NITICRobotClub 2018Team-B / Mbed 2 deprecated Lets_move_Seki2018_null

自動投射のみです。（手動用にチューニングしました）

Dependencies:   HCSR04 PID QEI mbed

Fork of Lets_move_Seki2018_ver2 by INCTRC Information Sharing Test

main.cpp@0:f73c1b076ae4, 2018-07-10 (annotated)

Committer:
yuron
Date:
Tue Jul 10 13:40:10 2018 +0000
Revision:
0:f73c1b076ae4
Child:
1:62b321f6c9c3
B??????????????????(2018/07/10??); PID???????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuron 0:f73c1b076ae4 1 /* タイマ割り込みを使用して回転数(RPS)を取得し表示するプログラム */
yuron 0:f73c1b076ae4 2 /* これまでの計算手順では回転数が取得できないことが判明し、改善済である */
yuron 0:f73c1b076ae4 3 /* 具体的には取得したパルス数を分解能で割り算→掛け算でRPSへ変換から */
yuron 0:f73c1b076ae4 4 /* 取得したパルス数を掛け算→分解能で割ってRPSへ変換としている。 */
yuron 0:f73c1b076ae4 5 /* ロリコンにはTIM2~TIM5がいいらしい(Nucleo_F401re) */
yuron 0:f73c1b076ae4 6 /* TIM2(CH1: NC, CH2: D3(PB_3), CH3: D6(PB_10), CH4: NC) */
yuron 0:f73c1b076ae4 7 /* TIM3(CH1: D5(PB_4), CH2: D9(PC_7), CH3: NC, CH4: NC) */
yuron 0:f73c1b076ae4 8 /* TIM4(CH1: D10(PB_6), CH2: NC, CH3: NC, CH4: NC) */
yuron 0:f73c1b076ae4 9 /* TIM5(CH1: NC, CH2: NC, CH3: NC, CH4: NC) */
yuron 0:f73c1b076ae4 10 /* 2018/6/9追記 */
yuron 0:f73c1b076ae4 11 /* ついに回転数の！PI制御を実現できました。 */
yuron 0:f73c1b076ae4 12 /* タイマ割込みで角速度を取得してみようと思います。 */
yuron 0:f73c1b076ae4 13
yuron 0:f73c1b076ae4 14 #include "mbed.h"
yuron 0:f73c1b076ae4 15 #include "math.h"
yuron 0:f73c1b076ae4 16 #include "QEI.h"
yuron 0:f73c1b076ae4 17 #include "PID.h"
yuron 0:f73c1b076ae4 18 #define PI 3.14159265359
yuron 0:f73c1b076ae4 19
yuron 0:f73c1b076ae4 20 PID controller(0.7, 0.7, 0.0, 0.001);
yuron 0:f73c1b076ae4 21 PID RF(0.5, 0.3, 0.0, 0.001);
yuron 0:f73c1b076ae4 22 PID RB(0.5, 0.3, 0.0, 0.001);
yuron 0:f73c1b076ae4 23 PID LF(0.5, 0.3, 0.0, 0.001);
yuron 0:f73c1b076ae4 24 PID LB(0.5, 0.3, 0.0, 0.001);
yuron 0:f73c1b076ae4 25 I2C i2c(PB_3, PB_10); //SDA, SCL
yuron 0:f73c1b076ae4 26 //Serial pc(USBTX, USBRX);
yuron 0:f73c1b076ae4 27 DigitalOut emergency(PA_13);
yuron 0:f73c1b076ae4 28
yuron 0:f73c1b076ae4 29 /* 以下446基板用 */
yuron 0:f73c1b076ae4 30 QEI wheel_LB(PA_1, PA_0, NC, 624);
yuron 0:f73c1b076ae4 31 QEI wheel_RB(PB_6, PB_7, NC, 624);
yuron 0:f73c1b076ae4 32 QEI wheel_LF(PB_4, PB_5, NC, 624);
yuron 0:f73c1b076ae4 33 QEI wheel_RF(PC_8, PC_9, NC, 624);
yuron 0:f73c1b076ae4 34
yuron 0:f73c1b076ae4 35 Ticker get_RPS;
yuron 0:f73c1b076ae4 36 Ticker print_RPS;
yuron 0:f73c1b076ae4 37
yuron 0:f73c1b076ae4 38 int rps_RF;
yuron 0:f73c1b076ae4 39 int rps_RB;
yuron 0:f73c1b076ae4 40 int rps_LF;
yuron 0:f73c1b076ae4 41 int rps_LB;
yuron 0:f73c1b076ae4 42
yuron 0:f73c1b076ae4 43 int rpm_RF;
yuron 0:f73c1b076ae4 44 int rpm_RB;
yuron 0:f73c1b076ae4 45 int rpm_LF;
yuron 0:f73c1b076ae4 46 int rpm_LB;
yuron 0:f73c1b076ae4 47
yuron 0:f73c1b076ae4 48 int pulse_RF;
yuron 0:f73c1b076ae4 49 int pulse_RB;
yuron 0:f73c1b076ae4 50 int pulse_LF;
yuron 0:f73c1b076ae4 51 int pulse_LB;
yuron 0:f73c1b076ae4 52
yuron 0:f73c1b076ae4 53 int counter_RF;
yuron 0:f73c1b076ae4 54 int counter_RB;
yuron 0:f73c1b076ae4 55 int counter_LF;
yuron 0:f73c1b076ae4 56 int counter_LB;
yuron 0:f73c1b076ae4 57
yuron 0:f73c1b076ae4 58 double a_v; /* 角速度 */
yuron 0:f73c1b076ae4 59 double n_v; /* 速度(秒速) */
yuron 0:f73c1b076ae4 60 double h_v; /* 速度(時速) */
yuron 0:f73c1b076ae4 61 double n_a; /* 加速度 */
yuron 0:f73c1b076ae4 62
yuron 0:f73c1b076ae4 63 char send_data[1];
yuron 0:f73c1b076ae4 64 char true_send_data[1];
yuron 0:f73c1b076ae4 65
yuron 0:f73c1b076ae4 66 char RF_data[1];
yuron 0:f73c1b076ae4 67 char RB_data[1];
yuron 0:f73c1b076ae4 68 char LF_data[1];
yuron 0:f73c1b076ae4 69 char LB_data[1];
yuron 0:f73c1b076ae4 70 char true_RF_data[1];
yuron 0:f73c1b076ae4 71 char true_RB_data[1];
yuron 0:f73c1b076ae4 72 char true_LF_data[1];
yuron 0:f73c1b076ae4 73 char true_LB_data[1];
yuron 0:f73c1b076ae4 74
yuron 0:f73c1b076ae4 75 /* ロリコン処理関数 */
yuron 0:f73c1b076ae4 76 void flip();
yuron 0:f73c1b076ae4 77 /* RPS表示関数 */
yuron 0:f73c1b076ae4 78 void flip2();
yuron 0:f73c1b076ae4 79
yuron 0:f73c1b076ae4 80 void flip(){
yuron 0:f73c1b076ae4 81
yuron 0:f73c1b076ae4 82 pulse_RF = wheel_RF.getPulses();
yuron 0:f73c1b076ae4 83 pulse_RB = wheel_RB.getPulses();
yuron 0:f73c1b076ae4 84 pulse_LF = wheel_LF.getPulses();
yuron 0:f73c1b076ae4 85 pulse_LB = wheel_LB.getPulses();
yuron 0:f73c1b076ae4 86
yuron 0:f73c1b076ae4 87 /* *rps変換 */
yuron 0:f73c1b076ae4 88 /*10ms*100 = 1s
yuron 0:f73c1b076ae4 89 counter_RB = pulse_RB * 100;
yuron 0:f73c1b076ae4 90 counter_LB = pulse_LB * 100;
yuron 0:f73c1b076ae4 91 */
yuron 0:f73c1b076ae4 92
yuron 0:f73c1b076ae4 93 //40ms*25 = 1s
yuron 0:f73c1b076ae4 94 counter_RF = pulse_RF * 25;
yuron 0:f73c1b076ae4 95 counter_RB = pulse_RB * 25;
yuron 0:f73c1b076ae4 96 counter_LF = pulse_LF * 25;
yuron 0:f73c1b076ae4 97 counter_LB = pulse_LB * 25;
yuron 0:f73c1b076ae4 98
yuron 0:f73c1b076ae4 99 /*
yuron 0:f73c1b076ae4 100 //100ms*10 = 1s
yuron 0:f73c1b076ae4 101 counter_RB = pulse_RB * 10;
yuron 0:f73c1b076ae4 102 counter_LB = pulse_LB * 10;
yuron 0:f73c1b076ae4 103 */
yuron 0:f73c1b076ae4 104
yuron 0:f73c1b076ae4 105 /* /分解能 */
yuron 0:f73c1b076ae4 106 rps_RF = counter_RF / 100;
yuron 0:f73c1b076ae4 107 rps_RB = counter_RB / 100;
yuron 0:f73c1b076ae4 108 rps_LF = counter_LF / 100;
yuron 0:f73c1b076ae4 109 rps_LB = counter_LB / 100;
yuron 0:f73c1b076ae4 110
yuron 0:f73c1b076ae4 111 rpm_RF = pulse_RF * 25 * 60 / 100;
yuron 0:f73c1b076ae4 112 rpm_RB = pulse_RB * 25 * 60 / 100;
yuron 0:f73c1b076ae4 113 rpm_LF = pulse_LF * 25 * 60 / 100;
yuron 0:f73c1b076ae4 114 rpm_LB = pulse_LB * 25 * 60 / 100;
yuron 0:f73c1b076ae4 115
yuron 0:f73c1b076ae4 116 /*
yuron 0:f73c1b076ae4 117 rps[0] = counter_RB / 100;
yuron 0:f73c1b076ae4 118 rps[1] = counter_LB / 100;
yuron 0:f73c1b076ae4 119
yuron 0:f73c1b076ae4 120 rpm[0] = pulse_RB * 25 * 60 / 100;
yuron 0:f73c1b076ae4 121 rpm[1] = pulse_LB * 25 * 60 / 100;
yuron 0:f73c1b076ae4 122 */
yuron 0:f73c1b076ae4 123
yuron 0:f73c1b076ae4 124 /* RPMから角速度へ変換 */
yuron 0:f73c1b076ae4 125 a_v = rpm_LB * PI / 30;
yuron 0:f73c1b076ae4 126
yuron 0:f73c1b076ae4 127 /* RPMから速度(秒速)へ変換 */
yuron 0:f73c1b076ae4 128 /* タイヤ半径を0.05[m]とする */
yuron 0:f73c1b076ae4 129 n_v = 0.05 * 2 * PI * rpm_LB / 60;
yuron 0:f73c1b076ae4 130
yuron 0:f73c1b076ae4 131 /* 速度(秒速)から速度(時速)へ変換 */
yuron 0:f73c1b076ae4 132 h_v = n_v * 3600 / 1000;
yuron 0:f73c1b076ae4 133
yuron 0:f73c1b076ae4 134 //n_a = n_v /
yuron 0:f73c1b076ae4 135
yuron 0:f73c1b076ae4 136 /*
yuron 0:f73c1b076ae4 137 if(rpm[1] < 200){
yuron 0:f73c1b076ae4 138 send_data[0]--;
yuron 0:f73c1b076ae4 139 }
yuron 0:f73c1b076ae4 140 else if(rpm[1] > 250){
yuron 0:f73c1b076ae4 141 send_data[1]++;
yuron 0:f73c1b076ae4 142 }
yuron 0:f73c1b076ae4 143 */
yuron 0:f73c1b076ae4 144
yuron 0:f73c1b076ae4 145 //pc.printf("RF: %d RB: %d LF: %d LB: %d\n", rpm_RF, rpm_RB, rpm_LF, rpm_LB);
yuron 0:f73c1b076ae4 146 //pc.printf("%d\n", abs(rpm_RF));
yuron 0:f73c1b076ae4 147 //pc.printf("%lf\n", n_v);
yuron 0:f73c1b076ae4 148 //pc.printf("%lf\n", h_v);
yuron 0:f73c1b076ae4 149 //pc.printf("rpm: %d n_v: %lf\n", rpm[1], n_v);
yuron 0:f73c1b076ae4 150
yuron 0:f73c1b076ae4 151 wheel_RF.reset();
yuron 0:f73c1b076ae4 152 wheel_RB.reset();
yuron 0:f73c1b076ae4 153 wheel_LF.reset();
yuron 0:f73c1b076ae4 154 wheel_LB.reset();
yuron 0:f73c1b076ae4 155 }
yuron 0:f73c1b076ae4 156
yuron 0:f73c1b076ae4 157 void flip2()
yuron 0:f73c1b076ae4 158 {
yuron 0:f73c1b076ae4 159 //pc.printf("RPS_RB: %d RPS_LB: %d\n", abs(rps[0]), abs(rps[1]));
yuron 0:f73c1b076ae4 160 //pc.printf("RPM_RB: %d RPM_LB: %d\n", abs(rpm[0]), abs(rpm[1]));
yuron 0:f73c1b076ae4 161 //pc.printf("%d\n", rpm[1]);
yuron 0:f73c1b076ae4 162 //pc.printf("%lf\n", a_v);
yuron 0:f73c1b076ae4 163 //pc.printf("rpm: %d a_v: %lf\n", rpm[1], a_v);
yuron 0:f73c1b076ae4 164 }
yuron 0:f73c1b076ae4 165
yuron 0:f73c1b076ae4 166 void PID()
yuron 0:f73c1b076ae4 167 {
yuron 0:f73c1b076ae4 168 // センサ出力値の最小、最大
yuron 0:f73c1b076ae4 169 //RF.setInputLimits(0, 1100);
yuron 0:f73c1b076ae4 170 RF.setInputLimits(-400, 400);
yuron 0:f73c1b076ae4 171 RB.setInputLimits(-400, 400);
yuron 0:f73c1b076ae4 172 LF.setInputLimits(-400, 400);
yuron 0:f73c1b076ae4 173 LB.setInputLimits(-400, 400);
yuron 0:f73c1b076ae4 174
yuron 0:f73c1b076ae4 175 // 制御量の最小、最大
yuron 0:f73c1b076ae4 176 RF.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 177 RB.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 178 LF.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 179 LB.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 180
yuron 0:f73c1b076ae4 181 // よくわからんやつ
yuron 0:f73c1b076ae4 182 RF.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 183 RB.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 184 LF.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 185 LB.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 186
yuron 0:f73c1b076ae4 187 // 目標値
yuron 0:f73c1b076ae4 188 RF.setSetPoint(300);
yuron 0:f73c1b076ae4 189 RB.setSetPoint(300);
yuron 0:f73c1b076ae4 190 LF.setSetPoint(300);
yuron 0:f73c1b076ae4 191 LB.setSetPoint(300);
yuron 0:f73c1b076ae4 192
yuron 0:f73c1b076ae4 193 // センサ出力
yuron 0:f73c1b076ae4 194 RF.setProcessValue(abs(rpm_RF));
yuron 0:f73c1b076ae4 195 RB.setProcessValue(abs(rpm_RB));
yuron 0:f73c1b076ae4 196 LF.setProcessValue(abs(rpm_LF));
yuron 0:f73c1b076ae4 197 LB.setProcessValue(abs(rpm_LB));
yuron 0:f73c1b076ae4 198
yuron 0:f73c1b076ae4 199 // 制御量(計算結果)
yuron 0:f73c1b076ae4 200 RF_data[0] = RF.compute();
yuron 0:f73c1b076ae4 201 RB_data[0] = RB.compute();
yuron 0:f73c1b076ae4 202 LF_data[0] = LF.compute();
yuron 0:f73c1b076ae4 203 LB_data[0] = LB.compute();
yuron 0:f73c1b076ae4 204
yuron 0:f73c1b076ae4 205 // 制御量をPWM値に変換
yuron 0:f73c1b076ae4 206 true_RF_data[0] = 0x38 - RF_data[0];
yuron 0:f73c1b076ae4 207 true_RB_data[0] = 0x38 - RB_data[0];
yuron 0:f73c1b076ae4 208 true_LF_data[0] = 0x38 - LF_data[0];
yuron 0:f73c1b076ae4 209 true_LB_data[0] = 0x38 - LB_data[0];
yuron 0:f73c1b076ae4 210 }
yuron 0:f73c1b076ae4 211
yuron 0:f73c1b076ae4 212 int main(void)
yuron 0:f73c1b076ae4 213 {
yuron 0:f73c1b076ae4 214 emergency = 0;
yuron 0:f73c1b076ae4 215 send_data[0] = 0x40;
yuron 0:f73c1b076ae4 216 i2c.write(0xA0, send_data, 1);
yuron 0:f73c1b076ae4 217 i2c.write(0xA2, send_data, 1);
yuron 0:f73c1b076ae4 218 i2c.write(0xA4, send_data, 1);
yuron 0:f73c1b076ae4 219 i2c.write(0xA6, send_data, 1);
yuron 0:f73c1b076ae4 220 wait(0.1);
yuron 0:f73c1b076ae4 221
yuron 0:f73c1b076ae4 222 /* 加減速処理を入れた場合処理サイクルの最小周期は40msであった(2018/5/12) */
yuron 0:f73c1b076ae4 223 get_RPS.attach_us(&flip, 40000);
yuron 0:f73c1b076ae4 224 //get_RPS.attach_us(&flip, 100000);
yuron 0:f73c1b076ae4 225
yuron 0:f73c1b076ae4 226 //RPS表示(0.1sサイクル)
yuron 0:f73c1b076ae4 227 //print_RPS.attach(&flip2, 0.1);
yuron 0:f73c1b076ae4 228
yuron 0:f73c1b076ae4 229 while(1)
yuron 0:f73c1b076ae4 230 {
yuron 0:f73c1b076ae4 231
yuron 0:f73c1b076ae4 232 PID();
yuron 0:f73c1b076ae4 233 i2c.write(0xA0, true_RF_data, 1);
yuron 0:f73c1b076ae4 234 i2c.write(0xA2, true_RB_data, 1);
yuron 0:f73c1b076ae4 235 i2c.write(0xA4, true_LB_data, 1);
yuron 0:f73c1b076ae4 236 i2c.write(0xA6, true_LF_data, 1);
yuron 0:f73c1b076ae4 237
yuron 0:f73c1b076ae4 238 /*
yuron 0:f73c1b076ae4 239 // センサ出力値の最小、最大
yuron 0:f73c1b076ae4 240 RF.setInputLimits(0, 1100);
yuron 0:f73c1b076ae4 241 RB.setInputLimits(0, 1100);
yuron 0:f73c1b076ae4 242 LF.setInputLimits(0, 1100);
yuron 0:f73c1b076ae4 243 LB.setInputLimits(0, 1100);
yuron 0:f73c1b076ae4 244
yuron 0:f73c1b076ae4 245 // 制御量の最小、最大
yuron 0:f73c1b076ae4 246 RF.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 247 RB.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 248 LF.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 249 LB.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 250
yuron 0:f73c1b076ae4 251 // よくわからんやつ
yuron 0:f73c1b076ae4 252 RF.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 253 RB.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 254 LF.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 255 LB.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 256
yuron 0:f73c1b076ae4 257 // 目標値
yuron 0:f73c1b076ae4 258 RF.setSetPoint(400);
yuron 0:f73c1b076ae4 259 RB.setSetPoint(400);
yuron 0:f73c1b076ae4 260 LF.setSetPoint(400);
yuron 0:f73c1b076ae4 261 LB.setSetPoint(400);
yuron 0:f73c1b076ae4 262
yuron 0:f73c1b076ae4 263 // センサ出力
yuron 0:f73c1b076ae4 264 RF.setProcessValue(abs(rpm_RF));
yuron 0:f73c1b076ae4 265 RB.setProcessValue(abs(rpm_RB));
yuron 0:f73c1b076ae4 266 LF.setProcessValue(abs(rpm_LF));
yuron 0:f73c1b076ae4 267 LB.setProcessValue(abs(rpm_LB));
yuron 0:f73c1b076ae4 268
yuron 0:f73c1b076ae4 269 // 制御量(計算結果)
yuron 0:f73c1b076ae4 270 RF_data[0] = RF.compute();
yuron 0:f73c1b076ae4 271 RB_data[0] = RB.compute();
yuron 0:f73c1b076ae4 272 LF_data[0] = LF.compute();
yuron 0:f73c1b076ae4 273 LB_data[0] = LB.compute();
yuron 0:f73c1b076ae4 274
yuron 0:f73c1b076ae4 275 // 制御量をPWM値に変換
yuron 0:f73c1b076ae4 276 true_RF_data[0] = 0x38 - RF_data[0];
yuron 0:f73c1b076ae4 277 true_RB_data[0] = 0x38 - RB_data[0];
yuron 0:f73c1b076ae4 278 true_LF_data[0] = 0x38 - LF_data[0];
yuron 0:f73c1b076ae4 279 true_LB_data[0] = 0x38 - LB_data[0];
yuron 0:f73c1b076ae4 280 */
yuron 0:f73c1b076ae4 281
yuron 0:f73c1b076ae4 282 /*
yuron 0:f73c1b076ae4 283 // センサ出力値の最小、最大
yuron 0:f73c1b076ae4 284 controller.setInputLimits(0, 1100);
yuron 0:f73c1b076ae4 285
yuron 0:f73c1b076ae4 286 // 制御量の最小、最大
yuron 0:f73c1b076ae4 287 controller.setOutputLimits(0x01, 0x37);
yuron 0:f73c1b076ae4 288
yuron 0:f73c1b076ae4 289 // よくわからんやつ
yuron 0:f73c1b076ae4 290 controller.setMode(AUTO_MODE);
yuron 0:f73c1b076ae4 291
yuron 0:f73c1b076ae4 292 // 目標値
yuron 0:f73c1b076ae4 293 controller.setSetPoint(400);
yuron 0:f73c1b076ae4 294
yuron 0:f73c1b076ae4 295 // センサ出力
yuron 0:f73c1b076ae4 296 controller.setProcessValue(abs(rpm[1]));
yuron 0:f73c1b076ae4 297
yuron 0:f73c1b076ae4 298 // 制御量(計算結果)
yuron 0:f73c1b076ae4 299 send_data[0] = controller.compute();
yuron 0:f73c1b076ae4 300
yuron 0:f73c1b076ae4 301 // 制御量をPWM値に変換
yuron 0:f73c1b076ae4 302 true_send_data[0] = 0x38 - send_data[0];
yuron 0:f73c1b076ae4 303
yuron 0:f73c1b076ae4 304 i2c.write(0x88, true_send_data, 1);
yuron 0:f73c1b076ae4 305 */
yuron 0:f73c1b076ae4 306
yuron 0:f73c1b076ae4 307 /*
yuron 0:f73c1b076ae4 308 //どんどん加速
yuron 0:f73c1b076ae4 309 for(send_data[0] = 0x37; send_data[0] > 0x01; send_data[0]--){
yuron 0:f73c1b076ae4 310 //ice(0x88, send_data);
yuron 0:f73c1b076ae4 311 //ice(0xA2, send_data);
yuron 0:f73c1b076ae4 312 i2c.write(0xA0, send_data, 1);
yuron 0:f73c1b076ae4 313 i2c.write(0xA2, send_data, 1);
yuron 0:f73c1b076ae4 314 i2c.write(0xA4, send_data, 1);
yuron 0:f73c1b076ae4 315 i2c.write(0xA6, send_data, 1);
yuron 0:f73c1b076ae4 316 wait(0.1);
yuron 0:f73c1b076ae4 317 }
yuron 0:f73c1b076ae4 318
yuron 0:f73c1b076ae4 319 //だんだん減速
yuron 0:f73c1b076ae4 320 for(send_data[0] = 0x02; send_data[0] <= 0x37; send_data[0]++){
yuron 0:f73c1b076ae4 321 //ice(0x88, send_data);
yuron 0:f73c1b076ae4 322 //ice(0xA2, send_data);
yuron 0:f73c1b076ae4 323 i2c.write(0xA0, send_data, 1);
yuron 0:f73c1b076ae4 324 i2c.write(0xA2, send_data, 1);
yuron 0:f73c1b076ae4 325 i2c.write(0xA4, send_data, 1);
yuron 0:f73c1b076ae4 326 i2c.write(0xA6, send_data, 1);
yuron 0:f73c1b076ae4 327 wait(0.1);
yuron 0:f73c1b076ae4 328 }
yuron 0:f73c1b076ae4 329 */
yuron 0:f73c1b076ae4 330 }
yuron 0:f73c1b076ae4 331 }