====== Distance Lab robot ======

Robot can be equipped with different payload:
  * Manipulator (fig. 1)
  * Simple radar (fig. 2)
  * Camera

{{http://www.mehhatroonika.ee/images/user/device/platvorm1.jpg|Platvorm1}}

Fig. 1 Robot with manipulator

{{http://www.mehhatroonika.ee/images/user/device/platvorm2.jpg|Platvorm2}}

Fig. 2 Robot with IR radar


===== Basic navigation =====


<code c>
#define F_CPU 14745600UL //CPU Frequency (influences delay function)
#include <avr/io.h>
#include <util/delay.h>


int init(){
	DDRD = 0xFF;// set port direction (output)
	PORTD = 0x00;// initialize port
	
	//Pamperi lülitid
	DDRC = 0x00;// set port direction (input)
	PORTC = 0x00;// initialize port 

	DDRA = 0x00;// set port direction (input)
	PORTA = 0x00;// initialize port

	DDRB = 0xFF;// set port direction (output)
	PORTB = 0x00;// initialize port

	DDRG = 0xFF;  // set port direction (output)
	PORTG = 0x00;// initialize port - pins-s low
return 0;
}

int edasi(){
		PORTD=0x02; //vasak edasi
		PORTB=0x80; //parem edasi
return 0;
}

int tagasi(){
		PORTD=0x01; //vasak tagasi
		PORTB=0x10; //parem tagasi
return 0;
}

int stop(){
		PORTD=0x00; //vasak stop
		PORTB=0x00; //parem stop
return 0;
}

int poore_vasak(){
		PORTD=0x01; //vasak tagasi
		PORTB=0x80; //parem edasi
return 0;
}

int poore_parem(){
		PORTD=0x02; //vasak edasi
		PORTB=0x10; //parem tagasi
return 0;
}

int main (void){
	
	init();
	
	while(1){
			
		edasi();

		if (bit_is_set(PINA, 0)||bit_is_set(PINA, 1)) {
			tagasi();
			_delay_ms(500);
			poore_parem();
			_delay_ms(1000);
		}

		if (bit_is_set(PINA, 2)||bit_is_set(PINA, 3)) {
			tagasi();
			_delay_ms(500);
			poore_vasak();
			_delay_ms(1000);
		}

		if (bit_is_set(PINC, 4)||bit_is_set(PINC, 5)||bit_is_set(PINC, 6)||bit_is_set(PINC, 7)) {
			stop();
			_delay_ms(1000);
		}
	}
}
</code>