mode_slow_v.c~

An algorithm I2C communication as a master in AVR MCU using WINCC

void  MODE_MOVING_BLUE_SLOW_V(void) 
{  
 //
    take_the_kago(400); //
    moving_forward(400,10,at_line,stand,qua_doc_X);
    elevator(0);     
    begin_get_encoder();
    while(left_data<23000)
    {
    Vleft=370;
    Vright =200;
    
    }
    begin_get_encoder();
    while(left_data<23000)
    {
    Vleft=370;
    Vright =200;
    
    }
    stop();
 
        
          while(flag_90 !=3)
             {
             Vleft=500;//470
             Vright=200;//240 
             LED=5555;
             }
   stop();            
   
   moving_forward_qua_rung(350,6,at_line,running,qua_rung_X); 
   elevator(1);
   
    
}    
////////////////////////////////////////
void MODE_RETRY_CHKPOINT_1_B_SLOW_V(void)
{   
    line_numb=1;//set here to plus 1 line
    moving_forward(400,10,at_line,stand,qua_doc_X);
    elevator(0);     
    begin_get_encoder();
    while(left_data<23000)
    {
    Vleft=370;
    Vright =200;
    
    }
    begin_get_encoder();
    while(left_data<23000)
    {
    Vleft=370;
    Vright =200;
    
    }
    stop();
 
        
          while(flag_90 !=3)
             {
             Vleft=500;//470
             Vright=200;//240 
             LED=5555;
             }
   stop();            
   
   moving_forward_qua_rung(350,6,at_line,running,qua_rung_X); 
   elevator(1);
}   

void MODE_RETRY_CHKPOINT_2_B_SLOW_V(void)
{
   moving_forward_qua_rung(350,7,at_line,running,qua_rung_X); 
   elevator(1); 
}


void MODE_MOVING_RED_SLOW_V(void) //RUNNING in RED field MODE 4-1
{        
char dem=0,strectch_time=140;
Vleft=0;
Vright=0;
//delay_ms(200);
count=0;
    while(count<120)
    {
    if(Vleft>=250) Vleft=250;
    if(Vright>=250) Vright=250;
        else 
            { 
             ++dem ;
             if(dem >= strectch_time) 
                {
                    Vleft +=1;
                    Vright +=1;
                    dem=0;
                }
             }
    
    }
    
    take_the_kago(400); //
    moving_forward(400,10,at_line,stand,qua_doc_X);
    elevator(0); 
    begin_get_encoder();
    while(right_data<23000)
    {
    Vleft=240;
    Vright =370;
    LED= left_data;
    
    }
    begin_get_encoder();
    while(right_data<23000)
    {
    Vleft=240;
    Vright =370;
    LED= left_data;
    
    }                                      
    
    //stop();
       while(flag_90 !=3)
             {
             Vleft=240;//470
             Vright=500;//240 
             LED=5555;
             }
   //stop();
                      
   moving_forward_qua_rung(350,6,at_line,running,qua_rung_X); 
   elevator(1);
} 

void MODE_RETRY_CHKPOINT_1_R_SLOW_V(void)
{
    line_numb=1;//set here to plus 1 line
    moving_forward(400,10,at_line,stand,qua_doc_X);
    elevator(0); 
    begin_get_encoder();
    while(right_data<23000)
    {
    Vleft=240;
    Vright =370;
    LED= left_data;
    
    } 
    begin_get_encoder();
    while(right_data<23000)
    {
    Vleft=240;
    Vright =370;
    LED= left_data;
    
    }                                     
    
    //stop();
       while(flag_90 !=3)
             {
             Vleft=240;//470
             Vright=500;//240 
             LED=5555;
             }
   //stop();
                      
   moving_forward_qua_rung(350,6,at_line,running,qua_rung_X); 
   elevator(1);

}

void MODE_RETRY_CHKPOINT_2_R_SLOW_V(void)
{
    moving_forward_qua_rung(350,7,at_line,running,qua_rung_X); 
    elevator(1);
}