Stefan Stojkovic
/
Imitator_Vozila_CAN
imitator
functions.h@0:8b199d53d010, 2019-03-25 (annotated)
- Committer:
- stefan996
- Date:
- Mon Mar 25 17:58:32 2019 +0000
- Revision:
- 0:8b199d53d010
Imitator
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stefan996 | 0:8b199d53d010 | 1 | #include "mbed.h" |
stefan996 | 0:8b199d53d010 | 2 | #include "CAN_ID.h" |
stefan996 | 0:8b199d53d010 | 3 | |
stefan996 | 0:8b199d53d010 | 4 | CAN can1(PB_8, PB_9, 100000); // PB_8 = CAN_1 RD, PB_9 = CAN_1 TD |
stefan996 | 0:8b199d53d010 | 5 | Serial pc(USBTX, USBRX); |
stefan996 | 0:8b199d53d010 | 6 | |
stefan996 | 0:8b199d53d010 | 7 | class Simulator |
stefan996 | 0:8b199d53d010 | 8 | { |
stefan996 | 0:8b199d53d010 | 9 | private: |
stefan996 | 0:8b199d53d010 | 10 | char dta1[8]; |
stefan996 | 0:8b199d53d010 | 11 | int Rpm, TPS, Water_Temp, Air_Temp; // br. obrtaja, pozicija gasa, temperatura vode, temperatura vazduha |
stefan996 | 0:8b199d53d010 | 12 | char dta2[8]; |
stefan996 | 0:8b199d53d010 | 13 | int MAP, Lambda, Speed, Oil_p; // pritisak na usisu, , brzina km/h, pritisak ulja |
stefan996 | 0:8b199d53d010 | 14 | char dta3[8]; |
stefan996 | 0:8b199d53d010 | 15 | int Oil_Temp, Volts; // temperatura ulja, napon akumulatora |
stefan996 | 0:8b199d53d010 | 16 | char dta4[8]; |
stefan996 | 0:8b199d53d010 | 17 | int Gear; // prenosni odnos |
stefan996 | 0:8b199d53d010 | 18 | char dta6[8]; |
stefan996 | 0:8b199d53d010 | 19 | int Crank_Error; |
stefan996 | 0:8b199d53d010 | 20 | char lvdtfront[8]; |
stefan996 | 0:8b199d53d010 | 21 | int FL_LVDT, FR_LVDT; // prednji levi LVDT, prednji desni LVDT |
stefan996 | 0:8b199d53d010 | 22 | char lvdtrear[8]; |
stefan996 | 0:8b199d53d010 | 23 | int RL_LVDT, RR_LVDT; // zadnji levi LVDT, zadnji desni LVDT |
stefan996 | 0:8b199d53d010 | 24 | char brakes[8]; |
stefan996 | 0:8b199d53d010 | 25 | int Brakes; // kocnica |
stefan996 | 0:8b199d53d010 | 26 | char distance[8]; |
stefan996 | 0:8b199d53d010 | 27 | int Distance; // kilometraza |
stefan996 | 0:8b199d53d010 | 28 | |
stefan996 | 0:8b199d53d010 | 29 | int counter; |
stefan996 | 0:8b199d53d010 | 30 | |
stefan996 | 0:8b199d53d010 | 31 | public: |
stefan996 | 0:8b199d53d010 | 32 | Simulator() |
stefan996 | 0:8b199d53d010 | 33 | { |
stefan996 | 0:8b199d53d010 | 34 | CANMessage msg; |
stefan996 | 0:8b199d53d010 | 35 | while(1) |
stefan996 | 0:8b199d53d010 | 36 | { |
stefan996 | 0:8b199d53d010 | 37 | pc.printf("\n\n1) Rpm, TPS, Water_temp, Air_temp\n"); |
stefan996 | 0:8b199d53d010 | 38 | pc.printf("2) MAP, Lambda, Speed, Oil_p\n"); |
stefan996 | 0:8b199d53d010 | 39 | pc.printf("3) Oil_temp, Volts\n"); |
stefan996 | 0:8b199d53d010 | 40 | pc.printf("4) Gear\n"); |
stefan996 | 0:8b199d53d010 | 41 | pc.printf("5) / \n"); |
stefan996 | 0:8b199d53d010 | 42 | pc.printf("6) / \n"); |
stefan996 | 0:8b199d53d010 | 43 | pc.printf("7) FL_LVDT, FR_LVDT\n"); |
stefan996 | 0:8b199d53d010 | 44 | pc.printf("8) RL_LVDT, RR_LVDT\n"); |
stefan996 | 0:8b199d53d010 | 45 | pc.printf("9) Brakes\n"); |
stefan996 | 0:8b199d53d010 | 46 | pc.printf("10) DISTANCE_ID\n"); |
stefan996 | 0:8b199d53d010 | 47 | pc.printf("0) Exit\n\n"); |
stefan996 | 0:8b199d53d010 | 48 | |
stefan996 | 0:8b199d53d010 | 49 | int x; |
stefan996 | 0:8b199d53d010 | 50 | pc.scanf("%d",&x); |
stefan996 | 0:8b199d53d010 | 51 | |
stefan996 | 0:8b199d53d010 | 52 | if(x == 0) |
stefan996 | 0:8b199d53d010 | 53 | { |
stefan996 | 0:8b199d53d010 | 54 | pc.printf(" :( \n"); |
stefan996 | 0:8b199d53d010 | 55 | break; |
stefan996 | 0:8b199d53d010 | 56 | } |
stefan996 | 0:8b199d53d010 | 57 | |
stefan996 | 0:8b199d53d010 | 58 | switch(x) |
stefan996 | 0:8b199d53d010 | 59 | { |
stefan996 | 0:8b199d53d010 | 60 | case 1: |
stefan996 | 0:8b199d53d010 | 61 | EnterDTA_1(); |
stefan996 | 0:8b199d53d010 | 62 | break; |
stefan996 | 0:8b199d53d010 | 63 | case 2: |
stefan996 | 0:8b199d53d010 | 64 | EnterDTA_2(); |
stefan996 | 0:8b199d53d010 | 65 | break; |
stefan996 | 0:8b199d53d010 | 66 | case 3: |
stefan996 | 0:8b199d53d010 | 67 | EnterDTA_3(); |
stefan996 | 0:8b199d53d010 | 68 | break; |
stefan996 | 0:8b199d53d010 | 69 | case 4: |
stefan996 | 0:8b199d53d010 | 70 | EnterDTA_4(); |
stefan996 | 0:8b199d53d010 | 71 | break; |
stefan996 | 0:8b199d53d010 | 72 | case 5: |
stefan996 | 0:8b199d53d010 | 73 | |
stefan996 | 0:8b199d53d010 | 74 | break; |
stefan996 | 0:8b199d53d010 | 75 | case 6: |
stefan996 | 0:8b199d53d010 | 76 | |
stefan996 | 0:8b199d53d010 | 77 | break; |
stefan996 | 0:8b199d53d010 | 78 | case 7: |
stefan996 | 0:8b199d53d010 | 79 | EnterLVDT_FRONT(); |
stefan996 | 0:8b199d53d010 | 80 | break; |
stefan996 | 0:8b199d53d010 | 81 | case 8: |
stefan996 | 0:8b199d53d010 | 82 | EnterLVDT_REAR(); |
stefan996 | 0:8b199d53d010 | 83 | break; |
stefan996 | 0:8b199d53d010 | 84 | case 9: |
stefan996 | 0:8b199d53d010 | 85 | EnterBRAKES(); |
stefan996 | 0:8b199d53d010 | 86 | break; |
stefan996 | 0:8b199d53d010 | 87 | case 10: |
stefan996 | 0:8b199d53d010 | 88 | EnterDISTANCE_ID(); |
stefan996 | 0:8b199d53d010 | 89 | break; |
stefan996 | 0:8b199d53d010 | 90 | } |
stefan996 | 0:8b199d53d010 | 91 | } |
stefan996 | 0:8b199d53d010 | 92 | } |
stefan996 | 0:8b199d53d010 | 93 | |
stefan996 | 0:8b199d53d010 | 94 | void send(uint16_t ID, char dta[8]) |
stefan996 | 0:8b199d53d010 | 95 | { |
stefan996 | 0:8b199d53d010 | 96 | if(can1.write(CANMessage((uint16_t)ID,dta, 8))) |
stefan996 | 0:8b199d53d010 | 97 | { |
stefan996 | 0:8b199d53d010 | 98 | counter++; |
stefan996 | 0:8b199d53d010 | 99 | pc.printf("%x\n",ID); |
stefan996 | 0:8b199d53d010 | 100 | pc.printf("Message sent: counter=%d, info1=%x%x, info2=%x%x, info3=%x%x, info4=%x%x\n", counter,dta[1],dta[0],dta[3],dta[2],dta[5],dta[4],dta[7],dta[6]); |
stefan996 | 0:8b199d53d010 | 101 | } |
stefan996 | 0:8b199d53d010 | 102 | else |
stefan996 | 0:8b199d53d010 | 103 | pc.printf("Shit\n"); |
stefan996 | 0:8b199d53d010 | 104 | } |
stefan996 | 0:8b199d53d010 | 105 | |
stefan996 | 0:8b199d53d010 | 106 | void EnterDTA_1() |
stefan996 | 0:8b199d53d010 | 107 | { |
stefan996 | 0:8b199d53d010 | 108 | pc.printf("Enter Rpm from 0 to 13000 [o/min] : "); |
stefan996 | 0:8b199d53d010 | 109 | pc.scanf("%d", &Rpm); |
stefan996 | 0:8b199d53d010 | 110 | pc.printf("Enter TPS from 0 to 100 [%] : "); |
stefan996 | 0:8b199d53d010 | 111 | pc.scanf("%d", &TPS); |
stefan996 | 0:8b199d53d010 | 112 | pc.printf("Enter Water_Temp from 0 to 120 [stepenC] : "); |
stefan996 | 0:8b199d53d010 | 113 | pc.scanf("%d", &Water_Temp); |
stefan996 | 0:8b199d53d010 | 114 | pc.printf("Enter Air_Temp from 0 to 60 [stepenC] : "); |
stefan996 | 0:8b199d53d010 | 115 | pc.scanf("%d", &Air_Temp); |
stefan996 | 0:8b199d53d010 | 116 | |
stefan996 | 0:8b199d53d010 | 117 | dta1[0]=(uint8_t)(Rpm & 0x00FF); |
stefan996 | 0:8b199d53d010 | 118 | dta1[1]=(uint8_t)(Rpm>>8); |
stefan996 | 0:8b199d53d010 | 119 | dta1[2]=(uint8_t)(TPS & 0x00FF); |
stefan996 | 0:8b199d53d010 | 120 | dta1[3]=(uint8_t)(TPS>>8); |
stefan996 | 0:8b199d53d010 | 121 | dta1[4]=(uint8_t)(Water_Temp & 0x00FF); |
stefan996 | 0:8b199d53d010 | 122 | dta1[5]=(uint8_t)(Water_Temp>>8); |
stefan996 | 0:8b199d53d010 | 123 | dta1[6]=(uint8_t)(Air_Temp & 0x00FF); |
stefan996 | 0:8b199d53d010 | 124 | dta1[7]=(uint8_t)(Air_Temp>>8); |
stefan996 | 0:8b199d53d010 | 125 | |
stefan996 | 0:8b199d53d010 | 126 | send(DTA_1,dta1); |
stefan996 | 0:8b199d53d010 | 127 | } |
stefan996 | 0:8b199d53d010 | 128 | |
stefan996 | 0:8b199d53d010 | 129 | void EnterDTA_2() |
stefan996 | 0:8b199d53d010 | 130 | { |
stefan996 | 0:8b199d53d010 | 131 | pc.printf("Enter MAP from 0 to 100 [kPa] : "); |
stefan996 | 0:8b199d53d010 | 132 | pc.scanf("%d", &MAP); |
stefan996 | 0:8b199d53d010 | 133 | pc.printf("Enter Lambda from 0 to 1.3 : "); |
stefan996 | 0:8b199d53d010 | 134 | pc.scanf("%d", &Lambda); |
stefan996 | 0:8b199d53d010 | 135 | Lambda *= 1000; // mnozimo kako bi izbegli razlomljen deo vrednosti |
stefan996 | 0:8b199d53d010 | 136 | pc.printf("Enter Speed from 0 to 140 [kmh] : "); |
stefan996 | 0:8b199d53d010 | 137 | pc.scanf("%d", &Speed); |
stefan996 | 0:8b199d53d010 | 138 | //pc.printf("Enter Oil_p form to [] : "); |
stefan996 | 0:8b199d53d010 | 139 | //pc.scanf("%d", &Oil_p); |
stefan996 | 0:8b199d53d010 | 140 | |
stefan996 | 0:8b199d53d010 | 141 | dta2[0]=(uint8_t)(MAP & 0x00FF); |
stefan996 | 0:8b199d53d010 | 142 | dta2[1]=(uint8_t)(MAP>>8); |
stefan996 | 0:8b199d53d010 | 143 | dta2[2]=(uint8_t)(Lambda & 0x00FF); |
stefan996 | 0:8b199d53d010 | 144 | dta2[3]=(uint8_t)(Lambda>>8); |
stefan996 | 0:8b199d53d010 | 145 | dta2[4]=(uint8_t)(Speed & 0x00FF); |
stefan996 | 0:8b199d53d010 | 146 | dta2[5]=(uint8_t)(Speed>>8); |
stefan996 | 0:8b199d53d010 | 147 | dta2[6]=0; |
stefan996 | 0:8b199d53d010 | 148 | dta2[7]=0; |
stefan996 | 0:8b199d53d010 | 149 | |
stefan996 | 0:8b199d53d010 | 150 | send(DTA_2,dta2); |
stefan996 | 0:8b199d53d010 | 151 | } |
stefan996 | 0:8b199d53d010 | 152 | |
stefan996 | 0:8b199d53d010 | 153 | void EnterDTA_3() |
stefan996 | 0:8b199d53d010 | 154 | { |
stefan996 | 0:8b199d53d010 | 155 | pc.printf("Enter Oil_temp from 0 to 140 [stepenC] : "); |
stefan996 | 0:8b199d53d010 | 156 | pc.scanf("%d", &Oil_Temp); |
stefan996 | 0:8b199d53d010 | 157 | pc.printf("Enter Volts from 10 to 18 [V] : "); |
stefan996 | 0:8b199d53d010 | 158 | pc.scanf("%d", &Volts); |
stefan996 | 0:8b199d53d010 | 159 | Volts *= 10; // mnozimo kako bi izbegli razlomljen deo vrednosti |
stefan996 | 0:8b199d53d010 | 160 | |
stefan996 | 0:8b199d53d010 | 161 | dta3[0]=0; |
stefan996 | 0:8b199d53d010 | 162 | dta3[1]=0; |
stefan996 | 0:8b199d53d010 | 163 | dta3[2]=(uint8_t)(Oil_Temp & 0x00FF); |
stefan996 | 0:8b199d53d010 | 164 | dta3[3]=(uint8_t)(Oil_Temp>>8); |
stefan996 | 0:8b199d53d010 | 165 | dta3[4]=(uint8_t)(Volts & 0x00FF); |
stefan996 | 0:8b199d53d010 | 166 | dta3[5]=(uint8_t)(Volts>>8); |
stefan996 | 0:8b199d53d010 | 167 | dta3[6]=0; |
stefan996 | 0:8b199d53d010 | 168 | dta3[7]=0; |
stefan996 | 0:8b199d53d010 | 169 | |
stefan996 | 0:8b199d53d010 | 170 | send(DTA_3,dta3); |
stefan996 | 0:8b199d53d010 | 171 | } |
stefan996 | 0:8b199d53d010 | 172 | |
stefan996 | 0:8b199d53d010 | 173 | void EnterDTA_4() |
stefan996 | 0:8b199d53d010 | 174 | { |
stefan996 | 0:8b199d53d010 | 175 | pc.printf("Enter Gear from 0 to 6 : "); |
stefan996 | 0:8b199d53d010 | 176 | pc.scanf("%d", &Gear); |
stefan996 | 0:8b199d53d010 | 177 | |
stefan996 | 0:8b199d53d010 | 178 | dta4[0]=Gear; |
stefan996 | 0:8b199d53d010 | 179 | dta4[1]=0; |
stefan996 | 0:8b199d53d010 | 180 | dta4[2]=0; |
stefan996 | 0:8b199d53d010 | 181 | dta4[3]=0; |
stefan996 | 0:8b199d53d010 | 182 | dta4[4]=0; |
stefan996 | 0:8b199d53d010 | 183 | dta4[5]=0; |
stefan996 | 0:8b199d53d010 | 184 | dta4[6]=0; |
stefan996 | 0:8b199d53d010 | 185 | dta4[7]=0; |
stefan996 | 0:8b199d53d010 | 186 | |
stefan996 | 0:8b199d53d010 | 187 | send(DTA_4,dta4); |
stefan996 | 0:8b199d53d010 | 188 | } |
stefan996 | 0:8b199d53d010 | 189 | void EnterDTA_5(); |
stefan996 | 0:8b199d53d010 | 190 | |
stefan996 | 0:8b199d53d010 | 191 | void EnterDTA_6(); |
stefan996 | 0:8b199d53d010 | 192 | |
stefan996 | 0:8b199d53d010 | 193 | void EnterLVDT_FRONT() |
stefan996 | 0:8b199d53d010 | 194 | { |
stefan996 | 0:8b199d53d010 | 195 | pc.printf("Enter FL_LVDT from 0 to 100 [%] : "); |
stefan996 | 0:8b199d53d010 | 196 | pc.scanf("%d", &FL_LVDT); |
stefan996 | 0:8b199d53d010 | 197 | FL_LVDT *= 10; // mnozimo kako bi izbegli razlomljen deo vrednosti |
stefan996 | 0:8b199d53d010 | 198 | pc.printf("Enter FR_LVDT from 0 to 100 [%] : "); |
stefan996 | 0:8b199d53d010 | 199 | pc.scanf("%d", &FR_LVDT); |
stefan996 | 0:8b199d53d010 | 200 | FR_LVDT *= 10; // mnozimo kako bi izbegli razlomljen deo vrednosti |
stefan996 | 0:8b199d53d010 | 201 | |
stefan996 | 0:8b199d53d010 | 202 | lvdtfront[0]=(uint8_t)(FL_LVDT & 0x00FF); |
stefan996 | 0:8b199d53d010 | 203 | lvdtfront[1]=(uint8_t)(FL_LVDT>>8); |
stefan996 | 0:8b199d53d010 | 204 | lvdtfront[2]=(uint8_t)(FR_LVDT & 0x00FF); |
stefan996 | 0:8b199d53d010 | 205 | lvdtfront[3]=(uint8_t)(FR_LVDT>>8); |
stefan996 | 0:8b199d53d010 | 206 | lvdtfront[4]=0; |
stefan996 | 0:8b199d53d010 | 207 | lvdtfront[5]=0; |
stefan996 | 0:8b199d53d010 | 208 | lvdtfront[6]=0; |
stefan996 | 0:8b199d53d010 | 209 | lvdtfront[7]=0; |
stefan996 | 0:8b199d53d010 | 210 | |
stefan996 | 0:8b199d53d010 | 211 | send(LVDT_FRONT,lvdtfront); |
stefan996 | 0:8b199d53d010 | 212 | } |
stefan996 | 0:8b199d53d010 | 213 | |
stefan996 | 0:8b199d53d010 | 214 | void EnterLVDT_REAR() |
stefan996 | 0:8b199d53d010 | 215 | { |
stefan996 | 0:8b199d53d010 | 216 | pc.printf("Enter RL_LVDT from 0 to 100 [%] : "); |
stefan996 | 0:8b199d53d010 | 217 | pc.scanf("%d", &RL_LVDT); |
stefan996 | 0:8b199d53d010 | 218 | RL_LVDT *= 10; // mnozimo kako bi izbegli razlomljen deo vrednosti |
stefan996 | 0:8b199d53d010 | 219 | pc.printf("Enter RR_LVDT from 0 to 100 [%] : "); |
stefan996 | 0:8b199d53d010 | 220 | pc.scanf("%d", &RR_LVDT); |
stefan996 | 0:8b199d53d010 | 221 | RR_LVDT *= 10; // mnozimo kako bi izbegli razlomljen deo vrednosti |
stefan996 | 0:8b199d53d010 | 222 | |
stefan996 | 0:8b199d53d010 | 223 | lvdtrear[0]=(uint8_t)(RL_LVDT & 0x00FF); |
stefan996 | 0:8b199d53d010 | 224 | lvdtrear[1]=(uint8_t)(RL_LVDT>>8); |
stefan996 | 0:8b199d53d010 | 225 | lvdtrear[2]=(uint8_t)(RR_LVDT & 0x00FF); |
stefan996 | 0:8b199d53d010 | 226 | lvdtrear[3]=(uint8_t)(RR_LVDT>>8); |
stefan996 | 0:8b199d53d010 | 227 | lvdtrear[4]=0; |
stefan996 | 0:8b199d53d010 | 228 | lvdtrear[5]=0; |
stefan996 | 0:8b199d53d010 | 229 | lvdtrear[6]=0; |
stefan996 | 0:8b199d53d010 | 230 | lvdtrear[7]=0; |
stefan996 | 0:8b199d53d010 | 231 | |
stefan996 | 0:8b199d53d010 | 232 | send(LVDT_REAR,lvdtrear); |
stefan996 | 0:8b199d53d010 | 233 | } |
stefan996 | 0:8b199d53d010 | 234 | |
stefan996 | 0:8b199d53d010 | 235 | void EnterBRAKES() |
stefan996 | 0:8b199d53d010 | 236 | { |
stefan996 | 0:8b199d53d010 | 237 | pc.printf("Enter Brakes from 0 to 100 [%] : "); |
stefan996 | 0:8b199d53d010 | 238 | pc.scanf("%d", &Brakes); |
stefan996 | 0:8b199d53d010 | 239 | |
stefan996 | 0:8b199d53d010 | 240 | if((Brakes/10)%2) |
stefan996 | 0:8b199d53d010 | 241 | { |
stefan996 | 0:8b199d53d010 | 242 | brakes[0]=0xFF; |
stefan996 | 0:8b199d53d010 | 243 | brakes[1]=0xFF; |
stefan996 | 0:8b199d53d010 | 244 | brakes[2]=0; |
stefan996 | 0:8b199d53d010 | 245 | brakes[3]=0; |
stefan996 | 0:8b199d53d010 | 246 | brakes[4]=0; |
stefan996 | 0:8b199d53d010 | 247 | brakes[5]=0; |
stefan996 | 0:8b199d53d010 | 248 | brakes[6]=0; |
stefan996 | 0:8b199d53d010 | 249 | brakes[7]=0; |
stefan996 | 0:8b199d53d010 | 250 | } |
stefan996 | 0:8b199d53d010 | 251 | else |
stefan996 | 0:8b199d53d010 | 252 | { |
stefan996 | 0:8b199d53d010 | 253 | brakes[0]=0; |
stefan996 | 0:8b199d53d010 | 254 | brakes[1]=0; |
stefan996 | 0:8b199d53d010 | 255 | brakes[2]=0; |
stefan996 | 0:8b199d53d010 | 256 | brakes[3]=0; |
stefan996 | 0:8b199d53d010 | 257 | brakes[4]=0; |
stefan996 | 0:8b199d53d010 | 258 | brakes[5]=0; |
stefan996 | 0:8b199d53d010 | 259 | brakes[6]=0; |
stefan996 | 0:8b199d53d010 | 260 | brakes[7]=0; |
stefan996 | 0:8b199d53d010 | 261 | }; |
stefan996 | 0:8b199d53d010 | 262 | |
stefan996 | 0:8b199d53d010 | 263 | send(BRAKES,brakes); |
stefan996 | 0:8b199d53d010 | 264 | } |
stefan996 | 0:8b199d53d010 | 265 | |
stefan996 | 0:8b199d53d010 | 266 | void EnterDISTANCE_ID() |
stefan996 | 0:8b199d53d010 | 267 | { |
stefan996 | 0:8b199d53d010 | 268 | pc.printf("Enter distance from 0 to 100000 [km] : "); |
stefan996 | 0:8b199d53d010 | 269 | pc.scanf("%d", &Distance); |
stefan996 | 0:8b199d53d010 | 270 | |
stefan996 | 0:8b199d53d010 | 271 | distance[0]=(uint8_t) (Distance & 0x000000FF); |
stefan996 | 0:8b199d53d010 | 272 | distance[1]=(uint8_t)((Distance & 0x0000FF00)>>8); |
stefan996 | 0:8b199d53d010 | 273 | distance[2]=(uint8_t)((Distance & 0x00FF0000)>>16); |
stefan996 | 0:8b199d53d010 | 274 | distance[3]=(uint8_t)((Distance & 0xFF000000)>>24); |
stefan996 | 0:8b199d53d010 | 275 | distance[4]=0; |
stefan996 | 0:8b199d53d010 | 276 | distance[5]=0; |
stefan996 | 0:8b199d53d010 | 277 | distance[6]=0; |
stefan996 | 0:8b199d53d010 | 278 | distance[7]=0; |
stefan996 | 0:8b199d53d010 | 279 | |
stefan996 | 0:8b199d53d010 | 280 | send(DISTANCE_ID,distance); |
stefan996 | 0:8b199d53d010 | 281 | } |
stefan996 | 0:8b199d53d010 | 282 | }; |
stefan996 | 0:8b199d53d010 | 283 |