/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#include <16F877.h>
#use delay(clock=4000000)
#fuses XT,NOWDT

/*
 * debug flags
 */
#undef DEBUG
#ifndef DEBUG
#define DBGUS
#endif

/*
 * suivi de ligne
 * 0 normal
 * 1 tout bourrin
 * 2 3x3
 */
#define FLMODE 1

/*
 * timeout de la detection a droite en nombres de cycles
 * et aussi du temps d'attente
 * 1 cycle (a) = 0.000275s (2.75E-4s)
 * nbcycles=t/a avec t = nombre de secondes
 * 10s -> 36364
 * nota : 40% d'erreur ! mais bon flemme de corriger
 */
#define  USDMAX 18182 //~7s
#define  USDDMAX 18182 //~7s

/*
 * suivi de ligne
 * 0 si blanc
 * 1 si vert
 */
#define  FL PIN_D0
#define  ML PIN_D1
#define  MML   PIN_D2
#define  MMR   PIN_D3
#define  MR PIN_D4
#define  FR PIN_D5

//constantes de position de ligne
#define  L_O  1
#define  L_M   2
#define  L_F   4
#define  L_ALL L_F+L_M+L_O

#define  LINE_OK  0
#define  LINE_X   1
#define  LINE_GNL 2
#define  LINE_GNR 3
#define  LINE_OTL 4
#define  LINE_OTR 5
#define  LINE_ERR 6

/*
 * jack pour le demarrage
 * 0 si jack en place
 * 1 si jack enleve
 */
#define  JACK  PIN_D7

/*
 * detection à droite
 * 1 si detection
 * 0 si RAS
 */
#define  DDRR PIN_B4
#define  DDRL PIN_B5

/*
 * detection de barriere
 * 0 si barriere collisionnee
 * 1 si barriere pas collisionnee
 */
#define  BARRIERE  PIN_D6

//vitesse PWM des moteurs
#define  PWM_ADONF   0
#define  PWM_STOP 100
#if FLMODE == 0
#define  OFFSET   20
#define  PWM_STD  50
#define  PWM_FST  PWM_STD - OFFSET
#define  PWM_SLW  PWM_STD + OFFSET
#elif FLMODE == 1
#define  OFFSET   5
#define  PWM_STD  45
#define  PWM_SLW  PWM_STD + OFFSET
#define  PWM_SWR  PWM_SLW + OFFSET + OFFSET
#define  PWM_MIN  PWM_STD + OFFSET
#define  PWM_FST  PWM_STD - OFFSET
#define  PWM_FTR  PWM_SLW - OFFSET - OFFSET
#define  PWM_MAX  PWM_STD - OFFSET
#elif FLMODE == 2
#define  OFFSET   15
#define  PWM_STD  40
#define  PWM_FST  PWM_STD - OFFSET
#define  PWM_SLW  PWM_STD + OFFSET
#endif

//debug
#define OUTDBG output_a
#define DBG0   PIN_A0
#define DBG1   PIN_A1
#define DBG2   PIN_A2
#define DBG3   PIN_A3
#define DBG4   PIN_B0
#define DBG5   PIN_A5

//fonctions
#define LMOT   set_pwm1_duty
#define RMOT   set_pwm2_duty

void initpic();
#IF FLMODE == 1
int getlinepos(char * llp, char * rlp, int lastls);
#ENDIF