Artem Solomatin / Mbed 2 deprecated pendudu

fsdfds

Dependencies:   mbed

main.cpp@12:ee175985ef09, 2020-05-23 (annotated)

Committer:
teamat
Date:
Sat May 23 15:24:09 2020 +0000
Revision:
12:ee175985ef09
Parent:
11:6bbe8da4b16a
Child:
13:205002e3c176
pobeda nad getcharom

Who changed what in which revision?

UserRevisionLine numberNew contents of line
teamat 3:8708e61475fe 1 #include "mbed.h"
teamat 3:8708e61475fe 2
teamat 3:8708e61475fe 3 #define M_PI 3.14159265358979323846f
teamat 3:8708e61475fe 4 #define smoothingNumber 6
teamat 3:8708e61475fe 5
teamat 12:ee175985ef09 6
teamat 3:8708e61475fe 7 #define STATE_ERROR 0
teamat 3:8708e61475fe 8 #define STATE_INIT 1
teamat 3:8708e61475fe 9 #define STATE_GOTO_START 2
teamat 3:8708e61475fe 10 #define STATE_GOTO_END_COUNTING 3
teamat 3:8708e61475fe 11 #define STATE_GOTO_MIDDLE 4
teamat 3:8708e61475fe 12 #define STATE_WAITING 5
teamat 3:8708e61475fe 13 #define STATE_GOTO_SWING 6
teamat 3:8708e61475fe 14 #define STATE_START_SWING 7
teamat 3:8708e61475fe 15 #define STATE_SWING_RIGHT 8
teamat 3:8708e61475fe 16 #define STATE_SWING_LEFT 9
teamat 3:8708e61475fe 17 #define STATE_EMPTY_SWING 10
teamat 3:8708e61475fe 18
teamat 3:8708e61475fe 19 #define DIR_LEFT 0
teamat 3:8708e61475fe 20 #define DIR_RIGHT 1
teamat 3:8708e61475fe 21
teamat 12:ee175985ef09 22 #define timer_period_us 10
teamat 12:ee175985ef09 23
teamat 12:ee175985ef09 24
teamat 3:8708e61475fe 25 DigitalOut RCout(D10);
teamat 3:8708e61475fe 26 DigitalOut dir(D9);
teamat 3:8708e61475fe 27 InterruptIn leftSwitch(D2);
teamat 3:8708e61475fe 28 InterruptIn rightSwitch(D3);
teamat 3:8708e61475fe 29 Ticker tick;
teamat 12:ee175985ef09 30 //Ticker speedTicker;
teamat 4:fd49edfabfb2 31 Ticker swingTicker;
teamat 3:8708e61475fe 32 RawSerial rpc(D1,D0,9600);
teamat 12:ee175985ef09 33 DigitalOut led(D4);
teamat 11:6bbe8da4b16a 34
teamat 12:ee175985ef09 35 int period_us = 1;//300 26
teamat 7:ca62dda005d5 36 int posCounter = 0;
teamat 12:ee175985ef09 37 int timerCounter = 0;
teamat 3:8708e61475fe 38
teamat 3:8708e61475fe 39 long pos=0;
teamat 3:8708e61475fe 40
teamat 3:8708e61475fe 41 long railLength = 0;
teamat 3:8708e61475fe 42
teamat 3:8708e61475fe 43 uint8_t state=STATE_INIT;
teamat 12:ee175985ef09 44 uint8_t data[2] = {0, 0};
teamat 12:ee175985ef09 45 uint8_t cmdIndex = 0;
teamat 3:8708e61475fe 46
teamat 3:8708e61475fe 47 Timer t;
teamat 3:8708e61475fe 48 SPI spi(D11,D12,D13);// mosi, miso, sclk
teamat 3:8708e61475fe 49 DigitalOut cs(D5);
teamat 3:8708e61475fe 50
teamat 4:fd49edfabfb2 51 float radius = 0.0025;
teamat 3:8708e61475fe 52
teamat 3:8708e61475fe 53 float angularPosNew = 0;
teamat 3:8708e61475fe 54 float angularPosOld = 0;
teamat 3:8708e61475fe 55
teamat 3:8708e61475fe 56 float timeOld = 0.0f;
teamat 3:8708e61475fe 57 float timeStart = 0.0f;
teamat 3:8708e61475fe 58
teamat 3:8708e61475fe 59 float dx = 0;
teamat 3:8708e61475fe 60 float xPosNew = 0;
teamat 3:8708e61475fe 61 float xPosOld = 0;
teamat 8:b3ce040fdebc 62 float speed = -1;
teamat 8:b3ce040fdebc 63 float posOffset = 0.0f;
teamat 7:ca62dda005d5 64 float posMap[4] = {0.0f, 0.0f, 0.0f, 0.0f};
teamat 3:8708e61475fe 65
teamat 3:8708e61475fe 66 double dAngle = 0.0f;
teamat 3:8708e61475fe 67 double anSpd = 0.0f;
teamat 3:8708e61475fe 68
teamat 3:8708e61475fe 69 float timeOldPos = 0.0f;
teamat 3:8708e61475fe 70 float timeStartPos = 0.0f;
teamat 3:8708e61475fe 71
teamat 4:fd49edfabfb2 72 float angle=0.0f;
teamat 3:8708e61475fe 73 float angleOffset = 0;
teamat 3:8708e61475fe 74
teamat 4:fd49edfabfb2 75 float control = 0.0f;
teamat 4:fd49edfabfb2 76
teamat 3:8708e61475fe 77 double PIPI = 6.28;
teamat 3:8708e61475fe 78
teamat 3:8708e61475fe 79 bool canSend = false;
teamat 8:b3ce040fdebc 80 bool periodUpdated = false;
teamat 8:b3ce040fdebc 81 bool calibrated = false;
teamat 9:e8c6a414e226 82 bool dirUpdated = false;
teamat 3:8708e61475fe 83
teamat 3:8708e61475fe 84 typedef union {
teamat 4:fd49edfabfb2 85 float number[6];
teamat 4:fd49edfabfb2 86 uint8_t numberCh[24];
teamat 3:8708e61475fe 87 } my_union;
teamat 3:8708e61475fe 88
teamat 3:8708e61475fe 89 my_union myUnion;
teamat 3:8708e61475fe 90
teamat 12:ee175985ef09 91 /*bool isPendulumSwinging() {
teamat 3:8708e61475fe 92 return state == STATE_SWING_RIGHT || state == STATE_SWING_LEFT;
teamat 12:ee175985ef09 93 }*/
teamat 3:8708e61475fe 94
teamat 3:8708e61475fe 95 float getPosMM() {
teamat 3:8708e61475fe 96 //return (pos-railLength/2) * 550.0f/railLength;
teamat 3:8708e61475fe 97 //return (pos - railLength / 2) * (350.0f / railLength);
teamat 3:8708e61475fe 98 return pos / 3500.0f;
teamat 3:8708e61475fe 99 }
teamat 3:8708e61475fe 100
teamat 3:8708e61475fe 101 uint16_t getPendulumPos(){
teamat 3:8708e61475fe 102 cs=0;
teamat 3:8708e61475fe 103 wait_ms(1);
teamat 3:8708e61475fe 104 uint16_t d=spi.write((short)0x00);
teamat 3:8708e61475fe 105 d=d<<1;//fucking shithole fakebit
teamat 3:8708e61475fe 106 d=d>>6;//no need debug info
teamat 3:8708e61475fe 107 cs=1;
teamat 3:8708e61475fe 108 wait_ms(1);
teamat 3:8708e61475fe 109 return (uint16_t)d;
teamat 3:8708e61475fe 110 }
teamat 3:8708e61475fe 111
teamat 3:8708e61475fe 112
teamat 3:8708e61475fe 113 float getPendulumAngle(){
teamat 3:8708e61475fe 114 angle = getPendulumPos();
teamat 3:8708e61475fe 115 angle = angle * 6.28f / 1024.0f;
teamat 4:fd49edfabfb2 116 angle += angleOffset;
teamat 8:b3ce040fdebc 117 if (angle > 3.14) {
teamat 8:b3ce040fdebc 118 angle = angle - PIPI;
teamat 8:b3ce040fdebc 119 }
teamat 8:b3ce040fdebc 120 /*if (angle > PIPI + 0.01) {
teamat 4:fd49edfabfb2 121 angle = fmod((angle + 3.14), PIPI) - 3.14;
teamat 4:fd49edfabfb2 122 if (angle < -3.14) {
teamat 4:fd49edfabfb2 123 angle += PIPI;
teamat 4:fd49edfabfb2 124 }
teamat 9:e8c6a414e226 125 }*/
teamat 8:b3ce040fdebc 126 /*if (calibrated) {
teamat 8:b3ce040fdebc 127 float test = fmodf(angle, M_PI);
teamat 8:b3ce040fdebc 128 if (test >= 1) {
teamat 8:b3ce040fdebc 129 angle = -test;
teamat 8:b3ce040fdebc 130 } else {
teamat 8:b3ce040fdebc 131 angle = test;
teamat 8:b3ce040fdebc 132 }
teamat 8:b3ce040fdebc 133 }*/
teamat 3:8708e61475fe 134 return angle;
teamat 3:8708e61475fe 135 }
teamat 3:8708e61475fe 136
teamat 3:8708e61475fe 137
teamat 3:8708e61475fe 138 /*
teamat 3:8708e61475fe 139 ANGULAR SPEED CALC
teamat 3:8708e61475fe 140 */
teamat 3:8708e61475fe 141
teamat 3:8708e61475fe 142 void getDeltaAng(){
teamat 3:8708e61475fe 143
teamat 3:8708e61475fe 144 angularPosNew = getPendulumAngle();
teamat 3:8708e61475fe 145
teamat 3:8708e61475fe 146 dAngle = fmod((angularPosNew - angularPosOld + 3.14), PIPI) - 3.14;
teamat 3:8708e61475fe 147 if (dAngle < -3.14) {
teamat 3:8708e61475fe 148 dAngle += PIPI;
teamat 3:8708e61475fe 149 }
teamat 3:8708e61475fe 150
teamat 3:8708e61475fe 151 angularPosOld = angularPosNew;
teamat 3:8708e61475fe 152
teamat 3:8708e61475fe 153 }
teamat 3:8708e61475fe 154
teamat 3:8708e61475fe 155 void getAngularSpeed(){
teamat 3:8708e61475fe 156 float deltaTime;
teamat 3:8708e61475fe 157
teamat 3:8708e61475fe 158 timeStart = float(t.read());
teamat 3:8708e61475fe 159 deltaTime = (timeStart - timeOld);
teamat 3:8708e61475fe 160 getDeltaAng();
teamat 3:8708e61475fe 161 anSpd = dAngle / deltaTime;
teamat 3:8708e61475fe 162 timeOld=timeStart;
teamat 3:8708e61475fe 163 //взятие по модулю, спросить
teamat 3:8708e61475fe 164 }
teamat 3:8708e61475fe 165
teamat 3:8708e61475fe 166 /*
teamat 3:8708e61475fe 167 SPEED CALC
teamat 3:8708e61475fe 168 */
teamat 3:8708e61475fe 169
teamat 12:ee175985ef09 170 /*void calcSpeed() {
teamat 7:ca62dda005d5 171 /*posMap[posCounter] = getPosMM() / 1000;
teamat 7:ca62dda005d5 172 if (posCounter == 3) {
teamat 7:ca62dda005d5 173 posCounter = 0;
teamat 7:ca62dda005d5 174 float pathSum = 0;
teamat 7:ca62dda005d5 175 for (int i = 0; i < 3; i++) {
teamat 7:ca62dda005d5 176 float pathDiff = posMap[i + 1] - posMap[i];
teamat 7:ca62dda005d5 177 if ((pathDiff) < 0) {
teamat 7:ca62dda005d5 178 pathSum += -pathDiff;
teamat 7:ca62dda005d5 179 } else {
teamat 7:ca62dda005d5 180 pathSum += pathDiff;
teamat 7:ca62dda005d5 181 }
teamat 7:ca62dda005d5 182 }
teamat 7:ca62dda005d5 183 speed = pathSum;
teamat 7:ca62dda005d5 184 } else {
teamat 7:ca62dda005d5 185 posCounter += 1;
teamat 7:ca62dda005d5 186 }*/
teamat 4:fd49edfabfb2 187
teamat 12:ee175985ef09 188 /*void calcControl() {
teamat 6:999e8ae7d969 189 //float frequency = 1000000 / (period_us / 2);
teamat 6:999e8ae7d969 190 //float rates = frequency / 6400;
teamat 6:999e8ae7d969 191 //control = rates * PIPI * radius;
teamat 8:b3ce040fdebc 192 if (dir = DIR_RIGHT) {
teamat 8:b3ce040fdebc 193 control = -period_us;
teamat 8:b3ce040fdebc 194 } else {
teamat 8:b3ce040fdebc 195 control = period_us;
teamat 8:b3ce040fdebc 196 }
teamat 12:ee175985ef09 197 }*/
teamat 3:8708e61475fe 198
teamat 3:8708e61475fe 199
teamat 3:8708e61475fe 200
teamat 3:8708e61475fe 201 void stepperFlip() {
teamat 12:ee175985ef09 202 if (timerCounter * timer_period_us > period_us) {
teamat 12:ee175985ef09 203 timerCounter = 0;
teamat 12:ee175985ef09 204 if (state != STATE_WAITING && state != STATE_ERROR && state != STATE_INIT && state){
teamat 12:ee175985ef09 205 RCout = !RCout;
teamat 12:ee175985ef09 206 pos += (dir.read() * 2 - 1);
teamat 12:ee175985ef09 207 }
teamat 12:ee175985ef09 208 if (state == STATE_GOTO_MIDDLE && pos == railLength / 2) {
teamat 12:ee175985ef09 209 posOffset = 40;
teamat 12:ee175985ef09 210 state = STATE_WAITING;
teamat 12:ee175985ef09 211 }
teamat 12:ee175985ef09 212 if (state == STATE_SWING_LEFT && state==STATE_SWING_RIGHT) {
teamat 12:ee175985ef09 213 pos += (dir.read() * 2 - 1);
teamat 12:ee175985ef09 214 RCout = !RCout;
teamat 12:ee175985ef09 215 }
teamat 12:ee175985ef09 216 } else {
teamat 12:ee175985ef09 217 timerCounter += 1;
teamat 3:8708e61475fe 218 }
teamat 3:8708e61475fe 219 }
teamat 3:8708e61475fe 220
teamat 3:8708e61475fe 221
teamat 12:ee175985ef09 222 /*void updatePeriod(){
teamat 12:ee175985ef09 223 tick.detach();
teamat 3:8708e61475fe 224 tick.attach_us (&stepperFlip, period_us / 2.0f);
teamat 12:ee175985ef09 225 wait_ms(20);
teamat 12:ee175985ef09 226 }*/
teamat 3:8708e61475fe 227
teamat 3:8708e61475fe 228 void leftEnd() {
teamat 3:8708e61475fe 229 dir = DIR_RIGHT;
teamat 3:8708e61475fe 230 if (state == STATE_GOTO_START) {
teamat 3:8708e61475fe 231 state = STATE_GOTO_END_COUNTING;
teamat 3:8708e61475fe 232 pos = 0;
teamat 3:8708e61475fe 233 }
teamat 12:ee175985ef09 234 /* else if (isPendulumSwinging()) {
teamat 9:e8c6a414e226 235 //state = STATE_GOTO_MIDDLE;
teamat 3:8708e61475fe 236 //angleOffset -= 0.006191;
teamat 9:e8c6a414e226 237 state = STATE_ERROR;
teamat 12:ee175985ef09 238 }*/
teamat 9:e8c6a414e226 239 if (state == STATE_GOTO_SWING) {
teamat 9:e8c6a414e226 240 state = STATE_ERROR;
teamat 9:e8c6a414e226 241 }
teamat 3:8708e61475fe 242 }
teamat 3:8708e61475fe 243
teamat 3:8708e61475fe 244 void rightEnd() {
teamat 3:8708e61475fe 245 dir=DIR_LEFT;
teamat 3:8708e61475fe 246 if (state == STATE_GOTO_END_COUNTING) {
teamat 3:8708e61475fe 247 railLength=pos;
teamat 3:8708e61475fe 248 state = STATE_GOTO_MIDDLE;
teamat 3:8708e61475fe 249 }
teamat 12:ee175985ef09 250 /* else if (isPendulumSwinging()) {
teamat 9:e8c6a414e226 251 //state = STATE_GOTO_MIDDLE;
teamat 3:8708e61475fe 252 //angleOffset += 0.006191;
teamat 9:e8c6a414e226 253 state = STATE_ERROR;
teamat 12:ee175985ef09 254 }*/
teamat 9:e8c6a414e226 255 if (state == STATE_GOTO_SWING) {
teamat 9:e8c6a414e226 256 state = STATE_ERROR;
teamat 3:8708e61475fe 257 }
teamat 3:8708e61475fe 258 }
teamat 3:8708e61475fe 259
teamat 3:8708e61475fe 260
teamat 3:8708e61475fe 261 void sendData() {
teamat 3:8708e61475fe 262 myUnion.number[0] = t.read();
teamat 8:b3ce040fdebc 263 myUnion.number[1] = (getPosMM()- posOffset) / 1000 ;
teamat 4:fd49edfabfb2 264 myUnion.number[2] = speed;
teamat 4:fd49edfabfb2 265 //myUnion.number[3] = dAngle;
teamat 4:fd49edfabfb2 266 myUnion.number[3] = angle;
teamat 3:8708e61475fe 267 myUnion.number[4] = anSpd;
teamat 4:fd49edfabfb2 268 myUnion.number[5] = control;
teamat 4:fd49edfabfb2 269 for(int i = 0; i < 24; i++) {
teamat 3:8708e61475fe 270 rpc.putc(myUnion.numberCh[i]);
teamat 3:8708e61475fe 271 }
teamat 3:8708e61475fe 272 }
teamat 3:8708e61475fe 273
teamat 10:ca38e4d775c8 274
teamat 12:ee175985ef09 275 void changeDir() {
teamat 12:ee175985ef09 276 if (dir == DIR_LEFT) {
teamat 12:ee175985ef09 277 dir = DIR_RIGHT;
teamat 12:ee175985ef09 278 } else {
teamat 12:ee175985ef09 279 dir = DIR_LEFT;
teamat 12:ee175985ef09 280 }
teamat 12:ee175985ef09 281 }
teamat 12:ee175985ef09 282
teamat 12:ee175985ef09 283 int command[2] = {0, 0};
teamat 12:ee175985ef09 284 bool newData = false;
teamat 10:ca38e4d775c8 285
teamat 3:8708e61475fe 286 void Rx_interrupt() {
teamat 12:ee175985ef09 287 data[cmdIndex] = rpc.getc();
teamat 12:ee175985ef09 288 if (cmdIndex == 1) {
teamat 12:ee175985ef09 289 newData = true;
teamat 12:ee175985ef09 290 }
teamat 12:ee175985ef09 291 cmdIndex = !cmdIndex;
teamat 12:ee175985ef09 292 /*command[0] = rpc.getc();
teamat 12:ee175985ef09 293 if (command[0] == 50) {
teamat 12:ee175985ef09 294 canSend = true;
teamat 12:ee175985ef09 295 }*/
teamat 12:ee175985ef09 296 /* command[1] = rpc.getc();
teamat 12:ee175985ef09 297 switch (command[0]) {
teamat 8:b3ce040fdebc 298 case 50:
teamat 8:b3ce040fdebc 299 canSend = true;
teamat 8:b3ce040fdebc 300 break;
teamat 8:b3ce040fdebc 301 case 60:
teamat 12:ee175985ef09 302 swingTicker.attach(changeDir, 2);
teamat 8:b3ce040fdebc 303 state = STATE_GOTO_SWING;
teamat 8:b3ce040fdebc 304 break;
teamat 8:b3ce040fdebc 305 case 70:
teamat 12:ee175985ef09 306 period_us = command[1];
teamat 8:b3ce040fdebc 307 break;
teamat 8:b3ce040fdebc 308 default:
teamat 12:ee175985ef09 309 break;
teamat 12:ee175985ef09 310 } */
teamat 3:8708e61475fe 311 }
teamat 3:8708e61475fe 312
teamat 12:ee175985ef09 313 void proceedCommands() {
teamat 12:ee175985ef09 314 newData = false;
teamat 12:ee175985ef09 315 switch (data[0]) {
teamat 12:ee175985ef09 316 case 50:
teamat 12:ee175985ef09 317 canSend = true;
teamat 12:ee175985ef09 318 break;
teamat 12:ee175985ef09 319 case 60:
teamat 12:ee175985ef09 320 /*swingTicker.attach(changeDir, 2);
teamat 12:ee175985ef09 321 state = STATE_GOTO_SWING;*/
teamat 12:ee175985ef09 322 break;
teamat 12:ee175985ef09 323 case 70:
teamat 12:ee175985ef09 324 period_us = data[1];
teamat 12:ee175985ef09 325 control = period_us;
teamat 12:ee175985ef09 326 break;
teamat 12:ee175985ef09 327 default:
teamat 12:ee175985ef09 328 break;
teamat 12:ee175985ef09 329 }
teamat 12:ee175985ef09 330 }
teamat 12:ee175985ef09 331
teamat 12:ee175985ef09 332 /*void govnina() {
teamat 12:ee175985ef09 333 if (timerCounter * timer_period_us > period_us) {
teamat 12:ee175985ef09 334 led = !led;
teamat 12:ee175985ef09 335 timerCounter = 0;
teamat 12:ee175985ef09 336 } else {
teamat 12:ee175985ef09 337 timerCounter += 1;
teamat 12:ee175985ef09 338 }
teamat 11:6bbe8da4b16a 339 }*/
teamat 11:6bbe8da4b16a 340
teamat 12:ee175985ef09 341
teamat 12:ee175985ef09 342
teamat 3:8708e61475fe 343 int main() {
teamat 3:8708e61475fe 344 RCout = 1;
teamat 3:8708e61475fe 345 wait_ms(500);
teamat 3:8708e61475fe 346 spi.format(16,2);
teamat 3:8708e61475fe 347 spi.frequency(1000000);
teamat 3:8708e61475fe 348 t.start();
teamat 3:8708e61475fe 349 leftSwitch.rise(&leftEnd);
teamat 3:8708e61475fe 350 rightSwitch.rise(&rightEnd);
teamat 4:fd49edfabfb2 351 rpc.attach(&Rx_interrupt, Serial::RxIrq);
teamat 3:8708e61475fe 352 for (int i=5; i>0; i--) {
teamat 3:8708e61475fe 353 getPendulumAngle();
teamat 3:8708e61475fe 354 wait_ms(500);
teamat 3:8708e61475fe 355 }
teamat 4:fd49edfabfb2 356 angleOffset= 3.14 - angle;
teamat 8:b3ce040fdebc 357 calibrated = true;
teamat 8:b3ce040fdebc 358 //wait(12);
teamat 12:ee175985ef09 359 //wait(3);
teamat 11:6bbe8da4b16a 360 //updatePeriod();
teamat 12:ee175985ef09 361 //calcControl();
teamat 12:ee175985ef09 362 tick.attach_us(stepperFlip, timer_period_us);
teamat 3:8708e61475fe 363 state=STATE_GOTO_START;
teamat 3:8708e61475fe 364 dir=DIR_LEFT;
teamat 12:ee175985ef09 365 swingTicker.attach(changeDir, 2);
teamat 3:8708e61475fe 366 while(1) {
teamat 4:fd49edfabfb2 367 getAngularSpeed();
teamat 8:b3ce040fdebc 368 if (canSend) {
teamat 3:8708e61475fe 369 sendData();
teamat 3:8708e61475fe 370 }
teamat 12:ee175985ef09 371 if (newData) {
teamat 12:ee175985ef09 372 proceedCommands();
teamat 12:ee175985ef09 373 }
teamat 12:ee175985ef09 374 /*if (periodUpdated) {
teamat 8:b3ce040fdebc 375 calcControl();
teamat 12:ee175985ef09 376 updatePeriod();
teamat 8:b3ce040fdebc 377 periodUpdated = false;
teamat 12:ee175985ef09 378 }*/
teamat 3:8708e61475fe 379 switch(state) {
teamat 3:8708e61475fe 380 case STATE_WAITING:
teamat 8:b3ce040fdebc 381 //state = STATE_GOTO_SWING;
teamat 3:8708e61475fe 382 break;
teamat 3:8708e61475fe 383 case STATE_GOTO_START:
teamat 3:8708e61475fe 384 break;
teamat 3:8708e61475fe 385 case STATE_GOTO_END_COUNTING:
teamat 3:8708e61475fe 386 break;
teamat 3:8708e61475fe 387 case STATE_GOTO_SWING:
teamat 9:e8c6a414e226 388 //speedTicker.attach(calcSpeed, 1);
teamat 8:b3ce040fdebc 389 //swingTicker.attach(getSwingDirectory, 1);
teamat 8:b3ce040fdebc 390 //state = STATE_SWING_LEFT;
teamat 3:8708e61475fe 391 break;
teamat 3:8708e61475fe 392 case STATE_SWING_LEFT:
teamat 9:e8c6a414e226 393 /*if (swingCounter == 6) {
teamat 9:e8c6a414e226 394 swingCounter = 0;
teamat 9:e8c6a414e226 395 period_us += 4;
teamat 9:e8c6a414e226 396 periodUpdated = true;
teamat 9:e8c6a414e226 397 }*/
teamat 3:8708e61475fe 398 break;
teamat 3:8708e61475fe 399 case STATE_SWING_RIGHT:
teamat 9:e8c6a414e226 400 /*if (swingCounter == 6) {
teamat 9:e8c6a414e226 401 swingCounter = 0;
teamat 9:e8c6a414e226 402 period_us += 4;
teamat 9:e8c6a414e226 403 periodUpdated = true;
teamat 9:e8c6a414e226 404 }*/
teamat 3:8708e61475fe 405 break;
teamat 3:8708e61475fe 406 default:
teamat 3:8708e61475fe 407 break;
teamat 3:8708e61475fe 408 }
teamat 3:8708e61475fe 409 }
teamat 3:8708e61475fe 410 }