Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

actuators.cpp@123:815ace09b753, 2015-10-29 (annotated)

Committer:
annesteenbeek
Date:
Thu Oct 29 14:41:54 2015 +0000
Revision:
123:815ace09b753
Parent:
122:1a5df0765790 
working copy;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 13:4837b36b9a68 1 #include "actuators.h"
annesteenbeek 13:4837b36b9a68 2 #include "PID.h"
annesteenbeek 13:4837b36b9a68 3 #include "mbed.h"
annesteenbeek 13:4837b36b9a68 4 #include "config.h"
annesteenbeek 13:4837b36b9a68 5 #include "encoder.h"
annesteenbeek 25:874675516927 6 #include "HIDScope.h"
annesteenbeek 107:de47331612d9 7 #include "buttons.h"
annesteenbeek 107:de47331612d9 8 #include "Servo.h"
annesteenbeek 98:25528494287d 9
annesteenbeek 109:026abd708dce 10 // Motor control constants
annesteenbeek 109:026abd708dce 11 #define pwm_frequency 50000 // still High, could be lowered
annesteenbeek 109:026abd708dce 12 #define PI 3.14159265
annesteenbeek 106:1773bf7b95c5 13
annesteenbeek 109:026abd708dce 14 // functions for controlling the motors
annesteenbeek 109:026abd708dce 15 bool motorsEnable = false;
annesteenbeek 109:026abd708dce 16 bool safetyOn = true;
annesteenbeek 76:0aa90e728e4a 17
annesteenbeek 6:b957d8809e7c 18
annesteenbeek 109:026abd708dce 19 double encoder1Counts = 0;
annesteenbeek 109:026abd708dce 20 double encoder2Counts = 0;
annesteenbeek 68:21cb054f1399 21
annesteenbeek 109:026abd708dce 22 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 109:026abd708dce 23 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 24
annesteenbeek 109:026abd708dce 25 double motor1Pos = 0;
annesteenbeek 109:026abd708dce 26 double motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 27
annesteenbeek 109:026abd708dce 28 double motor1Speed = 0;
annesteenbeek 109:026abd708dce 29 double motor2Speed = 0;
annesteenbeek 6:b957d8809e7c 30
annesteenbeek 109:026abd708dce 31 double motor1SetSpeed = 0;
annesteenbeek 109:026abd708dce 32 double motor2SetSpeed = 0;
annesteenbeek 6:b957d8809e7c 33
annesteenbeek 118:49605b5bd802 34 double setXSpeed = 0;
annesteenbeek 118:49605b5bd802 35 double setYSpeed = 0;
annesteenbeek 118:49605b5bd802 36
annesteenbeek 109:026abd708dce 37 double motor1PWM = 0;
annesteenbeek 109:026abd708dce 38 double motor2PWM = 0;
annesteenbeek 6:b957d8809e7c 39
annesteenbeek 109:026abd708dce 40 // Set PID values
annesteenbeek 123:815ace09b753 41 double Kp1 = 0.008;
annesteenbeek 123:815ace09b753 42 double Ki1 = 0.08;
annesteenbeek 109:026abd708dce 43 double Kd1 = 0;
annesteenbeek 0:525558a26464 44
annesteenbeek 109:026abd708dce 45 double Kp2 = 0.008;
annesteenbeek 109:026abd708dce 46 double Ki2 = 0.08;
annesteenbeek 109:026abd708dce 47 double Kd2 = 0;
annesteenbeek 20:3cba803cd771 48
annesteenbeek 109:026abd708dce 49 double motor1PrevCounts = 0;
annesteenbeek 109:026abd708dce 50 double motor2PrevCounts = 0;
annesteenbeek 109:026abd708dce 51 double prevTime = 0;
annesteenbeek 109:026abd708dce 52 double now = 0;
annesteenbeek 109:026abd708dce 53 double timechange;
annesteenbeek 109:026abd708dce 54
annesteenbeek 109:026abd708dce 55 // Set servo values
annesteenbeek 110:a6439e13be8b 56 double servoSpeed = 0;
annesteenbeek 109:026abd708dce 57 const int servoStartPos = 1300; // Servo ranges from 600ms(-90) to 2000ms(90), 1300 is 0 deg
annesteenbeek 26:0a9e4147a31a 58
annesteenbeek 109:026abd708dce 59 // Create object instances
annesteenbeek 109:026abd708dce 60 // Safety Pin
annesteenbeek 109:026abd708dce 61 DigitalIn safetyIn(safetyPin);
annesteenbeek 32:2006977785f5 62
annesteenbeek 109:026abd708dce 63 // Initialze motors
annesteenbeek 109:026abd708dce 64 PwmOut motor1(motor1PWMPin);
annesteenbeek 109:026abd708dce 65 PwmOut motor2(motor2PWMPin);
annesteenbeek 109:026abd708dce 66
annesteenbeek 109:026abd708dce 67 // initialize Servo
annesteenbeek 109:026abd708dce 68 Servo servo(servoPin);
annesteenbeek 98:25528494287d 69
annesteenbeek 98:25528494287d 70
annesteenbeek 109:026abd708dce 71 // Initialize encoders
annesteenbeek 109:026abd708dce 72 Encoder encoder1(enc1A, enc1B);
annesteenbeek 109:026abd708dce 73 Encoder encoder2(enc2A, enc2B);
annesteenbeek 25:874675516927 74
annesteenbeek 109:026abd708dce 75 // Set direction pins
annesteenbeek 109:026abd708dce 76 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 109:026abd708dce 77 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 26:0a9e4147a31a 78
annesteenbeek 109:026abd708dce 79 // create PID instances
annesteenbeek 109:026abd708dce 80 PID motor1PID(&motor1Speed, &motor1PWM, &motor1SetSpeed, Kp1, Ki1, Kd1);
annesteenbeek 109:026abd708dce 81 PID motor2PID(&motor2Speed, &motor2PWM, &motor2SetSpeed, Kp2, Ki2, Kd2);
annesteenbeek 31:8fbee6c92753 82
annesteenbeek 109:026abd708dce 83 Timer t;
annesteenbeek 25:874675516927 84
annesteenbeek 25:874675516927 85 void motorInit(){
annesteenbeek 25:874675516927 86
annesteenbeek 3:47c76be6d402 87 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 88 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 89
annesteenbeek 3:47c76be6d402 90 // Set motor PWM period
annesteenbeek 3:47c76be6d402 91 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 92 motor2.period(1/pwm_frequency);
annesteenbeek 55:ee5257fb73df 93
annesteenbeek 55:ee5257fb73df 94 motor1PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 95 motor2PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 96
annesteenbeek 69:37f75a7d36d8 97 motor1PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 98 motor2PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 99
annesteenbeek 30:a20f16bf8dda 100 // Turn PID on
annesteenbeek 55:ee5257fb73df 101 motor1PID.SetMode(AUTOMATIC);
annesteenbeek 55:ee5257fb73df 102 motor2PID.SetMode(AUTOMATIC);
annesteenbeek 98:25528494287d 103
annesteenbeek 98:25528494287d 104 // set servo period
annesteenbeek 107:de47331612d9 105 servo.Enable(servoStartPos, 20000);
annesteenbeek 98:25528494287d 106
annesteenbeek 30:a20f16bf8dda 107 // start the timer
annesteenbeek 29:e4f3455aaa0b 108 t.start();
annesteenbeek 4:80e2280058ed 109 }
annesteenbeek 0:525558a26464 110
annesteenbeek 26:0a9e4147a31a 111
annesteenbeek 0:525558a26464 112 void motorControl(){
annesteenbeek 107:de47331612d9 113 // EMG signals to motor speeds
annesteenbeek 112:7b964afb97b4 114 // const double scaleVel = 20;
annesteenbeek 112:7b964afb97b4 115 // motor1SetSpeed = x_velocity*scaleVel;
annesteenbeek 112:7b964afb97b4 116 // motor2SetSpeed = y_velocity*scaleVel;
annesteenbeek 112:7b964afb97b4 117 // servoSpeed = z_velocity*scaleVel;
annesteenbeek 30:a20f16bf8dda 118 // get encoder positions in degrees
annesteenbeek 30:a20f16bf8dda 119 // 131.25:1 gear ratio
annesteenbeek 30:a20f16bf8dda 120 // getPosition uses X2 configuration, so 32 counts per revolution
annesteenbeek 30:a20f16bf8dda 121 // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive
annesteenbeek 68:21cb054f1399 122
annesteenbeek 68:21cb054f1399 123 encoder1Counts = encoder1.getPosition();
annesteenbeek 68:21cb054f1399 124 encoder2Counts = encoder2.getPosition();
annesteenbeek 68:21cb054f1399 125
annesteenbeek 68:21cb054f1399 126
annesteenbeek 111:43c0881fe7e7 127 motor1Pos = ((encoder1Counts/32)/131.25)*360;
annesteenbeek 111:43c0881fe7e7 128 motor2Pos = ((encoder2Counts/32)/131.25)*360;
annesteenbeek 3:47c76be6d402 129
annesteenbeek 0:525558a26464 130 // check if motor's are within rotational boundarys
annesteenbeek 30:a20f16bf8dda 131 // get encoder speeds in deg/sec
annesteenbeek 66:d1ab5904f8e5 132 now = t.read();
annesteenbeek 50:b0cf07ca53cf 133 timechange = (now - prevTime);
annesteenbeek 111:43c0881fe7e7 134 motor1Speed = ((((encoder1Counts - motor1PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 111:43c0881fe7e7 135 motor2Speed = ((((encoder2Counts - motor2PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 50:b0cf07ca53cf 136 prevTime = now;
annesteenbeek 68:21cb054f1399 137 motor1PrevCounts = encoder1Counts;
annesteenbeek 68:21cb054f1399 138 motor2PrevCounts = encoder2Counts;
annesteenbeek 29:e4f3455aaa0b 139
annesteenbeek 31:8fbee6c92753 140 // calculate motor setpoint speed in deg/sec from setpoint x/y speed
annesteenbeek 30:a20f16bf8dda 141
annesteenbeek 112:7b964afb97b4 142 // exclude kinematics when still calibrating
annesteenbeek 123:815ace09b753 143 if (calReady){
annesteenbeek 123:815ace09b753 144 kinematics();
annesteenbeek 123:815ace09b753 145 }
annesteenbeek 112:7b964afb97b4 146
annesteenbeek 48:3cf1eaf34926 147 if(motorsEnable){ // only run motors if switch is enabled
annesteenbeek 32:2006977785f5 148 // compute new PID parameters using setpoint angle speeds and encoder speed
annesteenbeek 123:815ace09b753 149 writeMotors();
annesteenbeek 98:25528494287d 150 servoControl();
annesteenbeek 0:525558a26464 151 }else{
annesteenbeek 0:525558a26464 152 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 153 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 154 motor2.write(0);
annesteenbeek 0:525558a26464 155 }
annesteenbeek 0:525558a26464 156 }
annesteenbeek 0:525558a26464 157
annesteenbeek 31:8fbee6c92753 158 void writeMotors(){
annesteenbeek 54:c14c3bc48b8a 159 motor1PID.Compute(); // calculate PID outputs, output changes automatically
annesteenbeek 76:0aa90e728e4a 160 motor2PID.Compute();
annesteenbeek 31:8fbee6c92753 161 // write new values to motor's
annesteenbeek 123:815ace09b753 162 if (motor1SetSpeed ==0 ){
annesteenbeek 123:815ace09b753 163 motor1PID.SetOutputLimits(0,0);
annesteenbeek 123:815ace09b753 164 }
annesteenbeek 82:4cc8f9ad3fec 165 if (motor1SetSpeed > 0 ){ // CCW rotation
annesteenbeek 111:43c0881fe7e7 166 direction1 = true;
annesteenbeek 84:df770ec4df61 167 motor1PID.SetOutputLimits(0,1); // change pid output direction
annesteenbeek 31:8fbee6c92753 168 }else{
annesteenbeek 111:43c0881fe7e7 169 direction1 = false; // CW rotation
annesteenbeek 83:8fa05f53fc73 170 motor1PID.SetOutputLimits(-1,0);
annesteenbeek 31:8fbee6c92753 171 }
annesteenbeek 123:815ace09b753 172 if (motor2SetSpeed ==0 ){
annesteenbeek 123:815ace09b753 173 motor2PID.SetOutputLimits(0,0);
annesteenbeek 123:815ace09b753 174 }
annesteenbeek 82:4cc8f9ad3fec 175 if (motor2SetSpeed > 0 ){ // CCW rotation
annesteenbeek 111:43c0881fe7e7 176 direction2 = true;
annesteenbeek 83:8fa05f53fc73 177 motor2PID.SetOutputLimits(0,1);
annesteenbeek 68:21cb054f1399 178 }else{
annesteenbeek 111:43c0881fe7e7 179 direction2 = false; // CW rotation
annesteenbeek 83:8fa05f53fc73 180 motor2PID.SetOutputLimits(-1,0);
annesteenbeek 68:21cb054f1399 181 }
annesteenbeek 31:8fbee6c92753 182 motor1Dir.write(direction1);
annesteenbeek 31:8fbee6c92753 183 motor2Dir.write(direction2);
annesteenbeek 69:37f75a7d36d8 184
annesteenbeek 52:2ac9dee099ce 185 motor1.write(abs(motor1PWM));
annesteenbeek 76:0aa90e728e4a 186 motor2.write(abs(motor2PWM));
annesteenbeek 31:8fbee6c92753 187 }
annesteenbeek 31:8fbee6c92753 188
annesteenbeek 0:525558a26464 189 void servoControl(){
annesteenbeek 107:de47331612d9 190 servo.SetPosition(1300 + 700*servoSpeed);
annesteenbeek 25:874675516927 191 }
annesteenbeek 25:874675516927 192
annesteenbeek 112:7b964afb97b4 193 const double motor1StartPos = (-10*32*131.25)/360; // angle to encoder counts
annesteenbeek 122:1a5df0765790 194 const double motor2StartPos = (120*32*131.25)/360;
annesteenbeek 122:1a5df0765790 195
annesteenbeek 122:1a5df0765790 196 // Set calibration values
annesteenbeek 122:1a5df0765790 197 double motor1CalSpeed = -10; // deg/sec
annesteenbeek 122:1a5df0765790 198 double motor2CalSpeed = 5;
annesteenbeek 122:1a5df0765790 199 bool springHit = false;
annesteenbeek 122:1a5df0765790 200 float lastCall = 0;
annesteenbeek 122:1a5df0765790 201 bool calibrating1 = true;
annesteenbeek 122:1a5df0765790 202 bool calibrating2 = false;
annesteenbeek 122:1a5df0765790 203 double looseTime = 0;
annesteenbeek 112:7b964afb97b4 204
annesteenbeek 106:1773bf7b95c5 205 bool calibrateMotors(){
annesteenbeek 98:25528494287d 206 safetyOn = false; // safety springs off
annesteenbeek 98:25528494287d 207 motorsEnable = true; // motors on
annesteenbeek 98:25528494287d 208 while (calibrating1 || calibrating2){
annesteenbeek 98:25528494287d 209 if (calibrating1){
annesteenbeek 111:43c0881fe7e7 210 motor1SetSpeed = motor1CalSpeed;
annesteenbeek 98:25528494287d 211 redLed.write(1); greenLed.write(0); blueLed.write(1);
annesteenbeek 111:43c0881fe7e7 212 if(safetyIn.read() !=1 && !springHit){ // check if arm reached safety position
annesteenbeek 112:7b964afb97b4 213 encoder1.setPosition(motor1StartPos); // set motor 1 cal angle
annesteenbeek 112:7b964afb97b4 214 motor1PrevCounts = motor1StartPos; // set previous count to prevent speed spike
annesteenbeek 111:43c0881fe7e7 215 motor1CalSpeed = -motor1CalSpeed; // move away
annesteenbeek 98:25528494287d 216 springHit = true;
annesteenbeek 111:43c0881fe7e7 217 looseTime = t.read(); // timer to compensate spring movement
annesteenbeek 98:25528494287d 218 }else{
annesteenbeek 111:43c0881fe7e7 219 // if hit and after is no longer touching spring and 0.5seconds passed
annesteenbeek 111:43c0881fe7e7 220 if(springHit && ((t.read() - looseTime) > 2)){
annesteenbeek 98:25528494287d 221 motor1SetSpeed = 0;
annesteenbeek 98:25528494287d 222 springHit = false;
annesteenbeek 111:43c0881fe7e7 223 calibrating2 = true; // start calibrating 2
annesteenbeek 98:25528494287d 224 calibrating1 = false;
annesteenbeek 98:25528494287d 225 }
annesteenbeek 98:25528494287d 226 }
annesteenbeek 98:25528494287d 227 }
annesteenbeek 98:25528494287d 228 if (calibrating2){
annesteenbeek 111:43c0881fe7e7 229 motor2SetSpeed = motor2CalSpeed;
annesteenbeek 98:25528494287d 230 redLed.write(1); greenLed.write(1); blueLed.write(0);
annesteenbeek 111:43c0881fe7e7 231 if(safetyIn.read() !=1 && !springHit){ // check if arm reached safety position
annesteenbeek 112:7b964afb97b4 232 encoder2.setPosition(motor2StartPos); // set motor 2 cal angle
annesteenbeek 112:7b964afb97b4 233 motor2PrevCounts = motor2StartPos; // set previous cunt to prevent speed spike
annesteenbeek 111:43c0881fe7e7 234 motor2CalSpeed = -motor2CalSpeed; // move away
annesteenbeek 98:25528494287d 235 springHit = true;
annesteenbeek 111:43c0881fe7e7 236 looseTime = t.read();
annesteenbeek 98:25528494287d 237 }else{
annesteenbeek 111:43c0881fe7e7 238 if(springHit && ((t.read() - looseTime) > 2)){
annesteenbeek 98:25528494287d 239 motor2SetSpeed = 0;
annesteenbeek 98:25528494287d 240 springHit = false;
annesteenbeek 98:25528494287d 241 calibrating2 = false; // stop calibrating 2
annesteenbeek 98:25528494287d 242 }
annesteenbeek 98:25528494287d 243 }
annesteenbeek 98:25528494287d 244 }
annesteenbeek 111:43c0881fe7e7 245 // now = t.read(); // call motor using timer instead of wait
annesteenbeek 111:43c0881fe7e7 246 // if(now - lastCall > motorCall){
annesteenbeek 98:25528494287d 247 motorControl();
annesteenbeek 111:43c0881fe7e7 248 wait(motorCall); // keep calling PID's with motorCall frequency
annesteenbeek 111:43c0881fe7e7 249 // lastCall = now;
annesteenbeek 111:43c0881fe7e7 250 // }
annesteenbeek 98:25528494287d 251
annesteenbeek 98:25528494287d 252 }
annesteenbeek 111:43c0881fe7e7 253 redLed.write(0); greenLed.write(1); blueLed.write(1);
annesteenbeek 99:7030e9790b1d 254 motorsEnable = false; // turn motor's off again
annesteenbeek 76:0aa90e728e4a 255 safetyOn = true; // turn safety on after callibration
annesteenbeek 110:a6439e13be8b 256 return true; // return true when finished
annesteenbeek 74:75be98779124 257 }
annesteenbeek 74:75be98779124 258
annesteenbeek 74:75be98779124 259
annesteenbeek 74:75be98779124 260 void safety(){
annesteenbeek 74:75be98779124 261 if (safetyOn){
annesteenbeek 81:71e7e98deb2c 262 if (safetyIn.read() != 1){
annesteenbeek 79:cf500b63f349 263 motorsEnable = false;
annesteenbeek 79:cf500b63f349 264 }
annesteenbeek 74:75be98779124 265 }
annesteenbeek 79:cf500b63f349 266 }
annesteenbeek 106:1773bf7b95c5 267
annesteenbeek 112:7b964afb97b4 268 const double L1 = 0.436; // first arm in m
annesteenbeek 112:7b964afb97b4 269 const double L2 = 0.120; // first arm in m
annesteenbeek 112:7b964afb97b4 270 const double L3 = 0.255; // servo arm in m
annesteenbeek 112:7b964afb97b4 271 const double Xmax = 0.3;
annesteenbeek 120:440f1516101b 272 const double Xmin = -0.3;
annesteenbeek 112:7b964afb97b4 273 const double Ymax = 0.645;
annesteenbeek 112:7b964afb97b4 274 const double Ymin = 0.33;
annesteenbeek 121:6d8f1bdcda05 275 double Xpos = 0; // set values
annesteenbeek 122:1a5df0765790 276 double Ypos = 0;
annesteenbeek 106:1773bf7b95c5 277
annesteenbeek 112:7b964afb97b4 278
annesteenbeek 106:1773bf7b95c5 279
annesteenbeek 112:7b964afb97b4 280 bool kinematics(){
annesteenbeek 112:7b964afb97b4 281 // calculate current x and Y
annesteenbeek 121:6d8f1bdcda05 282 Xpos = (L2+L3)*cos((motor1Pos + motor2Pos)*PI/180) + L1*cos(motor1Pos*PI/180);
annesteenbeek 121:6d8f1bdcda05 283 Ypos = (L2+L3)*sin((motor1Pos + motor2Pos)*PI/180) + L1*sin(motor1Pos*PI/180);
annesteenbeek 112:7b964afb97b4 284 // check if x and y are within limits
annesteenbeek 112:7b964afb97b4 285 // else Store the constraint line
annesteenbeek 112:7b964afb97b4 286 // check if movement is in direction of constraint
annesteenbeek 112:7b964afb97b4 287 // else return false no movement (anglespeed = 0)
annesteenbeek 112:7b964afb97b4 288 // calculate required angle speeds
annesteenbeek 121:6d8f1bdcda05 289 if( (Xpos>Xmax && setXSpeed > 0 )|| \
annesteenbeek 121:6d8f1bdcda05 290 (Xpos<Xmin && setXSpeed < 0 )|| \
annesteenbeek 121:6d8f1bdcda05 291 (Ypos>Ymax && setYSpeed > 0 )|| \
annesteenbeek 121:6d8f1bdcda05 292 (Ypos<Ymin && setYSpeed < 0 ) \
annesteenbeek 112:7b964afb97b4 293 ){
annesteenbeek 112:7b964afb97b4 294 motor1SetSpeed = 0;
annesteenbeek 112:7b964afb97b4 295 motor2SetSpeed = 0;
annesteenbeek 112:7b964afb97b4 296 return false;
annesteenbeek 112:7b964afb97b4 297 }
annesteenbeek 122:1a5df0765790 298 motor1SetSpeed = (180/PI)*((setXSpeed*cos((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 122:1a5df0765790 299 setYSpeed*sin((motor1Pos + motor2Pos)*PI/180))/(L1*sin(motor2Pos*PI/180)));
annesteenbeek 122:1a5df0765790 300 motor2SetSpeed = (180/PI)*(-(setXSpeed*(L2+L3)*cos((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 112:7b964afb97b4 301 setYSpeed*(L2+L3)*sin((motor1Pos + motor2Pos)*PI/180) + \
annesteenbeek 112:7b964afb97b4 302 setXSpeed*L1*cos(motor1Pos*PI/180) + \
annesteenbeek 122:1a5df0765790 303 setYSpeed*L1*sin(motor1Pos*PI/180))/(L1*(L2+L3)*sin(motor2Pos*PI/180)));
annesteenbeek 120:440f1516101b 304 return true;
annesteenbeek 112:7b964afb97b4 305
annesteenbeek 112:7b964afb97b4 306 }