masamitsu shibata / Mbed 2 deprecated traser8

a

Dependencies:   MotorDriver_SU mbed

line8.cpp@0:ac03a5309047, 2014-11-28 (annotated)

Committer:
12f2025e
Date:
Fri Nov 28 04:19:20 2014 +0000
Revision:
0:ac03a5309047
a

;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12f2025e 0:ac03a5309047 1 #include "mbed.h"
12f2025e 0:ac03a5309047 2 #include "MotorDriver_SU.h"
12f2025e 0:ac03a5309047 3
12f2025e 0:ac03a5309047 4 DigitalIn sw(P0_1, PullUp);
12f2025e 0:ac03a5309047 5 DigitalIn rightline(P0_12);
12f2025e 0:ac03a5309047 6 DigitalIn leftline(P0_14);
12f2025e 0:ac03a5309047 7 DigitalIn rightlift(P0_22);
12f2025e 0:ac03a5309047 8 DigitalIn leftlift(P0_23);
12f2025e 0:ac03a5309047 9 DigitalOut led1(P1_20); //left
12f2025e 0:ac03a5309047 10 DigitalOut led2(P1_27);
12f2025e 0:ac03a5309047 11 DigitalOut led3(P1_21);
12f2025e 0:ac03a5309047 12 DigitalOut led4(P1_26); //right
12f2025e 0:ac03a5309047 13
12f2025e 0:ac03a5309047 14 MotorDriver_SU motor(MOTOR_DOUBLE);
12f2025e 0:ac03a5309047 15 MotorDriver_SU lift(MOTOR_SINGLE);
12f2025e 0:ac03a5309047 16
12f2025e 0:ac03a5309047 17 int a = 0;
12f2025e 0:ac03a5309047 18 int b = 0;
12f2025e 0:ac03a5309047 19 int c = 0;
12f2025e 0:ac03a5309047 20
12f2025e 0:ac03a5309047 21 int main(){
12f2025e 0:ac03a5309047 22 while(1){
12f2025e 0:ac03a5309047 23 while(sw == 0){
12f2025e 0:ac03a5309047 24 motor.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 25 motor.Drive(1, STOP, 0);
12f2025e 0:ac03a5309047 26 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 27 }
12f2025e 0:ac03a5309047 28 while(sw == 1){
12f2025e 0:ac03a5309047 29 if((rightline == 0 && leftline == 1) && (rightlift == 1 && leftlift == 1)){ //WWBW
12f2025e 0:ac03a5309047 30 motor.Drive(0, CW, 2200);
12f2025e 0:ac03a5309047 31 motor.Drive(1, CW, 2200);
12f2025e 0:ac03a5309047 32 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 33 led1 = 0;
12f2025e 0:ac03a5309047 34 led2 = 0;
12f2025e 0:ac03a5309047 35 led3 = 1;
12f2025e 0:ac03a5309047 36 led4 = 0;
12f2025e 0:ac03a5309047 37 }
12f2025e 0:ac03a5309047 38
12f2025e 0:ac03a5309047 39 else if((rightline == 0 && leftline == 0) && (rightlift == 0 && leftlift == 0)){ //BBBB
12f2025e 0:ac03a5309047 40 if(a == 0){
12f2025e 0:ac03a5309047 41 led1 = 1;
12f2025e 0:ac03a5309047 42 led2 = 1;
12f2025e 0:ac03a5309047 43 led3 = 1;
12f2025e 0:ac03a5309047 44 led4 = 1;
12f2025e 0:ac03a5309047 45 motor.Drive(0, CW, 2000); //0 = rightmotor, 1 = leftmotor
12f2025e 0:ac03a5309047 46 motor.Drive(1, CW, 2000);
12f2025e 0:ac03a5309047 47 lift.Drive(0, CCW, 4095);
12f2025e 0:ac03a5309047 48 wait(1.5);
12f2025e 0:ac03a5309047 49 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 50 a = 1;
12f2025e 0:ac03a5309047 51 }
12f2025e 0:ac03a5309047 52 else{
12f2025e 0:ac03a5309047 53 led1 = 1;
12f2025e 0:ac03a5309047 54 led2 = 1;
12f2025e 0:ac03a5309047 55 led3 = 1;
12f2025e 0:ac03a5309047 56 led4 = 1;
12f2025e 0:ac03a5309047 57 motor.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 58 motor.Drive(1, STOP, 0);
12f2025e 0:ac03a5309047 59 lift.Drive(0, CW, 4095);
12f2025e 0:ac03a5309047 60 wait(1.5);
12f2025e 0:ac03a5309047 61 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 62 motor.Drive(0, CCW, 4095);
12f2025e 0:ac03a5309047 63 motor.Drive(1, CCW, 4095);
12f2025e 0:ac03a5309047 64 wait(1);
12f2025e 0:ac03a5309047 65 }
12f2025e 0:ac03a5309047 66 }
12f2025e 0:ac03a5309047 67 else if((rightline == 0 && leftline == 0) && (rightlift == 1 && leftlift == 0)){ //BBBW
12f2025e 0:ac03a5309047 68 if(c == 0){
12f2025e 0:ac03a5309047 69 led1 = 1;
12f2025e 0:ac03a5309047 70 led2 = 1;
12f2025e 0:ac03a5309047 71 led3 = 1;
12f2025e 0:ac03a5309047 72 led4 = 0;
12f2025e 0:ac03a5309047 73 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 74 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 75 wait(0.7);
12f2025e 0:ac03a5309047 76 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 77 motor.Drive(1, CCW, 1000);
12f2025e 0:ac03a5309047 78 wait(0.1);
12f2025e 0:ac03a5309047 79 c = 1;
12f2025e 0:ac03a5309047 80 }
12f2025e 0:ac03a5309047 81 else{
12f2025e 0:ac03a5309047 82 motor.Drive(0, CW, 2200);
12f2025e 0:ac03a5309047 83 motor.Drive(1, STOP, 0);
12f2025e 0:ac03a5309047 84 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 85 led1 = 1;
12f2025e 0:ac03a5309047 86 led2 = 1;
12f2025e 0:ac03a5309047 87 led3 = 1;
12f2025e 0:ac03a5309047 88 led4 = 0;
12f2025e 0:ac03a5309047 89 }
12f2025e 0:ac03a5309047 90 }
12f2025e 0:ac03a5309047 91 else if((rightline == 0 && leftline == 0) && (rightlift == 0 && leftlift == 1)){ //WBBB
12f2025e 0:ac03a5309047 92 if(b == 0){
12f2025e 0:ac03a5309047 93 led1 = 0;
12f2025e 0:ac03a5309047 94 led2 = 1;
12f2025e 0:ac03a5309047 95 led3 = 1;
12f2025e 0:ac03a5309047 96 led4 = 1;
12f2025e 0:ac03a5309047 97 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 98 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 99 wait(1);
12f2025e 0:ac03a5309047 100 motor.Drive(0, CCW, 1000);
12f2025e 0:ac03a5309047 101 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 102 wait(0.5);
12f2025e 0:ac03a5309047 103 b = 1;
12f2025e 0:ac03a5309047 104 }
12f2025e 0:ac03a5309047 105 else{
12f2025e 0:ac03a5309047 106 motor.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 107 motor.Drive(1, CW, 2200);
12f2025e 0:ac03a5309047 108 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 109 led1 = 0;
12f2025e 0:ac03a5309047 110 led2 = 1;
12f2025e 0:ac03a5309047 111 led3 = 1;
12f2025e 0:ac03a5309047 112 led4 = 1;
12f2025e 0:ac03a5309047 113 }
12f2025e 0:ac03a5309047 114 }
12f2025e 0:ac03a5309047 115 else if((rightline == 0 && leftline == 0) && (rightlift == 1 && leftlift == 1)){ //WBBW *
12f2025e 0:ac03a5309047 116 motor.Drive(0, CW, 2200);
12f2025e 0:ac03a5309047 117 motor.Drive(1, CW, 1100);
12f2025e 0:ac03a5309047 118 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 119 led1 = 0;
12f2025e 0:ac03a5309047 120 led2 = 1;
12f2025e 0:ac03a5309047 121 led3 = 1;
12f2025e 0:ac03a5309047 122 led4 = 0;
12f2025e 0:ac03a5309047 123 }
12f2025e 0:ac03a5309047 124
12f2025e 0:ac03a5309047 125 else if((rightline == 1 && leftline == 1) && (rightlift == 1 && leftlift == 0)){ //BWWW *
12f2025e 0:ac03a5309047 126 if(c == 0){
12f2025e 0:ac03a5309047 127 led1 = 1;
12f2025e 0:ac03a5309047 128 led2 = 0;
12f2025e 0:ac03a5309047 129 led3 = 0;
12f2025e 0:ac03a5309047 130 led4 = 0;
12f2025e 0:ac03a5309047 131 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 132 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 133 wait(0.7);
12f2025e 0:ac03a5309047 134 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 135 motor.Drive(1, CCW, 1000);
12f2025e 0:ac03a5309047 136 wait(0.1);
12f2025e 0:ac03a5309047 137 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 138 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 139 wait(0.3);
12f2025e 0:ac03a5309047 140 c = 1;
12f2025e 0:ac03a5309047 141 }
12f2025e 0:ac03a5309047 142 else{
12f2025e 0:ac03a5309047 143 motor.Drive(0, CW, 1500);
12f2025e 0:ac03a5309047 144 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 145 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 146 led1 = 1;
12f2025e 0:ac03a5309047 147 led2 = 0;
12f2025e 0:ac03a5309047 148 led3 = 0;
12f2025e 0:ac03a5309047 149 led4 = 0;
12f2025e 0:ac03a5309047 150 }
12f2025e 0:ac03a5309047 151 }
12f2025e 0:ac03a5309047 152 else if((rightline == 1 && leftline == 1) && (rightlift == 0 && leftlift == 1)){ //WWWB
12f2025e 0:ac03a5309047 153 if(b == 0){
12f2025e 0:ac03a5309047 154 led1 = 0;
12f2025e 0:ac03a5309047 155 led2 = 0;
12f2025e 0:ac03a5309047 156 led3 = 0;
12f2025e 0:ac03a5309047 157 led4 = 1;
12f2025e 0:ac03a5309047 158 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 159 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 160 wait(1);
12f2025e 0:ac03a5309047 161 motor.Drive(0, CCW, 1000);
12f2025e 0:ac03a5309047 162 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 163 wait(0.5);
12f2025e 0:ac03a5309047 164 b = 1;
12f2025e 0:ac03a5309047 165 }
12f2025e 0:ac03a5309047 166 else{
12f2025e 0:ac03a5309047 167 motor.Drive(0, CW, 500);
12f2025e 0:ac03a5309047 168 motor.Drive(1, CW, 1500);
12f2025e 0:ac03a5309047 169 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 170 led1 = 0;
12f2025e 0:ac03a5309047 171 led2 = 0;
12f2025e 0:ac03a5309047 172 led3 = 0;
12f2025e 0:ac03a5309047 173 led4 = 1;
12f2025e 0:ac03a5309047 174 }
12f2025e 0:ac03a5309047 175 }
12f2025e 0:ac03a5309047 176 else if((rightline == 1 && leftline == 1) && (rightlift == 1 && leftlift == 1)){ //WWWW
12f2025e 0:ac03a5309047 177 motor.Drive(0, CCW, 650);
12f2025e 0:ac03a5309047 178 motor.Drive(1, CW, 1500);
12f2025e 0:ac03a5309047 179 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 180 led1 = 0;
12f2025e 0:ac03a5309047 181 led2 = 0;
12f2025e 0:ac03a5309047 182 led3 = 0;
12f2025e 0:ac03a5309047 183 led4 = 0;
12f2025e 0:ac03a5309047 184 }
12f2025e 0:ac03a5309047 185
12f2025e 0:ac03a5309047 186 else if((rightline == 0 && leftline == 1) && (rightlift == 0 && leftlift == 0)){ //BWBB
12f2025e 0:ac03a5309047 187 if(a == 0){
12f2025e 0:ac03a5309047 188 led1 = 1;
12f2025e 0:ac03a5309047 189 led2 = 0;
12f2025e 0:ac03a5309047 190 led3 = 1;
12f2025e 0:ac03a5309047 191 led4 = 1;
12f2025e 0:ac03a5309047 192 motor.Drive(0, CW, 2000);
12f2025e 0:ac03a5309047 193 motor.Drive(1, CW, 2000);
12f2025e 0:ac03a5309047 194 lift.Drive(0, CCW, 4095);
12f2025e 0:ac03a5309047 195 wait(1.5);
12f2025e 0:ac03a5309047 196 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 197 a = 1;
12f2025e 0:ac03a5309047 198 }
12f2025e 0:ac03a5309047 199 else{
12f2025e 0:ac03a5309047 200 led1 = 1;
12f2025e 0:ac03a5309047 201 led2 = 0;
12f2025e 0:ac03a5309047 202 led3 = 1;
12f2025e 0:ac03a5309047 203 led4 = 1;
12f2025e 0:ac03a5309047 204 motor.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 205 motor.Drive(1, STOP, 0);
12f2025e 0:ac03a5309047 206 lift.Drive(0, CW, 4095);
12f2025e 0:ac03a5309047 207 wait(1.5);
12f2025e 0:ac03a5309047 208 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 209 motor.Drive(0, CCW, 4095);
12f2025e 0:ac03a5309047 210 motor.Drive(1, CCW, 4095);
12f2025e 0:ac03a5309047 211 wait(1);
12f2025e 0:ac03a5309047 212 }
12f2025e 0:ac03a5309047 213 }
12f2025e 0:ac03a5309047 214 else if((rightline == 0 && leftline == 1) && (rightlift == 1 && leftlift == 0)){ //BWBW
12f2025e 0:ac03a5309047 215 if(c == 0){
12f2025e 0:ac03a5309047 216 led1 = 1;
12f2025e 0:ac03a5309047 217 led2 = 0;
12f2025e 0:ac03a5309047 218 led3 = 1;
12f2025e 0:ac03a5309047 219 led4 = 0;
12f2025e 0:ac03a5309047 220 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 221 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 222 wait(0.7);
12f2025e 0:ac03a5309047 223 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 224 motor.Drive(1, CCW, 1000);
12f2025e 0:ac03a5309047 225 wait(0.1);
12f2025e 0:ac03a5309047 226 c = 1;
12f2025e 0:ac03a5309047 227 }
12f2025e 0:ac03a5309047 228 else{
12f2025e 0:ac03a5309047 229 motor.Drive(0, CW, 2200);
12f2025e 0:ac03a5309047 230 motor.Drive(1, STOP, 0);
12f2025e 0:ac03a5309047 231 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 232 led1 = 1;
12f2025e 0:ac03a5309047 233 led2 = 0;
12f2025e 0:ac03a5309047 234 led3 = 1;
12f2025e 0:ac03a5309047 235 led4 = 0;
12f2025e 0:ac03a5309047 236 }
12f2025e 0:ac03a5309047 237 }
12f2025e 0:ac03a5309047 238 else if((rightline == 0 && leftline == 1) && (rightlift == 0 && leftlift == 1)){ //WWBB
12f2025e 0:ac03a5309047 239 if(b == 0){
12f2025e 0:ac03a5309047 240 led1 = 0;
12f2025e 0:ac03a5309047 241 led2 = 0;
12f2025e 0:ac03a5309047 242 led3 = 1;
12f2025e 0:ac03a5309047 243 led4 = 1;
12f2025e 0:ac03a5309047 244 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 245 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 246 wait(1);
12f2025e 0:ac03a5309047 247 motor.Drive(0, CCW, 1000);
12f2025e 0:ac03a5309047 248 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 249 wait(0.5);
12f2025e 0:ac03a5309047 250 b = 1;
12f2025e 0:ac03a5309047 251 }
12f2025e 0:ac03a5309047 252 else{
12f2025e 0:ac03a5309047 253 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 254 motor.Drive(1, CW, 1500);
12f2025e 0:ac03a5309047 255 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 256 led1 = 0;
12f2025e 0:ac03a5309047 257 led2 = 0;
12f2025e 0:ac03a5309047 258 led3 = 1;
12f2025e 0:ac03a5309047 259 led4 = 1;
12f2025e 0:ac03a5309047 260 }
12f2025e 0:ac03a5309047 261 }
12f2025e 0:ac03a5309047 262
12f2025e 0:ac03a5309047 263 else if((rightline == 1 && leftline == 0) && (rightlift == 0 && leftlift == 0)){ //BBWB
12f2025e 0:ac03a5309047 264 if(a == 0){
12f2025e 0:ac03a5309047 265 led1 = 1;
12f2025e 0:ac03a5309047 266 led2 = 1;
12f2025e 0:ac03a5309047 267 led3 = 0;
12f2025e 0:ac03a5309047 268 led4 = 1;
12f2025e 0:ac03a5309047 269 motor.Drive(0, CW, 2000);
12f2025e 0:ac03a5309047 270 motor.Drive(1, CW, 2000);
12f2025e 0:ac03a5309047 271 lift.Drive(0, CCW, 4095);
12f2025e 0:ac03a5309047 272 wait(1.5);
12f2025e 0:ac03a5309047 273 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 274 a = 1;
12f2025e 0:ac03a5309047 275 }
12f2025e 0:ac03a5309047 276 else{
12f2025e 0:ac03a5309047 277 led1 = 1;
12f2025e 0:ac03a5309047 278 led2 = 1;
12f2025e 0:ac03a5309047 279 led3 = 0;
12f2025e 0:ac03a5309047 280 led4 = 1;
12f2025e 0:ac03a5309047 281 motor.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 282 motor.Drive(1, STOP, 0);
12f2025e 0:ac03a5309047 283 lift.Drive(0, CW, 4095);
12f2025e 0:ac03a5309047 284 wait(1.5);
12f2025e 0:ac03a5309047 285 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 286 motor.Drive(0, CCW, 4095);
12f2025e 0:ac03a5309047 287 motor.Drive(1, CCW, 4095);
12f2025e 0:ac03a5309047 288 wait(1);
12f2025e 0:ac03a5309047 289 }
12f2025e 0:ac03a5309047 290 }
12f2025e 0:ac03a5309047 291 else if((rightline == 1 && leftline == 0) && (rightlift == 1 && leftlift == 0)){ //BBWW
12f2025e 0:ac03a5309047 292 if(c == 0){
12f2025e 0:ac03a5309047 293 led1 = 1;
12f2025e 0:ac03a5309047 294 led2 = 1;
12f2025e 0:ac03a5309047 295 led3 = 0;
12f2025e 0:ac03a5309047 296 led4 = 0;
12f2025e 0:ac03a5309047 297 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 298 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 299 wait(0.7);
12f2025e 0:ac03a5309047 300 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 301 motor.Drive(1, CCW, 1000);
12f2025e 0:ac03a5309047 302 wait(0.1);
12f2025e 0:ac03a5309047 303 c = 1;
12f2025e 0:ac03a5309047 304 }
12f2025e 0:ac03a5309047 305 else{
12f2025e 0:ac03a5309047 306 motor.Drive(0, CW, 2200);
12f2025e 0:ac03a5309047 307 motor.Drive(1, STOP, 0);
12f2025e 0:ac03a5309047 308 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 309 led1 = 1;
12f2025e 0:ac03a5309047 310 led2 = 1;
12f2025e 0:ac03a5309047 311 led3 = 0;
12f2025e 0:ac03a5309047 312 led4 = 0;
12f2025e 0:ac03a5309047 313 }
12f2025e 0:ac03a5309047 314 }
12f2025e 0:ac03a5309047 315 else if((rightline == 1 && leftline == 0) && (rightlift == 0 && leftlift == 1)){ //WBWB
12f2025e 0:ac03a5309047 316 if(b == 0){
12f2025e 0:ac03a5309047 317 led1 = 0;
12f2025e 0:ac03a5309047 318 led2 = 1;
12f2025e 0:ac03a5309047 319 led3 = 0;
12f2025e 0:ac03a5309047 320 led4 = 1;
12f2025e 0:ac03a5309047 321 motor.Drive(0, CW, 1000);
12f2025e 0:ac03a5309047 322 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 323 wait(1);
12f2025e 0:ac03a5309047 324 motor.Drive(0, CCW, 1000);
12f2025e 0:ac03a5309047 325 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 326 wait(0.5);
12f2025e 0:ac03a5309047 327 b = 1;
12f2025e 0:ac03a5309047 328 }
12f2025e 0:ac03a5309047 329 else{
12f2025e 0:ac03a5309047 330 motor.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 331 motor.Drive(1, CW, 2200);
12f2025e 0:ac03a5309047 332 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 333 led1 = 0;
12f2025e 0:ac03a5309047 334 led2 = 1;
12f2025e 0:ac03a5309047 335 led3 = 0;
12f2025e 0:ac03a5309047 336 led4 = 1;
12f2025e 0:ac03a5309047 337 }
12f2025e 0:ac03a5309047 338 }
12f2025e 0:ac03a5309047 339 else{ //WBWW
12f2025e 0:ac03a5309047 340 motor.Drive(0, CW, 2200);
12f2025e 0:ac03a5309047 341 motor.Drive(1, CW, 1000);
12f2025e 0:ac03a5309047 342 lift.Drive(0, STOP, 0);
12f2025e 0:ac03a5309047 343 led1 = 0;
12f2025e 0:ac03a5309047 344 led2 = 1;
12f2025e 0:ac03a5309047 345 led3 = 0;
12f2025e 0:ac03a5309047 346 led4 = 0;
12f2025e 0:ac03a5309047 347 }
12f2025e 0:ac03a5309047 348 }
12f2025e 0:ac03a5309047 349 }
12f2025e 0:ac03a5309047 350 }