David Salmon / Mbed OS ES_CW2_Starter_MDMA

ES2017 coursework 2

Dependencies:   PID

Fork of ES_CW2_Starter by Edward Stott

main.cpp@25:9e6e870821d8, 2017-03-11 (annotated)

Committer:
david_s95
Date:
Sat Mar 11 15:03:46 2017 +0000
Revision:
25:9e6e870821d8
Parent:
24:4032857546f4
Child:
26:b9f2d6d3f40e
Meng's streamlined code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
estott 0:de4320f74764 2 #include "rtos.h"
david_s95 5:e5313b695302 3 #include <string>
david_s95 10:0309d6c49f26 4 #include "PID.h"
david_s95 10:0309d6c49f26 5
david_s95 10:0309d6c49f26 6 //PID controller configuration
david_s95 24:4032857546f4 7 float PIDrate = 0.1;
david_s95 13:87ab3b008803 8 float Kc = 4.5;
david_s95 13:87ab3b008803 9 float Ti = 0.1;
david_s95 13:87ab3b008803 10 float Td = 0.5;
david_s95 10:0309d6c49f26 11 float speedControl = 0;
david_s95 10:0309d6c49f26 12 PID controller(Kc, Ti, Td, PIDrate);
david_s95 10:0309d6c49f26 13 Thread VPIDthread;
estott 0:de4320f74764 14
estott 0:de4320f74764 15 //Photointerrupter input pins
estott 0:de4320f74764 16 #define I1pin D2
estott 2:4e88faab6988 17 #define I2pin D11
estott 2:4e88faab6988 18 #define I3pin D12
estott 2:4e88faab6988 19
estott 2:4e88faab6988 20 //Incremental encoder input pins
estott 2:4e88faab6988 21 #define CHA D7
david_s95 5:e5313b695302 22 #define CHB D8
estott 0:de4320f74764 23
estott 0:de4320f74764 24 //Motor Drive output pins //Mask in output byte
estott 2:4e88faab6988 25 #define L1Lpin D4 //0x01
estott 2:4e88faab6988 26 #define L1Hpin D5 //0x02
estott 2:4e88faab6988 27 #define L2Lpin D3 //0x04
estott 2:4e88faab6988 28 #define L2Hpin D6 //0x08
estott 2:4e88faab6988 29 #define L3Lpin D9 //0x10
estott 0:de4320f74764 30 #define L3Hpin D10 //0x20
estott 0:de4320f74764 31
david_s95 5:e5313b695302 32 //Define sized for command arrays
david_s95 5:e5313b695302 33 #define ARRAYSIZE 8
david_s95 5:e5313b695302 34
estott 0:de4320f74764 35 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 36 /*
estott 0:de4320f74764 37 State L1 L2 L3
estott 0:de4320f74764 38 0 H - L
estott 0:de4320f74764 39 1 - H L
estott 0:de4320f74764 40 2 L H -
estott 0:de4320f74764 41 3 L - H
estott 0:de4320f74764 42 4 - L H
estott 0:de4320f74764 43 5 H L -
estott 0:de4320f74764 44 6 - - -
estott 0:de4320f74764 45 7 - - -
estott 0:de4320f74764 46 */
estott 0:de4320f74764 47 //Drive state to output table
david_s95 24:4032857546f4 48 //const int8_t driveTable[6] = {0x38, 0x2C, 0x0E, 0x0B, 0x23, 0x32};
david_s95 24:4032857546f4 49
david_s95 24:4032857546f4 50 //const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
david_s95 24:4032857546f4 51
david_s95 24:4032857546f4 52
david_s95 24:4032857546f4 53 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
david_s95 24:4032857546f4 54 //const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
david_s95 9:575b29cbf5e4 55
david_s95 18:55cd33a3e69f 56 const int8_t cwState[7] = {0x00, 0x23, 0x38, 0x32, 0x0E, 0x0B, 0x2C};
david_s95 18:55cd33a3e69f 57 const int8_t AcwState[7] = {0x00, 0x0E, 0x23, 0x0B, 0x38, 0x2C, 0x32};
estott 2:4e88faab6988 58
david_s95 22:1c329584282b 59
david_s95 22:1c329584282b 60 const int8_t FastStateCW[7] = {0x00, 0x32, 0x2C, 0x38, 0x0B, 0x23, 0x0E};
david_s95 22:1c329584282b 61 const int8_t FastStateACW[7] = {0x00, 0x2C, 0x0B, 0x0E, 0x32, 0x38, 0x23};
david_s95 22:1c329584282b 62
estott 0:de4320f74764 63 //Photointerrupter inputs
david_s95 9:575b29cbf5e4 64 DigitalIn I1(I1pin);
david_s95 9:575b29cbf5e4 65 InterruptIn I2(I2pin);
estott 2:4e88faab6988 66 DigitalIn I3(I3pin);
estott 0:de4320f74764 67
estott 0:de4320f74764 68 //Motor Drive outputs
david_s95 5:e5313b695302 69 DigitalOut clk(LED1);
david_s95 9:575b29cbf5e4 70
david_s95 9:575b29cbf5e4 71 //NOTE, BusOut declares things in reverse (ie, 0, 1, 2, 3) compared to binary represenation
david_s95 24:4032857546f4 72 BusOut motor(L1Hpin, L2Lpin, L2Hpin, L3Lpin, L3Hpin);//L1Lpin,
david_s95 24:4032857546f4 73 PwmOut singpin(L1Lpin);
david_s95 24:4032857546f4 74
david_s95 5:e5313b695302 75 //Timeout function for rotating at set speed
david_s95 5:e5313b695302 76 Timeout spinTimer;
david_s95 5:e5313b695302 77 float spinWait = 10;
david_s95 5:e5313b695302 78 float revsec = 0;
david_s95 5:e5313b695302 79
theMaO 14:155e9a9147d4 80 //Variables for spinning N revolutions
theMaO 14:155e9a9147d4 81 int8_t targetRevs = 0;
theMaO 14:155e9a9147d4 82 int8_t currRevs = 0;
theMaO 14:155e9a9147d4 83
david_s95 7:5932ed0bad6d 84 //Timer used for calculating speed
david_s95 7:5932ed0bad6d 85 Timer speedTimer;
david_s95 10:0309d6c49f26 86 float measuredRevs = 0, revtimer = 0;
david_s95 7:5932ed0bad6d 87
david_s95 5:e5313b695302 88 Serial pc(SERIAL_TX, SERIAL_RX);
david_s95 5:e5313b695302 89
david_s95 5:e5313b695302 90 int8_t orState = 0; //Rotor offset at motor state 0
david_s95 5:e5313b695302 91 int8_t intState = 0;
david_s95 5:e5313b695302 92 int8_t intStateOld = 0;
david_s95 9:575b29cbf5e4 93 int position = 0;
david_s95 5:e5313b695302 94
david_s95 5:e5313b695302 95 int i=0;
david_s95 10:0309d6c49f26 96 int quadraturePosition=0;
david_s95 9:575b29cbf5e4 97 bool spinCW=0;
david_s95 5:e5313b695302 98
estott 0:de4320f74764 99 //Set a given drive state
david_s95 5:e5313b695302 100 void motorOut(int8_t driveState)
david_s95 5:e5313b695302 101 {
david_s95 5:e5313b695302 102
david_s95 24:4032857546f4 103 motor = 0x2A;
david_s95 10:0309d6c49f26 104
david_s95 22:1c329584282b 105 if(revtimer<33) {
david_s95 22:1c329584282b 106 clk=1;
david_s95 24:4032857546f4 107 if(!spinCW) {
david_s95 24:4032857546f4 108 motor = (FastStateACW[driveState]>>1);
david_s95 24:4032857546f4 109 singpin = float(FastStateACW[driveState]&&0x01)/2;
david_s95 24:4032857546f4 110 } else {
david_s95 24:4032857546f4 111 motor = (FastStateCW[driveState]>>1);
david_s95 24:4032857546f4 112 singpin = float(FastStateCW[driveState]&&0x01)/2;
david_s95 24:4032857546f4 113 }
david_s95 22:1c329584282b 114 } else {
david_s95 22:1c329584282b 115 clk=0;
david_s95 24:4032857546f4 116 if(!spinCW) {
david_s95 24:4032857546f4 117 motor = (AcwState[driveState]>>1);
david_s95 24:4032857546f4 118 singpin = float(AcwState[driveState]&&0x01)/2;
david_s95 24:4032857546f4 119 } else {
david_s95 24:4032857546f4 120 motor = (cwState[driveState]>>1);
david_s95 24:4032857546f4 121 singpin = float(cwState[driveState]&&0x01)/2;
david_s95 24:4032857546f4 122 }
david_s95 22:1c329584282b 123 }
david_s95 10:0309d6c49f26 124 }
david_s95 5:e5313b695302 125
david_s95 10:0309d6c49f26 126 inline void motorStop()
david_s95 10:0309d6c49f26 127 {
david_s95 10:0309d6c49f26 128 //revsec set to zero prevents recurring interrupt for constant speed
david_s95 10:0309d6c49f26 129 revsec = 0;
david_s95 23:d48d51e5db97 130 wait(spinWait);
david_s95 10:0309d6c49f26 131 //0x2A turns all motor transistors off to prevent any power usage
david_s95 10:0309d6c49f26 132 motor = 0x2A;
david_s95 5:e5313b695302 133 }
david_s95 5:e5313b695302 134
david_s95 5:e5313b695302 135 //Convert photointerrupter inputs to a rotor state
david_s95 5:e5313b695302 136 inline int8_t readRotorState()
david_s95 5:e5313b695302 137 {
david_s95 9:575b29cbf5e4 138 return (I1 + 2*I2 + 4*I3);
david_s95 5:e5313b695302 139 }
estott 0:de4320f74764 140
david_s95 5:e5313b695302 141 //Basic synchronisation routine
david_s95 5:e5313b695302 142 int8_t motorHome()
david_s95 5:e5313b695302 143 {
estott 0:de4320f74764 144 //Put the motor in drive state 0 and wait for it to stabilise
david_s95 9:575b29cbf5e4 145 motor=cwState[1];
david_s95 24:4032857546f4 146 // motorOut(1);
estott 0:de4320f74764 147 wait(1.0);
david_s95 10:0309d6c49f26 148
david_s95 9:575b29cbf5e4 149 position = 0;
david_s95 5:e5313b695302 150
estott 0:de4320f74764 151 //Get the rotor state
estott 2:4e88faab6988 152 return readRotorState();
estott 0:de4320f74764 153 }
david_s95 5:e5313b695302 154
david_s95 5:e5313b695302 155 void fixedSpeed()
david_s95 5:e5313b695302 156 {
david_s95 6:4edbe75736d9 157 //If spinning is required, attach the necessary wait to the
david_s95 6:4edbe75736d9 158 //timeout interrupt to call this function again and
david_s95 6:4edbe75736d9 159 //keep the motor spinning at the right speed
david_s95 5:e5313b695302 160 if(revsec) spinTimer.attach(&fixedSpeed, spinWait);
david_s95 24:4032857546f4 161
david_s95 23:d48d51e5db97 162 intState = readRotorState();
david_s95 23:d48d51e5db97 163 //Increment state machine to next state
david_s95 23:d48d51e5db97 164 motorOut(intState);
david_s95 23:d48d51e5db97 165
david_s95 5:e5313b695302 166 }
david_s95 5:e5313b695302 167
david_s95 10:0309d6c49f26 168 void rps()
david_s95 7:5932ed0bad6d 169 {
david_s95 10:0309d6c49f26 170 speedTimer.stop();
david_s95 10:0309d6c49f26 171 revtimer = speedTimer.read_ms();
david_s95 10:0309d6c49f26 172 speedTimer.reset();
david_s95 10:0309d6c49f26 173 speedTimer.start();
david_s95 10:0309d6c49f26 174
david_s95 10:0309d6c49f26 175 measuredRevs = 1000/(revtimer);
david_s95 10:0309d6c49f26 176 quadraturePosition=0;
david_s95 7:5932ed0bad6d 177 }
david_s95 7:5932ed0bad6d 178
david_s95 10:0309d6c49f26 179 void VPID()
david_s95 10:0309d6c49f26 180 {
david_s95 12:8ea29b18d289 181 controller.setMode(1);
david_s95 10:0309d6c49f26 182 while(1) {
david_s95 22:1c329584282b 183 controller.setSetPoint(revsec);
david_s95 22:1c329584282b 184 controller.setProcessValue(measuredRevs);
david_s95 22:1c329584282b 185 speedControl = controller.compute();
david_s95 22:1c329584282b 186 spinWait = (1/speedControl)/6;
david_s95 10:0309d6c49f26 187 Thread::wait(PIDrate);
david_s95 10:0309d6c49f26 188 }
david_s95 10:0309d6c49f26 189 }
david_s95 7:5932ed0bad6d 190
mengkiang 4:f8a9ce214db9 191 //Main function
david_s95 5:e5313b695302 192 int main()
david_s95 5:e5313b695302 193 {
david_s95 9:575b29cbf5e4 194 pc.printf("spin\n\r");
david_s95 24:4032857546f4 195 spinWait = 0.01;
david_s95 19:93ca06d2e311 196 motorStop();
david_s95 19:93ca06d2e311 197
estott 0:de4320f74764 198 //Run the motor synchronisation
estott 2:4e88faab6988 199 orState = motorHome();
david_s95 6:4edbe75736d9 200 //orState is subtracted from future rotor state inputs to align rotor and motor states
david_s95 6:4edbe75736d9 201
estott 2:4e88faab6988 202 pc.printf("Rotor origin: %x\n\r",orState);
david_s95 5:e5313b695302 203
david_s95 6:4edbe75736d9 204 char command[ARRAYSIZE];
david_s95 6:4edbe75736d9 205 int index=0;
david_s95 6:4edbe75736d9 206 int units = 0, tens = 0, decimals = 0;
david_s95 6:4edbe75736d9 207 char ch;
david_s95 12:8ea29b18d289 208 int vartens = 0, varunits = 0, vardecs = 0;
david_s95 18:55cd33a3e69f 209 int hdrds = 0;
david_s95 18:55cd33a3e69f 210 float bias = 0;
david_s95 7:5932ed0bad6d 211
david_s95 10:0309d6c49f26 212 speedTimer.reset();
david_s95 10:0309d6c49f26 213 speedTimer.start();
david_s95 10:0309d6c49f26 214 I2.mode(PullNone);
david_s95 10:0309d6c49f26 215 I2.fall(&rps);
david_s95 7:5932ed0bad6d 216
david_s95 24:4032857546f4 217 singpin.period_us(100);
david_s95 24:4032857546f4 218
david_s95 10:0309d6c49f26 219 VPIDthread.start(VPID);
david_s95 10:0309d6c49f26 220
david_s95 5:e5313b695302 221 while(1) {
david_s95 7:5932ed0bad6d 222
david_s95 6:4edbe75736d9 223 //If there's a character to read from the serial port
david_s95 6:4edbe75736d9 224 if (pc.readable()) {
david_s95 7:5932ed0bad6d 225
david_s95 6:4edbe75736d9 226 //Clear index counter and control variables
david_s95 6:4edbe75736d9 227 index = 0;
david_s95 7:5932ed0bad6d 228
david_s95 6:4edbe75736d9 229 //Read each value from the serial port until Enter key is pressed
david_s95 6:4edbe75736d9 230 do {
david_s95 6:4edbe75736d9 231 //Read character
david_s95 6:4edbe75736d9 232 ch = pc.getc();
david_s95 6:4edbe75736d9 233 //Print character to serial for visual feedback
david_s95 6:4edbe75736d9 234 pc.putc(ch);
david_s95 6:4edbe75736d9 235 //Add character to input array
david_s95 6:4edbe75736d9 236 command[index++]=ch; // put it into the value array and increment the index
david_s95 7:5932ed0bad6d 237 //d10 and d13 used for detecting Enter key on Windows/Unix/Mac
david_s95 6:4edbe75736d9 238 } while(ch != 10 && ch != 13);
david_s95 7:5932ed0bad6d 239
david_s95 6:4edbe75736d9 240 //Start new line on terminal for printing data
david_s95 6:4edbe75736d9 241 pc.putc('\n');
david_s95 6:4edbe75736d9 242 pc.putc('\r');
david_s95 7:5932ed0bad6d 243
david_s95 6:4edbe75736d9 244 //Analyse the input string
david_s95 6:4edbe75736d9 245 switch (command[0]) {
david_s95 7:5932ed0bad6d 246 //If a V was typed...
david_s95 6:4edbe75736d9 247 case 'V':
david_s95 7:5932ed0bad6d 248 units = 0, tens = 0, decimals = 0;
david_s95 7:5932ed0bad6d 249 //For each character received, subtract ASCII 0 from ASCII
david_s95 7:5932ed0bad6d 250 //representation to obtain the integer value of the number
david_s95 9:575b29cbf5e4 251 if(command[1]=='-') {
david_s95 9:575b29cbf5e4 252 spinCW = 0;
david_s95 9:575b29cbf5e4 253 //If decimal point is in the second character (eg, V-.1)
david_s95 9:575b29cbf5e4 254 if(command[2]=='.') {
david_s95 9:575b29cbf5e4 255 //Extract decimal rev/s
david_s95 9:575b29cbf5e4 256 decimals = command[3] - '0';
david_s95 7:5932ed0bad6d 257
david_s95 9:575b29cbf5e4 258 //If decimal point is in the third character (eg, V-0.1)
david_s95 9:575b29cbf5e4 259 } else if(command[3]=='.') {
david_s95 9:575b29cbf5e4 260 units = command[2] - '0';
david_s95 9:575b29cbf5e4 261 decimals = command[4] - '0';
david_s95 7:5932ed0bad6d 262
david_s95 9:575b29cbf5e4 263 //If decimal point is in the fourth character (eg, V-10.1)
david_s95 9:575b29cbf5e4 264 } else if(command[4]=='.') {
david_s95 9:575b29cbf5e4 265 tens = command[2] - '0';
david_s95 9:575b29cbf5e4 266 units = command[3] - '0';
david_s95 9:575b29cbf5e4 267 decimals = command[5] - '0';
david_s95 9:575b29cbf5e4 268 }
david_s95 9:575b29cbf5e4 269 } else {
david_s95 9:575b29cbf5e4 270 spinCW = 1;
david_s95 9:575b29cbf5e4 271 //If decimal point is in the second character (eg, V.1)
david_s95 9:575b29cbf5e4 272 if(command[1]=='.') {
david_s95 9:575b29cbf5e4 273 //Extract decimal rev/s
david_s95 9:575b29cbf5e4 274 decimals = command[2] - '0';
david_s95 7:5932ed0bad6d 275
david_s95 9:575b29cbf5e4 276 //If decimal point is in the third character (eg, V0.1)
david_s95 9:575b29cbf5e4 277 } else if(command[2]=='.') {
david_s95 9:575b29cbf5e4 278 units = command[1] - '0';
david_s95 9:575b29cbf5e4 279 decimals = command[3] - '0';
david_s95 9:575b29cbf5e4 280
david_s95 9:575b29cbf5e4 281 //If decimal point is in the fourth character (eg, V10.1)
david_s95 9:575b29cbf5e4 282 } else if(command[3]=='.') {
david_s95 9:575b29cbf5e4 283 tens = command[1] - '0';
david_s95 9:575b29cbf5e4 284 units = command[2] - '0';
david_s95 9:575b29cbf5e4 285 decimals = command[4] - '0';
david_s95 9:575b29cbf5e4 286 }
david_s95 6:4edbe75736d9 287 }
david_s95 7:5932ed0bad6d 288
david_s95 6:4edbe75736d9 289 //Calculate the number of revolutions per second required
david_s95 6:4edbe75736d9 290 revsec = float(tens)*10 + float(units) + float(decimals)/10;
david_s95 6:4edbe75736d9 291 //Calculate the required wait period
david_s95 12:8ea29b18d289 292
david_s95 19:93ca06d2e311 293 spinWait = (1/revsec)/6;
david_s95 6:4edbe75736d9 294 //Print values for verification
david_s95 12:8ea29b18d289 295 pc.printf("Rev/S: %2.4f\n\r", revsec);
david_s95 7:5932ed0bad6d 296
david_s95 6:4edbe75736d9 297 //Run the function to start rotating at a fixed speed
david_s95 6:4edbe75736d9 298 fixedSpeed();
david_s95 6:4edbe75736d9 299 break;
david_s95 7:5932ed0bad6d 300 //If anything unexpected was received
david_s95 18:55cd33a3e69f 301
david_s95 7:5932ed0bad6d 302 case 's':
david_s95 10:0309d6c49f26 303 printf("Measured: %2.3f, revsec: %2.3f\r\n", measuredRevs, revsec);
david_s95 22:1c329584282b 304 printf("PID: %2.3f\r\n", speedControl);
david_s95 7:5932ed0bad6d 305 break;
david_s95 12:8ea29b18d289 306
david_s95 12:8ea29b18d289 307 case 'K':
david_s95 12:8ea29b18d289 308 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 309 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 310 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 311 Kc = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 312 printf("Kc: %2.1f\r\n", Kc);
david_s95 12:8ea29b18d289 313 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 314 break;
david_s95 12:8ea29b18d289 315 case 'i':
david_s95 12:8ea29b18d289 316 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 317 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 318 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 319 Ti = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 320 printf("Ti: %2.1f\r\n", Ti);
david_s95 12:8ea29b18d289 321 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 322 break;
david_s95 12:8ea29b18d289 323 case 'd':
david_s95 12:8ea29b18d289 324 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 325 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 326 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 327 Td = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 328 printf("Td: %2.1f\r\n", Td);
david_s95 12:8ea29b18d289 329 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 330 break;
david_s95 18:55cd33a3e69f 331 case 'b':
david_s95 18:55cd33a3e69f 332 if(command[1]=='.') {
david_s95 18:55cd33a3e69f 333 //Extract decimal rev/s
david_s95 18:55cd33a3e69f 334 vardecs = command[2] - '0';
david_s95 18:55cd33a3e69f 335
david_s95 18:55cd33a3e69f 336 //If decimal point is in the third character (eg, V-0.1)
david_s95 18:55cd33a3e69f 337 } else if(command[2]=='.') {
david_s95 18:55cd33a3e69f 338 varunits = command[1] - '0';
david_s95 18:55cd33a3e69f 339 vardecs = command[3] - '0';
david_s95 18:55cd33a3e69f 340
david_s95 18:55cd33a3e69f 341 //If decimal point is in the fourth character (eg, V-10.1)
david_s95 18:55cd33a3e69f 342 } else if(command[3]=='.') {
david_s95 18:55cd33a3e69f 343 vartens = command[1] - '0';
david_s95 18:55cd33a3e69f 344 varunits = command[2] - '0';
david_s95 18:55cd33a3e69f 345 vardecs = command[4] - '0';
david_s95 18:55cd33a3e69f 346 }
david_s95 18:55cd33a3e69f 347 bias = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 18:55cd33a3e69f 348 printf("Bias: %2.1f\r\n", bias);
david_s95 18:55cd33a3e69f 349 controller.setBias(bias);
david_s95 18:55cd33a3e69f 350 break;
david_s95 25:9e6e870821d8 351
david_s95 6:4edbe75736d9 352 default:
david_s95 6:4edbe75736d9 353 //Set speed variables to zero to stop motor spinning
david_s95 6:4edbe75736d9 354 //Print error message
david_s95 10:0309d6c49f26 355 motorStop();
david_s95 10:0309d6c49f26 356 pc.printf("Error in received data 0\n\r");
david_s95 23:d48d51e5db97 357 motorStop();
david_s95 6:4edbe75736d9 358 break;
david_s95 6:4edbe75736d9 359 }
david_s95 6:4edbe75736d9 360 }
estott 2:4e88faab6988 361 }
david_s95 5:e5313b695302 362
david_s95 25:9e6e870821d8 363 }