ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

main.cpp@27:5f441ecda140, 2015-01-20 (annotated)

Committer:
Jagang
Date:
Tue Jan 20 14:42:00 2015 +0000
Revision:
27:5f441ecda140
Parent:
26:54e1afed58b2
Child:
28:0a659a910771
Merge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:41149573d577 1 #include "mbed.h"
Jagang 0:41149573d577 2 #include "QEI.h"
Jagang 0:41149573d577 3 #include "Odometry.h"
Jagang 23:228317fe0457 4 #include "Map.h"
Jagang 0:41149573d577 5
Near32 3:573a0dc8383f 6 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 7 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 8 /*KalmanFilter*/
Near32 3:573a0dc8383f 9 #include "EKF.h"
Near32 17:f360e21d3307 10 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 17:f360e21d3307 11 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5 );
Near32 17:f360e21d3307 12 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 24:3c0422e1ebd6 13 Mat<double> jmotion_bicycle3_command(Mat<double> state, Mat<double> command, double dt = 0.5);
Near32 17:f360e21d3307 14 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt = 0.5);
Near32 3:573a0dc8383f 15 void measurementCallback( Mat<double>* z, Odometry* odometry);
Near32 17:f360e21d3307 16 bool setPWM(PwmOut *servo,float p);
Near32 3:573a0dc8383f 17
Near32 3:573a0dc8383f 18 Mat<double> bicycle(3,1);
Near32 17:f360e21d3307 19 int reduc = 16;
Near32 3:573a0dc8383f 20 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 21 /*---------------------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 22
Near32 17:f360e21d3307 23 /*----------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 24 /*Serial*/
Near32 17:f360e21d3307 25 Serial pcs(USBTX, USBRX); // tx, rx
Near32 17:f360e21d3307 26 /*----------------------------------------------------------------------------------------------*/
Jagang 21:5443f93819db 27
Jagang 23:228317fe0457 28 /* --- Initialisation de la liste des obstable --- */
Jagang 23:228317fe0457 29 int Obstacle::lastId = 0;
Jagang 23:228317fe0457 30
Jagang 0:41149573d577 31 int main()
Jagang 0:41149573d577 32 {
Near32 24:3c0422e1ebd6 33 pcs.printf("demarrage");
Near32 24:3c0422e1ebd6 34 //mbed
Near32 24:3c0422e1ebd6 35 /*
Near32 17:f360e21d3307 36 PwmOut pw1(p22);
Near32 17:f360e21d3307 37 DigitalOut dir1(p21);
Near32 17:f360e21d3307 38 PwmOut pw2(p24);
Near32 17:f360e21d3307 39 DigitalOut dir2(p23);
Near32 24:3c0422e1ebd6 40 */
Near32 17:f360e21d3307 41
Near32 17:f360e21d3307 42 //mbuino
Near32 17:f360e21d3307 43 /*
Near32 17:f360e21d3307 44 PwmOut pw1(P0_17);
Near32 17:f360e21d3307 45 DigitalOut dir1(P0_18);
Near32 17:f360e21d3307 46 PwmOut pw2(P0_23);
Near32 17:f360e21d3307 47 DigitalOut dir2(P0_19);
Near32 17:f360e21d3307 48 */
Near32 17:f360e21d3307 49 /*
Near32 17:f360e21d3307 50 //nucleo
Near32 17:f360e21d3307 51 PwmOut pw1(PB_8);
Near32 17:f360e21d3307 52 DigitalOut dir1(D12);
Near32 17:f360e21d3307 53 PwmOut pw2(PB_9);
Near32 17:f360e21d3307 54 DigitalOut dir2(D13);
Near32 17:f360e21d3307 55 */
Near32 24:3c0422e1ebd6 56 //nucleo
Near32 24:3c0422e1ebd6 57 PwmOut pw1(PA_0);
Near32 24:3c0422e1ebd6 58 DigitalOut dir1(PB_8);
Near32 24:3c0422e1ebd6 59 PwmOut pw2(PA_1);
Near32 24:3c0422e1ebd6 60 DigitalOut dir2(PB_9);
Near32 17:f360e21d3307 61 pw1.period_us(10);
Near32 17:f360e21d3307 62 pw2.period_us(10);
Near32 17:f360e21d3307 63
Near32 17:f360e21d3307 64
Near32 17:f360e21d3307 65 dir1.write(0);
Near32 17:f360e21d3307 66 dir2.write(0);
Near32 24:3c0422e1ebd6 67
Near32 26:54e1afed58b2 68 pw1.write(0.0);
Near32 26:54e1afed58b2 69 pw2.write(0.0);
Near32 17:f360e21d3307 70 //setPWM(&pw1,0.9);
Near32 24:3c0422e1ebd6 71 pcs.printf("mise a jour des pwm.\n");
Near32 26:54e1afed58b2 72 Timer t;
Near32 24:3c0422e1ebd6 73
Near32 3:573a0dc8383f 74 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 75 /*Odometry*/
Jagang 27:5f441ecda140 76 QEI qei_left(p15,p16,NC,1024*reduc,QEI::X4_ENCODING);
Jagang 27:5f441ecda140 77 QEI qei_right(p17,p18,NC,1024*reduc,QEI::X4_ENCODING);
Jagang 27:5f441ecda140 78 Odometry odometry(&qei_left,&qei_right,0.07,0.07,0.26);
Near32 3:573a0dc8383f 79 /*----------------------------------------------------------------------------------------------*/
Jagang 0:41149573d577 80
Near32 3:573a0dc8383f 81
Near32 3:573a0dc8383f 82
Near32 3:573a0dc8383f 83 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 84 /*KalmanFilter*/
Near32 24:3c0422e1ebd6 85 //double phi_max = 100;
Near32 3:573a0dc8383f 86 /*en millimetres*/
Near32 26:54e1afed58b2 87 bicycle.set((double)36, 1,1); /*radius*/
Near32 26:54e1afed58b2 88 bicycle.set((double)36, 2,1);
Near32 26:54e1afed58b2 89 bicycle.set((double)220, 3,1); /*entre-roue*/
Near32 3:573a0dc8383f 90
Near32 3:573a0dc8383f 91 int nbrstate = 5;
Near32 3:573a0dc8383f 92 int nbrcontrol = 2;
Near32 17:f360e21d3307 93 int nbrobs = 5;
Near32 3:573a0dc8383f 94 double dt = (double)0.05;
Near32 8:1150a13f6967 95 double stdnoise = (double)0.05;
Near32 3:573a0dc8383f 96
Near32 3:573a0dc8383f 97 Mat<double> initX((double)0, nbrstate, 1);
Near32 3:573a0dc8383f 98 initX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 99
Near32 3:573a0dc8383f 100 bool extended = true;
Near32 24:3c0422e1ebd6 101 bool filterOn = true;
Near32 24:3c0422e1ebd6 102 pcs.printf("mise a jour des pwm.\n");
Near32 24:3c0422e1ebd6 103 EKF<double> instance(nbrstate, nbrcontrol, nbrobs, dt, stdnoise, /*current state*/ initX, extended, filterOn);
Near32 3:573a0dc8383f 104
Near32 17:f360e21d3307 105 instance.initMotion(motion_bicycle3);
Near32 17:f360e21d3307 106 instance.initSensor(sensor_bicycle3);
Near32 17:f360e21d3307 107 instance.initJMotion(jmotion_bicycle3);
Near32 24:3c0422e1ebd6 108 //instance.initJMotionCommand(jmotion_bicycle3_command);
Near32 17:f360e21d3307 109 instance.initJSensor(jsensor_bicycle3);
Near32 3:573a0dc8383f 110
Near32 3:573a0dc8383f 111 /*desired State : (x y theta phiright phileft)*/
Near32 3:573a0dc8383f 112 Mat<double> dX((double)0, nbrstate, 1);
Near32 17:f360e21d3307 113 dX.set( (double)100, 1,1);
Near32 17:f360e21d3307 114 dX.set( (double)0, 2,1);
Near32 4:4025c071b207 115 dX.set( (double)0, 3,1);
Near32 3:573a0dc8383f 116 dX.set( (double)0, 4,1);
Near32 3:573a0dc8383f 117 dX.set( (double)0, 5,1);
Near32 3:573a0dc8383f 118
Near32 17:f360e21d3307 119 Mat<double> ki((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 120 Mat<double> kp((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 121 Mat<double> kd((double)0, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 122 //Mat<double> kdd((double)0.0015, nbrcontrol, nbrstate);
Near32 17:f360e21d3307 123
Near32 17:f360e21d3307 124 for(int i=1;i<=nbrstate;i++)
Near32 17:f360e21d3307 125 {
Near32 17:f360e21d3307 126 kp.set( (double)0.01, i, i);
Near32 17:f360e21d3307 127 kd.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 128 ki.set( (double)0.0001, i, i);
Near32 17:f360e21d3307 129 }
Near32 17:f360e21d3307 130
Near32 17:f360e21d3307 131 instance.setKi(ki);
Near32 17:f360e21d3307 132 instance.setKp(kp);
Near32 17:f360e21d3307 133 instance.setKd(kd);
Near32 17:f360e21d3307 134 //instance.setKdd(kdd);
Near32 17:f360e21d3307 135
Near32 3:573a0dc8383f 136 Mat<double> u(transpose( instance.getCommand()) );
Near32 3:573a0dc8383f 137
Near32 3:573a0dc8383f 138 /*Observations*/
Near32 17:f360e21d3307 139 /*il nous faut 5 observation :*/
Near32 17:f360e21d3307 140 Mat<double> z((double)0,5,1);
Near32 24:3c0422e1ebd6 141 //measurementCallback(&z, &odometry);
Near32 3:573a0dc8383f 142
Near32 3:573a0dc8383f 143 /*----------------------------------------------------------------------------------------------*/
Near32 3:573a0dc8383f 144
Near32 3:573a0dc8383f 145
Near32 24:3c0422e1ebd6 146 while(abs(instance.getX().get(1,1)-100) > 10)
Near32 26:54e1afed58b2 147 {
Near32 26:54e1afed58b2 148 t.start();
Near32 24:3c0422e1ebd6 149 //pcs.printf("%f : %f : %f\n", (double)odometry.getX()*100,(double)odometry.getY()*100,(double)odometry.getTheta()*180/3.14);
Near32 17:f360e21d3307 150
Near32 3:573a0dc8383f 151
Near32 3:573a0dc8383f 152 /*------------------------------------------------------------------------------------------*/
Near32 17:f360e21d3307 153 /*Asservissement*/
Near32 17:f360e21d3307 154
Near32 17:f360e21d3307 155 //measurementCallback(&z, &odometry);
Near32 17:f360e21d3307 156 instance.measurement_Callback( instance.getX(), dX, true );
Near32 17:f360e21d3307 157
Near32 3:573a0dc8383f 158 instance.state_Callback();
Near32 17:f360e21d3307 159
Near32 10:bca0274a007b 160 double phi_r = instance.getCommand().get(1,1);
Near32 10:bca0274a007b 161 double phi_l = instance.getCommand().get(2,1);
Near32 8:1150a13f6967 162
Near32 26:54e1afed58b2 163 double phi_max = 1.0;
Near32 3:573a0dc8383f 164
Near32 24:3c0422e1ebd6 165 instance.computeCommand(dX, (double)dt, -2);
Near32 26:54e1afed58b2 166 //pcs.printf("command : \n phi_r = %f \n phi_l = %f \n", ((double)phi_r/phi_max), ((double)phi_l/phi_max));
Near32 26:54e1afed58b2 167 //(instance.getCommand()).afficher();
Near32 26:54e1afed58b2 168 //(instance.getX()).afficher();
Near32 17:f360e21d3307 169
Near32 17:f360e21d3307 170
Near32 24:3c0422e1ebd6 171 if(phi_r >= 0)
Near32 24:3c0422e1ebd6 172 dir1.write(1);
Near32 24:3c0422e1ebd6 173 else
Near32 17:f360e21d3307 174 dir1.write(0);
Near32 17:f360e21d3307 175
Near32 17:f360e21d3307 176 if(phi_l <= 0)
Near32 17:f360e21d3307 177 dir2.write(0);
Near32 17:f360e21d3307 178 else
Near32 17:f360e21d3307 179 dir2.write(1);
Near32 17:f360e21d3307 180
Near32 17:f360e21d3307 181 if(abs(phi_r/phi_max) < 1.0)
Near32 26:54e1afed58b2 182 {
Near32 26:54e1afed58b2 183 //pcs.printf( "VALUE PWM 1 : %f \n", (float)abs((double)phi_r/phi_max)) ;
Near32 22:80fdb12c167f 184 setPWM(&pw1, (float)abs((double)phi_r/phi_max));
Near32 26:54e1afed58b2 185 }
Near32 17:f360e21d3307 186 else
Near32 24:3c0422e1ebd6 187 pcs.printf("P1...");
Near32 17:f360e21d3307 188
Near32 17:f360e21d3307 189 if(abs(phi_l/phi_max) < 1.0)
Near32 26:54e1afed58b2 190 {
Near32 26:54e1afed58b2 191 //pcs.printf( "VALUE PWM 2 : %f \n", (float)abs((double)phi_l/phi_max)) ;
Near32 22:80fdb12c167f 192 setPWM(&pw2,(float)abs((double)phi_l/phi_max));
Near32 26:54e1afed58b2 193 }
Near32 17:f360e21d3307 194 else
Near32 17:f360e21d3307 195 pcs.printf("P2...");
Near32 17:f360e21d3307 196
Near32 26:54e1afed58b2 197 //pcs.printf("\n\n----------------- Commande mise executee. ------------------ \n");
Near32 26:54e1afed58b2 198 t.stop();
Near32 26:54e1afed58b2 199 pcs.printf("%f s \n\r", t.read());
Near32 26:54e1afed58b2 200 t.reset();
Near32 26:54e1afed58b2 201
Near32 26:54e1afed58b2 202 }
Near32 3:573a0dc8383f 203
Near32 26:54e1afed58b2 204
Near32 26:54e1afed58b2 205 DigitalOut led(LED1);
Near32 26:54e1afed58b2 206 while(1)
Near32 26:54e1afed58b2 207 {
Near32 26:54e1afed58b2 208 //setPWM(&pw1,0.0);
Near32 26:54e1afed58b2 209 //setPWM(&pw2,0.0);
Near32 26:54e1afed58b2 210 pw1.write(0.0);
Near32 26:54e1afed58b2 211 pw2.write(0.0);
Near32 26:54e1afed58b2 212 led = !led;
Near32 26:54e1afed58b2 213 wait(1);
Jagang 0:41149573d577 214 }
Jagang 0:41149573d577 215 }
Near32 3:573a0dc8383f 216
Near32 3:573a0dc8383f 217 void measurementCallback( Mat<double>* z, Odometry* odometry)
Near32 3:573a0dc8383f 218 {
Near32 3:573a0dc8383f 219 z->set( (double)/*conversionUnitée mm */odometry->getX(), 1,1);
Near32 3:573a0dc8383f 220 z->set( (double)/*conversionUnitée mm*/odometry->getY(), 2,1);
Near32 3:573a0dc8383f 221 z->set( (double)/*conversionUnitée rad*/odometry->getTheta(), 3,1);
Near32 3:573a0dc8383f 222 }
Near32 3:573a0dc8383f 223
Near32 17:f360e21d3307 224 Mat<double> motion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 225 {
Near32 3:573a0dc8383f 226 Mat<double> r(state);
Near32 24:3c0422e1ebd6 227 //double v = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)+r.get(5,1));
Near32 24:3c0422e1ebd6 228 //double w = bicycle.get(1,1)/(2*bicycle.get(3,1))*(r.get(4,1)-r.get(5,1));
Near32 24:3c0422e1ebd6 229 double v = state.get(4,1);
Near32 24:3c0422e1ebd6 230 double w = state.get(5,1);
Near32 3:573a0dc8383f 231
Near32 3:573a0dc8383f 232 r.set( r.get(1,1) + v*cos(r.get(3,1))*dt, 1,1);
Near32 3:573a0dc8383f 233 r.set( r.get(2,1) + v*sin(r.get(3,1))*dt, 2,1);
Near32 3:573a0dc8383f 234
Near32 17:f360e21d3307 235 double angle = (r.get(3,1) + dt*w);
Near32 3:573a0dc8383f 236 if( angle < -PI)
Near32 3:573a0dc8383f 237 {
Near32 3:573a0dc8383f 238 angle = angle - PI*ceil(angle/PI);
Near32 3:573a0dc8383f 239 }
Near32 3:573a0dc8383f 240 else if( angle > PI)
Near32 3:573a0dc8383f 241 {
Near32 3:573a0dc8383f 242 angle = angle - PI*floor(angle/PI);
Near32 3:573a0dc8383f 243 }
Near32 3:573a0dc8383f 244
Near32 17:f360e21d3307 245 r.set( atan21(sin(angle), cos(angle)), 3,1);
Near32 3:573a0dc8383f 246
Near32 17:f360e21d3307 247
Near32 17:f360e21d3307 248 /*----------------------------------------*/
Near32 17:f360e21d3307 249 /*Modele du moteur*/
Near32 17:f360e21d3307 250 /*----------------------------------------*/
Near32 24:3c0422e1ebd6 251 //double r1 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)+command.get(2,1));
Near32 24:3c0422e1ebd6 252 //double r2 = bicycle.get(3,1)/bicycle.get(1,1)*(command.get(1,1)/bicycle.get(3,1)-command.get(2,1));
Near32 24:3c0422e1ebd6 253 double r1 = bicycle.get(1,1)/2*(command.get(1,1)+command.get(2,1));
Near32 24:3c0422e1ebd6 254 double r2 = bicycle.get(1,1)/bicycle.get(3,1)*(command.get(1,1)-command.get(2,1));
Near32 17:f360e21d3307 255
Near32 17:f360e21d3307 256
Near32 17:f360e21d3307 257 r.set( r1, 4,1);
Near32 17:f360e21d3307 258 r.set( r2, 5,1);
Near32 17:f360e21d3307 259
Near32 17:f360e21d3307 260
Near32 17:f360e21d3307 261 /*----------------------------------------*/
Near32 17:f360e21d3307 262 /*----------------------------------------*/
Near32 3:573a0dc8383f 263
Near32 3:573a0dc8383f 264 return r;
Near32 3:573a0dc8383f 265 }
Near32 3:573a0dc8383f 266
Near32 3:573a0dc8383f 267
Near32 17:f360e21d3307 268 Mat<double> sensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 17:f360e21d3307 269 {
Near32 17:f360e21d3307 270 return state;
Near32 3:573a0dc8383f 271 }
Near32 3:573a0dc8383f 272
Near32 17:f360e21d3307 273
Near32 17:f360e21d3307 274 Mat<double> jmotion_bicycle3( Mat<double> state, Mat<double> command, double dt)
Near32 3:573a0dc8383f 275 {
Near32 3:573a0dc8383f 276 double h = numeric_limits<double>::epsilon()*10e2;
Near32 3:573a0dc8383f 277 Mat<double> var( (double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 278 var.set( h, 1,1);
Near32 17:f360e21d3307 279 Mat<double> G(motion_bicycle3(state, command, dt) - motion_bicycle3(state+var, command,dt));
Near32 3:573a0dc8383f 280
Near32 3:573a0dc8383f 281 for(int i=2;i<=state.getLine();i++)
Near32 3:573a0dc8383f 282 {
Near32 3:573a0dc8383f 283 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 284 var.set( h, i,1);
Near32 17:f360e21d3307 285 G = operatorL(G, motion_bicycle3(state, command, dt) - motion_bicycle3(state+var, command,dt) );
Near32 3:573a0dc8383f 286 }
Near32 3:573a0dc8383f 287
Near32 3:573a0dc8383f 288
Near32 3:573a0dc8383f 289 return (1.0/h)*G;
Near32 3:573a0dc8383f 290 }
Near32 3:573a0dc8383f 291
Near32 24:3c0422e1ebd6 292 Mat<double> jmotion_bicycle3_command(Mat<double> state, Mat<double> command, double dt)
Near32 24:3c0422e1ebd6 293 {
Near32 24:3c0422e1ebd6 294 double h = numeric_limits<double>::epsilon()*10e2;
Near32 24:3c0422e1ebd6 295 Mat<double> var( (double)0, command.getLine(), command.getColumn());
Near32 24:3c0422e1ebd6 296 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 297 Mat<double> G(motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt));
Near32 24:3c0422e1ebd6 298
Near32 24:3c0422e1ebd6 299 for(int i=2;i<=command.getLine();i++)
Near32 24:3c0422e1ebd6 300 {
Near32 24:3c0422e1ebd6 301 var.set( (double)0, i-1,1);
Near32 24:3c0422e1ebd6 302 var.set( h, i,1);
Near32 24:3c0422e1ebd6 303 G = operatorL(G, motion_bicycle3(state, command+var, dt) - motion_bicycle3(state, command-var,dt) );
Near32 24:3c0422e1ebd6 304 }
Near32 24:3c0422e1ebd6 305
Near32 24:3c0422e1ebd6 306
Near32 24:3c0422e1ebd6 307 return (1.0/(2*h))*G;
Near32 24:3c0422e1ebd6 308 }
Near32 24:3c0422e1ebd6 309
Near32 17:f360e21d3307 310 Mat<double> jsensor_bicycle3( Mat<double> state, Mat<double> command, Mat<double> d_state, double dt)
Near32 3:573a0dc8383f 311 {
Near32 3:573a0dc8383f 312 double h = numeric_limits<double>::epsilon()*10e2;
Near32 3:573a0dc8383f 313 Mat<double> var((double)0, state.getLine(), state.getColumn());
Near32 3:573a0dc8383f 314 var.set( h, 1,1);
Near32 24:3c0422e1ebd6 315 Mat<double> H(sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt));
Near32 3:573a0dc8383f 316
Near32 3:573a0dc8383f 317 for(int i=2;i<=state.getLine();i++)
Near32 24:3c0422e1ebd6 318 {
Near32 3:573a0dc8383f 319 var.set( (double)0, i-1,1);
Near32 3:573a0dc8383f 320 var.set( h, i,1);
Near32 24:3c0422e1ebd6 321 H = operatorL(H, sensor_bicycle3(state+var, command, d_state, dt) - sensor_bicycle3(state-var, command, d_state, dt) );
Near32 3:573a0dc8383f 322 }
Near32 3:573a0dc8383f 323
Near32 3:573a0dc8383f 324
Near32 24:3c0422e1ebd6 325 return (1.0/(2*h))*H;
Near32 17:f360e21d3307 326 }
Near32 17:f360e21d3307 327
Near32 17:f360e21d3307 328 bool setPWM(PwmOut *servo,float p)
Near32 17:f360e21d3307 329 {
Near32 17:f360e21d3307 330 if(p <= 1.0f && p >= 0.0f)
Near32 17:f360e21d3307 331 {
Near32 17:f360e21d3307 332 servo->write(p);
Near32 17:f360e21d3307 333 return true;
Near32 17:f360e21d3307 334 }
Near32 17:f360e21d3307 335
Near32 17:f360e21d3307 336 return false;
Near32 3:573a0dc8383f 337 }