Nico van Duijn / Mbed 2 deprecated AwkwardSegway

Robot that balances on two wheels

Dependencies:   LSM9DS0 mbed

Fork of EpilepticSegway by ECE 4180 Spring 15

main.cpp@3:89e4ed1324bb, 2015-04-29 (annotated)

Committer:
nicovanduijn
Date:
Wed Apr 29 20:10:33 2015 +0000
Revision:
3:89e4ed1324bb
Parent:
2:89ada0b0b923
Child:
4:51ea148fc592
all working! xbee, GUI, everything!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nicovanduijn 0:4b50c71291e9 1 /*////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 2 ECE 4180 Final Project
nicovanduijn 0:4b50c71291e9 3 Balancing Robot
nicovanduijn 0:4b50c71291e9 4
nicovanduijn 0:4b50c71291e9 5 Nico van Duijn
nicovanduijn 0:4b50c71291e9 6 Samer Mabrouk
nicovanduijn 0:4b50c71291e9 7 Anthony Agnone
nicovanduijn 0:4b50c71291e9 8 Jay Danner
nicovanduijn 0:4b50c71291e9 9 4/20/2015
nicovanduijn 0:4b50c71291e9 10
nicovanduijn 0:4b50c71291e9 11 This project consists of a robot balancing on two wheels. We use
nicovanduijn 0:4b50c71291e9 12 the 9-axis IMU LSM9DS0 to give us Accelerometer and Gyroscope data
nicovanduijn 0:4b50c71291e9 13 about the current angle and angular velocity of the robot. This
nicovanduijn 0:4b50c71291e9 14 data is then filtered using complementary filters and PID control
nicovanduijn 0:4b50c71291e9 15 to drive the two motors. The motors are controlled through digital
nicovanduijn 0:4b50c71291e9 16 outputs in their direction and their seepd by PWM using an H-bridge.
nicovanduijn 0:4b50c71291e9 17 The robot receives steering commands via the XBee module which is
nicovanduijn 0:4b50c71291e9 18 interfaced with from a C# GUI that runs on a desktop computer.
nicovanduijn 0:4b50c71291e9 19
nicovanduijn 0:4b50c71291e9 20 */////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 21
nicovanduijn 0:4b50c71291e9 22 //////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 23 // Includes
nicovanduijn 0:4b50c71291e9 24 #include "mbed.h" // mbed library
nicovanduijn 0:4b50c71291e9 25 #include "LSM9DS0.h" // 9axis IMU
nicovanduijn 0:4b50c71291e9 26 #include "math.h" // We need to be able to do trig
nicovanduijn 0:4b50c71291e9 27
nicovanduijn 0:4b50c71291e9 28 //////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 29 // Constants
nicovanduijn 0:4b50c71291e9 30 #define LSM9DS0_XM_ADDR 0x1D // Would be 0x1E if SDO_XM is LOW
nicovanduijn 0:4b50c71291e9 31 #define LSM9DS0_G_ADDR 0x6B // Would be 0x6A if SDO_G is LOW
nicovanduijn 3:89e4ed1324bb 32 //#define DEBUG // Comment this out for final version
nicovanduijn 0:4b50c71291e9 33
nicovanduijn 0:4b50c71291e9 34 //////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 35 // I/O and object instatiation
nicovanduijn 0:4b50c71291e9 36 PwmOut motorSpeedLeft(p21); // PWM port to control speed of left motor
nicovanduijn 0:4b50c71291e9 37 PwmOut motorSpeedRight(p22); // PWM port to control speed of right motor
nicovanduijn 0:4b50c71291e9 38 DigitalOut motorDirLeft(p24); // Digital pin for direction of left motor
nicovanduijn 0:4b50c71291e9 39 DigitalOut NmotorDirLeft(p23); // Usually inverse of motorDirLeft
nicovanduijn 0:4b50c71291e9 40 DigitalOut motorDirRight(p26); // Digital pin for direction of right motor
nicovanduijn 0:4b50c71291e9 41 DigitalOut NmotorDirRight(p25); // Usually inverse of motorDirRight
nicovanduijn 0:4b50c71291e9 42 LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR); // Creates on object for IMU
nicovanduijn 0:4b50c71291e9 43 Ticker start; // Initialize ticker to call control function
nicovanduijn 3:89e4ed1324bb 44 Ticker GUI; // Ticker that calls the updateGUI
nicovanduijn 3:89e4ed1324bb 45 DigitalOut led1(LED1); // Use LED1 to provide some runtime info
nicovanduijn 3:89e4ed1324bb 46 Serial xbee(p13,p14); // Create serial port for Xbee
nicovanduijn 3:89e4ed1324bb 47
nicovanduijn 3:89e4ed1324bb 48 typedef union _data { // Typedef so we can jump from chars to floats
nicovanduijn 2:89ada0b0b923 49 float f;
nicovanduijn 2:89ada0b0b923 50 char chars[4];
nicovanduijn 3:89e4ed1324bb 51 int i;
nicovanduijn 2:89ada0b0b923 52 } myData;
nicovanduijn 2:89ada0b0b923 53
nicovanduijn 0:4b50c71291e9 54 //////////////////////////////////////////////////////////////////
nicovanduijn 2:89ada0b0b923 55 // Globals // double battery, lab floor: 67/100/600/160 cutoff ..35
nicovanduijn 3:89e4ed1324bb 56 // positive turns
nicovanduijn 2:89ada0b0b923 57 float kp = 59; //98 // 145 Proportional gain kU 400-500
nicovanduijn 2:89ada0b0b923 58 float kd = 105; //200 // Derivative gain
nicovanduijn 2:89ada0b0b923 59 float ki = 670; //985 // Integrative gain
nicovanduijn 2:89ada0b0b923 60 float OVERALL_SCALAR = 160; //160 // Overall scalar that speed is divided by
nicovanduijn 0:4b50c71291e9 61 float accBias = 0; // Accelerometer Bias
nicovanduijn 0:4b50c71291e9 62 float gyroBias = 0; // Gyro Bias
nicovanduijn 0:4b50c71291e9 63 float accAngle = 0; // Global to hold angle measured by Accelerometer
nicovanduijn 0:4b50c71291e9 64 float gyroAngle = 0; // This variable holds the amount the angle has changed
nicovanduijn 0:4b50c71291e9 65 float speed = 0; // Variable for motor speed
nicovanduijn 0:4b50c71291e9 66 float iAngle = 0; // Integral value of angle-error (sum of gyro-angles)NOT EQUAL TO gyroAngle
nicovanduijn 0:4b50c71291e9 67 float dAngle = 0; // Derivative value for angle, angular velocity, how fast angle is changing
nicovanduijn 0:4b50c71291e9 68 float pAngle = 0; // Proportional value for angle, current angle (best measurement)
nicovanduijn 0:4b50c71291e9 69 float desiredAngle=0; // Setpoint. Set unequal zero to drive
nicovanduijn 3:89e4ed1324bb 70 float turnspeed=0; // Makes the robot turn
nicovanduijn 3:89e4ed1324bb 71 myData bytes; // Used to convert received/sent chars to ints and floats
nicovanduijn 3:89e4ed1324bb 72
nicovanduijn 0:4b50c71291e9 73
nicovanduijn 0:4b50c71291e9 74 //////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 75 // Function Prototypes
nicovanduijn 0:4b50c71291e9 76 void drive(float); // Function declaration for driving the motors
nicovanduijn 0:4b50c71291e9 77 void calibrate(); // Function to calibrate gyro and accelerometer
nicovanduijn 0:4b50c71291e9 78 void control(); // Function implementing PID control
nicovanduijn 2:89ada0b0b923 79 void updateGUI();
nicovanduijn 3:89e4ed1324bb 80 void checkValues();
nicovanduijn 3:89e4ed1324bb 81
nicovanduijn 0:4b50c71291e9 82 //////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 83 // Main function
nicovanduijn 0:4b50c71291e9 84 int main()
nicovanduijn 0:4b50c71291e9 85 {
nicovanduijn 3:89e4ed1324bb 86 led1=0; // Turn led off
nicovanduijn 0:4b50c71291e9 87 uint16_t status = imu.begin(); // Use the begin() function to initialize the LSM9DS0 library.
nicovanduijn 3:89e4ed1324bb 88 xbee.baud(115200); // Baudrate. Pretty high, check if lower possible
nicovanduijn 0:4b50c71291e9 89 calibrate(); // Calibrate gyro and accelerometer
nicovanduijn 0:4b50c71291e9 90 start.attach(&control, 0.01); // Looptime 10ms ca. 100Hz
nicovanduijn 3:89e4ed1324bb 91 GUI.attach(&updateGUI, 0.5); // Update GUI twice a second
nicovanduijn 0:4b50c71291e9 92
nicovanduijn 3:89e4ed1324bb 93 while(1) { // Stay in this loop forever
nicovanduijn 3:89e4ed1324bb 94 led1=!led1; // Blink led1 to make sure the loop is running
nicovanduijn 3:89e4ed1324bb 95 wait_ms(500); // Looptime 500ms
nicovanduijn 0:4b50c71291e9 96 }
nicovanduijn 0:4b50c71291e9 97 }
nicovanduijn 0:4b50c71291e9 98
nicovanduijn 0:4b50c71291e9 99 /////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 100 // Control function, implements PID
nicovanduijn 0:4b50c71291e9 101 void control()
nicovanduijn 0:4b50c71291e9 102 {
nicovanduijn 0:4b50c71291e9 103 dAngle=pAngle; // remember old p-value
nicovanduijn 0:4b50c71291e9 104 imu.readGyro(); // Read the gyro
nicovanduijn 0:4b50c71291e9 105 imu.readAccel(); // Read the Accelerometer
nicovanduijn 0:4b50c71291e9 106 accAngle=(-1)*atan2(imu.ay,imu.az)*180/3.142-90-accBias; // Like this, 0 is upright, forward is negative, backward positive
nicovanduijn 0:4b50c71291e9 107 gyroAngle=-(imu.gx-gyroBias)*0.01; // This is deltaangle, how much angle has changed
nicovanduijn 0:4b50c71291e9 108 pAngle=0.98*(pAngle+gyroAngle)+0.02*accAngle-desiredAngle; // Complementary filter yields best value for current angle
nicovanduijn 0:4b50c71291e9 109 dAngle=pAngle-dAngle; // Ang. Veloc. less noisy than dAngle = -(imu.gx-gyroBias);
nicovanduijn 0:4b50c71291e9 110 iAngle+=(pAngle*.01); // integrate the angle (multiply by timestep to get dt!)
nicovanduijn 0:4b50c71291e9 111
nicovanduijn 2:89ada0b0b923 112 if((abs(pAngle-desiredAngle)>=0.4)&&abs(pAngle-desiredAngle)<=15) { // If it is tilted enough, but not too much ||abs(imu.gx)>10
nicovanduijn 0:4b50c71291e9 113 speed=-(ki*iAngle+kd*dAngle+kp*pAngle)/OVERALL_SCALAR; // drive to correct
nicovanduijn 0:4b50c71291e9 114 if(speed<-1) speed=-1; // Cap if undershoot
nicovanduijn 0:4b50c71291e9 115 else if(speed>1) speed=1; // Cap if overshoot
nicovanduijn 0:4b50c71291e9 116 } else speed=0; // If we've fallen over or are steady on top
nicovanduijn 0:4b50c71291e9 117 drive(speed); // Write speed to the motors
nicovanduijn 3:89e4ed1324bb 118 checkValues(); // Checks if we need to update some values
nicovanduijn 2:89ada0b0b923 119
nicovanduijn 0:4b50c71291e9 120 }
nicovanduijn 0:4b50c71291e9 121
nicovanduijn 0:4b50c71291e9 122 //////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 123 // Drive function
nicovanduijn 0:4b50c71291e9 124 void drive(float speed)
nicovanduijn 0:4b50c71291e9 125 {
nicovanduijn 0:4b50c71291e9 126 int direction=0; // Variable to hold direction we want to drive
nicovanduijn 0:4b50c71291e9 127 if (speed>0)direction=1; // Positive speed indicates forward
nicovanduijn 0:4b50c71291e9 128 if (speed<0)direction=2; // Negative speed indicates backwards
nicovanduijn 0:4b50c71291e9 129 if(speed==0)direction=0; // Zero speed indicates stopping
nicovanduijn 0:4b50c71291e9 130 switch( direction) { // Depending on what direction was passed
nicovanduijn 0:4b50c71291e9 131 case 0: // Stop case
nicovanduijn 0:4b50c71291e9 132 motorSpeedLeft=0; // Set the DigitalOuts to stop the motors
nicovanduijn 0:4b50c71291e9 133 motorSpeedRight=0;
nicovanduijn 0:4b50c71291e9 134 motorDirLeft=0;
nicovanduijn 0:4b50c71291e9 135 NmotorDirLeft=0;
nicovanduijn 0:4b50c71291e9 136 motorDirRight=0;
nicovanduijn 0:4b50c71291e9 137 NmotorDirRight=0;
nicovanduijn 0:4b50c71291e9 138 break;
nicovanduijn 0:4b50c71291e9 139 case 1: // Forward case
nicovanduijn 1:a079ae75a86c 140 motorSpeedLeft=speed-turnspeed; // Set the DigitalOuts to run the motors forward
nicovanduijn 0:4b50c71291e9 141 motorSpeedRight=speed+turnspeed;
nicovanduijn 0:4b50c71291e9 142 motorDirLeft=1;
nicovanduijn 0:4b50c71291e9 143 NmotorDirLeft=0;
nicovanduijn 0:4b50c71291e9 144 motorDirRight=1;
nicovanduijn 0:4b50c71291e9 145 NmotorDirRight=0;
nicovanduijn 0:4b50c71291e9 146 break;
nicovanduijn 0:4b50c71291e9 147 case 2: // Backwards
nicovanduijn 1:a079ae75a86c 148 motorSpeedLeft=-speed+turnspeed; // Set the DigitalOuts to run the motors backward
nicovanduijn 0:4b50c71291e9 149 motorSpeedRight=-speed-turnspeed;
nicovanduijn 0:4b50c71291e9 150 motorDirLeft=0;
nicovanduijn 0:4b50c71291e9 151 NmotorDirLeft=1;
nicovanduijn 0:4b50c71291e9 152 motorDirRight=0;
nicovanduijn 0:4b50c71291e9 153 NmotorDirRight=1;
nicovanduijn 0:4b50c71291e9 154 break;
nicovanduijn 0:4b50c71291e9 155 default: // Catch-all (Stop)
nicovanduijn 0:4b50c71291e9 156 motorSpeedLeft=0; // Set the DigitalOuts to stop the motors
nicovanduijn 0:4b50c71291e9 157 motorSpeedRight=0;
nicovanduijn 0:4b50c71291e9 158 motorDirLeft=0;
nicovanduijn 0:4b50c71291e9 159 NmotorDirLeft=0;
nicovanduijn 0:4b50c71291e9 160 motorDirRight=0;
nicovanduijn 0:4b50c71291e9 161 NmotorDirRight=0;
nicovanduijn 0:4b50c71291e9 162 break;
nicovanduijn 0:4b50c71291e9 163 }
nicovanduijn 0:4b50c71291e9 164 }
nicovanduijn 0:4b50c71291e9 165
nicovanduijn 0:4b50c71291e9 166 //////////////////////////////////////////////////////////////////
nicovanduijn 0:4b50c71291e9 167 // Calibrate function to find gyro drift and accelerometer bias accbias: -0.3 gyrobias: +0.15
nicovanduijn 0:4b50c71291e9 168 void calibrate()
nicovanduijn 0:4b50c71291e9 169 {
nicovanduijn 1:a079ae75a86c 170 for(int i=0; i<100; i++) { // Read a thousand values
nicovanduijn 0:4b50c71291e9 171 imu.readAccel(); // Read the Accelerometer
nicovanduijn 0:4b50c71291e9 172 imu.readGyro(); // Read the gyro
nicovanduijn 0:4b50c71291e9 173 accBias=accBias+(-1)*atan2(imu.ay,imu.az)*180/3.142-90; // Like this, 0 is upright, forward is negative, backward positive
nicovanduijn 0:4b50c71291e9 174 gyroBias=gyroBias+imu.gx; // Add up all the gyro Biases
nicovanduijn 0:4b50c71291e9 175 }
nicovanduijn 1:a079ae75a86c 176 accBias=accBias/100; // Convert sum to average
nicovanduijn 1:a079ae75a86c 177 gyroBias=gyroBias/100; // Convert sum to average
nicovanduijn 0:4b50c71291e9 178 }
nicovanduijn 0:4b50c71291e9 179
nicovanduijn 3:89e4ed1324bb 180
nicovanduijn 3:89e4ed1324bb 181 ///////////////////////////////////////////////////////////////////
nicovanduijn 3:89e4ed1324bb 182 // updateGUI(), triggered by ticker GUI ever 0.5s, sends data to xbee
nicovanduijn 3:89e4ed1324bb 183 void updateGUI()
nicovanduijn 0:4b50c71291e9 184 {
nicovanduijn 3:89e4ed1324bb 185 xbee.putc('*'); // Send data validity value
nicovanduijn 3:89e4ed1324bb 186 bytes.f = accBias; // Send accBias
nicovanduijn 3:89e4ed1324bb 187 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 188 bytes.f = gyroBias; // Send gyroBias
nicovanduijn 3:89e4ed1324bb 189 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 190 bytes.f = pAngle; // Send P Angle
nicovanduijn 3:89e4ed1324bb 191 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 192 bytes.f = imu.gx; // Send current angular velocity
nicovanduijn 3:89e4ed1324bb 193 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 194 bytes.f = turnspeed; // Send turn speed
nicovanduijn 3:89e4ed1324bb 195 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 196 bytes.f = pAngle * kp; // Send P Value
nicovanduijn 3:89e4ed1324bb 197 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 198 bytes.f = iAngle * ki; // Send I Value
nicovanduijn 3:89e4ed1324bb 199 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 200 bytes.f = dAngle * kd; // Send D Value
nicovanduijn 3:89e4ed1324bb 201 xbee.printf("%c%c%c%c", bytes.chars[0], bytes.chars[1], bytes.chars[2], bytes.chars[3]);
nicovanduijn 3:89e4ed1324bb 202 xbee.putc('\n'); // Send delimiting character
nicovanduijn 2:89ada0b0b923 203 }
nicovanduijn 2:89ada0b0b923 204 //////////////////////////////////////////////////////////////////
nicovanduijn 3:89e4ed1324bb 205 // checkValues() updates globals received from xbee
nicovanduijn 3:89e4ed1324bb 206 void checkValues()
nicovanduijn 2:89ada0b0b923 207 {
nicovanduijn 3:89e4ed1324bb 208 int i=0; // Integer needed for looping through input buffer
nicovanduijn 3:89e4ed1324bb 209 char buffer[6]; // Buffer to hold all the received data
nicovanduijn 3:89e4ed1324bb 210
nicovanduijn 3:89e4ed1324bb 211 while(xbee.readable()) { // As long as there is stuff in the buffer
nicovanduijn 3:89e4ed1324bb 212 buffer[i++]=xbee.getc(); // Read from serial
nicovanduijn 3:89e4ed1324bb 213 }
nicovanduijn 3:89e4ed1324bb 214
nicovanduijn 3:89e4ed1324bb 215 if(buffer[0]== '*') { // Check for 'start' character
nicovanduijn 3:89e4ed1324bb 216 switch(buffer[1]) { // Switch depending on what value we update
nicovanduijn 3:89e4ed1324bb 217 case '1': // Updating kp
nicovanduijn 3:89e4ed1324bb 218 bytes.chars[0] = buffer[2];
nicovanduijn 3:89e4ed1324bb 219 bytes.chars[1] = buffer[3];
nicovanduijn 3:89e4ed1324bb 220 bytes.chars[2] = buffer[4];
nicovanduijn 3:89e4ed1324bb 221 bytes.chars[3] = buffer[5];
nicovanduijn 3:89e4ed1324bb 222 kp=bytes.f;
nicovanduijn 3:89e4ed1324bb 223 break;
nicovanduijn 3:89e4ed1324bb 224 case '2': // Updating kd
nicovanduijn 3:89e4ed1324bb 225 bytes.chars[0] = buffer[2];
nicovanduijn 3:89e4ed1324bb 226 bytes.chars[1] = buffer[3];
nicovanduijn 3:89e4ed1324bb 227 bytes.chars[2] = buffer[4];
nicovanduijn 3:89e4ed1324bb 228 bytes.chars[3] = buffer[5];
nicovanduijn 3:89e4ed1324bb 229 kd=bytes.f;
nicovanduijn 3:89e4ed1324bb 230 break;
nicovanduijn 3:89e4ed1324bb 231 case '3': // Updating ki
nicovanduijn 3:89e4ed1324bb 232 bytes.chars[0] = buffer[2];
nicovanduijn 3:89e4ed1324bb 233 bytes.chars[1] = buffer[3];
nicovanduijn 3:89e4ed1324bb 234 bytes.chars[2] = buffer[4];
nicovanduijn 3:89e4ed1324bb 235 bytes.chars[3] = buffer[5];
nicovanduijn 3:89e4ed1324bb 236 ki=bytes.f;
nicovanduijn 3:89e4ed1324bb 237 break;
nicovanduijn 3:89e4ed1324bb 238 case '4': // Updating OVERALL_SCALAR
nicovanduijn 3:89e4ed1324bb 239 bytes.chars[0] = buffer[2];
nicovanduijn 3:89e4ed1324bb 240 bytes.chars[1] = buffer[3];
nicovanduijn 3:89e4ed1324bb 241 bytes.chars[2] = buffer[4];
nicovanduijn 3:89e4ed1324bb 242 bytes.chars[3] = buffer[5];
nicovanduijn 3:89e4ed1324bb 243 OVERALL_SCALAR=bytes.f;
nicovanduijn 3:89e4ed1324bb 244 break;
nicovanduijn 3:89e4ed1324bb 245 case '5': // Updating desiredAngle
nicovanduijn 3:89e4ed1324bb 246 bytes.chars[0] = buffer[2];
nicovanduijn 3:89e4ed1324bb 247 bytes.chars[1] = buffer[3];
nicovanduijn 3:89e4ed1324bb 248 bytes.chars[2] = buffer[4];
nicovanduijn 3:89e4ed1324bb 249 bytes.chars[3] = buffer[5];
nicovanduijn 3:89e4ed1324bb 250 desiredAngle=bytes.f;
nicovanduijn 3:89e4ed1324bb 251 break;
nicovanduijn 3:89e4ed1324bb 252 case '6': // Updating turnspeed
nicovanduijn 3:89e4ed1324bb 253 bytes.chars[0] = buffer[2];
nicovanduijn 3:89e4ed1324bb 254 bytes.chars[1] = buffer[3];
nicovanduijn 3:89e4ed1324bb 255 bytes.chars[2] = buffer[4];
nicovanduijn 3:89e4ed1324bb 256 bytes.chars[3] = buffer[5];
nicovanduijn 3:89e4ed1324bb 257 turnspeed=bytes.f;
nicovanduijn 3:89e4ed1324bb 258 }
nicovanduijn 3:89e4ed1324bb 259 }
nicovanduijn 3:89e4ed1324bb 260
nicovanduijn 0:4b50c71291e9 261 }