2015 robotic contest arakawa A / Mbed 2 deprecated Nucleo_PS3_Jikken_XBOX

マザー 20151028 XBOX

Dependencies:   mbed

Fork of Nucleo_PS3_Jikken_PS3 by 2015 robotic contest arakawa A

main.cpp@22:ab619079fb8d, 2015-10-17 (annotated)

Committer:
nodoame
Date:
Sat Oct 17 05:44:35 2015 +0000
Revision:
22:ab619079fb8d
Parent:
20:373fa71ce05b
Child:
23:d5f7e3dab589
????; 20151017;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nodoame 0:dc587be179e9 1 #include "mbed.h"
nodoame 0:dc587be179e9 2 #include "math.h"
nodoame 0:dc587be179e9 3 #define M_PI 3.1415926535897932384626433832795
nodoame 0:dc587be179e9 4 #define trigL 0
nodoame 0:dc587be179e9 5 #define trigR 1
nodoame 0:dc587be179e9 6 #define btL 2
nodoame 0:dc587be179e9 7 #define btR 3
nodoame 0:dc587be179e9 8 #define btTri 4
nodoame 0:dc587be179e9 9 #define btSph 5
nodoame 0:dc587be179e9 10 #define btCro 6
nodoame 0:dc587be179e9 11 #define btSqa 7
nodoame 20:373fa71ce05b 12 #define btSel 0
nodoame 20:373fa71ce05b 13 #define presUp 4
nodoame 20:373fa71ce05b 14 #define presRight 5
nodoame 20:373fa71ce05b 15 #define presDown 6
nodoame 20:373fa71ce05b 16 #define presLeft 7
nodoame 4:bae4e2d103d4 17 #define devideNum 32
nodoame 4:bae4e2d103d4 18 #define ED 132
nodoame 6:5171a8245b57 19 #define TD 144//208
nodoame 5:428b7ac86810 20 #define EL 134
nodoame 5:428b7ac86810 21 #define TL 200
nodoame 6:5171a8245b57 22 #define TNR 138//204
nodoame 20:373fa71ce05b 23 #define TNL 150
nodoame 11:1ca2498815c9 24 #define debugFlag 1
nodoame 11:1ca2498815c9 25 #define stopCount 33
nodoame 0:dc587be179e9 26
nodoame 0:dc587be179e9 27 Serial pc(SERIAL_TX, SERIAL_RX);
nodoame 1:a3bfd422ea9e 28 //Serial Dev(D8,D2);//コントローラー
nodoame 3:c290afbacd1c 29 Serial Dev(PC_6,PA_12);//コントローラー
nodoame 1:a3bfd422ea9e 30 RawSerial Mechanum(D8,D2);//メカナム
nodoame 0:dc587be179e9 31 I2C i2c(D14,D15);//sda,scl
nodoame 5:428b7ac86810 32 //const int airAddr=0x20;
nodoame 20:373fa71ce05b 33 const int airAddr=0xd0;
nodoame 20:373fa71ce05b 34 const int airReg=10;
nodoame 5:428b7ac86810 35 const int valveAddr=0xC0;
nodoame 1:a3bfd422ea9e 36 BusOut dI2c(PC_0,PC_1,PC_2,PC_3);//i2cデバッグ
nodoame 0:dc587be179e9 37
nodoame 0:dc587be179e9 38 int Bflag = 0;
nodoame 0:dc587be179e9 39 DigitalOut myled(LED1);// ,test1(PB_7) ,test2(PA_15) ,test3(PC_13) ,test4(PC_12);
nodoame 4:bae4e2d103d4 40 PwmOut Blue(D5),Green(D4),Red(D3);
nodoame 4:bae4e2d103d4 41 //PwmOut kRed(A3),kBlue(A1),kGreen(A0);
nodoame 4:bae4e2d103d4 42 PwmOut kRed(A3),kBlue(PA_15),kGreen(PB_7);
nodoame 5:428b7ac86810 43 #define N 7
nodoame 0:dc587be179e9 44 char DATA[N];
nodoame 0:dc587be179e9 45 void rotate(double setAngle);
nodoame 0:dc587be179e9 46 void speed();
nodoame 11:1ca2498815c9 47 int stopCounter=0;
nodoame 1:a3bfd422ea9e 48
nodoame 5:428b7ac86810 49 void num()//割り込まれたら7回受信
nodoame 0:dc587be179e9 50 {
nodoame 0:dc587be179e9 51 if(Dev.getc()==114){
nodoame 0:dc587be179e9 52 //printf("ReceiveCommand\r\n");
nodoame 0:dc587be179e9 53 for(int i = 0 ;i<N ;i++ )
nodoame 0:dc587be179e9 54 {
nodoame 0:dc587be179e9 55 DATA[i]=Dev.getc();
nodoame 0:dc587be179e9 56 }
nodoame 0:dc587be179e9 57 }
nodoame 11:1ca2498815c9 58 stopCounter=0;
nodoame 0:dc587be179e9 59 }
nodoame 0:dc587be179e9 60
nodoame 0:dc587be179e9 61 bool getBt(int num)
nodoame 0:dc587be179e9 62 {
nodoame 0:dc587be179e9 63 return (DATA[0]>>num)%2;
nodoame 0:dc587be179e9 64 }
nodoame 0:dc587be179e9 65
nodoame 5:428b7ac86810 66 bool getPress(int num)
nodoame 5:428b7ac86810 67 {
nodoame 5:428b7ac86810 68 return (DATA[6]>>num)%2;
nodoame 5:428b7ac86810 69 }
nodoame 5:428b7ac86810 70
nodoame 0:dc587be179e9 71 double pointToDeg(double y,double x,int threshold)//座標から角度を求める関数thresholdはしきい値
nodoame 0:dc587be179e9 72 {
nodoame 0:dc587be179e9 73 if(abs((int)(y-128))<threshold)
nodoame 0:dc587be179e9 74 y=128;
nodoame 0:dc587be179e9 75 if(abs((int)(x-128))<threshold)
nodoame 0:dc587be179e9 76 x=128;
nodoame 0:dc587be179e9 77 return atan2(-(y-128),x-128)/M_PI*180;//y軸反転、/PI*180でRadからDeg変換
nodoame 0:dc587be179e9 78 }
nodoame 0:dc587be179e9 79
nodoame 20:373fa71ce05b 80 int devidePoint(double y,double x,int threshold,float devide)
nodoame 0:dc587be179e9 81 {
nodoame 0:dc587be179e9 82 double tempX,tempY,dev;//仮のX,Yと分けた角度
nodoame 0:dc587be179e9 83 tempX=(x-128);tempY=(y-128);//それぞれ-128
nodoame 0:dc587be179e9 84 if(abs((int)tempY)<threshold)//しきい値以下なら０にする
nodoame 0:dc587be179e9 85 tempY=0;
nodoame 0:dc587be179e9 86 if(abs((int)tempX)<threshold)
nodoame 0:dc587be179e9 87 tempX=0;
nodoame 0:dc587be179e9 88 if(tempX==0&&tempY==0)
nodoame 0:dc587be179e9 89 dev=360;
nodoame 0:dc587be179e9 90 //printf("X:%lfY:%lfDev:%lf\r\n",tempX,tempY,dev);
nodoame 0:dc587be179e9 91 else
nodoame 0:dc587be179e9 92 dev=atan2(tempX,-tempY)/M_PI*180;//軸を逆にして代入、Y軸反転
nodoame 0:dc587be179e9 93 return ((dev<0)?(dev+360):(dev))/devide;//分割
nodoame 0:dc587be179e9 94 }
nodoame 0:dc587be179e9 95
nodoame 4:bae4e2d103d4 96 int valueForMechanum(int deg,int devide,bool triL,bool triR,bool btSpd)
nodoame 0:dc587be179e9 97 {
nodoame 0:dc587be179e9 98 bool stpFlag=false,spnFlag=false;//ストップフラグ、スピンフラグ
nodoame 0:dc587be179e9 99 int val=0,i;//値、For用
nodoame 0:dc587be179e9 100 for(i=0;i<6;i++){
nodoame 0:dc587be179e9 101 switch(i){
nodoame 0:dc587be179e9 102 case 0:
nodoame 4:bae4e2d103d4 103 if(deg!=devide||(triL||triR))//スピンかニュートラル以外なら
nodoame 0:dc587be179e9 104 val=1;
nodoame 0:dc587be179e9 105 else
nodoame 0:dc587be179e9 106 stpFlag=true;//ストップ
nodoame 0:dc587be179e9 107 break;
nodoame 0:dc587be179e9 108
nodoame 0:dc587be179e9 109 case 1:
nodoame 0:dc587be179e9 110 if(stpFlag)
nodoame 4:bae4e2d103d4 111 val++;
nodoame 0:dc587be179e9 112 else
nodoame 0:dc587be179e9 113 val+=btSpd;//スピード
nodoame 0:dc587be179e9 114 break;
nodoame 0:dc587be179e9 115
nodoame 0:dc587be179e9 116 case 2:
nodoame 0:dc587be179e9 117 if(triL||triR){//トリガーのどちらかがONなら
nodoame 0:dc587be179e9 118 val++;
nodoame 0:dc587be179e9 119 spnFlag=true;//スピンフラグON
nodoame 0:dc587be179e9 120 }
nodoame 0:dc587be179e9 121 break;
nodoame 0:dc587be179e9 122
nodoame 0:dc587be179e9 123 case 5:
nodoame 4:bae4e2d103d4 124 val=val<<2;//5bit目から7bit目へ
nodoame 0:dc587be179e9 125 if(spnFlag)//トリガーのどちらかの値
nodoame 0:dc587be179e9 126 val+=(triL)?1:0;
nodoame 4:bae4e2d103d4 127 else if(!stpFlag)//ジョイスティックの値
nodoame 0:dc587be179e9 128 val+=deg;
nodoame 0:dc587be179e9 129 break;
nodoame 0:dc587be179e9 130 }
nodoame 0:dc587be179e9 131 if(i<5)
nodoame 0:dc587be179e9 132 val=val<<1;
nodoame 0:dc587be179e9 133 }
nodoame 0:dc587be179e9 134 //printf("val:%ddeg:%dtrigL:%dtrigR:%dbtSp:%d\r\n",val,deg,triL,triR,btSpd);
nodoame 0:dc587be179e9 135 return val;
nodoame 0:dc587be179e9 136 }
nodoame 0:dc587be179e9 137
nodoame 20:373fa71ce05b 138 bool detectPole(int scVector)
nodoame 0:dc587be179e9 139 {
nodoame 15:c941d06092ec 140 int vector=TD,laser=0;
nodoame 20:373fa71ce05b 141 bool btFlag=false,canFlag=false,breakFlag=false,stopFlag=false;
nodoame 4:bae4e2d103d4 142 Blue=0.0f;Green=0.0f,Red=0.8f;
nodoame 0:dc587be179e9 143 while(true)
nodoame 20:373fa71ce05b 144 {
nodoame 20:373fa71ce05b 145 if((getBt(btTri)&&getBt(btSph)&&canFlag)||breakFlag)
nodoame 20:373fa71ce05b 146 return breakFlag;
nodoame 20:373fa71ce05b 147 else if(!(getBt(btTri)&&getBt(btSph)))
nodoame 20:373fa71ce05b 148 canFlag=true;
nodoame 20:373fa71ce05b 149
nodoame 14:aaf2ae25e508 150 //スイッチが押された時
nodoame 20:373fa71ce05b 151 if(((int)DATA[1]&12)==12&&!btFlag){
nodoame 5:428b7ac86810 152 wait(0.001f);
nodoame 5:428b7ac86810 153 Mechanum.putc(64);
nodoame 4:bae4e2d103d4 154 btFlag=true;
nodoame 20:373fa71ce05b 155 Blue=0;Green=0.8;Red=0;
nodoame 15:c941d06092ec 156 vector=scVector;
nodoame 14:aaf2ae25e508 157 }
nodoame 11:1ca2498815c9 158
nodoame 15:c941d06092ec 159 //片方のレーザーが反応したとき
nodoame 20:373fa71ce05b 160 if(btFlag&&!laser){
nodoame 20:373fa71ce05b 161 if(!(((int)DATA[1]&2)==2)){
nodoame 15:c941d06092ec 162 laser=1;
nodoame 20:373fa71ce05b 163 Red=0.8;
nodoame 15:c941d06092ec 164 vector=0;
nodoame 15:c941d06092ec 165 }
nodoame 20:373fa71ce05b 166 else if(!(((int)DATA[1]&1)==1)){
nodoame 15:c941d06092ec 167 laser=2;
nodoame 20:373fa71ce05b 168 Red=0.8;
nodoame 15:c941d06092ec 169 vector=0;
nodoame 9:489a085d1703 170 }
nodoame 9:489a085d1703 171 }
nodoame 15:c941d06092ec 172
nodoame 15:c941d06092ec 173 //もう片方のレーザーが反応した時
nodoame 20:373fa71ce05b 174 else if(!(((int)DATA[1]&laser)==laser)&&laser&&!stopFlag){
nodoame 20:373fa71ce05b 175 Green=0;Red=0.8;Blue=0.8;
nodoame 20:373fa71ce05b 176 vector=64;
nodoame 20:373fa71ce05b 177 stopFlag=true;
nodoame 20:373fa71ce05b 178 wait(0.05);
nodoame 20:373fa71ce05b 179 }
nodoame 20:373fa71ce05b 180 //ストップ後
nodoame 20:373fa71ce05b 181 else if(stopFlag)
nodoame 20:373fa71ce05b 182 {
nodoame 20:373fa71ce05b 183 vector=162;
nodoame 20:373fa71ce05b 184 breakFlag=true;
nodoame 0:dc587be179e9 185 }
nodoame 4:bae4e2d103d4 186
nodoame 15:c941d06092ec 187 //pc.printf("%d\r\n",DATA[1]);
nodoame 20:373fa71ce05b 188 //deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
nodoame 20:373fa71ce05b 189 //pc.printf("%d\r\n",scVector);
nodoame 0:dc587be179e9 190 Mechanum.putc(vector);
nodoame 20:373fa71ce05b 191 wait(0.0126f);
nodoame 0:dc587be179e9 192 }
nodoame 4:bae4e2d103d4 193 btFlag=false;
nodoame 5:428b7ac86810 194 Blue=0;Green=0;Red=0;
nodoame 0:dc587be179e9 195 }
nodoame 0:dc587be179e9 196
nodoame 0:dc587be179e9 197
nodoame 5:428b7ac86810 198 bool shotToDenziben(char reg, char data ,int size,int addr)
nodoame 0:dc587be179e9 199 {
nodoame 5:428b7ac86810 200 char REG[2] = {reg,size};
nodoame 5:428b7ac86810 201 char DATA[2]={data,0};
nodoame 5:428b7ac86810 202 bool A = i2c.write(addr,REG,2);
nodoame 5:428b7ac86810 203 A|= i2c.write(addr,DATA,size);
nodoame 1:a3bfd422ea9e 204 return A;
nodoame 0:dc587be179e9 205 }
nodoame 0:dc587be179e9 206
nodoame 5:428b7ac86810 207 char getshot(char reg)
nodoame 5:428b7ac86810 208 {
nodoame 5:428b7ac86810 209 char input=0;
nodoame 5:428b7ac86810 210 char DATA[2] = {reg,1};
nodoame 5:428b7ac86810 211 i2c.write(airAddr,DATA,2);
nodoame 5:428b7ac86810 212 wait(0.005f);
nodoame 5:428b7ac86810 213 i2c.read(airAddr,&input,1);
nodoame 5:428b7ac86810 214 return input;
nodoame 5:428b7ac86810 215 }
nodoame 5:428b7ac86810 216
nodoame 12:6445a3c3d34c 217 void setFCLED(double RED,double GREEN,double BLUE)
nodoame 12:6445a3c3d34c 218 {
nodoame 12:6445a3c3d34c 219 Red=RED;
nodoame 12:6445a3c3d34c 220 Green=GREEN;
nodoame 12:6445a3c3d34c 221 Blue=BLUE;
nodoame 12:6445a3c3d34c 222 }
nodoame 12:6445a3c3d34c 223
nodoame 4:bae4e2d103d4 224 int main() {
nodoame 0:dc587be179e9 225 pc.baud(230400);
nodoame 0:dc587be179e9 226 Dev.baud(921600);
nodoame 0:dc587be179e9 227 Mechanum.baud(230400);
nodoame 5:428b7ac86810 228 DigitalIn bt(USER_BUTTON);
nodoame 0:dc587be179e9 229 Dev.attach(num,Serial::RxIrq);//受信割り込み設定
nodoame 1:a3bfd422ea9e 230 Green=0;Blue=0;Red=0;
nodoame 12:6445a3c3d34c 231 double gValue=0,bValue=0,rValue=0;
nodoame 3:c290afbacd1c 232 DigitalOut l(PB_2);
nodoame 3:c290afbacd1c 233 int sqf=0;
nodoame 20:373fa71ce05b 234 double deg=32;
nodoame 0:dc587be179e9 235 int val;
nodoame 1:a3bfd422ea9e 236 i2c.frequency(400000);
nodoame 12:6445a3c3d34c 237 setFCLED(0,0.8,0.8);
nodoame 20:373fa71ce05b 238 bool obonFlag=false,pLeftF=false,pRightF=false,btCrF=false,detFinF=false;
nodoame 0:dc587be179e9 239
nodoame 0:dc587be179e9 240 while(true)
nodoame 12:6445a3c3d34c 241 {
nodoame 5:428b7ac86810 242 //ポール検出モード
nodoame 0:dc587be179e9 243 if(getBt(btTri)&&getBt(btSph)){
nodoame 20:373fa71ce05b 244 if(deg>devideNum-1);
nodoame 20:373fa71ce05b 245 else if(deg<17){
nodoame 20:373fa71ce05b 246 //pc.printf("R\r\n");
nodoame 20:373fa71ce05b 247 detFinF=detectPole(TNR);
nodoame 20:373fa71ce05b 248 }
nodoame 20:373fa71ce05b 249 else{
nodoame 20:373fa71ce05b 250 //pc.printf("L\r\n");
nodoame 20:373fa71ce05b 251 detFinF=detectPole(TNL);
nodoame 20:373fa71ce05b 252 }
nodoame 0:dc587be179e9 253 }
nodoame 3:c290afbacd1c 254
nodoame 5:428b7ac86810 255 //射出
nodoame 20:373fa71ce05b 256 if(getBt(btL)&&obonFlag){
nodoame 20:373fa71ce05b 257 kRed=shotToDenziben(airReg,1,1,airAddr);
nodoame 22:ab619079fb8d 258 wait(0.5f);
nodoame 20:373fa71ce05b 259 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 5:428b7ac86810 260 kRed=0;
nodoame 5:428b7ac86810 261 }
nodoame 5:428b7ac86810 262
nodoame 5:428b7ac86810 263 //射出
nodoame 20:373fa71ce05b 264 if(getBt(btR)&&obonFlag){
nodoame 20:373fa71ce05b 265 kRed=shotToDenziben(airReg,2,1,airAddr);
nodoame 22:ab619079fb8d 266 wait(0.5f);
nodoame 20:373fa71ce05b 267 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 20:373fa71ce05b 268 //printf("shot:%d\r\n",i2cS=i2c.write(airAddr,cmd,2));
nodoame 20:373fa71ce05b 269 //i2c.write(airAddr,cmd,2);
nodoame 4:bae4e2d103d4 270 kRed=0;
nodoame 3:c290afbacd1c 271 }
nodoame 3:c290afbacd1c 272
nodoame 20:373fa71ce05b 273 //射出
nodoame 20:373fa71ce05b 274 if(getBt(btTri)&&obonFlag){
nodoame 20:373fa71ce05b 275 kRed=shotToDenziben(airReg,4,1,airAddr);
nodoame 22:ab619079fb8d 276 wait(0.5f);
nodoame 20:373fa71ce05b 277 kRed=shotToDenziben(airReg,0,1,airAddr);
nodoame 4:bae4e2d103d4 278 kRed=0;
nodoame 19:cd036cc40a2d 279 }
nodoame 5:428b7ac86810 280
nodoame 5:428b7ac86810 281 //レーザーポインタ
nodoame 3:c290afbacd1c 282 if(getBt(btSqa)&&sqf){
nodoame 3:c290afbacd1c 283 sqf=0;
nodoame 3:c290afbacd1c 284 l=!l;
nodoame 4:bae4e2d103d4 285 kBlue=!kBlue;
nodoame 0:dc587be179e9 286 }
nodoame 3:c290afbacd1c 287 else if(!getBt(btSqa))
nodoame 3:c290afbacd1c 288 sqf=1;
nodoame 3:c290afbacd1c 289
nodoame 22:ab619079fb8d 290 //タッチセンサ
nodoame 22:ab619079fb8d 291 if(((int)DATA[1]&12)==12){
nodoame 22:ab619079fb8d 292 bValue=0;gValue=0.8;rValue=0;
nodoame 20:373fa71ce05b 293 }
nodoame 20:373fa71ce05b 294
nodoame 20:373fa71ce05b 295 //お盆回し
nodoame 20:373fa71ce05b 296 if(getPress(presUp)){
nodoame 20:373fa71ce05b 297 obonFlag=true;
nodoame 22:ab619079fb8d 298 Mechanum.putc(162);
nodoame 20:373fa71ce05b 299 rValue=0.8;gValue=0;bValue=0.8;
nodoame 20:373fa71ce05b 300 kRed=0;
nodoame 22:ab619079fb8d 301 wait(0.2);
nodoame 20:373fa71ce05b 302 }
nodoame 20:373fa71ce05b 303 else if(getPress(presDown)){
nodoame 22:ab619079fb8d 304 Mechanum.putc(163);
nodoame 20:373fa71ce05b 305 bValue=0.8f;gValue=0;rValue=0;
nodoame 20:373fa71ce05b 306 obonFlag=false;
nodoame 20:373fa71ce05b 307 kRed=0;
nodoame 22:ab619079fb8d 308 wait(0.2);
nodoame 22:ab619079fb8d 309 }
nodoame 19:cd036cc40a2d 310
nodoame 20:373fa71ce05b 311 deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
nodoame 20:373fa71ce05b 312 if(getPress(btSel)||(detFinF&&deg!=devideNum)){
nodoame 20:373fa71ce05b 313 detFinF=false;
nodoame 20:373fa71ce05b 314 Mechanum.putc(163);
nodoame 20:373fa71ce05b 315 wait(0.1);
nodoame 19:cd036cc40a2d 316 }
nodoame 20:373fa71ce05b 317 else {
nodoame 20:373fa71ce05b 318 val=valueForMechanum(deg,devideNum,getBt(trigL),getBt(trigR),getBt(btSph));
nodoame 20:373fa71ce05b 319 //pc.printf("%lf\r\n",deg);
nodoame 19:cd036cc40a2d 320 }
nodoame 20:373fa71ce05b 321
nodoame 11:1ca2498815c9 322
nodoame 11:1ca2498815c9 323 //一定時間通信してないと停止
nodoame 11:1ca2498815c9 324 if(stopCounter>stopCount)
nodoame 11:1ca2498815c9 325 val=64;
nodoame 11:1ca2498815c9 326 else
nodoame 11:1ca2498815c9 327 stopCounter++;
nodoame 0:dc587be179e9 328 Mechanum.putc(val);
nodoame 12:6445a3c3d34c 329 setFCLED(rValue,gValue,bValue);
nodoame 0:dc587be179e9 330 wait(0.03f);
nodoame 11:1ca2498815c9 331 do{
nodoame 11:1ca2498815c9 332 if(!debugFlag)
nodoame 11:1ca2498815c9 333 break;
nodoame 20:373fa71ce05b 334 //pc.printf("%d\r\n",DATA[6]);
nodoame 20:373fa71ce05b 335 //if(getPress(btSel))
nodoame 20:373fa71ce05b 336 // pc.printf("up\r\n");
nodoame 18:e3591b0b9e40 337 //pc.printf("val:%d\r\n",val);
nodoame 11:1ca2498815c9 338 //printf("%lf:%d:%d\r\n",deg,(int)DATA[3],(int)DATA[2]);
nodoame 11:1ca2498815c9 339 //printf("%d\r\n",(int)DATA[0]);
nodoame 11:1ca2498815c9 340 //pc.printf("DATA[1]%d\r\n",(int)(DATA[1]&0x02));
nodoame 11:1ca2498815c9 341 //printf("deg:%lfX1:%d:bt%ddeg:%lfval:%d\r\n",deg,(int)DATA[1],getBt(btSqa),deg,val);
nodoame 20:373fa71ce05b 342 //pc.printf("%lf\r\n",deg);
nodoame 11:1ca2498815c9 343 }while(false);
nodoame 0:dc587be179e9 344 }
nodoame 0:dc587be179e9 345 }