Olaf Sikorski / Mbed OS motor-mining

This is probably never gonna get done

Dependencies:   Crypto

main.cpp@19:ca08111237ab, 2019-03-19 (annotated)

Committer:
cz3015
Date:
Tue Mar 19 18:05:37 2019 +0000
Revision:
19:ca08111237ab
Parent:
10:a4b5723b6c9d 
direction + speed control needed; integration constant needed to be tested; start engine mechanism needed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
cz3015 19:ca08111237ab 2 #include "Crypto.h"
cz3015 19:ca08111237ab 3
estott 0:de4320f74764 4 //Photointerrupter input pins
estott 10:a4b5723b6c9d 5 #define I1pin D3
estott 10:a4b5723b6c9d 6 #define I2pin D6
estott 10:a4b5723b6c9d 7 #define I3pin D5
cz3015 19:ca08111237ab 8
estott 2:4e88faab6988 9 //Incremental encoder input pins
cz3015 19:ca08111237ab 10 #define CHApin D12
cz3015 19:ca08111237ab 11 #define CHBpin D11
cz3015 19:ca08111237ab 12
estott 0:de4320f74764 13 //Motor Drive output pins //Mask in output byte
estott 10:a4b5723b6c9d 14 #define L1Lpin D1 //0x01
estott 10:a4b5723b6c9d 15 #define L1Hpin A3 //0x02
estott 10:a4b5723b6c9d 16 #define L2Lpin D0 //0x04
cz3015 19:ca08111237ab 17 #define L2Hpin A6 //0x08
cz3015 19:ca08111237ab 18 #define L3Lpin D10 //0x10
cz3015 19:ca08111237ab 19 #define L3Hpin D2 //0x20
cz3015 19:ca08111237ab 20
estott 10:a4b5723b6c9d 21 #define PWMpin D9
cz3015 19:ca08111237ab 22
estott 5:08f338b5e4d9 23 //Motor current sense
cz3015 19:ca08111237ab 24 #define MCSPpin A1
cz3015 19:ca08111237ab 25 #define MCSNpin A0
cz3015 19:ca08111237ab 26
estott 0:de4320f74764 27 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 28 /*
estott 0:de4320f74764 29 State L1 L2 L3
estott 0:de4320f74764 30 0 H - L
estott 0:de4320f74764 31 1 - H L
estott 0:de4320f74764 32 2 L H -
estott 0:de4320f74764 33 3 L - H
estott 0:de4320f74764 34 4 - L H
estott 0:de4320f74764 35 5 H L -
estott 0:de4320f74764 36 6 - - -
estott 0:de4320f74764 37 7 - - -
estott 0:de4320f74764 38 */
estott 0:de4320f74764 39 //Drive state to output table
estott 0:de4320f74764 40 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
cz3015 19:ca08111237ab 41
estott 0:de4320f74764 42 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
estott 2:4e88faab6988 43 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 44 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
cz3015 19:ca08111237ab 45
estott 2:4e88faab6988 46 //Phase lead to make motor spin
estott 3:569b35e2a602 47 const int8_t lead = 2; //2 for forwards, -2 for backwards
cz3015 19:ca08111237ab 48
estott 0:de4320f74764 49 //Status LED
estott 0:de4320f74764 50 DigitalOut led1(LED1);
cz3015 19:ca08111237ab 51
estott 0:de4320f74764 52 //Photointerrupter inputs
cz3015 19:ca08111237ab 53 InterruptIn I1(I1pin);
cz3015 19:ca08111237ab 54 InterruptIn I2(I2pin);
cz3015 19:ca08111237ab 55 InterruptIn I3(I3pin);
cz3015 19:ca08111237ab 56
estott 0:de4320f74764 57 //Motor Drive outputs
cz3015 19:ca08111237ab 58 PwmOut L1L(L1Lpin);
estott 0:de4320f74764 59 DigitalOut L1H(L1Hpin);
cz3015 19:ca08111237ab 60 PwmOut L2L(L2Lpin);
estott 0:de4320f74764 61 DigitalOut L2H(L2Hpin);
cz3015 19:ca08111237ab 62 PwmOut L3L(L3Lpin);
estott 0:de4320f74764 63 DigitalOut L3H(L3Hpin);
cz3015 19:ca08111237ab 64
cz3015 19:ca08111237ab 65
cz3015 19:ca08111237ab 66 int8_t orState = 0;
cz3015 19:ca08111237ab 67 int8_t intState = 0;
cz3015 19:ca08111237ab 68 int8_t intStateOld = 0;
cz3015 19:ca08111237ab 69 int32_t revoCounter = 0; //Counts the number of revolutions
cz3015 19:ca08111237ab 70 int32_t motorVelocity;
cz3015 19:ca08111237ab 71 //Phase lead to make motor spin
cz3015 19:ca08111237ab 72 int8_t lead = -2; //2 for forwards, -2 for backwards
cz3015 19:ca08111237ab 73
cz3015 19:ca08111237ab 74 typedef struct {
cz3015 19:ca08111237ab 75 uint64_t nonce;
cz3015 19:ca08111237ab 76 float data;
cz3015 19:ca08111237ab 77 } mail_t;
cz3015 19:ca08111237ab 78
cz3015 19:ca08111237ab 79 Mail<mail_t, 16> mail_box;
cz3015 19:ca08111237ab 80 Thread commandProcessorthread;
cz3015 19:ca08111237ab 81 Thread bitcointhread;
cz3015 19:ca08111237ab 82 RawSerial pc(SERIAL_TX, SERIAL_RX);
cz3015 19:ca08111237ab 83 Queue<void, 8> inCharQ;
cz3015 19:ca08111237ab 84 Mutex newKey_mutex;
cz3015 19:ca08111237ab 85 uint64_t newKey = 0;
cz3015 19:ca08111237ab 86
cz3015 19:ca08111237ab 87 volatile float newRev;
cz3015 19:ca08111237ab 88 volatile float maxSpeed = 300;
cz3015 19:ca08111237ab 89 uint32_t pulseWidth;
cz3015 19:ca08111237ab 90 float motorPosition_command;
cz3015 19:ca08111237ab 91 float motorPosition;
cz3015 19:ca08111237ab 92
cz3015 19:ca08111237ab 93 // mail to queue messages for serial port
cz3015 19:ca08111237ab 94 void putMessage(uint64_t *nonce,float data){
cz3015 19:ca08111237ab 95 mail_t *mail = mail_box.alloc();
cz3015 19:ca08111237ab 96 mail->nonce = *nonce;
cz3015 19:ca08111237ab 97 mail->data = *data;
cz3015 19:ca08111237ab 98 mail_box.put(mail);
cz3015 19:ca08111237ab 99 }
cz3015 19:ca08111237ab 100
cz3015 19:ca08111237ab 101 void serialISR() {
cz3015 19:ca08111237ab 102 uint8_t newChar = pc.getc();
cz3015 19:ca08111237ab 103 inCharQ.put((void*) newChar);
cz3015 19:ca08111237ab 104 }
cz3015 19:ca08111237ab 105
cz3015 19:ca08111237ab 106 void commandProcessor() {
cz3015 19:ca08111237ab 107 pc.attach(&serialISR);
cz3015 19:ca08111237ab 108 char command[19];
cz3015 19:ca08111237ab 109 char* number;
cz3015 19:ca08111237ab 110 //char k;
cz3015 19:ca08111237ab 111 uint64_t receivedKey;
cz3015 19:ca08111237ab 112 uint8_t index = 0;
cz3015 19:ca08111237ab 113 while(1) {
cz3015 19:ca08111237ab 114 osEvent newEvent = inCharQ.get();
cz3015 19:ca08111237ab 115 uint8_t newChar = (uint8_t) newEvent.value.p;
cz3015 19:ca08111237ab 116 command[index] = newChar;
cz3015 19:ca08111237ab 117 index++;
cz3015 19:ca08111237ab 118 if (newChar == '\r') {
cz3015 19:ca08111237ab 119 command[17] = '\0';
cz3015 19:ca08111237ab 120
cz3015 19:ca08111237ab 121 if (command[0] == 'R') {
cz3015 19:ca08111237ab 122 pc.printf("Rotation command\n");
cz3015 19:ca08111237ab 123
cz3015 19:ca08111237ab 124 pc.printf("%s", command);
cz3015 19:ca08111237ab 125 }
cz3015 19:ca08111237ab 126 else if (command[0] == 'V') {
cz3015 19:ca08111237ab 127 pc.printf("Max speed command\n");
cz3015 19:ca08111237ab 128 pc.printf("%s", command);
cz3015 19:ca08111237ab 129 }
cz3015 19:ca08111237ab 130 else if (command[0] == 'K') {
cz3015 19:ca08111237ab 131 if (index == 18){ // when index is 18 means you entered K and 16 digits
cz3015 19:ca08111237ab 132 number = command +1; //super bad solution, but I don't know how to work with strings in C
cz3015 19:ca08111237ab 133 receivedKey = strtoull(number, NULL, 16);
cz3015 19:ca08111237ab 134 //receivedKey = 2147483648;
cz3015 19:ca08111237ab 135 //sscanf(command, "%d", &receivedKey);
cz3015 19:ca08111237ab 136 pc.printf("Received key: %016llx\n\r", receivedKey);
cz3015 19:ca08111237ab 137 newKey_mutex.lock();
cz3015 19:ca08111237ab 138 newKey = receivedKey;
cz3015 19:ca08111237ab 139 newKey_mutex.unlock();
cz3015 19:ca08111237ab 140 } else {
cz3015 19:ca08111237ab 141 pc.printf("Not a valid key!");
cz3015 19:ca08111237ab 142 };
cz3015 19:ca08111237ab 143 }
cz3015 19:ca08111237ab 144 else if (command[0] == 'T') {
cz3015 19:ca08111237ab 145 pc.printf("Melody command\n");
cz3015 19:ca08111237ab 146 pc.printf("%s", command);
cz3015 19:ca08111237ab 147 }
cz3015 19:ca08111237ab 148 memset(command, 0, sizeof(command));
cz3015 19:ca08111237ab 149 index = 0;
cz3015 19:ca08111237ab 150 } else {
cz3015 19:ca08111237ab 151 pc.printf("Current command: %s\n\r", command);
cz3015 19:ca08111237ab 152 }
cz3015 19:ca08111237ab 153 }
cz3015 19:ca08111237ab 154 }
cz3015 19:ca08111237ab 155
cz3015 19:ca08111237ab 156 void bitcoin(){
cz3015 19:ca08111237ab 157 while(1) {
cz3015 19:ca08111237ab 158 SHA256 sha;
cz3015 19:ca08111237ab 159 uint8_t sequence[] = {0x45,0x6D,0x62,0x65,0x64,0x64,0x65,0x64,
cz3015 19:ca08111237ab 160 0x20,0x53,0x79,0x73,0x74,0x65,0x6D,0x73,
cz3015 19:ca08111237ab 161 0x20,0x61,0x72,0x65,0x20,0x66,0x75,0x6E,
cz3015 19:ca08111237ab 162 0x20,0x61,0x6E,0x64,0x20,0x64,0x6F,0x20,
cz3015 19:ca08111237ab 163 0x61,0x77,0x65,0x73,0x6F,0x6D,0x65,0x20,
cz3015 19:ca08111237ab 164 0x74,0x68,0x69,0x6E,0x67,0x73,0x21,0x20,
cz3015 19:ca08111237ab 165 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
cz3015 19:ca08111237ab 166 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
cz3015 19:ca08111237ab 167 uint64_t* key = (uint64_t*) ((int) sequence + 48);
cz3015 19:ca08111237ab 168 uint64_t* nonce = (uint64_t*) ((int) sequence + 56);
cz3015 19:ca08111237ab 169 uint8_t hash[32];
cz3015 19:ca08111237ab 170
cz3015 19:ca08111237ab 171 Timer t;
cz3015 19:ca08111237ab 172 t.start();
cz3015 19:ca08111237ab 173 unsigned currentTime = 0;
cz3015 19:ca08111237ab 174 unsigned currentCount = 0;
cz3015 19:ca08111237ab 175
cz3015 19:ca08111237ab 176 for (unsigned i = 0; i <= UINT_MAX; i++) {
cz3015 19:ca08111237ab 177 (*nonce)++;
cz3015 19:ca08111237ab 178 newKey_mutex.lock();
cz3015 19:ca08111237ab 179 *key = newKey;
cz3015 19:ca08111237ab 180 newKey_mutex.unlock();
cz3015 19:ca08111237ab 181 sha.computeHash(hash, sequence, 64);
cz3015 19:ca08111237ab 182 if (hash[0] == 0 && hash[1] == 0) {
cz3015 19:ca08111237ab 183 //putMessage(nonce);
cz3015 19:ca08111237ab 184 pc.printf("Successful nonce: %016x\n\r", *nonce);
cz3015 19:ca08111237ab 185 }
cz3015 19:ca08111237ab 186 if ((unsigned) t.read() == currentTime) {
cz3015 19:ca08111237ab 187 //pc.printf("Hash rate: %d\n\r", i - currentCount);
cz3015 19:ca08111237ab 188 pc.printf("Current key: %016llx\n\r", *key);
cz3015 19:ca08111237ab 189 currentTime++;
cz3015 19:ca08111237ab 190 currentCount = i;
cz3015 19:ca08111237ab 191 }
cz3015 19:ca08111237ab 192 }
cz3015 19:ca08111237ab 193 t.stop();
cz3015 19:ca08111237ab 194 }
cz3015 19:ca08111237ab 195 }
cz3015 19:ca08111237ab 196
cz3015 19:ca08111237ab 197
cz3015 19:ca08111237ab 198
cz3015 19:ca08111237ab 199 void motorCtrlTick(){
cz3015 19:ca08111237ab 200 motorCtrlT.signal_set(0x1);
cz3015 19:ca08111237ab 201 }
cz3015 19:ca08111237ab 202
cz3015 19:ca08111237ab 203
estott 0:de4320f74764 204 //Set a given drive state
cz3015 19:ca08111237ab 205 void motorOut(int8_t driveState,uint32_t motorTorque){
estott 0:de4320f74764 206
estott 2:4e88faab6988 207 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 208 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 209
estott 2:4e88faab6988 210 //Turn off first
cz3015 19:ca08111237ab 211 if (~driveOut & 0x01) L1L.pulsewidth(0);
estott 2:4e88faab6988 212 if (~driveOut & 0x02) L1H = 1;
cz3015 19:ca08111237ab 213 if (~driveOut & 0x04) L2L.pulsewidth(0);
estott 2:4e88faab6988 214 if (~driveOut & 0x08) L2H = 1;
cz3015 19:ca08111237ab 215 if (~driveOut & 0x10) L3L.pulsewidth(0);
estott 2:4e88faab6988 216 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 217
estott 2:4e88faab6988 218 //Then turn on
cz3015 19:ca08111237ab 219 if (driveOut & 0x01) L1L.pulsewidth(motorTorque);
estott 2:4e88faab6988 220 if (driveOut & 0x02) L1H = 0;
cz3015 19:ca08111237ab 221 if (driveOut & 0x04) L2L.pulsewidth(motorTorque);
estott 2:4e88faab6988 222 if (driveOut & 0x08) L2H = 0;
cz3015 19:ca08111237ab 223 if (driveOut & 0x10) L3L.pulsewidth(motorTorque);
estott 2:4e88faab6988 224 if (driveOut & 0x20) L3H = 0;
estott 0:de4320f74764 225 }
estott 0:de4320f74764 226
cz3015 19:ca08111237ab 227 //Convert photointerrupter inputs to a rotor state
cz3015 19:ca08111237ab 228 inline int8_t readRotorState(){
cz3015 19:ca08111237ab 229 return stateMap[I1 + 2*I2 + 4*I3];
cz3015 19:ca08111237ab 230 }
cz3015 19:ca08111237ab 231
cz3015 19:ca08111237ab 232 int8_t motorHome() {
cz3015 19:ca08111237ab 233 //Put the motor in drive state 0 and wait for it to stabilize
cz3015 19:ca08111237ab 234 L1L.period(2000);
cz3015 19:ca08111237ab 235 L2L.period(2000);
cz3015 19:ca08111237ab 236 L3L.period(2000);
cz3015 19:ca08111237ab 237 motorOut(0,200);
cz3015 19:ca08111237ab 238 wait(2.0);
cz3015 19:ca08111237ab 239 return readRotorState();
cz3015 19:ca08111237ab 240 }
cz3015 19:ca08111237ab 241
cz3015 19:ca08111237ab 242 //orState is subtracted from future rotor state inputs to align rotor and motor states
cz3015 19:ca08111237ab 243 int8_t orState = motorHome();
cz3015 19:ca08111237ab 244 // ISR to handle the updating of the motor position
cz3015 19:ca08111237ab 245 void motorISR() {
cz3015 19:ca08111237ab 246 static int8_t oldRotorState;
cz3015 19:ca08111237ab 247 int8_t rotorState = readRotorState();
cz3015 19:ca08111237ab 248 motorOut((rotorState-orState+lead+6)%6,pulseWidth); //+6 to make sure the remainder is positive
cz3015 19:ca08111237ab 249 if (rotorState - oldRotorState == 5) motorPosition --;
cz3015 19:ca08111237ab 250 else if (rotorState - oldRotorState == -5) motorPosition ++;
cz3015 19:ca08111237ab 251 else motorPosition += (rotorState - oldRotorState);
cz3015 19:ca08111237ab 252 oldRotorState = rotorState;
cz3015 19:ca08111237ab 253 }
cz3015 19:ca08111237ab 254 /*void push() {
cz3015 19:ca08111237ab 255 intState = readRotorState();
cz3015 19:ca08111237ab 256 if (intState != intStateOld) {
cz3015 19:ca08111237ab 257 intStateOld = intState;
cz3015 19:ca08111237ab 258 motorOut((intState - orState + lead +6) % 6); //+6 to make sure the remainder is positive
cz3015 19:ca08111237ab 259 }
cz3015 19:ca08111237ab 260 }*/
cz3015 19:ca08111237ab 261
cz3015 19:ca08111237ab 262 void motorCtrlFn(){
cz3015 19:ca08111237ab 263 int32_t counter=0;
cz3015 19:ca08111237ab 264 static int32_t oldmotorPosition;
cz3015 19:ca08111237ab 265 int32_t error =0;
cz3015 19:ca08111237ab 266 int32_t PrevError = 0;// diff btw one possition and current position
cz3015 19:ca08111237ab 267 int32_t errorSum;
cz3015 19:ca08111237ab 268 int32_t PrevErrorArray[10]; //10 errors for integration
cz3015 19:ca08111237ab 269 int8_t errorSign = 1; // get rid of the minus sign when motor is turning negative direction
cz3015 19:ca08111237ab 270 // Timer to count time passed between ticks to calculate velocity
cz3015 19:ca08111237ab 271 Timer motorTime;
cz3015 19:ca08111237ab 272 motorTime.start();
cz3015 19:ca08111237ab 273 float motorPos;
cz3015 19:ca08111237ab 274 float windingSpeed;
cz3015 19:ca08111237ab 275 float windingRev;
cz3015 19:ca08111237ab 276 float Ms; //proportional motor speed control
cz3015 19:ca08111237ab 277 float Mp; // diff motor postion control
cz3015 19:ca08111237ab 278 float ks = 15; //proportional constant for speed
cz3015 19:ca08111237ab 279 float kd = 11; // 11 values in 100ms, diff constant for position control
cz3015 19:ca08111237ab 280 float ki = ??; // integration constant, to be tested for friction
cz3015 19:ca08111237ab 281 int8_t leadMs = -2;
cz3015 19:ca08111237ab 282 int8_t leadMp = -2; // different leads to know which controller used
cz3015 19:ca08111237ab 283 Ticker motorCtrlTicker;
cz3015 19:ca08111237ab 284
cz3015 19:ca08111237ab 285 motorCtrlTicker.attach_us(&motorCtrlTick,100000);
cz3015 19:ca08111237ab 286 while(1){
cz3015 19:ca08111237ab 287 motorCtrlT.signal_wait(0x1);
cz3015 19:ca08111237ab 288 errorSum= 0;
cz3015 19:ca08111237ab 289 for(uint8_t i=9; i >0 ; i--){
cz3015 19:ca08111237ab 290 PrevErrorArray[i] = prevErrorArray[i-1];
cz3015 19:ca08111237ab 291 errorSum+= PrevErrorArray[i];
cz3015 19:ca08111237ab 292 }
cz3015 19:ca08111237ab 293 // convert state change into rotations
cz3015 19:ca08111237ab 294 windingSpeed = maxSpeed*6;
cz3015 19:ca08111237ab 295 windingRev = newRev*6;
cz3015 19:ca08111237ab 296 motorPos = motorPosition;
cz3015 19:ca08111237ab 297 motorVelocity = (motorPos - oldmotorPosition)/motorTime.read();
cz3015 19:ca08111237ab 298
cz3015 19:ca08111237ab 299 error = windingRev+ motorPosition_command- motorPos;
cz3015 19:ca08111237ab 300
cz3015 19:ca08111237ab 301 if (error < 0) errorSign = -1;
cz3015 19:ca08111237ab 302 else errorSign =1;
cz3015 19:ca08111237ab 303
cz3015 19:ca08111237ab 304 PrevErrorArray[0] = error * motorTime.read();
cz3015 19:ca08111237ab 305 errorSum += PrevErrorArray [0];
cz3015 19:ca08111237ab 306 oldmotorPosition = motorPos;
cz3015 19:ca08111237ab 307
cz3015 19:ca08111237ab 308 //equation for controls
cz3015 19:ca08111237ab 309 Ms = ks*(windingSpeed -abs(motorVelocity))*errorSign;
cz3015 19:ca08111237ab 310 Mp = ks*error + kd*(error - PrevError) /motorTime.read() + ki*errorSum;
cz3015 19:ca08111237ab 311
cz3015 19:ca08111237ab 312 motorTime.reset();
cz3015 19:ca08111237ab 313 // Serial output to monitor speed and position
cz3015 19:ca08111237ab 314 counter++;
cz3015 19:ca08111237ab 315 if(counter == 10){
cz3015 19:ca08111237ab 316 counter = 0;
cz3015 19:ca08111237ab 317 //display velocity and motor position
cz3015 19:ca08111237ab 318 putMessage(3,(float)(motorPos/6.0));
cz3015 19:ca08111237ab 319 putMessage(4,(float)(motorVelocity/6.0));
estott 0:de4320f74764 320 }
estott 2:4e88faab6988 321 }
cz3015 19:ca08111237ab 322 int main() {
cz3015 19:ca08111237ab 323 //Serial pc(SERIAL_TX, SERIAL_RX);
cz3015 19:ca08111237ab 324
cz3015 19:ca08111237ab 325 //Initialise bincoin mining and communication
cz3015 19:ca08111237ab 326 bitcointhread.set_priority(osPriorityNormal);
cz3015 19:ca08111237ab 327 commandProcessorthread.set_priority(osPriorityHigh);
cz3015 19:ca08111237ab 328 commandProcessorthread.start(commandProcessor);
cz3015 19:ca08111237ab 329 bitcointhread.start(bitcoin);
cz3015 19:ca08111237ab 330
cz3015 19:ca08111237ab 331 //PWM.period(0.002f); //Set PWM period in seconds
cz3015 19:ca08111237ab 332 //PWM.write(0.5); //Set PWM duty in %
cz3015 19:ca08111237ab 333
cz3015 19:ca08111237ab 334 pc.printf("Hello Pete\n\r");
cz3015 19:ca08111237ab 335
cz3015 19:ca08111237ab 336 orState = motorHome();
cz3015 19:ca08111237ab 337 pc.printf("Rotor origin: %x\n\r", orState);
cz3015 19:ca08111237ab 338
cz3015 19:ca08111237ab 339 I1.rise(&push);
cz3015 19:ca08111237ab 340 I2.rise(&push);
cz3015 19:ca08111237ab 341 I3.rise(&push);
cz3015 19:ca08111237ab 342
cz3015 19:ca08111237ab 343 I1.fall(&push);
cz3015 19:ca08111237ab 344 I2.fall(&push);
cz3015 19:ca08111237ab 345 I3.fall(&push);
cz3015 19:ca08111237ab 346
cz3015 19:ca08111237ab 347
estott 0:de4320f74764 348 }
cz3015 19:ca08111237ab 349
cz3015 19:ca08111237ab 350