Subversion Repositories svnkaklik

#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE  60     // maximum bile na cervenem senzoru
#define MLEFT     OUT_A
#define MRIGHT    OUT_C
#define BLUE      SENSOR_1
#define RED       SENSOR_2
#define BBUMPER   SENSOR_3
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;

int semafor;

task main()
{
  PlaySound (SOUND_DOUBLE_BEEP);
  Wait(500); // 5s podle pravidel
  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
  SetSensor(RED,SENSOR_LIGHT);   // senzor na caru cerveny
  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
  SetPower (MLEFT,OUT_FULL);
  SetPower (MRIGHT,OUT_FULL);
  SetDirection(MLEFT, OUT_FWD);
  SetDirection(MRIGHT, OUT_FWD);

  k_care();
  
  start red_bumper;
  start blue_bumper;
  start cara_cervena;
  start cara_modra;
  semafor = false;

  ClearTimer (0);
  start stochastika;
}

task stochastika()
{
   while (true)
   {
     Wait(500);
     if (semafor) start blue_bumper;

     PlaySound (SOUND_CLICK);

     OnFwd (MLEFT);                  // dojezd k care
     OnFwd (MRIGHT);                 // dojezd k care
     while (BLUE > THRESHOLD);
     GoRed();
     OnRev (MLEFT);
     OnRev (MRIGHT);
     Wait(100);              // popojed kus
     Zatoc();

     ClearTimer (0);
   }
}

void GoBlue()
{
  OnFwd (MLEFT);
  OnFwd (MRIGHT);
  Wait(100);              // popojed kus
  Off(MLEFT);
  Off(MRIGHT);
}

void GoRed()
{
  OnRev (MLEFT);
  OnRev (MRIGHT);
  Wait(100);              // popojed kus
  Off(MLEFT);
  Off(MRIGHT);
}

void Zatoc()
{
  switch (Random(2))
  {
    case 0:
     OnRev (MLEFT);
     OnFwd (MRIGHT);
     break;
    case 1:
     OnFwd (MLEFT);
     OnRev (MRIGHT);
     break;
    case 2:
     OnRev (MLEFT);
     OnRev (MRIGHT);
  }
  Wait(100);              // popojed kus
  Off(MLEFT);
  Off(MRIGHT);
}

void k_care()  // najed do vyckavaci pozice
{
  OnFwd (MLEFT);                  // dojezd k care
  OnFwd (MRIGHT);                  // dojezd k care
  while (BLUE > THRESHOLD);
  GoRed();
  OnRev (MLEFT);
  OnRev (MRIGHT);
  Wait(100);              // popojed kus
  Off(MLEFT);
  Off(MRIGHT);
}

task red_bumper()
{
  while(true)
  {
    while (100 != RED); // utoc, kdyz neco narazi do narazniku
    PlaySound (SOUND_FAST_UP);
    stop stochastika;
    Zatoc();
    start stochastika;
    if (semafor) start blue_bumper;
  }
}

task blue_bumper()
{
    semafor = false;
    while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku
    PlaySound (SOUND_FAST_UP);
    OnFwd (MLEFT);
    OnFwd (MRIGHT);
    semafor = true;
}

task cara_cervena() // hlidani natlaceni na caru
{
  while(true)
  {
    while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care
    Wait(2);        // kontrola za 20ms, aby se to nespletlo s naraznikem
    if (RED > THRESHOLD && RED < RED_WHITE)
    {
      PlaySound (SOUND_DOUBLE_BEEP);
      GoBlue();
    }
  }
}

task cara_modra()    // hlidani cary
{
  while(true)
  {
     while (BLUE > THRESHOLD);    // cekej na caru
     stop cara_cervena;
     PlaySound (SOUND_DOUBLE_BEEP);
     GoRed();
     if (semafor) start blue_bumper;
     start cara_cervena;
  }
}