Makoto Kobayashi / Mbed 2 deprecated Kikaikougaku_Jikken_mecolab

機械工学実験1

Dependencies:   PID QEI mbed

main.cpp@1:35d14e37db1b, 2014-10-23 (annotated)

Committer:
neoqased
Date:
Thu Oct 23 08:33:07 2014 +0000
Revision:
1:35d14e37db1b
Parent:
0:41033932c9ec
Child:
2:d5f964932fce
??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
neoqased 0:41033932c9ec 1 //include header file
neoqased 0:41033932c9ec 2 #include "mbed.h"
neoqased 0:41033932c9ec 3 #include "QEI.h"
neoqased 0:41033932c9ec 4 #include "PID.h"
neoqased 0:41033932c9ec 5 #include "setting.h"
neoqased 0:41033932c9ec 6
neoqased 0:41033932c9ec 7 //define
neoqased 0:41033932c9ec 8 #define PULSE_PER_REVOLUTION 200
neoqased 1:35d14e37db1b 9 #define PID_RATE 10 //wait **ms. If you change this value, response will be slightly different.
neoqased 1:35d14e37db1b 10
neoqased 1:35d14e37db1b 11 #define KP_SCALE 10
neoqased 1:35d14e37db1b 12 #define TI_SCALE 20
neoqased 0:41033932c9ec 13
neoqased 0:41033932c9ec 14 //IO pin setting
neoqased 0:41033932c9ec 15 DigitalOut led1(LED1); //mbed LED outputs
neoqased 0:41033932c9ec 16 DigitalOut led2(LED2);
neoqased 0:41033932c9ec 17 DigitalOut led3(LED3);
neoqased 0:41033932c9ec 18 DigitalOut led4(LED4);
neoqased 0:41033932c9ec 19 DigitalIn dip1(p5); //DIP switch inputs
neoqased 0:41033932c9ec 20 DigitalIn dip2(p6);
neoqased 0:41033932c9ec 21 DigitalIn dip3(p7);
neoqased 0:41033932c9ec 22 DigitalIn dip4(p8);
neoqased 0:41033932c9ec 23 DigitalIn startsw(p9); //push switch input
neoqased 0:41033932c9ec 24 DigitalOut buzzer(p18); //buzzer output
neoqased 0:41033932c9ec 25 AnalogIn volume(p20); //potentiometer input
neoqased 0:41033932c9ec 26 PwmOut pwm(p25); //pwm output to a motordriver
neoqased 0:41033932c9ec 27
neoqased 0:41033932c9ec 28 //other setting
neoqased 0:41033932c9ec 29 Serial pc(USBTX, USBRX); //set serial communication with PC
neoqased 0:41033932c9ec 30 QEI encoder(p30, p29, NC, PULSE_PER_REVOLUTION, QEI::X2_ENCODING); //QEI setting (See QEI.cpp)
neoqased 0:41033932c9ec 31 Timer timer; //mbed timer setting (See mbed description)
neoqased 0:41033932c9ec 32
neoqased 0:41033932c9ec 33 //structure of experimentation result
neoqased 0:41033932c9ec 34 typedef struct{
neoqased 0:41033932c9ec 35 float t;
neoqased 0:41033932c9ec 36 float rpm;
neoqased 0:41033932c9ec 37 } result;
neoqased 0:41033932c9ec 38
neoqased 0:41033932c9ec 39 //prototype declaration
neoqased 0:41033932c9ec 40 int Init();
neoqased 0:41033932c9ec 41 int DipLed();
neoqased 0:41033932c9ec 42 int GetDipValue();
neoqased 0:41033932c9ec 43 int SW();
neoqased 0:41033932c9ec 44 int Buzzer(int buzvar);
neoqased 0:41033932c9ec 45
neoqased 0:41033932c9ec 46 //main function
neoqased 0:41033932c9ec 47 int main() {
neoqased 0:41033932c9ec 48 Buzzer(2); //ring buzzer after pushing a reset button
neoqased 0:41033932c9ec 49 LocalFileSystem local("local"); //set mbed root directory as "local"
neoqased 0:41033932c9ec 50 Init(); //initialize
neoqased 0:41033932c9ec 51 int flag = 0; //variable of operation mode
neoqased 0:41033932c9ec 52 result exp[(int)(15*1000/PID_RATE+1)] = {}; //variable for experimentation result
neoqased 0:41033932c9ec 53
neoqased 0:41033932c9ec 54 while(1){ //main loop
neoqased 0:41033932c9ec 55 Init(); //initialize
neoqased 0:41033932c9ec 56 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //initialize result structure
neoqased 0:41033932c9ec 57 exp[i].t = 0;
neoqased 0:41033932c9ec 58 exp[i].rpm = 0;
neoqased 0:41033932c9ec 59 }
neoqased 0:41033932c9ec 60 SW(); //wait for startswitch push
neoqased 0:41033932c9ec 61 flag = GetDipValue(); //read DIP switch value
neoqased 0:41033932c9ec 62 DipLed(); //make mbed LED shine
neoqased 0:41033932c9ec 63 Buzzer(1); //ring buzzer mode 1
neoqased 0:41033932c9ec 64
neoqased 0:41033932c9ec 65 switch (flag){
neoqased 0:41033932c9ec 66 /*********************mode 0**********************/
neoqased 0:41033932c9ec 67 case 0: //mode 0: nothing
neoqased 0:41033932c9ec 68 break;
neoqased 0:41033932c9ec 69 /*********************mode 1**********************/
neoqased 0:41033932c9ec 70 case 1:{ //mode 1: manually operated mode
neoqased 0:41033932c9ec 71 float vol = 0; //variable of potentiometer
neoqased 0:41033932c9ec 72 float rpm = 0; //variable of rpm
neoqased 0:41033932c9ec 73 float t = 0; //variable of time
neoqased 0:41033932c9ec 74 int i1 = 0; //variable of loop count
neoqased 0:41033932c9ec 75 encoder.reset();
neoqased 0:41033932c9ec 76 timer.reset();
neoqased 0:41033932c9ec 77 timer.start();
neoqased 0:41033932c9ec 78 while(1){
neoqased 0:41033932c9ec 79 vol = 1 - volume; //min position(max input(H))<-----potentiometer=====>(min input(L))max position
neoqased 0:41033932c9ec 80 pwm = vol;
neoqased 0:41033932c9ec 81 if(i1 >= 20){ //show duty ratio and rpm in PC every sec
neoqased 0:41033932c9ec 82 t = timer.read();
neoqased 0:41033932c9ec 83 rpm = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / t * 2; //reduction ratio 1/2
neoqased 0:41033932c9ec 84 pc.printf("Duty Ratio = %.3f , %6d RPM\n", vol, (int)rpm);
neoqased 0:41033932c9ec 85 encoder.reset();
neoqased 0:41033932c9ec 86 i1 = 0;
neoqased 0:41033932c9ec 87 timer.reset();
neoqased 0:41033932c9ec 88 }
neoqased 0:41033932c9ec 89 wait_ms(50);
neoqased 0:41033932c9ec 90 i1++;
neoqased 0:41033932c9ec 91 }
neoqased 0:41033932c9ec 92 break;
neoqased 0:41033932c9ec 93 }
neoqased 0:41033932c9ec 94 /*********************mode 2**********************/
neoqased 0:41033932c9ec 95 case 2:{ //mode 2: step input
neoqased 0:41033932c9ec 96 exp[0].t = 0;
neoqased 0:41033932c9ec 97 exp[0].rpm = 0;
neoqased 0:41033932c9ec 98 encoder.reset();
neoqased 0:41033932c9ec 99 timer.reset();
neoqased 0:41033932c9ec 100 timer.start();
neoqased 0:41033932c9ec 101 pwm = 1; //duty ratio 1
neoqased 0:41033932c9ec 102 for(int i = 0; i < 15*1000/PID_RATE; i++){ //variable assignment in every PID_RATE
neoqased 0:41033932c9ec 103 wait_ms(PID_RATE);
neoqased 0:41033932c9ec 104 exp[i+1].t = timer.read();
neoqased 0:41033932c9ec 105 exp[i+1].rpm = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / (exp[i+1].t - exp[i].t) * 2;
neoqased 0:41033932c9ec 106 encoder.reset();
neoqased 0:41033932c9ec 107 }
neoqased 0:41033932c9ec 108 for(int i = 100; i >= 0; i--){ //stopping motor slowly
neoqased 0:41033932c9ec 109 pwm = (float)i / 100;
neoqased 0:41033932c9ec 110 wait_ms(20);
neoqased 0:41033932c9ec 111 }
neoqased 0:41033932c9ec 112 pwm = 0;
neoqased 0:41033932c9ec 113 wait(1);
neoqased 0:41033932c9ec 114 FILE * fp = fopen("/local/exp2.csv","w");
neoqased 0:41033932c9ec 115 if(fp == NULL){
neoqased 0:41033932c9ec 116 Buzzer(-1);
neoqased 0:41033932c9ec 117 break;
neoqased 0:41033932c9ec 118 }
neoqased 0:41033932c9ec 119 fprintf(fp,"Time , RPM\n");
neoqased 0:41033932c9ec 120 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //output results
neoqased 0:41033932c9ec 121 fprintf(fp,"%f , %f\n", exp[i].t, exp[i].rpm);
neoqased 0:41033932c9ec 122 }
neoqased 0:41033932c9ec 123 fclose(fp);
neoqased 0:41033932c9ec 124 Buzzer(4); //ring finish buzzer
neoqased 0:41033932c9ec 125 break;
neoqased 0:41033932c9ec 126 }
neoqased 0:41033932c9ec 127 /*********************mode 3**********************/
neoqased 0:41033932c9ec 128 case 3:{ //mode 3: PID control
neoqased 0:41033932c9ec 129 float kp = 0, ti = 0, td = 0, max_rpm = 0, target_rpm = 0, reduction = 0;
neoqased 0:41033932c9ec 130 encoder.reset();
neoqased 0:41033932c9ec 131 timer.reset();
neoqased 0:41033932c9ec 132
neoqased 1:35d14e37db1b 133 kp = KP / KP_SCALE; //substitute from setting.h
neoqased 1:35d14e37db1b 134 ti = TI * TI_SCALE;
neoqased 0:41033932c9ec 135 td = TD;
neoqased 0:41033932c9ec 136 max_rpm = MAX_RPM;
neoqased 0:41033932c9ec 137 target_rpm = TARGET_RPM;
neoqased 0:41033932c9ec 138
neoqased 0:41033932c9ec 139 PID pid(kp, ti, td, PID_RATE); //PID setting (see PID.cpp)
neoqased 0:41033932c9ec 140 pid.setInputLimits(0.0, max_rpm);
neoqased 0:41033932c9ec 141 pid.setOutputLimits(0.0, 1.0);
neoqased 0:41033932c9ec 142 pid.setMode(AUTO_MODE);
neoqased 0:41033932c9ec 143 pid.setSetPoint(target_rpm);
neoqased 0:41033932c9ec 144
neoqased 0:41033932c9ec 145 exp[0].t = 0;
neoqased 0:41033932c9ec 146 exp[0].rpm = 0;
neoqased 0:41033932c9ec 147 timer.start(); //count start
neoqased 0:41033932c9ec 148 for(int i = 0; i < 15*1000/PID_RATE; i++){ //PID control loop(15 seconds)
neoqased 0:41033932c9ec 149 exp[i+1].t = timer.read();
neoqased 0:41033932c9ec 150 exp[i+1].rpm = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / (exp[i+1].t - exp[i].t) * 2;
neoqased 0:41033932c9ec 151 pid.setProcessValue(exp[i+1].rpm);
neoqased 0:41033932c9ec 152 pwm = pid.compute();
neoqased 0:41033932c9ec 153 encoder.reset();
neoqased 0:41033932c9ec 154 wait_ms(PID_RATE);
neoqased 0:41033932c9ec 155 }
neoqased 0:41033932c9ec 156 reduction = pwm.read(); //stopping slowly loop
neoqased 0:41033932c9ec 157 for(int i = 0; i <= 100; i++){
neoqased 0:41033932c9ec 158 pwm = pwm.read() - reduction / 100;
neoqased 0:41033932c9ec 159 wait_ms(20);
neoqased 0:41033932c9ec 160 }
neoqased 0:41033932c9ec 161 pwm = 0;
neoqased 0:41033932c9ec 162 FILE *fp = fopen("/local/exp3.csv","w");
neoqased 0:41033932c9ec 163 if(fp == NULL){
neoqased 0:41033932c9ec 164 Buzzer(-1);
neoqased 0:41033932c9ec 165 break;
neoqased 0:41033932c9ec 166 }
neoqased 1:35d14e37db1b 167 fprintf(fp,", kp = %.6f ki = %.6f kd = %.6f\n", (float)KP, (float)TI, (float)TD);
neoqased 0:41033932c9ec 168 fprintf(fp,"Time , RPM\n");
neoqased 0:41033932c9ec 169 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //output results
neoqased 0:41033932c9ec 170 fprintf(fp,"%f , %f\n", exp[i].t, exp[i].rpm);
neoqased 0:41033932c9ec 171 }
neoqased 0:41033932c9ec 172 fclose(fp);
neoqased 0:41033932c9ec 173 Buzzer(5); //ring finish buzzer
neoqased 0:41033932c9ec 174 break;
neoqased 0:41033932c9ec 175 }
neoqased 0:41033932c9ec 176 /*********************default**********************/
neoqased 0:41033932c9ec 177 default:
neoqased 0:41033932c9ec 178 break;
neoqased 0:41033932c9ec 179 }
neoqased 0:41033932c9ec 180 }
neoqased 0:41033932c9ec 181 }
neoqased 0:41033932c9ec 182
neoqased 0:41033932c9ec 183 int Init(){ //initialize function
neoqased 0:41033932c9ec 184 pwm = 0;
neoqased 0:41033932c9ec 185 led1 = 0;
neoqased 0:41033932c9ec 186 led2 = 0;
neoqased 0:41033932c9ec 187 led3 = 0;
neoqased 0:41033932c9ec 188 led4 = 0;
neoqased 0:41033932c9ec 189 buzzer = 0;
neoqased 0:41033932c9ec 190 pc.baud(9600);
neoqased 0:41033932c9ec 191 encoder.reset();
neoqased 0:41033932c9ec 192 timer.reset();
neoqased 0:41033932c9ec 193 pwm.period_us(25);
neoqased 0:41033932c9ec 194 DipLed();
neoqased 0:41033932c9ec 195 return 0;
neoqased 0:41033932c9ec 196 }
neoqased 0:41033932c9ec 197
neoqased 0:41033932c9ec 198 int DipLed(){ //LED flash function
neoqased 0:41033932c9ec 199 if(dip1 == 1) led1 = 1; else led1 = 0;
neoqased 0:41033932c9ec 200 if(dip2 == 1) led2 = 1; else led2 = 0;
neoqased 0:41033932c9ec 201 if(dip3 == 1) led3 = 1; else led3 = 0;
neoqased 0:41033932c9ec 202 if(dip4 == 1) led4 = 1; else led4 = 0;
neoqased 0:41033932c9ec 203 return 0;
neoqased 0:41033932c9ec 204 }
neoqased 0:41033932c9ec 205
neoqased 0:41033932c9ec 206 int GetDipValue(){ //DIP switch function
neoqased 0:41033932c9ec 207 int Dip1 = dip1, Dip2 = dip2, Dip3 = dip3, Dip4 = dip4;
neoqased 0:41033932c9ec 208 if(Dip1 == 0){
neoqased 0:41033932c9ec 209 if(Dip2 == 0){
neoqased 0:41033932c9ec 210 if(Dip3 == 0){
neoqased 0:41033932c9ec 211 if(Dip4 == 0) return 0; else return 1;
neoqased 0:41033932c9ec 212 }else{
neoqased 0:41033932c9ec 213 if(Dip4 == 0) return 2; else return 3;
neoqased 0:41033932c9ec 214 }
neoqased 0:41033932c9ec 215 }else{
neoqased 0:41033932c9ec 216 if(Dip3 == 0){
neoqased 0:41033932c9ec 217 if(Dip4 == 0) return 4; else return 5;
neoqased 0:41033932c9ec 218 }else{
neoqased 0:41033932c9ec 219 if(Dip4 == 0) return 6; else return 7;
neoqased 0:41033932c9ec 220 }
neoqased 0:41033932c9ec 221 }
neoqased 0:41033932c9ec 222 }else{
neoqased 0:41033932c9ec 223 if(Dip2 == 0){
neoqased 0:41033932c9ec 224 if(Dip3 == 0){
neoqased 0:41033932c9ec 225 if(Dip4 == 0) return 8; else return 9;
neoqased 0:41033932c9ec 226 }else{
neoqased 0:41033932c9ec 227 if(Dip4 == 0) return 10; else return 11;
neoqased 0:41033932c9ec 228 }
neoqased 0:41033932c9ec 229 }else{
neoqased 0:41033932c9ec 230 if(Dip3 == 0){
neoqased 0:41033932c9ec 231 if(Dip4 == 0) return 12; else return 13;
neoqased 0:41033932c9ec 232 }else{
neoqased 0:41033932c9ec 233 if(Dip4 == 0) return 14; else return 15;
neoqased 0:41033932c9ec 234 }
neoqased 0:41033932c9ec 235 }
neoqased 0:41033932c9ec 236 }
neoqased 0:41033932c9ec 237 }
neoqased 0:41033932c9ec 238
neoqased 0:41033932c9ec 239 int SW(){ //startswitch function
neoqased 0:41033932c9ec 240 int i = 0, j = 0;
neoqased 0:41033932c9ec 241 while(i < 3){
neoqased 0:41033932c9ec 242 if(startsw == 1) i++;
neoqased 0:41033932c9ec 243 else i = 0;
neoqased 0:41033932c9ec 244 DipLed();
neoqased 0:41033932c9ec 245 wait_ms(5);
neoqased 0:41033932c9ec 246 }
neoqased 0:41033932c9ec 247 while(j < 3){
neoqased 0:41033932c9ec 248 if(startsw == 0) j++;
neoqased 0:41033932c9ec 249 else j = 0;
neoqased 0:41033932c9ec 250 DipLed();
neoqased 0:41033932c9ec 251 wait_ms(5);
neoqased 0:41033932c9ec 252 }
neoqased 0:41033932c9ec 253 return 0;
neoqased 0:41033932c9ec 254 }
neoqased 0:41033932c9ec 255
neoqased 0:41033932c9ec 256 int Buzzer(int buzvar){ //ringing buzzer function
neoqased 0:41033932c9ec 257 switch (buzvar){
neoqased 0:41033932c9ec 258 case -3: //error * - -
neoqased 0:41033932c9ec 259 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 260 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 261 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 262 break;
neoqased 0:41033932c9ec 263 case -2: //error * - - -
neoqased 0:41033932c9ec 264 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 265 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 266 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 267 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 268 break;
neoqased 0:41033932c9ec 269 case -1: //error * - - - -
neoqased 0:41033932c9ec 270 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 271 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 272 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 273 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 274 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 275 break;
neoqased 0:41033932c9ec 276 case 0: //no sound
neoqased 0:41033932c9ec 277 buzzer = 0;
neoqased 0:41033932c9ec 278 break;
neoqased 0:41033932c9ec 279 case 1: //*
neoqased 0:41033932c9ec 280 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 281 break;
neoqased 0:41033932c9ec 282 case 2: //* *
neoqased 0:41033932c9ec 283 buzzer = 1; wait(0.1); buzzer = 0; wait(0.05);
neoqased 0:41033932c9ec 284 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 285 break;
neoqased 0:41033932c9ec 286 case 3: //-
neoqased 0:41033932c9ec 287 buzzer = 1; wait(0.3); buzzer = 0;
neoqased 0:41033932c9ec 288 break;
neoqased 0:41033932c9ec 289 case 4: //- -
neoqased 0:41033932c9ec 290 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 291 buzzer = 1; wait(0.3); buzzer = 0;
neoqased 0:41033932c9ec 292 break;
neoqased 0:41033932c9ec 293 case 5: //---
neoqased 0:41033932c9ec 294 buzzer = 1; wait(0.9); buzzer = 0;
neoqased 0:41033932c9ec 295 break;
neoqased 0:41033932c9ec 296 case 6: //* * * * * * * * * *
neoqased 0:41033932c9ec 297 for(int i = 0; i < 3; i++){
neoqased 0:41033932c9ec 298 for(int j = 0; j < 3; j++){
neoqased 0:41033932c9ec 299 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 300 }
neoqased 0:41033932c9ec 301 wait(0.2);
neoqased 0:41033932c9ec 302 }
neoqased 0:41033932c9ec 303 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 304 break;
neoqased 0:41033932c9ec 305 case 7: // **-* ** -* ** *** ****
neoqased 0:41033932c9ec 306 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 307 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 308 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 309 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 310 wait(0.2);
neoqased 0:41033932c9ec 311 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 312 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 313 wait(0.2);
neoqased 0:41033932c9ec 314 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 315 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 316 wait(0.2);
neoqased 0:41033932c9ec 317 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 318 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 319 wait(0.2);
neoqased 0:41033932c9ec 320 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 321 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 322 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 323 wait(0.2);
neoqased 0:41033932c9ec 324 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 325 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 326 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 327 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 328 break;
neoqased 0:41033932c9ec 329 case 8: // *-*** -*- --*
neoqased 0:41033932c9ec 330 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 331 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 332 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 333 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 334 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 335 wait(0.2);
neoqased 0:41033932c9ec 336 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 337 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 338 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 339 wait(0.2);
neoqased 0:41033932c9ec 340 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 341 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 342 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 343 break;
neoqased 0:41033932c9ec 344 default: //no sound
neoqased 0:41033932c9ec 345 buzzer = 0;
neoqased 0:41033932c9ec 346 break;
neoqased 0:41033932c9ec 347 }
neoqased 0:41033932c9ec 348 return 0;
neoqased 0:41033932c9ec 349 }