Subversion Repositories svnkaklik

#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 150    // Rozhodovaci uroven dalkoveho sensoru
#define RED_WHITE  60     // maximum bile na cervenem senzoru
#define MLEFT     OUT_C
#define MRIGHT    OUT_A
#define RSENSOR   SENSOR_1
#define LSENSOR   SENSOR_3
#define BUMPER    SENSOR_2

#define L 0
#define R 1
#define S 2

int line;

task main()
{
  PlaySound (SOUND_DOUBLE_BEEP);
  Wait(100); // 1s
  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na prekazku
  SetTxPower(TX_POWER_HI);    // aby daleko videl

//  start cihla;
//  start cara;
    SetPower (MLEFT,OUT_HALF);
    SetPower (MRIGHT,OUT_HALF);
    OnRev(MLEFT);         // rozjed se vpred
    OnFwd(MRIGHT);
    
    line=S;

  while(true)
  {
    if (THRESHOLD < RSENSOR)
    {
      line=R;
    SetPower (MRIGHT,OUT_LOW);
    OnRev(MLEFT);
    };
    if (THRESHOLD < LSENSOR)
    {
      line=L;
    SetPower (MLEFT,OUT_LOW);
    OnFwd(MRIGHT);
    };

    if ((THRESHOLD > LSENSOR)&&(THRESHOLD > RSENSOR))
    {
       if(L==line)
       {
         Off(MLEFT);
         OnFwd(MRIGHT);
         while(THRESHOLD > LSENSOR);
         while(THRESHOLD < LSENSOR);
       };
       if(R==line)
       {
         Off(MRIGHT);
         OnRev(MLEFT);
         while(THRESHOLD > RSENSOR);
         while(THRESHOLD < RSENSOR);
       };
       line=S;
       SetPower (MLEFT,OUT_HALF);
       SetPower (MRIGHT,OUT_HALF);
       OnRev(MLEFT);         // rozjed se vpred
       OnFwd(MRIGHT);
    }
  }
}

task cara()
{
  while(true)
  {
    OnRev(MLEFT);         // rozjed se vpred
    OnFwd(MRIGHT);
    if (THRESHOLD < RSENSOR)
    {
       OnRev(MRIGHT);
       Wait(1);
       Off(MRIGHT);
    };
    if (THRESHOLD < LSENSOR)
    {
       OnFwd(MLEFT);
       Wait(1);
       Off(MLEFT);
    };
    while((THRESHOLD < RSENSOR)||(THRESHOLD < LSENSOR));
  }
}

task cihla() // dalkovy sensor
{
  int lastlevel;

  lastlevel = 0;
  while(true)
  {
    SendMessage(0);
    if(lastlevel > BUMPER)
    {
      PlaySound(SOUND_FAST_UP);
      stop cara;
      Off(MLEFT);
      Off(MRIGHT);
      Wait(100);
      start cara;
    }
    lastlevel = BUMPER;
    lastlevel -= FTHRESHOLD;
  }
}