Makoto Kobayashi / Mbed 2 deprecated Kikaikougaku_Jikken_mecolab

機械工学実験1

Dependencies:   PID QEI mbed

main.cpp@2:d5f964932fce, 2014-10-24 (annotated)

Committer:
neoqased
Date:
Fri Oct 24 05:33:28 2014 +0000
Revision:
2:d5f964932fce
Parent:
1:35d14e37db1b
Child:
3:2a9a433d93c3
??????1

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 2:d5f964932fce 10 #define GEAR_RATIO 2
neoqased 1:35d14e37db1b 11
neoqased 1:35d14e37db1b 12 #define KP_SCALE 10
neoqased 1:35d14e37db1b 13 #define TI_SCALE 20
neoqased 0:41033932c9ec 14
neoqased 0:41033932c9ec 15 //IO pin setting
neoqased 0:41033932c9ec 16 DigitalOut led1(LED1); //mbed LED outputs
neoqased 0:41033932c9ec 17 DigitalOut led2(LED2);
neoqased 0:41033932c9ec 18 DigitalOut led3(LED3);
neoqased 0:41033932c9ec 19 DigitalOut led4(LED4);
neoqased 0:41033932c9ec 20 DigitalIn dip1(p5); //DIP switch inputs
neoqased 0:41033932c9ec 21 DigitalIn dip2(p6);
neoqased 0:41033932c9ec 22 DigitalIn dip3(p7);
neoqased 0:41033932c9ec 23 DigitalIn dip4(p8);
neoqased 0:41033932c9ec 24 DigitalIn startsw(p9); //push switch input
neoqased 0:41033932c9ec 25 DigitalOut buzzer(p18); //buzzer output
neoqased 0:41033932c9ec 26 AnalogIn volume(p20); //potentiometer input
neoqased 0:41033932c9ec 27 PwmOut pwm(p25); //pwm output to a motordriver
neoqased 0:41033932c9ec 28
neoqased 0:41033932c9ec 29 //other setting
neoqased 0:41033932c9ec 30 Serial pc(USBTX, USBRX); //set serial communication with PC
neoqased 0:41033932c9ec 31 QEI encoder(p30, p29, NC, PULSE_PER_REVOLUTION, QEI::X2_ENCODING); //QEI setting (See QEI.cpp)
neoqased 0:41033932c9ec 32 Timer timer; //mbed timer setting (See mbed description)
neoqased 0:41033932c9ec 33
neoqased 0:41033932c9ec 34 //structure of experimentation result
neoqased 0:41033932c9ec 35 typedef struct{
neoqased 2:d5f964932fce 36 unsigned short t;
neoqased 2:d5f964932fce 37 short rpm;
neoqased 0:41033932c9ec 38 } result;
neoqased 0:41033932c9ec 39
neoqased 0:41033932c9ec 40 //prototype declaration
neoqased 0:41033932c9ec 41 int Init();
neoqased 0:41033932c9ec 42 int DipLed();
neoqased 0:41033932c9ec 43 int GetDipValue();
neoqased 0:41033932c9ec 44 int SW();
neoqased 0:41033932c9ec 45 int Buzzer(int buzvar);
neoqased 0:41033932c9ec 46
neoqased 0:41033932c9ec 47 //main function
neoqased 0:41033932c9ec 48 int main() {
neoqased 0:41033932c9ec 49 Buzzer(2); //ring buzzer after pushing a reset button
neoqased 0:41033932c9ec 50 LocalFileSystem local("local"); //set mbed root directory as "local"
neoqased 0:41033932c9ec 51 Init(); //initialize
neoqased 0:41033932c9ec 52 int flag = 0; //variable of operation mode
neoqased 0:41033932c9ec 53 result exp[(int)(15*1000/PID_RATE+1)] = {}; //variable for experimentation result
neoqased 0:41033932c9ec 54
neoqased 0:41033932c9ec 55 while(1){ //main loop
neoqased 0:41033932c9ec 56 Init(); //initialize
neoqased 0:41033932c9ec 57 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //initialize result structure
neoqased 0:41033932c9ec 58 exp[i].t = 0;
neoqased 0:41033932c9ec 59 exp[i].rpm = 0;
neoqased 0:41033932c9ec 60 }
neoqased 0:41033932c9ec 61 SW(); //wait for startswitch push
neoqased 0:41033932c9ec 62 flag = GetDipValue(); //read DIP switch value
neoqased 0:41033932c9ec 63 DipLed(); //make mbed LED shine
neoqased 0:41033932c9ec 64 Buzzer(1); //ring buzzer mode 1
neoqased 0:41033932c9ec 65
neoqased 0:41033932c9ec 66 switch (flag){
neoqased 0:41033932c9ec 67 /*********************mode 0**********************/
neoqased 0:41033932c9ec 68 case 0: //mode 0: nothing
neoqased 0:41033932c9ec 69 break;
neoqased 0:41033932c9ec 70 /*********************mode 1**********************/
neoqased 0:41033932c9ec 71 case 1:{ //mode 1: manually operated mode
neoqased 0:41033932c9ec 72 float vol = 0; //variable of potentiometer
neoqased 0:41033932c9ec 73 float rpm = 0; //variable of rpm
neoqased 0:41033932c9ec 74 float t = 0; //variable of time
neoqased 0:41033932c9ec 75 int i1 = 0; //variable of loop count
neoqased 0:41033932c9ec 76 encoder.reset();
neoqased 0:41033932c9ec 77 timer.reset();
neoqased 0:41033932c9ec 78 timer.start();
neoqased 0:41033932c9ec 79 while(1){
neoqased 0:41033932c9ec 80 vol = 1 - volume; //min position(max input(H))<-----potentiometer=====>(min input(L))max position
neoqased 0:41033932c9ec 81 pwm = vol;
neoqased 0:41033932c9ec 82 if(i1 >= 20){ //show duty ratio and rpm in PC every sec
neoqased 0:41033932c9ec 83 t = timer.read();
neoqased 2:d5f964932fce 84 rpm = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / t * GEAR_RATIO; //reduction ratio 1/2
neoqased 0:41033932c9ec 85 pc.printf("Duty Ratio = %.3f , %6d RPM\n", vol, (int)rpm);
neoqased 0:41033932c9ec 86 encoder.reset();
neoqased 0:41033932c9ec 87 i1 = 0;
neoqased 0:41033932c9ec 88 timer.reset();
neoqased 0:41033932c9ec 89 }
neoqased 0:41033932c9ec 90 wait_ms(50);
neoqased 0:41033932c9ec 91 i1++;
neoqased 0:41033932c9ec 92 }
neoqased 0:41033932c9ec 93 break;
neoqased 0:41033932c9ec 94 }
neoqased 0:41033932c9ec 95 /*********************mode 2**********************/
neoqased 0:41033932c9ec 96 case 2:{ //mode 2: step input
neoqased 2:d5f964932fce 97 float dt = 0, tnow = 0, tpre = 0;
neoqased 0:41033932c9ec 98 exp[0].t = 0;
neoqased 0:41033932c9ec 99 exp[0].rpm = 0;
neoqased 0:41033932c9ec 100 encoder.reset();
neoqased 0:41033932c9ec 101 timer.reset();
neoqased 0:41033932c9ec 102 timer.start();
neoqased 0:41033932c9ec 103 pwm = 1; //duty ratio 1
neoqased 0:41033932c9ec 104 for(int i = 0; i < 15*1000/PID_RATE; i++){ //variable assignment in every PID_RATE
neoqased 0:41033932c9ec 105 wait_ms(PID_RATE);
neoqased 2:d5f964932fce 106 tpre = tnow;
neoqased 2:d5f964932fce 107 tnow = timer.read();
neoqased 2:d5f964932fce 108 exp[i+1].t = (unsigned short)(tnow * 1000);
neoqased 2:d5f964932fce 109 dt = tnow - tpre;
neoqased 2:d5f964932fce 110 exp[i+1].rpm = (short)((float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / dt * GEAR_RATIO);
neoqased 0:41033932c9ec 111 encoder.reset();
neoqased 0:41033932c9ec 112 }
neoqased 0:41033932c9ec 113 for(int i = 100; i >= 0; i--){ //stopping motor slowly
neoqased 0:41033932c9ec 114 pwm = (float)i / 100;
neoqased 0:41033932c9ec 115 wait_ms(20);
neoqased 0:41033932c9ec 116 }
neoqased 0:41033932c9ec 117 pwm = 0;
neoqased 0:41033932c9ec 118 wait(1);
neoqased 0:41033932c9ec 119 FILE * fp = fopen("/local/exp2.csv","w");
neoqased 0:41033932c9ec 120 if(fp == NULL){
neoqased 0:41033932c9ec 121 Buzzer(-1);
neoqased 0:41033932c9ec 122 break;
neoqased 0:41033932c9ec 123 }
neoqased 0:41033932c9ec 124 fprintf(fp,"Time , RPM\n");
neoqased 0:41033932c9ec 125 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //output results
neoqased 2:d5f964932fce 126 fprintf(fp,"%f , %d\n", (float)exp[i].t / 1000.0, exp[i].rpm);
neoqased 0:41033932c9ec 127 }
neoqased 0:41033932c9ec 128 fclose(fp);
neoqased 0:41033932c9ec 129 Buzzer(4); //ring finish buzzer
neoqased 0:41033932c9ec 130 break;
neoqased 0:41033932c9ec 131 }
neoqased 0:41033932c9ec 132 /*********************mode 3**********************/
neoqased 0:41033932c9ec 133 case 3:{ //mode 3: PID control
neoqased 2:d5f964932fce 134 float kp = 0, ti = 0, td = 0, max_rpm = 0, target_rpm = 0, reduction = 0, dt = 0, tnow = 0, tpre = 0, rpmnow = 0;
neoqased 0:41033932c9ec 135 encoder.reset();
neoqased 0:41033932c9ec 136 timer.reset();
neoqased 0:41033932c9ec 137
neoqased 1:35d14e37db1b 138 kp = KP / KP_SCALE; //substitute from setting.h
neoqased 1:35d14e37db1b 139 ti = TI * TI_SCALE;
neoqased 0:41033932c9ec 140 td = TD;
neoqased 0:41033932c9ec 141 max_rpm = MAX_RPM;
neoqased 0:41033932c9ec 142 target_rpm = TARGET_RPM;
neoqased 0:41033932c9ec 143
neoqased 0:41033932c9ec 144 PID pid(kp, ti, td, PID_RATE); //PID setting (see PID.cpp)
neoqased 0:41033932c9ec 145 pid.setInputLimits(0.0, max_rpm);
neoqased 0:41033932c9ec 146 pid.setOutputLimits(0.0, 1.0);
neoqased 0:41033932c9ec 147 pid.setMode(AUTO_MODE);
neoqased 0:41033932c9ec 148 pid.setSetPoint(target_rpm);
neoqased 0:41033932c9ec 149
neoqased 0:41033932c9ec 150 exp[0].t = 0;
neoqased 0:41033932c9ec 151 exp[0].rpm = 0;
neoqased 0:41033932c9ec 152 timer.start(); //count start
neoqased 0:41033932c9ec 153 for(int i = 0; i < 15*1000/PID_RATE; i++){ //PID control loop(15 seconds)
neoqased 2:d5f964932fce 154 tpre = tnow;
neoqased 2:d5f964932fce 155 tnow = timer.read();
neoqased 2:d5f964932fce 156 exp[i+1].t = (unsigned short)(tnow * 1000);
neoqased 2:d5f964932fce 157 dt = tnow - tpre;
neoqased 2:d5f964932fce 158 rpmnow = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / dt * GEAR_RATIO;
neoqased 2:d5f964932fce 159 exp[i+1].rpm = (short)rpmnow;
neoqased 2:d5f964932fce 160 pid.setProcessValue(rpmnow);
neoqased 0:41033932c9ec 161 pwm = pid.compute();
neoqased 0:41033932c9ec 162 encoder.reset();
neoqased 0:41033932c9ec 163 wait_ms(PID_RATE);
neoqased 0:41033932c9ec 164 }
neoqased 0:41033932c9ec 165 reduction = pwm.read(); //stopping slowly loop
neoqased 0:41033932c9ec 166 for(int i = 0; i <= 100; i++){
neoqased 0:41033932c9ec 167 pwm = pwm.read() - reduction / 100;
neoqased 0:41033932c9ec 168 wait_ms(20);
neoqased 0:41033932c9ec 169 }
neoqased 0:41033932c9ec 170 pwm = 0;
neoqased 0:41033932c9ec 171 FILE *fp = fopen("/local/exp3.csv","w");
neoqased 0:41033932c9ec 172 if(fp == NULL){
neoqased 0:41033932c9ec 173 Buzzer(-1);
neoqased 0:41033932c9ec 174 break;
neoqased 0:41033932c9ec 175 }
neoqased 1:35d14e37db1b 176 fprintf(fp,", kp = %.6f ki = %.6f kd = %.6f\n", (float)KP, (float)TI, (float)TD);
neoqased 0:41033932c9ec 177 fprintf(fp,"Time , RPM\n");
neoqased 0:41033932c9ec 178 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //output results
neoqased 2:d5f964932fce 179 fprintf(fp,"%f , %d\n", (float)exp[i].t / 1000.0, exp[i].rpm);
neoqased 0:41033932c9ec 180 }
neoqased 0:41033932c9ec 181 fclose(fp);
neoqased 0:41033932c9ec 182 Buzzer(5); //ring finish buzzer
neoqased 0:41033932c9ec 183 break;
neoqased 0:41033932c9ec 184 }
neoqased 0:41033932c9ec 185 /*********************default**********************/
neoqased 0:41033932c9ec 186 default:
neoqased 0:41033932c9ec 187 break;
neoqased 0:41033932c9ec 188 }
neoqased 0:41033932c9ec 189 }
neoqased 0:41033932c9ec 190 }
neoqased 0:41033932c9ec 191
neoqased 0:41033932c9ec 192 int Init(){ //initialize function
neoqased 0:41033932c9ec 193 pwm = 0;
neoqased 0:41033932c9ec 194 led1 = 0;
neoqased 0:41033932c9ec 195 led2 = 0;
neoqased 0:41033932c9ec 196 led3 = 0;
neoqased 0:41033932c9ec 197 led4 = 0;
neoqased 0:41033932c9ec 198 buzzer = 0;
neoqased 0:41033932c9ec 199 pc.baud(9600);
neoqased 0:41033932c9ec 200 encoder.reset();
neoqased 0:41033932c9ec 201 timer.reset();
neoqased 0:41033932c9ec 202 pwm.period_us(25);
neoqased 0:41033932c9ec 203 DipLed();
neoqased 0:41033932c9ec 204 return 0;
neoqased 0:41033932c9ec 205 }
neoqased 0:41033932c9ec 206
neoqased 0:41033932c9ec 207 int DipLed(){ //LED flash function
neoqased 0:41033932c9ec 208 if(dip1 == 1) led1 = 1; else led1 = 0;
neoqased 0:41033932c9ec 209 if(dip2 == 1) led2 = 1; else led2 = 0;
neoqased 0:41033932c9ec 210 if(dip3 == 1) led3 = 1; else led3 = 0;
neoqased 0:41033932c9ec 211 if(dip4 == 1) led4 = 1; else led4 = 0;
neoqased 0:41033932c9ec 212 return 0;
neoqased 0:41033932c9ec 213 }
neoqased 0:41033932c9ec 214
neoqased 0:41033932c9ec 215 int GetDipValue(){ //DIP switch function
neoqased 0:41033932c9ec 216 int Dip1 = dip1, Dip2 = dip2, Dip3 = dip3, Dip4 = dip4;
neoqased 0:41033932c9ec 217 if(Dip1 == 0){
neoqased 0:41033932c9ec 218 if(Dip2 == 0){
neoqased 0:41033932c9ec 219 if(Dip3 == 0){
neoqased 0:41033932c9ec 220 if(Dip4 == 0) return 0; else return 1;
neoqased 0:41033932c9ec 221 }else{
neoqased 0:41033932c9ec 222 if(Dip4 == 0) return 2; else return 3;
neoqased 0:41033932c9ec 223 }
neoqased 0:41033932c9ec 224 }else{
neoqased 0:41033932c9ec 225 if(Dip3 == 0){
neoqased 0:41033932c9ec 226 if(Dip4 == 0) return 4; else return 5;
neoqased 0:41033932c9ec 227 }else{
neoqased 0:41033932c9ec 228 if(Dip4 == 0) return 6; else return 7;
neoqased 0:41033932c9ec 229 }
neoqased 0:41033932c9ec 230 }
neoqased 0:41033932c9ec 231 }else{
neoqased 0:41033932c9ec 232 if(Dip2 == 0){
neoqased 0:41033932c9ec 233 if(Dip3 == 0){
neoqased 0:41033932c9ec 234 if(Dip4 == 0) return 8; else return 9;
neoqased 0:41033932c9ec 235 }else{
neoqased 0:41033932c9ec 236 if(Dip4 == 0) return 10; else return 11;
neoqased 0:41033932c9ec 237 }
neoqased 0:41033932c9ec 238 }else{
neoqased 0:41033932c9ec 239 if(Dip3 == 0){
neoqased 0:41033932c9ec 240 if(Dip4 == 0) return 12; else return 13;
neoqased 0:41033932c9ec 241 }else{
neoqased 0:41033932c9ec 242 if(Dip4 == 0) return 14; else return 15;
neoqased 0:41033932c9ec 243 }
neoqased 0:41033932c9ec 244 }
neoqased 0:41033932c9ec 245 }
neoqased 0:41033932c9ec 246 }
neoqased 0:41033932c9ec 247
neoqased 0:41033932c9ec 248 int SW(){ //startswitch function
neoqased 0:41033932c9ec 249 int i = 0, j = 0;
neoqased 0:41033932c9ec 250 while(i < 3){
neoqased 0:41033932c9ec 251 if(startsw == 1) i++;
neoqased 0:41033932c9ec 252 else i = 0;
neoqased 0:41033932c9ec 253 DipLed();
neoqased 0:41033932c9ec 254 wait_ms(5);
neoqased 0:41033932c9ec 255 }
neoqased 0:41033932c9ec 256 while(j < 3){
neoqased 0:41033932c9ec 257 if(startsw == 0) j++;
neoqased 0:41033932c9ec 258 else j = 0;
neoqased 0:41033932c9ec 259 DipLed();
neoqased 0:41033932c9ec 260 wait_ms(5);
neoqased 0:41033932c9ec 261 }
neoqased 0:41033932c9ec 262 return 0;
neoqased 0:41033932c9ec 263 }
neoqased 0:41033932c9ec 264
neoqased 0:41033932c9ec 265 int Buzzer(int buzvar){ //ringing buzzer function
neoqased 0:41033932c9ec 266 switch (buzvar){
neoqased 0:41033932c9ec 267 case -3: //error * - -
neoqased 0:41033932c9ec 268 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 269 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 270 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 271 break;
neoqased 0:41033932c9ec 272 case -2: //error * - - -
neoqased 0:41033932c9ec 273 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 274 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 275 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 276 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 277 break;
neoqased 0:41033932c9ec 278 case -1: //error * - - - -
neoqased 0:41033932c9ec 279 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 280 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 281 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 282 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 283 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 284 break;
neoqased 0:41033932c9ec 285 case 0: //no sound
neoqased 0:41033932c9ec 286 buzzer = 0;
neoqased 0:41033932c9ec 287 break;
neoqased 0:41033932c9ec 288 case 1: //*
neoqased 0:41033932c9ec 289 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 290 break;
neoqased 0:41033932c9ec 291 case 2: //* *
neoqased 0:41033932c9ec 292 buzzer = 1; wait(0.1); buzzer = 0; wait(0.05);
neoqased 0:41033932c9ec 293 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 294 break;
neoqased 0:41033932c9ec 295 case 3: //-
neoqased 0:41033932c9ec 296 buzzer = 1; wait(0.3); buzzer = 0;
neoqased 0:41033932c9ec 297 break;
neoqased 0:41033932c9ec 298 case 4: //- -
neoqased 0:41033932c9ec 299 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:41033932c9ec 300 buzzer = 1; wait(0.3); buzzer = 0;
neoqased 0:41033932c9ec 301 break;
neoqased 0:41033932c9ec 302 case 5: //---
neoqased 0:41033932c9ec 303 buzzer = 1; wait(0.9); buzzer = 0;
neoqased 0:41033932c9ec 304 break;
neoqased 0:41033932c9ec 305 case 6: //* * * * * * * * * *
neoqased 0:41033932c9ec 306 for(int i = 0; i < 3; i++){
neoqased 0:41033932c9ec 307 for(int j = 0; j < 3; j++){
neoqased 0:41033932c9ec 308 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 309 }
neoqased 0:41033932c9ec 310 wait(0.2);
neoqased 0:41033932c9ec 311 }
neoqased 0:41033932c9ec 312 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 313 break;
neoqased 0:41033932c9ec 314 case 7: // **-* ** -* ** *** ****
neoqased 0:41033932c9ec 315 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 316 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 317 buzzer = 1; wait(0.3); 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 wait(0.2);
neoqased 0:41033932c9ec 323 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 324 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 325 wait(0.2);
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; wait(0.1);
neoqased 0:41033932c9ec 328 wait(0.2);
neoqased 0:41033932c9ec 329 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 330 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 331 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 332 wait(0.2);
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 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 336 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 337 break;
neoqased 0:41033932c9ec 338 case 8: // *-*** -*- --*
neoqased 0:41033932c9ec 339 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 340 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 341 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 342 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 343 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 344 wait(0.2);
neoqased 0:41033932c9ec 345 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 346 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 347 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 348 wait(0.2);
neoqased 0:41033932c9ec 349 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 350 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:41033932c9ec 351 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:41033932c9ec 352 break;
neoqased 0:41033932c9ec 353 default: //no sound
neoqased 0:41033932c9ec 354 buzzer = 0;
neoqased 0:41033932c9ec 355 break;
neoqased 0:41033932c9ec 356 }
neoqased 0:41033932c9ec 357 return 0;
neoqased 0:41033932c9ec 358 }