Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

main.cpp@24:c5a3cba48498, 2012-11-24 (annotated)

Committer:
maetugr
Date:
Sat Nov 24 17:24:32 2012 +0000
Revision:
24:c5a3cba48498
Parent:
23:955a7c7ddf8b
Child:
25:0498d3041afa
bevor logeinf?hrung

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 7:9d4313510646 1 #include "mbed.h" // Standard Library
maetugr 7:9d4313510646 2 #include "LED.h" // LEDs framework for blinking ;)
maetugr 13:4737ee9ebfee 3 #include "PC.h" // Serial Port via USB by Roland Elmiger for debugging with Terminal (driver needed: https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe)
maetugr 7:9d4313510646 4 #include "L3G4200D.h" // Gyro (Gyroscope)
maetugr 7:9d4313510646 5 #include "ADXL345.h" // Acc (Accelerometer)
maetugr 7:9d4313510646 6 #include "HMC5883.h" // Comp (Compass)
maetugr 14:cf260677ecde 7 #include "BMP085_old.h" // Alt (Altitude sensor)
maetugr 7:9d4313510646 8 #include "RC_Channel.h" // RemoteControl Chnnels with PPM
maetugr 15:753c5d6a63b3 9 #include "Servo_PWM.h" // Motor PPM using PwmOut
maetugr 13:4737ee9ebfee 10 #include "PID.h" // PID Library by Aaron Berk
maetugr 0:0c4fafa398b4 11
maetugr 21:c2a2e7cbabdd 12 //#define RAD2DEG 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi) //TODO not needed??
maetugr 15:753c5d6a63b3 13 #define RATE 0.02 // speed of the interrupt for Sensors and PID
maetugr 15:753c5d6a63b3 14
maetugr 24:c5a3cba48498 15
maetugr 24:c5a3cba48498 16 #define P_VALUE 0.05 // PID values
maetugr 24:c5a3cba48498 17 #define I_VALUE 20 // Werte die bis jetzt am besten funktioniert haben
maetugr 24:c5a3cba48498 18 #define D_VALUE 0.015
maetugr 24:c5a3cba48498 19
maetugr 24:c5a3cba48498 20 /*
maetugr 24:c5a3cba48498 21 // agressive Werte
maetugr 23:955a7c7ddf8b 22 #define P_VALUE 0.035 // PID values
maetugr 23:955a7c7ddf8b 23 #define I_VALUE 3.5
maetugr 23:955a7c7ddf8b 24 #define D_VALUE 0.04
maetugr 24:c5a3cba48498 25 */
maetugr 12:67a06c9b69d5 26
maetugr 14:cf260677ecde 27 //#define COMPASSCALIBRATE // decomment if you want to calibrate the Compass on start
maetugr 21:c2a2e7cbabdd 28 #define PC_CONNECTED // decoment if you want to debug per USB and your PC
maetugr 2:93f703d2c4d7 29
maetugr 14:cf260677ecde 30 Timer GlobalTimer; // global time to calculate processing speed
maetugr 14:cf260677ecde 31 Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC
maetugr 14:cf260677ecde 32
maetugr 14:cf260677ecde 33 // initialisation of hardware (see includes for more info)
maetugr 5:818c0668fd2d 34 LED LEDs;
maetugr 21:c2a2e7cbabdd 35 #ifdef PC_CONNECTED
maetugr 21:c2a2e7cbabdd 36 PC pc(USBTX, USBRX, 115200);
maetugr 21:c2a2e7cbabdd 37 #endif
maetugr 5:818c0668fd2d 38 L3G4200D Gyro(p28, p27);
maetugr 5:818c0668fd2d 39 ADXL345 Acc(p28, p27);
maetugr 11:9bf69bc6df45 40 HMC5883 Comp(p28, p27);
maetugr 14:cf260677ecde 41 BMP085_old Alt(p28, p27);
maetugr 21:c2a2e7cbabdd 42 RC_Channel RC[] = {p11, p12, p13, p14}; // noooo p19/p20 !
maetugr 21:c2a2e7cbabdd 43 Servo_PWM Motor[] = {p21, p22, p23, p24}; // p21 - p26 only !
maetugr 8:d25ecdcdbeb5 44
maetugr 21:c2a2e7cbabdd 45 // 0:X:Roll 1:Y:Pitch 2:Z:Yaw
maetugr 22:d301b455a1ad 46 PID Controller[] = {PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(0.02, 100, 0.005, RATE)}; // TODO: RATE != dt immer anpassen
maetugr 14:cf260677ecde 47
maetugr 22:d301b455a1ad 48 // global variables
maetugr 20:e116e596e540 49 bool armed = false; // this variable is for security
maetugr 14:cf260677ecde 50 unsigned long dt_get_data = 0; // TODO: dt namen
maetugr 12:67a06c9b69d5 51 unsigned long time_get_data = 0;
maetugr 12:67a06c9b69d5 52 unsigned long dt_read_sensors = 0;
maetugr 12:67a06c9b69d5 53 unsigned long time_read_sensors = 0;
maetugr 14:cf260677ecde 54 float angle[3] = {0,0,0}; // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw]
maetugr 14:cf260677ecde 55 float tempangle = 0; // temporärer winkel für yaw ohne kompass
maetugr 20:e116e596e540 56 float Gyro_angle[3] ={0,0,0};
maetugr 21:c2a2e7cbabdd 57 float controller_value[] = {0,0,0};
maetugr 21:c2a2e7cbabdd 58 float motor_value[] = {0,0,0,0};
maetugr 21:c2a2e7cbabdd 59
maetugr 22:d301b455a1ad 60 float motor_calc(int rc_value, float contr_value)
maetugr 21:c2a2e7cbabdd 61 {
maetugr 23:955a7c7ddf8b 62 return rc_value + contr_value > 50 ? rc_value + contr_value : 50; // nicht unter 0 sinken TODO: nicht Motor halten -> langsame Reaktion
maetugr 21:c2a2e7cbabdd 63 }
maetugr 8:d25ecdcdbeb5 64
maetugr 14:cf260677ecde 65 void get_Data() // method which is called by the Ticker Datagetter every RATE seconds
maetugr 8:d25ecdcdbeb5 66 {
maetugr 12:67a06c9b69d5 67 time_read_sensors = GlobalTimer.read_us();
maetugr 12:67a06c9b69d5 68
maetugr 15:753c5d6a63b3 69 // read data from sensors // ATTENTION! the I2C option repeated true is important because otherwise interrupts while bus communications cause crashes
maetugr 14:cf260677ecde 70 Gyro.read();
maetugr 15:753c5d6a63b3 71 Acc.read(); // TODO: nicht jeder Sensor immer? höhe nicht so wichtig
maetugr 21:c2a2e7cbabdd 72 //Comp.read();
maetugr 13:4737ee9ebfee 73 //Alt.Update(); TODO braucht zu lange zum auslesen!
maetugr 12:67a06c9b69d5 74
maetugr 12:67a06c9b69d5 75 dt_read_sensors = GlobalTimer.read_us() - time_read_sensors;
maetugr 8:d25ecdcdbeb5 76
maetugr 8:d25ecdcdbeb5 77 // meassure dt
maetugr 12:67a06c9b69d5 78 dt_get_data = GlobalTimer.read_us() - time_get_data; // time in us since last loop
maetugr 12:67a06c9b69d5 79 time_get_data = GlobalTimer.read_us(); // set new time for next measurement
maetugr 8:d25ecdcdbeb5 80
maetugr 24:c5a3cba48498 81 for(int i = 0; i < 3; i++)
maetugr 24:c5a3cba48498 82 Gyro_angle[i] += Gyro.data[i] *dt_get_data/15000000.0;
maetugr 20:e116e596e540 83
maetugr 8:d25ecdcdbeb5 84 // calculate angles for roll, pitch an yaw
maetugr 24:c5a3cba48498 85 #if 0 // alte berechnung, vielleicht Accelerometer zu stark gewichtet
maetugr 24:c5a3cba48498 86 angle[0] += (Acc.angle[0] - angle[0])/50 + Gyro.data[0] *dt_get_data/15000000.0;
maetugr 24:c5a3cba48498 87 angle[1] += (Acc.angle[1]+3 - angle[1])/50 + Gyro.data[1] *dt_get_data/15000000.0;// TODO Offset accelerometer einstellen
maetugr 24:c5a3cba48498 88 //tempangle += (Comp.get_angle() - tempangle)/50 + Gyro.data[2] *dt_get_data/15000000.0;
maetugr 24:c5a3cba48498 89 angle[2] = Gyro_angle[2]; // gyro only here
maetugr 24:c5a3cba48498 90 #endif
maetugr 12:67a06c9b69d5 91
maetugr 24:c5a3cba48498 92 #if 1 // neuer Test 1 (Formel von http://diydrones.com/m/discussion?id=705844%3ATopic%3A669858)
maetugr 24:c5a3cba48498 93 angle[0] = (0.98*(angle[0]+(Gyro.data[0] *dt_get_data/15000000.0)))+(0.02*(Acc.angle[0]));
maetugr 24:c5a3cba48498 94 angle[1] = (0.98*(angle[1]+(Gyro.data[1] *dt_get_data/15000000.0)))+(0.02*(Acc.angle[1] + 3)); // TODO Offset accelerometer einstellen
maetugr 24:c5a3cba48498 95 //tempangle += (Comp.get_angle() - tempangle)/50 + Gyro.data[2] *dt_get_data/15000000.0;
maetugr 24:c5a3cba48498 96 angle[2] = Gyro_angle[2]; // gyro only here
maetugr 24:c5a3cba48498 97 #endif
maetugr 24:c5a3cba48498 98
maetugr 24:c5a3cba48498 99 #if 0 // neuer Test 2 (funktioniert wahrscheinlich nicht, denkfehler)
maetugr 24:c5a3cba48498 100 angle[0] += Gyro_angle[0] * 0.98 + Acc.angle[0] * 0.02;
maetugr 24:c5a3cba48498 101 angle[1] += Gyro_angle[1] * 0.98 + (Acc.angle[1] + 3) * 0.02; // TODO: Calibrierung Acc
maetugr 24:c5a3cba48498 102 angle[2] = Gyro_angle[2]; // gyro only here
maetugr 24:c5a3cba48498 103 #endif
maetugr 24:c5a3cba48498 104
maetugr 24:c5a3cba48498 105 #if 0 // rein Gyro
maetugr 24:c5a3cba48498 106 for(int i = 0; i < 3; i++)
maetugr 24:c5a3cba48498 107 angle[i] = Gyro_angle[i];
maetugr 24:c5a3cba48498 108 #endif
maetugr 8:d25ecdcdbeb5 109
maetugr 21:c2a2e7cbabdd 110 // Arming / disarming
maetugr 21:c2a2e7cbabdd 111 if(RC[2].read() < 20 && RC[3].read() > 850)
maetugr 21:c2a2e7cbabdd 112 armed = true;
maetugr 21:c2a2e7cbabdd 113 if(RC[2].read() < 30 && RC[3].read() < 30)
maetugr 20:e116e596e540 114 armed = false;
maetugr 21:c2a2e7cbabdd 115 if(RC[3].read() < -10 || RC[2].read() < -10 || RC[1].read() < -10 || RC[0].read() < -10)
maetugr 20:e116e596e540 116 armed = false;
maetugr 20:e116e596e540 117
maetugr 21:c2a2e7cbabdd 118 if (armed) // for SECURITY!
maetugr 22:d301b455a1ad 119 {
maetugr 24:c5a3cba48498 120 // PID controlling
maetugr 24:c5a3cba48498 121 if (!(RC[0].read() == -100)) {
maetugr 24:c5a3cba48498 122 Controller[0].setSetPoint(-(int)((RC[0].read()-440)/440.0*90.0));
maetugr 24:c5a3cba48498 123 Controller[1].setSetPoint(-(int)((RC[1].read()-430)/430.0*90.0));
maetugr 24:c5a3cba48498 124 //Controller[2].setSetPoint(-(int)((RC[3].read()-424)/424.0*180.0)); // TODO: muss später += werden
maetugr 24:c5a3cba48498 125 }
maetugr 24:c5a3cba48498 126 for(int i=0;i<3;i++) {
maetugr 24:c5a3cba48498 127 Controller[i].setProcessValue(angle[i]);
maetugr 24:c5a3cba48498 128 controller_value[i] = Controller[i].compute() - 1000;
maetugr 24:c5a3cba48498 129 }
maetugr 24:c5a3cba48498 130
maetugr 24:c5a3cba48498 131 // Calculate new motorspeeds
maetugr 21:c2a2e7cbabdd 132 // Pitch
maetugr 21:c2a2e7cbabdd 133 motor_value[0] = motor_calc(RC[2].read(), +controller_value[1]);
maetugr 21:c2a2e7cbabdd 134 motor_value[2] = motor_calc(RC[2].read(), -controller_value[1]);
maetugr 21:c2a2e7cbabdd 135
maetugr 24:c5a3cba48498 136 #if 1
maetugr 22:d301b455a1ad 137 // Roll
maetugr 22:d301b455a1ad 138 motor_value[1] = motor_calc(RC[2].read(), +controller_value[0]);
maetugr 22:d301b455a1ad 139 motor_value[3] = motor_calc(RC[2].read(), -controller_value[0]);
maetugr 22:d301b455a1ad 140
maetugr 22:d301b455a1ad 141 // Yaw
maetugr 22:d301b455a1ad 142 motor_value[0] -= controller_value[2];
maetugr 22:d301b455a1ad 143 motor_value[2] -= controller_value[2];
maetugr 22:d301b455a1ad 144
maetugr 22:d301b455a1ad 145 motor_value[1] += controller_value[2];
maetugr 22:d301b455a1ad 146 motor_value[3] += controller_value[2];
maetugr 22:d301b455a1ad 147 #endif
maetugr 21:c2a2e7cbabdd 148
maetugr 15:753c5d6a63b3 149 } else {
maetugr 24:c5a3cba48498 150 for(int i=0;i<3;i++)
maetugr 24:c5a3cba48498 151 Controller[i].reset();
maetugr 21:c2a2e7cbabdd 152 for(int i=0;i<4;i++)
maetugr 21:c2a2e7cbabdd 153 motor_value[i] = 0;
maetugr 21:c2a2e7cbabdd 154 }
maetugr 21:c2a2e7cbabdd 155 // Set new motorspeeds
maetugr 21:c2a2e7cbabdd 156 for(int i=0;i<4;i++)
maetugr 22:d301b455a1ad 157 Motor[i] = (int)motor_value[i];
maetugr 8:d25ecdcdbeb5 158 }
maetugr 5:818c0668fd2d 159
maetugr 14:cf260677ecde 160 int main() { // main programm only used for initialisation and debug output
maetugr 16:74a6531350b5 161 NVIC_SetPriority(TIMER3_IRQn, 1); // set priorty of tickers below hardware interrupts (standard priority is 0)
maetugr 15:753c5d6a63b3 162
maetugr 21:c2a2e7cbabdd 163 for(int i=0;i<3;i++) {
maetugr 21:c2a2e7cbabdd 164 Controller[i].setInputLimits(-90.0, 90.0);
maetugr 21:c2a2e7cbabdd 165 Controller[i].setOutputLimits(0.0, 2000.0);
maetugr 21:c2a2e7cbabdd 166 Controller[i].setBias(1000);
maetugr 21:c2a2e7cbabdd 167 Controller[i].setMode(MANUAL_MODE);//AUTO_MODE);
maetugr 21:c2a2e7cbabdd 168 Controller[i].setSetPoint(0);
maetugr 21:c2a2e7cbabdd 169 }
maetugr 24:c5a3cba48498 170 Controller[2].setInputLimits(-180.0, 180.0); // yaw 360 grad
maetugr 12:67a06c9b69d5 171
maetugr 21:c2a2e7cbabdd 172 #ifdef PC_CONNECTED
maetugr 21:c2a2e7cbabdd 173 #ifdef COMPASSCALIBRATE
maetugr 21:c2a2e7cbabdd 174 pc.locate(10,5);
maetugr 21:c2a2e7cbabdd 175 pc.printf("CALIBRATING");
maetugr 21:c2a2e7cbabdd 176 Comp.calibrate(60);
maetugr 21:c2a2e7cbabdd 177 #endif
maetugr 21:c2a2e7cbabdd 178
maetugr 21:c2a2e7cbabdd 179 // init screen
maetugr 12:67a06c9b69d5 180 pc.locate(10,5);
maetugr 21:c2a2e7cbabdd 181 pc.printf("Flybed v0.2");
maetugr 12:67a06c9b69d5 182 #endif
maetugr 1:5a64632b1eb9 183 LEDs.roll(2);
maetugr 5:818c0668fd2d 184
maetugr 21:c2a2e7cbabdd 185 // Start!
maetugr 2:93f703d2c4d7 186 GlobalTimer.start();
maetugr 12:67a06c9b69d5 187 Datagetter.attach(&get_Data, RATE); // start to get data all RATEms
maetugr 12:67a06c9b69d5 188
maetugr 12:67a06c9b69d5 189 while(1) {
maetugr 21:c2a2e7cbabdd 190 #ifdef PC_CONNECTED
maetugr 21:c2a2e7cbabdd 191 pc.locate(30,0); // PC output
maetugr 21:c2a2e7cbabdd 192 pc.printf("dt:%dms dt_sensors:%dus Altitude:%6.1fm ", dt_get_data/1000, dt_read_sensors, Alt.CalcAltitude(Alt.Pressure));
maetugr 21:c2a2e7cbabdd 193 pc.locate(5,1);
maetugr 21:c2a2e7cbabdd 194 if(armed)
maetugr 21:c2a2e7cbabdd 195 pc.printf("ARMED!!!!!!!!!!!!!");
maetugr 21:c2a2e7cbabdd 196 else
maetugr 21:c2a2e7cbabdd 197 pc.printf("DIS_ARMED ");
maetugr 21:c2a2e7cbabdd 198 pc.locate(5,3);
maetugr 21:c2a2e7cbabdd 199 pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", angle[0], angle[1], angle[2]);
maetugr 21:c2a2e7cbabdd 200 pc.printf("\n\r control Roll: %d control Pitch: %d ", (int)((RC[0].read()-440)/440.0*90.0), (int)((RC[1].read()-430)/430.0*90.0));
maetugr 21:c2a2e7cbabdd 201
maetugr 21:c2a2e7cbabdd 202 pc.locate(5,5);
maetugr 21:c2a2e7cbabdd 203 pc.printf("Gyro.data: X:%6.1f Y:%6.1f Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]);
maetugr 21:c2a2e7cbabdd 204 pc.locate(5,6);
maetugr 21:c2a2e7cbabdd 205 pc.printf("Gyro_angle: X:%6.1f Y:%6.1f Z:%6.1f", Gyro_angle[0], Gyro_angle[1], Gyro_angle[2]);
maetugr 21:c2a2e7cbabdd 206
maetugr 21:c2a2e7cbabdd 207 pc.locate(5,8);
maetugr 21:c2a2e7cbabdd 208 pc.printf("Acc.data: X:%6d Y:%6d Z:%6d", Acc.data[0], Acc.data[1], Acc.data[2]);
maetugr 21:c2a2e7cbabdd 209 pc.locate(5,9);
maetugr 21:c2a2e7cbabdd 210 pc.printf("Acc.angle: Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", Acc.angle[0], Acc.angle[1], Acc.angle[2]);
maetugr 21:c2a2e7cbabdd 211
maetugr 21:c2a2e7cbabdd 212 pc.locate(5,11);
maetugr 21:c2a2e7cbabdd 213 pc.printf("PID Result:");
maetugr 21:c2a2e7cbabdd 214 for(int i=0;i<3;i++)
maetugr 21:c2a2e7cbabdd 215 pc.printf(" %d: %6.1f", i, controller_value[i]);
maetugr 21:c2a2e7cbabdd 216
maetugr 23:955a7c7ddf8b 217 pc.locate(5,12);
maetugr 22:d301b455a1ad 218 pc.printf("Motor Result:");
maetugr 22:d301b455a1ad 219 for(int i=0;i<4;i++)
maetugr 22:d301b455a1ad 220 pc.printf(" %d: %6.1f", i, motor_value[i]);
maetugr 21:c2a2e7cbabdd 221
maetugr 23:955a7c7ddf8b 222 pc.locate(5,14);
maetugr 23:955a7c7ddf8b 223 pc.printf(" roll: %d pitch: %d ", -(int)((RC[0].read()-440)/440.0*90.0), -(int)((RC[1].read()-430)/430.0*90.0));
maetugr 23:955a7c7ddf8b 224
maetugr 21:c2a2e7cbabdd 225 pc.locate(10,15);
maetugr 21:c2a2e7cbabdd 226 pc.printf("Debug_Yaw: Comp:%6.1f tempangle:%6.1f ", Comp.get_angle(), tempangle);
maetugr 21:c2a2e7cbabdd 227 pc.locate(10,16);
maetugr 21:c2a2e7cbabdd 228 pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
maetugr 21:c2a2e7cbabdd 229 pc.locate(10,17);
maetugr 21:c2a2e7cbabdd 230 //pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private
maetugr 21:c2a2e7cbabdd 231 pc.locate(10,18);
maetugr 21:c2a2e7cbabdd 232 pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
maetugr 21:c2a2e7cbabdd 233
maetugr 21:c2a2e7cbabdd 234 pc.locate(10,19);
maetugr 21:c2a2e7cbabdd 235 pc.printf("RC0: %4d :[", RC[0].read());
maetugr 21:c2a2e7cbabdd 236 for (int i = 0; i < RC[0].read()/17; i++)
maetugr 21:c2a2e7cbabdd 237 pc.printf("=");
maetugr 21:c2a2e7cbabdd 238 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 239 pc.locate(10,20);
maetugr 21:c2a2e7cbabdd 240 pc.printf("RC1: %4d :[", RC[1].read());
maetugr 21:c2a2e7cbabdd 241 for (int i = 0; i < RC[1].read()/17; i++)
maetugr 21:c2a2e7cbabdd 242 pc.printf("=");
maetugr 21:c2a2e7cbabdd 243 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 244 pc.locate(10,21);
maetugr 21:c2a2e7cbabdd 245 pc.printf("RC2: %4d :[", RC[2].read());
maetugr 21:c2a2e7cbabdd 246 for (int i = 0; i < RC[2].read()/17; i++)
maetugr 21:c2a2e7cbabdd 247 pc.printf("=");
maetugr 21:c2a2e7cbabdd 248 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 249 pc.locate(10,22);
maetugr 21:c2a2e7cbabdd 250 pc.printf("RC3: %4d :[", RC[3].read());
maetugr 21:c2a2e7cbabdd 251 for (int i = 0; i < RC[3].read()/17; i++)
maetugr 21:c2a2e7cbabdd 252 pc.printf("=");
maetugr 21:c2a2e7cbabdd 253 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 254 #endif
maetugr 21:c2a2e7cbabdd 255 wait(0.01);
maetugr 21:c2a2e7cbabdd 256 if(armed){
maetugr 21:c2a2e7cbabdd 257 LEDs.rollnext();
maetugr 21:c2a2e7cbabdd 258 } else {
maetugr 21:c2a2e7cbabdd 259 LEDs.set(1);
maetugr 21:c2a2e7cbabdd 260 LEDs.set(2);
maetugr 21:c2a2e7cbabdd 261 LEDs.set(3);
maetugr 21:c2a2e7cbabdd 262 LEDs.set(4);
maetugr 21:c2a2e7cbabdd 263 }
maetugr 0:0c4fafa398b4 264 }
maetugr 0:0c4fafa398b4 265 }