int main(){
int turned_left = 0;
while(1){
unsigned char state;
state = 0;
for (int i = 0 ; i <3 ; i++)
state |= (avg_analog(i) < THRESHOLD ) << i;
switch (state){
case OOO: s_left(100); sleep (30); myforward(30); break;
case OOX: s_right(100);break;
case OXO: myforward(50);sound(500, 10); break;
case OXX: s_right(50);break;
case XOO: s_left(100); break;
case XOX: myforward(50); break;
case XXO: s_left(50); break;
case XXX: s_right(100); sleep(30); myforward(30);sound(100, 200); break;
default : break;
}
}
return 0;
}
void SubdivPatch1Intersector1::subdivide_intersect1_bspline(const Precalculations& pre,
Ray& ray,
const BSplinePatch &patch,
const unsigned int geomID,
const unsigned int primID,
const Vec2f &s,
const Vec2f &t,
const unsigned int subdiv_level)
{
if (subdiv_level == 0)
{
Vec3fa vtx[4];
vtx[0] = patch.eval(s[0],t[0]);
vtx[1] = patch.eval(s[1],t[0]);
vtx[2] = patch.eval(s[1],t[1]);
vtx[3] = patch.eval(s[0],t[1]);
intersectTri(vtx[0],
vtx[1],
vtx[2],
ray,
geomID,
primID,NULL);
intersectTri(vtx[2],
vtx[3],
vtx[0],
ray,
geomID,
primID,NULL);
}
else
{
const float mid_s = 0.5f * (s[0]+s[1]);
const float mid_t = 0.5f * (t[0]+t[1]);
Vec2f s_left(s[0],mid_s);
Vec2f s_right(mid_s,s[1]);
Vec2f t_left(t[0],mid_t);
Vec2f t_right(mid_t,t[1]);
subdivide_intersect1_bspline(pre,ray,patch,geomID,primID,s_left ,t_left,subdiv_level - 1);
subdivide_intersect1_bspline(pre,ray,patch,geomID,primID,s_right,t_left,subdiv_level - 1);
subdivide_intersect1_bspline(pre,ray,patch,geomID,primID,s_right,t_right,subdiv_level - 1);
subdivide_intersect1_bspline(pre,ray,patch,geomID,primID,s_left ,t_right,subdiv_level - 1);
}
}
int main(){
int turned_left = 0;
while(1){
unsigned int sensor_r = avg_analog(0);
unsigned int sensor_l = avg_analog(1);
if (sensor_r < THRESHOLD && sensor_l <THRESHOLD)
forward(50);
else if (sensor_r > THRESHOLD && sensor_l <= THRESHOLD ){
s_left(50);
turned_left = 1;
}
else if (sensor_l > THRESHOLD && sensor_r <= THRESHOLD ){
s_right(50);
turned_left = 0;
}
else
wtf(turned_left);
//forward(50);
//sleep(100);
if (sensor_l > THRESHOLD)
sound(sensor_l* 2 + 100, 10);
if (sensor_r > THRESHOLD)
sound(sensor_r* 2 + 100, 10);
//sleep();
}
return 0;
}
int wtf(int turned_left){
if(turned_left==0) s_right(50);
else s_left(50);
forward(50);
sleep(10);
}
void main()
{ unsigned char dec[4],dec2[4];
int distance_left = 0;
int distance_right = 0;
sleep(400);
soft_serout_init(0,9600);
while(1) // Infinite Loop
{
// получаем расстояние с сенсора
utoa(666,dec,10);
distance_left = get_distance_left();
distance_right = get_distance_right();
utoa(distance_left,dec2,10);
// выводим на экран
serout_byte(0,0xFE);serout_byte(0,0x00); // Clear Screen SLCD
serout_byte(0,0xFE);serout_byte(0,0x80); // Show Text on First Line
serout_text(0,"RAW Data= ");
serout_text(0,dec);
serout_byte(0,0xFE);serout_byte(0,0xC0);
serout_text(0,"Dist= ");
serout_text(0,dec2);
serout_byte(0,0xFE);serout_byte(0,0xCE);
serout_text(0,"CM");
sleep(500);
// (distance_left<40) (distance_right<40)
ABC:if ((distance_left<40)||(distance_right<40))
{
if (distance_right<40)
{
if (distance_left<40)
{
forward (100);
sleep (20);
}
else
{
int i;
for (i=0;i<25;i++)
{ if ((distance_left<40)&&(distance_right<40))
{
forward (100);
sleep (50);
}
else
{
s_right (40);
sleep (20);
}
//goto ABC;
}
}
}
else
{
int i1;
for (i1=0;i1<25;i1++)
{ if ((distance_left<40)&&(distance_right<40))
{
forward (100);
sleep (50);
}
else
{
s_left (40);
sleep (20);
}
}
}
//goto ABC;
}
}
}