MPUとHMCでうごくかもver
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@8:602865d8fca3, 2015-06-12 (annotated)
- Committer:
- ojan
- Date:
- Fri Jun 12 15:28:05 2015 +0000
- Revision:
- 8:602865d8fca3
- Parent:
- 6:2b68f85a984a
- Child:
- 9:6d4578dcc1ed
move servo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ojan | 0:bc6f14fc60c7 | 1 | #include "mbed.h" |
ojan | 0:bc6f14fc60c7 | 2 | #include "MPU6050.h" |
ojan | 0:bc6f14fc60c7 | 3 | #include "HMC5883L.h" |
ojan | 0:bc6f14fc60c7 | 4 | #include "LPS25H.h" |
ojan | 1:6cd6d2760856 | 5 | #include "GMS6_CR6.h" |
ojan | 0:bc6f14fc60c7 | 6 | #include "ErrorLogger.h" |
ojan | 0:bc6f14fc60c7 | 7 | #include "Vector.h" |
ojan | 3:5358a691a100 | 8 | #include "Matrix.h" |
ojan | 3:5358a691a100 | 9 | #include "Vector_Matrix_operator.h" |
ojan | 0:bc6f14fc60c7 | 10 | #include "myConstants.h" |
ojan | 3:5358a691a100 | 11 | #include "Log.h" |
ojan | 0:bc6f14fc60c7 | 12 | |
ojan | 0:bc6f14fc60c7 | 13 | /********** private define **********/ |
ojan | 0:bc6f14fc60c7 | 14 | #define TRUE 1 |
ojan | 0:bc6f14fc60c7 | 15 | #define FALSE 0 |
ojan | 8:602865d8fca3 | 16 | |
ojan | 8:602865d8fca3 | 17 | const float dt = 0.1f; // 割り込み周期(s) |
ojan | 8:602865d8fca3 | 18 | const float ServoMax = 0.0023f; // サーボの最大パルス長(s) |
ojan | 8:602865d8fca3 | 19 | const float ServoMin = 0.0006f; // サーボの最小パルス長(s) |
ojan | 0:bc6f14fc60c7 | 20 | /********** private macro **********/ |
ojan | 1:6cd6d2760856 | 21 | |
ojan | 0:bc6f14fc60c7 | 22 | /********** private typedef **********/ |
ojan | 1:6cd6d2760856 | 23 | |
ojan | 0:bc6f14fc60c7 | 24 | /********** private variables **********/ |
ojan | 4:45dc5590abc0 | 25 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
ojan | 4:45dc5590abc0 | 26 | I2C i2c(PB_9, PB_8); // I2Cポート |
ojan | 1:6cd6d2760856 | 27 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
ojan | 1:6cd6d2760856 | 28 | HMC5883L hmc(&i2c); // 地磁気センサ |
ojan | 1:6cd6d2760856 | 29 | LPS25H lps(&i2c); // 気圧センサ |
ojan | 8:602865d8fca3 | 30 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
ojan | 1:6cd6d2760856 | 31 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
ojan | 1:6cd6d2760856 | 32 | GMS6_CR6 gms(&gps, &pc); // GPS |
onaka | 6:2b68f85a984a | 33 | Log logger(PB_5, PB_4, PB_3, PB_10, PA_9, PA_10, PC_1); // ロガー(microSD、XBee) |
ojan | 8:602865d8fca3 | 34 | PwmOut servoL(PB_6), servoR(PC_7); // サーボ用PWM出力 |
ojan | 8:602865d8fca3 | 35 | AnalogIn rf(PC_0); // 照度センサ用アナログ入力 |
ojan | 8:602865d8fca3 | 36 | AnalogIn servoVcc(PA_0); // バッテリー電圧監視用アナログ入力(サーボ用) |
ojan | 8:602865d8fca3 | 37 | AnalogIn logicVcc(PA_1); // バッテリー電圧監視用アナログ入力(ロジック用) |
ojan | 8:602865d8fca3 | 38 | Ticker INT_timer; // 割り込みタイマー |
ojan | 0:bc6f14fc60c7 | 39 | |
ojan | 8:602865d8fca3 | 40 | int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 8:602865d8fca3 | 41 | uint8_t INT_flag = TRUE; // 割り込み可否フラグ |
ojan | 8:602865d8fca3 | 42 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 8:602865d8fca3 | 43 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 8:602865d8fca3 | 44 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 8:602865d8fca3 | 45 | float raw_press; // 気圧(hPa) 生 |
ojan | 8:602865d8fca3 | 46 | Vector acc(3); // 加速度(m/s^2) |
ojan | 8:602865d8fca3 | 47 | Vector gyro(3); // 角速度(deg/s) |
ojan | 8:602865d8fca3 | 48 | Vector geomag(3); // 地磁気(?) |
ojan | 8:602865d8fca3 | 49 | float press; // 気圧(hPa) |
ojan | 1:6cd6d2760856 | 50 | |
ojan | 8:602865d8fca3 | 51 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 8:602865d8fca3 | 52 | Vector g(3); // 重力ベクトル |
ojan | 8:602865d8fca3 | 53 | //Vector n(3); // 地磁気ベクトル |
ojan | 8:602865d8fca3 | 54 | |
ojan | 8:602865d8fca3 | 55 | int pull_L = 0; // 左サーボの引っ張り量(mm:0~30) |
ojan | 8:602865d8fca3 | 56 | int pull_R = 0; // 右サーボの引っ張り量(mm:0~30) |
ojan | 3:5358a691a100 | 57 | |
ojan | 3:5358a691a100 | 58 | /* ----- Kalman Filter ----- */ |
ojan | 3:5358a691a100 | 59 | Vector pri_x(6); |
ojan | 3:5358a691a100 | 60 | Matrix pri_P(6, 6); |
ojan | 3:5358a691a100 | 61 | Vector post_x(6); |
ojan | 3:5358a691a100 | 62 | Matrix post_P(6, 6); |
ojan | 3:5358a691a100 | 63 | Matrix F(6, 6), H(3, 6); |
ojan | 3:5358a691a100 | 64 | Matrix R(6, 6), Q(3, 3); |
ojan | 3:5358a691a100 | 65 | Matrix I(6, 6); |
ojan | 3:5358a691a100 | 66 | Matrix K(6, 3); |
ojan | 3:5358a691a100 | 67 | Matrix S(3, 3), inv(3, 3); |
ojan | 3:5358a691a100 | 68 | /* ----- ------------- ----- */ |
ojan | 3:5358a691a100 | 69 | |
ojan | 3:5358a691a100 | 70 | Timer timer; |
ojan | 3:5358a691a100 | 71 | |
onaka | 6:2b68f85a984a | 72 | char data[512] = {}; |
ojan | 1:6cd6d2760856 | 73 | |
ojan | 0:bc6f14fc60c7 | 74 | /********** private functions **********/ |
ojan | 4:45dc5590abc0 | 75 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 4:45dc5590abc0 | 76 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 0:bc6f14fc60c7 | 77 | void INT_func(); // 割り込み用関数 |
ojan | 3:5358a691a100 | 78 | void toString(Matrix& m); |
ojan | 3:5358a691a100 | 79 | void toString(Vector& v); |
ojan | 1:6cd6d2760856 | 80 | |
ojan | 0:bc6f14fc60c7 | 81 | /********** main function **********/ |
ojan | 0:bc6f14fc60c7 | 82 | |
ojan | 0:bc6f14fc60c7 | 83 | int main() { |
ojan | 0:bc6f14fc60c7 | 84 | |
ojan | 0:bc6f14fc60c7 | 85 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 0:bc6f14fc60c7 | 86 | |
ojan | 0:bc6f14fc60c7 | 87 | if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 0:bc6f14fc60c7 | 88 | if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 0:bc6f14fc60c7 | 89 | |
ojan | 4:45dc5590abc0 | 90 | char* title = "log data\r\n"; // ログのタイトル行 |
onaka | 6:2b68f85a984a | 91 | logger.initialize_sdlog(title); // ログファイル初期設定 |
ojan | 3:5358a691a100 | 92 | |
ojan | 8:602865d8fca3 | 93 | servoL.period(0.020f); // サーボの信号の周期は20ms |
ojan | 8:602865d8fca3 | 94 | servoR.period(0.020f); |
ojan | 8:602865d8fca3 | 95 | |
ojan | 3:5358a691a100 | 96 | KalmanInit(); |
ojan | 3:5358a691a100 | 97 | |
ojan | 3:5358a691a100 | 98 | INT_timer.attach(&INT_func, dt); // 割り込み有効化(Freq = 0.01fなので、10msおきの割り込み) |
ojan | 1:6cd6d2760856 | 99 | |
ojan | 1:6cd6d2760856 | 100 | //重力ベクトルの初期化 |
ojan | 4:45dc5590abc0 | 101 | raw_g.SetComp(1, 0.0f); |
ojan | 4:45dc5590abc0 | 102 | raw_g.SetComp(2, 0.0f); |
ojan | 4:45dc5590abc0 | 103 | raw_g.SetComp(3, 1.0f); |
ojan | 0:bc6f14fc60c7 | 104 | |
ojan | 2:d2b60a1d0cd9 | 105 | /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */ |
ojan | 0:bc6f14fc60c7 | 106 | while(1) { |
ojan | 4:45dc5590abc0 | 107 | timer.stop(); |
ojan | 4:45dc5590abc0 | 108 | timer.reset(); |
ojan | 4:45dc5590abc0 | 109 | timer.start(); |
ojan | 3:5358a691a100 | 110 | // 0.1秒おきにセンサーの出力をpcへ出力 |
ojan | 4:45dc5590abc0 | 111 | myled = 1; // LED is ON |
ojan | 4:45dc5590abc0 | 112 | wait(0.05f); // 50 ms |
ojan | 4:45dc5590abc0 | 113 | myled = 0; // LED is OFF |
ojan | 1:6cd6d2760856 | 114 | |
ojan | 8:602865d8fca3 | 115 | pull_L = (pull_L+5)%30; |
ojan | 8:602865d8fca3 | 116 | pull_R = (pull_R+5)%30; |
ojan | 8:602865d8fca3 | 117 | |
ojan | 0:bc6f14fc60c7 | 118 | INT_flag = FALSE; // 割り込みによる変数書き換えを阻止 |
ojan | 0:bc6f14fc60c7 | 119 | |
ojan | 5:182f6356bce1 | 120 | float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 121 | float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 122 | |
ojan | 5:182f6356bce1 | 123 | sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n", |
ojan | 5:182f6356bce1 | 124 | g.GetComp(1), g.GetComp(2), g.GetComp(3), |
ojan | 4:45dc5590abc0 | 125 | geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3), |
ojan | 5:182f6356bce1 | 126 | press, gms.longitude, gms.latitude, |
ojan | 8:602865d8fca3 | 127 | sv, lv, rf.read_u16()); |
onaka | 6:2b68f85a984a | 128 | logger.write(data); |
ojan | 4:45dc5590abc0 | 129 | |
ojan | 0:bc6f14fc60c7 | 130 | INT_flag = TRUE; // 割り込み許可 |
ojan | 0:bc6f14fc60c7 | 131 | |
ojan | 4:45dc5590abc0 | 132 | pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f); |
ojan | 4:45dc5590abc0 | 133 | |
ojan | 5:182f6356bce1 | 134 | // 制御ルーチン |
ojan | 8:602865d8fca3 | 135 | /*{ |
ojan | 8:602865d8fca3 | 136 | servoL.pulsewidth((ServoMax-ServoMin) * pull_L / 30.0f + ServoMin); |
ojan | 8:602865d8fca3 | 137 | servoR.pulsewidth((ServoMax-ServoMin) * pull_R / 30.0f + ServoMin); |
ojan | 8:602865d8fca3 | 138 | |
ojan | 8:602865d8fca3 | 139 | |
ojan | 8:602865d8fca3 | 140 | |
ojan | 8:602865d8fca3 | 141 | }*/ |
ojan | 5:182f6356bce1 | 142 | |
ojan | 5:182f6356bce1 | 143 | |
ojan | 4:45dc5590abc0 | 144 | // ループはきっかり1秒ごと |
ojan | 4:45dc5590abc0 | 145 | while(timer.read_ms() < 1000); |
ojan | 4:45dc5590abc0 | 146 | |
ojan | 0:bc6f14fc60c7 | 147 | } |
ojan | 2:d2b60a1d0cd9 | 148 | |
ojan | 2:d2b60a1d0cd9 | 149 | /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */ |
ojan | 0:bc6f14fc60c7 | 150 | } |
ojan | 0:bc6f14fc60c7 | 151 | |
ojan | 3:5358a691a100 | 152 | void KalmanInit() { |
ojan | 3:5358a691a100 | 153 | |
ojan | 3:5358a691a100 | 154 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 3:5358a691a100 | 155 | float alpha_R = 60.0f; |
ojan | 3:5358a691a100 | 156 | float alpha_Q = 100.0f; |
ojan | 3:5358a691a100 | 157 | R *= alpha_R; |
ojan | 3:5358a691a100 | 158 | Q *= alpha_Q; |
ojan | 3:5358a691a100 | 159 | |
ojan | 3:5358a691a100 | 160 | // 状態方程式のヤコビアンの初期値を代入(時間変化あり) |
ojan | 3:5358a691a100 | 161 | float f[36] = { |
ojan | 4:45dc5590abc0 | 162 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 163 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 164 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 165 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 166 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 167 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 168 | }; |
ojan | 3:5358a691a100 | 169 | |
ojan | 3:5358a691a100 | 170 | F.SetComps(f); |
ojan | 3:5358a691a100 | 171 | |
ojan | 3:5358a691a100 | 172 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 3:5358a691a100 | 173 | float h[18] = { |
ojan | 3:5358a691a100 | 174 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 175 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 176 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 177 | }; |
ojan | 3:5358a691a100 | 178 | |
ojan | 3:5358a691a100 | 179 | H.SetComps(h); |
ojan | 3:5358a691a100 | 180 | } |
ojan | 3:5358a691a100 | 181 | |
ojan | 3:5358a691a100 | 182 | void KalmanUpdate() { |
ojan | 3:5358a691a100 | 183 | // ヤコビアンの更新 |
ojan | 3:5358a691a100 | 184 | float f[36] = { |
ojan | 4:45dc5590abc0 | 185 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 186 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 187 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 188 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 189 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 190 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 191 | }; |
ojan | 3:5358a691a100 | 192 | |
ojan | 3:5358a691a100 | 193 | F.SetComps(f); |
ojan | 3:5358a691a100 | 194 | |
ojan | 3:5358a691a100 | 195 | // 事前推定値の更新 |
ojan | 3:5358a691a100 | 196 | pri_x = F * post_x; |
ojan | 3:5358a691a100 | 197 | // 事前誤差分散行列の更新 |
ojan | 3:5358a691a100 | 198 | pri_P = F * post_P * F.Transpose() + R; |
ojan | 3:5358a691a100 | 199 | |
ojan | 3:5358a691a100 | 200 | // カルマンゲインの計算 |
ojan | 3:5358a691a100 | 201 | S = Q + H * pri_P * H.Transpose(); |
ojan | 3:5358a691a100 | 202 | float det; |
ojan | 3:5358a691a100 | 203 | if((det = S.Inverse(inv)) >= 0.0f) { |
ojan | 3:5358a691a100 | 204 | pc.printf("E:%.3f\r\n", det); |
ojan | 3:5358a691a100 | 205 | return; // 万が一、逆行列が見つからなかった場合は前回の推定値を保持して終了 |
ojan | 3:5358a691a100 | 206 | } |
ojan | 3:5358a691a100 | 207 | K = pri_P * H.Transpose() * inv; |
ojan | 3:5358a691a100 | 208 | |
ojan | 3:5358a691a100 | 209 | // 事後推定値の更新 |
ojan | 4:45dc5590abc0 | 210 | post_x = pri_x + K * (raw_geomag - H * pri_x); |
ojan | 3:5358a691a100 | 211 | // 事後誤差分散行列の更新 |
ojan | 3:5358a691a100 | 212 | post_P = (I - K * H) * pri_P; |
ojan | 3:5358a691a100 | 213 | } |
ojan | 3:5358a691a100 | 214 | |
ojan | 0:bc6f14fc60c7 | 215 | void INT_func() { |
ojan | 4:45dc5590abc0 | 216 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 217 | mpu.read(); |
ojan | 4:45dc5590abc0 | 218 | hmc.read(); |
ojan | 4:45dc5590abc0 | 219 | |
ojan | 4:45dc5590abc0 | 220 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 221 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 222 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 223 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 224 | } |
ojan | 0:bc6f14fc60c7 | 225 | |
ojan | 4:45dc5590abc0 | 226 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 227 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 228 | raw_g = raw_g.Normalize(); |
ojan | 4:45dc5590abc0 | 229 | |
ojan | 4:45dc5590abc0 | 230 | KalmanUpdate(); |
ojan | 0:bc6f14fc60c7 | 231 | |
ojan | 4:45dc5590abc0 | 232 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 233 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 234 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 235 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 4:45dc5590abc0 | 236 | } |
ojan | 4:45dc5590abc0 | 237 | //pc.printf("%d(us)\r\n", timer.read_us()); |
ojan | 4:45dc5590abc0 | 238 | |
ojan | 4:45dc5590abc0 | 239 | if(INT_flag != FALSE) { |
ojan | 4:45dc5590abc0 | 240 | g = raw_g; |
ojan | 4:45dc5590abc0 | 241 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 242 | geomag.SetComp(i+1, post_x.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 243 | } |
ojan | 4:45dc5590abc0 | 244 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 245 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 246 | press = raw_press; |
ojan | 1:6cd6d2760856 | 247 | |
ojan | 0:bc6f14fc60c7 | 248 | } |
ojan | 3:5358a691a100 | 249 | } |
ojan | 3:5358a691a100 | 250 | |
ojan | 3:5358a691a100 | 251 | void toString(Matrix& m) { |
ojan | 3:5358a691a100 | 252 | |
ojan | 3:5358a691a100 | 253 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 254 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 255 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 256 | } |
ojan | 3:5358a691a100 | 257 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 258 | } |
ojan | 3:5358a691a100 | 259 | |
ojan | 3:5358a691a100 | 260 | } |
ojan | 3:5358a691a100 | 261 | |
ojan | 3:5358a691a100 | 262 | void toString(Vector& v) { |
ojan | 3:5358a691a100 | 263 | |
ojan | 3:5358a691a100 | 264 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 265 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 266 | } |
ojan | 3:5358a691a100 | 267 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 268 | |
ojan | 0:bc6f14fc60c7 | 269 | } |