Carbon Fibre / Mbed 2 deprecated Motor_test_harness

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Dependencies:   Classic_PID iC_MU mbed-rtos mbed

main.cpp@4:4dafa4113982, 2015-06-25 (annotated)

Committer:
acodd
Date:
Thu Jun 25 09:41:26 2015 +0000
Revision:
4:4dafa4113982
Parent:
3:f8a5c1cee1fa 
Test Harness for a single axis

Who changed what in which revision?

UserRevisionLine numberNew contents of line
acodd 4:4dafa4113982 1 // For testing Tilt on an Aluminium unit.
acodd 2:dc684c402296 2 // AC 19/05/2015. Based on MS NewMotorVelLoop
acodd 2:dc684c402296 3
acodd 2:dc684c402296 4
ms523 0:7ce0bc67f60f 5 #include "mbed.h"
ms523 0:7ce0bc67f60f 6 #include "iC_MU.h"
ms523 0:7ce0bc67f60f 7 #include "rtos.h"
ms523 0:7ce0bc67f60f 8 #include "Classic_PID.h"
ms523 0:7ce0bc67f60f 9
ms523 0:7ce0bc67f60f 10 #define _Kp 0.18 // Kp.Freq product
ms523 0:7ce0bc67f60f 11 #define _Ki 0.006 // Ki.Freq product
ms523 0:7ce0bc67f60f 12
ms523 0:7ce0bc67f60f 13 Serial pc(USBTX,USBRX);
ms523 0:7ce0bc67f60f 14
ms523 0:7ce0bc67f60f 15 // iC-MU Encoder Objects
ms523 0:7ce0bc67f60f 16 iC_MU tilt_ic_mu(p5,p6,p7,p8);
ms523 0:7ce0bc67f60f 17 iC_MU TiltPos(p5,p6,p7,p11);
ms523 0:7ce0bc67f60f 18 iC_MU pan_ic_mu(p5,p6,p7,p12);
ms523 0:7ce0bc67f60f 19 iC_MU PanPos(p5,p6,p7,p13);
ms523 1:1ad84260ff59 20
ms523 1:1ad84260ff59 21 #ifdef TARGET_LPC4088
ms523 0:7ce0bc67f60f 22 // Tilt Motor
ms523 0:7ce0bc67f60f 23 PwmOut Tilt_Motor_PWM(p27); // Purple wire
ms523 0:7ce0bc67f60f 24 DigitalOut Tilt_Motor_Direction(p28); // Yellow wire
ms523 0:7ce0bc67f60f 25 // Pan Motor
ms523 0:7ce0bc67f60f 26 PwmOut Pan_Motor_PWM(p25); // Purple wire
ms523 0:7ce0bc67f60f 27 DigitalOut Pan_Motor_Direction(p26); // Yellow wire
ms523 1:1ad84260ff59 28 #endif
ms523 1:1ad84260ff59 29
ms523 1:1ad84260ff59 30 #ifdef TARGET_LPC1768
ms523 0:7ce0bc67f60f 31 // Tilt Motor
ms523 0:7ce0bc67f60f 32 PwmOut Tilt_Motor_PWM(p23); // Purple wire
ms523 0:7ce0bc67f60f 33 DigitalOut Tilt_Motor_Direction(p24); // Yellow wire
ms523 0:7ce0bc67f60f 34 // Pan Motor
ms523 0:7ce0bc67f60f 35 PwmOut Pan_Motor_PWM(p21); // Purple wire
ms523 0:7ce0bc67f60f 36 DigitalOut Pan_Motor_Direction(p22); // Yellow wire
acodd 4:4dafa4113982 37 // Button
acodd 4:4dafa4113982 38 DigitalIn Fademe(p14);
ms523 1:1ad84260ff59 39 #endif
ms523 0:7ce0bc67f60f 40
ms523 0:7ce0bc67f60f 41 // Joystick stuff
ms523 0:7ce0bc67f60f 42 AnalogIn Pan_Joystick(p16);
ms523 0:7ce0bc67f60f 43 AnalogIn Tilt_Joystick(p17);
ms523 0:7ce0bc67f60f 44 AnalogIn Zoom_Joystick(p18);
ms523 0:7ce0bc67f60f 45 AnalogIn Focus_Pot(p19); // The top Pot (Pot 1)
acodd 4:4dafa4113982 46 AnalogIn Setspeed(p20); // The bottom Pot (Pot 2)
ms523 0:7ce0bc67f60f 47
ms523 0:7ce0bc67f60f 48 // Camera Stuff
ms523 0:7ce0bc67f60f 49 Serial Camera(p9,p10);
ms523 0:7ce0bc67f60f 50 InterruptIn Switch(p14);
ms523 1:1ad84260ff59 51 #ifdef TARGET_LPC4088
ms523 1:1ad84260ff59 52 DigitalOut led4(LED1),led2(LED2), led3(LED3), led1(LED4);
ms523 1:1ad84260ff59 53 #endif
ms523 1:1ad84260ff59 54 #ifdef TARGET_LPC1768
ms523 0:7ce0bc67f60f 55 DigitalOut led1(LED1),led2(LED2), led3(LED3), led4(LED4);
ms523 1:1ad84260ff59 56 #endif
ms523 1:1ad84260ff59 57
ms523 1:1ad84260ff59 58
ms523 0:7ce0bc67f60f 59 #define AUTO 1
ms523 0:7ce0bc67f60f 60 #define MANUAL 0
ms523 0:7ce0bc67f60f 61
ms523 0:7ce0bc67f60f 62 /* Kp = 0.00018, Ki = 0.000006, Kd = 0.0, 0.0001 */
ms523 0:7ce0bc67f60f 63 Classic_PID PanVelocityPID(0.00018, 0.000006, 0.0, 0.0001); //Kp, ki, kd, kvelff
acodd 4:4dafa4113982 64 Classic_PID TiltVelocityPID(4, 0.000000, 0.0, 1); //Kp, ki, kd, kvelff1
ms523 0:7ce0bc67f60f 65
ms523 0:7ce0bc67f60f 66 // Globals
ms523 1:1ad84260ff59 67 int ZoomPos = 10248; // Strat off at max Zoom position to avoid jerks on startup
ms523 0:7ce0bc67f60f 68 bool AutofocusFlag = true;
ms523 0:7ce0bc67f60f 69 bool ManualfocusFlag = false;
ms523 0:7ce0bc67f60f 70 bool Mode = AUTO;
acodd 3:f8a5c1cee1fa 71 bool joystick = false;
acodd 2:dc684c402296 72 bool scoping = false;
ms523 0:7ce0bc67f60f 73
ms523 0:7ce0bc67f60f 74 extern int LastPanPosition;
acodd 3:f8a5c1cee1fa 75 extern int Last_M_Position;
acodd 2:dc684c402296 76 float Pan_JoyStickDem = 0.8;
acodd 2:dc684c402296 77 float Tilt_JoyStickDem = 0.8;
acodd 2:dc684c402296 78 float Demand_Count_Rate = 0.0;
acodd 2:dc684c402296 79 float Actual_Motor_Speed = 0.0; //counts/ms
acodd 2:dc684c402296 80 float Velocity_Error = 0.0; // count/ms
acodd 2:dc684c402296 81 float P_Error = 0.0; // degrees
acodd 2:dc684c402296 82 extern float Tilt_motor_max_count_rate; //encoder counts / ms
acodd 2:dc684c402296 83
acodd 2:dc684c402296 84 extern float T_Position; // True Tilt Position (Degrees)
acodd 3:f8a5c1cee1fa 85 extern float T_Encoder_sf; // counts per degree
acodd 2:dc684c402296 86 extern int DoMove;
acodd 2:dc684c402296 87 extern float s_profile;
acodd 2:dc684c402296 88 extern float P_vel;
acodd 2:dc684c402296 89 extern float real_time;
acodd 2:dc684c402296 90 extern float T_Joy;
acodd 4:4dafa4113982 91 float Joy_DeadBand = 15;
acodd 4:4dafa4113982 92 float Joy_Zoom = 1; // valid numbers from 1 - 9
acodd 2:dc684c402296 93 float Time = 0.0;
acodd 4:4dafa4113982 94 extern double P;
ms523 0:7ce0bc67f60f 95
ms523 0:7ce0bc67f60f 96 void PanVelocityLoop(void const *args);
ms523 0:7ce0bc67f60f 97 void TiltVelocityLoop(void const *args);
acodd 2:dc684c402296 98 void Profile(void const *args);
ms523 1:1ad84260ff59 99 int ServiceKeyboard();
ms523 0:7ce0bc67f60f 100 void UpdateCamera(float, float);
ms523 0:7ce0bc67f60f 101
ms523 0:7ce0bc67f60f 102 void isr_Switch(void)
ms523 0:7ce0bc67f60f 103 {
ms523 0:7ce0bc67f60f 104 wait_ms(1); // Wait 1ms and check if the switch is still pressed
ms523 0:7ce0bc67f60f 105 if (Switch) {
ms523 0:7ce0bc67f60f 106 wait_ms(1); // Wait another 1ms and double check the switch
ms523 0:7ce0bc67f60f 107 if (Switch) {
ms523 0:7ce0bc67f60f 108 Mode = !Mode;
ms523 0:7ce0bc67f60f 109 if(Mode == AUTO) {
ms523 0:7ce0bc67f60f 110 AutofocusFlag = true;
ms523 0:7ce0bc67f60f 111 } else {
ms523 0:7ce0bc67f60f 112 ManualfocusFlag = true;
ms523 0:7ce0bc67f60f 113 }
ms523 0:7ce0bc67f60f 114 }
ms523 0:7ce0bc67f60f 115 }
ms523 1:1ad84260ff59 116 }
ms523 0:7ce0bc67f60f 117
ms523 0:7ce0bc67f60f 118 void Anti_Lock(void const *args)
ms523 0:7ce0bc67f60f 119 {
ms523 0:7ce0bc67f60f 120 Pan_Motor_Direction = !Pan_Motor_Direction.read(); // Toggle motor direction to overcome lock protection
ms523 0:7ce0bc67f60f 121 Tilt_Motor_Direction = !Tilt_Motor_Direction.read();
ms523 0:7ce0bc67f60f 122 wait_us(10);
ms523 0:7ce0bc67f60f 123 Pan_Motor_Direction = !Pan_Motor_Direction.read();
ms523 0:7ce0bc67f60f 124 Tilt_Motor_Direction = !Tilt_Motor_Direction.read();
ms523 0:7ce0bc67f60f 125 }
ms523 0:7ce0bc67f60f 126
ms523 1:1ad84260ff59 127
ms523 1:1ad84260ff59 128 // IRQ for Rx camera interrupt
ms523 1:1ad84260ff59 129 void UART3_rxInterrupt(void)
ms523 1:1ad84260ff59 130 {
ms523 1:1ad84260ff59 131 // Create an array to read the whole message
ms523 1:1ad84260ff59 132 static int index = 0;
ms523 1:1ad84260ff59 133 static char msg[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
ms523 1:1ad84260ff59 134
ms523 1:1ad84260ff59 135 NVIC_DisableIRQ(UART3_IRQn); // Disable the interrupt
ms523 1:1ad84260ff59 136 uint32_t IRR3 = LPC_UART3->IIR;
ms523 1:1ad84260ff59 137 msg[index] = LPC_UART3->RBR; // Read the byte and put it into the next available element of the array
ms523 1:1ad84260ff59 138
ms523 1:1ad84260ff59 139 // Check to see if that is the end of the message
ms523 1:1ad84260ff59 140 if(msg[index] == 0xFF) {
ms523 1:1ad84260ff59 141 // Check to see if the response is zoom data i.e. 7 bytes long and starts with 0x90, 0x50...
ms523 1:1ad84260ff59 142 if(index == 6 && msg[0] == 0x90 && msg[1] == 0x50) {
ms523 1:1ad84260ff59 143 ZoomPos = (msg[2] & 0x0F) << 12;
ms523 1:1ad84260ff59 144 ZoomPos += (msg[3] & 0x0F) << 8;
ms523 1:1ad84260ff59 145 ZoomPos += (msg[4] & 0x0F) << 4;
ms523 1:1ad84260ff59 146 ZoomPos += (msg[5] & 0x0F);
ms523 1:1ad84260ff59 147 }
ms523 1:1ad84260ff59 148 index = 0;
ms523 1:1ad84260ff59 149 } else {
ms523 1:1ad84260ff59 150 index++;
ms523 1:1ad84260ff59 151 }
ms523 1:1ad84260ff59 152
ms523 1:1ad84260ff59 153 led3 = !led3; // Flash the LED
ms523 1:1ad84260ff59 154 NVIC_EnableIRQ(UART3_IRQn); // Enable the interrupt again
ms523 1:1ad84260ff59 155 }
ms523 1:1ad84260ff59 156
ms523 0:7ce0bc67f60f 157 int main()
ms523 0:7ce0bc67f60f 158 {
ms523 0:7ce0bc67f60f 159 // Increase the Camera baud rate
ms523 0:7ce0bc67f60f 160 Camera.baud(38400);
ms523 1:1ad84260ff59 161
ms523 1:1ad84260ff59 162 // Set up the Camera Rx Interrupt
ms523 1:1ad84260ff59 163 Camera.attach(&UART3_rxInterrupt,Serial::RxIrq);
ms523 0:7ce0bc67f60f 164
ms523 0:7ce0bc67f60f 165 // Set up the switch to toggle autofocus
ms523 0:7ce0bc67f60f 166 Switch.mode(PullDown); //Set the internal pull down resistor
ms523 0:7ce0bc67f60f 167 Switch.rise(&isr_Switch); //ISR for the switch
ms523 0:7ce0bc67f60f 168 led4 = 1; // We start in autofocus mode
ms523 0:7ce0bc67f60f 169 led1 = 1; // Turn all other LEDs off
ms523 0:7ce0bc67f60f 170 led2 = 1;
ms523 0:7ce0bc67f60f 171 led3 = 0;
ms523 1:1ad84260ff59 172
ms523 0:7ce0bc67f60f 173 // Set up the Pan motor
ms523 0:7ce0bc67f60f 174 Pan_Motor_PWM.period_us(50); // Set PWM to 20 kHz
ms523 0:7ce0bc67f60f 175 Pan_Motor_PWM = 1; // Start with motor static
ms523 0:7ce0bc67f60f 176
ms523 0:7ce0bc67f60f 177 // Set up the Tilt motor
ms523 0:7ce0bc67f60f 178 Tilt_Motor_PWM.period_us(50); // Set PWM to 20 kHz
ms523 0:7ce0bc67f60f 179 Tilt_Motor_PWM = 1; // Start with motor static
ms523 0:7ce0bc67f60f 180
ms523 0:7ce0bc67f60f 181 // Initalise Pan Velocity loop RtosTimer thread
ms523 0:7ce0bc67f60f 182 RtosTimer PanVelocityLoop_timer(PanVelocityLoop, osTimerPeriodic);
ms523 0:7ce0bc67f60f 183 PanVelocityLoop_timer.start(1); // Run at 1kHz
ms523 0:7ce0bc67f60f 184
ms523 0:7ce0bc67f60f 185 // Initalise Tilt Velocity loop RtosTimer thread
ms523 0:7ce0bc67f60f 186 RtosTimer TiltVelocityLoop_timer(TiltVelocityLoop, osTimerPeriodic);
ms523 0:7ce0bc67f60f 187 TiltVelocityLoop_timer.start(1); // Run at 1kHz
ms523 0:7ce0bc67f60f 188
ms523 0:7ce0bc67f60f 189 // Initalise Pan PID Loop
ms523 0:7ce0bc67f60f 190 PanVelocityPID.setProcessLimits(1.0, -1.0);
ms523 0:7ce0bc67f60f 191 PanVelocityPID.setSetPoint(0);
ms523 0:7ce0bc67f60f 192 LastPanPosition = pan_ic_mu.ReadPOSITION() >> 1;
ms523 0:7ce0bc67f60f 193
ms523 0:7ce0bc67f60f 194 // Initalise Tilt PID Loop
acodd 2:dc684c402296 195 TiltVelocityPID.setProcessLimits(Tilt_motor_max_count_rate, (Tilt_motor_max_count_rate*-1));
ms523 0:7ce0bc67f60f 196 TiltVelocityPID.setSetPoint(0);
acodd 3:f8a5c1cee1fa 197 Last_M_Position = tilt_ic_mu.ReadPOSITION() >> 1;
ms523 0:7ce0bc67f60f 198
ms523 0:7ce0bc67f60f 199 // Initalise Anti-Lock RtosTimer thread
ms523 0:7ce0bc67f60f 200 RtosTimer Anti_Lock_timer(Anti_Lock, osTimerPeriodic);
ms523 0:7ce0bc67f60f 201 Anti_Lock_timer.start(1000); // Run at 1Hz
acodd 2:dc684c402296 202
acodd 2:dc684c402296 203 pc.baud(921600);
acodd 4:4dafa4113982 204
acodd 3:f8a5c1cee1fa 205 T_Position = 360 - (TiltPos.ReadPOSITION()/T_Encoder_sf); // Prime the system on startup, this is not used once running.
acodd 2:dc684c402296 206 P = T_Position; // Priming
acodd 2:dc684c402296 207 pc.printf("\n\r Startup: T_Position = %f, P = %f, \n\r", T_Position, P);
acodd 4:4dafa4113982 208
ms523 0:7ce0bc67f60f 209 while(1) {
ms523 1:1ad84260ff59 210 // Check to see if a key has been pressed
ms523 1:1ad84260ff59 211 if(pc.readable()) {
ms523 1:1ad84260ff59 212 ServiceKeyboard();
ms523 1:1ad84260ff59 213 }
acodd 3:f8a5c1cee1fa 214 //T_Position = TiltPos.ReadPOSITION()/T_Encoder_sf;
acodd 2:dc684c402296 215 Demand_Count_Rate = TiltVelocityPID.getSetPoint();
acodd 2:dc684c402296 216
acodd 2:dc684c402296 217 if(1==0) {
acodd 2:dc684c402296 218 Velocity_Error = Demand_Count_Rate - Actual_Motor_Speed;
acodd 2:dc684c402296 219 pc.printf("\n\r Demand Ms = %f, V Error = %f, Pos = %f, Demand P = %f",Demand_Count_Rate, Velocity_Error, T_Position, P);
acodd 2:dc684c402296 220 }
acodd 4:4dafa4113982 221
acodd 4:4dafa4113982 222 if(scoping) {
acodd 4:4dafa4113982 223 P_Error = P - T_Position;
acodd 4:4dafa4113982 224 pc.printf("\n\r %f, %f, %f, %f, %f, %f, %f, %f", Time, Tilt_JoyStickDem, P_Error, T_Position, P, Actual_Motor_Speed, s_profile, real_time);
acodd 4:4dafa4113982 225 Time = Time + 0.1;
acodd 2:dc684c402296 226 }
acodd 2:dc684c402296 227
acodd 4:4dafa4113982 228 Thread::wait(50);
acodd 4:4dafa4113982 229
acodd 4:4dafa4113982 230
acodd 4:4dafa4113982 231 if (Fademe){
acodd 4:4dafa4113982 232 pc.printf("\n\r %i, %f", Setspeed.read(), Setspeed.read());
acodd 4:4dafa4113982 233 }
acodd 4:4dafa4113982 234
acodd 4:4dafa4113982 235
acodd 4:4dafa4113982 236
acodd 4:4dafa4113982 237 //Update the Zoom and Focus Demands
acodd 4:4dafa4113982 238 UpdateCamera(Zoom_Joystick.read(),Focus_Pot.read());
acodd 2:dc684c402296 239
ms523 1:1ad84260ff59 240 //pc.printf("\n\r %d ",tiltPosition);
acodd 4:4dafa4113982 241 Thread::wait(50);
acodd 2:dc684c402296 242
ms523 1:1ad84260ff59 243
acodd 2:dc684c402296 244 // Apply Offset
acodd 4:4dafa4113982 245 Tilt_JoyStickDem = Setspeed.read() - 0.5; //Tilt_Joystick.read() - 0.5;
acodd 4:4dafa4113982 246 Tilt_JoyStickDem = Tilt_JoyStickDem;
acodd 4:4dafa4113982 247
acodd 4:4dafa4113982 248 Tilt_JoyStickDem /= (ZoomPos >> 9) + 1; // Catch divide by zeros
acodd 4:4dafa4113982 249
acodd 4:4dafa4113982 250 Tilt_JoyStickDem *= 10000; // Apply scalefactor
acodd 4:4dafa4113982 251
acodd 4:4dafa4113982 252 if ((Tilt_JoyStickDem * Tilt_JoyStickDem) < (Joy_DeadBand * Joy_DeadBand)) {
acodd 4:4dafa4113982 253 Tilt_JoyStickDem = 0; //Apply Deadband
acodd 2:dc684c402296 254 }
acodd 2:dc684c402296 255
acodd 4:4dafa4113982 256 if(Tilt_JoyStickDem > 0) {
acodd 4:4dafa4113982 257 // Check the tilt angle to see if it is within softlimits
acodd 4:4dafa4113982 258 if(T_Position > 310) {
acodd 4:4dafa4113982 259 Tilt_JoyStickDem = 0.0;
acodd 4:4dafa4113982 260 }
acodd 4:4dafa4113982 261 } else {
acodd 4:4dafa4113982 262 // Check the tilt angle to see if it is within softlimits
acodd 4:4dafa4113982 263 if(T_Position < 40) {
acodd 4:4dafa4113982 264 Tilt_JoyStickDem = 0.0;
acodd 4:4dafa4113982 265 }
acodd 4:4dafa4113982 266 }
acodd 2:dc684c402296 267
acodd 4:4dafa4113982 268
acodd 2:dc684c402296 269 Tilt_JoyStickDem = Tilt_JoyStickDem / Joy_Zoom;
acodd 4:4dafa4113982 270
ms523 0:7ce0bc67f60f 271 if(joystick) {
ms523 1:1ad84260ff59 272 TiltVelocityPID.setSetPoint((int)Tilt_JoyStickDem); // Read the joystick and apply the gain
acodd 2:dc684c402296 273 } else {
acodd 2:dc684c402296 274
acodd 4:4dafa4113982 275 T_Joy = Tilt_JoyStickDem / 40;
ms523 1:1ad84260ff59 276 }
ms523 1:1ad84260ff59 277
ms523 0:7ce0bc67f60f 278 if(AutofocusFlag) {
ms523 0:7ce0bc67f60f 279 // Turn on the autofocus
ms523 1:1ad84260ff59 280 led1 = 1; // Turn the LED on to show we are in auto-focus mode
ms523 0:7ce0bc67f60f 281 Camera.putc(0x81); // Camera
ms523 0:7ce0bc67f60f 282 Camera.putc(0x01); // Turn on auto-focus cmd
ms523 0:7ce0bc67f60f 283 Camera.putc(0x04);
ms523 0:7ce0bc67f60f 284 Camera.putc(0x38);
ms523 0:7ce0bc67f60f 285 Camera.putc(0x02);
ms523 0:7ce0bc67f60f 286 Camera.putc(0xFF); // Terminator
ms523 0:7ce0bc67f60f 287 AutofocusFlag = false;
ms523 0:7ce0bc67f60f 288 Mode = AUTO;
ms523 0:7ce0bc67f60f 289 }
ms523 0:7ce0bc67f60f 290 if(ManualfocusFlag) {
ms523 0:7ce0bc67f60f 291 // Turn on Manual focus
ms523 1:1ad84260ff59 292 led1 = 0; // Turn the LED off to show we are in manual-focus mode
ms523 0:7ce0bc67f60f 293 Camera.putc(0x81); // Camera
ms523 0:7ce0bc67f60f 294 Camera.putc(0x01); // Turn on manual-focus cmd
ms523 0:7ce0bc67f60f 295 Camera.putc(0x04);
ms523 0:7ce0bc67f60f 296 Camera.putc(0x38);
ms523 0:7ce0bc67f60f 297 Camera.putc(0x03);
ms523 0:7ce0bc67f60f 298 Camera.putc(0xFF); // Terminator
ms523 0:7ce0bc67f60f 299 ManualfocusFlag = false;
ms523 0:7ce0bc67f60f 300 Mode = MANUAL;
ms523 1:1ad84260ff59 301 }
ms523 0:7ce0bc67f60f 302 }
ms523 0:7ce0bc67f60f 303 }
ms523 0:7ce0bc67f60f 304
ms523 1:1ad84260ff59 305 /*
ms523 1:1ad84260ff59 306 // Increase the serial baud rate
ms523 1:1ad84260ff59 307 // pc.baud(921600);
ms523 0:7ce0bc67f60f 308
ms523 1:1ad84260ff59 309 while(1) {
ms523 1:1ad84260ff59 310 Thread::wait(100);
ms523 0:7ce0bc67f60f 311
ms523 1:1ad84260ff59 312 if(pc.readable()) {
ms523 1:1ad84260ff59 313 ServiceKeyboard();
ms523 1:1ad84260ff59 314 }
ms523 1:1ad84260ff59 315
ms523 1:1ad84260ff59 316 if(Demand) {
ms523 1:1ad84260ff59 317 pc.printf("\n\r %0.3f ",PanVelocityPID.getSetPoint());
ms523 1:1ad84260ff59 318 }
ms523 1:1ad84260ff59 319 }
ms523 0:7ce0bc67f60f 320 }*/
acodd 2:dc684c402296 321
acodd 2:dc684c402296 322
acodd 2:dc684c402296 323
acodd 4:4dafa4113982 324
acodd 4:4dafa4113982 325