s
Dependencies: PwmIn mbed RASCarLED buzzer millis
main.cpp@8:32133eeb7037, 2020-01-25 (annotated)
- Committer:
- LordScarface
- Date:
- Sat Jan 25 17:11:19 2020 +0000
- Revision:
- 8:32133eeb7037
- Parent:
- 7:986d5298b118
- Child:
- 9:92283a284936
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
emilmont | 0:f59179afee57 | 1 | #include "mbed.h" |
LordScarface | 8:32133eeb7037 | 2 | #include "millis.h" |
LordScarface | 8:32133eeb7037 | 3 | #include "PwmIn.h" |
LordScarface | 8:32133eeb7037 | 4 | |
LordScarface | 8:32133eeb7037 | 5 | |
LordScarface | 8:32133eeb7037 | 6 | // I/O Declaration_________________________________________________ |
emilmont | 0:f59179afee57 | 7 | |
emilmont | 0:f59179afee57 | 8 | DigitalOut myled(LED_GREEN); |
LordScarface | 8:32133eeb7037 | 9 | DigitalOut red(LED_RED); |
Kojto | 4:d6816f97e349 | 10 | Serial pc(USBTX, USBRX); |
LordScarface | 8:32133eeb7037 | 11 | //Serial pc(PTE22, PTE23); |
LordScarface | 8:32133eeb7037 | 12 | |
LordScarface | 8:32133eeb7037 | 13 | //OUTPUTS |
LordScarface | 8:32133eeb7037 | 14 | |
LordScarface | 8:32133eeb7037 | 15 | PwmOut leftESC(PTA4); |
LordScarface | 8:32133eeb7037 | 16 | |
LordScarface | 8:32133eeb7037 | 17 | PwmOut rightESC(PTA5); |
LordScarface | 8:32133eeb7037 | 18 | |
LordScarface | 8:32133eeb7037 | 19 | PwmOut Servo(PTA12); |
LordScarface | 8:32133eeb7037 | 20 | |
LordScarface | 8:32133eeb7037 | 21 | DigitalOut LED(PTC1); |
LordScarface | 8:32133eeb7037 | 22 | |
LordScarface | 8:32133eeb7037 | 23 | |
LordScarface | 8:32133eeb7037 | 24 | //INPUTS |
LordScarface | 8:32133eeb7037 | 25 | |
LordScarface | 8:32133eeb7037 | 26 | PwmIn steeringAngle(PTD0); |
LordScarface | 8:32133eeb7037 | 27 | |
LordScarface | 8:32133eeb7037 | 28 | PwmIn motorSpeed(PTD5); |
LordScarface | 8:32133eeb7037 | 29 | |
LordScarface | 8:32133eeb7037 | 30 | |
LordScarface | 8:32133eeb7037 | 31 | InterruptIn eBrake(PTD2); |
LordScarface | 8:32133eeb7037 | 32 | |
LordScarface | 8:32133eeb7037 | 33 | InterruptIn RPM_one(PTD4); |
LordScarface | 8:32133eeb7037 | 34 | |
LordScarface | 8:32133eeb7037 | 35 | InterruptIn RPM_two(PTA13); |
LordScarface | 8:32133eeb7037 | 36 | |
LordScarface | 8:32133eeb7037 | 37 | AnalogIn poti(PTB3); |
LordScarface | 8:32133eeb7037 | 38 | |
LordScarface | 8:32133eeb7037 | 39 | AnalogIn poti2(PTB1); |
LordScarface | 8:32133eeb7037 | 40 | |
LordScarface | 8:32133eeb7037 | 41 | DigitalIn fast(PTD1); |
LordScarface | 8:32133eeb7037 | 42 | |
LordScarface | 8:32133eeb7037 | 43 | |
LordScarface | 8:32133eeb7037 | 44 | |
LordScarface | 8:32133eeb7037 | 45 | //Declarations for RPM measurement___________________ |
LordScarface | 8:32133eeb7037 | 46 | Timer RPM_timer_one; |
LordScarface | 8:32133eeb7037 | 47 | long RPM_spent_time_one = 0; |
LordScarface | 8:32133eeb7037 | 48 | long RPM_val_one = 0; |
LordScarface | 8:32133eeb7037 | 49 | |
LordScarface | 8:32133eeb7037 | 50 | Timer RPM_timer_two; |
LordScarface | 8:32133eeb7037 | 51 | long RPM_spent_time_two = 0; |
LordScarface | 8:32133eeb7037 | 52 | long RPM_val_two = 0; |
LordScarface | 8:32133eeb7037 | 53 | |
LordScarface | 8:32133eeb7037 | 54 | const int numReadings_one = 8; |
LordScarface | 8:32133eeb7037 | 55 | int RPMs_one[numReadings_one]; |
LordScarface | 8:32133eeb7037 | 56 | int readIndex_one = 0; |
LordScarface | 8:32133eeb7037 | 57 | int total_one = 0; |
LordScarface | 8:32133eeb7037 | 58 | int averageRPM_one = 0; |
LordScarface | 8:32133eeb7037 | 59 | long speed_one = 0; |
LordScarface | 8:32133eeb7037 | 60 | |
LordScarface | 8:32133eeb7037 | 61 | const int numReadings_two = 8; |
LordScarface | 8:32133eeb7037 | 62 | int RPMs_two[numReadings_two]; |
LordScarface | 8:32133eeb7037 | 63 | int readIndex_two = 0; |
LordScarface | 8:32133eeb7037 | 64 | int total_two = 0; |
LordScarface | 8:32133eeb7037 | 65 | int averageRPM_two = 0; |
LordScarface | 8:32133eeb7037 | 66 | long speed_two = 0; |
LordScarface | 8:32133eeb7037 | 67 | //__________________________________________________________ |
LordScarface | 8:32133eeb7037 | 68 | |
LordScarface | 8:32133eeb7037 | 69 | //dings |
LordScarface | 8:32133eeb7037 | 70 | float prev_val = 0; |
LordScarface | 8:32133eeb7037 | 71 | |
LordScarface | 8:32133eeb7037 | 72 | |
LordScarface | 8:32133eeb7037 | 73 | //INTERRUPT SERVICE ROUNTINES_______________________________ |
LordScarface | 8:32133eeb7037 | 74 | void RPM_one_ISR() |
LordScarface | 8:32133eeb7037 | 75 | { |
LordScarface | 8:32133eeb7037 | 76 | RPM_one.rise(NULL); |
LordScarface | 8:32133eeb7037 | 77 | RPM_spent_time_one = RPM_timer_one.read_high_resolution_us(); |
LordScarface | 8:32133eeb7037 | 78 | RPM_timer_one.reset(); |
LordScarface | 8:32133eeb7037 | 79 | RPM_one.rise(&RPM_one_ISR); |
LordScarface | 8:32133eeb7037 | 80 | } |
LordScarface | 8:32133eeb7037 | 81 | |
LordScarface | 8:32133eeb7037 | 82 | void RPM_two_ISR() |
LordScarface | 8:32133eeb7037 | 83 | { |
LordScarface | 8:32133eeb7037 | 84 | RPM_two.rise(NULL); |
LordScarface | 8:32133eeb7037 | 85 | RPM_spent_time_two = RPM_timer_two.read_high_resolution_us(); |
LordScarface | 8:32133eeb7037 | 86 | RPM_timer_two.reset(); |
LordScarface | 8:32133eeb7037 | 87 | RPM_two.rise(&RPM_two_ISR); |
LordScarface | 8:32133eeb7037 | 88 | } |
LordScarface | 8:32133eeb7037 | 89 | |
LordScarface | 8:32133eeb7037 | 90 | bool brake = false; |
LordScarface | 8:32133eeb7037 | 91 | void eBrake_ISR() |
LordScarface | 8:32133eeb7037 | 92 | { |
LordScarface | 8:32133eeb7037 | 93 | myled = !myled; |
LordScarface | 8:32133eeb7037 | 94 | brake = true; |
LordScarface | 8:32133eeb7037 | 95 | } |
LordScarface | 8:32133eeb7037 | 96 | void eBrake2_ISR() |
LordScarface | 8:32133eeb7037 | 97 | { |
LordScarface | 8:32133eeb7037 | 98 | myled = !myled; |
LordScarface | 8:32133eeb7037 | 99 | brake = false; |
LordScarface | 8:32133eeb7037 | 100 | } |
LordScarface | 8:32133eeb7037 | 101 | |
LordScarface | 8:32133eeb7037 | 102 | //___________________________________________________________ |
LordScarface | 8:32133eeb7037 | 103 | |
LordScarface | 8:32133eeb7037 | 104 | //MAPPING FUNCTION |
LordScarface | 8:32133eeb7037 | 105 | float map(float x, float in_min, float in_max, float out_min, float out_max) |
LordScarface | 8:32133eeb7037 | 106 | { |
LordScarface | 8:32133eeb7037 | 107 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
LordScarface | 8:32133eeb7037 | 108 | } |
LordScarface | 8:32133eeb7037 | 109 | |
LordScarface | 8:32133eeb7037 | 110 | void setRightESC(float val) |
LordScarface | 8:32133eeb7037 | 111 | { |
LordScarface | 8:32133eeb7037 | 112 | if (val != prev_val) { |
LordScarface | 8:32133eeb7037 | 113 | rightESC.write(val); |
LordScarface | 8:32133eeb7037 | 114 | prev_val = val; |
LordScarface | 8:32133eeb7037 | 115 | } |
LordScarface | 8:32133eeb7037 | 116 | } |
LordScarface | 8:32133eeb7037 | 117 | |
LordScarface | 8:32133eeb7037 | 118 | volatile bool newData = false; |
LordScarface | 8:32133eeb7037 | 119 | volatile float inputs[3]; |
LordScarface | 8:32133eeb7037 | 120 | |
LordScarface | 8:32133eeb7037 | 121 | |
LordScarface | 8:32133eeb7037 | 122 | |
LordScarface | 8:32133eeb7037 | 123 | |
LordScarface | 8:32133eeb7037 | 124 | Timer speedTimer; |
LordScarface | 8:32133eeb7037 | 125 | |
LordScarface | 8:32133eeb7037 | 126 | //PID-Stuff------------------------------------------------------------- |
LordScarface | 8:32133eeb7037 | 127 | float PID_error, PID_error_pre, PID_out, PID_sum, PID_val; |
LordScarface | 8:32133eeb7037 | 128 | float leftRPM, rightRPM; |
LordScarface | 8:32133eeb7037 | 129 | float set_speed = 300; //desired RPM value |
LordScarface | 8:32133eeb7037 | 130 | float Kp = 1; |
LordScarface | 8:32133eeb7037 | 131 | float Ki = 0; |
LordScarface | 8:32133eeb7037 | 132 | float Kd = 0; |
LordScarface | 8:32133eeb7037 | 133 | //---------------------------------------------------------------------- |
LordScarface | 8:32133eeb7037 | 134 | |
LordScarface | 8:32133eeb7037 | 135 | void calcPID() |
LordScarface | 8:32133eeb7037 | 136 | { |
LordScarface | 8:32133eeb7037 | 137 | PID_error_pre = PID_error; |
LordScarface | 8:32133eeb7037 | 138 | PID_error = set_speed - leftRPM; |
LordScarface | 8:32133eeb7037 | 139 | |
LordScarface | 8:32133eeb7037 | 140 | PID_val = Kp * PID_error + Ki * PID_sum + Kd * (PID_error - PID_error_pre); |
LordScarface | 8:32133eeb7037 | 141 | PID_out += PID_val; |
LordScarface | 8:32133eeb7037 | 142 | |
LordScarface | 8:32133eeb7037 | 143 | PID_sum += PID_error; |
LordScarface | 8:32133eeb7037 | 144 | |
LordScarface | 8:32133eeb7037 | 145 | if (PID_sum > 500) { |
LordScarface | 8:32133eeb7037 | 146 | PID_sum = 500; |
LordScarface | 8:32133eeb7037 | 147 | } else if (PID_sum < -500) { |
LordScarface | 8:32133eeb7037 | 148 | PID_sum = -500; |
LordScarface | 8:32133eeb7037 | 149 | } |
LordScarface | 8:32133eeb7037 | 150 | |
LordScarface | 8:32133eeb7037 | 151 | if (PID_out > 500) { |
LordScarface | 8:32133eeb7037 | 152 | PID_out = 500; |
LordScarface | 8:32133eeb7037 | 153 | } else if (PID_out < -500) { |
LordScarface | 8:32133eeb7037 | 154 | PID_out = -500; |
LordScarface | 8:32133eeb7037 | 155 | } |
LordScarface | 8:32133eeb7037 | 156 | } |
LordScarface | 8:32133eeb7037 | 157 | |
emilmont | 0:f59179afee57 | 158 | |
sam_grove | 7:986d5298b118 | 159 | int main() |
sam_grove | 7:986d5298b118 | 160 | { |
LordScarface | 8:32133eeb7037 | 161 | pc.printf("Ready!\n"); |
LordScarface | 8:32133eeb7037 | 162 | |
LordScarface | 8:32133eeb7037 | 163 | pc.baud(115200); |
LordScarface | 8:32133eeb7037 | 164 | |
LordScarface | 8:32133eeb7037 | 165 | |
LordScarface | 8:32133eeb7037 | 166 | //Settings for Interrrupts for RPM Sensors |
LordScarface | 8:32133eeb7037 | 167 | RPM_one.rise(&RPM_one_ISR); |
LordScarface | 8:32133eeb7037 | 168 | RPM_timer_one.start(); |
LordScarface | 8:32133eeb7037 | 169 | RPM_two.rise(&RPM_two_ISR); |
LordScarface | 8:32133eeb7037 | 170 | RPM_timer_two.start(); |
LordScarface | 8:32133eeb7037 | 171 | |
LordScarface | 8:32133eeb7037 | 172 | //Setting for EBrake Interrrupt |
LordScarface | 8:32133eeb7037 | 173 | eBrake.rise(&eBrake_ISR); |
LordScarface | 8:32133eeb7037 | 174 | eBrake.fall(&eBrake2_ISR); |
LordScarface | 8:32133eeb7037 | 175 | |
LordScarface | 8:32133eeb7037 | 176 | //Values for Servo Passthrough |
LordScarface | 8:32133eeb7037 | 177 | float dutycycle = 0; |
LordScarface | 8:32133eeb7037 | 178 | float pulsewidth = 0; |
LordScarface | 8:32133eeb7037 | 179 | float period = 0; |
LordScarface | 8:32133eeb7037 | 180 | |
LordScarface | 8:32133eeb7037 | 181 | //Servo Settings |
LordScarface | 8:32133eeb7037 | 182 | period = steeringAngle.period(); |
LordScarface | 8:32133eeb7037 | 183 | Servo.period_ms(20); |
LordScarface | 8:32133eeb7037 | 184 | //pc.printf("%f",period |
sam_grove | 7:986d5298b118 | 185 | |
LordScarface | 8:32133eeb7037 | 186 | //ESC Settings |
LordScarface | 8:32133eeb7037 | 187 | leftESC.period_us(10000); |
LordScarface | 8:32133eeb7037 | 188 | rightESC.period_us(10000); |
LordScarface | 8:32133eeb7037 | 189 | |
LordScarface | 8:32133eeb7037 | 190 | //ARMING ESCS |
LordScarface | 8:32133eeb7037 | 191 | leftESC.pulsewidth_us(1500); //write them to idle position |
LordScarface | 8:32133eeb7037 | 192 | rightESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 193 | wait(0.9f); //wait 2 Seconds |
LordScarface | 8:32133eeb7037 | 194 | wait(0.9f); |
LordScarface | 8:32133eeb7037 | 195 | wait(0.2f); |
LordScarface | 8:32133eeb7037 | 196 | wait(0.9f); //wait 2 Seconds |
LordScarface | 8:32133eeb7037 | 197 | wait(0.9f); |
LordScarface | 8:32133eeb7037 | 198 | wait(0.2f); |
LordScarface | 8:32133eeb7037 | 199 | |
LordScarface | 8:32133eeb7037 | 200 | |
LordScarface | 8:32133eeb7037 | 201 | |
LordScarface | 8:32133eeb7037 | 202 | |
LordScarface | 8:32133eeb7037 | 203 | speedTimer.start(); |
LordScarface | 8:32133eeb7037 | 204 | Timer ppp; |
LordScarface | 8:32133eeb7037 | 205 | float poti_val = 0; |
LordScarface | 8:32133eeb7037 | 206 | |
LordScarface | 8:32133eeb7037 | 207 | bool locked = false; |
LordScarface | 8:32133eeb7037 | 208 | |
LordScarface | 8:32133eeb7037 | 209 | |
LordScarface | 8:32133eeb7037 | 210 | //MAIN LOOP_________________________________________________________________ |
emilmont | 1:32eacc4f6beb | 211 | while (true) { |
LordScarface | 8:32133eeb7037 | 212 | |
LordScarface | 8:32133eeb7037 | 213 | |
LordScarface | 8:32133eeb7037 | 214 | //MEASURE RPM___________________________________________________________ |
LordScarface | 8:32133eeb7037 | 215 | total_one = total_one - RPMs_one[readIndex_one]; |
LordScarface | 8:32133eeb7037 | 216 | total_two = total_two - RPMs_two[readIndex_two]; |
LordScarface | 8:32133eeb7037 | 217 | |
LordScarface | 8:32133eeb7037 | 218 | if (RPM_timer_one.read_high_resolution_us() > 500000) { |
LordScarface | 8:32133eeb7037 | 219 | RPM_val_one = 0; |
LordScarface | 8:32133eeb7037 | 220 | } else if (RPM_spent_time_one > 0) { |
LordScarface | 8:32133eeb7037 | 221 | RPM_val_one = 60000000/(RPM_spent_time_one * 8); |
LordScarface | 8:32133eeb7037 | 222 | } else { |
LordScarface | 8:32133eeb7037 | 223 | RPM_val_one = 0; |
LordScarface | 8:32133eeb7037 | 224 | } |
LordScarface | 8:32133eeb7037 | 225 | |
LordScarface | 8:32133eeb7037 | 226 | if (RPM_timer_two.read_high_resolution_us() > 500000) { |
LordScarface | 8:32133eeb7037 | 227 | RPM_val_two = 0; |
LordScarface | 8:32133eeb7037 | 228 | } else if (RPM_spent_time_two > 0) { |
LordScarface | 8:32133eeb7037 | 229 | RPM_val_two = 60000000/(RPM_spent_time_two * 8); |
LordScarface | 8:32133eeb7037 | 230 | } else { |
LordScarface | 8:32133eeb7037 | 231 | RPM_val_two = 0; |
LordScarface | 8:32133eeb7037 | 232 | } |
LordScarface | 8:32133eeb7037 | 233 | |
LordScarface | 8:32133eeb7037 | 234 | RPMs_one[readIndex_one] = RPM_val_one; |
LordScarface | 8:32133eeb7037 | 235 | total_one = total_one + RPMs_one[readIndex_one]; |
LordScarface | 8:32133eeb7037 | 236 | readIndex_one++; |
LordScarface | 8:32133eeb7037 | 237 | |
LordScarface | 8:32133eeb7037 | 238 | RPMs_two[readIndex_two] = RPM_val_two; |
LordScarface | 8:32133eeb7037 | 239 | total_two = total_two + RPMs_two[readIndex_two]; |
LordScarface | 8:32133eeb7037 | 240 | readIndex_two++; |
LordScarface | 8:32133eeb7037 | 241 | |
LordScarface | 8:32133eeb7037 | 242 | //set rpms to zero if under certain speed |
LordScarface | 8:32133eeb7037 | 243 | if (readIndex_one >= numReadings_one) { |
LordScarface | 8:32133eeb7037 | 244 | readIndex_one = 0; |
LordScarface | 8:32133eeb7037 | 245 | } |
LordScarface | 8:32133eeb7037 | 246 | |
LordScarface | 8:32133eeb7037 | 247 | if (readIndex_two >= numReadings_two) { |
LordScarface | 8:32133eeb7037 | 248 | readIndex_two = 0; |
LordScarface | 8:32133eeb7037 | 249 | } |
LordScarface | 8:32133eeb7037 | 250 | |
LordScarface | 8:32133eeb7037 | 251 | //average the rpms since last run of pid error |
LordScarface | 8:32133eeb7037 | 252 | averageRPM_one = total_one / numReadings_one; |
LordScarface | 8:32133eeb7037 | 253 | averageRPM_two = total_two / numReadings_two; |
LordScarface | 8:32133eeb7037 | 254 | |
LordScarface | 8:32133eeb7037 | 255 | //store pid output |
LordScarface | 8:32133eeb7037 | 256 | leftRPM = averageRPM_two; |
LordScarface | 8:32133eeb7037 | 257 | rightRPM = averageRPM_one; |
LordScarface | 8:32133eeb7037 | 258 | |
LordScarface | 8:32133eeb7037 | 259 | //calculate actual pid error |
LordScarface | 8:32133eeb7037 | 260 | calcPID(); |
LordScarface | 8:32133eeb7037 | 261 | |
LordScarface | 8:32133eeb7037 | 262 | //check for drivng switch to be pressed |
LordScarface | 8:32133eeb7037 | 263 | if(fast && !brake) { |
LordScarface | 8:32133eeb7037 | 264 | //leftESC.pulsewidth_us((1500 + PID_out < 1500) ? 1500 : (1500 + PID_out > 2000) ? 2000 : 1500 + PID_out); |
LordScarface | 8:32133eeb7037 | 265 | //rightESC.pulsewidth_us((1500 + PID_out < 1500) ? 1500 : (1500 + PID_out > 2000) ? 2000 : 1500 + PID_out); |
LordScarface | 8:32133eeb7037 | 266 | leftESC.pulsewidth_us(1500 + poti_val); |
LordScarface | 8:32133eeb7037 | 267 | rightESC.pulsewidth_us(1500 + poti_val); |
LordScarface | 8:32133eeb7037 | 268 | LED = 1; |
LordScarface | 8:32133eeb7037 | 269 | locked = false; |
LordScarface | 8:32133eeb7037 | 270 | }else if(fast && brake && !locked){ |
LordScarface | 8:32133eeb7037 | 271 | locked = true; |
LordScarface | 8:32133eeb7037 | 272 | leftESC.pulsewidth_us(1400); |
LordScarface | 8:32133eeb7037 | 273 | rightESC.pulsewidth_us(1400); |
LordScarface | 8:32133eeb7037 | 274 | wait(0.5f); |
LordScarface | 8:32133eeb7037 | 275 | leftESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 276 | rightESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 277 | } |
LordScarface | 8:32133eeb7037 | 278 | else { |
LordScarface | 8:32133eeb7037 | 279 | leftESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 280 | rightESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 281 | LED = 0; |
LordScarface | 8:32133eeb7037 | 282 | } |
LordScarface | 8:32133eeb7037 | 283 | |
LordScarface | 8:32133eeb7037 | 284 | //PASSTHROUGH FOR STEERING |
LordScarface | 8:32133eeb7037 | 285 | pulsewidth = steeringAngle.pulsewidth(); |
LordScarface | 8:32133eeb7037 | 286 | Servo.pulsewidth_us(pulsewidth*1000000); |
LordScarface | 8:32133eeb7037 | 287 | |
LordScarface | 8:32133eeb7037 | 288 | |
LordScarface | 8:32133eeb7037 | 289 | //poti_val = map( poti.read() , 0 , 1 , 0 , 1 ); |
LordScarface | 8:32133eeb7037 | 290 | //wait_ms(10); |
LordScarface | 8:32133eeb7037 | 291 | |
LordScarface | 8:32133eeb7037 | 292 | poti_val = poti.read() * 500; |
LordScarface | 8:32133eeb7037 | 293 | //Kp = poti_val; |
LordScarface | 8:32133eeb7037 | 294 | |
LordScarface | 8:32133eeb7037 | 295 | |
LordScarface | 8:32133eeb7037 | 296 | //DEBUGGING___________________________________ |
LordScarface | 8:32133eeb7037 | 297 | /* |
LordScarface | 8:32133eeb7037 | 298 | pc.printf("%f ", leftRPM); |
LordScarface | 8:32133eeb7037 | 299 | pc.printf(" , "); |
LordScarface | 8:32133eeb7037 | 300 | //pc.printf("%.5f ", 1500+PID_out ); |
LordScarface | 8:32133eeb7037 | 301 | //pc.printf(" , "); |
LordScarface | 8:32133eeb7037 | 302 | pc.printf("%f ,", set_speed); |
LordScarface | 8:32133eeb7037 | 303 | pc.printf("%f ,", poti_val); |
LordScarface | 8:32133eeb7037 | 304 | pc.printf("0.0 \n" ); |
LordScarface | 8:32133eeb7037 | 305 | */ |
LordScarface | 8:32133eeb7037 | 306 | //_____________________________________________ |
LordScarface | 8:32133eeb7037 | 307 | |
emilmont | 0:f59179afee57 | 308 | } |
LordScarface | 8:32133eeb7037 | 309 | //END OF MAIN LOOP__________________________________________________________ |
LordScarface | 8:32133eeb7037 | 310 | } |