ST / Mbed OS HelloWorld_IHM01A1_2Motors_mbedOS

Simple test application for the STMicroelectronics X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board, built against mbed OS.

Dependencies:   X_NUCLEO_IHM01A1

Fork of HelloWorld_IHM01A1_2Motors by ST

Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

This application provides a simple example of usage of the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.
It shows how to use two stepper motors connected to two stacked boards in daisy chain configuration, moving the rotors to specific positions, with given speed values, directions of rotation, etc.

main.cpp@3:02d9ec4f88b2, 2015-11-18 (annotated)

Committer:
Davidroid
Date:
Wed Nov 18 18:46:58 2015 +0000
Revision:
3:02d9ec4f88b2
Parent:
2:e12e4df7a486
Child:
5:a0268a435bb1
mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1 Motor Control Expansion Board: control of 2 motors.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:e6a49a092e2a 1 /**
Davidroid 0:e6a49a092e2a 2 ******************************************************************************
Davidroid 0:e6a49a092e2a 3 * @file main.cpp
Davidroid 0:e6a49a092e2a 4 * @author Davide Aliprandi / AST
Davidroid 0:e6a49a092e2a 5 * @version V1.0.0
Davidroid 0:e6a49a092e2a 6 * @date October 14th, 2015
Davidroid 0:e6a49a092e2a 7 * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
Davidroid 3:02d9ec4f88b2 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:e6a49a092e2a 9 * This application makes use of a C++ component architecture obtained
Davidroid 0:e6a49a092e2a 10 * from the C component architecture through the Stm32CubeTOO tool.
Davidroid 0:e6a49a092e2a 11 ******************************************************************************
Davidroid 0:e6a49a092e2a 12 * @attention
Davidroid 0:e6a49a092e2a 13 *
Davidroid 0:e6a49a092e2a 14 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:e6a49a092e2a 15 *
Davidroid 0:e6a49a092e2a 16 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:e6a49a092e2a 17 * are permitted provided that the following conditions are met:
Davidroid 0:e6a49a092e2a 18 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:e6a49a092e2a 19 * this list of conditions and the following disclaimer.
Davidroid 0:e6a49a092e2a 20 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:e6a49a092e2a 21 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:e6a49a092e2a 22 * and/or other materials provided with the distribution.
Davidroid 0:e6a49a092e2a 23 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:e6a49a092e2a 24 * may be used to endorse or promote products derived from this software
Davidroid 0:e6a49a092e2a 25 * without specific prior written permission.
Davidroid 0:e6a49a092e2a 26 *
Davidroid 0:e6a49a092e2a 27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:e6a49a092e2a 28 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:e6a49a092e2a 29 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:e6a49a092e2a 30 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:e6a49a092e2a 31 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:e6a49a092e2a 32 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:e6a49a092e2a 33 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:e6a49a092e2a 34 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:e6a49a092e2a 35 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:e6a49a092e2a 36 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:e6a49a092e2a 37 *
Davidroid 0:e6a49a092e2a 38 ******************************************************************************
Davidroid 0:e6a49a092e2a 39 */
Davidroid 0:e6a49a092e2a 40
Davidroid 0:e6a49a092e2a 41
Davidroid 0:e6a49a092e2a 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 43
Davidroid 0:e6a49a092e2a 44 /* mbed specific header files. */
Davidroid 0:e6a49a092e2a 45 #include "mbed.h"
Davidroid 0:e6a49a092e2a 46
Davidroid 0:e6a49a092e2a 47 /* Helper header files. */
Davidroid 0:e6a49a092e2a 48 #include "DevSPI.h"
Davidroid 0:e6a49a092e2a 49
Davidroid 0:e6a49a092e2a 50 /* Component specific header files. */
Davidroid 0:e6a49a092e2a 51 #include "l6474_class.h"
Davidroid 0:e6a49a092e2a 52
Davidroid 0:e6a49a092e2a 53
Davidroid 0:e6a49a092e2a 54 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 55
Davidroid 0:e6a49a092e2a 56 /* Number of steps corresponding to one round angle of the motor. */
Davidroid 3:02d9ec4f88b2 57 #define ROUND_ANGLE_STEPS 3200
Davidroid 0:e6a49a092e2a 58
Davidroid 0:e6a49a092e2a 59
Davidroid 0:e6a49a092e2a 60 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 61
Davidroid 0:e6a49a092e2a 62 /* Motor Control Component. */
Davidroid 3:02d9ec4f88b2 63 L6474 *motor1;
Davidroid 3:02d9ec4f88b2 64 L6474 *motor2;
Davidroid 0:e6a49a092e2a 65
Davidroid 0:e6a49a092e2a 66
Davidroid 0:e6a49a092e2a 67 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 68
Davidroid 0:e6a49a092e2a 69 int main()
Davidroid 0:e6a49a092e2a 70 {
Davidroid 0:e6a49a092e2a 71 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 72 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 73
Davidroid 0:e6a49a092e2a 74 /* Initializing Motor Control Component. */
Davidroid 3:02d9ec4f88b2 75 motor1 = new L6474(D8, D7, D9, D10, dev_spi);
Davidroid 3:02d9ec4f88b2 76 if (motor1->Init(NULL) != COMPONENT_OK)
Davidroid 3:02d9ec4f88b2 77 return false;
Davidroid 3:02d9ec4f88b2 78 motor2 = new L6474(D8, D4, D3, D10, dev_spi);
Davidroid 3:02d9ec4f88b2 79 if (motor2->Init(NULL) != COMPONENT_OK)
Davidroid 0:e6a49a092e2a 80 return false;
Davidroid 0:e6a49a092e2a 81
Davidroid 0:e6a49a092e2a 82 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 83 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:e6a49a092e2a 84
Davidroid 0:e6a49a092e2a 85 /* Main Loop. */
Davidroid 0:e6a49a092e2a 86 while(true)
Davidroid 0:e6a49a092e2a 87 {
Davidroid 3:02d9ec4f88b2 88 /*----- Moving. -----*/
Davidroid 0:e6a49a092e2a 89
Davidroid 0:e6a49a092e2a 90 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 91 printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 92
Davidroid 0:e6a49a092e2a 93 /* Moving N steps in the forward direction. */
Davidroid 3:02d9ec4f88b2 94 motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1);
Davidroid 3:02d9ec4f88b2 95 motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
Davidroid 3:02d9ec4f88b2 96
Davidroid 0:e6a49a092e2a 97 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 98 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 99 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 100
Davidroid 0:e6a49a092e2a 101 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 102 int position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 103 int position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 104
Davidroid 0:e6a49a092e2a 105 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 106 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 0:e6a49a092e2a 107
Davidroid 0:e6a49a092e2a 108 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 109 wait_ms(2000);
Davidroid 0:e6a49a092e2a 110
Davidroid 0:e6a49a092e2a 111
Davidroid 3:02d9ec4f88b2 112 /*----- Moving. -----*/
Davidroid 0:e6a49a092e2a 113
Davidroid 0:e6a49a092e2a 114 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 115 printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
Davidroid 3:02d9ec4f88b2 116
Davidroid 0:e6a49a092e2a 117
Davidroid 0:e6a49a092e2a 118 /* Moving N steps in the backward direction. */
Davidroid 3:02d9ec4f88b2 119 motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
Davidroid 3:02d9ec4f88b2 120 motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 121
Davidroid 0:e6a49a092e2a 122 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 123 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 124 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 125
Davidroid 0:e6a49a092e2a 126 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 127 position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 128 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 129
Davidroid 0:e6a49a092e2a 130 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 131 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 3:02d9ec4f88b2 132 printf("--> Setting Home.\r\n");
Davidroid 0:e6a49a092e2a 133
Davidroid 0:e6a49a092e2a 134 /* Setting the current position to be the home position. */
Davidroid 3:02d9ec4f88b2 135 motor1->SetHome();
Davidroid 3:02d9ec4f88b2 136 motor2->SetHome();
Davidroid 0:e6a49a092e2a 137
Davidroid 0:e6a49a092e2a 138 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 139 wait_ms(2000);
Davidroid 0:e6a49a092e2a 140
Davidroid 0:e6a49a092e2a 141
Davidroid 0:e6a49a092e2a 142 /*----- Going to a specified position. -----*/
Davidroid 0:e6a49a092e2a 143
Davidroid 0:e6a49a092e2a 144 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 145 printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 146
Davidroid 0:e6a49a092e2a 147 /* Requesting to go to a specified position. */
Davidroid 3:02d9ec4f88b2 148 motor1->GoTo(ROUND_ANGLE_STEPS);
Davidroid 3:02d9ec4f88b2 149 motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 150
Davidroid 0:e6a49a092e2a 151 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 152 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 153 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 154
Davidroid 0:e6a49a092e2a 155 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 156 position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 157 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 158
Davidroid 0:e6a49a092e2a 159 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 160 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 0:e6a49a092e2a 161
Davidroid 0:e6a49a092e2a 162 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 163 wait_ms(2000);
Davidroid 0:e6a49a092e2a 164
Davidroid 0:e6a49a092e2a 165
Davidroid 0:e6a49a092e2a 166 /*----- Going Home. -----*/
Davidroid 0:e6a49a092e2a 167
Davidroid 0:e6a49a092e2a 168 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 169 printf("--> Going Home.\r\n");
Davidroid 0:e6a49a092e2a 170
Davidroid 0:e6a49a092e2a 171 /* Requesting to go to home. */
Davidroid 3:02d9ec4f88b2 172 motor1->GoHome();
Davidroid 3:02d9ec4f88b2 173 motor2->GoHome();
Davidroid 0:e6a49a092e2a 174
Davidroid 0:e6a49a092e2a 175 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 176 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 177 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 178
Davidroid 0:e6a49a092e2a 179 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 180 position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 181 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 182
Davidroid 0:e6a49a092e2a 183 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 184 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 0:e6a49a092e2a 185
Davidroid 0:e6a49a092e2a 186 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 187 wait_ms(2000);
Davidroid 0:e6a49a092e2a 188
Davidroid 0:e6a49a092e2a 189
Davidroid 3:02d9ec4f88b2 190 /*----- Running. -----*/
Davidroid 0:e6a49a092e2a 191
Davidroid 0:e6a49a092e2a 192 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 193 printf("--> M1 running backward, M2 running forward.\r\n");
Davidroid 0:e6a49a092e2a 194
Davidroid 0:e6a49a092e2a 195 /* Requesting to run backward. */
Davidroid 3:02d9ec4f88b2 196 motor1->Run(StepperMotor::BWD);
Davidroid 3:02d9ec4f88b2 197 motor2->Run(StepperMotor::FWD);
Davidroid 0:e6a49a092e2a 198
Davidroid 0:e6a49a092e2a 199 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 200 wait_ms(6000);
Davidroid 0:e6a49a092e2a 201
Davidroid 0:e6a49a092e2a 202 /* Getting current speed. */
Davidroid 3:02d9ec4f88b2 203 int speed1 = motor1->GetSpeed();
Davidroid 3:02d9ec4f88b2 204 int speed2 = motor2->GetSpeed();
Davidroid 0:e6a49a092e2a 205
Davidroid 0:e6a49a092e2a 206 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 207 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 0:e6a49a092e2a 208
Davidroid 0:e6a49a092e2a 209 /*----- Increasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 210
Davidroid 0:e6a49a092e2a 211 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 212 printf("--> Increasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 213
Davidroid 0:e6a49a092e2a 214 /* Increasing speed to 2400 step/s. */
Davidroid 3:02d9ec4f88b2 215 motor1->SetMaxSpeed(2400);
Davidroid 3:02d9ec4f88b2 216 motor2->SetMaxSpeed(2400);
Davidroid 0:e6a49a092e2a 217
Davidroid 0:e6a49a092e2a 218 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 219 wait_ms(6000);
Davidroid 0:e6a49a092e2a 220
Davidroid 0:e6a49a092e2a 221 /* Getting current speed. */
Davidroid 3:02d9ec4f88b2 222 speed1 = motor1->GetSpeed();
Davidroid 3:02d9ec4f88b2 223 speed2 = motor2->GetSpeed();
Davidroid 0:e6a49a092e2a 224
Davidroid 0:e6a49a092e2a 225 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 226 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 0:e6a49a092e2a 227
Davidroid 0:e6a49a092e2a 228
Davidroid 0:e6a49a092e2a 229 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 230
Davidroid 0:e6a49a092e2a 231 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 232 printf("--> Decreasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 233
Davidroid 0:e6a49a092e2a 234 /* Decreasing speed to 1200 step/s. */
Davidroid 3:02d9ec4f88b2 235 motor1->SetMaxSpeed(1200);
Davidroid 3:02d9ec4f88b2 236 motor2->SetMaxSpeed(1200);
Davidroid 0:e6a49a092e2a 237
Davidroid 0:e6a49a092e2a 238 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 239 wait_ms(8000);
Davidroid 0:e6a49a092e2a 240
Davidroid 0:e6a49a092e2a 241 /* Getting current speed. */
Davidroid 3:02d9ec4f88b2 242 speed1 = motor1->GetSpeed();
Davidroid 3:02d9ec4f88b2 243 speed2 = motor2->GetSpeed();
Davidroid 0:e6a49a092e2a 244
Davidroid 0:e6a49a092e2a 245 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 246 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 0:e6a49a092e2a 247
Davidroid 0:e6a49a092e2a 248
Davidroid 0:e6a49a092e2a 249 /*----- Requiring hard-stop while running. -----*/
Davidroid 0:e6a49a092e2a 250
Davidroid 0:e6a49a092e2a 251 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 252 printf("--> Requiring hard-stop while running.\r\n");
Davidroid 0:e6a49a092e2a 253
Davidroid 0:e6a49a092e2a 254 /* Requesting to immediatly stop. */
Davidroid 3:02d9ec4f88b2 255 motor1->HardStop();
Davidroid 3:02d9ec4f88b2 256 motor2->HardStop();
Davidroid 0:e6a49a092e2a 257
Davidroid 0:e6a49a092e2a 258 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 259 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 260 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 261
Davidroid 0:e6a49a092e2a 262 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 263 wait_ms(2000);
Davidroid 0:e6a49a092e2a 264
Davidroid 0:e6a49a092e2a 265
Davidroid 0:e6a49a092e2a 266 /*----- Infinite Loop. -----*/
Davidroid 0:e6a49a092e2a 267
Davidroid 0:e6a49a092e2a 268 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 269 printf("--> Infinite Loop...\r\n");
Davidroid 0:e6a49a092e2a 270
Davidroid 0:e6a49a092e2a 271 /* Setting the current position to be the home position. */
Davidroid 3:02d9ec4f88b2 272 motor1->SetHome();
Davidroid 3:02d9ec4f88b2 273 motor2->SetHome();
Davidroid 0:e6a49a092e2a 274
Davidroid 0:e6a49a092e2a 275 /* Infinite Loop. */
Davidroid 0:e6a49a092e2a 276 while(1)
Davidroid 0:e6a49a092e2a 277 {
Davidroid 0:e6a49a092e2a 278 /* Requesting to go to a specified position. */
Davidroid 3:02d9ec4f88b2 279 motor1->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 3:02d9ec4f88b2 280 motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1));
Davidroid 0:e6a49a092e2a 281
Davidroid 0:e6a49a092e2a 282 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 283 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 284 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 285
Davidroid 0:e6a49a092e2a 286 /* Requesting to go to a specified position. */
Davidroid 3:02d9ec4f88b2 287 motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1));
Davidroid 3:02d9ec4f88b2 288 motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 289
Davidroid 0:e6a49a092e2a 290 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 291 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 292 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 293 }
Davidroid 0:e6a49a092e2a 294 }
Davidroid 0:e6a49a092e2a 295 }