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    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;&lt;font size=&quot;7&quot;&gt;Robot CAMERUS&lt;br&gt;
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    <pre>&lt;/font&gt;&lt;font size=&quot;4&quot;&gt;Jak se d&amp;#283;l? robot na IstRobot&lt;br&gt;
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    <pre>&lt;a href=&quot;mailto:kaklik@mlab.cz&quot;&gt;kaklik@mlab.cz&lt;/a&gt;; &lt;a href=&quot;mailto:kakl@i.cz&quot;&gt;
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    <pre>kakl@i.cz&lt;/a&gt;&lt;br&gt;
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    <pre>&lt;p align=&quot;center&quot;&gt;&lt;a href=&quot;pic/image001.jpg&quot;&gt;
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    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image001_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image001.jpg&quot;&gt;&lt;/a&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Tato dokumentace popisuje konstrukci robota 
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    <pre>Camerus, kter? byl zkonstruov?n pro sout&amp;#283;? IstRobot pro kategorii Stop?r (&lt;a href=&quot;http://www.robotika.sk/contest/&quot;&gt;http://www.robotika.sk/contest/&lt;/a&gt;).
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    <pre>&lt;br&gt;
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    <pre>Sna?ili jsme se technickou dokumentaci pojmout pon&amp;#283;kud netradi&amp;#269;n&amp;#283;. Krom&amp;#283; 
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    <pre>popisu fin?ln? verze robota zde naleznete chronologick? popis jeho v?voje a 
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    <pre>popis v?ech slep?ch uli&amp;#269;ek. Douf?me, ?e takov?to forma dokumentace bude m?t pro 
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    <pre>na?e n?sledovn?ky v&amp;#283;t?? hodnotu ne? pouh? n?vod na zopakov?n? konstrukce.&lt;br&gt;
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    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;&lt;b&gt;Robot 3Orbis&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;span lang=&quot;cs&quot;&gt;V?voj robota Camerus za&amp;#269;al p&amp;#345;ed v?ce jak dv&amp;#283;ma roky v?vojem 
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    <pre>robota 3Orbis. Robot 3Orbis m&amp;#283;l m?t novou revolu&amp;#269;n? koncepci podvozku. Pou?ili 
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    <pre>jsme t&amp;#345;?kol? podvozek, kter? m&amp;#283;l dv&amp;#283; hnan? kola, ka?d? s&amp;nbsp;nez?visl?m motorem a 
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    <pre>t&amp;#345;et? kolo, kter? m&amp;#283;lo &amp;#345;?zen? zat?&amp;#269;en?. Jednalo se tedy o nonholonomn? podvozek. 
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    <pre>Koncepci podvozku jsme nejd&amp;#345;?ve ov&amp;#283;&amp;#345;ovali se dv&amp;#283;ma senzory na &amp;#269;?ru, jako to m&amp;#283;ly 
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    <pre>na?i p&amp;#345;edchoz? holonomn? roboti. To moc nefungovalo a proto jsme p&amp;#345;idali dal?? 
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    <pre>senzory, pomoc? kter?ch se diskr?tn&amp;#283; nastavoval ?hel zat?&amp;#269;ec?ho kole&amp;#269;ka.&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image003.jpg&quot;&gt;
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    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image003_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image003.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Ob&lt;span lang=&quot;en-us&quot;&gt;r.&lt;/span&gt;1: Prvn? pokusy s&amp;nbsp;t&amp;#345;?kol?m a t&amp;#345;?motorov?m robotem&lt;br&gt;
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    <pre>&lt;br&gt;
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    <pre>&lt;a href=&quot;pic/image005.jpg&quot;&gt;
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    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image005_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image005.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 2: Baterie senzor&amp;#367; na &amp;#269;?ru&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;br&gt;
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    <pre>P&amp;#345;id?n?m dal??ch senzor&amp;#367; na &amp;#269;?ru jsme se dostali do probl?m&amp;#367; s&amp;nbsp;po&amp;#269;tem vstup&amp;#367; 
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    <pre>pou?it?ho procesoru (PIC16F88). Tento probl?m jsme vy&amp;#345;e?ili tak, ?e jsme na 
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    <pre>zpracov?n? sign?l&amp;#367; ze senzor&amp;#367; na &amp;#269;?ru pou?ili dal?? samostatn? procesor. Toto 
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    <pre>&amp;#345;e?en? se v?ak pozd&amp;#283;ji neuk?zalo jako v?hodn?, proto?e ladit distribuovan? k?d 
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    <pre>bylo &amp;#345;?dov&amp;#283; obt??n&amp;#283;j?? a nav?c se musela naprogramovat komunikace mezi procesory. 
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    <pre>&amp;#268;asto se n?m tak? st?valo, ?e jsme b&amp;#283;hem v?voje do jednoho procesoru nahr?li k?d 
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    <pre>pro druh? procesor, co? kupodivu ob&amp;#269;as trvalo ur&amp;#269;itou dobu, ne? jsme na to 
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    <pre>p&amp;#345;i?li.&lt;br&gt;
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    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image007.jpg&quot;&gt;
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    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image007_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image007.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;. &lt;/span&gt;3: P&amp;#345;edn? n?hon; p&amp;#345;id?no druh? patro na 
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    <pre>elektroniku&lt;br&gt;
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    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
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    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;P&amp;#367;vodn? koncepce p&amp;#345;edpokl?dala hnan? kola vp&amp;#345;edu a zat?&amp;#269;ec? kolo vzadu. 
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    <pre>Model?&amp;#345;sk? servo v?ak nedok?zalo dostate&amp;#269;n&amp;#283; rychle zat?&amp;#269;et, p&amp;#345;esto?e bylo 
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    <pre>zp&amp;#345;evodov?no do rychla p&amp;#345;evodem 1:2. Zm&amp;#283;nili jsme proto uspo&amp;#345;?d?n? na hnanou 
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    <pre>n?pravu vzadu a zat?&amp;#269;ec? kole&amp;#269;ko vp&amp;#345;edu. To n?m umo?&amp;#328;ovalo ?ost&amp;#345;e &amp;#345;ezat zat?&amp;#269;ky?, 
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    <pre>ale objevily se dal?? probl?my. Podvozek se v&amp;nbsp;zat?&amp;#269;k?ch dost?val do smyku a 
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    <pre>proto?e hmotnost &amp;#269;idel byla nezanedbateln?, doch?zelo i k&amp;nbsp;jeho nakl?p&amp;#283;n? a 
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    <pre>n?sledn&amp;#283; k&amp;nbsp;fale?n?mu sign?lu z&amp;nbsp;&amp;#269;idel, proto?e &amp;#269;idla nebyla dr?ena v&amp;nbsp;konstantn? 
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    <pre>vzd?lenosti od povrchu.&lt;br&gt;
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    <pre>&lt;br&gt;
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    <pre>Pro 3Orbise byla vysoustru?ena duralov? kola, pro kter? bylo pl?nov?no obut? ?O? 
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    <pre>krou?ky. To se pak uk?zalo jako nepou?iteln?. ?O? krou?ky se nedok?zaly udr?et 
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    <pre>v&amp;nbsp;dr??k?ch na kolech. P&amp;#367;vodn? kola byla tedy nahrazena plastov?mi z&amp;nbsp;d&amp;#283;tsk? 
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    <pre>hra&amp;#269;ky. Kola m&amp;#283;la men?? pr&amp;#367;m&amp;#283;r, co? zlep?ilo p&amp;#345;evodov? pom&amp;#283;r, kter? byl pro 
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    <pre>vyroben? p&amp;#345;evodovky 5:1. Jako obut? byly pou?ity ust&amp;#345;i?en? prsty z&amp;nbsp;latexov?ch 
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    <pre>rukavic pro dom?cnost. Jako obut? zat?&amp;#269;ec?ho kole&amp;#269;ka bylo pou?ito pry?ov? 
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  <th class="line-num">73</th>
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    <pre>t&amp;#283;sn&amp;#283;n? 12x10x2. Na zat?&amp;#269;ec? kole&amp;#269;ko bylo obuto tak, ?e se jelo po hran&amp;#283; t&amp;#283;sn&amp;#283;n?.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">74</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">75</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">76</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;pic/image009.jpg&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">77</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image009_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image009.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">78</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 4: Robot 3Orbis. Zadn? n?hon a men?? kole&amp;#269;ka z&amp;nbsp;autobusu 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">79</th>
  <td class="line-code diff_in">
    <pre>od syna pana Hronka.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">80</th>
  <td class="line-code diff_in">
    <pre>Je vid&amp;#283;t &amp;#269;idlo na hled?n? hrany cihly.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">81</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">82</th>
  <td class="line-code diff_in">
    <pre>Pro detekci a obj??d&amp;#283;n? cihly byly na robotovi namontov?ny IR senzory. Jeden m&amp;#283;l 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">83</th>
  <td class="line-code diff_in">
    <pre>detekovat p&amp;#345;ek??ku na dr?ze a zbyl? dva m&amp;#283;ly slou?it pro jej? objet?. Objet? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">84</th>
  <td class="line-code diff_in">
    <pre>cihly pomoc? IR senzor&amp;#367; jsme v?ak nedok?zali odladit. Obj??d&amp;#283;n? nebylo 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">85</th>
  <td class="line-code diff_in">
    <pre>spolehliv? a tak robot nakonec obj??d&amp;#283;l cihlu naslepo. &lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">86</th>
  <td class="line-code diff_in">
    <pre>P&amp;#345;i sout&amp;#283;?i se objevil ne&amp;#269;ekan? probl?m, kv&amp;#367;li kter?mu robot nakonec nedojel. 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">87</th>
  <td class="line-code diff_in">
    <pre>Sout&amp;#283;?n? dr?ha je tvo&amp;#345;ena dv&amp;#283;ma deskami. Desky nejsou dokonale sl?cov?ny a tak 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">88</th>
  <td class="line-code diff_in">
    <pre>mezi nimi vznik? tmav? mezera. Tato mezera byla na sout&amp;#283;?n? dr?ze p&amp;#345;elepena 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">89</th>
  <td class="line-code diff_in">
    <pre>b?lou lepic? p?skou. Bohu?el &amp;#269;idla na &amp;#269;?ru, kter? robot pou??val, vyhodnocovala 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">90</th>
  <td class="line-code diff_in">
    <pre>b?lou lepic? p?sku jako &amp;#269;ernou (&amp;#269;idla pracuj? bl?zko ultrafialov? oblasti). 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">91</th>
  <td class="line-code diff_in">
    <pre>Tento probl?m by ?el kompenzovat programov&amp;#283;, ale na sout&amp;#283;?i se nepoda&amp;#345;ilo 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">92</th>
  <td class="line-code diff_in">
    <pre>program v&amp;nbsp;&amp;#269;asov? t?sni spr?vn&amp;#283; upravit. Robot tedy nakonec nedojel.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">93</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">94</th>
  <td class="line-code diff_in">
    <pre>Odhadovali jsme, ?e n?m chyb&amp;#283;l tak t?den na odlad&amp;#283;n? firmware, proto?e v&amp;nbsp;roce 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">95</th>
  <td class="line-code diff_in">
    <pre>2006 u n?s byla povode&amp;#328; a ztratili jsme tak nejm?n&amp;#283; jeden m&amp;#283;s?c ve&amp;#269;er&amp;#367; na 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">96</th>
  <td class="line-code diff_in">
    <pre>programov?n?. Nyn? s&amp;nbsp;odstupem &amp;#269;asu vid?me, ?e co se t?k? objet? cihly, chyb&amp;#283;lo 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">97</th>
  <td class="line-code diff_in">
    <pre>mnohem v?ce.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">98</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">99</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;&lt;b&gt;Robot Laserus&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">100</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Dal?? verz? robota se shodn?m podvozkem byl robot Laserus. Snahou bylo odstranit 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">101</th>
  <td class="line-code diff_in">
    <pre>?t&amp;#283;?k?? &amp;#269;idla p&amp;#345;edsunut? p&amp;#345;ed robota a tak odstranit p&amp;#345;ekl?p&amp;#283;n? v&amp;nbsp;ostr?ch 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">102</th>
  <td class="line-code diff_in">
    <pre>zat?&amp;#269;k?ch. &amp;#344;e?en?m by bylo zv&amp;#283;t?en? dosahu &amp;#269;idel na &amp;#269;?ru tak, aby mohla b?t 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">103</th>
  <td class="line-code diff_in">
    <pre>um?st&amp;#283;na co nejbl??e k&amp;nbsp;ose ot?&amp;#269;en? robota. Z?rove&amp;#328; by se t?m sn??ila obvodov? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">104</th>
  <td class="line-code diff_in">
    <pre>setrva&amp;#269;n? hmotnost robota. Znovu jsme pou?ili t&amp;#345;?kol? podvozek s&amp;nbsp;jedn?m &amp;#345;?zen?m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">105</th>
  <td class="line-code diff_in">
    <pre>zat?&amp;#269;ec?m kole&amp;#269;kem, p&amp;#345;esto?e na IstRobotu 2006 byla tato konfigurace diskutov?na 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">106</th>
  <td class="line-code diff_in">
    <pre>a auto&amp;#345;i druh?ho robota s&amp;nbsp;podobnou koncepc? se v&amp;nbsp;diskusi vyj?d&amp;#345;ili, ?e to nebyl 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">107</th>
  <td class="line-code diff_in">
    <pre>dobr? n?pad, ?e robot p&amp;#345;i v&amp;#283;t??ch rychlostech m? snahu se rozkmit?vat. &amp;#344;e?en? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">108</th>
  <td class="line-code diff_in">
    <pre>tohoto probl?mu jsme vid&amp;#283;li ve zjemn&amp;#283;n? sn?m?n? &amp;#269;?ry tak, aby se precizn&amp;#283;ji 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">109</th>
  <td class="line-code diff_in">
    <pre>nastavovalo zat?&amp;#269;ec? kole&amp;#269;ko.&lt;span lang=&quot;en-us&quot;&gt; &lt;/span&gt;Napadlo n?s pou??t laserovou &amp;#269;te&amp;#269;ku &amp;#269;?rov?ho k?du a skute&amp;#269;n&amp;#283; jsme postavili 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">110</th>
  <td class="line-code diff_in">
    <pre>funk&amp;#269;n?ho robota (viz Obr?zek 5), kter? dok?zal, ale pomalu, jezdit po &amp;#269;?&amp;#345;e. &lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">111</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image011.jpg&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">112</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image011_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image011.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">113</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 5: Robot Laserus. 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">114</th>
  <td class="line-code diff_in">
    <pre>Na obr?zku je vid&amp;#283;t &amp;#269;erven? stopa LASERu.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">115</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt; &lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">116</th>
  <td class="line-code diff_in">
    <pre>Probl?my s&amp;nbsp;touto konstrukc? byly dva. Pokud byl na dr?ze hrbol, tak se v&amp;nbsp;d&amp;#367;sledku 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">117</th>
  <td class="line-code diff_in">
    <pre>vibrac? zmen?il rozkmit laseru, proto?e laser je ve &amp;#269;tec?m za&amp;#345;?zen? rozm?t?v?n 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">118</th>
  <td class="line-code diff_in">
    <pre>mechanicky zrc?tkem, kter? vibruje a velk? stranov? zrychlen? p&amp;#345;i p&amp;#345;ejet? hrbolu 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">119</th>
  <td class="line-code diff_in">
    <pre>zp&amp;#367;sobovalo, ?e elektromagnetick? mechanismus, kter? pohybuje zrc?tkem vypadl z&amp;nbsp;rezonance. 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">120</th>
  <td class="line-code diff_in">
    <pre>Tento probl?m by ov?em z&amp;#345;ejm&amp;#283; ?lo kompenzovat softwarem, proto?e se &amp;#269;?ra &amp;#269;etla 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">121</th>
  <td class="line-code diff_in">
    <pre>v&amp;nbsp;obou sm&amp;#283;rech pohybu zrc?tka. Jednou jsme tedy dostali polohu &amp;#269;?ry m&amp;#283;&amp;#345;enou z 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">122</th>
  <td class="line-code diff_in">
    <pre>leva a jednou z prava.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">123</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">124</th>
  <td class="line-code diff_in">
    <pre>Druh? probl?m byl z?va?n&amp;#283;j??. Proto?e bylo pou?ito za&amp;#345;?zen? na &amp;#269;ten? &amp;#269;?rov?ho 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">125</th>
  <td class="line-code diff_in">
    <pre>k?du, sn?mali jsme vlastn&amp;#283; polohu jedn? &amp;#269;?ry ve scanovan?m prostoru. V&amp;nbsp;prudk? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">126</th>
  <td class="line-code diff_in">
    <pre>zat?&amp;#269;ce v?ak doch?z? k&amp;nbsp;tomu, ?e &amp;#269;?ru vid? sn?ma&amp;#269; ?ikmo a tak se relativn&amp;#283; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">127</th>
  <td class="line-code diff_in">
    <pre>zv&amp;#283;t?uje jej? tlou?&amp;#357;ka. Vnit&amp;#345;n? elektronika sn?ma&amp;#269;e vyhodnotila tento stav, jako 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">128</th>
  <td class="line-code diff_in">
    <pre>?e se nejedn? o &amp;#269;?rov? k?d a &amp;#269;?ru vyfiltrovala. To samoz&amp;#345;ejm&amp;#283; m&amp;#283;lo v&amp;nbsp;ostr? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">129</th>
  <td class="line-code diff_in">
    <pre>zat?&amp;#269;ce fat?ln? n?sledky. D?le jsme touto cestou nepokra&amp;#269;ovali, p&amp;#345;esto, ?e v?me, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">130</th>
  <td class="line-code diff_in">
    <pre>?e v&amp;nbsp;z?vod&amp;#283; DARPA se &amp;#269;asto pou??vaj? laserov? d?lkom&amp;#283;ry. Na sout&amp;#283;?n?ch vozech je 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">131</th>
  <td class="line-code diff_in">
    <pre>v?ak vid&amp;#283;t, ?e konstrukt?&amp;#345;i tak? maj? probl?my s&amp;nbsp;odtlumen?m vibrac?.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">132</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">133</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;&lt;b&gt;Robot Camerus&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">134</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Znovu se vyno&amp;#345;il n?pad, pou??t pro sn?m?n? &amp;#269;?ry kameru. To u? n?s napadlo 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">135</th>
  <td class="line-code diff_in">
    <pre>n&amp;#283;kolikr?t, ale kdy? jsme n?pad analyzovali, v?dy se uk?zalo, ?e jednoduch?m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">136</th>
  <td class="line-code diff_in">
    <pre>jedno&amp;#269;ipov?m mikropo&amp;#269;?ta&amp;#269;em nelze zpracov?vat obraz kamery. Druh?m probl?mem je, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">137</th>
  <td class="line-code diff_in">
    <pre>?e b&amp;#283;?n&amp;#283; dostupn? kamery maj? sn?mkov? kmito&amp;#269;et 50Hz, co? se n?m zd?lo na 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">138</th>
  <td class="line-code diff_in">
    <pre>sn?m?n? &amp;#269;?ry pomal?.&lt;span lang=&quot;en-us&quot;&gt; &lt;/span&gt;P&amp;#345;esto jsme zakoupili jednu kameru a za&amp;#269;ali jsme osciloskopem testovat, co tak 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">139</th>
  <td class="line-code diff_in">
    <pre>kamera vid? a jak by se to dalo zpracovat. Kupodivu jsme zjistili, ?e s&amp;nbsp;procesorem 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">140</th>
  <td class="line-code diff_in">
    <pre>na 20MHz st?h?me na&amp;#269;?st jeden obrazov? &amp;#345;?dek asi s&amp;nbsp;polovi&amp;#269;n?m rozli?en?m. To 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">141</th>
  <td class="line-code diff_in">
    <pre>bylo povzbudiv? a zam&amp;#283;&amp;#345;ili jsme se t?mto sm&amp;#283;rem.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">142</th>
  <td class="line-code diff_in">
    <pre>Druh?m probl?mem bylo, ?e kamera nesn?m? kontrastn? obraz. Jak se vypo&amp;#345;?dat v&amp;nbsp;jedno&amp;#269;ipov?m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">143</th>
  <td class="line-code diff_in">
    <pre>po&amp;#269;?ta&amp;#269;i s&amp;nbsp;t?mto probl?mem, kdy? jeho v?po&amp;#269;etn? v?kon sta&amp;#269;? sotva na na&amp;#269;ten? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">144</th>
  <td class="line-code diff_in">
    <pre>&amp;#345;?dku a je?t&amp;#283; se mus? po&amp;#269;?tat regulace pro elektronick? diferenci?l? (Pro 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">145</th>
  <td class="line-code diff_in">
    <pre>zvolenou koncepci podvozku je nutn? diferencovat ot?&amp;#269;ky motor&amp;#367; na hnan?ch 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">146</th>
  <td class="line-code diff_in">
    <pre>n?prav?ch.)&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">147</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">148</th>
  <td class="line-code diff_in">
    <pre>Probl?m jsme vy&amp;#345;e?ili n&amp;#283;&amp;#269;?m, &amp;#269;emu jsme pracovn&amp;#283; za&amp;#269;ali &amp;#345;?kat ?digit?ln? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">149</th>
  <td class="line-code diff_in">
    <pre>kompar?tor?. Jednodu?e jsme pomoc? logick?ch hradel provedli OR t&amp;#345;ech nejvy???ch 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">150</th>
  <td class="line-code diff_in">
    <pre>bit&amp;#367; jasov?ho sign?lu z&amp;nbsp;kamery. V?echno co bylo pod 0x1F bylo tedy &amp;#269;ern? a 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">151</th>
  <td class="line-code diff_in">
    <pre>v?echno nad bylo b?l?. Expozici kamery pak bylo nutn? nastavit tak, aby 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">152</th>
  <td class="line-code diff_in">
    <pre>nejsv&amp;#283;tlej?? &amp;#269;ern? &amp;#269;?ra, byla je?t&amp;#283; &amp;#269;ern?. To se ud&amp;#283;lalo snadno osciloskopem, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">153</th>
  <td class="line-code diff_in">
    <pre>ale pro z?vod bylo nutn? vyvinout n&amp;#283;jakou strategii, jak robot provede ur&amp;#269;en? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">154</th>
  <td class="line-code diff_in">
    <pre>expozice. &amp;#344;e?en?m byla rutina ?Expozimetr?, kter? postupn&amp;#283; zvy?uje expozi&amp;#269;n? &amp;#269;as 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">155</th>
  <td class="line-code diff_in">
    <pre>a hled? ve sn?mku (samoz&amp;#345;ejm&amp;#283;, ?e v&amp;nbsp;na?em p&amp;#345;?pad&amp;#283; na jedn? &amp;#345;?dce) &amp;#269;?ru 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">156</th>
  <td class="line-code diff_in">
    <pre>definovan? tlou?&amp;#357;ky. Vych?z? se z&amp;nbsp;toho, ?e nejd&amp;#345;?ve p&amp;#345;i podexponov?n? je &amp;#269;ern? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">157</th>
  <td class="line-code diff_in">
    <pre>cel? obr?zek, pak se postupn&amp;#283; obr?zek vyjas&amp;#328;uje, co? je ov?em d?ky chyb&amp;#283; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">158</th>
  <td class="line-code diff_in">
    <pre>apertury objektivu nerovnom&amp;#283;rn?. Dal??m zvy?ov?n?m &amp;#269;asu expozice se nakonec 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">159</th>
  <td class="line-code diff_in">
    <pre>objev? &amp;#269;?ra spr?vn? tlou?&amp;#357;ky, ta se pak d?le zten&amp;#269;uje a nakonec je sn?mek 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">160</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;ep?len a &amp;#269;?ra zmiz?. Samoz&amp;#345;ejm&amp;#283; se p&amp;#345;edpokl?dalo, ?e na startu robot &amp;#269;?ru vid? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">161</th>
  <td class="line-code diff_in">
    <pre>a ta je p&amp;#345;ed n?m p&amp;#345;ibli?n&amp;#283; uprost&amp;#345;ed. &lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">162</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">163</th>
  <td class="line-code diff_in">
    <pre>Prvn? pokusy vypadaly velmi optimisticky, robot se dr?el &amp;#269;?ry a vyjel jenom 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">164</th>
  <td class="line-code diff_in">
    <pre>ob&amp;#269;as. Zaj?mav? bylo, ?e robot dok?zal jezdit jenom po dr?ze, kde nebyly zat?&amp;#269;ky 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">165</th>
  <td class="line-code diff_in">
    <pre>doleva! Proto?e jsme nem&amp;#283;li k&amp;nbsp;dispozici obraz z&amp;nbsp;kamery, aby bylo mo?n? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">166</th>
  <td class="line-code diff_in">
    <pre>zkontrolovat co kamera vid?, bylo nutn? tento probl?m &amp;#345;e?it pouhou ?vahou. 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">167</th>
  <td class="line-code diff_in">
    <pre>Napadlo n?s, ?e m&amp;#367;?e doch?zet k ?vytrh?v?n? obrazu? na kraj?ch sn?mku. 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">168</th>
  <td class="line-code diff_in">
    <pre>Kompenzovalo se to t?m, ?e se zahazovaly okraje &amp;#345;?dku a skute&amp;#269;n&amp;#283; to pomohlo, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">169</th>
  <td class="line-code diff_in">
    <pre>robot spolehliv&amp;#283;, i kdy? pomalu, sledoval &amp;#269;?ru. To byl velk? ?sp&amp;#283;ch, proto?e 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">170</th>
  <td class="line-code diff_in">
    <pre>kdyby n?m n&amp;#283;kdo &amp;#345;ekl p&amp;#345;ed rokem, ?e to s&amp;nbsp;kamerou a jedno&amp;#269;ipov?m po&amp;#269;?ta&amp;#269;em jde, a 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">171</th>
  <td class="line-code diff_in">
    <pre>?e je to spolehliv?, asi by jsme mu nev&amp;#283;&amp;#345;ili.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">172</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">173</th>
  <td class="line-code diff_in">
    <pre>Po prvotn?ch ?sp&amp;#283;??ch jsme zkusili zrychlit jen?e to nefungovalo, robot v?dy 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">174</th>
  <td class="line-code diff_in">
    <pre>vypadl z&amp;nbsp;dr?hy, kdy? se zat?&amp;#269;ec? kole&amp;#269;ko oto&amp;#269;ilo o velk? ?hel. Napadlo n?s, ?e 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">175</th>
  <td class="line-code diff_in">
    <pre>to m&amp;#367;?e b?t zp&amp;#367;sobeno proudov?mi ?pi&amp;#269;kami, kter? zp&amp;#367;sobuje motor serva. Pro 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">176</th>
  <td class="line-code diff_in">
    <pre>stabilizaci nap?jen? pro elektroniku byl toti? pou?it line?rn? stabiliz?tor s&amp;nbsp;velk?m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">177</th>
  <td class="line-code diff_in">
    <pre>drop-outem. Proto jsme vyvinuli m&amp;#283;ni&amp;#269;, kter? i p&amp;#345;i poklesu nap&amp;#283;t? bateri? o 2V 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">178</th>
  <td class="line-code diff_in">
    <pre>dok?zal udr?et nap&amp;#283;t? pro &amp;#345;?d?c? elektroniku a zejm?na kameru stabiln?. Po tomto 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">179</th>
  <td class="line-code diff_in">
    <pre>vylep?en? u? robot dosahoval pom&amp;#283;rn&amp;#283; slu?n? rychlosti a nejzaj?mav&amp;#283;j?? bylo, ?e 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">180</th>
  <td class="line-code diff_in">
    <pre>d?ky ?velk?? rozli?ovac? schopnosti kamery (procesor dok?zal rozli?it asi 50 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">181</th>
  <td class="line-code diff_in">
    <pre>bod&amp;#367;) byla j?zda v&amp;nbsp;zat?&amp;#269;k?ch velmi plynul?.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">182</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">183</th>
  <td class="line-code diff_in">
    <pre>Probl?m s&amp;nbsp;tmou v&amp;nbsp;tunelu byl vy&amp;#345;e?en jednodu?e tak, ?e si robot celou cestu 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">184</th>
  <td class="line-code diff_in">
    <pre>sv?til. Na osv&amp;#283;tlen? dr?hy byly pou?ity &amp;#269;erven? LED. Nev?me, jak? barva pro 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">185</th>
  <td class="line-code diff_in">
    <pre>osv&amp;#283;tlen? dr?hy je nejlep??, eventueln&amp;#283;, jestli je lep?? sv?tit b?le. S&amp;nbsp;t?m jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">186</th>
  <td class="line-code diff_in">
    <pre>u? nestihli p&amp;#345;ed sout&amp;#283;?? experimentovat.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">187</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">188</th>
  <td class="line-code diff_in">
    <pre>Proto?e pou?it? procesor PIC16F876A neum? n?sobit a v&amp;#367;bec jeho v?po&amp;#269;etn? v?kon 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">189</th>
  <td class="line-code diff_in">
    <pre>nen? omra&amp;#269;uj?c? (kdybychom ho ale m&amp;#283;li p&amp;#345;ed lety, tak by jsme si ur&amp;#269;it&amp;#283; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">190</th>
  <td class="line-code diff_in">
    <pre>nest&amp;#283;?ovali), byl celkem probl?m naprogramovat elektronick? diferenci?l na 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">191</th>
  <td class="line-code diff_in">
    <pre>hnanou n?pravu. Nakonec se to vy&amp;#345;e?ilo procedurou ?jakon?soben??, kter? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">192</th>
  <td class="line-code diff_in">
    <pre>kombinac? rotac? a podm?n&amp;#283;n?ho s&amp;#269;?t?n? prov?d? rychle pot&amp;#345;ebn? v?po&amp;#269;et s&amp;nbsp;uspokojivou 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">193</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;esnost?.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">194</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image013.jpg&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">195</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image013_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image013.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">196</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 6: M&amp;#283;ni&amp;#269; v&amp;nbsp;krabi&amp;#269;ce od &amp;#269;aje a primitivn? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">197</th>
  <td class="line-code diff_in">
    <pre>osv&amp;#283;tlen? dr?hy.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">198</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">199</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image015.jpg&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">200</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image015_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image015.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">201</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 7: Robot, p&amp;#345;?tel &amp;#269;lov&amp;#283;ka.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">202</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Za&amp;#269;ali jsme tedy testovat pro sledov?n? &amp;#269;?ry asi nejobt??n&amp;#283;j?? v&amp;#283;c, dlouhou 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">203</th>
  <td class="line-code diff_in">
    <pre>rovinku a na konci pravo?hlou zat?&amp;#269;ku. P&amp;#345;i dal??m zvy?ov?n? rychlosti za&amp;#269;al 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">204</th>
  <td class="line-code diff_in">
    <pre>robot v&amp;nbsp;takov? zat?&amp;#269;ce vypad?vat. Ne, ?e by p&amp;#345;?mo vyjel a nevr?til se na dr?hu, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">205</th>
  <td class="line-code diff_in">
    <pre>ale polom&amp;#283;r zat?&amp;#269;en? byl men?? ne? polom&amp;#283;r zat?&amp;#269;ky a hrozilo tedy, ?e v&amp;nbsp;Bratislav&amp;#283; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">206</th>
  <td class="line-code diff_in">
    <pre>spadne ze stolu. Ud&amp;#283;lali jsme p&amp;#345;edpoklad, ?e je to zp&amp;#367;sobeno pomal?m sn?mkov?m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">207</th>
  <td class="line-code diff_in">
    <pre>kmito&amp;#269;tem kamery, ne? si robot sta&amp;#269;il v?imnout, ?e je zat?&amp;#269;ka ostr?, zmizela mu 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">208</th>
  <td class="line-code diff_in">
    <pre>&amp;#269;?ra ze zorn?ho pole.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">209</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">210</th>
  <td class="line-code diff_in">
    <pre>Dal??m probl?mem bylo, ?e pokud bylo nerovnom&amp;#283;rn? osv&amp;#283;tlen? dr?hy, vypad?val 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">211</th>
  <td class="line-code diff_in">
    <pre>kame&amp;#345;e obraz. Kamera m? sice AGC, ale samoz&amp;#345;ejm&amp;#283;, ?e je schopna kompenzovat 
</pre>
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  <th class="line-num"></th>
  <th class="line-num">212</th>
  <td class="line-code diff_in">
    <pre>rozd?ly jasu jenom v&amp;nbsp;ur&amp;#269;it?ch mez?ch. Kupodivu nebyl probl?m v&amp;nbsp;tunelu, kde si 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">213</th>
  <td class="line-code diff_in">
    <pre>robot sv?t?, ale velk? probl?m byl s&amp;nbsp;denn?m sv&amp;#283;tlem, pokud p&amp;#345;ich?zelo pouze z&amp;nbsp;jednoho 
</pre>
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  <th class="line-num"></th>
  <th class="line-num">214</th>
  <td class="line-code diff_in">
    <pre>sm&amp;#283;ru.&lt;br&gt;
</pre>
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  <th class="line-num">215</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
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  <th class="line-num"></th>
  <th class="line-num">216</th>
  <td class="line-code diff_in">
    <pre>Konstruk&amp;#269;n? &amp;#345;e?en?, kter? n?sledovalo, bylo dopln&amp;#283;n? dvou modr?ch &amp;#269;idel po 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">217</th>
  <td class="line-code diff_in">
    <pre>stran?ch robota na sledov?n? &amp;#269;?ry. &amp;#268;idla byla um?st&amp;#283;na tak, ?e vid&amp;#283;la &amp;#269;?ru, a? 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">218</th>
  <td class="line-code diff_in">
    <pre>kdy? &amp;#269;?ra byla mimo zorn? pole kamery a uplat&amp;#328;ovala se pouze v&amp;nbsp;p&amp;#345;?pad&amp;#283;, ?e 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">219</th>
  <td class="line-code diff_in">
    <pre>kamera &amp;#269;?ru nevid?. To velmi zv??ilo spolehlivost sledov?n? &amp;#269;?ry. Z?rove&amp;#328; jsme 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">220</th>
  <td class="line-code diff_in">
    <pre>tato &amp;#269;idla pou?ili pro op&amp;#283;tovn? vyhled?n? &amp;#269;?ry po objet? cihly, proto?e jsme se 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">221</th>
  <td class="line-code diff_in">
    <pre>b?li pro tento ?kol pou??t kameru, proto?e po dobu obj??d&amp;#283;n? cihly kamera nevid? 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">222</th>
  <td class="line-code diff_in">
    <pre>kontrastn? obr?zek (nevid? &amp;#269;?ru) a d?ky AGC by mohla zaznamenat st?n nebo ?p?nu 
</pre>
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  <th class="line-num"></th>
  <th class="line-num">223</th>
  <td class="line-code diff_in">
    <pre>na trati jako &amp;#269;?ru. &lt;br&gt;
</pre>
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  <th class="line-num"></th>
  <th class="line-num">224</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
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  <th class="line-num"></th>
  <th class="line-num">225</th>
  <td class="line-code diff_in">
    <pre>Na obj??d&amp;#283;n? cihly byl robot Camerus vybaven odometri? na prav?m kole. Vyu?ili 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">226</th>
  <td class="line-code diff_in">
    <pre>jsme otvor&amp;#367; ve v&amp;#283;t??m kole p&amp;#345;evodovky a IR z?vory z&amp;nbsp;tisk?rny. Citlivost 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">227</th>
  <td class="line-code diff_in">
    <pre>o&lt;span lang=&quot;en-us&quot;&gt;d&lt;/span&gt;ometrie nebyla velk? (4 impulzy na jednu ot?&amp;#269;ku kole&amp;#269;ka (12,6mm)).&lt;br&gt;
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">228</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
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  <th class="line-num"></th>
  <th class="line-num">229</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;b&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;Jak jsme jeli ?ladit? do V?dn&amp;#283;&lt;/font&gt;&lt;/b&gt;&lt;/p&gt;
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">230</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;V?e pot&amp;#345;ebn? bylo naprogramov?no, robot sledoval &amp;#269;?ru. P&amp;#345;eru?en? ned&amp;#283;lalo 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">231</th>
  <td class="line-code diff_in">
    <pre>probl?my, prost&amp;#283; byl v?padek obrazu a robot pokra&amp;#269;oval v&amp;nbsp;p&amp;#367;vodn?m sm&amp;#283;ru p&amp;#345;ed 
</pre>
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  <th class="line-num"></th>
  <th class="line-num">232</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;eru?en?m. Cihla byla &amp;#345;e?ena pomoc? odometrie. Takto vybaveni jsme odjeli do 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">233</th>
  <td class="line-code diff_in">
    <pre>V?dn&amp;#283; na Robot Challenge 2007. &amp;#344;ekli jsme si, ?e to tam odlad?me, proto?e jsou 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">234</th>
  <td class="line-code diff_in">
    <pre>tam jednodu??? podm?nky ne? v&amp;nbsp;Bratislav&amp;#283; (alespo&amp;#328; na prvn? pohled, robot m&amp;#367;?e 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">235</th>
  <td class="line-code diff_in">
    <pre>b?t v&amp;#283;t?? a tunel je tak? v&amp;#283;t??, tak?e robot nemus? jet tak p&amp;#345;esn&amp;#283;).&lt;br&gt;
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">236</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">237</th>
  <td class="line-code diff_in">
    <pre>Rozhodnut? ladit robota na Robot Challenge se uk?zalo jako spr?vn?. Podm?nky 
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">238</th>
  <td class="line-code diff_in">
    <pre>toti? byly n?ro&amp;#269;n?. Bodov? osv&amp;#283;tlen?, dr?ha slo?en? z&amp;nbsp;desek s&amp;nbsp;mezerami, styl 
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">239</th>
  <td class="line-code diff_in">
    <pre>sout&amp;#283;?e play-off.&lt;br&gt;
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">240</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">241</th>
  <td class="line-code diff_in">
    <pre>Camerus ur&amp;#269;it&amp;#283; jezdil nejrychleji, ale nedok?zal objet cihlu! Jednou se stalo, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">242</th>
  <td class="line-code diff_in">
    <pre>?e uvid&amp;#283;l mezeru mezi deskami, podruh? mu z&amp;#345;ejm&amp;#283; proklouzlo kole&amp;#269;ko s&amp;nbsp;odometri?, 
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">243</th>
  <td class="line-code diff_in">
    <pre>prost&amp;#283; katastrofa! Alespo&amp;#328;, ?e byl t&amp;#345;et? v&amp;nbsp;paraleln?m slalomu, to jsme mu ale 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">244</th>
  <td class="line-code diff_in">
    <pre>zavinili my, proto?e jsme mu p&amp;#345;i zkou?en? objet? cihly st?hli v?kon motor&amp;#367; a pak 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">245</th>
  <td class="line-code diff_in">
    <pre>jsme na to zapomn&amp;#283;li. Za t&amp;#345;et? m?sto tedy nemohl robot, ale lidsk? faktor.&lt;br&gt;
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">246</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">247</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
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  <th class="line-num"></th>
  <th class="line-num">248</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image017.jpg&quot;&gt;
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">249</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image017_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image017.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">250</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 8: Robot Challenge 2007, Parallel Slalom. Robot 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">251</th>
  <td class="line-code diff_in">
    <pre>Camerus na dr?ze &amp;#269;?slo 1. Na dr?ze jsou patrn? st?ny od bodov?ho osv&amp;#283;tlen?.&lt;br&gt;
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">252</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
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  <th class="line-num"></th>
  <th class="line-num">253</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image019.jpg&quot;&gt;
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">254</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image019_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image019.jpg&quot;&gt;&lt;/a&gt;&lt;span lang=&quot;en-us&quot;&gt;
</pre>
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  <th class="line-num"></th>
  <th class="line-num">255</th>
  <td class="line-code diff_in">
    <pre>&lt;/span&gt;&lt;a href=&quot;pic/P3180028.JPG&quot;&gt;
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">256</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/P3180028_small.JPG&quot; xthumbnail-orig-image=&quot;pic/P3180028.JPG&quot;&gt;&lt;/a&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">257</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">258</th>
  <td class="line-code diff_in">
    <pre>Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 9: Robot Camerus na Robot Challenge 2007. Robot 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">259</th>
  <td class="line-code diff_in">
    <pre>nem? dostatek &amp;#269;idel na bezpe&amp;#269;n? objet? p&amp;#345;ek??ky.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">260</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">261</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Jednozna&amp;#269;n&amp;#283; se uk?zalo, ?e obj??d&amp;#283;t p&amp;#345;ek??ku ?naslepo? nen? dobr? strategie a 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">262</th>
  <td class="line-code diff_in">
    <pre>zejm?na, pokud je odometrie na hnan? n?prav&amp;#283;.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">263</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">264</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;&lt;b&gt;Co s&amp;nbsp;cihlou?&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">265</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Dal?? v?voj jsme v&amp;#283;novali obj??d&amp;#283;n? cihly za pomoci &amp;#269;idel. Jak? &amp;#269;idla ale pou??t? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">266</th>
  <td class="line-code diff_in">
    <pre>M&amp;#283;li jsme ?patn? zku?enosti s&amp;nbsp;IR &amp;#269;idly s&amp;nbsp;3Orbise a roboty s&amp;nbsp;ultrazvukem jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">267</th>
  <td class="line-code diff_in">
    <pre>zase na minul?ch ro&amp;#269;n?c?ch vid&amp;#283;li, ?e si spletli tunel s&amp;nbsp;cihlou, p&amp;#345;?padn&amp;#283; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">268</th>
  <td class="line-code diff_in">
    <pre>nevid&amp;#283;li cihlu, pokud se k&amp;nbsp;n? bl??ili ze?ikma.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">269</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">270</th>
  <td class="line-code diff_in">
    <pre>Nev&amp;#283;d&amp;#283;li jsme co s&amp;nbsp;t?m a tak jsme za&amp;#269;ali zkou?et. M&amp;#283;&amp;#345;ili jsme, co ?vid?? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">271</th>
  <td class="line-code diff_in">
    <pre>ultrazvuk a co r&amp;#367;zn? optick? &amp;#269;idla. P&amp;#345;i m&amp;#283;&amp;#345;en? se uk?zaly v?echny p&amp;#345;edpokl?dan? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">272</th>
  <td class="line-code diff_in">
    <pre>probl?my. Ultrazvuk vid? kde co, jenom ne cihlu, kdy? je ?ikmo. IR sn?ma&amp;#269; vid? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">273</th>
  <td class="line-code diff_in">
    <pre>cihlu sice spolehliv&amp;#283;, ale stejn&amp;#283; dob&amp;#345;e jako velkou b?lou ze&amp;#271; n&amp;#283;kolik metr&amp;#367; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">274</th>
  <td class="line-code diff_in">
    <pre>daleko. Nakonec byla pro cihlu zvolena kombinace sedmi senzor&amp;#367;. Skute&amp;#269;n&amp;#283; &amp;#269;tete 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">275</th>
  <td class="line-code diff_in">
    <pre>dob&amp;#345;e, sedmi! Jeden IR senzor vp&amp;#345;edu na detekci p&amp;#345;ibl??en? se k&amp;nbsp;cihle. Funguje 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">276</th>
  <td class="line-code diff_in">
    <pre>na principu triangulace. IR vys?lac? dioda m? ?zkou hlin?kovou trubi&amp;#269;kou z??en 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">277</th>
  <td class="line-code diff_in">
    <pre>paprsek, aby nedoch?zelo k&amp;nbsp;jeho integraci na velk? vzd?len? plo?e. Dal?? dva 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">278</th>
  <td class="line-code diff_in">
    <pre>senzory jsou mikrosp?na&amp;#269;e na mechanick?m n?razn?ku, kdyby se stalo, ?e 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">279</th>
  <td class="line-code diff_in">
    <pre>triangula&amp;#269;n? &amp;#269;idlo cihlu p&amp;#345;ehl?dne. To se m&amp;#367;?e st?t v&amp;nbsp;prudk? zat?&amp;#269;ce. Z&amp;nbsp;boku 
</pre>
  </td>
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<tr>
  <th class="line-num"></th>
  <th class="line-num">280</th>
  <td class="line-code diff_in">
    <pre>jsou pak ultrazvukov? senzor a d?lkom&amp;#283;r s&amp;nbsp;&amp;#269;ervenou LED. Tyto &amp;#269;idla udr?uj? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">281</th>
  <td class="line-code diff_in">
    <pre>konstantn? vzd?lenost od cihly p&amp;#345;i jej?m obj??d&amp;#283;n?. K&amp;nbsp;tomu je?t&amp;#283; ji? zm?n&amp;#283;n? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">282</th>
  <td class="line-code diff_in">
    <pre>odometrie na prav?m kole&amp;#269;ku, kter? zaji?&amp;#357;uje prudkou zat?&amp;#269;ku doleva jakmile je 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">283</th>
  <td class="line-code diff_in">
    <pre>cihla detekov?na a nakonec kompas, kter? zabra&amp;#328;uje, aby se robot vracel zp&amp;#283;t po 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">284</th>
  <td class="line-code diff_in">
    <pre>trati (to se m&amp;#367;?e st?t, proto?e mezi p&amp;#345;edn?m &amp;#269;idlem a bo&amp;#269;n?mi &amp;#269;idly je slep? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">285</th>
  <td class="line-code diff_in">
    <pre>?hel).&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">286</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">287</th>
  <td class="line-code diff_in">
    <pre>P&amp;#345;id?n? dal??ch &amp;#269;idel se neobe?lo bez konstruk&amp;#269;n?ch probl?m&amp;#367;. Bo&amp;#269;n? LED &amp;#269;idlo se 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">288</th>
  <td class="line-code diff_in">
    <pre>uk?zalo jako m?lo citliv? a bylo to z&amp;#345;ejm&amp;#283; zp&amp;#367;sobeno t?m, ?e se jedn? o 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">289</th>
  <td class="line-code diff_in">
    <pre>pr&amp;#367;myslov? &amp;#269;idlo, kter? je norm?ln&amp;#283; nap?jeno nap&amp;#283;t?m 12 a? 48V. S&amp;nbsp;na??m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">290</th>
  <td class="line-code diff_in">
    <pre>nap?jec?m nap&amp;#283;t?m 7,2V a to je?t&amp;#283; ob&amp;#269;as, nebylo moc spokojeno. Byl tady p&amp;#345;id?n 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">291</th>
  <td class="line-code diff_in">
    <pre>dal?? m&amp;#283;ni&amp;#269; nahoru na 12V. Byl pou?it m&amp;#283;ni&amp;#269; ze star? s?&amp;#357;ov? karty.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">292</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">293</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;&lt;b&gt;Posledn? weekend p&amp;#345;ed sout&amp;#283;??&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">294</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;P&amp;#345;id?n? kompasu na I2C sb&amp;#283;rnici si vy??dalo p&amp;#345;eadresaci kamery, proto?e kamera a 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">295</th>
  <td class="line-code diff_in">
    <pre>kompas m&amp;#283;ly na I2C sb&amp;#283;rnici stejnou adresu a adresa kompasu se nedala zm&amp;#283;nit. To 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">296</th>
  <td class="line-code diff_in">
    <pre>kupodivu byl velk? probl?m, kter? jsme u? &amp;#345;e?ili posledn? weekend p&amp;#345;ed sout&amp;#283;?? a 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">297</th>
  <td class="line-code diff_in">
    <pre>vynutil si tak z?sadn? z?sah jako rozebr?n? objektivu kamery, co? znamenalo 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">298</th>
  <td class="line-code diff_in">
    <pre>pe&amp;#269;liv? &amp;#269;i?t&amp;#283;n? pouzdra &amp;#269;ipu kamery, proto?e p&amp;#345;?padn? sm?tko na pouzd&amp;#345;e &amp;#269;ipu by 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">299</th>
  <td class="line-code diff_in">
    <pre>m&amp;#283;lo p&amp;#345;i sout&amp;#283;?i fat?ln? n?sledky. &amp;#268;ip kamery sice p&amp;#345;eadresaci um?, ale bylo 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">300</th>
  <td class="line-code diff_in">
    <pre>nutn? p&amp;#345;ipojit v?vod MULT (47) na &lt;span lang=&quot;en-us&quot;&gt;log_1 &lt;/span&gt;a na to kupodivu na plo?n?m spoji kamery 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">301</th>
  <td class="line-code diff_in">
    <pre>nebylo pamatov?no, p&amp;#345;esto, ?e na plo?n?m spoji jsou plo?ky na odpory, kter? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">302</th>
  <td class="line-code diff_in">
    <pre>umo?&amp;#328;uj? zm&amp;#283;nu adresy.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">303</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">304</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image021.jpg&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">305</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image021_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image021.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">306</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 10: Propojka na PCB kamery umo?&amp;#328;uj?c? jej? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">307</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;eadresaci.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">308</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">309</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Posledn? weekend p&amp;#345;ed sout&amp;#283;?? n?s napadlo je?t&amp;#283; jednou proj?t seznam probl?m&amp;#367;, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">310</th>
  <td class="line-code diff_in">
    <pre>kter? jsme si poznamenali v&amp;nbsp;pr&amp;#367;b&amp;#283;hu lo&amp;#328;sk? sout&amp;#283;?e. Hned na za&amp;#269;?tku tam bylo: ?Zkontrolovat, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">311</th>
  <td class="line-code diff_in">
    <pre>jestli neprokluzuj? kole&amp;#269;ka na h&amp;#345;?deli.? Prokluzovaly. Zkusili jsme je p&amp;#345;ilepit 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">312</th>
  <td class="line-code diff_in">
    <pre>anaerobn?m lepidlem. V?sledek byl, ?e se zalepily h&amp;#345;?delky do lo?isek a kole&amp;#269;ka 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">313</th>
  <td class="line-code diff_in">
    <pre>prokluzovala d?l. Zkusili jsme je p&amp;#345;ilepit epoxidem. Nane?t&amp;#283;st? n?m trochu 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">314</th>
  <td class="line-code diff_in">
    <pre>epoxidu z&amp;#345;ejm&amp;#283; nateklo do lo?isek a kole&amp;#269;ka se zase utrhla. Posledn? weekend 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">315</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;ed sout&amp;#283;?? jsme tedy m&amp;#283;li zatuhl? p&amp;#345;evodovky a kole&amp;#269;ka prokluzovala. Sna?ili 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">316</th>
  <td class="line-code diff_in">
    <pre>jsme se do h&amp;#345;?delek vyvrtat d?rky a d?t tam kol?k, ale vrt?k v&amp;#367;bec nitridovanou 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">317</th>
  <td class="line-code diff_in">
    <pre>ocel z&amp;nbsp;CD mechanik nebral. Nakonec jsme do h&amp;#345;?delek pouze vypilovali dr??ky a 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">318</th>
  <td class="line-code diff_in">
    <pre>op&amp;#283;t jsme je zalili epoxidem. Jestli neprokluzuj?, jsme pro jistotu u? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">319</th>
  <td class="line-code diff_in">
    <pre>nezkou?eli.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">320</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">321</th>
  <td class="line-code diff_in">
    <pre>Je?t&amp;#283; bylo nutn? znovu zab&amp;#283;hnout p&amp;#345;evodovky, to jsme d&amp;#283;lali p&amp;#345;es noc z&amp;nbsp;pond&amp;#283;l? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">322</th>
  <td class="line-code diff_in">
    <pre>na ?ter? (IstRobot b?v? ve st&amp;#345;edu a my tam obvykle jedeme v&amp;nbsp;?ter? dopoledne). 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">323</th>
  <td class="line-code diff_in">
    <pre>Motory se to&amp;#269;ily do r?na do posledn? chv?le p&amp;#345;ed nalo?en?m robota do auta.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">324</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">325</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;&lt;b&gt;Noc p&amp;#345;ed sout&amp;#283;??&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">326</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;?Kdyby nebylo posledn? noci, tak nen? ??dn? projekt dokon&amp;#269;en.? Odpoledne jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">327</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;ijeli do Bratislavy na ubytovnu, rozlo?ili dr?hy a za&amp;#269;ali ladit posledn? &amp;#345;?dky 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">328</th>
  <td class="line-code diff_in">
    <pre>programu. V&amp;nbsp;na?em p&amp;#345;?pad&amp;#283; to m&amp;#283;lo b?t zpracov?n? logu z&amp;nbsp;j?zdy.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">329</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">330</th>
  <td class="line-code diff_in">
    <pre>A v&amp;#367;bec to nejezdilo. Robot m&amp;#283;l mal? v?kon v&amp;nbsp;levoto&amp;#269;iv? zat?&amp;#269;ce, p&amp;#345;i obj??d&amp;#283;n? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">331</th>
  <td class="line-code diff_in">
    <pre>cihly se dokonce ob&amp;#269;as zastavil. No jasn&amp;#283;, &amp;#345;ekli jsme si, jsou st?le zatuhl? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">332</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;evodovky, zm&amp;#283;nili jsme p?r konstant v&amp;nbsp;programu a jak? tak? to zase jezdilo. 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">333</th>
  <td class="line-code diff_in">
    <pre>Situace se ale o p&amp;#367;lnoci zase zhor?ila a za&amp;#269;al smrd&amp;#283;t H-m&amp;#367;stek. Vym&amp;#283;nili jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">334</th>
  <td class="line-code diff_in">
    <pre>tedy H-m&amp;#367;stek a nepomohlo to. Vym&amp;#283;nili jsme tedy motor a pomohlo to! Prost&amp;#283; jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">335</th>
  <td class="line-code diff_in">
    <pre>neust?l?m lad&amp;#283;n?m programu a zkou?en?m zni&amp;#269;ili jeden motor! Vr?tili jsme tedy do 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">336</th>
  <td class="line-code diff_in">
    <pre>robota p&amp;#367;vodn? H-m&amp;#367;stek (asi tak v&amp;nbsp;jednu hodinu r?no) a zase to nejelo. M&amp;#283;&amp;#345;en?m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">337</th>
  <td class="line-code diff_in">
    <pre>jsme pak zjistili dv&amp;#283; v&amp;#283;ci, jednak byly p&amp;#345;es p?jec? lak odizolov?ny zemn?c? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">338</th>
  <td class="line-code diff_in">
    <pre>?rouby na plo?n?m spoji H-m&amp;#367;stku a tak v?echen proud tekl p&amp;#345;es h&amp;#345;eb?nkov? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">339</th>
  <td class="line-code diff_in">
    <pre>konektor a pak tam je?t&amp;#283; byl zkrat p&amp;#345;es jeden tranzistor H-m&amp;#367;stku, tak?e jeden 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">340</th>
  <td class="line-code diff_in">
    <pre>motor nereverzoval. P&amp;#345;edstavte si, ?e tyto z?vady byly vykompenzov?ny 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">341</th>
  <td class="line-code diff_in">
    <pre>regul?torem v&amp;nbsp;software a ?e s&amp;nbsp;nimi byl Camerus na Robot Challenge t&amp;#345;et?!&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">342</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">343</th>
  <td class="line-code diff_in">
    <pre>Pak u? jenom sta&amp;#269;ilo doprogramovat tu logovac? proceduru (p&amp;#345;episovala pam&amp;#283;&amp;#357;). A 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">344</th>
  <td class="line-code diff_in">
    <pre>kolem p?t? hodiny rann? byl robot p&amp;#345;ipraven na sout&amp;#283;?.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">345</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">346</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot; size=&quot;4&quot;&gt;&lt;b&gt;IstRobot 2007&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">347</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;IstRobot 2007 n?s skute&amp;#269;n&amp;#283; p&amp;#345;ekvapil, byla na n&amp;#283;m z&amp;nbsp;na?eho pohledu nejslo?it&amp;#283;j?? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">348</th>
  <td class="line-code diff_in">
    <pre>dr?ha, jakou jsme kdy vid&amp;#283;li. Extr?mn&amp;#283; dlouh? p&amp;#345;eru?en?, nav?c v&amp;nbsp;inflexn?m bod&amp;#283; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">349</th>
  <td class="line-code diff_in">
    <pre>(to n?s v&amp;#367;bec nenapadlo, ?e je mo?n?), cihla hned za pravo?hlou zat?&amp;#269;kou (sotva 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">350</th>
  <td class="line-code diff_in">
    <pre>robot vyjede ze zat?&amp;#269;ky, b?c, a je tu cihla), viz Obr?zek 11. &lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">351</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&amp;nbsp;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">352</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image023.jpg&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">353</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image023_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image023.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">354</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt; 11: IstRobot 2007 ? tvar dr?hy.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">355</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obt??nost trati se 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">356</th>
  <td class="line-code diff_in">
    <pre>uk?zala hned v&amp;nbsp;prvn? j?zd&amp;#283;, Camerus vypadnul na p&amp;#345;eru?en?. V&amp;nbsp;druh? j?zd&amp;#283; jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">357</th>
  <td class="line-code diff_in">
    <pre>sn??ili v?kon motor&amp;#367;, zde ale zase hrozilo, ?e se robot nerozjede, pokud n&amp;#283;kde (nap&amp;#345;?klad 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">358</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;i obj??d&amp;#283;n? cihly) v?razn&amp;#283; zpomal?. Robot jel plynuleji, p&amp;#345;esto vyjel v&amp;nbsp;p&amp;#345;eru?en? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">359</th>
  <td class="line-code diff_in">
    <pre>(to d? rozum, proto?e kop?roval tvar dr?hy p&amp;#345;ed p&amp;#345;eru?en?m), vyhnul se tunelu, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">360</th>
  <td class="line-code diff_in">
    <pre>znovu na?el dr?hu (to fungovalo dob&amp;#345;e) a na podruh? projel. Byl to ?sp&amp;#283;ch, ale 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">361</th>
  <td class="line-code diff_in">
    <pre>velk? &amp;#269;asov? ztr?ta a nav?c si robot ?patn&amp;#283; zapamatoval dr?hu pro dal?? j?zdu, 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">362</th>
  <td class="line-code diff_in">
    <pre>proto?e bloudil.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">363</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Programovali jsme m?sto ob&amp;#283;da a nakonec jsme to p&amp;#345;eru?en? vy&amp;#345;e?ili. Prost&amp;#283; jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">364</th>
  <td class="line-code diff_in">
    <pre>zohlednili, ?e dr?ha za p&amp;#345;eru?en?m m&amp;#367;?e pokra&amp;#269;ovat i na druhou stranu. Zn? to 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">365</th>
  <td class="line-code diff_in">
    <pre>jednodu?e, ale ?prava programu nebyla tak jednoduch?, viz sout&amp;#283;?n? verzi 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">366</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Designs/ROBOTS/Camerus/sw/#_Designs_ROBOTS_Camerus_sw_&quot;&gt;firmware&lt;/a&gt;.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">367</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Fin?lov? j?zda prob&amp;#283;hla bez 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">368</th>
  <td class="line-code diff_in">
    <pre>probl?m&amp;#367;, robot sice jel na m?n&amp;#283; jak polovinu regula&amp;#269;n?ho rozsahu a bez na?eho 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">369</th>
  <td class="line-code diff_in">
    <pre>z?sahu by se s&amp;nbsp;dr?hou dob&amp;#345;e nevypo&amp;#345;?dal, ale jsme r?di, ?e dojel a nakonec 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">370</th>
  <td class="line-code diff_in">
    <pre>stejn&amp;#283; za to nemohl robot, ale my, ?e jsme mu naprogramovali, ?e dr?ha za 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">371</th>
  <td class="line-code diff_in">
    <pre>p&amp;#345;eru?en?m nem&amp;#367;?e v?st na druhou stranu. Nakonec se poda&amp;#345;ilo s&amp;nbsp;robotem s&amp;nbsp;&amp;#269;asem 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">372</th>
  <td class="line-code diff_in">
    <pre>12,5s ud&amp;#283;lat ?rekord trati? &lt;span lang=&quot;en-us&quot;&gt;;-)&lt;/span&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">373</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">374</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;&lt;a href=&quot;pic/image025.jpg&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">375</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/image025_small.jpg&quot; xthumbnail-orig-image=&quot;pic/image025.jpg&quot;&gt;&lt;/a&gt;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">376</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;.&lt;/span&gt;12: Robot Camerus - fin?ln? verze robota.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">377</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">378</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">379</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;a href=&quot;pic/index.2.gif&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">380</th>
  <td class="line-code diff_in">
    <pre>&lt;img border=&quot;0&quot; src=&quot;pic/index.1.gif&quot; xthumbnail-orig-image=&quot;pic/index.2.gif&quot;&gt;&lt;/a&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">381</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;center&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Obr&lt;span lang=&quot;en-us&quot;&gt;. &lt;/span&gt;13: Blokov? sch?ma propojen? modul&amp;#367; robota.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">382</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">383</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Desky plo?n?ch spoj&amp;#367; a popis jednotliv?ch modul&amp;#367; robota naleznete na 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">384</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/&quot;&gt;http://www.mlab.cz/&lt;/a&gt; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">385</th>
  <td class="line-code diff_in">
    <pre>.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">386</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">387</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Deska procesoru&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">388</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Modules/PIC16F87x/#_Modules_PIC16F87x_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FModules%2FPIC16F87x%2F#_Modules_PIC16F87x_&lt;/a&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">389</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">390</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">391</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;H-m&amp;#367;stky&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">392</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Modules/HBRIDGE/#_Modules_HBRIDGE_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FModules%2FHBRIDGE%2F#_Modules_HBRIDGE_&lt;/a&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">393</th>
  <td class="line-code diff_in">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">394</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">395</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;LEDbar&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">396</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Modules/LEDbar/#_Modules_LEDbar_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FModules%2FLEDbar%2F#_Modules_LEDbar_&lt;/a&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">397</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">398</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;M&amp;#283;ni&amp;#269;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">399</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Modules/PowerSupply/BATPOWER02A/#_Modules_PowerSupply_BATPOWER02A_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FModules%2FPowerSupply%2FBATPOWER02A%2F#_Modules_PowerSupply_BATPOWER02A_&lt;/a&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">400</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">401</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;IR modul?tor&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">402</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Modules/TXIR/#_Modules_TXIR_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FModules%2FTXIR%2F#_Modules_TXIR_&lt;/a&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">403</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">404</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Osv&amp;#283;tlen? dr?hy&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">405</th>
  <td class="line-code diff_in">
    <pre>Chyb?&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">406</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&amp;nbsp;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">407</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Univerz?lka pro 7432&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">408</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Modules/UNI/UNIDIL1601A/#_Modules_UNI_UNIDIL1601A_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FModules%2FUNI%2FUNIDIL1601A%2F#_Modules_UNI_UNIDIL1601A_&lt;/a&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">409</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">410</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Trimry&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">411</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Modules/TRIMQUAD01A/#_Modules_TRIMQUAD01A_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FModules%2FTRIMQUAD01A%2F#_Modules_TRIMQUAD01A_&lt;/a&gt;&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">412</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">413</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Dokumentace k&amp;nbsp;pou?it?mu kamerov?mu &amp;#269;ipu je na 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">414</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.cmucam.org/attachment/wiki/Documentation/OV6620.PDF&quot;&gt;http://www.cmucam.org/attachment/wiki/Documentation/OV6620.PDF&lt;/a&gt; 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">415</th>
  <td class="line-code diff_in">
    <pre>.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">416</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">417</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Dokumentace k&amp;nbsp;US senzoru je na 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">418</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.robot-electronics.co.uk/htm/srf08tech.shtml&quot;&gt;http://www.robot-electronics.co.uk/htm/srf08tech.shtml&lt;/a&gt; .&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">419</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">420</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Dokumentace ke kompasu je na&lt;span lang=&quot;en-us&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">421</th>
  <td class="line-code diff_in">
    <pre>&lt;/span&gt;&lt;a href=&quot;http://www.robot-electronics.co.uk/htm/cmps3doc.shtml&quot;&gt;http://www.robot-electronics.co.uk/htm/cmps3doc.shtml&lt;/a&gt; .&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">422</th>
  <td class="line-code diff_in">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">423</th>
  <td class="line-code diff_in">
    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Arial&quot;&gt;Dokumentace k&amp;nbsp;robotu 3Orbis, ze kter?ho Camerus vy?el, je na&lt;span lang=&quot;en-us&quot;&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">424</th>
  <td class="line-code diff_in">
    <pre>&lt;/span&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">425</th>
  <td class="line-code diff_in">
    <pre>&lt;a href=&quot;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;path=/Designs/ROBOTS/3Orbis/#_Designs_ROBOTS_3Orbis_&quot;&gt;http://www.mlab.cz/WebSVN/listing.php?repname=MLAB&amp;amp;path=%2FDesigns%2FROBOTS%2F3Orbis%2F#_Designs_ROBOTS_3Orbis_&lt;/a&gt; 
</pre>
  </td>
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  <th class="line-num"></th>
  <th class="line-num">426</th>
  <td class="line-code diff_in">
    <pre>.&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">427</th>
  <td class="line-code diff_in">
    <pre>
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">428</th>
  <td class="line-code diff_in">
    <pre>&lt;/body&gt;
</pre>
  </td>
</tr>
<tr>
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  <th class="line-num">429</th>
  <td class="line-code diff_in">
    <pre>
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">430</th>
  <td class="line-code diff_in">
    <pre>&lt;/html&gt;
</pre>
  </td>
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</tbody>
</table>
</div>



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