Cooper Liu / Mbed 2 deprecated ICRSEurobot13

Colour sensors calibrated

Dependencies:   mbed-rtos mbed Servo QEI

Fork of ICRSEurobot13 by Thomas Branch

main.cpp@31:791739422122, 2013-04-10 (annotated)

Committer:
rsavitski
Date:
Wed Apr 10 18:03:32 2013 +0000
Revision:
31:791739422122
Parent:
26:b16f1045108f
Child:
33:e3f633620816
ai layer thread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 20:70d651156779 1 #include "globals.h"
madcowswe 20:70d651156779 2 #include "Kalman.h"
twighk 0:200635fa1b08 3 #include "mbed.h"
twighk 12:d4b5851742a3 4 #include "rtos.h"
madcowswe 22:167dacfe0b14 5 #include "Arm.h"
madcowswe 22:167dacfe0b14 6 #include "MainMotor.h"
madcowswe 22:167dacfe0b14 7 #include "Encoder.h"
madcowswe 22:167dacfe0b14 8 #include "Colour.h"
madcowswe 22:167dacfe0b14 9 #include "CakeSensor.h"
madcowswe 22:167dacfe0b14 10 #include "Printing.h"
madcowswe 20:70d651156779 11 #include "coprocserial.h"
madcowswe 13:76c9915db820 12 #include <algorithm>
rsavitski 25:50805ef8c499 13 #include "motion.h"
madcowswe 26:b16f1045108f 14 #include "MotorControl.h"
rsavitski 31:791739422122 15 #include "ai.h"
madcowswe 20:70d651156779 16
twighk 0:200635fa1b08 17 void motortest();
twighk 0:200635fa1b08 18 void encodertest();
twighk 0:200635fa1b08 19 void motorencodetest();
twighk 0:200635fa1b08 20 void motorencodetestline();
twighk 0:200635fa1b08 21 void motorsandservostest();
twighk 1:8119211eae14 22 void armtest();
twighk 2:45da48fab346 23 void motortestline();
twighk 3:717de74f6ebd 24 void ledtest();
twighk 3:717de74f6ebd 25 void phototransistortest();
twighk 3:717de74f6ebd 26 void ledphototransistortest();
twighk 3:717de74f6ebd 27 void colourtest();
twighk 8:69bdf20cb525 28 void cakesensortest();
twighk 12:d4b5851742a3 29 void printingtestthread(void const*);
twighk 12:d4b5851742a3 30 void printingtestthread2(void const*);
madcowswe 13:76c9915db820 31 void feedbacktest();
twighk 0:200635fa1b08 32
twighk 0:200635fa1b08 33 int main() {
twighk 2:45da48fab346 34
twighk 3:717de74f6ebd 35 /*****************
twighk 3:717de74f6ebd 36 * Test Code *
twighk 3:717de74f6ebd 37 *****************/
twighk 0:200635fa1b08 38 //motortest();
twighk 0:200635fa1b08 39 //encodertest();
twighk 8:69bdf20cb525 40 //motorencodetest();
twighk 1:8119211eae14 41 //motorencodetestline();
twighk 0:200635fa1b08 42 //motorsandservostest();
twighk 3:717de74f6ebd 43 //armtest();
twighk 2:45da48fab346 44 //motortestline();
twighk 11:bbddc908c78c 45 //ledtest();
twighk 3:717de74f6ebd 46 //phototransistortest();
madcowswe 13:76c9915db820 47 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 48 //colourtest(); // Red SnR too low
madcowswe 13:76c9915db820 49 //cakesensortest();
madcowswe 20:70d651156779 50 //feedbacktest();
madcowswe 15:9c5aaeda36dc 51
madcowswe 20:70d651156779 52 /*
twighk 12:d4b5851742a3 53 DigitalOut l1(LED1);
madcowswe 22:167dacfe0b14 54 Thread p(Printing::printingloop, NULL, osPriorityNormal, 2048);
twighk 12:d4b5851742a3 55 l1=1;
twighk 12:d4b5851742a3 56 Thread a(printingtestthread, NULL, osPriorityNormal, 1024);
twighk 12:d4b5851742a3 57 Thread b(printingtestthread2, NULL, osPriorityNormal, 1024);
twighk 12:d4b5851742a3 58 Thread::wait(osWaitForever);
madcowswe 15:9c5aaeda36dc 59 */
madcowswe 16:52250d8d8fce 60
madcowswe 23:6e3218cf75f8 61 SystemTime.start();
madcowswe 20:70d651156779 62
madcowswe 26:b16f1045108f 63 Serial pc(USBTX, USBRX);
madcowswe 26:b16f1045108f 64 pc.baud(115200);
madcowswe 26:b16f1045108f 65
madcowswe 20:70d651156779 66 InitSerial();
madcowswe 20:70d651156779 67 //while(1)
madcowswe 20:70d651156779 68 // printbuff();
madcowswe 20:70d651156779 69 wait(1);
madcowswe 20:70d651156779 70 Kalman::KalmanInit();
madcowswe 20:70d651156779 71
madcowswe 20:70d651156779 72 Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k
madcowswe 20:70d651156779 73
madcowswe 20:70d651156779 74 Kalman::start_predict_ticker(&predictthread);
rsavitski 25:50805ef8c499 75
madcowswe 26:b16f1045108f 76 Ticker motorcontroltestticker;
madcowswe 26:b16f1045108f 77 motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
rsavitski 31:791739422122 78
rsavitski 31:791739422122 79 // ai layer thread
rsavitski 31:791739422122 80 Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048);
madcowswe 23:6e3218cf75f8 81
rsavitski 25:50805ef8c499 82 // motion layer periodic callback
rsavitski 25:50805ef8c499 83 RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic);
rsavitski 25:50805ef8c499 84 motion_timer.start(50);
madcowswe 26:b16f1045108f 85
madcowswe 26:b16f1045108f 86
madcowswe 22:167dacfe0b14 87 Thread::wait(3500);
madcowswe 22:167dacfe0b14 88 Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
madcowswe 26:b16f1045108f 89
madcowswe 22:167dacfe0b14 90 Thread::wait(osWaitForever);
madcowswe 26:b16f1045108f 91
madcowswe 13:76c9915db820 92 }
madcowswe 13:76c9915db820 93
twighk 12:d4b5851742a3 94 #include <cstdlib>
twighk 12:d4b5851742a3 95 using namespace std;
twighk 12:d4b5851742a3 96
twighk 12:d4b5851742a3 97 void printingtestthread(void const*){
twighk 12:d4b5851742a3 98 const char ID = 1;
twighk 12:d4b5851742a3 99 float buffer[3] = {ID};
madcowswe 22:167dacfe0b14 100 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 101 while (true){
twighk 12:d4b5851742a3 102 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
madcowswe 20:70d651156779 103 buffer[i] = ID ;
twighk 12:d4b5851742a3 104 }
madcowswe 22:167dacfe0b14 105 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 106 Thread::wait(200);
twighk 12:d4b5851742a3 107 }
twighk 12:d4b5851742a3 108 }
madcowswe 14:c638d4b9ee94 109
twighk 12:d4b5851742a3 110 void printingtestthread2(void const*){
twighk 12:d4b5851742a3 111 const char ID = 2;
twighk 12:d4b5851742a3 112 float buffer[5] = {ID};
madcowswe 22:167dacfe0b14 113 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 114 while (true){
twighk 12:d4b5851742a3 115 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 12:d4b5851742a3 116 buffer[i] = ID;
twighk 12:d4b5851742a3 117 }
madcowswe 22:167dacfe0b14 118 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 119 Thread::wait(500);
twighk 12:d4b5851742a3 120 }
twighk 8:69bdf20cb525 121 }
twighk 8:69bdf20cb525 122
madcowswe 26:b16f1045108f 123
rsavitski 25:50805ef8c499 124 /*
madcowswe 13:76c9915db820 125 void feedbacktest(){
madcowswe 20:70d651156779 126 //Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 13:76c9915db820 127 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
madcowswe 13:76c9915db820 128
madcowswe 20:70d651156779 129 Kalman::State state;
madcowswe 20:70d651156779 130
madcowswe 20:70d651156779 131 float Pgain = -0.01;
madcowswe 15:9c5aaeda36dc 132 float fwdspeed = -400/3.0f;
madcowswe 13:76c9915db820 133 Timer timer;
madcowswe 13:76c9915db820 134 timer.start();
madcowswe 13:76c9915db820 135
madcowswe 13:76c9915db820 136 while(true){
madcowswe 13:76c9915db820 137 float expecdist = fwdspeed * timer.read();
madcowswe 20:70d651156779 138 state = Kalman::getState();
madcowswe 20:70d651156779 139 float errleft = left_encoder.getTicks() - (expecdist);
madcowswe 20:70d651156779 140 float errright = right_encoder.getTicks() - expecdist;
madcowswe 13:76c9915db820 141
madcowswe 13:76c9915db820 142 mleft(max(min(errleft*Pgain, 0.4f), -0.4f));
madcowswe 13:76c9915db820 143 mright(max(min(errright*Pgain, 0.4f), -0.4f));
madcowswe 13:76c9915db820 144 }
twighk 8:69bdf20cb525 145 }
rsavitski 25:50805ef8c499 146 */
madcowswe 26:b16f1045108f 147
twighk 8:69bdf20cb525 148 void cakesensortest(){
twighk 8:69bdf20cb525 149 wait(1);
madcowswe 20:70d651156779 150 printf("cakesensortest");
twighk 8:69bdf20cb525 151
twighk 11:bbddc908c78c 152 CakeSensor cs(P_COLOR_SENSOR_IN);
twighk 8:69bdf20cb525 153 while(true){
twighk 8:69bdf20cb525 154 wait(0.1);
madcowswe 20:70d651156779 155 printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
twighk 8:69bdf20cb525 156 }
twighk 3:717de74f6ebd 157 }
twighk 3:717de74f6ebd 158
twighk 3:717de74f6ebd 159 void colourtest(){
madcowswe 7:4340355261f9 160 Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 161 c.Calibrate();
twighk 3:717de74f6ebd 162 while(true){
twighk 3:717de74f6ebd 163 wait(0.1);
twighk 3:717de74f6ebd 164 ColourEnum ce = c.getColour();
twighk 3:717de74f6ebd 165 switch(ce){
twighk 3:717de74f6ebd 166 case BLUE :
madcowswe 20:70d651156779 167 printf("BLUE\n\r");
twighk 3:717de74f6ebd 168 break;
twighk 3:717de74f6ebd 169 case RED:
madcowswe 20:70d651156779 170 printf("RED\n\r");
twighk 3:717de74f6ebd 171 break;
twighk 3:717de74f6ebd 172 case WHITE:
madcowswe 20:70d651156779 173 printf("WHITE\n\r");
twighk 3:717de74f6ebd 174 break;
twighk 3:717de74f6ebd 175 case INCONCLUSIVE:
madcowswe 20:70d651156779 176 printf("INCONCLUSIVE\n\r");
twighk 3:717de74f6ebd 177 break;
twighk 3:717de74f6ebd 178 default:
madcowswe 20:70d651156779 179 printf("BUG\n\r");
twighk 3:717de74f6ebd 180 }
twighk 2:45da48fab346 181 }
twighk 0:200635fa1b08 182
twighk 3:717de74f6ebd 183 }
twighk 3:717de74f6ebd 184
twighk 3:717de74f6ebd 185
twighk 3:717de74f6ebd 186 void ledphototransistortest(){
madcowswe 7:4340355261f9 187 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
madcowswe 7:4340355261f9 188 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 189 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 190
twighk 3:717de74f6ebd 191 while(true){
twighk 11:bbddc908c78c 192 blue = 0; red = 0;
twighk 11:bbddc908c78c 193 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 194 wait(0.1);
madcowswe 20:70d651156779 195 printf("Phototransistor Analog is (none): %f \n\r", pt.read());
twighk 11:bbddc908c78c 196 }
twighk 11:bbddc908c78c 197
madcowswe 7:4340355261f9 198 blue = 1; red = 0;
twighk 3:717de74f6ebd 199 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 200 wait(0.1);
madcowswe 20:70d651156779 201 printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
twighk 3:717de74f6ebd 202 }
madcowswe 7:4340355261f9 203 blue = 0; red = 1;
twighk 3:717de74f6ebd 204 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 205 wait(0.1);
madcowswe 20:70d651156779 206 printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
twighk 3:717de74f6ebd 207 }
twighk 11:bbddc908c78c 208 blue = 1; red = 1;
twighk 11:bbddc908c78c 209 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 210 wait(0.1);
madcowswe 20:70d651156779 211 printf("Phototransistor Analog is (both): %f \n\r", pt.read());
twighk 11:bbddc908c78c 212 }
twighk 3:717de74f6ebd 213 }
twighk 3:717de74f6ebd 214 }
twighk 3:717de74f6ebd 215
twighk 3:717de74f6ebd 216 void phototransistortest(){
madcowswe 7:4340355261f9 217 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 218 while(true){
twighk 3:717de74f6ebd 219 wait(0.1);
madcowswe 20:70d651156779 220 printf("Phototransistor Analog is: %f \n\r", pt.read());
twighk 3:717de74f6ebd 221 }
twighk 3:717de74f6ebd 222
twighk 3:717de74f6ebd 223 }
twighk 3:717de74f6ebd 224
twighk 3:717de74f6ebd 225 void ledtest(){
madcowswe 7:4340355261f9 226 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
twighk 3:717de74f6ebd 227 while(true){
madcowswe 7:4340355261f9 228 blue = 1; red = 0;
twighk 3:717de74f6ebd 229 wait(0.2);
madcowswe 7:4340355261f9 230 blue = 0; red = 1;
twighk 3:717de74f6ebd 231 wait(0.2);
twighk 3:717de74f6ebd 232
twighk 3:717de74f6ebd 233 }
twighk 3:717de74f6ebd 234 }
twighk 3:717de74f6ebd 235
twighk 1:8119211eae14 236 void armtest(){
twighk 3:717de74f6ebd 237 Arm white(p26), black(p25, false, 0.0005, 180);
twighk 3:717de74f6ebd 238 while(true){
twighk 1:8119211eae14 239 white(0);
twighk 1:8119211eae14 240 black(0);
twighk 1:8119211eae14 241 wait(1);
twighk 1:8119211eae14 242 white(1);
twighk 1:8119211eae14 243 black(1);
twighk 1:8119211eae14 244 wait(1);
twighk 1:8119211eae14 245 }
twighk 1:8119211eae14 246 }
twighk 1:8119211eae14 247
twighk 1:8119211eae14 248
twighk 0:200635fa1b08 249 void motorsandservostest(){
twighk 0:200635fa1b08 250 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 251 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 252 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 253 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 254 const float speed = 0.0;
twighk 0:200635fa1b08 255 const float dspeed = 0.0;
twighk 0:200635fa1b08 256
twighk 0:200635fa1b08 257 Timer servoTimer;
twighk 0:200635fa1b08 258 mleft(speed); mright(speed);
twighk 0:200635fa1b08 259 servoTimer.start();
twighk 0:200635fa1b08 260 while (true){
madcowswe 20:70d651156779 261 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
madcowswe 20:70d651156779 262 if (Eleft.getTicks() < Eright.getTicks()){
twighk 0:200635fa1b08 263 mleft(speed);
twighk 0:200635fa1b08 264 mright(speed - dspeed);
twighk 0:200635fa1b08 265 } else {
twighk 0:200635fa1b08 266 mright(speed);
twighk 0:200635fa1b08 267 mleft(speed - dspeed);
twighk 0:200635fa1b08 268 }
twighk 0:200635fa1b08 269 if (servoTimer.read() < 1){
twighk 0:200635fa1b08 270 sTop.clockwise();
twighk 0:200635fa1b08 271 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 272 sTop.halt();
twighk 0:200635fa1b08 273 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 274 sBottom.anticlockwise();
twighk 0:200635fa1b08 275 //Led=1;
twighk 0:200635fa1b08 276 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 277 sBottom.clockwise();
twighk 0:200635fa1b08 278 //Led=0;
twighk 0:200635fa1b08 279 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 280 sBottom.halt();
twighk 0:200635fa1b08 281 }else {
twighk 0:200635fa1b08 282 sTop.anticlockwise();
twighk 0:200635fa1b08 283 }
twighk 0:200635fa1b08 284 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 285 }
twighk 0:200635fa1b08 286 }
twighk 0:200635fa1b08 287
twighk 2:45da48fab346 288 void motortestline(){
twighk 2:45da48fab346 289 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 290 const float speed = 0.2;
twighk 2:45da48fab346 291 mleft(speed); mright(speed);
twighk 2:45da48fab346 292 while(true) wait(1);
twighk 2:45da48fab346 293 }
twighk 2:45da48fab346 294
twighk 0:200635fa1b08 295 void motorencodetestline(){
madcowswe 13:76c9915db820 296 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 13:76c9915db820 297 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 4:1be0f6c6ceae 298 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 299 const float speed = 0.2;
twighk 0:200635fa1b08 300 const float dspeed = 0.1;
twighk 0:200635fa1b08 301
twighk 0:200635fa1b08 302 mleft(speed); mright(speed);
twighk 0:200635fa1b08 303 while (true){
twighk 0:200635fa1b08 304 //left 27 cm = 113 -> 0.239 cm/pulse
twighk 0:200635fa1b08 305 //right 27 cm = 72 -> 0.375 cm/pulse
madcowswe 20:70d651156779 306 printf("Position is: %i \t %i \n\r", (int)(Eleft.getTicks()*0.239), (int)(Eright.getTicks()*0.375));
madcowswe 20:70d651156779 307 if (Eleft.getTicks()*0.239 < Eright.getTicks()*0.375){
twighk 0:200635fa1b08 308 mright(speed - dspeed);
twighk 0:200635fa1b08 309 } else {
twighk 0:200635fa1b08 310 mright(speed + dspeed);
twighk 0:200635fa1b08 311 }
twighk 0:200635fa1b08 312 }
twighk 0:200635fa1b08 313
twighk 0:200635fa1b08 314 }
twighk 0:200635fa1b08 315
twighk 0:200635fa1b08 316 void motorencodetest(){
madcowswe 7:4340355261f9 317 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 7:4340355261f9 318 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 0:200635fa1b08 319 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 320
twighk 0:200635fa1b08 321 const float speed = -0.3;
twighk 0:200635fa1b08 322 const int enc = -38;
twighk 0:200635fa1b08 323 while(true){
twighk 0:200635fa1b08 324 mleft(speed); mright(0);
madcowswe 20:70d651156779 325 while(Eleft.getTicks()>enc){
madcowswe 20:70d651156779 326 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 327 }
twighk 0:200635fa1b08 328 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 329 mleft(0); mright(speed);
madcowswe 20:70d651156779 330 while(Eright.getTicks()>enc){
madcowswe 20:70d651156779 331 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 332 }
twighk 0:200635fa1b08 333 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 334 }
twighk 0:200635fa1b08 335 }
twighk 0:200635fa1b08 336
twighk 0:200635fa1b08 337 void encodertest(){
madcowswe 15:9c5aaeda36dc 338 Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 15:9c5aaeda36dc 339 //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B);
twighk 0:200635fa1b08 340 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 341 while(true){
twighk 0:200635fa1b08 342 wait(0.1);
madcowswe 20:70d651156779 343 printf("Position is: %i \t %i \n\r", E1.getTicks(), 0);//E2.getTicks());
twighk 0:200635fa1b08 344 }
twighk 0:200635fa1b08 345
twighk 0:200635fa1b08 346 }
twighk 0:200635fa1b08 347 void motortest(){
twighk 0:200635fa1b08 348 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 349 while(true) {
twighk 0:200635fa1b08 350 wait(1);
twighk 0:200635fa1b08 351 mleft(0.8); mright(0.8);
twighk 0:200635fa1b08 352 wait(1);
twighk 0:200635fa1b08 353 mleft(-0.2); mright(0.2);
twighk 0:200635fa1b08 354 wait(1);
twighk 0:200635fa1b08 355 mleft(0); mright(0);
twighk 0:200635fa1b08 356 }
twighk 0:200635fa1b08 357 }