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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 244 2007-04-19 20:35:06Z kakl $"
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//"$Id: cholerik.c 251 2007-04-23 21:31:59Z kaklik $"
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#include "cholerik.h"
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#include "cholerik.h"
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#define THRESHOLD     15     // rozhodovaci uroven pro okraj areny
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#define THRESHOLD     15     // rozhodovaci uroven pro okraj areny
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                            // 0-15 (od 0.25 do 0.75 Vdd)
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                            // 0-15 (od 0.25 do 0.75 Vdd)
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      GO(L, F, 150); GO(R, F, 150);
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      GO(L, F, 150); GO(R, F, 150);
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      if (arena_r)
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      if (arena_r)
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      {
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      {
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         BL; BR;
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         BL; BR;
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         delay_ms(100);
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         delay_ms(180);
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         STOPL; BR;
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         STOPL; BR;
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         for(n=0; n<5000; n++)
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         for(n=0; n<5000; n++)
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         {
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         {
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            if (!arena_r || arena_l) {BL; BR;};
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            if (!arena_r || arena_l) {BL; BR;};
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         };
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         };
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      }
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      }
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      if (arena_l)
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      if (arena_l)
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      {
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      {
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         BL; BR;
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         BL; BR;
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         delay_ms(100);
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         delay_ms(180);
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         BL; STOPR;
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         BL; STOPR;
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         for(n=0; n<5000; n++)
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         for(n=0; n<5000; n++)
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         {
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         {
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            if (!arena_l || arena_r) {BL; BR;};
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            if (!arena_l || arena_r) {BL; BR;};
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         };
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         };