Subversion Repositories svnkaklik

#include "D:\@Kaklik\programy\PIC_C\robot\auto\main.h"

#DEFINE     CIDLO1L      PIN_B0
#DEFINE     CIDLO1R      PIN_B1
#DEFINE     CIDLO2L      PIN_B2
#DEFINE     CIDLO2R      PIN_B3

#DEFINE     RELE1       PIN_B5
#DEFINE     RELE2       PIN_B6
#DEFINE     MOTOR1      PIN_B4
#DEFINE     MOTOR2      PIN_A0
#DEFINE     MOTOR2a     PIN_A1

#DEFINE     LASER       PIN_A2

#DEFINE  L  0
#DEFINE  R  1

int cara;
int movement;

void left()
{
   output_high(RELE1);   
   output_high(RELE2);
   delay_ms(100);
   output_high(MOTOR1);
   output_high(MOTOR2);
   output_high(MOTOR2a);
}

void right()
{
   output_low(RELE1);      
   output_low(RELE2);
   delay_ms(100);
   output_high(MOTOR1);
   output_high(MOTOR2);
   output_high(MOTOR2a);
}

void rovne()
{
   output_low(RELE1);      // oba motory vpred
   output_high(RELE2);
   delay_ms(100);
   output_high(MOTOR1);
   output_high(MOTOR2);
   output_high(MOTOR2a);
}

void stop()
{
   output_low(MOTOR1);
   output_low(MOTOR2);
   output_low(MOTOR2a);
   delay_ms(100);
}


void main()
{
   cara=L;
   movement=R;
   output_low(RELE1);      // oba motory vpred
   output_high(RELE2);
   delay_ms(100);
   while (true)
   {
         if (!input(CIDLO1R)) cara=R; // cara vpravo
         if (!input(CIDLO1L)) cara=L; // cara vlevo
         
         if (!input(CIDLO1L) || !input(CIDLO1R))
         {
            stop();
            rovne();
            delay_ms(100);       
         };

         if (cara != movement)
         {
            switch(cara)
            {
              case L:
                 output_high(LASER);
                 stop();
                 left();
                 movement=L;
                break;
                
              case R:
                 output_low(LASER);
                 stop();
                 right();
                 movement=R;
                break;           
            }
         }
   }
}