BMT Module 9 Group 4 / Mbed 2 deprecated DemoState

DemoState with IK and MotorControl and input vx_des and vy_des with potmeter1 and button2

Dependencies:   FastPWM MODSERIAL Matrix MatrixMath mbed QEI

main.cpp@7:fb3da4df4269, 2018-11-06 (annotated)

Committer:
nicollevanrijswijk
Date:
Tue Nov 06 16:12:17 2018 +0000
Revision:
7:fb3da4df4269
Parent:
6:a6f79f31767b
Child:
8:3d2228402c71
Weer terugverandert q1 en q2;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
1856413 0:550f6e86da32 1 #include "mbed.h"
1856413 0:550f6e86da32 2 #include "FastPWM.h"
1856413 0:550f6e86da32 3 #include "MODSERIAL.h"
1856413 0:550f6e86da32 4 #include "Matrix.h"
1856413 0:550f6e86da32 5 #include "QEI.h"
1856413 0:550f6e86da32 6 #include <math.h>
1856413 0:550f6e86da32 7 MODSERIAL pc(USBTX, USBRX);
1856413 1:2219a519e2bf 8 DigitalOut motor1Direction(D7);
1856413 1:2219a519e2bf 9 DigitalOut motor2Direction(D4);
1856413 0:550f6e86da32 10 DigitalOut Led(LED_GREEN);
1856413 2:638c6155d0af 11 DigitalIn button2(SW3); //dit is nog button op mbed bor
1856413 1:2219a519e2bf 12 FastPWM motor1PWM(D6);
1856413 1:2219a519e2bf 13 FastPWM motor2PWM(D5);
1856413 0:550f6e86da32 14 AnalogIn potMeter1(A4);
1856413 0:550f6e86da32 15 AnalogIn potMeter2(A5);
1856413 0:550f6e86da32 16 QEI Encoder1 (D12, D13, NC, 64, QEI::X4_ENCODING);
1856413 0:550f6e86da32 17 QEI Encoder2 (D10, D11, NC, 64, QEI::X4_ENCODING);
1856413 0:550f6e86da32 18
1856413 0:550f6e86da32 19 // Tickers
1856413 2:638c6155d0af 20 Ticker potmeterTicker;
1856413 4:854aa2e7eeb2 21 Ticker allesineenticker;
1856413 4:854aa2e7eeb2 22 Ticker printTicker;
1856413 0:550f6e86da32 23 //------------------------------------------------------------------------------
1856413 1:2219a519e2bf 24 //Global Variables
1856413 4:854aa2e7eeb2 25
nicollevanrijswijk 5:aca2af310419 26 float currentPosition1 = 0.1; // Starting position of motor 1 [rad]
nicollevanrijswijk 5:aca2af310419 27 float currentPosition2 = -(0.5*3.14); // Starting position of motor 2 wrt motor 1 [rad]
1856413 4:854aa2e7eeb2 28 // ^ waarom?
1856413 1:2219a519e2bf 29 int a = 0;
1856413 1:2219a519e2bf 30
1856413 0:550f6e86da32 31 //Inverse Kinematics
nicollevanrijswijk 5:aca2af310419 32 const float L0 = 0.1; // Horizontal length from base to first joint [m] NAMETEN!!
nicollevanrijswijk 5:aca2af310419 33 const float L1 = 0.3; // Length link 1 [m] NAMETEN!!
nicollevanrijswijk 5:aca2af310419 34 const float L2 = 0.3; // Length link 2 [m] NAMETEN!!
nicollevanrijswijk 5:aca2af310419 35 const float L3 = 0.1; // Vertical length from base to first joint [m] NAMETEN!
nicollevanrijswijk 5:aca2af310419 36 volatile float q1 = 0.1; // Starting reference angle of first link [rad]
nicollevanrijswijk 5:aca2af310419 37 volatile float q2 = -(0.5*3.12); // Starting reference angle of second link wrt first link [rad]
1856413 4:854aa2e7eeb2 38 // ^ start buiten bereik, waarom?
nicollevanrijswijk 5:aca2af310419 39 float t = 0.01; // Time interval [s] SHOULD BE REPLACED SAMPLING TIJD!!
nicollevanrijswijk 5:aca2af310419 40 volatile float vx_des = 0.0; // Starting velocity in x-direction [rad/s]
nicollevanrijswijk 5:aca2af310419 41 volatile float vy_des = 0.0; // Starting velocity in y-direction [rad/s]
nicollevanrijswijk 5:aca2af310419 42 volatile float errorIK1 = 0.0;
nicollevanrijswijk 5:aca2af310419 43 volatile float errorIK2 = 0.0;
nicollevanrijswijk 5:aca2af310419 44 volatile float J1 = 0.0;
nicollevanrijswijk 5:aca2af310419 45 volatile float J2 = 0.0;
nicollevanrijswijk 5:aca2af310419 46 volatile float J3 = 0.0;
nicollevanrijswijk 5:aca2af310419 47 volatile float J4 = 0.0;
nicollevanrijswijk 5:aca2af310419 48 volatile float V1 = 0.0;
nicollevanrijswijk 5:aca2af310419 49 volatile float V2 = 0.0;
nicollevanrijswijk 5:aca2af310419 50 volatile float Q1 = 0.0;
nicollevanrijswijk 5:aca2af310419 51 volatile float Q2 = 0.0;
1856413 1:2219a519e2bf 52
1856413 0:550f6e86da32 53 // Motor Control
nicollevanrijswijk 5:aca2af310419 54 volatile float potMeterPosition1 = 0.0;
nicollevanrijswijk 5:aca2af310419 55 int counts1i = 0;
nicollevanrijswijk 5:aca2af310419 56 int counts2i = 0;
nicollevanrijswijk 5:aca2af310419 57 //volatile float potMeterPosition2 = 0.0;
nicollevanrijswijk 5:aca2af310419 58 volatile float motorValue1 = 0.01;
nicollevanrijswijk 5:aca2af310419 59 volatile float motorValue2 = 0.01;
nicollevanrijswijk 5:aca2af310419 60 volatile float Kp = 4.0; //dit maken we variabel, dit zorgt voor een grote of kleine overshoot
nicollevanrijswijk 5:aca2af310419 61 volatile float Ki = 0.0; //dit moeten we bepalen met een plot bijvoorbeeld
nicollevanrijswijk 5:aca2af310419 62 volatile float Kd = 0.0;
nicollevanrijswijk 5:aca2af310419 63 volatile float Ts = 0.01; // SAMPLING TIJD!!
1856413 1:2219a519e2bf 64
1856413 0:550f6e86da32 65
1856413 0:550f6e86da32 66 //------------------------------------------------------------------------------
1856413 0:550f6e86da32 67 // Potmeter values TO DETERMINE VX_DES, VY_DES
1856413 2:638c6155d0af 68 void GetPotMeterVelocity1() //Potmeter standard to control X-DIRECTION
1856413 0:550f6e86da32 69 {
nicollevanrijswijk 5:aca2af310419 70 float potMeter1In = potMeter1.read();
nicollevanrijswijk 5:aca2af310419 71 vx_des = 4.0*3.14*potMeter1In - 2.0*3.14; // Reference value y, scaled to -0.25 to 0.25 revolutions
nicollevanrijswijk 5:aca2af310419 72 //vx_des = 0.5;
1856413 2:638c6155d0af 73 //return vx_des;
1856413 1:2219a519e2bf 74 }
1856413 1:2219a519e2bf 75
nicollevanrijswijk 5:aca2af310419 76 float SwitchPotmeterVelocity1() //Button has been pressed,
1856413 4:854aa2e7eeb2 77 {
1856413 1:2219a519e2bf 78 vy_des = vx_des;
1856413 1:2219a519e2bf 79 return vy_des;
1856413 1:2219a519e2bf 80 }
1856413 1:2219a519e2bf 81
1856413 1:2219a519e2bf 82 //------------------------------------------------------------------------------
1856413 1:2219a519e2bf 83 // KINEMATIC FUNCTIONS
1856413 1:2219a519e2bf 84
nicollevanrijswijk 5:aca2af310419 85 void ComputeJ(void)
1856413 1:2219a519e2bf 86 {
nicollevanrijswijk 7:fb3da4df4269 87 J1 = -sin(q1)/(L1*cos(q1)*sin(q2)-L1*cos(q2)*sin(q1));
nicollevanrijswijk 7:fb3da4df4269 88 J2 = cos(q2)/(L1*cos(q1)*sin(q2)-L1*cos(q2)*sin(q1));
nicollevanrijswijk 7:fb3da4df4269 89 J3 = (L1*sin(q1)+L2*sin(q2))/(L1*L2*cos(q1)*sin(q2)-L1*L2*cos(q2)*sin(q1));
nicollevanrijswijk 7:fb3da4df4269 90 J4 = -(L1*cos(q1)+L2*cos(q2))/(L1*L2*cos(q1)*sin(q2)-L1*L2*cos(q2)*sin(q1));
1856413 1:2219a519e2bf 91 }
1856413 1:2219a519e2bf 92
nicollevanrijswijk 5:aca2af310419 93 void ComputeV(void)
1856413 1:2219a519e2bf 94 {
nicollevanrijswijk 5:aca2af310419 95 V1 = vx_des;
nicollevanrijswijk 5:aca2af310419 96 V2 = vy_des;
1856413 1:2219a519e2bf 97 }
1856413 1:2219a519e2bf 98
nicollevanrijswijk 5:aca2af310419 99 float IntegrateQ1()
1856413 1:2219a519e2bf 100 {
nicollevanrijswijk 5:aca2af310419 101 q1 = q1 + (Q1*t); // new value for q1
1856413 1:2219a519e2bf 102 return q1;
1856413 1:2219a519e2bf 103 }
1856413 1:2219a519e2bf 104
nicollevanrijswijk 5:aca2af310419 105 float IntegrateQ2()
1856413 1:2219a519e2bf 106 {
nicollevanrijswijk 5:aca2af310419 107 q2 = q2 + (Q2*t); // new value for q2
1856413 1:2219a519e2bf 108 return q2;
1856413 1:2219a519e2bf 109 }
1856413 1:2219a519e2bf 110
nicollevanrijswijk 5:aca2af310419 111 void ComputeQ_set()
1856413 1:2219a519e2bf 112 {
nicollevanrijswijk 5:aca2af310419 113 Q1 = (J1*V1) + (J2*V2);
nicollevanrijswijk 5:aca2af310419 114 Q2 = (J3*V1) + (J4*V2);
1856413 1:2219a519e2bf 115 }
1856413 1:2219a519e2bf 116
nicollevanrijswijk 5:aca2af310419 117 float ErrorInverseKinematics1()
1856413 1:2219a519e2bf 118 {
nicollevanrijswijk 5:aca2af310419 119 float errorIK1 = q1 - currentPosition1;
1856413 1:2219a519e2bf 120 return errorIK1;
1856413 0:550f6e86da32 121 }
1856413 4:854aa2e7eeb2 122
nicollevanrijswijk 5:aca2af310419 123 float ErrorInverseKinematics2()
1856413 0:550f6e86da32 124 {
nicollevanrijswijk 5:aca2af310419 125 float errorIK2 = q2 - currentPosition2;
1856413 1:2219a519e2bf 126 return errorIK2;
1856413 1:2219a519e2bf 127 }
1856413 1:2219a519e2bf 128 //------------------------------------------------------------------------------
1856413 1:2219a519e2bf 129 // MOTOR PART
1856413 1:2219a519e2bf 130 //Encoder Posities
nicollevanrijswijk 5:aca2af310419 131 void MeasureEncoderPosition1() // Read current position of motor 1, returns value in [rad]
1856413 1:2219a519e2bf 132 {
nicollevanrijswijk 5:aca2af310419 133 counts1i = Encoder2.getPulses();
nicollevanrijswijk 5:aca2af310419 134 float counts1 = counts1i*1.0f;
nicollevanrijswijk 5:aca2af310419 135 currentPosition1 = (counts1/8400)*6.28; //Rotational position in radians
1856413 0:550f6e86da32 136 }
1856413 0:550f6e86da32 137
nicollevanrijswijk 5:aca2af310419 138 void MeasureEncoderPosition2() // Read current postion of motor 2, returns value in [rad]
1856413 1:2219a519e2bf 139 {
nicollevanrijswijk 5:aca2af310419 140 counts2i = Encoder2.getPulses();
nicollevanrijswijk 5:aca2af310419 141 float counts2 = counts2i*1.0f;
nicollevanrijswijk 5:aca2af310419 142 currentPosition2 = (counts2/8400)*6.28; //Rotational position in radians
1856413 1:2219a519e2bf 143 }
1856413 1:2219a519e2bf 144
nicollevanrijswijk 5:aca2af310419 145 float FeedbackControl1(float Error1)
1856413 0:550f6e86da32 146 {
nicollevanrijswijk 5:aca2af310419 147 static float Error_integral1 = 0;
nicollevanrijswijk 5:aca2af310419 148 static float Error_prev1 = Error1;
1856413 0:550f6e86da32 149 // Proportional part:
nicollevanrijswijk 5:aca2af310419 150 float u_k1 = Kp * Error1;
1856413 0:550f6e86da32 151 // Integral part:
1856413 0:550f6e86da32 152 Error_integral1 = Error_integral1 + Error1 * Ts;
nicollevanrijswijk 5:aca2af310419 153 float u_i1 = Ki * Error_integral1;
1856413 1:2219a519e2bf 154 // Derivative part:
nicollevanrijswijk 5:aca2af310419 155 float Error_derivative1 = (Error1 - Error_prev1)/Ts;
nicollevanrijswijk 5:aca2af310419 156 float u_d1 = Kd * Error_derivative1;
1856413 0:550f6e86da32 157 Error_prev1 = Error1;
1856413 0:550f6e86da32 158 // Sum all parts and return it
1856413 0:550f6e86da32 159 return u_k1 + u_i1 + u_d1; //motorValue
1856413 0:550f6e86da32 160 }
1856413 1:2219a519e2bf 161
nicollevanrijswijk 5:aca2af310419 162 float FeedbackControl2(float Error2)
1856413 0:550f6e86da32 163 {
nicollevanrijswijk 5:aca2af310419 164 static float Error_integral2 = 0;
nicollevanrijswijk 5:aca2af310419 165 static float Error_prev2 = Error2;
1856413 0:550f6e86da32 166 // Proportional part:
nicollevanrijswijk 5:aca2af310419 167 float u_k2 = Kp * Error2;
1856413 0:550f6e86da32 168 // Integral part:
1856413 0:550f6e86da32 169 Error_integral2 = Error_integral2 + Error2 * Ts;
nicollevanrijswijk 5:aca2af310419 170 float u_i2 = Ki * Error_integral2;
1856413 1:2219a519e2bf 171 // Derivative part:
nicollevanrijswijk 5:aca2af310419 172 float Error_derivative2 = (Error2 - Error_prev2)/Ts;
nicollevanrijswijk 5:aca2af310419 173 float u_d2 = Kd * Error_derivative2;
1856413 0:550f6e86da32 174 Error_prev2 = Error2;
1856413 0:550f6e86da32 175 // Sum all parts and return it
1856413 0:550f6e86da32 176 return u_k2 + u_i2 + u_d2; //motorValue
1856413 0:550f6e86da32 177 }
1856413 1:2219a519e2bf 178
nicollevanrijswijk 5:aca2af310419 179 void SetMotor1(float motorValue1)
1856413 0:550f6e86da32 180 {
1856413 0:550f6e86da32 181 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 0:550f6e86da32 182 // bits for motor 1. Positive value makes motor rotating
1856413 0:550f6e86da32 183 // clockwise. motorValues outside range are truncated to
1856413 0:550f6e86da32 184 // within range
1856413 0:550f6e86da32 185 // 0 = clockwise motor direction
1856413 0:550f6e86da32 186 // 1 = counterclockwise motor direction
1856413 0:550f6e86da32 187 if (motorValue1 >=0) {
1856413 0:550f6e86da32 188 motor1Direction=0;
1856413 0:550f6e86da32 189 } else {
1856413 0:550f6e86da32 190 motor1Direction=1;
1856413 0:550f6e86da32 191 }
1856413 0:550f6e86da32 192 if (fabs(motorValue1)>1) {
1856413 0:550f6e86da32 193 motor1PWM = 1;
1856413 0:550f6e86da32 194 } else {
1856413 0:550f6e86da32 195 motor1PWM = fabs(motorValue1);
1856413 0:550f6e86da32 196 }
1856413 0:550f6e86da32 197 }
1856413 1:2219a519e2bf 198
nicollevanrijswijk 5:aca2af310419 199 void SetMotor2(float motorValue2)
1856413 0:550f6e86da32 200 {
1856413 0:550f6e86da32 201 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 0:550f6e86da32 202 // bits for motor 1. Positive value makes motor rotating
1856413 0:550f6e86da32 203 // clockwise. motorValues outside range are truncated to
1856413 0:550f6e86da32 204 // within range
1856413 0:550f6e86da32 205 // 0 = counterclockwise motor direction
1856413 0:550f6e86da32 206 // 1 = clockwise motor direction
1856413 0:550f6e86da32 207 if (motorValue2 >=0) {
1856413 0:550f6e86da32 208 motor2Direction=1;
1856413 0:550f6e86da32 209 } else {
1856413 0:550f6e86da32 210 motor2Direction=0;
1856413 0:550f6e86da32 211 }
1856413 0:550f6e86da32 212 if (fabs(motorValue2)>1) {
1856413 0:550f6e86da32 213 motor2PWM = 1;
1856413 0:550f6e86da32 214 } else {
1856413 0:550f6e86da32 215 motor2PWM = fabs(motorValue2);
1856413 0:550f6e86da32 216 }
1856413 0:550f6e86da32 217 }
1856413 1:2219a519e2bf 218
1856413 1:2219a519e2bf 219 /*void MeasureAndControl1(void)
1856413 0:550f6e86da32 220 {
1856413 0:550f6e86da32 221 // This function determines the desired velocity, measures the
1856413 0:550f6e86da32 222 // actual velocity, and controls the motor with
1856413 0:550f6e86da32 223 // a simple Feedback controller. Call this from a Ticker.
1856413 2:638c6155d0af 224 MeterPosition1 = q1;
1856413 0:550f6e86da32 225 currentPosition1 = MeasureEncoderPosition1();
1856413 0:550f6e86da32 226 motorValue1 = FeedbackControl1(potMeterPosition1 - currentPosition1);
1856413 0:550f6e86da32 227 SetMotor1(motorValue1);
1856413 0:550f6e86da32 228 }
1856413 1:2219a519e2bf 229
1856413 0:550f6e86da32 230 void MeasureAndControl2(void)
1856413 0:550f6e86da32 231 {
1856413 0:550f6e86da32 232 // This function determines the desired velocity, measures the
1856413 0:550f6e86da32 233 // actual velocity, and controls the motor with
1856413 0:550f6e86da32 234 // a simple Feedback controller. Call this from a Ticker.
1856413 0:550f6e86da32 235 potMeterPosition2 = q2;
1856413 0:550f6e86da32 236 currentPosition2 = MeasureEncoderPosition2();
1856413 0:550f6e86da32 237 motorValue2 = FeedbackControl2(potMeterPosition2 - currentPosition2);
1856413 0:550f6e86da32 238 SetMotor2(motorValue2);
1856413 1:2219a519e2bf 239 }*/
1856413 4:854aa2e7eeb2 240 void AllesinEen() //HIER GAAT IETS MIS!!
1856413 4:854aa2e7eeb2 241 {
nicollevanrijswijk 5:aca2af310419 242 MeasureEncoderPosition1(); // You want to know the current angle of the motors to get the right Jacobian
nicollevanrijswijk 5:aca2af310419 243 MeasureEncoderPosition2(); // You want to know the current angle of the motors to get the right Jacobian
nicollevanrijswijk 5:aca2af310419 244 ComputeJ(); // Compute matrix J (inverse Jacobian, and Twist is already left out)
nicollevanrijswijk 5:aca2af310419 245 ComputeV(); // Compute matrix V (stores the desired velocities obtained from the EMG signal)
nicollevanrijswijk 5:aca2af310419 246 ComputeQ_set(); // Compute Q_set (stores Q1 and Q2)
1856413 4:854aa2e7eeb2 247 q1 = IntegrateQ1(); // Compute required angle to go to desired position of end-effector
1856413 4:854aa2e7eeb2 248 q2 = IntegrateQ2(); // Compute required angle to go to desired position of end-effector
nicollevanrijswijk 5:aca2af310419 249 if (q > 0.0) { // q1 cannot be greater than 0
nicollevanrijswijk 6:a6f79f31767b 250 q = 0.0;
nicollevanrijswijk 5:aca2af310419 251 } else if (q < - 1.047) { // q1 cannot be smaller than 60 degrees
nicollevanrijswijk 6:a6f79f31767b 252 q1 = -1.047;
nicollevanrijswijk 5:aca2af310419 253 } else { // q1 can be computed q1 between intervals
1856413 4:854aa2e7eeb2 254 q1 = q1;
1856413 4:854aa2e7eeb2 255 }
nicollevanrijswijk 5:aca2af310419 256 if (q2 > -0.61) { // q2 cannot be smaller than 0.61 rad
nicollevanrijswijk 5:aca2af310419 257 q2 = -0.61; // Stay at mimimum angle
nicollevanrijswijk 5:aca2af310419 258 } else if (q2 < -1.57) { // q2 cannot be greater than 1.57 rad
nicollevanrijswijk 5:aca2af310419 259 q2 = -1.57; // Stay at maximum angle
1856413 4:854aa2e7eeb2 260 } else { // If q2 is in the right range, let calculated q2 be q2
1856413 4:854aa2e7eeb2 261 q2 = q2;
1856413 4:854aa2e7eeb2 262 }
nicollevanrijswijk 5:aca2af310419 263 // Determine error and add PID control
1856413 4:854aa2e7eeb2 264 errorIK1 = ErrorInverseKinematics1(); // Determine difference between current angle motor 1 and desired angle
1856413 4:854aa2e7eeb2 265 errorIK2 = ErrorInverseKinematics2(); // Determine difference between current angle motor 2 and desired angle
nicollevanrijswijk 5:aca2af310419 266 // Determine motorValues
1856413 4:854aa2e7eeb2 267 motorValue1 = FeedbackControl1(errorIK1); // Calculate motorValue1
1856413 4:854aa2e7eeb2 268 motorValue2 = FeedbackControl2(errorIK2); // Calculate motorValue2
nicollevanrijswijk 5:aca2af310419 269 // Make Motor move
1856413 4:854aa2e7eeb2 270 SetMotor1(motorValue1);
1856413 4:854aa2e7eeb2 271 SetMotor2(motorValue2);
1856413 0:550f6e86da32 272
nicollevanrijswijk 5:aca2af310419 273 // Press button to switch velocity direction
nicollevanrijswijk 5:aca2af310419 274 //if (!button2.read()) {
1856413 4:854aa2e7eeb2 275 if (!button2.read()) { //button2 blijven indrukken
1856413 4:854aa2e7eeb2 276 //SwitchPotmeterVelocity1();
1856413 4:854aa2e7eeb2 277 vy_des=vx_des;
nicollevanrijswijk 5:aca2af310419 278 vx_des=0.0;
1856413 4:854aa2e7eeb2 279 } else {
nicollevanrijswijk 5:aca2af310419 280 vy_des=0.0;
1856413 4:854aa2e7eeb2 281 }
1856413 4:854aa2e7eeb2 282 }
1856413 4:854aa2e7eeb2 283
1856413 4:854aa2e7eeb2 284 void printen()
1856413 4:854aa2e7eeb2 285 {
1856413 4:854aa2e7eeb2 286 pc.printf("vx_des = %f \t vy_des = %f \r\n", vx_des, vy_des);
1856413 4:854aa2e7eeb2 287 pc.printf("Error IK1 = %f \t Error IK2 = %f \r\n", errorIK1, errorIK2);
1856413 4:854aa2e7eeb2 288 pc.printf("MotorValue 1 = %f \t MotorValue 2 = %f \r\n", motorValue1, motorValue2);
nicollevanrijswijk 5:aca2af310419 289 pc.printf("q1 Qset = %f \t q2 Qset = %f \r\n", Q1, Q2);
1856413 4:854aa2e7eeb2 290 }
1856413 1:2219a519e2bf 291 //------------------------------------------------------------------------------
1856413 1:2219a519e2bf 292 // MAIN
1856413 1:2219a519e2bf 293 int main()
1856413 1:2219a519e2bf 294 {
1856413 0:550f6e86da32 295 pc.baud(115200);
nicollevanrijswijk 5:aca2af310419 296 potmeterTicker.attach(GetPotMeterVelocity1, 0.01);
nicollevanrijswijk 5:aca2af310419 297 allesineenticker.attach(AllesinEen, 0.01);
nicollevanrijswijk 5:aca2af310419 298 printTicker.attach(printen, 0.5);
1856413 4:854aa2e7eeb2 299
1856413 1:2219a519e2bf 300 while (true) {
nicollevanrijswijk 5:aca2af310419 301 Led = !Led;
nicollevanrijswijk 5:aca2af310419 302 wait(0.5);
1856413 4:854aa2e7eeb2 303 //wait(0.01);
1856413 0:550f6e86da32 304 }
1856413 0:550f6e86da32 305 }