Diff: main.cpp

Revision:

6:8c336acc90f9

Parent:

5:8c5c19be2126

Child:

7:f906eb062d36

--- a/main.cpp	Fri Jan 05 13:11:52 2018 +0000
+++ b/main.cpp	Tue Jan 09 13:22:45 2018 +0000
@@ -88,8 +88,31 @@
    
 }
 
+void uvolniEM()
+{
+    int aDataIn[] = {0x00};
+    int dataSize1 = ARRAY_SIZE(aDataIn);
+    posliSpravu(EM_BRAKE,0xAA,dataSize1,aDataIn);
+    
+    }
+    
+    void resWatch()
+    {
+        int aDataIn[] = {0x01};
+        int dataSize1 = ARRAY_SIZE(aDataIn);
+        posliSpravu(WATCHDOG,0xAA,dataSize1,aDataIn);
+        
+        }
+
 void nice(){
     
+    if(init_flag == 1){
+        if (dajPoschodie() == SWITCH_P){ 
+            stop();  
+            init_flag = 0;
+            poschodie = 0;
+        }
+        } else {
     
     if(p_0 == 1)
     {
@@ -150,12 +173,14 @@
         }    
         
         }
+        }
     
     }
 
 
 void tlacitka()
 {
+    
     switch(adresa[2])
        {
            case W_P_BUTTON:
@@ -201,11 +226,11 @@
                 break;
                }
                
-                    case C_P_BUTTON:
+                case C_P_BUTTON:
            {
                 p_0 = 1;
                 smerHore();
-                ledPon();
+                ledPonC();
                 break;
                }
                
@@ -213,7 +238,7 @@
            {
                 p_1 = 1;
                 smerHore();
-                led1on();
+                led1onC();
                 break;
                }
                
@@ -221,7 +246,7 @@
            {
                 p_2 = 1;
                 smerHore();
-                led2on();
+                led2onC();
                 break;
                }
                
@@ -229,7 +254,7 @@
            {
                 p_3 = 1;
                 smerHore();
-                led3on();
+                led3onC();
                 break;
                }
                
@@ -237,10 +262,10 @@
            {
                 p_4 = 1;
                 smerHore();
-                led4on();
+                led4onC();
                 break;
                }
-               
+              
                
                
            
@@ -315,26 +340,26 @@
     //prijmi = 0;
     tlacitka();
     }
-    
-
-    
-     
-     
-    
-    
 }
 
+void init(){
+    init_flag = 1;
+    uvolniEM();
+    resWatch();
+    smerDole();
+    }
 
 void stop()
 {
     int aDataIn[] = {0x1};
-     int dataSize1 = ARRAY_SIZE(aDataIn);
+    int dataSize1 = ARRAY_SIZE(aDataIn);
     posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
+    odomkniVytah();
     }
 
 void smerHore()
 {
-      
+      zamkniVytah();
       pohyb++;
         if(pohyb_flag == 0){
             pohyb_flag = 1;
@@ -361,9 +386,11 @@
 
 void smerDole()
 {
-    int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
-    int dataSize1 = ARRAY_SIZE(aDataIn);
-     posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
+    //int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
+    //int dataSize1 = ARRAY_SIZE(aDataIn);
+     //posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
+     
+     zamkniVytah();
      
      pohyb++;
         if(pohyb_flag == 0){