Да нэмазащоСпасибо Yak-40 за подсказку
Кстати фильтр от респиратора - отличная идея!
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Да нэмазащоСпасибо Yak-40 за подсказку
SMT писал(а):Новый прототип под номером #9. Время изготовления - 1 день.
SMT писал(а):Трудности типа застревания в углу или минимальной навигации - потребуют более сложных решений.
$regfile = "m48DEF.dat"
$crystal = 1000000
Config Pinc.0 = Input : Dleft Alias Pinc.0 'left sensor
Config Pinc.4 = Input : Dright Alias Pinc.4 'right sensor
Config Pinb.0 = Output : Dir_right Alias Portb.0
Config Pind.2 = Output : Dir_left Alias Portd.2
'---------------------------program------------------------------------------
Config Timer1 = Pwm , Pwm = 8 , Prescale = 1 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down
Dim Turn_right_counter As Byte
Dim Turn_left_counter As Byte
Dim Speed_def As Byte
Dim Speed_min As Byte
Dim Speed_max As Byte
Const Dir_Forward = 0
Const Dir_Backward = 1
Const Pressed = 0
Const Turn_time = 500
Const Long_turn_time = 1000
Const Go_backward_time = 1000
Const Turn_limit_count = 30
Turn_right_counter = 0
Turn_left_counter = 0
Speed_def = 180
Speed_min = 100
Speed_max = 220
Dir_right = 0
Dir_left = 0
Do
'decrement last turn action counters
If Turn_right_counter > 0 Then
Decr Turn_right_counter
End If
If Turn_left_counter > 0 Then
Decr Turn_left_counter
End If
'if right sensor is pressed - turn left
If Dright = Pressed Then
'check if we just turned right
If Turn_left_counter > 0 Then
Gosub Go_backward
Waitms Go_backward_time
Gosub Turn_left
Waitms Long_turn_time
Else
Gosub Turn_left
Waitms Turn_time
End If
Gosub Go_forward
Turn_right_counter = Turn_limit_count
Turn_left_counter = 0
End If
'if left sensor is pressed - turn right
If Dleft = Pressed Then
'check if we just turned left
If Turn_right_counter > 0 Then
Gosub Go_backward
Waitms Go_backward_time
Gosub Turn_right
Waitms Long_turn_time
Else
Gosub Turn_right
Waitms Turn_time
End If
Gosub Go_forward
Turn_right_counter = 0
Turn_left_counter = Turn_limit_count
End If
Waitms 20
Loop
Go_forward:
Dir_left = Dir_forward
Dir_right = Dir_forward
Pwm1b = Speed_def
Pwm1a = Speed_def
Return
Go_backward:
Dir_left = Dir_backward
Dir_right = Dir_backward
Pwm1b = Speed_def
Pwm1a = Speed_def
Return
Turn_left:
Dir_left = Dir_forward
Dir_right = Dir_backward
Pwm1a = Speed_max
Pwm1b = Speed_min
Return
Turn_right:
Dir_left = Dir_backward
Dir_right = Dir_forward
Pwm1a = Speed_min
Pwm1b = Speed_max
Return
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