KIT_lab / Mbed 2 deprecated DCmotor_T1

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Dependencies:   mbed QEI mbed-rtos

controller.cpp@12:459af534d1ee, 2013-01-04 (annotated)

Committer:
kosaka
Date:
Fri Jan 04 12:00:48 2013 +0000
Revision:
12:459af534d1ee
Child:
13:ba71733c11d7
DC motor control program using TA7291P type H bridge driver and rotary encoder with A, B phase.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kosaka 12:459af534d1ee 1 // BLDCmotor.cpp: 各種３相同期モータに対するセンサあり運転のシミュレーション
kosaka 12:459af534d1ee 2 // Kosaka Lab. 121215
kosaka 12:459af534d1ee 3 #include "mbed.h"
kosaka 12:459af534d1ee 4 #include "QEI.h"
kosaka 12:459af534d1ee 5
kosaka 12:459af534d1ee 6 #include "controller.h"
kosaka 12:459af534d1ee 7 #include "Hbridge.h"
kosaka 12:459af534d1ee 8 Serial pc(USBTX, USBRX); // Display on tera term in PC
kosaka 12:459af534d1ee 9
kosaka 12:459af534d1ee 10 motor_parameters p; // モータの定数、信号など
kosaka 12:459af534d1ee 11 current_loop_parameters il; // 電流制御マイナーループの定数、変数
kosaka 12:459af534d1ee 12 velocity_loop_parameters vl; // 速度制御メインループの定数、変数
kosaka 12:459af534d1ee 13
kosaka 12:459af534d1ee 14 QEI encoder (CH_A, CH_B, NC, N_ENC, QEI::X4_ENCODING);
kosaka 12:459af534d1ee 15 // QEI(PinName channelA, mbed pin for channel A input.
kosaka 12:459af534d1ee 16 // PinName channelB, mbed pin for channel B input.
kosaka 12:459af534d1ee 17 // PinName index, mbed pin for channel Z input. (index channel input Z phase th=0), (pass NC if not needed).
kosaka 12:459af534d1ee 18 // int pulsesPerRev, Number of pulses in one revolution(=360 deg).
kosaka 12:459af534d1ee 19 // Encoding encoding = X2_ENCODING, X2 is default. X2 uses interrupts on the rising and falling edges of only channel A where as
kosaka 12:459af534d1ee 20 // X4 uses them on both channels.
kosaka 12:459af534d1ee 21 // )
kosaka 12:459af534d1ee 22 // void reset (void)
kosaka 12:459af534d1ee 23 // Reset the encoder.
kosaka 12:459af534d1ee 24 // int getCurrentState (void)
kosaka 12:459af534d1ee 25 // Read the state of the encoder.
kosaka 12:459af534d1ee 26 // int getPulses (void)
kosaka 12:459af534d1ee 27 // Read the number of pulses recorded by the encoder.
kosaka 12:459af534d1ee 28 // int getRevolutions (void)
kosaka 12:459af534d1ee 29 // Read the number of revolutions recorded by the encoder on the index channel.
kosaka 12:459af534d1ee 30 /*********** User setting for control parameters (end) ***************/
kosaka 12:459af534d1ee 31
kosaka 12:459af534d1ee 32 AnalogOut analog_out(DA_PORT);
kosaka 12:459af534d1ee 33 AnalogIn VshuntR_Uplus(p19); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A]
kosaka 12:459af534d1ee 34 AnalogIn VshuntR_Uminus(p20); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A]
kosaka 12:459af534d1ee 35 AnalogIn VshuntR_Vplus(p16); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A]
kosaka 12:459af534d1ee 36 AnalogIn VshuntR_Vminus(p17); // *3.3 [V], Volt of shunt R_SHUNT[Ohm]. The motor current i = v_shunt_r/R_SHUNT [A]
kosaka 12:459af534d1ee 37
kosaka 12:459af534d1ee 38 unsigned long _count; // sampling number
kosaka 12:459af534d1ee 39 float _time; // time[s]
kosaka 12:459af534d1ee 40 float debug[20]; // for debug
kosaka 12:459af534d1ee 41 float disp[10]; // for printf to avoid interrupted by quicker process
kosaka 12:459af534d1ee 42 DigitalOut led1(LED1);
kosaka 12:459af534d1ee 43 DigitalOut led2(LED2);
kosaka 12:459af534d1ee 44 DigitalOut led3(LED3);
kosaka 12:459af534d1ee 45 DigitalOut led4(LED4);
kosaka 12:459af534d1ee 46
kosaka 12:459af534d1ee 47 #ifdef GOOD_DATA
kosaka 12:459af534d1ee 48 float data[1000][5]; // memory to save data offline instead of "online fprintf".
kosaka 12:459af534d1ee 49 unsigned int count3; //
kosaka 12:459af534d1ee 50 unsigned int count2=(int)(TS2/TS0); //
kosaka 12:459af534d1ee 51 unsigned short _count_data=0;
kosaka 12:459af534d1ee 52 #endif
kosaka 12:459af534d1ee 53 DigitalOut debug_p26(p26); // p17 for debug
kosaka 12:459af534d1ee 54 DigitalOut debug_p25(p25); // p17 for debug
kosaka 12:459af534d1ee 55 //DigitalOut debug_p24(p24); // p17 for debug
kosaka 12:459af534d1ee 56 //AnalogIn VCC(p19); // *3.3 [V], Volt of VCC for motor
kosaka 12:459af534d1ee 57 //AnalogIn VCC2(p20); // *3.3 [V], Volt of (VCC-R i), R=2.5[Ohm]. R is for preventing too much i when deadtime is failed.
kosaka 12:459af534d1ee 58
kosaka 12:459af534d1ee 59 unsigned short f_find_origin; // flag to find the origin of the rotor angle theta
kosaka 12:459af534d1ee 60
kosaka 12:459af534d1ee 61 #if 1 //BUG!! if move sqrt2 to fast_math.h, sim starts and completed without working!?
kosaka 12:459af534d1ee 62 float sqrt2(float x){ // √xのx=1まわりのテイラー展開 √x = 1 + 1/2*(x-1) -1/4*(x-1)^2 + ...
kosaka 12:459af534d1ee 63 // return((1+x)*0.5); // 一次近似
kosaka 12:459af534d1ee 64 return(x+(1-x*x)*0.25); // 二次近似
kosaka 12:459af534d1ee 65 }
kosaka 12:459af534d1ee 66 #endif
kosaka 12:459af534d1ee 67
kosaka 12:459af534d1ee 68 void init_parameters(){ // IPMSMの機器定数等の設定, 制御器の初期化
kosaka 12:459af534d1ee 69 #ifdef SIMULATION
kosaka 12:459af534d1ee 70 p.L = 0.0063; // H
kosaka 12:459af534d1ee 71 p.R = 0.143; // Ω
kosaka 12:459af534d1ee 72 p.phi = 0.176; // V s
kosaka 12:459af534d1ee 73 p.Jm = 0.00018; // Nms^2
kosaka 12:459af534d1ee 74 p.p = 2; // 極対数
kosaka 12:459af534d1ee 75 #endif
kosaka 12:459af534d1ee 76 p.th[0] = p.th[1] = 0;
kosaka 12:459af534d1ee 77 p.w = 0;
kosaka 12:459af534d1ee 78 p.i = 0;
kosaka 12:459af534d1ee 79 p.v =0;
kosaka 12:459af534d1ee 80
kosaka 12:459af534d1ee 81 p.w = 0;
kosaka 12:459af534d1ee 82
kosaka 12:459af534d1ee 83 // 制御器の初期化
kosaka 12:459af534d1ee 84 vl.i_ref=0; // 電流指令[A]
kosaka 12:459af534d1ee 85 vl.w_lpf = 0; // 検出した速度[rad/s]
kosaka 12:459af534d1ee 86 vl.eI_w = 0; // 速度制御用偏差の積分値（積分項）
kosaka 12:459af534d1ee 87 il.eI_i = 0; // 電流制御用偏差の積分値（積分項）
kosaka 12:459af534d1ee 88 #ifndef SIMULATION
kosaka 12:459af534d1ee 89 encoder.reset(); // set encoder counter zero
kosaka 12:459af534d1ee 90 p.th[0] = p.th[1] = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder
kosaka 12:459af534d1ee 91 #endif
kosaka 12:459af534d1ee 92 }
kosaka 12:459af534d1ee 93
kosaka 12:459af534d1ee 94 void idq_control(){
kosaka 12:459af534d1ee 95 // ｄｑ座標電流PID制御器（電流マイナーループのフィードバック制御）
kosaka 12:459af534d1ee 96 // 入力：指令電流 i_ref [A], 実電流 p.i [A], PI制御積分項 eI, サンプル時間 TS0 [s]
kosaka 12:459af534d1ee 97 // 出力：電圧指令 v_ref [A]
kosaka 12:459af534d1ee 98 float e;
kosaka 12:459af534d1ee 99
kosaka 12:459af534d1ee 100 //debug[0]=il.i_ref;
kosaka 12:459af534d1ee 101 // ｄｑ電流偏差の計算
kosaka 12:459af534d1ee 102 e = il.i_ref - p.i;
kosaka 12:459af534d1ee 103
kosaka 12:459af534d1ee 104 // ｄｑ電流偏差の積分項の計算
kosaka 12:459af534d1ee 105 il.eI_i = il.eI_i + TS0*e;
kosaka 12:459af534d1ee 106
kosaka 12:459af534d1ee 107 // ＰＩ制御
kosaka 12:459af534d1ee 108 il.v_ref = iKP*e + iKI*il.eI_i;
kosaka 12:459af534d1ee 109
kosaka 12:459af534d1ee 110 }
kosaka 12:459af534d1ee 111
kosaka 12:459af534d1ee 112 void current_loop(){ // 電流制御マイナーループ
kosaka 12:459af534d1ee 113 // 電流センサによってiu, iv を検出
kosaka 12:459af534d1ee 114 #ifndef SIMULATION
kosaka 12:459af534d1ee 115 p.i = (VshuntR_Uplus - VshuntR_Uminus) /R_SHUNT; // get i [A] from shunt resistance;
kosaka 12:459af534d1ee 116 #endif
kosaka 12:459af534d1ee 117 //debug[0]=p.i;
kosaka 12:459af534d1ee 118 // dq電流制御（電流フィードバック制御）
kosaka 12:459af534d1ee 119 debug[0]=il.i_ref;
kosaka 12:459af534d1ee 120 #ifdef USE_CURRENT_CONTROL
kosaka 12:459af534d1ee 121 idq_control();
kosaka 12:459af534d1ee 122 #else
kosaka 12:459af534d1ee 123 il.v_ref = il.i_ref/iMAX*vMAX;
kosaka 12:459af534d1ee 124 #endif
kosaka 12:459af534d1ee 125 // 電圧指令の大きさをMAX制限
kosaka 12:459af534d1ee 126 // anti-windup: if u=v_ref is saturated, then reduce eI.
kosaka 12:459af534d1ee 127 if( il.v_ref > vMAX ){
kosaka 12:459af534d1ee 128 il.eI_i -= (il.v_ref - vMAX)/iKI; if( il.eI_i<0 ){ il.eI_i=0;}
kosaka 12:459af534d1ee 129 il.v_ref = vMAX;
kosaka 12:459af534d1ee 130 }else if( il.v_ref < -vMAX ){
kosaka 12:459af534d1ee 131 il.eI_i -= (il.v_ref + vMAX)/iKI; if( il.eI_i>0 ){ il.eI_i=0;}
kosaka 12:459af534d1ee 132 il.v_ref = -vMAX;
kosaka 12:459af534d1ee 133 }
kosaka 12:459af534d1ee 134 p.v = il.v_ref;
kosaka 12:459af534d1ee 135
kosaka 12:459af534d1ee 136 p.th[1] = p.th[0]; // thを更新
kosaka 12:459af534d1ee 137 }
kosaka 12:459af534d1ee 138
kosaka 12:459af534d1ee 139
kosaka 12:459af534d1ee 140 void vel_control(){
kosaka 12:459af534d1ee 141 // 速度制御器：速度偏差が入力され、q軸電流指令を出力。
kosaka 12:459af534d1ee 142 // 入力：指令速度 w_ref [rad/s], 実速度 w_lpf [rad/s], PI制御積分項 eI, サンプル時間 TS1 [s]
kosaka 12:459af534d1ee 143 // 出力：電流指令 i_ref [A]
kosaka 12:459af534d1ee 144 float e;
kosaka 12:459af534d1ee 145
kosaka 12:459af534d1ee 146 // 速度偏差の計算
kosaka 12:459af534d1ee 147 e = vl.w_ref - vl.w_lpf;
kosaka 12:459af534d1ee 148
kosaka 12:459af534d1ee 149 // 速度偏差の積分値の計算
kosaka 12:459af534d1ee 150 vl.eI_w = vl.eI_w + TS1*e;
kosaka 12:459af534d1ee 151
kosaka 12:459af534d1ee 152 // ＰＩ制御
kosaka 12:459af534d1ee 153 vl.i_ref = wKp*e + wKi*vl.eI_w;
kosaka 12:459af534d1ee 154 }
kosaka 12:459af534d1ee 155
kosaka 12:459af534d1ee 156 void velocity_loop(){ // 速度制御メインループ(w_ref&beta_ref to idq_ref)
kosaka 12:459af534d1ee 157 float tmp;
kosaka 12:459af534d1ee 158
kosaka 12:459af534d1ee 159 // 速度ωを求めるために、位置θをオイラー微分して、一次ローパスフィルタに通す。
kosaka 12:459af534d1ee 160 #if 1
kosaka 12:459af534d1ee 161 tmp = p.th[0]-p.th[1];
kosaka 12:459af534d1ee 162 while( tmp> PI ){ tmp -= 2*PI;}
kosaka 12:459af534d1ee 163 while( tmp<-PI ){ tmp += 2*PI;}
kosaka 12:459af534d1ee 164 vl.w_lpf = iLPF*vl.w_lpf + tmp/TS0 *(1-iLPF);
kosaka 12:459af534d1ee 165 #else
kosaka 12:459af534d1ee 166 vl.w_lpf = p.th[0];
kosaka 12:459af534d1ee 167 #endif
kosaka 12:459af534d1ee 168 // 速度制御：速度偏差が入力され、電流指令を出力。
kosaka 12:459af534d1ee 169 vel_control();
kosaka 12:459af534d1ee 170
kosaka 12:459af534d1ee 171 // 電流指令のMAX制限（異常に大きい指令値を制限する）
kosaka 12:459af534d1ee 172 // anti-windup: if u=i_ref is saturated, then reduce eI.
kosaka 12:459af534d1ee 173 if( vl.i_ref > iMAX ){
kosaka 12:459af534d1ee 174 vl.eI_w -= (vl.i_ref - iMAX)/wKi; if( vl.eI_w<0 ){ vl.eI_w=0;}
kosaka 12:459af534d1ee 175 vl.i_ref = iMAX;
kosaka 12:459af534d1ee 176 }else if( vl.i_ref < -iMAX ){
kosaka 12:459af534d1ee 177 vl.eI_w -= (vl.i_ref + iMAX)/wKi; if( vl.eI_w>0 ){ vl.eI_w=0;}
kosaka 12:459af534d1ee 178 vl.i_ref = -iMAX;
kosaka 12:459af534d1ee 179 }
kosaka 12:459af534d1ee 180 //debug[0]=vl.eI_w;
kosaka 12:459af534d1ee 181
kosaka 12:459af534d1ee 182 // 電流の目標値を速度制御メインループから電流制御マイナーループへ渡す。
kosaka 12:459af534d1ee 183 il.i_ref = vl.i_ref;
kosaka 12:459af534d1ee 184 //debug[0]=il.i_ref;
kosaka 12:459af534d1ee 185 }
kosaka 12:459af534d1ee 186
kosaka 12:459af534d1ee 187 void v2Hbridge(){ // vより、PWMを発生
kosaka 12:459af534d1ee 188 float duty;
kosaka 12:459af534d1ee 189
kosaka 12:459af534d1ee 190 // duty = (p.v/vMAX+1)*0.5;
kosaka 12:459af534d1ee 191 // IN.duty = duty;
kosaka 12:459af534d1ee 192 duty = p.v/vMAX;
kosaka 12:459af534d1ee 193 if( duty>=0 ){
kosaka 12:459af534d1ee 194 IN.duty = duty;
kosaka 12:459af534d1ee 195 if( IN.fReverse[0]==1 ){
kosaka 12:459af534d1ee 196 IN.fDeadtime = 1;
kosaka 12:459af534d1ee 197 }
kosaka 12:459af534d1ee 198 IN.fReverse[0] = 0;
kosaka 12:459af534d1ee 199 }else{
kosaka 12:459af534d1ee 200 IN.duty = -duty;
kosaka 12:459af534d1ee 201 if( IN.fReverse[0]==0 ){
kosaka 12:459af534d1ee 202 IN.fDeadtime = 1;
kosaka 12:459af534d1ee 203 }
kosaka 12:459af534d1ee 204 IN.fReverse[0] = 1;
kosaka 12:459af534d1ee 205 }
kosaka 12:459af534d1ee 206 }
kosaka 12:459af534d1ee 207
kosaka 12:459af534d1ee 208 #ifdef SIMULATION
kosaka 12:459af534d1ee 209 void sim_motor(){
kosaka 12:459af534d1ee 210 // モータシミュレータ
kosaka 12:459af534d1ee 211 // 入力信号：電圧p.v [V]、負荷トルクp.TL [Nm]
kosaka 12:459af534d1ee 212 // 出力信号：モータ角度p.th[0] [rad], モータ速度p.w [rad/s], モータ電流p.i [A]
kosaka 12:459af534d1ee 213 float i_dot, Tall, TL;
kosaka 12:459af534d1ee 214 analog_out=p.v/100.+0.5;//debug
kosaka 12:459af534d1ee 215 //debug[0]=p.v;
kosaka 12:459af534d1ee 216 // get i
kosaka 12:459af534d1ee 217 i_dot = (1.0/p.L) * ( p.v - (p.R*p.i + p.w*p.phi) );
kosaka 12:459af534d1ee 218 p.i = p.i + TS0*i_dot;
kosaka 12:459af534d1ee 219
kosaka 12:459af534d1ee 220 // モータトルクの計算
kosaka 12:459af534d1ee 221 p.Tm = p.p * p.phi * p.i;
kosaka 12:459af534d1ee 222
kosaka 12:459af534d1ee 223 // モータ速度ωの計算
kosaka 12:459af534d1ee 224 if( abs(p.w) > 5*2*PI )
kosaka 12:459af534d1ee 225 if( p.w>=0 ) TL= p.TL;
kosaka 12:459af534d1ee 226 else TL=-p.TL;
kosaka 12:459af534d1ee 227 else
kosaka 12:459af534d1ee 228 TL = p.w/(5*2*PI)*p.TL;
kosaka 12:459af534d1ee 229
kosaka 12:459af534d1ee 230 Tall = p.Tm - TL;
kosaka 12:459af534d1ee 231 p.w = p.w + TS0 * (1.0 / p.Jm) * Tall;
kosaka 12:459af534d1ee 232
kosaka 12:459af534d1ee 233 // モータ角度θの計算
kosaka 12:459af534d1ee 234 p.th[0] = p.th[0] + TS0 * p.w;
kosaka 12:459af534d1ee 235 if( p.th[0]>2*PI)
kosaka 12:459af534d1ee 236 p.th[0] = p.th[0] - 2*PI;
kosaka 12:459af534d1ee 237
kosaka 12:459af534d1ee 238 if( p.th[0]<0 )
kosaka 12:459af534d1ee 239 p.th[0] = p.th[0] + 2*PI;
kosaka 12:459af534d1ee 240 //debug[0]=p.v;
kosaka 12:459af534d1ee 241 }
kosaka 12:459af534d1ee 242 #endif
kosaka 12:459af534d1ee 243
kosaka 12:459af534d1ee 244 void data2mbedUSB(){ // save data to mbed USB drive
kosaka 12:459af534d1ee 245 if( _count_data<1000 ){
kosaka 12:459af534d1ee 246 data[_count_data][0]=p.th[0]/*vl.w_ref*/; data[_count_data][1]=debug[0];
kosaka 12:459af534d1ee 247 data[_count_data][2]=vl.w_lpf; data[_count_data][3]=_count*TS0; data[_count_data][4]=il.v_ref;
kosaka 12:459af534d1ee 248 _count_data++;
kosaka 12:459af534d1ee 249 }
kosaka 12:459af534d1ee 250 #if 0
kosaka 12:459af534d1ee 251 if( _count_data<500 ){
kosaka 12:459af534d1ee 252 debug[0]=p.vab[0]; debug[1]=p.vab[1]; debug[2]=il.vdq_ref[0]; debug[3]=il.vdq_ref[1]; debug[4]=p.iab[0];
kosaka 12:459af534d1ee 253 debug[5]=p.iab[1]; debug[6]=p.vuvw[0]; debug[7]=p.vuvw[1]; debug[8]=p.vuvw[2]; debug[9]=p.iuvw[0];
kosaka 12:459af534d1ee 254 debug[10]=p.iuvw[1]; debug[11]=p.iuvw[2]; debug[12]=p.idq[0]; debug[13]=p.idq[1]; debug[14]=p.TL;
kosaka 12:459af534d1ee 255 debug[15]=p.Tm; debug[16]=p.w; debug[17]=vl.w_lpf; debug[18]=p.th[0]; debug[19]=_count*TS0;//_time;
kosaka 12:459af534d1ee 256 //BUG for(j=0;j<19;j++){ fprintf( fp, "%f, ",debug[j]);} fprintf( fp, "%f\n",debug[19]);
kosaka 12:459af534d1ee 257 for(j=0;j<19;j++){ printf("%f, ",debug[j]);} printf("%f\n",debug[19]);
kosaka 12:459af534d1ee 258 // for(j=0;j<19;j++){ pc.printf("%f, ",debug[j]);} pc.printf("%f\n",debug[19]);
kosaka 12:459af534d1ee 259 }
kosaka 12:459af534d1ee 260 #endif
kosaka 12:459af534d1ee 261 }
kosaka 12:459af534d1ee 262 void timerTS0(){ // timer called every TS0[s].
kosaka 12:459af534d1ee 263 debug_p26 = 1;
kosaka 12:459af534d1ee 264 _count++;
kosaka 12:459af534d1ee 265 _time += TS0;
kosaka 12:459af534d1ee 266
kosaka 12:459af534d1ee 267 current_loop(); // 電流制御マイナーループ(i_ref to volt)
kosaka 12:459af534d1ee 268 v2Hbridge(); // volt. to Hbridge
kosaka 12:459af534d1ee 269 #ifdef SIMULATION
kosaka 12:459af534d1ee 270 //debug[0]=p.v;
kosaka 12:459af534d1ee 271 // モータシミュレータ
kosaka 12:459af534d1ee 272 sim_motor(); // IPM, ｄｑ座標
kosaka 12:459af534d1ee 273 #else
kosaka 12:459af534d1ee 274 p.th[1] = p.th[0];
kosaka 12:459af534d1ee 275 p.th[0] = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder
kosaka 12:459af534d1ee 276 #endif
kosaka 12:459af534d1ee 277 debug_p26 = 0;
kosaka 12:459af534d1ee 278 }
kosaka 12:459af534d1ee 279 void timerTS1(void const *argument){
kosaka 12:459af534d1ee 280 debug_p25 = 1;
kosaka 12:459af534d1ee 281 velocity_loop(); // 速度制御メインループ(w_ref&beta_ref to idq_ref)
kosaka 12:459af534d1ee 282 debug_p25 = 0;
kosaka 12:459af534d1ee 283 }
kosaka 12:459af534d1ee 284
kosaka 12:459af534d1ee 285 void display2PC(){ // display to tera term on PC
kosaka 12:459af534d1ee 286 pc.printf("%8.1f[s]\t%8.2f[V]\t%8.2f [Hz]\t%8.2f\t%8.2f\r\n", _time, il.v_ref, vl.w_lpf/(2*PI), vl.w_ref/(2*PI), debug[0]); // print to tera term
kosaka 12:459af534d1ee 287 // pc.printf("%8.1f[s]\t%8.5f[V]\t%4d [deg]\t%8.2f\r\n", _time, _u, (int)(_th/(2*PI)*360.0), _r);//debug[0]*3.3/R_SHUNT); // print to tera term
kosaka 12:459af534d1ee 288 }
kosaka 12:459af534d1ee 289 void timerTS2(){
kosaka 12:459af534d1ee 290 }
kosaka 12:459af534d1ee 291 void timerTS3(){
kosaka 12:459af534d1ee 292 data2mbedUSB(); // data2mbedUSB() is called every TS3[s].
kosaka 12:459af534d1ee 293 }
kosaka 12:459af534d1ee 294 void timerTS4(){
kosaka 12:459af534d1ee 295 display2PC(); // display to tera term on PC. display2PC() is called every TS4[s].
kosaka 12:459af534d1ee 296 }