Subversion Repositories svnkaklik

void cikcak()
{
short int movement;

   if(uhel>STRED)
   {
      movement = R;
      uhel=KOLMO1;
      Delay_ms(60);
   }

   if(uhel<STRED)
   {
      movement = L;
      uhel=KOLMO2;
      Delay_ms(60);
   }

sem:
   sensors = spi_read(0);         // cteni senzoru
   sensors=~sensors;
   Delay_ms(5);                  // cekani na SLAVE nez pripravi data od cidel
   if(!bit_test(sensors,3) == sensors)
   {
      if(R == movement)
      {
         FR;BL;
         movement=L;
         While(bit_test(sensors,3) == sensors)
         {
            sensors = spi_read(0);         // cteni senzoru
            sensors=~sensors;
            Delay_ms(5);
         }
         STOPL;STOPR;
         GoTo sem;
      }

      if(L == movement)
      {
         FL;BR;
         movement=R;
         While(bit_test(sensors,3) == sensors)
         {
            sensors = spi_read(0);
            sensors =~ sensors;
            Delay_ms(5);                  // cekani na SLAVE nez pripravi data od cidel
         }

         STOPL;STOPR;
         GoTo sem;
      }
   }
}
////////////////////////////////////////////////////////////////////////////////
void objizdka()
{
         // zjisti, jestli neni cihla, pouze pokud se jede jakztakz rovne

   BL; BR;
   While(bit_test(sensors,3) == sensors)
   {
      sensors = spi_read(0);
      sensors =~ sensors;
      Delay_ms(5);
   }
   
   STOPR; STOPL;
   delay_ms(1000);
   cikcak();
   delay_ms(1000);

   STOPR; STOPL;
   While(true);
   
   uhel=STRED-55;
   FR;STOPL;
   Delay_ms(370);       // doleva

   uhel=STRED;
   FL;FR;
   Delay_ms(200);       // rovne
   
   uhel=STRED+55;
   STOPR;FL;
   Delay_ms(300);       // doprava

   STOPR; STOPL;
   While(true);
   
   uhel=STRED;
   FR;FL;
   Delay_ms(250);       // rovne
   
   uhel=STRED+80;
   FL;STOPR;
   Delay_ms(300);       // doprava
      
   uhel=STRED;
   FR;FL;
   Delay_ms(100);       // rovne
   
   STOPR; STOPL;

   While(true);

/*   uhel=STRED;
   sensors=0b00001000;
   Delay_ms(1000);
   FL;FR;*/

}