o: ActiveSupport::Cache::Entry	:@compressedF:@value"áO"ÛO
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    <pre>&lt;/font&gt;&lt;font size=&quot;4&quot;&gt;Jak se d?l? robot na IstRobot&lt;br&gt;
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    <pre>&lt;/font&gt;&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;<span></span>br&gt;
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    <pre>kakl@i.cz&lt;/a&gt;&lt;<span>span lang=&quot;en-us&quot;&gt;; M. Novot&lt;/span&gt;n?&lt;</span>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;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>?e?en? se v?ak pozd?ji neuk?zalo jako v?hodn?, proto?e ladit distribuovan? k?d 
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    <pre>bylo ??dov? obt??n?j?? a nav?c se musela naprogramovat komunikace mezi 
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    <pre>procesory. ?asto se n?m tak? st?valo, ?e jsme b?hem v?voje do jednoho procesoru 
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    <pre>nahr?li k?d pro druh? procesor, co? kupodivu <span>ob?as</span> trvalo ur?itou dobu, ne? jsme 
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    <pre>nahr?li k?d pro druh? procesor, co? kupodivu <span>&lt;span lang=&quot;en-us&quot;&gt;v&lt;/span&gt;?dy</span> trvalo ur?itou dobu, ne? jsme 
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    <pre>na to p?i?li.&lt;br&gt;
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  <th class="line-num">56</th>
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    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
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  <th class="line-num">57</th>
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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>program v&amp;nbsp;?asov? t?sni spr?vn? upravit. Robot tedy nakonec nedojel.&lt;br&gt;
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  <th class="line-num">98</th>
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    <pre>&lt;br&gt;
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  <th class="line-num">99</th>
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    <pre>Odhadovali jsme, ?e n?m chyb?l tak t?den na odlad?n? firmware, proto?e v&amp;nbsp;roce 
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    <pre>2006 u n?s byla povode? a ztratili jsme tak nejm?n? jeden <span>m?s?c ve?er</span>? na 
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    <pre>2006 u n?s byla povode? a ztratili jsme tak nejm?n? jeden <span>kalend??n? m?s?c ve?er?/weekend</span>? na 
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    <pre>programov?n?. Nyn? s&amp;nbsp;odstupem ?asu vid?me, ?e co se t?k? objet? cihly, chyb?lo 
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    <pre><span></span>mnohem v?ce.&lt;br&gt;
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    <pre><span>n?m </span>mnohem v?ce.&lt;br&gt;
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  <th class="line-num">103</th>
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    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
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  <th class="line-num">104</th>
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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 Laserus&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;
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  <th class="line-num">105</th>
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    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Dal?? verz? robota se shodn?m 
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    <pre>dostali polohu ??ry m??enou z leva a jednou z prava.&lt;br&gt;
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    <pre>&lt;br&gt;
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  <th class="line-num">131</th>
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    <pre>Druh? probl?m byl z?va?n?j??. Proto?e bylo pou?ito za??zen? na ?ten? ??rov?ho 
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    <pre>k?du, sn?mali jsme vlastn? polohu jedn? ??ry <span></span>ve scanovan?m prostoru. V&amp;nbsp;prudk? 
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    <pre>k?du, sn?mali jsme vlastn? polohu jedn? ??ry <span>fiktivn?ho ??rov?ho k?du </span>ve scanovan?m prostoru. V&amp;nbsp;prudk? 
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    <pre>zat??ce v?ak doch?z? k&amp;nbsp;tomu, ?e ??ru vid? sn?ma? ?ikmo a tak se relativn? 
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    <pre>zv?t?uje jej? tlou??ka. Vnit?n? elektronika sn?ma?e vyhodnotila tento stav, jako 
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  <th class="line-num">135</th>
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    <pre>?e se nejedn? o ??rov? k?d a ??ru vyfiltrovala. To samoz?ejm? m?lo v&amp;nbsp;ostr? 
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  <th class="line-num">271</th>
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    <pre>nem? dostatek ?idel na bezpe?n? objet? p?ek??ky.&lt;br&gt;
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  <th class="line-num">272</th>
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    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
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  <th class="line-num">273</th>
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    <pre>&lt;p align=&quot;left&quot;&gt;&lt;font face=&quot;Times New Roman&quot;&gt;Jednozna?n? se uk?zalo, ?e obj??d?t 
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    <pre>p?ek??ku ?na<span></span>slepo? nen? dobr? strategie a zejm?na, pokud je odometrie na hnan? 
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    <pre>p?ek??ku ?na<span>p?l na</span>slepo? nen? dobr? strategie a zejm?na, pokud je odometrie na hnan? 
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  <th class="line-num">275</th>
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    <pre>n?prav?.&lt;br&gt;
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  <th class="line-num">276</th>
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    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
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  <th class="line-num">277</th>
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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;Co s&amp;nbsp;cihlou?&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;Dal?? v?voj jsme v?novali obj??d?n? 
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  <th class="line-num">279</th>
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    <pre>cihly za pomoci ?idel. Jak? ?idla ale pou??t? M?li jsme ?patn? zku?enosti s&amp;nbsp;IR 
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    <pre>?idly <span>s</span>&amp;nbsp;3Orbise a roboty s&amp;nbsp;ultrazvukem jsme zase na minul?ch ro?n?c?ch vid?li, 
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    <pre>?idly <span>z</span>&amp;nbsp;3Orbise a roboty s&amp;nbsp;ultrazvukem jsme zase na minul?ch ro?n?c?ch vid?li, 
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  <th class="line-num">281</th>
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    <pre>?e si spletli tunel s&amp;nbsp;cihlou, p??padn? nevid?li cihlu, pokud se k&amp;nbsp;n? bl??ili 
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    <pre>ze?ikma.&lt;br&gt;
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  <th class="line-num">283</th>
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    <pre>&lt;br&gt;
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    <pre>paprsek, aby nedoch?zelo k&amp;nbsp;jeho integraci na velk? vzd?len? plo?e. Dal?? dva 
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    <pre>senzory jsou mikrosp?na?e na mechanick?m n?razn?ku, kdyby se stalo, ?e 
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    <pre>triangula?n? ?idlo cihlu p?ehl?dne. To se m??e st?t v&amp;nbsp;prudk? zat??ce. Z&amp;nbsp;boku 
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    <pre>jsou pak ultrazvukov? senzor a d?lkom?r s&amp;nbsp;?ervenou LED. Tyto ?idla udr?uj? 
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    <pre>konstantn? vzd?lenost od cihly p?i jej?m obj??d?n?. K&amp;nbsp;tomu je?t? ji? zm?n?n? 
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    <pre>odometrie na prav?m kole?ku, kter? zaji??uje prudkou zat??ku doleva jakmile je 
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    <pre>jsou pak ultrazvukov? senzor a on/off d?lkom?r s&amp;nbsp;?ervenou LED. Tyto ?idla udr?uj? 
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    <pre>konstantn? vzd?lenost od cihly p?i jej?m obj??d?n?. K&amp;nbsp;tomu je?t? ji? zm?n?n? odometrie na prav?m kole?ku, kter? zaji??uje prudkou zat??ku doleva jakmile je 
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    <pre>cihla detekov?na a nakonec kompas, kter? zabra?uje, aby se robot vracel zp?t po 
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    <pre>trati (to se m??e st?t, proto?e mezi p?edn?m ?idlem a bo?n?mi ?idly je slep? 
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    <pre>?hel).&lt;br&gt;
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  <th class="line-num">338</th>
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    <pre>m?li zatuhl? p?evodovky a kole?ka prokluzovala. Sna?ili jsme se do h??delek 
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    <pre>vyvrtat d?rky a d?t tam kol?k, ale vrt?k v?bec nitridovanou ocel z&amp;nbsp;CD mechanik 
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  <th class="line-num">340</th>
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    <pre>nebral. Nakonec jsme do h??delek pouze vypilovali dr??ky a op?t jsme je zalili 
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  <th class="line-num">341</th>
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    <pre>epoxidem. Jestli neprokluzuj?, jsme pro jistotu u? nezkou?eli.&lt;br&gt;
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    <pre>epoxidem. Jestli neprokluzuj?, jsme pro jistotu u? nezkou?eli. &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?i manipulaci s pravou p?evodovkou 
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    <pre>se poda?ilo ulomit v?vod od IR z?vory na odometrii. Proto?e ne?la vym?nit (je 
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    <pre>zalepen? v p?evodovce)a necht?li jsme m?nit celou p?evodovku, natavili jsme jej? 
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    <pre>pouzdro p?jkou a dr?tek p?iletovali na pah?l v?vodu.&lt;br&gt;
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    <pre>&lt;br&gt;
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  <th class="line-num">343</th>
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    <pre><span>Je?t? bylo nutn? znovu zab?hnout p?evodovky</span>, to jsme d?lali p?es noc z&amp;nbsp;pond?l? 
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  <th class="line-num">346</th>
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    <pre><span>Po rozebr?n? bylo nutn? p?evodovky nechat znovu zab?hnout</span>, to jsme d?lali p?es noc z&amp;nbsp;pond?l? 
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  <th class="line-num">344</th>
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    <pre>na ?ter? (IstRobot b?v? ve st?edu a my tam obvykle jedeme v&amp;nbsp;?ter? dopoledne). 
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  <th class="line-num">345</th>
  <th class="line-num">348</th>
  <td class="line-code ">
    <pre>Motory se to?ily do r?na do posledn? chv?le p?ed nalo?en?m robota do auta.&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">346</th>
  <th class="line-num">349</th>
  <td class="line-code ">
    <pre>&amp;nbsp;&lt;/font&gt;&lt;/p&gt;
</pre>
  </td>
</tr>
<tr class="spacing">
  <th class="line-num">...</th><th class="line-num">...</th><td></td>
</tr>
<tr>
  <th class="line-num">354</th>
  <th class="line-num">357</th>
  <td class="line-code ">
    <pre>cihly se dokonce ob?as zastavil. No jasn?, ?ekli jsme si, jsou st?le zatuhl? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">355</th>
  <th class="line-num">358</th>
  <td class="line-code ">
    <pre>p?evodovky, zm?nili jsme p?r konstant v&amp;nbsp;programu a jak? tak? to zase jezdilo. 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">356</th>
  <th class="line-num">359</th>
  <td class="line-code ">
    <pre>Situace se ale o p?lnoci zase zhor?ila a za?al smrd?t H-m?stek. Vym?nili jsme 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">357</th>
  <th class="line-num"></th>
  <td class="line-code diff_out">
    <pre>tedy H-m?stek a nepomohlo to. Vym?nili jsme tedy motor a pomohlo to! (Pozd?j?? anal?zou z?znamu pou?it?ho d?lu bylo zji?t?no, ?e motor ?.2 byl pou?it spolu s p?vodn?m podvozkem na v?stav? Vzd?l?n? a ?emeslo v ?esk?ch Bud?jovic?ch, kde byla levoto?iv? tra? a jeho provozn? doba tak vzrostla o des?tky hodin proti motoru ?.1) Vr?tili jsme tedy do 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">360</th>
  <td class="line-code diff_in">
    <pre>tedy H-m?stek a nepomohlo to. Vym?nili jsme tedy motor a pomohlo to! (Pozd?j?? anal?zou z?znamu pou?it?ho d?lu bylo zji?t?no, ?e motor ?.2 byl pou?it spolu s p?vodn?m podvozkem na v?stav? Vzd?l?n? a ?emeslo v ?esk?ch Bud?jovic?ch, kde byla levoto?iv? tra? a jeho provozn? doba tak vzrostla o des?tky hodin proti motoru ?.1&lt;span lang=&quot;en&quot;&gt;&amp;nbsp;.&lt;/span&gt;) 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">361</th>
  <td class="line-code diff_in">
    <pre>Po v?m?n? motoru jsme vr?tili do 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">358</th>
  <th class="line-num">362</th>
  <td class="line-code ">
    <pre>robota p?vodn? H-m?stek (asi tak v&amp;nbsp;jednu hodinu r?no) a zase to nejelo. M??en?m 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">359</th>
  <th class="line-num">363</th>
  <td class="line-code ">
    <pre>jsme pak zjistili dv? v?ci, jednak byly p?es p?jec? lak odizolov?ny zemn?c? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">360</th>
  <th class="line-num">364</th>
  <td class="line-code ">
    <pre>?rouby na plo?n?m spoji H-m?stku a tak v?echen proud tekl p?es h?eb?nkov? 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">361</th>
  <th class="line-num">365</th>
  <td class="line-code ">
    <pre>konektor a pak tam je?t? byl zkrat p?es jeden tranzistor H-m?stku, tak?e jeden 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">362</th>
  <th class="line-num">366</th>
  <td class="line-code ">
    <pre>motor nereverzoval. P?edstavte si, ?e tyto z?vady byly vykompenzov?ny 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">363</th>
  <th class="line-num"></th>
  <td class="line-code diff_out">
    <pre><span>regul?torem v&amp;nbsp;software</span> a ?e s&amp;nbsp;nimi byl Camerus na Robot Challenge t?et?!&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num"></th>
  <th class="line-num">367</th>
  <td class="line-code diff_in">
    <pre><span>jednak regul?torem v&amp;nbsp;software a tak? koncepc? podvozku,</span> a ?e s&amp;nbsp;nimi byl Camerus na Robot Challenge t?et?!&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">364</th>
  <th class="line-num">368</th>
  <td class="line-code ">
    <pre>&lt;br&gt;
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">365</th>
  <th class="line-num">369</th>
  <td class="line-code ">
    <pre>Pak u? jenom sta?ilo doprogramovat tu logovac? proceduru (p?episovala pam??). A 
</pre>
  </td>
</tr>
<tr>
  <th class="line-num">366</th>
  <th class="line-num">370</th>
  <td class="line-code ">
    <pre>kolem p?t? hodiny rann? byl robot p?ipraven na sout??.&lt;br&gt;
</pre>
  </td>
</tr>
</tbody>
</table>
</div>



:@created_atf1418553338.691489A[:@expires_in0