Tk A
/
f3rc3
fdlsj
Fork of f3rc2 by
prime.h@2:1a2984dfac3e, 2016-08-30 (annotated)
- Committer:
- sakanakuuun
- Date:
- Tue Aug 30 07:05:09 2016 +0000
- Revision:
- 2:1a2984dfac3e
- Parent:
- 1:a1e592eca305
fe;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
choutin | 1:a1e592eca305 | 1 | #include "QEI.h" |
sakanakuuun | 2:1a2984dfac3e | 2 | |
sakanakuuun | 2:1a2984dfac3e | 3 | #define PERIOD (20 * 1000) //(us) |
sakanakuuun | 2:1a2984dfac3e | 4 | |
choutin | 0:df2659fd8031 | 5 | /* |
choutin | 0:df2659fd8031 | 6 | primeではPINを制御する関数を扱う。 |
choutin | 0:df2659fd8031 | 7 | |
choutin | 0:df2659fd8031 | 8 | 以下一覧 |
choutin | 0:df2659fd8031 | 9 | open,close hand |
choutin | 0:df2659fd8031 | 10 | open close arm |
choutin | 0:df2659fd8031 | 11 | |
choutin | 0:df2659fd8031 | 12 | step |
choutin | 0:df2659fd8031 | 13 | move |
choutin | 0:df2659fd8031 | 14 | blueorred |
choutin | 0:df2659fd8031 | 15 | lrsensor |
choutin | 0:df2659fd8031 | 16 | |
choutin | 0:df2659fd8031 | 17 | 全関数共通で意図しない動作が起きたら基板上のLEDを点灯 |
choutin | 0:df2659fd8031 | 18 | */ |
choutin | 0:df2659fd8031 | 19 | PwmOut pwmarm(PC_6); |
choutin | 0:df2659fd8031 | 20 | PwmOut pwmhand(PC_8); |
choutin | 0:df2659fd8031 | 21 | |
choutin | 0:df2659fd8031 | 22 | AnalogIn rightsensor(A0); |
choutin | 0:df2659fd8031 | 23 | AnalogIn leftsensor(A1); |
choutin | 0:df2659fd8031 | 24 | |
choutin | 0:df2659fd8031 | 25 | AnalogIn armadj(A2); |
choutin | 0:df2659fd8031 | 26 | AnalogIn handadj(A3); |
choutin | 0:df2659fd8031 | 27 | |
choutin | 1:a1e592eca305 | 28 | DigitalIn teamSW(PC_11); |
choutin | 1:a1e592eca305 | 29 | DigitalOut teamledblue(PC_10); |
choutin | 1:a1e592eca305 | 30 | DigitalOut teamledred(PC_12); |
choutin | 1:a1e592eca305 | 31 | |
choutin | 0:df2659fd8031 | 32 | DigitalOut errorled(LED1); |
choutin | 0:df2659fd8031 | 33 | |
choutin | 0:df2659fd8031 | 34 | |
choutin | 1:a1e592eca305 | 35 | DigitalIn phase1(PB_8); |
choutin | 1:a1e592eca305 | 36 | DigitalIn phase2(PC_9); |
choutin | 1:a1e592eca305 | 37 | DigitalIn phase4(PB_9); |
choutin | 1:a1e592eca305 | 38 | DigitalIn phase8(PD_2); |
choutin | 1:a1e592eca305 | 39 | |
choutin | 1:a1e592eca305 | 40 | PwmOut M1cw(PA_11); |
choutin | 1:a1e592eca305 | 41 | PwmOut M1ccw(PB_15); |
choutin | 1:a1e592eca305 | 42 | PwmOut M2cw(PB_14); |
choutin | 1:a1e592eca305 | 43 | PwmOut M2ccw(PB_13); |
choutin | 1:a1e592eca305 | 44 | |
choutin | 1:a1e592eca305 | 45 | DigitalOut PINW(PA_3); |
choutin | 1:a1e592eca305 | 46 | DigitalOut PINX(PA_2); |
choutin | 1:a1e592eca305 | 47 | DigitalOut PINY(PA_10); |
choutin | 1:a1e592eca305 | 48 | DigitalOut PINZ(PB_3); |
choutin | 1:a1e592eca305 | 49 | |
choutin | 1:a1e592eca305 | 50 | QEI right (PA_7, PA_5, NC, 100, QEI::X2_ENCODING); |
choutin | 1:a1e592eca305 | 51 | QEI left (PH_0, PC_14, NC, 100, QEI::X2_ENCODING); |
choutin | 1:a1e592eca305 | 52 | |
choutin | 1:a1e592eca305 | 53 | DigitalOut encordervcc1(PA_10); |
choutin | 1:a1e592eca305 | 54 | DigitalOut encordervcc2(PC_15); |
choutin | 1:a1e592eca305 | 55 | |
choutin | 1:a1e592eca305 | 56 | void initencorder(void){ |
choutin | 1:a1e592eca305 | 57 | encordervcc1=1; |
choutin | 1:a1e592eca305 | 58 | encordervcc2=1; |
choutin | 1:a1e592eca305 | 59 | } |
choutin | 1:a1e592eca305 | 60 | |
choutin | 0:df2659fd8031 | 61 | |
choutin | 0:df2659fd8031 | 62 | |
choutin | 0:df2659fd8031 | 63 | void close_hand(void) { |
choutin | 0:df2659fd8031 | 64 | int i,degree; |
choutin | 0:df2659fd8031 | 65 | |
choutin | 0:df2659fd8031 | 66 | pwmhand.period_ms(20); //20ms |
choutin | 0:df2659fd8031 | 67 | |
choutin | 0:df2659fd8031 | 68 | degree=175; |
choutin | 0:df2659fd8031 | 69 | |
choutin | 0:df2659fd8031 | 70 | i=500+degree*1900/180; |
sakanakuuun | 2:1a2984dfac3e | 71 | pwmhand.write(i/PERIOD); |
choutin | 0:df2659fd8031 | 72 | |
choutin | 0:df2659fd8031 | 73 | |
choutin | 0:df2659fd8031 | 74 | } |
choutin | 0:df2659fd8031 | 75 | |
choutin | 0:df2659fd8031 | 76 | void close_arm(void) { |
choutin | 0:df2659fd8031 | 77 | PwmOut mypwm(PB_3); |
choutin | 0:df2659fd8031 | 78 | int i,degree; |
choutin | 0:df2659fd8031 | 79 | |
choutin | 0:df2659fd8031 | 80 | mypwm.period_ms(20); //20ms |
choutin | 0:df2659fd8031 | 81 | |
choutin | 0:df2659fd8031 | 82 | degree=160; |
choutin | 0:df2659fd8031 | 83 | |
choutin | 0:df2659fd8031 | 84 | i=500+degree*1900/180; |
sakanakuuun | 2:1a2984dfac3e | 85 | pwmarm.write(i/PERIOD); |
choutin | 0:df2659fd8031 | 86 | |
choutin | 0:df2659fd8031 | 87 | |
choutin | 0:df2659fd8031 | 88 | } |
choutin | 0:df2659fd8031 | 89 | |
choutin | 0:df2659fd8031 | 90 | |
choutin | 0:df2659fd8031 | 91 | |
choutin | 0:df2659fd8031 | 92 | void open_hand(void) { |
choutin | 0:df2659fd8031 | 93 | PwmOut mypwm(PWM_OUT); |
choutin | 0:df2659fd8031 | 94 | int i,degree; |
choutin | 0:df2659fd8031 | 95 | |
choutin | 0:df2659fd8031 | 96 | pwmhand.period_ms(20); //20ms |
choutin | 0:df2659fd8031 | 97 | |
choutin | 0:df2659fd8031 | 98 | degree=90; |
choutin | 0:df2659fd8031 | 99 | |
choutin | 0:df2659fd8031 | 100 | i=500+degree*1900/180; |
sakanakuuun | 2:1a2984dfac3e | 101 | mypwm.write(i/PERIOD); |
choutin | 0:df2659fd8031 | 102 | |
choutin | 0:df2659fd8031 | 103 | |
choutin | 0:df2659fd8031 | 104 | } |
choutin | 0:df2659fd8031 | 105 | |
choutin | 0:df2659fd8031 | 106 | |
choutin | 0:df2659fd8031 | 107 | |
choutin | 0:df2659fd8031 | 108 | void open_arm(void) { |
choutin | 0:df2659fd8031 | 109 | PwmOut mypwm(PWM_OUT); |
choutin | 0:df2659fd8031 | 110 | int i,degree; |
choutin | 0:df2659fd8031 | 111 | |
choutin | 0:df2659fd8031 | 112 | mypwm.period_ms(20); //20ms |
choutin | 0:df2659fd8031 | 113 | |
choutin | 0:df2659fd8031 | 114 | degree=10; |
choutin | 0:df2659fd8031 | 115 | |
choutin | 0:df2659fd8031 | 116 | i=500+degree*1900/180; |
sakanakuuun | 2:1a2984dfac3e | 117 | pwmarm.write(i/PERIOD); |
choutin | 0:df2659fd8031 | 118 | |
choutin | 0:df2659fd8031 | 119 | |
choutin | 0:df2659fd8031 | 120 | } |
choutin | 0:df2659fd8031 | 121 | |
choutin | 0:df2659fd8031 | 122 | void step(int degree){ |
choutin | 0:df2659fd8031 | 123 | |
choutin | 0:df2659fd8031 | 124 | |
choutin | 1:a1e592eca305 | 125 | |
choutin | 0:df2659fd8031 | 126 | int puls_times=0; |
choutin | 0:df2659fd8031 | 127 | |
choutin | 0:df2659fd8031 | 128 | if(degree>0){ |
choutin | 0:df2659fd8031 | 129 | |
choutin | 0:df2659fd8031 | 130 | puls_times=1+(int)(degree/(3.75)); |
choutin | 0:df2659fd8031 | 131 | |
choutin | 0:df2659fd8031 | 132 | while(1){ |
choutin | 0:df2659fd8031 | 133 | PINW=1; |
choutin | 0:df2659fd8031 | 134 | PINX=1; |
choutin | 0:df2659fd8031 | 135 | PINY=0; |
choutin | 0:df2659fd8031 | 136 | PINZ=0; |
choutin | 0:df2659fd8031 | 137 | wait_ms(20); |
choutin | 0:df2659fd8031 | 138 | puls_times--; |
choutin | 0:df2659fd8031 | 139 | |
choutin | 0:df2659fd8031 | 140 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 141 | |
choutin | 0:df2659fd8031 | 142 | PINW=0; |
choutin | 0:df2659fd8031 | 143 | PINX=1; |
choutin | 0:df2659fd8031 | 144 | PINY=1; |
choutin | 0:df2659fd8031 | 145 | PINZ=0; |
choutin | 0:df2659fd8031 | 146 | wait_ms(20); |
choutin | 0:df2659fd8031 | 147 | puls_times--; |
choutin | 0:df2659fd8031 | 148 | |
choutin | 0:df2659fd8031 | 149 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 150 | |
choutin | 0:df2659fd8031 | 151 | PINW=0; |
choutin | 0:df2659fd8031 | 152 | PINX=0; |
choutin | 0:df2659fd8031 | 153 | PINY=1; |
choutin | 0:df2659fd8031 | 154 | PINZ=1; |
choutin | 0:df2659fd8031 | 155 | wait_ms(20); |
choutin | 0:df2659fd8031 | 156 | puls_times--; |
choutin | 0:df2659fd8031 | 157 | |
choutin | 0:df2659fd8031 | 158 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 159 | |
choutin | 0:df2659fd8031 | 160 | PINW=1; |
choutin | 0:df2659fd8031 | 161 | PINX=1; |
choutin | 0:df2659fd8031 | 162 | PINY=0; |
choutin | 0:df2659fd8031 | 163 | PINZ=0; |
choutin | 0:df2659fd8031 | 164 | wait_ms(20); |
choutin | 0:df2659fd8031 | 165 | puls_times--; |
choutin | 0:df2659fd8031 | 166 | |
choutin | 0:df2659fd8031 | 167 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 168 | } |
choutin | 0:df2659fd8031 | 169 | |
choutin | 0:df2659fd8031 | 170 | } |
choutin | 0:df2659fd8031 | 171 | |
choutin | 0:df2659fd8031 | 172 | if(degree<0){ |
choutin | 0:df2659fd8031 | 173 | |
choutin | 0:df2659fd8031 | 174 | puls_times=(-1)*(1+(int)(degree/(3.75))); |
choutin | 0:df2659fd8031 | 175 | |
choutin | 0:df2659fd8031 | 176 | while(1){ |
choutin | 0:df2659fd8031 | 177 | PINW=1; |
choutin | 0:df2659fd8031 | 178 | PINX=1; |
choutin | 0:df2659fd8031 | 179 | PINY=0; |
choutin | 0:df2659fd8031 | 180 | PINZ=0; |
choutin | 0:df2659fd8031 | 181 | wait_ms(20); |
choutin | 0:df2659fd8031 | 182 | puls_times--; |
choutin | 0:df2659fd8031 | 183 | |
choutin | 0:df2659fd8031 | 184 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 185 | |
choutin | 0:df2659fd8031 | 186 | PINW=1; |
choutin | 0:df2659fd8031 | 187 | PINX=0; |
choutin | 0:df2659fd8031 | 188 | PINY=0; |
choutin | 0:df2659fd8031 | 189 | PINZ=1; |
choutin | 0:df2659fd8031 | 190 | wait_ms(20); |
choutin | 0:df2659fd8031 | 191 | puls_times--; |
choutin | 0:df2659fd8031 | 192 | |
choutin | 0:df2659fd8031 | 193 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 194 | |
choutin | 0:df2659fd8031 | 195 | PINW=0; |
choutin | 0:df2659fd8031 | 196 | PINX=0; |
choutin | 0:df2659fd8031 | 197 | PINY=1; |
choutin | 0:df2659fd8031 | 198 | PINZ=1; |
choutin | 0:df2659fd8031 | 199 | wait_ms(20); |
choutin | 0:df2659fd8031 | 200 | puls_times--; |
choutin | 0:df2659fd8031 | 201 | |
choutin | 0:df2659fd8031 | 202 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 203 | |
choutin | 0:df2659fd8031 | 204 | PINW=0; |
choutin | 0:df2659fd8031 | 205 | PINX=1; |
choutin | 0:df2659fd8031 | 206 | PINY=1; |
choutin | 0:df2659fd8031 | 207 | PINZ=0; |
choutin | 0:df2659fd8031 | 208 | wait_ms(20); |
choutin | 0:df2659fd8031 | 209 | puls_times--; |
choutin | 0:df2659fd8031 | 210 | |
choutin | 0:df2659fd8031 | 211 | if(puls_times<0){break;} |
choutin | 0:df2659fd8031 | 212 | } |
choutin | 0:df2659fd8031 | 213 | |
choutin | 0:df2659fd8031 | 214 | } |
choutin | 0:df2659fd8031 | 215 | |
choutin | 0:df2659fd8031 | 216 | } |
choutin | 0:df2659fd8031 | 217 | |
choutin | 0:df2659fd8031 | 218 | |
choutin | 0:df2659fd8031 | 219 | |
choutin | 0:df2659fd8031 | 220 | int sensor(void){ |
choutin | 0:df2659fd8031 | 221 | //センサー読 |
choutin | 0:df2659fd8031 | 222 | int right ,left,x,y; |
choutin | 0:df2659fd8031 | 223 | |
choutin | 0:df2659fd8031 | 224 | right=rightsensor.read(); |
choutin | 0:df2659fd8031 | 225 | left=leftsensor.read(); |
choutin | 0:df2659fd8031 | 226 | |
choutin | 0:df2659fd8031 | 227 | if(right>0.5){x=1;} |
choutin | 0:df2659fd8031 | 228 | else{right=0;} |
choutin | 0:df2659fd8031 | 229 | |
choutin | 0:df2659fd8031 | 230 | if(left>0.5){y=1;} |
choutin | 0:df2659fd8031 | 231 | else{left=0;} |
choutin | 0:df2659fd8031 | 232 | |
choutin | 0:df2659fd8031 | 233 | return x+2*(y); |
choutin | 0:df2659fd8031 | 234 | //(right,left)=(off,off),(on,off),(off,on),(on,on) |
choutin | 0:df2659fd8031 | 235 | // 0 1 2 3 |
choutin | 0:df2659fd8031 | 236 | } |
choutin | 0:df2659fd8031 | 237 | |
choutin | 1:a1e592eca305 | 238 | /* |
choutin | 0:df2659fd8031 | 239 | void move(int right,int left){ |
choutin | 0:df2659fd8031 | 240 | |
choutin | 0:df2659fd8031 | 241 | if(right>256){right=256;} |
choutin | 0:df2659fd8031 | 242 | if(left>256){left=256;} |
choutin | 0:df2659fd8031 | 243 | if(right<-256){right=-256;} |
choutin | 0:df2659fd8031 | 244 | if(left<-256){left=-256;} |
choutin | 0:df2659fd8031 | 245 | |
choutin | 0:df2659fd8031 | 246 | PwmOut M1cw(PA_11); |
choutin | 0:df2659fd8031 | 247 | PwmOut M1ccw(PB_15); |
choutin | 0:df2659fd8031 | 248 | PwmOut M2cw(PB_14); |
choutin | 0:df2659fd8031 | 249 | PwmOut M2ccw(PB_13); |
choutin | 0:df2659fd8031 | 250 | |
choutin | 0:df2659fd8031 | 251 | M1cw.period_us(256); |
choutin | 0:df2659fd8031 | 252 | M1ccw.period_us(256); |
choutin | 0:df2659fd8031 | 253 | M2cw.period_us(256); |
choutin | 0:df2659fd8031 | 254 | M2ccw.period_us(256); |
choutin | 0:df2659fd8031 | 255 | |
choutin | 0:df2659fd8031 | 256 | |
choutin | 0:df2659fd8031 | 257 | right=256-right; |
choutin | 0:df2659fd8031 | 258 | left=256-left;//トランジスタ挿入によってON,OFFが逆転したための措置 |
choutin | 0:df2659fd8031 | 259 | |
choutin | 0:df2659fd8031 | 260 | //回さないモーターにはperiod=widthを出力 |
choutin | 0:df2659fd8031 | 261 | if(right>0&&left>0){ |
choutin | 0:df2659fd8031 | 262 | |
choutin | 0:df2659fd8031 | 263 | M1cw.pulsewidth_us(right); |
choutin | 0:df2659fd8031 | 264 | M2cw.pulsewidth_us(left); |
choutin | 0:df2659fd8031 | 265 | M1ccw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 266 | M2ccw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 267 | } |
choutin | 0:df2659fd8031 | 268 | |
choutin | 0:df2659fd8031 | 269 | else if(right<0&&left>0){ |
choutin | 0:df2659fd8031 | 270 | |
choutin | 0:df2659fd8031 | 271 | |
choutin | 0:df2659fd8031 | 272 | M1cw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 273 | M2cw.pulsewidth_us(left); |
choutin | 0:df2659fd8031 | 274 | M1ccw.pulsewidth_us(right); |
choutin | 0:df2659fd8031 | 275 | M2ccw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 276 | } |
choutin | 0:df2659fd8031 | 277 | else if(right>0&&left<0){ |
choutin | 0:df2659fd8031 | 278 | |
choutin | 0:df2659fd8031 | 279 | |
choutin | 0:df2659fd8031 | 280 | M1cw.pulsewidth_us(right); |
choutin | 0:df2659fd8031 | 281 | M2cw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 282 | M1ccw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 283 | M2ccw.pulsewidth_us(left); |
choutin | 0:df2659fd8031 | 284 | } |
choutin | 0:df2659fd8031 | 285 | else if(right<0&&left<0){ |
choutin | 0:df2659fd8031 | 286 | |
choutin | 0:df2659fd8031 | 287 | |
choutin | 0:df2659fd8031 | 288 | M1cw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 289 | M2cw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 290 | M1ccw.pulsewidth_us(right); |
choutin | 0:df2659fd8031 | 291 | M2ccw.pulsewidth_us(left); |
choutin | 0:df2659fd8031 | 292 | } |
choutin | 0:df2659fd8031 | 293 | else if(right==0&&left==0){ |
choutin | 0:df2659fd8031 | 294 | |
choutin | 0:df2659fd8031 | 295 | M1cw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 296 | M2cw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 297 | M1ccw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 298 | M2ccw.pulsewidth_us(256); |
choutin | 0:df2659fd8031 | 299 | } |
choutin | 0:df2659fd8031 | 300 | } |
choutin | 1:a1e592eca305 | 301 | */ |
choutin | 0:df2659fd8031 | 302 | |
choutin | 1:a1e592eca305 | 303 | void initmotor(){ |
choutin | 1:a1e592eca305 | 304 | |
choutin | 1:a1e592eca305 | 305 | |
choutin | 1:a1e592eca305 | 306 | M1cw.period_us(256); |
choutin | 1:a1e592eca305 | 307 | M1ccw.period_us(256); |
choutin | 1:a1e592eca305 | 308 | M2cw.period_us(256); |
choutin | 1:a1e592eca305 | 309 | M2ccw.period_us(256); |
choutin | 1:a1e592eca305 | 310 | |
choutin | 1:a1e592eca305 | 311 | } |
choutin | 1:a1e592eca305 | 312 | |
choutin | 1:a1e592eca305 | 313 | void move(int right,int left){ |
choutin | 1:a1e592eca305 | 314 | |
choutin | 1:a1e592eca305 | 315 | if(right>256){right=256;} |
choutin | 1:a1e592eca305 | 316 | if(left>256){left=256;} |
choutin | 1:a1e592eca305 | 317 | if(right<-256){right=-256;} |
choutin | 1:a1e592eca305 | 318 | if(left<-256){left=-256;} |
choutin | 1:a1e592eca305 | 319 | |
choutin | 1:a1e592eca305 | 320 | |
choutin | 1:a1e592eca305 | 321 | //回さないモーターにはperiod=widthを出力 |
choutin | 1:a1e592eca305 | 322 | if(right>0){ |
choutin | 1:a1e592eca305 | 323 | M1cw.pulsewidth_us(256-right); |
choutin | 1:a1e592eca305 | 324 | M1ccw.pulsewidth_us(256); |
choutin | 1:a1e592eca305 | 325 | }else{ |
choutin | 1:a1e592eca305 | 326 | M1cw.pulsewidth_us(256); |
choutin | 1:a1e592eca305 | 327 | M1ccw.pulsewidth_us(256+right); |
choutin | 0:df2659fd8031 | 328 | } |
choutin | 1:a1e592eca305 | 329 | if(left>0){ |
choutin | 1:a1e592eca305 | 330 | M2cw.pulsewidth_us(256-left); |
choutin | 1:a1e592eca305 | 331 | M2ccw.pulsewidth_us(256); |
choutin | 1:a1e592eca305 | 332 | }else{ |
choutin | 1:a1e592eca305 | 333 | M2cw.pulsewidth_us(256); |
choutin | 1:a1e592eca305 | 334 | M2ccw.pulsewidth_us(256+left); |
choutin | 1:a1e592eca305 | 335 | } |
choutin | 1:a1e592eca305 | 336 | } |
choutin | 0:df2659fd8031 | 337 | |
choutin | 0:df2659fd8031 | 338 | |
choutin | 0:df2659fd8031 | 339 | int phase(void){ |
choutin | 0:df2659fd8031 | 340 | |
choutin | 0:df2659fd8031 | 341 | phase1.mode(PullUp); |
choutin | 0:df2659fd8031 | 342 | phase2.mode(PullUp); |
choutin | 0:df2659fd8031 | 343 | phase4.mode(PullUp); |
choutin | 0:df2659fd8031 | 344 | phase8.mode(PullUp); |
choutin | 0:df2659fd8031 | 345 | |
choutin | 0:df2659fd8031 | 346 | int r=0; |
choutin | 0:df2659fd8031 | 347 | |
choutin | 0:df2659fd8031 | 348 | r=phase1+2*phase2+4*phase4+8*phase8; |
choutin | 0:df2659fd8031 | 349 | |
choutin | 0:df2659fd8031 | 350 | return r; |
choutin | 0:df2659fd8031 | 351 | } |
choutin | 0:df2659fd8031 | 352 |