IESS / ILCRobot

This ILC code kinda works

Dependencies:   FatFileSystem MSCFileSystem btbee m3pi_ng mbed ILCRobot

Dependents:   ILCRobot

Fork of RobotB by Blake Babbs

main.cpp@21:df402d79b2ad, 2015-06-12 (annotated)

Committer:
charwhit
Date:
Fri Jun 12 09:52:22 2015 +0000
Revision:
21:df402d79b2ad
Parent:
20:262739736935
Child:
22:1288bd38d682
This works!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charwhit 12:0422156f83f6 1 #include "mbed.h"
charwhit 8:bd2f012e2f57 2 #include "MSCFileSystem.h"
bbabbs 0:17669460c6b1 3 #include "btbee.h"
bbabbs 0:17669460c6b1 4 #include "m3pi_ng.h"
charwhit 8:bd2f012e2f57 5 #include <fstream>
charwhit 8:bd2f012e2f57 6 #define FSNAME "msc"
charwhit 9:030b7e4ff7be 7 #include <string>
charwhit 9:030b7e4ff7be 8 #include <sstream>
charwhit 9:030b7e4ff7be 9 #include <vector>
charwhit 12:0422156f83f6 10 #include "math.h"
charwhit 20:262739736935 11 #include <algorithm>
charwhit 8:bd2f012e2f57 12
charwhit 8:bd2f012e2f57 13
charwhit 8:bd2f012e2f57 14 MSCFileSystem msc(FSNAME); // Mount flash drive under the name "msc"
charwhit 9:030b7e4ff7be 15 //Serial pc(USBTX,USBRX);
charwhit 8:bd2f012e2f57 16
nbtavis 2:80a1ed62c307 17 m3pi robot;
charwhit 4:acd0f86ed832 18 btbee btbee;
nbtavis 3:bae8eb81a9d7 19 DigitalIn m3pi_IN[]= {(p12),(p21)}; // IR sensor and Knopf
charwhit 20:262739736935 20 DigitalIn m3pi_pb(p21);
nbtavis 2:80a1ed62c307 21 Timer timer;
nbtavis 2:80a1ed62c307 22 Timer time_wait;
charwhit 21:df402d79b2ad 23 #define MAX 1
charwhit 5:c38929c0fd95 24 #define MIN 0
charwhit 12:0422156f83f6 25 #define PI 3.14159265
bbabbs 0:17669460c6b1 26
charwhit 4:acd0f86ed832 27 //#define P_TERM 5
charwhit 4:acd0f86ed832 28 //#define I_TERM 0
charwhit 5:c38929c0fd95 29 //#define D_TERM 20
nbtavis 2:80a1ed62c307 30
nbtavis 2:80a1ed62c307 31
charwhit 20:262739736935 32 struct testPoint {
charwhit 20:262739736935 33 testPoint():Pvalue(0), Dvalue(0), time(1000) {}
charwhit 20:262739736935 34 testPoint(float a, float b, float c): Pvalue(a), Dvalue(b), time(c) {}
charwhit 20:262739736935 35
charwhit 20:262739736935 36 friend testPoint operator-(const testPoint& lhs, const testPoint& rhs) {
charwhit 20:262739736935 37 testPoint dummy;
charwhit 20:262739736935 38 dummy.Pvalue = lhs.Pvalue - rhs.Pvalue;
charwhit 20:262739736935 39 dummy.Dvalue = lhs.Dvalue - rhs.Dvalue;
charwhit 20:262739736935 40 dummy.time = 1000;
charwhit 20:262739736935 41 return dummy;
charwhit 20:262739736935 42 }
charwhit 20:262739736935 43
charwhit 20:262739736935 44 friend testPoint operator+(const testPoint& lhs, const testPoint& rhs) {
charwhit 20:262739736935 45 testPoint dummy;
charwhit 20:262739736935 46 dummy.Pvalue = lhs.Pvalue + rhs.Pvalue;
charwhit 20:262739736935 47 dummy.Dvalue = lhs.Dvalue + rhs.Dvalue;
charwhit 20:262739736935 48 dummy.time = 1000;
charwhit 20:262739736935 49 return dummy;
charwhit 20:262739736935 50 }
charwhit 20:262739736935 51
charwhit 20:262739736935 52 friend testPoint operator*(const float a, const testPoint& rhs) {
charwhit 20:262739736935 53 testPoint dummy;
charwhit 20:262739736935 54 dummy.Pvalue = a * rhs.Pvalue;
charwhit 20:262739736935 55 dummy.Dvalue = a * rhs.Dvalue;
charwhit 20:262739736935 56 dummy.time = 1000;
charwhit 20:262739736935 57 return dummy;
charwhit 20:262739736935 58
charwhit 20:262739736935 59 }
charwhit 20:262739736935 60
charwhit 20:262739736935 61
charwhit 20:262739736935 62
charwhit 20:262739736935 63 float Pvalue;
charwhit 20:262739736935 64 float Dvalue;
charwhit 20:262739736935 65 float time;
charwhit 20:262739736935 66 };
charwhit 20:262739736935 67
charwhit 20:262739736935 68
charwhit 20:262739736935 69 bool myComp (testPoint i,testPoint j)
charwhit 20:262739736935 70 {
charwhit 20:262739736935 71 return (i.time<j.time);
charwhit 20:262739736935 72 }
charwhit 20:262739736935 73
charwhit 20:262739736935 74
charwhit 20:262739736935 75
bbabbs 0:17669460c6b1 76
charwhit 5:c38929c0fd95 77 int main()
charwhit 5:c38929c0fd95 78 {
charwhit 16:caa77287cc25 79 float P_TERM = 3;
charwhit 16:caa77287cc25 80 float I_TERM = 0;
bbabbs 17:5eb563904361 81 float D_TERM = 27;
charwhit 20:262739736935 82 //int last_lap = 0;
charwhit 20:262739736935 83 //int position = 0;
charwhit 20:262739736935 84
charwhit 20:262739736935 85 m3pi_pb.mode(PullUp);
charwhit 5:c38929c0fd95 86 btbee.reset();
charwhit 20:262739736935 87
charwhit 20:262739736935 88
charwhit 5:c38929c0fd95 89 robot.sensor_auto_calibrate();
charwhit 20:262739736935 90 while(m3pi_pb) {
charwhit 20:262739736935 91
charwhit 20:262739736935 92 }
charwhit 5:c38929c0fd95 93 wait(2.0);
charwhit 5:c38929c0fd95 94 float right;
charwhit 5:c38929c0fd95 95 float left;
charwhit 5:c38929c0fd95 96 //float current_pos[5];
charwhit 5:c38929c0fd95 97 float current_pos = 0.0;
charwhit 5:c38929c0fd95 98 float previous_pos =0.0;
charwhit 5:c38929c0fd95 99 float derivative, proportional, integral = 0;
charwhit 5:c38929c0fd95 100 float power;
charwhit 5:c38929c0fd95 101 float speed = MAX;
charwhit 5:c38929c0fd95 102
charwhit 5:c38929c0fd95 103 int lap = 0;
charwhit 5:c38929c0fd95 104 float lap_time = 0.0;
charwhit 5:c38929c0fd95 105 int y =1;
charwhit 5:c38929c0fd95 106 int count = 0;
charwhit 20:262739736935 107
charwhit 8:bd2f012e2f57 108 bool passed = false;
charwhit 20:262739736935 109
charwhit 20:262739736935 110 Timer crossProtect;
charwhit 20:262739736935 111 bool poop = false; //Random variable so that it doesn't print 50 gagillion times
charwhit 20:262739736935 112
charwhit 20:262739736935 113
charwhit 20:262739736935 114 //Simplex algorithm stuff
charwhit 20:262739736935 115 vector< testPoint > triangle;
charwhit 20:262739736935 116 triangle.push_back(testPoint(20,2,1000));
charwhit 20:262739736935 117 triangle.push_back(testPoint(2,40,1000));
charwhit 20:262739736935 118 triangle.push_back(testPoint(3,27,1000));
charwhit 20:262739736935 119 int corners = 0;
charwhit 20:262739736935 120 P_TERM = triangle[0].Pvalue;
charwhit 20:262739736935 121 D_TERM = triangle[0].Dvalue;
charwhit 20:262739736935 122 testPoint centroid;
charwhit 20:262739736935 123 testPoint reflection;
charwhit 20:262739736935 124 testPoint expansion;
charwhit 20:262739736935 125 testPoint contraction;
charwhit 20:262739736935 126 testPoint reduction;
charwhit 20:262739736935 127 int step = 1;
charwhit 20:262739736935 128 bool contracted = false;
charwhit 20:262739736935 129 float reflecFactor = 1;
charwhit 20:262739736935 130 float expanFactor = 2;
charwhit 20:262739736935 131 float contrFactor = -1/2;
charwhit 20:262739736935 132 float reducFactor = 1/2;
charwhit 20:262739736935 133 Timer backup;
charwhit 21:df402d79b2ad 134 int MINPVAL = 2;
charwhit 21:df402d79b2ad 135 int MAXPVAL = 30;
charwhit 21:df402d79b2ad 136 int MAXDVAL= 50;
charwhit 16:caa77287cc25 137
charwhit 16:caa77287cc25 138
charwhit 5:c38929c0fd95 139
charwhit 4:acd0f86ed832 140 char arr_read[30]; // this should be long enough to store any reply coming in over bt.
charwhit 4:acd0f86ed832 141 int chars_read;
bbabbs 17:5eb563904361 142 vector<float> Uvalue, lineposval, setPointVals, Currentvec;
charwhit 12:0422156f83f6 143 vector<float> sweepData;
charwhit 16:caa77287cc25 144 FILE *fp = fopen( "/" FSNAME "/exper1.txt", "w");
charwhit 16:caa77287cc25 145
charwhit 16:caa77287cc25 146
charwhit 16:caa77287cc25 147
charwhit 20:262739736935 148 //wait(8);
charwhit 20:262739736935 149 // btbee.printf("Battery: %f\n", robot.battery());
charwhit 9:030b7e4ff7be 150
nbtavis 2:80a1ed62c307 151
charwhit 16:caa77287cc25 152
charwhit 16:caa77287cc25 153
charwhit 5:c38929c0fd95 154
charwhit 5:c38929c0fd95 155 time_wait.start();
charwhit 20:262739736935 156 backup.start();
charwhit 16:caa77287cc25 157 int x [5];
charwhit 16:caa77287cc25 158 //timer.start();
charwhit 5:c38929c0fd95 159 while(y) {
charwhit 5:c38929c0fd95 160 time_wait.reset();
charwhit 16:caa77287cc25 161 //timer.reset();
charwhit 5:c38929c0fd95 162 //Get raw sensor values
charwhit 16:caa77287cc25 163
charwhit 5:c38929c0fd95 164 robot.calibrated_sensor(x);
charwhit 5:c38929c0fd95 165
charwhit 5:c38929c0fd95 166
charwhit 5:c38929c0fd95 167
charwhit 5:c38929c0fd95 168 //Check to make sure battery isn't low
charwhit 5:c38929c0fd95 169 if (robot.battery() < 2.4) {
charwhit 5:c38929c0fd95 170 timer.stop();
charwhit 16:caa77287cc25 171 robot.printf("LowBatt");
charwhit 6:99d09e88924b 172 btbee.printf("Battery too low\n");
charwhit 5:c38929c0fd95 173 break;
charwhit 5:c38929c0fd95 174 }
charwhit 5:c38929c0fd95 175
charwhit 5:c38929c0fd95 176 //else if (m3pi_IN [0] == 0)
charwhit 5:c38929c0fd95 177 //{break;}
charwhit 16:caa77287cc25 178
charwhit 20:262739736935 179 //running the four corners
charwhit 20:262739736935 180 if(x[0] > 300 && x[2]>300 && x[4]>300 && !passed && (backup.read() > 2 || lap == 0)) {
charwhit 20:262739736935 181 btbee.printf("Crossing\n");
charwhit 5:c38929c0fd95 182 if (lap == 0) {
charwhit 5:c38929c0fd95 183 timer.start();
charwhit 20:262739736935 184 //crossProtect.start();
charwhit 5:c38929c0fd95 185 lap= lap +1;
charwhit 20:262739736935 186 } else if(corners < 2) {
charwhit 5:c38929c0fd95 187 lap_time = timer.read();
charwhit 20:262739736935 188 triangle[corners].time = lap_time;
charwhit 20:262739736935 189 //if (btbee.writeable()) {
charwhit 20:262739736935 190 btbee.printf("Lap %d time: %f\n", lap, lap_time);
charwhit 20:262739736935 191 //}
charwhit 20:262739736935 192
charwhit 20:262739736935 193 ++corners;
bbabbs 17:5eb563904361 194 robot.cls();
charwhit 20:262739736935 195 robot.printf("%f", lap_time);
charwhit 20:262739736935 196
charwhit 20:262739736935 197 ++lap;
charwhit 20:262739736935 198 P_TERM = triangle[corners].Pvalue;
charwhit 20:262739736935 199 D_TERM = triangle[corners].Dvalue;
charwhit 18:dcdf28fa4c9e 200 timer.reset();
charwhit 20:262739736935 201 } else {
charwhit 20:262739736935 202 if (corners == 2){
charwhit 20:262739736935 203 triangle[corners].time = timer.read();
charwhit 20:262739736935 204 ++corners;
charwhit 20:262739736935 205 }
charwhit 20:262739736935 206 switch(step) {
charwhit 20:262739736935 207 case 1:
charwhit 20:262739736935 208 if (triangle[1].time == 1000 || triangle[2].time == 1000){
charwhit 20:262739736935 209 if (triangle[1].time == 1000){
charwhit 20:262739736935 210 triangle[1].time = timer.read();
charwhit 20:262739736935 211 P_TERM = triangle[2].Pvalue;
charwhit 20:262739736935 212 D_TERM = triangle[2].Dvalue;
charwhit 20:262739736935 213 timer.reset();
charwhit 20:262739736935 214 break;
charwhit 20:262739736935 215 }
charwhit 20:262739736935 216 else
charwhit 20:262739736935 217 triangle[2].time = timer.read();
charwhit 20:262739736935 218 }
charwhit 20:262739736935 219 sort(triangle.begin(), triangle.end(), myComp);
charwhit 20:262739736935 220 for (int i = 0; i < triangle.size(); ++i)
charwhit 20:262739736935 221 btbee.printf("Time %d: %f\n",i,triangle[i].time);
charwhit 21:df402d79b2ad 222 btbee.printf("Best so far: P: %f, D: %f\n", triangle[0].Pvalue, triangle[0].Dvalue);
charwhit 20:262739736935 223 centroid.Pvalue = (triangle[0].Pvalue + triangle[1].Pvalue) / 2;
charwhit 20:262739736935 224 centroid.Dvalue = (triangle[0].Dvalue + triangle[1].Dvalue) / 2;
charwhit 20:262739736935 225 reflection = centroid + (reflecFactor*(centroid - triangle[2]));
charwhit 20:262739736935 226 if (reflection.Pvalue < 0)
charwhit 21:df402d79b2ad 227 reflection.Pvalue = MINPVAL;
charwhit 20:262739736935 228 else if (reflection.Pvalue > 30)
charwhit 21:df402d79b2ad 229 reflection.Pvalue = MAXPVAL;
charwhit 20:262739736935 230
charwhit 20:262739736935 231 if (reflection.Dvalue < 0)
charwhit 20:262739736935 232 reflection.Dvalue = 1;
charwhit 21:df402d79b2ad 233 else if (reflection.Dvalue > 40)
charwhit 21:df402d79b2ad 234 reflection.Dvalue = MAXDVAL;
charwhit 20:262739736935 235 P_TERM = reflection.Pvalue;
charwhit 20:262739736935 236 D_TERM = reflection.Dvalue;
charwhit 20:262739736935 237 ++step;
charwhit 20:262739736935 238 btbee.printf("Reflecting\n");
charwhit 20:262739736935 239 btbee.printf("P: %f, D: %f\n", P_TERM, D_TERM);
charwhit 20:262739736935 240 poop = true;
charwhit 20:262739736935 241 timer.reset();
charwhit 20:262739736935 242 break;
charwhit 20:262739736935 243 case 2: //finished running reflection
charwhit 20:262739736935 244 reflection.time = timer.read();
charwhit 20:262739736935 245 btbee.printf("Reflection Time: %f\n", reflection.time);
charwhit 20:262739736935 246 if (reflection.time < triangle[0].time) {
charwhit 20:262739736935 247 expansion = centroid + expanFactor*(centroid - triangle[2]);
charwhit 20:262739736935 248 if (expansion.Pvalue < 0)
charwhit 21:df402d79b2ad 249 expansion.Pvalue = MINPVAL;
charwhit 20:262739736935 250 else if (expansion.Pvalue > 30)
charwhit 21:df402d79b2ad 251 expansion.Pvalue = MAXPVAL;
charwhit 20:262739736935 252
charwhit 20:262739736935 253 if (expansion.Dvalue < 0)
charwhit 20:262739736935 254 expansion.Dvalue = 1;
charwhit 21:df402d79b2ad 255 else if (expansion.Dvalue > 40)
charwhit 21:df402d79b2ad 256 expansion.Dvalue = MAXDVAL;
charwhit 20:262739736935 257 P_TERM = expansion.Pvalue;
charwhit 20:262739736935 258 D_TERM = expansion.Dvalue;
charwhit 20:262739736935 259 ++step;
charwhit 20:262739736935 260 btbee.printf("Expanding\n");
charwhit 20:262739736935 261 btbee.printf("P: %f, D: %f\n", P_TERM, D_TERM);
charwhit 20:262739736935 262 timer.reset();
charwhit 20:262739736935 263 } else if (reflection.time < triangle[1].time) {
charwhit 20:262739736935 264 triangle[2] = reflection;
charwhit 20:262739736935 265 step = 1;
charwhit 20:262739736935 266 btbee.printf("Going back to 1\n");
charwhit 20:262739736935 267 P_TERM = 3;
charwhit 20:262739736935 268 D_TERM = 27;
charwhit 20:262739736935 269 } else {
charwhit 20:262739736935 270
charwhit 20:262739736935 271 contraction = centroid + contrFactor*(centroid - triangle[2]);
charwhit 20:262739736935 272 if (contraction.Pvalue < 0)
charwhit 21:df402d79b2ad 273 contraction.Pvalue = MINPVAL;
charwhit 20:262739736935 274 else if (contraction.Pvalue > 30)
charwhit 21:df402d79b2ad 275 contraction.Pvalue = MAXPVAL;
charwhit 20:262739736935 276
charwhit 20:262739736935 277 if (contraction.Dvalue < 0)
charwhit 20:262739736935 278 contraction.Dvalue = 1;
charwhit 21:df402d79b2ad 279 else if (contraction.Dvalue > 40)
charwhit 21:df402d79b2ad 280 contraction.Dvalue = MAXDVAL;
charwhit 20:262739736935 281 P_TERM = contraction.Pvalue;
charwhit 20:262739736935 282 D_TERM = contraction.Dvalue;
charwhit 20:262739736935 283 ++step;
charwhit 20:262739736935 284 contracted = true;
charwhit 20:262739736935 285 btbee.printf("Contracting\n");
charwhit 20:262739736935 286 btbee.printf("P: %f, D: %f\n", P_TERM, D_TERM);
charwhit 20:262739736935 287 timer.reset();
charwhit 20:262739736935 288 }
charwhit 20:262739736935 289 break;
charwhit 20:262739736935 290 case 3: //Finished running Expansion/Contraction
charwhit 20:262739736935 291 if (!contracted) {
charwhit 20:262739736935 292 expansion.time = timer.read();
charwhit 20:262739736935 293 btbee.printf("Expansion Time: %f\n", expansion.time);
charwhit 20:262739736935 294 if (expansion.time < reflection.time)
charwhit 20:262739736935 295 triangle[2] = expansion;
charwhit 20:262739736935 296 else
charwhit 20:262739736935 297 triangle[2] = reflection;
charwhit 20:262739736935 298 P_TERM = 3;
charwhit 20:262739736935 299 D_TERM = 27;
charwhit 20:262739736935 300 } else {
charwhit 20:262739736935 301 contraction.time = timer.read();
charwhit 20:262739736935 302 btbee.printf("Contraction Time: %f\n", contraction.time);
charwhit 20:262739736935 303 if (contraction.time < triangle[2].time){
charwhit 20:262739736935 304 triangle[2] = contraction;
charwhit 20:262739736935 305 P_TERM = 3;
charwhit 20:262739736935 306 D_TERM = 27;
charwhit 20:262739736935 307 }
charwhit 20:262739736935 308 else {
charwhit 20:262739736935 309 triangle[1] = triangle[0] + (reducFactor*(triangle[1] - triangle[0]));
charwhit 20:262739736935 310 triangle[2] = triangle[0] + (reducFactor*(triangle[2] - triangle[0]));
charwhit 20:262739736935 311 P_TERM = triangle[1].Pvalue;
charwhit 20:262739736935 312 D_TERM = triangle[1].Dvalue;
charwhit 20:262739736935 313 timer.reset();
charwhit 20:262739736935 314 }
charwhit 20:262739736935 315 }
charwhit 20:262739736935 316 step = 1;
charwhit 20:262739736935 317 contracted = false;
charwhit 20:262739736935 318 btbee.printf("Going back to 1\n");
charwhit 20:262739736935 319 break;
charwhit 20:262739736935 320 }//end of switch
charwhit 20:262739736935 321 btbee.printf("Step: %d\n", step);
charwhit 5:c38929c0fd95 322 }
charwhit 8:bd2f012e2f57 323 passed = true;
charwhit 20:262739736935 324 backup.reset();
charwhit 16:caa77287cc25 325 } else if (x[0] > 300 && x[2]>300 && x[4]>300)
charwhit 8:bd2f012e2f57 326 passed = true;
charwhit 8:bd2f012e2f57 327 else
charwhit 8:bd2f012e2f57 328 passed = false;
charwhit 16:caa77287cc25 329
charwhit 5:c38929c0fd95 330
nbtavis 2:80a1ed62c307 331
charwhit 5:c38929c0fd95 332 current_pos = robot.line_position();
charwhit 16:caa77287cc25 333
charwhit 16:caa77287cc25 334
charwhit 16:caa77287cc25 335 proportional = current_pos;
charwhit 16:caa77287cc25 336
charwhit 16:caa77287cc25 337
charwhit 5:c38929c0fd95 338 derivative = current_pos - previous_pos;
charwhit 5:c38929c0fd95 339
charwhit 5:c38929c0fd95 340
charwhit 5:c38929c0fd95 341 //compute the integral
charwhit 5:c38929c0fd95 342 integral =+ proportional;
charwhit 5:c38929c0fd95 343
charwhit 5:c38929c0fd95 344 //remember the last position.
charwhit 5:c38929c0fd95 345 previous_pos = current_pos;
charwhit 20:262739736935 346
charwhit 5:c38929c0fd95 347
charwhit 5:c38929c0fd95 348 // compute the power
charwhit 20:262739736935 349 power = (proportional*(P_TERM)) + (integral*(I_TERM)) + (derivative*(D_TERM));
charwhit 21:df402d79b2ad 350 /*if (poop){
charwhit 20:262739736935 351 btbee.printf("Check: P: %f D:%f Power: %f\n", P_TERM, D_TERM, power);
charwhit 20:262739736935 352 poop = false;
charwhit 21:df402d79b2ad 353 }*/
charwhit 20:262739736935 354
charwhit 5:c38929c0fd95 355 //computer new speeds
charwhit 5:c38929c0fd95 356 right = speed+power;
charwhit 5:c38929c0fd95 357 left = speed-power;
charwhit 5:c38929c0fd95 358
charwhit 5:c38929c0fd95 359 //limit checks
charwhit 5:c38929c0fd95 360 if(right<MIN)
charwhit 5:c38929c0fd95 361 right = MIN;
charwhit 5:c38929c0fd95 362 else if (right > MAX)
charwhit 5:c38929c0fd95 363 right = MAX;
charwhit 5:c38929c0fd95 364
charwhit 5:c38929c0fd95 365 if(left<MIN)
charwhit 5:c38929c0fd95 366 left = MIN;
charwhit 5:c38929c0fd95 367 else if (left>MIN)
charwhit 5:c38929c0fd95 368 left = MAX;
charwhit 5:c38929c0fd95 369
charwhit 5:c38929c0fd95 370 //set speed
charwhit 5:c38929c0fd95 371
charwhit 5:c38929c0fd95 372 robot.left_motor(left);
charwhit 5:c38929c0fd95 373 robot.right_motor(right);
charwhit 16:caa77287cc25 374
charwhit 20:262739736935 375 //traveled += ((right + left) / 2) * .005;
charwhit 16:caa77287cc25 376
charwhit 16:caa77287cc25 377
charwhit 5:c38929c0fd95 378 wait((5-time_wait.read_ms())/1000);
bbabbs 0:17669460c6b1 379 }
charwhit 5:c38929c0fd95 380
charwhit 5:c38929c0fd95 381
charwhit 5:c38929c0fd95 382
charwhit 5:c38929c0fd95 383 robot.stop();
charwhit 5:c38929c0fd95 384
charwhit 16:caa77287cc25 385 /*char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8'
charwhit 5:c38929c0fd95 386 ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G'
charwhit 5:c38929c0fd95 387 ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8'
charwhit 5:c38929c0fd95 388 ,'G','8','E','8','D','8','C','4'
charwhit 5:c38929c0fd95 389 };
nbtavis 2:80a1ed62c307 390 int numb = 59;
charwhit 5:c38929c0fd95 391
charwhit 16:caa77287cc25 392 robot.playtune(hail,numb);*/
charwhit 5:c38929c0fd95 393
charwhit 5:c38929c0fd95 394
charwhit 5:c38929c0fd95 395
charwhit 5:c38929c0fd95 396
charwhit 5:c38929c0fd95 397 }