidel
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      {
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      if (g>100) beep(800,100);
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         if (g>100) beep(800,100);
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      Delay_ms(50);
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         Delay_ms(50);
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      if (arena_l) beep(1000,200);
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         if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};
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      Delay_ms(50);
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         Delay_ms(50);
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      if (arena_r) beep(2000,300);
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         if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};
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      Delay_ms(50);
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         Delay_ms(50);
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      if (sr>10) beep(3000,400);
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         if (sr>10) beep(3000,400);
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      Delay_ms(50);
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         Delay_ms(50);
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      if (f>10) beep(4000,500);
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         if (f>10) beep(4000,500);
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      Delay_ms(50);
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         Delay_ms(50);
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      if (sl>10) beep(5000,500);
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         if (sl>10) beep(5000,500);
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      Delay_ms(50);
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         Delay_ms(50);
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      if (b>10) beep(6000,600);
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         if (b>10) beep(6000,600);
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      Delay_ms(50);
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         Delay_ms(50);
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      }
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   }};
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   };
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}
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}
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void main()
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void main()
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{
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{
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   unsigned int16 n; // for FOR
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   unsigned int16 n; // for FOR
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   STOPL; STOPR;     // zastavi motory
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   STOPL; STOPR;     // zastavi motory
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
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   setup_adc_ports(sAN2|sAN3|VSS_VDD);   // prevodniky na cidla na okraj areny
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//   setup_adc_ports(sAN2|sAN3|VSS_VDD);   // prevodniky na cidla na okraj areny
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   setup_adc(ADC_CLOCK_INTERNAL);
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//   setup_adc(ADC_CLOCK_INTERNAL);
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//!!!!!!!!!!!!!!!!!!
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   setup_adc_ports(NO_ANALOGS);   // prevodniky na cidla na okraj areny
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   setup_adc(ADC_OFF);
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   setup_spi(FALSE);
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   setup_spi(FALSE);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);  // Casovac pro SW PWM a cteni cidel
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);  // Casovac pro SW PWM a cteni cidel
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   setup_timer_1(T1_DISABLED);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
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   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
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   setup_ccp1(CCP_PWM);    // HW PWM ON
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   setup_ccp1(CCP_PWM);    // HW PWM ON
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   set_pwm1_duty(27);      // 1:1
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   set_pwm1_duty(27);      // 1:1
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   setup_comparator(NC_NC_NC_NC);
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   setup_comparator(NC_NC_NC_NC);
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   diagnostika();
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   diagnostika();
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   enable_interrupts(INT_TIMER0);
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   enable_interrupts(INT_TIMER0);
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   enable_interrupts(GLOBAL);
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   enable_interrupts(GLOBAL);
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/*---------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------*/
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   for (n=1;n<=3;n++)   // 5s do zacatku souboje
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   for (n=1;n<=5;n++)   // 5s do zacatku souboje
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   {
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   {
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      Delay_ms(990);
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      Delay_ms(720);
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      Beep(1000,200);
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      Beep(1000,200);
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   }
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   }
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   Delay_ms(300);
 - 
 
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   while(true)       // hlavni smycka
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   while(true)       // hlavni smycka
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   {
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   {
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LOOP:
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LOOP:
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