Revision 5:40c7f784a1f9, committed 2021-12-20
- Comitter:
- tks1
- Date:
- Mon Dec 20 08:40:23 2021 +0000
- Parent:
- 4:e1aa0b348aeb
- Commit message:
- 10 20 30 40 + move uart sample;
Changed in this revision
diff -r e1aa0b348aeb -r 40c7f784a1f9 HCSR04.lib
--- a/HCSR04.lib Sun Dec 19 15:43:05 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/prabhuvd/code/HCSR04/#71da0dbf4400
diff -r e1aa0b348aeb -r 40c7f784a1f9 main.cpp
--- a/main.cpp Sun Dec 19 15:43:05 2021 +0000
+++ b/main.cpp Mon Dec 20 08:40:23 2021 +0000
@@ -1,628 +1,28 @@
-//2021/12/18更新
-//YUKA本番機用プログラム
-//入力切替確認済み
-//一定時間の入力なしで動作切替
-//ジグザグ動作実装前
-//エンコーダ読み取りによる入力
-//加減速度調整パラメータ実装
-//PID制御による機体角度補正_
-//aoki
-
#include "mbed.h"
-#include "hcsr04.h"
-
-#define ACC_B 1000
-#define DEC_B 700
-#define ACC_C 1000
-#define DEC_C 1000
-
-#define KICK 2000
-
-
-
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-
-Timer t;
-double Time = 0;
-#define Standby_Time 10
-Serial pc(USBTX, USBRX);
-char Serialdata;
-BusOut myled(LED1, LED2, LED3, LED4);
-
-//HCSR04 u1(p13, p14), u2(p11, p12), u3(p23, p24), u4(p25, p26); // Trigger(DO), Echo(PWMIN); LPC1768
-HCSR04 u1(PA_0, PA_1),u2(PA_5, PA_6),u3(PB_0, PA_10); // Trigger(DO), Echo(PWMIN); f303k8
-
-CANMessage canmsgTx;
-CANMessage canmsgRx;
-//CAN canPort(p30, p29); //CAN name(PinName rd, PinName td) LPC1768
-CAN canPort(PA_11, PA_12); //CAN name(PinName rd, PinName td) F303k8
-
-//プロトタイプ宣言
-//------------------send関数-------------------
-//mode Setting
-void sendOPModeT(int); //Operating Mode
-void sendOPModeV(int); //Operating Mode
-//Control Word
-void sendCtrlRS(int); //Reset
-void sendCtrlSD(int); //Shutdown
-void sendCtrlEN(int); //Switch on & Enable
-void sendCtrlQS(int); //Quick Stop
-void sendCtrlHL(int); //Halt
-//Velocity Setting
-void sendTgtVel(int,int); //Target Velocity
-//Torque Setting
-void sendTgtTrq(int,int); //Target Torque
-//Acceleration Setting
-void sendProAcc(int,int); //Plof Acceleration
-void sendProDec(int,int); //Plof Deceleration
-//------------------read関数-------------------
-void readActVel(int); //Actual Velocity
-void readActPos(int); //Actual Position
-//-------------------その他--------------------
-void printCANTX(void); //CAN送信データをPCに表示
-void printCANRX(void); //CAN受信データをPCに表示
-void CANdataRX(void); //CAN受信処理
-void SerialRX(void); //Serial受信処理
-//---------------------------------------------
-void set_ACC(int);
-void set_DEC(int);
-void set_MODE_V(void);
-void set_MODE_T(void);
-
-int nodeall=4;
-
+Serial LED(PB_6,PB_7);
int main(){
- //Serial
- pc.attach(SerialRX);
- //pc.baud(115200);
-
- //CAN
- canPort.frequency(1000000); //Bit Rate:1MHz
- canPort.attach(CANdataRX,CAN::RxIrq);
- int node1 = 1; //CAN node Setting
- int node2 = 2;
- int node3 = 3;
- int node4 = 4;
-
- //モータ回転数
- int rpm = 600;
-
- //各モータ回転数
- int rpm1 = rpm; //Velocity Setting[rpm]
- int rpm2 = rpm; //Velocity Setting[rpm]
- int rpm3 = rpm; //Velocity Setting[rpm]
- int rpm4 = rpm; //Velocity Setting[rpm]
-
- //エンコーダ関係
- int ActPos = 0;
- int Init_Pos = 0;
-
- //超音波センサ関係パラメータ
- int max_rpm = rpm + 200;
- int min_rpm = rpm -200;
- int wall_distance = 0;
- int dist1, dist2,dist3, dist4;
-
-
- //PID制御関係
- //角度調整パラメータ
- int p1, i1, d1;
- int error_before1 = 0;
- int error_now1 = 0;
- int feedback_val1;
- int integral1;
- int pid_sum1;
- #define DELTA_T1 0.1
- #define target_val1 0
- #define Kp1 3
- #define Ki1 0
- #define Kd1 0
-
- pc.printf("YUKA PROGRAM START\r\n");
- wait(0.1);
- //-------------起動時に必ず送信---------------
- //オペレーティングモードを送信
- sendOPModeT(node1);
- sendOPModeT(node2);
- sendOPModeT(node3);
- sendOPModeT(node4);
-
- //Shutdown,Enableコマンド送信｜リセット
- sendCtrlSD(node1);
- sendCtrlSD(node2);
- sendCtrlSD(node3);
- sendCtrlSD(node4);
-
- sendCtrlEN(node1);
- sendCtrlEN(node2);
- sendCtrlEN(node3);
- sendCtrlEN(node4);
-
- //初期加減速度
- int Acc = 2000;
- int Dec = 2000;
-
- sendProAcc(1,Acc);
- sendProAcc(2,Acc);
- sendProAcc(3,Acc);
- sendProAcc(4,Acc);
-
- sendProDec(1,Dec);
- sendProDec(2,Dec);
- sendProDec(3,Dec);
- sendProDec(4,Dec);
-
- //トルク設定
- int trq = 100; //torque Setting[mA]
-
- sendTgtTrq(1,trq);
- sendTgtTrq(2,trq);
- sendTgtTrq(3,trq);
- sendTgtTrq(4,trq);
-
- while(1){
-
- ActPos = 0;
- Init_Pos = 0;
- dist1 = 0;
- readActPos(1);
- ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
- if(ActPos > 8388608){
- ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
- }
- Init_Pos = ActPos;//起動時の角度を保存
- t.reset();
- t.start();
-
- while(1){
-
- Time = t.read();
-
- readActPos(1);
- ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
- if(ActPos > 8388608){
- ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
- //printf("check\r\n");
- }
- u1.start();
- u2.start();
-
- dist1 = u1.get_dist_cm();
- dist2 = u2.get_dist_cm();
-
- printf("dsit1 %d\r\n",dist1);
- /*--------------------------*/
- //前方向に入力があった時
- if(0){//ActPos < Init_Pos - KICK){
-
- set_ACC(ACC_B);
- set_DEC(ACC_C);
-
- //速度制御モード送信
- set_MODE_V();
-
- while(1){
-
- u1.start();
- u2.start();
- dist1 = u1.get_dist_cm();
- dist2 = u2.get_dist_cm();
-
- //速度を指定
- sendTgtVel(1,rpm*(-1));
- sendTgtVel(2,rpm*(-1));
- sendTgtVel(3,rpm);
- sendTgtVel(4,rpm);
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-
- if(dist1 < 100 && dist1 >= 70){
- break;
- }
- printf("dsit1 %d\r\n",dist1);
- }
-
- //速度を指定
- sendTgtVel(1,0);
- sendTgtVel(2,0);
- sendTgtVel(3,0);
- sendTgtVel(4,0);
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
- //実行時間
- printf("stop!!\r\n");
- wait(5.0);
-
- //printf("2\r\n");
-
- //速度を指定
-
- while(1){
- readActPos(1);
- ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
- if(ActPos > 8388608){
- ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
- //printf("check\r\n");
- }
-
- if(ActPos > -10000){
- break;
- }
-
- sendTgtVel(1,rpm);
- sendTgtVel(2,rpm);
- sendTgtVel(3,rpm*(-1));
- sendTgtVel(4,rpm*(-1));
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
- //printf("3\r\n");
- }
-
- //ブレーキ
- sendTgtVel(1,0);
- sendTgtVel(2,0);
- sendTgtVel(3,0);
- sendTgtVel(4,0);
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-
- wait(0.5);
-
- set_MODE_T();
-
- dist1 = 0;
-
- wait(3.0);
- break;
- }
-
- /*--------------------------*/
-
- /*--------------------------*/
- //右方向に入力があった時
-
- }
- wait(0.5);
- }
-}
-
-void set_ACC(int setACC_val){
- sendProAcc(1,setACC_val);
- sendProAcc(2,setACC_val);
- sendProAcc(3,setACC_val);
- sendProAcc(4,setACC_val);
-}
-
-void set_DEC(int setDEC_val){
- sendProDec(1,setDEC_val);
- sendProDec(2,setDEC_val);
- sendProDec(3,setDEC_val);
- sendProDec(4,setDEC_val);
-}
+ LED.baud(9600);
+ while(1){
+ LED.putc(10);
+ //LED.printf("37");
-void set_MODE_V(){
- sendOPModeV(1);
- sendOPModeV(2);
- sendOPModeV(3);
- sendOPModeV(4);
-}
-
-void set_MODE_T(){
- sendOPModeT(1);
- sendOPModeT(2);
- sendOPModeT(3);
- sendOPModeT(4);
-}
-
-//0x2F-6060-00-fd-//-//-//
-void sendOPModeT(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 5; //Data Length
- canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x60;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0xFD;//data:fd = "current Mode"
- /*
- canmsgTx.data[5] = 0x00;//data:(user value)
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-
-//0x2F-6060-00-03-//-//-//
-void sendOPModeV(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 5; //Data Length
- canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x60;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x03;//data:0x03 = "Profile Velocity Mode"
- /*
- canmsgTx.data[5] = 0x00;//data:(user value)
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-0000-//-//
-void sendCtrlRS(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x80;//data:0x00"80" = "Controlword(Shutdown)"
- canmsgTx.data[5] = 0x00;//data:0x"00"80
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-
-//0x2B-6040-00-0006-//-//
-void sendCtrlSD(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x06;//data:0x00"06" = "Controlword(Shutdown)"
- canmsgTx.data[5] = 0x00;//data:0x"00"06
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-000F-//-//
-void sendCtrlEN(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x0F;//data:0x00"0F" = "Controlword(Enable)"
- canmsgTx.data[5] = 0x00;//data:0x"00"0F
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- //printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-000B-//-//
-void sendCtrlQS(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x0B;//data:0x00"0B" = "Quick Stop"
- canmsgTx.data[5] = 0x00;//data:0x"00"0B
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-010F-//-//
-void sendCtrlHL(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x0F;//data:0x01"0F" = "Halt"
- canmsgTx.data[5] = 0x01;//data:0x"01"0F
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-60FF-00-[user data(4Byte)]
-void sendTgtTrq(int nodeID,int trq){
- //pc.printf("%dmA0x%08x\r\n",trq,trq); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x30;//Index LowByte 71
- canmsgTx.data[2] = 0x20;//Index HighByte 60
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
- if(trq<0){
- trq=0xFFFF+trq+1;
+ //wait_ms(100);
+ wait(2);
+ LED.putc(20);
+ wait(2);
+ LED.putc(30);
+ wait(2);
+ LED.putc(40);
+ wait(2);
+
+ /*
+ wait(5);
+ LED.printf("down\n\r");
+ wait(5);
+ LED.printf("right\n\r");
+ wait(5);
+ LED.printf("left\n\r");
+ wait(5);
+ */
}
-
- //pc.printf("iii%d\r\n",trq);
- //canmsgTx.data[7]=((trq>>24)&0xFF);
- //canmsgTx.data[6]=((trq>>16)&0xFF);
-
- canmsgTx.data[5]=((trq>>8)&0xFF);
- canmsgTx.data[4]=((trq>>0)&0xFF);
- //printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(2);
- //send Enable
- //pc.printf("Send Enable Command\r\n");
- //sendCtrlEN(nodeID);
- //wait(0.5);
-}
-
-
-
-
-//0x2B-60FF-00-[user data(4Byte)]
-void sendTgtVel(int nodeID,int rpm){
- //pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 8; //Data Length
- canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0xFF;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
-
- //pc.printf("%d\r\n",rpm);
- if(rpm<0){
- rpm=0xFFFFFFFF+rpm+1;
- }
- canmsgTx.data[7]=((rpm>>24)&0xFF);
- canmsgTx.data[6]=((rpm>>16)&0xFF);
- canmsgTx.data[5]=((rpm>>8)&0xFF);
- canmsgTx.data[4]=((rpm>>0)&0xFF);
-
- //printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-
-}
-
-void readActVel(int nodeID){
- //値が欲しいobjectのアドレスを送る
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 4; //Data Length
- canmsgTx.data[0] = 0x40;//|0Byte:40|
- canmsgTx.data[1] = 0x6C;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canPort.write(canmsgTx);
- wait_ms(1);
-}
-
-void readActPos(int nodeID){
- //値が欲しいobjectのアドレスを送る
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 4; //Data Length
- canmsgTx.data[0] = 0x40;//|0Byte:40|
- canmsgTx.data[1] = 0x64;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canPort.write(canmsgTx);
- wait_ms(1);
-}
-
-//加速度指定
-void sendProAcc(int nodeID,int rpm){
- if(rpm < 0){
- rpm += 0xFFFFFFFF;
- }
-// pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 8; //Data Length
- canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x83;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
- canmsgTx.data[4] = (rpm >> 0) & 0xFF;
- canmsgTx.data[5] = (rpm >> 8) & 0xFF;
- canmsgTx.data[6] = (rpm >> 16) & 0xFF;
- canmsgTx.data[7] = (rpm >> 24) & 0xFF;
-// printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait(0.01);
- //send Enable
-// pc.printf("Send Enable Command\r\n");
- sendCtrlEN(nodeID);
- wait(0.01);
-}
-
-//減速度指定
-void sendProDec(int nodeID,int rpm){
- if(rpm < 0){
- rpm += 0xFFFFFFFF;
- }
-// pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 8; //Data Length
- canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x84;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
- canmsgTx.data[4] = (rpm >> 0) & 0xFF;
- canmsgTx.data[5] = (rpm >> 8) & 0xFF;
- canmsgTx.data[6] = (rpm >> 16) & 0xFF;
- canmsgTx.data[7] = (rpm >> 24) & 0xFF;
-// printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait(0.01);
- //send Enable
-// pc.printf("Send Enable Command\r\n");
- sendCtrlEN(nodeID);
- wait(0.01);
-}
-
-
-//送信データの表示
-void printCANTX(void){
- //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
- pc.printf("0x%3x|",canmsgTx.id);
- for(char i=0;i < canmsgTx.len;i++){
- pc.printf("%02x|",canmsgTx.data[i]);
- }
- //pc.printf("\r\n");
-}
-
-//受信データの表示
-
-void printCANRX(void){
- //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
- //pc.printf("0x%3x|",canmsgRx.id);
- for(char i=0;i < canmsgRx.len;i++){
- //pc.printf("%02x|",canmsgRx.data[i]);
- }
- pc.printf("\r\n");
-}
-
-void CANdataRX(void){
- canPort.read(canmsgRx);
- printCANRX();
-}
-
-void SerialRX(void){
- Serialdata = pc.getc();
- //pc.printf("%c\r\n",Serialdata);
-}
-
-
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+}
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