mode_ok.c~

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

void mode_chay_mu1(void)
{           
           
           moving_forward(250,12,at_line,stand,4);
           scanline_run_straight_enc(250,9500);                                              
          //moving_forward(250,1,at_line,stand);
   
      //    fuzzy_run_straight_enc(350,240,21000); 
          while(flag_90 !=3)
             {
             Vleft=350;
             Vright=200;
             }
       //   fuzzy_run_straight_enc(350,270,9000);    
          while(flag_90 !=3)
             {
             Vleft=350;
             Vright=285;
             }    
                 
          moving_forward(300,1,at_line,running,3); 
          turn_right(60);
          
         // fuzzy_run_straight_enc(320,285,10000); 
          while(flag_90 !=3)
             {
             Vleft=305;
             Vright=300;
             } 
          moving_forward(300,1,at_line,running,3);    
           turn_left(60);  
          // fuzzy_run_straight_enc(300,280,6000);
         //  fuzzy_run_straight_enc(300,260,3000);
           while(flag_90 !=3)
              {
              Vleft=330;
              Vright=280;
              }  
           moving_forward(300,1,at_line,running,3);            
    
  stop();  

}   
void mode_chay_mu3_1()//micro danh
{
           take_the_kago(400);                         
           //moving_forward(300,3,at_line,stand,0);                
           moving_forward(300,9,at_line,stand,qua_doc_X);    //ko sua
           scanline_run_straight_enc(300,6000);   //                                           
      //making a curve    
          fuzzy_run_straight_enc(450,330,15500,0,0);        //350,240//400,260     
      //down stair    
          elevator(0);
          LED =888; 
      //turning  twice    
          while(flag_90 !=3)
             {     
          LED=999;   
             Vleft=470;//470
             Vright=260;//240
             } 
          LED =777;   
          fuzzy_run_straight_enc(450,350,8000,0,0);         //cot dau tien    
          while(flag_90 !=3)
             {
             Vleft=450;     
             Vright=400;
             }    
              
 //meet first line.
          scanline_run_straight_enc(300,1000);        //chu y moi them
          moving_forward(300,1,at_line,running,0);    //goc vuong dau tien  
 //turn right
              
         // curve(400,350,3200,0x01);         
         fuzzy_run_straight_enc(250,0,1000,2000,CBR2);
         fuzzy_run_straight_enc(280,300,9000,0,0);   
         while(flag_90 !=3)
            {
                Vleft =300;
                Vright =320;
            }                               
          
          scanline_run_straight_enc(300,500);  //chu y moi them
          moving_forward(400,1,at_line,running,0); 
          
          fuzzy_run_straight_enc(0,250,1000,2000,CBL3);
          fuzzy_run_straight_enc(300,280,4000,0,0); 
          while(flag_90 !=3)
            {
                Vleft=350;
                Vright=300;
             }                               
          
          scanline_run_straight_enc(300,2000);//chu y moi them   
          moving_forward(300,1,at_line,running,0);  
 stop(); 
} 
void MODE_2_2_backup()
{

   take_the_kago(250); //
   moving_forward(250,9,at_line,stand,qua_doc_X);
   scanline_run_straight_enc(250,6500);     //old value is 300                                         
          //moving_forward(250,1,at_line,stand);
   //this encoder should be increased12 from 21k to 25k with large verlocity
   //delay_ms(3000);
   elevator(0);
   fuzzy_run_straight_enc(380,290,15700,0,0);        //350,240//400,260     
   
        
          while(flag_90 !=3)
             {
             Vleft=470;//470
             Vright=240;//240 
             LED=5555;
             } 
   
   LED=8888;         
   moving_forward(250,6,at_line,running,qua_rung_X); 
   delay_ms(2000);
   elevator(1);      //ha xuong
}

void mode_chay_line1(void)
{
  take_the_kago(250); //
   moving_forward(250,9,at_line,stand,qua_doc_X);
   scanline_run_straight_enc(200,6000);     //old value is 300                                         
          //moving_forward(250,1,at_line,stand);
   //this encoder should be increasing from 21k to 25k with large verlocity
   //delay_ms(3000);
   fuzzy_run_straight_enc(450,340,20000,0,0);        //350,240//400,260     
           
          while(flag_90 !=3)
             {
             Vleft=470;//470
             Vright=290;//240 
             LED=5555;
             }
    ////on dinh vi tri line        
    //while(r3
   LED=8888;         
   moving_forward(250,6,at_line,running,qua_rung_X); 
   delay_ms(2000);
   elevator(1);      //ha xuong
 
}