Vam GE / Mbed 2 deprecated VAM_CYCLE_2_DO_NOT_EDIT

Cycle Testing

Dependencies:   Stepper mbed HCSR04 millis

main.cpp@9:5263aacbda53, 2019-01-21 (annotated)

Committer:
vamgehealthcare11
Date:
Mon Jan 21 19:54:15 2019 +0000
Revision:
9:5263aacbda53
Parent:
8:a7b443aee89b
Child:
10:4c3a8f835bef
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rschimpf78 2:e8f8095464cf 1 #include "mbed.h"
rschimpf78 2:e8f8095464cf 2 #include "Stepper.h"
rschimpf78 2:e8f8095464cf 3 #include "string"
rschimpf78 3:fd2ca631ab44 4 #include "hcsr04.h"
rschimpf78 5:e958d61e0564 5 #include "millis.h"
rschimpf78 6:6ca8a0ef7d4a 6
rschimpf78 3:fd2ca631ab44 7 Serial pc(USBTX, USBRX);
vamgehealthcare11 9:5263aacbda53 8 HCSR04 heightsensor(PTD2,PTD3);
rschimpf78 6:6ca8a0ef7d4a 9 HCSR04 pathsensor(PTC2,PTA2); //(trig,echo)
rschimpf78 3:fd2ca631ab44 10 DigitalOut in1(PTC12);
rschimpf78 3:fd2ca631ab44 11 DigitalOut in2(D7);
rschimpf78 6:6ca8a0ef7d4a 12 DigitalIn magnetSwitch(D10);
vamgehealthcare11 9:5263aacbda53 13 DigitalIn homeSwitch(D9);
vamgehealthcare11 9:5263aacbda53 14 Stepper mot(D3,D4);
rschimpf78 2:e8f8095464cf 15 DigitalOut en(D2);
rschimpf78 0:88834eed3de0 16
vamgehealthcare11 9:5263aacbda53 17 int main(){
vamgehealthcare11 9:5263aacbda53 18 LOOPY:
vamgehealthcare11 9:5263aacbda53 19 en = 1;
vamgehealthcare11 9:5263aacbda53 20 in1 = 1;
vamgehealthcare11 9:5263aacbda53 21 in2 = 1;
vamgehealthcare11 9:5263aacbda53 22 magnetSwitch.mode(PullUp);
vamgehealthcare11 9:5263aacbda53 23 wait (.01);
vamgehealthcare11 9:5263aacbda53 24 homeSwitch.mode(PullUp);
vamgehealthcare11 9:5263aacbda53 25 wait (0.01);
vamgehealthcare11 9:5263aacbda53 26 int command;
vamgehealthcare11 9:5263aacbda53 27
vamgehealthcare11 9:5263aacbda53 28 while(1){
vamgehealthcare11 9:5263aacbda53 29
vamgehealthcare11 9:5263aacbda53 30 pc.printf("\nCommand:\n\n\t1\tSend Plates\n\t2\tDetect Active Plates\n\t3\tRetract All Active Plates\n\t4\tSelect Plates\n\n");
vamgehealthcare11 9:5263aacbda53 31 pc.printf("\nRequest: ");
vamgehealthcare11 9:5263aacbda53 32 pc.scanf("%d",&command);
rschimpf78 0:88834eed3de0 33
vamgehealthcare11 9:5263aacbda53 34 if (command==1){
rschimpf78 3:fd2ca631ab44 35
vamgehealthcare11 9:5263aacbda53 36 int plates = 0;
vamgehealthcare11 9:5263aacbda53 37 unsigned int dist;
vamgehealthcare11 9:5263aacbda53 38 int platedist;
rschimpf78 3:fd2ca631ab44 39
vamgehealthcare11 9:5263aacbda53 40 while(plates<=0 || plates>16){
vamgehealthcare11 9:5263aacbda53 41 pc.printf("\nEnter Number of Plates to Send 0-16: ");
vamgehealthcare11 9:5263aacbda53 42 pc.scanf("%d",&plates);
vamgehealthcare11 9:5263aacbda53 43
vamgehealthcare11 9:5263aacbda53 44 if (plates > 16 || plates < 0 ){
vamgehealthcare11 9:5263aacbda53 45 pc.printf("\nInvalid Entry");
vamgehealthcare11 9:5263aacbda53 46 }
vamgehealthcare11 9:5263aacbda53 47 else{
vamgehealthcare11 9:5263aacbda53 48 pc.printf("\nPlates Requested: %ld", plates);
vamgehealthcare11 9:5263aacbda53 49 }
rschimpf78 3:fd2ca631ab44 50 }
rschimpf78 3:fd2ca631ab44 51
vamgehealthcare11 9:5263aacbda53 52 if (magnetSwitch == 1){
vamgehealthcare11 9:5263aacbda53 53 pc.printf("\nNot in Home Position");
vamgehealthcare11 9:5263aacbda53 54 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 55 }
vamgehealthcare11 9:5263aacbda53 56 else{
vamgehealthcare11 9:5263aacbda53 57 wait(1);
vamgehealthcare11 9:5263aacbda53 58 in1=1;
vamgehealthcare11 9:5263aacbda53 59 in2=0;
vamgehealthcare11 9:5263aacbda53 60 wait_ms(900);
vamgehealthcare11 9:5263aacbda53 61 in1=1;
vamgehealthcare11 9:5263aacbda53 62 in2=1;
vamgehealthcare11 9:5263aacbda53 63 }
vamgehealthcare11 9:5263aacbda53 64
vamgehealthcare11 9:5263aacbda53 65 platedist = (468-24*plates);
vamgehealthcare11 9:5263aacbda53 66 wait(1);
vamgehealthcare11 9:5263aacbda53 67 heightsensor.start();
vamgehealthcare11 9:5263aacbda53 68 wait_ms(500);
vamgehealthcare11 9:5263aacbda53 69 dist = heightsensor.get_dist_cm();
vamgehealthcare11 9:5263aacbda53 70 millisStart();
vamgehealthcare11 9:5263aacbda53 71 long durationSM = 0;
vamgehealthcare11 9:5263aacbda53 72 long starttimeSM = millis();
vamgehealthcare11 9:5263aacbda53 73 pc.printf("\nPlate Distance:%ld",platedist);
vamgehealthcare11 9:5263aacbda53 74 pc.printf("\nSelector Height:%ld",dist);
vamgehealthcare11 9:5263aacbda53 75
vamgehealthcare11 9:5263aacbda53 76 while(dist < platedist-2 || dist > platedist+2 && dist < 480 && durationSM <56000){
vamgehealthcare11 9:5263aacbda53 77
vamgehealthcare11 9:5263aacbda53 78 heightsensor.start();
vamgehealthcare11 9:5263aacbda53 79 dist = heightsensor.get_dist_cm();
vamgehealthcare11 9:5263aacbda53 80 long currenttimeSM = millis();
vamgehealthcare11 9:5263aacbda53 81 durationSM = currenttimeSM-starttimeSM;
vamgehealthcare11 9:5263aacbda53 82 pc.printf("\nSelector Height:%ld",dist);
vamgehealthcare11 9:5263aacbda53 83 en = 0;
vamgehealthcare11 9:5263aacbda53 84 mot.setSpeed(500);
vamgehealthcare11 9:5263aacbda53 85
vamgehealthcare11 9:5263aacbda53 86 if(dist<platedist-2){
vamgehealthcare11 9:5263aacbda53 87 mot.rotate(1);
vamgehealthcare11 9:5263aacbda53 88 wait(0.5);
vamgehealthcare11 9:5263aacbda53 89 }
vamgehealthcare11 9:5263aacbda53 90 if(dist>platedist+2){
vamgehealthcare11 9:5263aacbda53 91 mot.rotate(0);
vamgehealthcare11 9:5263aacbda53 92 wait(0.5);
vamgehealthcare11 9:5263aacbda53 93 }
vamgehealthcare11 9:5263aacbda53 94 mot.stop();
rschimpf78 3:fd2ca631ab44 95 }
vamgehealthcare11 9:5263aacbda53 96
vamgehealthcare11 9:5263aacbda53 97 mot.stop();
vamgehealthcare11 9:5263aacbda53 98 en = 1;
vamgehealthcare11 9:5263aacbda53 99 wait(1);
rschimpf78 3:fd2ca631ab44 100
vamgehealthcare11 9:5263aacbda53 101 if (dist >=480){
vamgehealthcare11 9:5263aacbda53 102 pc.printf("\nSelector Distance out of Range:%ld",dist);
vamgehealthcare11 9:5263aacbda53 103 goto LOOPY;
rschimpf78 3:fd2ca631ab44 104 }
vamgehealthcare11 9:5263aacbda53 105 else if (durationSM >= 56000){
vamgehealthcare11 9:5263aacbda53 106 pc.printf("\nSelector Motor Time Out");
vamgehealthcare11 9:5263aacbda53 107 goto LOOPY;
rschimpf78 3:fd2ca631ab44 108 }
vamgehealthcare11 9:5263aacbda53 109 else{
vamgehealthcare11 9:5263aacbda53 110 pc.printf("\nPlates Selected: %ld", plates);
vamgehealthcare11 9:5263aacbda53 111 in1=1;
vamgehealthcare11 9:5263aacbda53 112 in2=0;
vamgehealthcare11 9:5263aacbda53 113 wait(58);
vamgehealthcare11 9:5263aacbda53 114 in1=1;
vamgehealthcare11 9:5263aacbda53 115 in2=1;
vamgehealthcare11 9:5263aacbda53 116 }
vamgehealthcare11 9:5263aacbda53 117 }
vamgehealthcare11 9:5263aacbda53 118
vamgehealthcare11 9:5263aacbda53 119 else if (command==2){
vamgehealthcare11 9:5263aacbda53 120
vamgehealthcare11 9:5263aacbda53 121 unsigned int pathdist;
vamgehealthcare11 9:5263aacbda53 122 int path_sheets;
vamgehealthcare11 9:5263aacbda53 123 int detectionTOL = 12;
vamgehealthcare11 9:5263aacbda53 124 int sens_pos = 131;
vamgehealthcare11 9:5263aacbda53 125 int sheet_th = 25;
vamgehealthcare11 9:5263aacbda53 126 pathsensor.start();
vamgehealthcare11 9:5263aacbda53 127 wait_ms(500);
vamgehealthcare11 9:5263aacbda53 128 pathdist=pathsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 129
vamgehealthcare11 9:5263aacbda53 130 if (pathdist >= sens_pos-detectionTOL && pathdist <= sens_pos+detectionTOL){ //110,130
vamgehealthcare11 9:5263aacbda53 131 path_sheets = 16;
vamgehealthcare11 9:5263aacbda53 132 }
vamgehealthcare11 9:5263aacbda53 133 else if (pathdist >= sens_pos-detectionTOL+sheet_th && pathdist <= sens_pos+detectionTOL+sheet_th){ //152,168 a:
vamgehealthcare11 9:5263aacbda53 134 path_sheets = 15;
vamgehealthcare11 9:5263aacbda53 135 }
vamgehealthcare11 9:5263aacbda53 136 else if (pathdist >= sens_pos-detectionTOL+2*sheet_th && pathdist <= sens_pos+detectionTOL+2*sheet_th){ //179-191
vamgehealthcare11 9:5263aacbda53 137 path_sheets = 14;
vamgehealthcare11 9:5263aacbda53 138 }
vamgehealthcare11 9:5263aacbda53 139 else if (pathdist >= sens_pos-detectionTOL+3*sheet_th && pathdist <= sens_pos+detectionTOL+3*sheet_th){ //205-217
vamgehealthcare11 9:5263aacbda53 140 path_sheets = 13;
vamgehealthcare11 9:5263aacbda53 141 }
vamgehealthcare11 9:5263aacbda53 142 else if (pathdist >= sens_pos-detectionTOL+4*sheet_th && pathdist <= sens_pos+detectionTOL+4*sheet_th){ //231-243
vamgehealthcare11 9:5263aacbda53 143 path_sheets = 12;
vamgehealthcare11 9:5263aacbda53 144 }
vamgehealthcare11 9:5263aacbda53 145 else if (pathdist >= sens_pos-detectionTOL+5*sheet_th && pathdist <= sens_pos+detectionTOL+5*sheet_th){ //257-269
vamgehealthcare11 9:5263aacbda53 146 path_sheets = 11;
vamgehealthcare11 9:5263aacbda53 147 }
vamgehealthcare11 9:5263aacbda53 148 else if (pathdist >= sens_pos-detectionTOL+6*sheet_th && pathdist <= sens_pos+detectionTOL+6*sheet_th){ //283-295
rschimpf78 3:fd2ca631ab44 149 path_sheets = 10;
rschimpf78 3:fd2ca631ab44 150
rschimpf78 3:fd2ca631ab44 151 }
vamgehealthcare11 9:5263aacbda53 152 else if (pathdist >= sens_pos-detectionTOL+7*sheet_th && pathdist <= sens_pos+detectionTOL+7*sheet_th){ //309-321
rschimpf78 3:fd2ca631ab44 153 path_sheets = 9;
rschimpf78 3:fd2ca631ab44 154
rschimpf78 3:fd2ca631ab44 155 }
vamgehealthcare11 9:5263aacbda53 156 else if (pathdist >= sens_pos-detectionTOL+8*sheet_th && pathdist <= sens_pos+detectionTOL+8*sheet_th){ //323-333
rschimpf78 3:fd2ca631ab44 157 path_sheets = 8;
rschimpf78 3:fd2ca631ab44 158
rschimpf78 3:fd2ca631ab44 159 }
vamgehealthcare11 9:5263aacbda53 160 else if (pathdist >= sens_pos-detectionTOL+9*sheet_th && pathdist <= sens_pos+detectionTOL+9*sheet_th){ //349-359
rschimpf78 3:fd2ca631ab44 161 path_sheets = 7;
rschimpf78 3:fd2ca631ab44 162
rschimpf78 3:fd2ca631ab44 163 }
vamgehealthcare11 9:5263aacbda53 164 else if (pathdist >= sens_pos-detectionTOL+10*sheet_th && pathdist <= sens_pos+detectionTOL+10*sheet_th){
rschimpf78 3:fd2ca631ab44 165 path_sheets = 6;
rschimpf78 3:fd2ca631ab44 166
rschimpf78 3:fd2ca631ab44 167 }
vamgehealthcare11 9:5263aacbda53 168 else if (pathdist >= sens_pos-detectionTOL+11*sheet_th && pathdist <= sens_pos+detectionTOL+11*sheet_th){
rschimpf78 3:fd2ca631ab44 169 path_sheets = 5;
rschimpf78 3:fd2ca631ab44 170
rschimpf78 3:fd2ca631ab44 171 }
vamgehealthcare11 9:5263aacbda53 172 else if (pathdist >= sens_pos-detectionTOL+12*sheet_th && pathdist <= sens_pos+detectionTOL+12*sheet_th){
rschimpf78 3:fd2ca631ab44 173 path_sheets = 4;
rschimpf78 3:fd2ca631ab44 174
rschimpf78 3:fd2ca631ab44 175 }
vamgehealthcare11 9:5263aacbda53 176 else if (pathdist >= sens_pos-detectionTOL+13*sheet_th && pathdist <= sens_pos+detectionTOL+13*sheet_th){ //468,478
rschimpf78 3:fd2ca631ab44 177 path_sheets = 3;
rschimpf78 3:fd2ca631ab44 178
rschimpf78 3:fd2ca631ab44 179 }
vamgehealthcare11 9:5263aacbda53 180 else if (pathdist >= sens_pos-detectionTOL+14*sheet_th && pathdist <= sens_pos+detectionTOL+14*sheet_th){ //494,504
rschimpf78 3:fd2ca631ab44 181 path_sheets = 2;
rschimpf78 3:fd2ca631ab44 182
rschimpf78 3:fd2ca631ab44 183 }
vamgehealthcare11 9:5263aacbda53 184 else if (pathdist >= sens_pos-10-detectionTOL+15*sheet_th && pathdist <= sens_pos-10+detectionTOL+15*sheet_th){//greater than 509 less 517
rschimpf78 3:fd2ca631ab44 185 path_sheets = 1;
rschimpf78 3:fd2ca631ab44 186
rschimpf78 3:fd2ca631ab44 187 }
vamgehealthcare11 9:5263aacbda53 188 else if (pathdist > sens_pos-detectionTOL+16*sheet_th){ //greater than 534
rschimpf78 3:fd2ca631ab44 189 path_sheets = 0;
vamgehealthcare11 9:5263aacbda53 190 }
vamgehealthcare11 9:5263aacbda53 191 else {
vamgehealthcare11 9:5263aacbda53 192 pc.printf("\nBeam Path Detector distance out of range : %ld", pathdist);
vamgehealthcare11 9:5263aacbda53 193 wait(2);
vamgehealthcare11 9:5263aacbda53 194 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 195 }
vamgehealthcare11 9:5263aacbda53 196 pc.printf("\nPlates Detected in Beam Path: %ld", path_sheets);
vamgehealthcare11 9:5263aacbda53 197 wait(2);
rschimpf78 3:fd2ca631ab44 198 }
vamgehealthcare11 9:5263aacbda53 199
vamgehealthcare11 9:5263aacbda53 200 else if (command==3){
vamgehealthcare11 9:5263aacbda53 201
vamgehealthcare11 9:5263aacbda53 202 millisStart();
vamgehealthcare11 9:5263aacbda53 203 long Duration = 0;
vamgehealthcare11 9:5263aacbda53 204 long StartTime = millis();
rschimpf78 5:e958d61e0564 205
vamgehealthcare11 9:5263aacbda53 206 while(magnetSwitch == 1 && homeSwitch == 1 && Duration <= 58000 ){
vamgehealthcare11 9:5263aacbda53 207 in1=0;
vamgehealthcare11 9:5263aacbda53 208 in2=1;
vamgehealthcare11 9:5263aacbda53 209 long CurrentTime = millis();
vamgehealthcare11 9:5263aacbda53 210 Duration = CurrentTime-StartTime;
vamgehealthcare11 9:5263aacbda53 211 pc.printf("\nDuration: %d\r\n", Duration);
vamgehealthcare11 9:5263aacbda53 212 }
vamgehealthcare11 9:5263aacbda53 213
vamgehealthcare11 9:5263aacbda53 214 in1=1;
vamgehealthcare11 9:5263aacbda53 215 in2=1;
vamgehealthcare11 9:5263aacbda53 216
vamgehealthcare11 9:5263aacbda53 217 if (Duration > 58000){
vamgehealthcare11 9:5263aacbda53 218 pc.printf("\nRetraction Time Out Error");
vamgehealthcare11 9:5263aacbda53 219 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 220 }
vamgehealthcare11 9:5263aacbda53 221 else if (homeSwitch == 0){
vamgehealthcare11 9:5263aacbda53 222 pc.printf("\nMagnet Switch Broken");
vamgehealthcare11 9:5263aacbda53 223 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 224 }
vamgehealthcare11 9:5263aacbda53 225 else{
vamgehealthcare11 9:5263aacbda53 226 pc.printf("\nPlate Retraction Complete");
vamgehealthcare11 9:5263aacbda53 227 }
vamgehealthcare11 9:5263aacbda53 228 }
vamgehealthcare11 9:5263aacbda53 229
vamgehealthcare11 9:5263aacbda53 230 else if (command==4){
vamgehealthcare11 9:5263aacbda53 231
vamgehealthcare11 9:5263aacbda53 232 int plates = 0;
vamgehealthcare11 9:5263aacbda53 233 unsigned int dist;
vamgehealthcare11 9:5263aacbda53 234 int platedist;
vamgehealthcare11 9:5263aacbda53 235
vamgehealthcare11 9:5263aacbda53 236 while(plates<=0 || plates>16){
vamgehealthcare11 9:5263aacbda53 237
vamgehealthcare11 9:5263aacbda53 238 pc.printf("\nEnter Number of Plates to Select 0-16: ");
vamgehealthcare11 9:5263aacbda53 239 pc.scanf("%d",&plates);
vamgehealthcare11 9:5263aacbda53 240
vamgehealthcare11 9:5263aacbda53 241 if (plates > 16 || plates < 0 ){
vamgehealthcare11 9:5263aacbda53 242 pc.printf("\nInvalid Entry");
vamgehealthcare11 9:5263aacbda53 243 }
vamgehealthcare11 9:5263aacbda53 244 else{
vamgehealthcare11 9:5263aacbda53 245 pc.printf("\nPlates Requested: %ld", plates);
vamgehealthcare11 9:5263aacbda53 246 }
vamgehealthcare11 9:5263aacbda53 247 }
vamgehealthcare11 9:5263aacbda53 248
vamgehealthcare11 9:5263aacbda53 249 if (magnetSwitch == 1){
vamgehealthcare11 9:5263aacbda53 250 pc.printf("\nNot in Home Position");
vamgehealthcare11 9:5263aacbda53 251 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 252 }
vamgehealthcare11 9:5263aacbda53 253 else{
vamgehealthcare11 9:5263aacbda53 254 wait(1);
vamgehealthcare11 9:5263aacbda53 255 in1=1;
vamgehealthcare11 9:5263aacbda53 256 in2=0;
vamgehealthcare11 9:5263aacbda53 257 wait_ms(900);
vamgehealthcare11 9:5263aacbda53 258 in1=1;
vamgehealthcare11 9:5263aacbda53 259 in2=1;
vamgehealthcare11 9:5263aacbda53 260 }
vamgehealthcare11 9:5263aacbda53 261
vamgehealthcare11 9:5263aacbda53 262 platedist = (468-24*plates);
vamgehealthcare11 9:5263aacbda53 263 wait(1);
vamgehealthcare11 9:5263aacbda53 264 heightsensor.start();
vamgehealthcare11 9:5263aacbda53 265 wait_ms(500);
vamgehealthcare11 9:5263aacbda53 266 dist = heightsensor.get_dist_cm();
vamgehealthcare11 9:5263aacbda53 267 millisStart();
vamgehealthcare11 9:5263aacbda53 268 long durationSM = 0;
vamgehealthcare11 9:5263aacbda53 269 long starttimeSM = millis();
vamgehealthcare11 9:5263aacbda53 270 pc.printf("\nPlate Distance:%ld",platedist);
vamgehealthcare11 9:5263aacbda53 271 pc.printf("\nSelector Height:%ld",dist);
vamgehealthcare11 9:5263aacbda53 272
vamgehealthcare11 9:5263aacbda53 273 while(dist < platedist-2 || dist > platedist+2 && dist < 480 && durationSM <56000){
vamgehealthcare11 9:5263aacbda53 274
vamgehealthcare11 9:5263aacbda53 275 heightsensor.start();
vamgehealthcare11 9:5263aacbda53 276 dist = heightsensor.get_dist_cm();
vamgehealthcare11 9:5263aacbda53 277 long currenttimeSM = millis();
vamgehealthcare11 9:5263aacbda53 278 durationSM = currenttimeSM-starttimeSM;
vamgehealthcare11 9:5263aacbda53 279 pc.printf("\nSelector Height:%ld",dist);
vamgehealthcare11 9:5263aacbda53 280 en = 0;
vamgehealthcare11 9:5263aacbda53 281 mot.setSpeed(500);
vamgehealthcare11 9:5263aacbda53 282
vamgehealthcare11 9:5263aacbda53 283 if(dist<platedist-2){
vamgehealthcare11 9:5263aacbda53 284 mot.rotate(1);
vamgehealthcare11 9:5263aacbda53 285 wait(0.5);
vamgehealthcare11 9:5263aacbda53 286 }
vamgehealthcare11 9:5263aacbda53 287 if(dist>platedist+2){
vamgehealthcare11 9:5263aacbda53 288 mot.rotate(0);
vamgehealthcare11 9:5263aacbda53 289 wait(0.5);
vamgehealthcare11 9:5263aacbda53 290 }
vamgehealthcare11 9:5263aacbda53 291 mot.stop();
vamgehealthcare11 9:5263aacbda53 292 }
vamgehealthcare11 9:5263aacbda53 293
vamgehealthcare11 9:5263aacbda53 294 mot.stop();
vamgehealthcare11 9:5263aacbda53 295 en = 1;
vamgehealthcare11 9:5263aacbda53 296 wait(1);
vamgehealthcare11 9:5263aacbda53 297
vamgehealthcare11 9:5263aacbda53 298 if (dist >=480){
vamgehealthcare11 9:5263aacbda53 299 pc.printf("\nSelector Distance out of Range:%ld",dist);
vamgehealthcare11 9:5263aacbda53 300 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 301 }
vamgehealthcare11 9:5263aacbda53 302 else if (durationSM >= 56000){
vamgehealthcare11 9:5263aacbda53 303 pc.printf("\nSelector Motor Time Out");
vamgehealthcare11 9:5263aacbda53 304 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 305 }
vamgehealthcare11 9:5263aacbda53 306 else{
vamgehealthcare11 9:5263aacbda53 307 pc.printf("\nSelection Finished");
vamgehealthcare11 9:5263aacbda53 308 }
rschimpf78 3:fd2ca631ab44 309 }
vamgehealthcare11 9:5263aacbda53 310 else {
vamgehealthcare11 9:5263aacbda53 311 pc.printf("\nInvalid Command");
rschimpf78 3:fd2ca631ab44 312 }
rschimpf78 3:fd2ca631ab44 313 }
rschimpf78 2:e8f8095464cf 314 }