David Preiss
/
FINAL_PROJECT
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Dependencies: ExperimentServer QEI_pmw MotorShield
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main.cpp
00001 #include "mbed.h" 00002 #include "rtos.h" 00003 #include "EthernetInterface.h" 00004 #include "ExperimentServer.h" 00005 #include "QEI.h" 00006 #include "BezierCurve.h" 00007 #include "MotorShield.h" 00008 #include "HardwareSetup.h" 00009 00010 #define BEZIER_ORDER_JUMP 7 00011 #define BEZIER_ORDER_FLIGHT 7 00012 #define BEZIER_ORDER_LAND 7 00013 00014 #define NUM_INPUTS (12 + 2*(BEZIER_ORDER_JUMP+1) + 2*(BEZIER_ORDER_FLIGHT+1) + 2*(BEZIER_ORDER_LAND+1) + 2*(BEZIER_ORDER_FLIGHT+1)) 00015 #define NUM_OUTPUTS 19 00016 00017 #define PULSE_TO_RAD (2.0f*3.14159f / 1200.0f) 00018 00019 // Initializations 00020 Serial pc(USBTX, USBRX); // USB Serial Terminal 00021 ExperimentServer server; // Object that lets us communicate with MATLAB 00022 Timer t; // Timer to measure elapsed time of experiment 00023 00024 QEI encoderA(PE_9,PE_11, NC, 1200, QEI::X4_ENCODING); // MOTOR A ENCODER (no index, 1200 counts/rev, Quadrature encoding) 00025 QEI encoderB(PA_5, PB_3, NC, 1200, QEI::X4_ENCODING); // MOTOR B ENCODER (no index, 1200 counts/rev, Quadrature encoding) 00026 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING); // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding) 00027 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding) 00028 00029 MotorShield motorShield(12000); //initialize the motor shield with a period of 12000 ticks or ~20kHZ 00030 Ticker currentLoop; 00031 00032 // Variables for q1 00033 float current1; 00034 float current_des1 = 0; 00035 float prev_current_des1 = 0; 00036 float current_int1 = 0; 00037 float angle1; 00038 float velocity1; 00039 float duty_cycle1; 00040 float angle1_init; 00041 00042 // Variables for q2 00043 float current2; 00044 float current_des2 = 0; 00045 float prev_current_des2 = 0; 00046 float current_int2 = 0; 00047 float angle2; 00048 float velocity2; 00049 float duty_cycle2; 00050 float angle2_init; 00051 00052 // Fixed kinematic parameters 00053 const float l_OA=.03673; 00054 const float l_OB=.06773; 00055 const float l_AC=.096; 00056 const float l_DE=.127-(l_OB-l_OA); 00057 00058 // Timing parameters 00059 float current_control_period_us = 200.0f; // 5kHz current control loop 00060 float impedance_control_period_us = 1000.0f; // 1kHz impedance control loop 00061 float start_period, traj_period, end_period; 00062 float jump_period, flight_period, land_period; 00063 00064 // Control parameters 00065 float current_Kp = 4.0f; 00066 float current_Ki = 0.4f; 00067 float current_int_max = 3.0f; 00068 float duty_max; 00069 float K_xx; 00070 float K_yy; 00071 float K_xy; 00072 float D_xx; 00073 float D_xy; 00074 float D_yy; 00075 00076 // Model parameters 00077 float supply_voltage = 12; // motor supply voltage 00078 float R = 2.0f; // motor resistance 00079 float k_t = 0.18f; // motor torque constant 00080 float nu = 0.0005; // motor viscous friction 00081 00082 // Foot Sensor Parameters 00083 bool airborne = 0; 00084 bool landCheck = false; 00085 uint8_t gaitState = 0; 00086 uint8_t hopCount = 0; 00087 uint8_t hopCountLim = 4; // 0 means 1 hop 00088 00089 // Current control interrupt function 00090 void CurrentLoop() 00091 { 00092 // This loop sets the motor voltage commands using PI current controllers with feedforward terms. 00093 //use the motor shield as follows: 00094 //motorShield.motorAWrite(DUTY CYCLE, DIRECTION), DIRECTION = 0 is forward, DIRECTION =1 is backwards. 00095 00096 current1 = -(((float(motorShield.readCurrentA())/65536.0f)*30.0f)-15.0f); // measure current 00097 velocity1 = encoderA.getVelocity() * PULSE_TO_RAD; // measure velocity 00098 float err_c1 = current_des1 - current1; // current errror 00099 current_int1 += err_c1; // integrate error 00100 current_int1 = fmaxf( fminf(current_int1, current_int_max), -current_int_max); // anti-windup 00101 float ff1 = R*current_des1 + k_t*velocity1; // feedforward terms 00102 duty_cycle1 = (ff1 + current_Kp*err_c1 + current_Ki*current_int1)/supply_voltage; // PI current controller 00103 00104 float absDuty1 = abs(duty_cycle1); 00105 if (absDuty1 > duty_max) { 00106 duty_cycle1 *= duty_max / absDuty1; 00107 absDuty1 = duty_max; 00108 } 00109 if (duty_cycle1 < 0) { // backwards 00110 motorShield.motorAWrite(absDuty1, 1); 00111 } else { // forwards 00112 motorShield.motorAWrite(absDuty1, 0); 00113 } 00114 prev_current_des1 = current_des1; 00115 00116 current2 = -(((float(motorShield.readCurrentB())/65536.0f)*30.0f)-15.0f); // measure current 00117 velocity2 = encoderB.getVelocity() * PULSE_TO_RAD; // measure velocity 00118 float err_c2 = current_des2 - current2; // current error 00119 current_int2 += err_c2; // integrate error 00120 current_int2 = fmaxf( fminf(current_int2, current_int_max), -current_int_max); // anti-windup 00121 float ff2 = R*current_des2 + k_t*velocity2; // feedforward terms 00122 duty_cycle2 = (ff2 + current_Kp*err_c2 + current_Ki*current_int2)/supply_voltage; // PI current controller 00123 00124 float absDuty2 = abs(duty_cycle2); 00125 if (absDuty2 > duty_max) { 00126 duty_cycle2 *= duty_max / absDuty2; 00127 absDuty2 = duty_max; 00128 } 00129 if (duty_cycle2 < 0) { // backwards 00130 motorShield.motorBWrite(absDuty2, 1); 00131 } else { // forwards 00132 motorShield.motorBWrite(absDuty2, 0); 00133 } 00134 prev_current_des2 = current_des2; 00135 00136 } 00137 00138 int main (void) 00139 { 00140 // Object for 7th order Cartesian foot trajectory 00141 BezierCurve rDesJump_bez(2,BEZIER_ORDER_JUMP); 00142 BezierCurve rDesFlight_bez(2,BEZIER_ORDER_FLIGHT); 00143 BezierCurve rDesLand_bez(2,BEZIER_ORDER_LAND); 00144 00145 // Link the terminal with our server and start it up 00146 server.attachTerminal(pc); 00147 server.init(); 00148 00149 // Continually get input from MATLAB and run experiments 00150 float input_params[NUM_INPUTS]; 00151 pc.printf("%f",input_params[0]); 00152 00153 // Setup our foot sensor input 00154 DigitalIn footContactPin(PC_6); 00155 00156 // NOW WE STAY IN THIS WHILE STATEMENT FOREVER ------------------------------------------------------------------- 00157 while(1) { 00158 // EVERYTHING IS NOW WAITING FOR SERIAL COMMUNICATION TO RUN BELOW, OTHERWISE WE ARE LOOPING THIS IF STATEMENT, this still only runs once per jump 00159 if (server.getParams(input_params,NUM_INPUTS)) { 00160 00161 // Get inputs from MATLAB, note that these are formatted in Experiment_trajectory 00162 gaitState = 0; 00163 landCheck = 0; 00164 start_period = 1.5; // removed it as a parameter but we have a 1 second delay before starting the jump 00165 traj_period = 5.0; 00166 end_period = 1.0; 00167 jump_period = input_params[0]; // First buffer time, before trajectory 00168 flight_period = input_params[1]; // Trajectory time/length 00169 land_period = input_params[2]; // Second buffer time, after trajectory 00170 00171 angle1_init = input_params[3]; // Initial angle for q1 (rad) 00172 angle2_init = input_params[4]; // Initial angle for q2 (rad) 00173 00174 K_xx = input_params[5]; // Foot stiffness N/m 00175 K_yy = input_params[6]; // Foot stiffness N/m 00176 K_xy = input_params[7]; // Foot stiffness N/m 00177 D_xx = input_params[8]; // Foot damping N/(m/s) 00178 D_yy = input_params[9]; // Foot damping N/(m/s) 00179 D_xy = input_params[10]; // Foot damping N/(m/s) 00180 duty_max = input_params[11]; // Maximum duty factor 00181 00182 // Get foot trajectory points - start by initializing an empty array for each curve 00183 float jump_pts[2*(BEZIER_ORDER_JUMP+1)]; // foot_pts is a matrix sized for the bezier order 00184 float flight_pts[2*(BEZIER_ORDER_FLIGHT+1)]; 00185 float land_pts[2*(BEZIER_ORDER_LAND+1)]; 00186 00187 // Now fill each array up with its respective points 00188 for(int i = 0; i<2*(BEZIER_ORDER_JUMP+1);i++) { 00189 jump_pts[i] = input_params[12+i]; // assign the proper input parameters to each foot position 00190 flight_pts[i] = input_params[12+BEZIER_ORDER_JUMP+1 +i]; 00191 land_pts[i] = input_params[12+BEZIER_ORDER_JUMP+1 + BEZIER_ORDER_FLIGHT+1 +i]; 00192 // Adding this line to try and get the proper flight in 00193 //flight_pts[i] = input_params[12+BEZIER_ORDER_JUMP+1 + BEZIER_ORDER_FLIGHT+1 + BEZIER_ORDER_FLIGHT+1 +i]; 00194 } 00195 //pc.printf("%f" " = flight points \n\r",flight_pts[1]); 00196 //float flight_pts[2][8] = {{0.0651000,0.0650000,0.0650000,0.0417000,-0.0169000,-0.0700000,-0.0700000,-0.0700000}, 00197 //{-0.215000,-0.215000,-0.215000,-0.159700,-0.147000,-0.175000,-0.175000,-0.175100}}; 00198 00199 flight_pts[0] = .065000; 00200 flight_pts[1] = -.215000; 00201 flight_pts[2] = .065000; 00202 flight_pts[3] = -.215000; 00203 flight_pts[4] = .065000; 00204 flight_pts[5] = -.215000; 00205 flight_pts[6] = .0417; 00206 flight_pts[7] = -.1597; 00207 flight_pts[8] = -.0169; 00208 flight_pts[9] = -.147; 00209 flight_pts[10] = -.0700000; 00210 flight_pts[11] = -.175; 00211 flight_pts[12] = -.0700000; 00212 flight_pts[13] = -.175; 00213 flight_pts[14] = -.0700000; 00214 flight_pts[15] = -.175; 00215 00216 00217 //pc.printf("%f" " = flight points \n\r",flight_pts[1]); 00218 00219 rDesJump_bez.setPoints(jump_pts); 00220 rDesFlight_bez.setPoints(flight_pts); 00221 rDesLand_bez.setPoints(land_pts); 00222 00223 // Attach current loop interrupt 00224 currentLoop.attach_us(CurrentLoop,current_control_period_us); 00225 00226 // Setup experiment 00227 t.reset(); 00228 t.start(); 00229 encoderA.reset(); 00230 encoderB.reset(); 00231 encoderC.reset(); 00232 encoderD.reset(); 00233 00234 motorShield.motorAWrite(0, 0); //turn motor A off 00235 motorShield.motorBWrite(0, 0); //turn motor B off 00236 00237 hopCount = 0; 00238 00239 // Run experiment HERE's THE REAL MAIN LOOP --------------------------------------------------------------------------------------------------------------------------- 00240 while(gaitState < 5) { 00241 //while( t.read() < 8.0) { 00242 // Check to see if we are airborne or not, where airborne = 1 means we are not touching the ground 00243 if(footContactPin == true) { 00244 airborne = true;} 00245 else {airborne = false;} 00246 // pc.printf("%d" " = Airborne? \n\r",airborne); // confirmed to be working 00247 00248 // Read encoders to get motor states 00249 angle1 = encoderA.getPulses() *PULSE_TO_RAD + angle1_init; 00250 velocity1 = encoderA.getVelocity() * PULSE_TO_RAD; 00251 angle2 = encoderB.getPulses() * PULSE_TO_RAD + angle2_init; 00252 velocity2 = encoderB.getVelocity() * PULSE_TO_RAD; 00253 00254 const float th1 = angle1; 00255 const float th2 = angle2; 00256 const float dth1= velocity1; 00257 const float dth2= velocity2; 00258 00259 // Calculate the Jacobian 00260 float Jx_th1 = l_AC*cos(th1 + th2) + l_DE*cos(th1) + l_OB*cos(th1); 00261 float Jx_th2 = l_AC*cos(th1 + th2); 00262 float Jy_th1 = l_AC*sin(th1 + th2) + l_DE*sin(th1) + l_OB*sin(th1); 00263 float Jy_th2 = l_AC*sin(th1 + th2); 00264 00265 // Calculate the forward kinematics (position and velocity) 00266 float xFoot = l_AC*sin(th1 + th2) + l_DE*sin(th1) + l_OB*sin(th1); 00267 float yFoot = - l_AC*cos(th1 + th2) - l_DE*cos(th1) - l_OB*cos(th1); 00268 float dxFoot = dth1*(l_AC*cos(th1 + th2) + l_DE*cos(th1) + l_OB*cos(th1)) + dth2*l_AC*cos(th1 + th2); 00269 float dyFoot = dth1*(l_AC*sin(th1 + th2) + l_DE*sin(th1) + l_OB*sin(th1)) + dth2*l_AC*sin(th1 + th2); 00270 00271 // Set gains based on buffer and traj times, then calculate desired x,y from Bezier trajectory at current time if necessary 00272 float teff = 0; 00273 float vMult = 0; 00274 00275 00276 // HERE IS WHERE WE CHECK WHERE WE ARE IN THE GAIT ---------------------------------------------------------------------------------------------- 00277 // gaitState 0 is just a buffer time before the jump holding the intial position 00278 if( t < start_period) { 00279 if (K_xx > 0 || K_yy > 0) { 00280 K_xx = input_params[5]; // Foot stiffness N/m 00281 K_yy = input_params[6]; // Foot stiffness N/m 00282 K_xy = input_params[7]; // Foot stiffness N/m 00283 D_xx = input_params[8]; // Foot damping N/(m/s) 00284 D_yy = input_params[9]; // Foot damping N/(m/s) 00285 D_xy = input_params[10]; // Foot damping N/(m/s) 00286 gaitState = 0; 00287 } 00288 teff = 0; 00289 //pc.printf("%f" " Start Phase \n\r",teff); 00290 } 00291 // Jump Phase = gait 1 00292 else if (t < start_period + jump_period) { 00293 // Lets only update the gains if we need to, this will be the last one for now 00294 K_xx = input_params[5]; // Foot stiffness N/m 00295 K_yy = input_params[6]; // Foot stiffness N/m 00296 K_xy = input_params[7]; // Foot stiffness N/m 00297 D_xx = input_params[8]; // Foot damping N/(m/s) 00298 D_yy = input_params[9]; // Foot damping N/(m/s) 00299 D_xy = input_params[10]; // Foot damping N/(m/s) 00300 vMult = 1; 00301 teff = (t - start_period); 00302 gaitState = 1; 00303 // pc.printf("%f" " Jump Phase \n\r",teff); 00304 } 00305 // Flight Phase = gait 2, we should not be touching the ground here 00306 // If t is lower than expected 00307 else if (t < start_period + jump_period + land_period + 1.6 && landCheck == false) { 00308 teff = (t - start_period - jump_period); 00309 gaitState = 2; 00310 // pc.printf("%f" " Flight Phase \n\r",teff); 00311 00312 // If we land, or if we are 1 second past the expected flight phase, continue to the land gait 00313 if (airborne == 0 || t > start_period + jump_period + flight_period + 1.5) { 00314 // pc.printf("%f" " < FLIGHT PHASE OVER, AIRBORNE FOR THIS LONG \n\r",teff); 00315 landCheck = true; 00316 flight_period = (t - start_period - jump_period); 00317 gaitState = 3; 00318 teff = (t - start_period - jump_period - flight_period); 00319 } 00320 } 00321 // Land Phase = gait 3 00322 else if (gaitState == 3) { 00323 teff = (t - start_period - jump_period - flight_period); 00324 gaitState = 3; 00325 // pc.printf("%f" " Land Phase \n\r",teff); 00326 if (t > start_period + jump_period + flight_period + land_period) { 00327 gaitState = 4; 00328 vMult = 0; 00329 } 00330 } 00331 else { 00332 if (hopCount <= hopCountLim) { 00333 hopCount = hopCount + 1; 00334 t.reset(); 00335 t.start(); 00336 } 00337 else { 00338 gaitState = 5; 00339 vMult = 0; 00340 } 00341 hopCount = hopCount + 1; 00342 } 00343 00344 // Get desired foot positions and velocities 00345 float rDesFoot[2] , vDesFoot[2]; 00346 // Evaluate the correct gait (bezier curve) at the % detemined by how far into teff we are. There are 4 gaitStates... 00347 if (gaitState == 0){ 00348 rDesFoot[0] = jump_pts[0]; 00349 rDesFoot[1] = jump_pts[1]; 00350 vDesFoot[0] = 0.0; 00351 vDesFoot[1] = 0.0; 00352 } 00353 else if (gaitState == 1){ 00354 // pc.printf("%d" " 1=JUMP \n\r",gaitState); 00355 rDesJump_bez.evaluate(teff/jump_period, rDesFoot); 00356 rDesJump_bez.evaluateDerivative(teff/jump_period, vDesFoot); 00357 vDesFoot[0] /= jump_period; 00358 vDesFoot[1] /= jump_period; 00359 } 00360 else if (gaitState == 2){ 00361 // pc.printf("%d" " 2=FLIGHT \n\r",gaitState); 00362 rDesFlight_bez.evaluate(teff/flight_period, rDesFoot); 00363 rDesFlight_bez.evaluateDerivative(teff/flight_period, vDesFoot); 00364 vDesFoot[0] /= flight_period; 00365 vDesFoot[1] /= flight_period; 00366 if (teff > jump_period) { 00367 rDesFoot[0] = flight_pts[14]; 00368 rDesFoot[1] = flight_pts[15]; 00369 vDesFoot[0] = 0.0; 00370 vDesFoot[1] = 0.0; 00371 } 00372 } 00373 else if (gaitState == 3){ 00374 // pc.printf("%d" " 3=LAND \n\r",gaitState); 00375 rDesLand_bez.evaluate(teff/land_period, rDesFoot); 00376 rDesLand_bez.evaluateDerivative(teff/land_period, vDesFoot); 00377 vDesFoot[0] /= land_period; 00378 vDesFoot[1] /= land_period; 00379 } 00380 // if we are past the trajectory period multiply by 0 00381 vDesFoot[0]*=vMult; 00382 vDesFoot[1]*=vMult; 00383 00384 // Calculate the inverse kinematics (joint positions and velocities) for desired joint angles 00385 float xFoot_inv = -rDesFoot[0]; 00386 float yFoot_inv = rDesFoot[1]; 00387 float l_OE = sqrt( (pow(xFoot_inv,2) + pow(yFoot_inv,2)) ); 00388 float alpha = abs(acos( (pow(l_OE,2) - pow(l_AC,2) - pow((l_OB+l_DE),2))/(-2.0f*l_AC*(l_OB+l_DE)) )); 00389 float th2_des = -(3.14159f - alpha); 00390 float th1_des = -((3.14159f/2.0f) + atan2(yFoot_inv,xFoot_inv) - abs(asin( (l_AC/l_OE)*sin(alpha) ))); 00391 00392 float dd = (Jx_th1*Jy_th2 - Jx_th2*Jy_th1); 00393 float dth1_des = (1.0f/dd) * ( Jy_th2*vDesFoot[0] - Jx_th2*vDesFoot[1] ); 00394 float dth2_des = (1.0f/dd) * ( -Jy_th1*vDesFoot[0] + Jx_th1*vDesFoot[1] ); 00395 00396 // Calculate error variables 00397 float e_x = xFoot_inv - xFoot; 00398 float e_y = yFoot_inv - yFoot; 00399 float de_x = vDesFoot[0] - dxFoot; 00400 float de_y = vDesFoot[1] - dyFoot; 00401 00402 // Calculate virtual force on foot 00403 float fx = K_xx*(e_x) + K_xy*(e_y) + D_xx*(de_x) + D_xy*(de_y); 00404 float fy = K_xy*(e_x) + K_yy*(e_y) + D_xy*(de_x) + D_yy*(de_y); 00405 00406 float tau1 = Jx_th1*fx + Jy_th1*fy; 00407 float tau2 = Jx_th2*fx + Jy_th2*fy; 00408 00409 current_des1 = tau1/k_t; 00410 current_des2 = tau2/k_t; 00411 00412 // All of the above was to set these current_des values which will get fed into the CurrentLoop function running on an interrupt 00413 00414 // Joint impedance 00415 // sub Kxx for K1, Dxx for D1, Kyy for K2, Dyy for D2 00416 // Note: Be careful with signs now that you have non-zero desired angles! 00417 // Your equations should be of the form i_d = K1*(q1_d - q1) + D1*(dq1_d - dq1) 00418 //current_des1 = (K_xx*(angle1_init - angle1) + D_xx*(0.0 - velocity1))/k_t; 00419 //current_des2 = (K_yy*(angle2_init - angle2) + D_yy*(0.0 - velocity2))/k_t; 00420 //current_des1 = 0; 00421 //current_des2 = 0; 00422 00423 // Cartesian impedance 00424 // Note: As with the joint space laws, be careful with signs! 00425 //current_des1 = (K_xx*(th1_des - angle1) + D_xx*(th1_des - velocity1))/k_t; 00426 //current_des2 = (K_yy*(th2_des - angle2) + D_yy*(th2_des - velocity2))/k_t; 00427 00428 00429 // Form output to send to MATLAB 00430 float output_data[NUM_OUTPUTS]; 00431 00432 // current time 00433 output_data[0] = t.read(); 00434 // motor 1 state 00435 output_data[1] = angle1; 00436 output_data[2] = velocity1; 00437 output_data[3] = current1; 00438 output_data[4] = current_des1; 00439 output_data[5] = duty_cycle1; 00440 // motor 2 state 00441 output_data[6] = angle2; 00442 output_data[7] = velocity2; 00443 output_data[8] = current2; 00444 output_data[9] = current_des2; 00445 output_data[10]= duty_cycle2; 00446 // foot state 00447 output_data[11] = xFoot; 00448 output_data[12] = yFoot; 00449 output_data[13] = dxFoot; 00450 output_data[14] = dyFoot; 00451 output_data[15] = rDesFoot[0]; 00452 output_data[16] = rDesFoot[1]; 00453 output_data[17] = vDesFoot[0]; 00454 output_data[18] = vDesFoot[1]; 00455 00456 // Send data to MATLAB 00457 server.sendData(output_data,NUM_OUTPUTS); 00458 00459 wait_us(impedance_control_period_us); 00460 } 00461 00462 // Cleanup after experiment 00463 server.setExperimentComplete(); 00464 currentLoop.detach(); 00465 motorShield.motorAWrite(0, 0); //turn motor A off 00466 motorShield.motorBWrite(0, 0); //turn motor B off 00467 00468 } // end if 00469 00470 } // end while 00471 00472 } // end main 00473 00474 /* 00475 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[0]); 00476 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[1]); 00477 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[2]); 00478 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[3]); 00479 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[4]); 00480 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[5]); 00481 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[6]); 00482 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[7]); 00483 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[8]); 00484 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[9]); 00485 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[10]); 00486 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[11]); 00487 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[12]); 00488 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[13]); 00489 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[14]); 00490 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[15]); 00491 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[16]); 00492 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[17]); 00493 pc.printf("%f" " OUTPUT DATA 0 \n\r",output_data[18]); 00494 */
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