Subversion Repositories svnkaklik

#define  DOLEVA   0
#define  DOPRAVA  1

void cikcak()
{
unsigned int8 i;

   uhel=KOLMO1;
   Delay_ms(100);
   if (line==L2) line=L3;
   if (line==S) line=L3;
   if (line==R2) line=R3;

   Delay_ms(3);

   output_low(STROBE);              // vypni zobrazovani na posuvnem registru   
   sensors = spi_read(0);           // cteni senzoru
   sensors=~sensors;
   output_high(STROBE);             // vypni zobrazovani na posuvnem registru

   while(!bit_test(sensors,3))
   {
      while(true)
      {
         Delay_ms(3);
      
         if (line==L3)
         {
            GO(L,B,160);GO(R,F,160);
         };
         if (line==R3)
         {
            GO(R,B,160);GO(L,F,160);   
         };
         if (line==S) {STOPL;STOPR; i++;}
         else i=0;
         
         if (i>=100) break;
         
         output_low(STROBE);              // vypni zobrazovani na posuvnem registru   
         sensors = spi_read(0);         // cteni senzoru
         sensors=~sensors;
         output_high(STROBE);              // vypni zobrazovani na posuvnem registru
         
         if(bit_test(sensors,3)) //...|...//
         {
            line=S;
            continue;
         }
   
         if(bit_test(sensors,0)) //|......//     // z duvodu zkraceni doby reakce se cidla nevyhodnocuji poporade ale od krajnich k prostrednimu
         {
            line=L3;
            continue;
         }
   
         if(bit_test(sensors,6)) //......|//
         {
            line=R3;
            continue;
         }
   
         if(bit_test(sensors,1)) //.|.....//
         {
            line=L3;
            continue;
         }
   
         if(bit_test(sensors,5)) //.....|.//
         {
            line=R3;
            continue;
         }
   
         if (bit_test(sensors,2)) //..|....//
         {
            line=L3;
            continue;
         }
   
         if (bit_test(sensors,4)) //....|..//
         {
            line=R3;
            continue;
         }
      }
      delay_ms(100);

      output_low(STROBE);              // vypni zobrazovani na posuvnem registru   
      sensors = spi_read(0);         // cteni senzoru
      sensors=~sensors;
      output_high(STROBE);              // vypni zobrazovani na posuvnem registru
   }   
}

/*
void cikcak()
{
short int movement;
unsigned int8 n,i=0;

   if(uhel>=STRED)
   {
      uhel=KOLMO1;
      Delay_ms(100);
   }

   if(uhel<=STRED)
   {
      uhel=KOLMO2;
      Delay_ms(100);
   }


   sensors = spi_read(0);         // cteni senzoru
   sensors=~sensors;
   Delay_ms(5);
   
if ((sensors & 0b11100000)!=0) movement=DOPRAVA;

   while(i<=100)
   {
      while(!bit_test(sensors,3))
      {
         if(DOPRAVA == movement)
         {
            FR;BL;
            movement=DOLEVA;
            n=0;
//if ((sensors & 0b11100000)!=0) line=L1;
//if ((sensors & 0b00001110)!=0) line=R1;
//if ((sensors & 0b00010000)!=0) line=S;

            for(n=0; n<=100; n++)
            {
               sensors = spi_read(0);         // cteni senzoru
               sensors=~sensors;
               Delay_ms(5);                     // cekani na SLAVE nez pripravi data od cidel
               if(bit_test(sensors,3)) break;
               else i=0;
            }
            STOPL;STOPR;
         }

         if(DOLEVA == movement)
         {
            FL;BR;
            movement=DOPRAVA;
            n=0;

            for(n=0; n<=100; n++)
            {
               sensors = spi_read(0);
               sensors =~ sensors;
               Delay_ms(5);
               if(bit_test(sensors,3)) break;
               else i=0;
            }
            STOPL;STOPR;
         }
         sensors = spi_read(0);         // cteni senzoru
         sensors=~sensors;
         Delay_ms(5);
      }
      i++;
   }
}
*/
////////////////////////////////////////////////////////////////////////////////
void objizdka()
{
   BL;FR;
   Delay_ms(300);
   FL;BR;
   Delay_ms(100);
   STOPL;STOPR;
   
   uhel=STRED;
   FL;FR;
   Delay_ms(500);       // rovne

   uhel=STRED+55;
   STOPR;FL;
   Delay_ms(190);       // doprava

   uhel=STRED;
   FR;FL;
   Delay_ms(500);       // rovne

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

   uhel=STRED;
   FR;FL;
   Delay_ms(150);       // rovne

   While((sensors & 0b11111110)!=0) //dokud neni cara
   {
       sensors = spi_read(0);         // cteni senzoru
       sensors=~sensors;
       Delay_ms(4);              // cekani na SLAVE nez pripravi data od cidel
   }
   BL;BR;
   Delay_ms(400);
   
   uhel=STRED-55;
   FR;STOPL;         // doleva
   delay_ms(250);
   
   line=L3;
   cikcak();
}