GE Attenuator / Mbed 2 deprecated VAM_DAX_RELIABILITY

update hcsr04.cpp by changing 20000 to 2000

Dependencies:   Stepper mbed SDFileSystem Ultrasonic PinDetect millis

main.cpp@4:63f0989c8d1e, 2018-11-16 (annotated)

Committer:
rschimpf78
Date:
Fri Nov 16 21:42:21 2018 +0000
Revision:
4:63f0989c8d1e
Parent:
3:fd2ca631ab44
Child:
6:354264d1e4bb
reliability

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 3:fd2ca631ab44 5 Serial pc(USBTX, USBRX);
rschimpf78 3:fd2ca631ab44 6 HCSR04 heightsensor(PTA2,PTC2); //(trig,echo)
rschimpf78 3:fd2ca631ab44 7 HCSR04 pathsensor(PTD3,PTD2);
rschimpf78 3:fd2ca631ab44 8 DigitalOut in1(PTC12);
rschimpf78 3:fd2ca631ab44 9 DigitalOut in2(D7);
rschimpf78 3:fd2ca631ab44 10 DigitalIn homeSwitch(D9);
rschimpf78 3:fd2ca631ab44 11 Stepper mot(D3,D4); //(D3 to PUL+, D4 to DIR+)
rschimpf78 2:e8f8095464cf 12 DigitalOut en(D2);
rschimpf78 0:88834eed3de0 13
rschimpf78 3:fd2ca631ab44 14 volatile int plates=0;
rschimpf78 3:fd2ca631ab44 15 volatile unsigned int sheets=0;
rschimpf78 3:fd2ca631ab44 16 volatile unsigned int path_sheets=0;
rschimpf78 0:88834eed3de0 17
rschimpf78 3:fd2ca631ab44 18 void plate_selection()
rschimpf78 0:88834eed3de0 19 {
rschimpf78 3:fd2ca631ab44 20 unsigned int dist;
rschimpf78 3:fd2ca631ab44 21 int er = 5;
rschimpf78 4:63f0989c8d1e 22 int fp = 457; //adjust if needed
rschimpf78 3:fd2ca631ab44 23 int lp = 64; //adjust if needed
rschimpf78 3:fd2ca631ab44 24 int tp = 25;
rschimpf78 2:e8f8095464cf 25
rschimpf78 3:fd2ca631ab44 26 while (plates!=sheets) {
rschimpf78 3:fd2ca631ab44 27 heightsensor.start();
rschimpf78 3:fd2ca631ab44 28 wait_ms(500);
rschimpf78 3:fd2ca631ab44 29 dist=heightsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 30 pc.printf("\nmm:%ld",dist);
rschimpf78 3:fd2ca631ab44 31
rschimpf78 3:fd2ca631ab44 32 if (dist<=lp-10 || dist >= fp+10){
rschimpf78 3:fd2ca631ab44 33 mot.stop();
rschimpf78 3:fd2ca631ab44 34 en = 1;
rschimpf78 3:fd2ca631ab44 35 sheets = plates;
rschimpf78 3:fd2ca631ab44 36 pc.printf("\nERROR: Selector is outside of plate range\nRestart/Reset Program");
rschimpf78 3:fd2ca631ab44 37 }
rschimpf78 3:fd2ca631ab44 38 else if (plates<sheets){
rschimpf78 3:fd2ca631ab44 39 en = 0;
rschimpf78 3:fd2ca631ab44 40 mot.setSpeed(600);
rschimpf78 3:fd2ca631ab44 41 mot.rotate(1);
rschimpf78 3:fd2ca631ab44 42 }
rschimpf78 3:fd2ca631ab44 43 else{
rschimpf78 3:fd2ca631ab44 44 en = 0;
rschimpf78 3:fd2ca631ab44 45 mot.setSpeed(600);
rschimpf78 3:fd2ca631ab44 46 mot.rotate(0);
rschimpf78 3:fd2ca631ab44 47 }
rschimpf78 3:fd2ca631ab44 48
rschimpf78 3:fd2ca631ab44 49 if (dist<=fp+er && dist>=fp-er){ //450,440
rschimpf78 3:fd2ca631ab44 50 sheets = 1;
rschimpf78 3:fd2ca631ab44 51 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 52 }
rschimpf78 3:fd2ca631ab44 53
rschimpf78 3:fd2ca631ab44 54 if (dist<= fp-tp+er && dist>=fp-tp-er){ //424,414
rschimpf78 3:fd2ca631ab44 55 sheets = 2;
rschimpf78 3:fd2ca631ab44 56 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 57 }
rschimpf78 3:fd2ca631ab44 58
rschimpf78 3:fd2ca631ab44 59 if (dist<= fp-2*tp+er && dist>=fp-2*tp-er){
rschimpf78 3:fd2ca631ab44 60 sheets = 3;
rschimpf78 3:fd2ca631ab44 61 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 62 }
rschimpf78 3:fd2ca631ab44 63
rschimpf78 3:fd2ca631ab44 64 if (dist<= fp-3*tp+er && dist>=fp-3*tp-er){
rschimpf78 3:fd2ca631ab44 65 sheets = 4;
rschimpf78 3:fd2ca631ab44 66 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 67 }
rschimpf78 3:fd2ca631ab44 68 if (dist<= fp-4*tp+er && dist>=fp-4*tp-er){
rschimpf78 3:fd2ca631ab44 69 sheets = 5;
rschimpf78 3:fd2ca631ab44 70 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 71 }
rschimpf78 3:fd2ca631ab44 72 if (dist<= fp-5*tp+er && dist>=fp-5*tp-er){
rschimpf78 3:fd2ca631ab44 73 sheets = 6;
rschimpf78 3:fd2ca631ab44 74 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 75 }
rschimpf78 3:fd2ca631ab44 76 if (dist<= fp-6*tp+er && dist>=fp-6*tp-er){
rschimpf78 3:fd2ca631ab44 77 sheets = 7;
rschimpf78 3:fd2ca631ab44 78 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 79 }
rschimpf78 3:fd2ca631ab44 80 if (dist<= fp-7*tp+er && dist>=fp-7*tp-er){
rschimpf78 3:fd2ca631ab44 81 sheets = 8;
rschimpf78 3:fd2ca631ab44 82 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 83 }
rschimpf78 3:fd2ca631ab44 84 if (dist<= fp-8*tp+er && dist>=fp-8*tp-er){
rschimpf78 3:fd2ca631ab44 85 sheets = 9;
rschimpf78 3:fd2ca631ab44 86 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 87 }
rschimpf78 3:fd2ca631ab44 88 if (dist<= fp-9*tp+er && dist>=fp-9*tp-er){
rschimpf78 3:fd2ca631ab44 89 sheets = 10;
rschimpf78 3:fd2ca631ab44 90 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 91 }
rschimpf78 3:fd2ca631ab44 92 if (dist<= fp-10*tp+er && dist>=fp-10*tp-er){
rschimpf78 3:fd2ca631ab44 93 sheets = 11;
rschimpf78 3:fd2ca631ab44 94 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 95 }
rschimpf78 3:fd2ca631ab44 96 if (dist<= fp-11*tp+er && dist>=fp-11*tp-er){
rschimpf78 3:fd2ca631ab44 97 sheets = 12;
rschimpf78 3:fd2ca631ab44 98 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 99 }
rschimpf78 3:fd2ca631ab44 100 if (dist<= fp-12*tp+er && dist>=fp-12*tp-er){
rschimpf78 3:fd2ca631ab44 101 sheets = 13;
rschimpf78 3:fd2ca631ab44 102 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 103 }
rschimpf78 3:fd2ca631ab44 104 if (dist<= fp-13*tp+er && dist>=fp-13*tp-er){
rschimpf78 3:fd2ca631ab44 105 sheets = 14;
rschimpf78 3:fd2ca631ab44 106 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 107 }
rschimpf78 3:fd2ca631ab44 108 if (dist<= fp-14*tp+er && dist>=fp-14*tp-er){
rschimpf78 3:fd2ca631ab44 109 sheets = 15;
rschimpf78 3:fd2ca631ab44 110 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 111 }
rschimpf78 3:fd2ca631ab44 112 if (dist<= fp-15*tp+er && dist>=fp-15*tp-er){ // 75, 65
rschimpf78 3:fd2ca631ab44 113 sheets = 16;
rschimpf78 3:fd2ca631ab44 114 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 115 }
rschimpf78 3:fd2ca631ab44 116 }
rschimpf78 3:fd2ca631ab44 117 mot.stop();
rschimpf78 3:fd2ca631ab44 118 en = 1;
rschimpf78 3:fd2ca631ab44 119 wait(1);
rschimpf78 3:fd2ca631ab44 120 }
rschimpf78 3:fd2ca631ab44 121
rschimpf78 3:fd2ca631ab44 122 void beam()
rschimpf78 3:fd2ca631ab44 123 {
rschimpf78 3:fd2ca631ab44 124
rschimpf78 3:fd2ca631ab44 125 unsigned int path_dist;
rschimpf78 4:63f0989c8d1e 126 int err = 11;
rschimpf78 4:63f0989c8d1e 127 int sens_pos = 126; //adjust if needed //535 0 plates
rschimpf78 3:fd2ca631ab44 128 int sheet_th = 25;
rschimpf78 3:fd2ca631ab44 129 pathsensor.start();
rschimpf78 3:fd2ca631ab44 130 wait_ms(500);
rschimpf78 3:fd2ca631ab44 131 path_dist=pathsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 132 pc.printf("\nBeam Path Sensor : %ld",path_dist);
rschimpf78 3:fd2ca631ab44 133 path_sheets = 17;
rschimpf78 3:fd2ca631ab44 134
rschimpf78 4:63f0989c8d1e 135 if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){ //110,130
rschimpf78 3:fd2ca631ab44 136 path_sheets = 16;
rschimpf78 3:fd2ca631ab44 137
rschimpf78 3:fd2ca631ab44 138 }
rschimpf78 3:fd2ca631ab44 139 if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){ //152,168 a:
rschimpf78 3:fd2ca631ab44 140 path_sheets = 15;
rschimpf78 3:fd2ca631ab44 141
rschimpf78 3:fd2ca631ab44 142 }
rschimpf78 3:fd2ca631ab44 143 if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191
rschimpf78 3:fd2ca631ab44 144 path_sheets = 14;
rschimpf78 3:fd2ca631ab44 145
rschimpf78 3:fd2ca631ab44 146 }
rschimpf78 3:fd2ca631ab44 147 if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217
rschimpf78 3:fd2ca631ab44 148 path_sheets = 13;
rschimpf78 3:fd2ca631ab44 149
rschimpf78 3:fd2ca631ab44 150 }
rschimpf78 3:fd2ca631ab44 151 if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243
rschimpf78 3:fd2ca631ab44 152 path_sheets = 12;
rschimpf78 3:fd2ca631ab44 153
rschimpf78 3:fd2ca631ab44 154 }
rschimpf78 3:fd2ca631ab44 155 if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269
rschimpf78 3:fd2ca631ab44 156 path_sheets = 11;
rschimpf78 3:fd2ca631ab44 157
rschimpf78 3:fd2ca631ab44 158 }
rschimpf78 3:fd2ca631ab44 159 if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295
rschimpf78 3:fd2ca631ab44 160 path_sheets = 10;
rschimpf78 3:fd2ca631ab44 161
rschimpf78 3:fd2ca631ab44 162 }
rschimpf78 3:fd2ca631ab44 163 if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321
rschimpf78 3:fd2ca631ab44 164 path_sheets = 9;
rschimpf78 3:fd2ca631ab44 165
rschimpf78 3:fd2ca631ab44 166 }
rschimpf78 3:fd2ca631ab44 167 if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333
rschimpf78 3:fd2ca631ab44 168 path_sheets = 8;
rschimpf78 3:fd2ca631ab44 169
rschimpf78 3:fd2ca631ab44 170 }
rschimpf78 3:fd2ca631ab44 171 if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359
rschimpf78 3:fd2ca631ab44 172 path_sheets = 7;
rschimpf78 3:fd2ca631ab44 173
rschimpf78 3:fd2ca631ab44 174 }
rschimpf78 3:fd2ca631ab44 175 if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){
rschimpf78 3:fd2ca631ab44 176 path_sheets = 6;
rschimpf78 3:fd2ca631ab44 177
rschimpf78 3:fd2ca631ab44 178 }
rschimpf78 3:fd2ca631ab44 179 if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){
rschimpf78 3:fd2ca631ab44 180 path_sheets = 5;
rschimpf78 3:fd2ca631ab44 181
rschimpf78 3:fd2ca631ab44 182 }
rschimpf78 3:fd2ca631ab44 183 if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){
rschimpf78 3:fd2ca631ab44 184 path_sheets = 4;
rschimpf78 3:fd2ca631ab44 185
rschimpf78 3:fd2ca631ab44 186 }
rschimpf78 3:fd2ca631ab44 187 if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){ //468,478
rschimpf78 3:fd2ca631ab44 188 path_sheets = 3;
rschimpf78 3:fd2ca631ab44 189
rschimpf78 3:fd2ca631ab44 190 }
rschimpf78 3:fd2ca631ab44 191 if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){ //494,504
rschimpf78 3:fd2ca631ab44 192 path_sheets = 2;
rschimpf78 3:fd2ca631ab44 193
rschimpf78 3:fd2ca631ab44 194 }
rschimpf78 4:63f0989c8d1e 195 if (path_dist >= sens_pos-10-err+15*sheet_th && path_dist <= sens_pos-10+err+15*sheet_th){//greater than 509 less 517
rschimpf78 3:fd2ca631ab44 196 path_sheets = 1;
rschimpf78 3:fd2ca631ab44 197
rschimpf78 3:fd2ca631ab44 198 }
rschimpf78 4:63f0989c8d1e 199 if (path_dist > sens_pos-err+16*sheet_th){ //greater than 534
rschimpf78 3:fd2ca631ab44 200 path_sheets = 0;
rschimpf78 3:fd2ca631ab44 201 }
rschimpf78 3:fd2ca631ab44 202 }
rschimpf78 3:fd2ca631ab44 203
rschimpf78 3:fd2ca631ab44 204 void platedetect()
rschimpf78 3:fd2ca631ab44 205 {
rschimpf78 3:fd2ca631ab44 206 if(homeSwitch==0 && path_sheets==0)
rschimpf78 2:e8f8095464cf 207 {
rschimpf78 3:fd2ca631ab44 208 pc.printf("\nAll plates are in the start position");
rschimpf78 2:e8f8095464cf 209 }
rschimpf78 3:fd2ca631ab44 210 else if (homeSwitch==1 && path_sheets==0)
rschimpf78 2:e8f8095464cf 211 {
rschimpf78 3:fd2ca631ab44 212 pc.printf("\nError-Plates are not fully extended");
rschimpf78 2:e8f8095464cf 213 }
rschimpf78 2:e8f8095464cf 214 else
rschimpf78 2:e8f8095464cf 215 {
rschimpf78 3:fd2ca631ab44 216 if (plates==path_sheets)
rschimpf78 3:fd2ca631ab44 217 {
rschimpf78 3:fd2ca631ab44 218 pc.printf("\nPlates in beam path:%ld",path_sheets);
rschimpf78 3:fd2ca631ab44 219 }
rschimpf78 3:fd2ca631ab44 220 else if (plates != path_sheets && path_sheets <= 16)
rschimpf78 3:fd2ca631ab44 221 {
rschimpf78 3:fd2ca631ab44 222 pc.printf("\nError: %ld",path_sheets);
rschimpf78 3:fd2ca631ab44 223 pc.printf(" Plates in beam path, but user sent %ld",plates);
rschimpf78 3:fd2ca631ab44 224 pc.printf(" Plates");
rschimpf78 3:fd2ca631ab44 225 }
rschimpf78 3:fd2ca631ab44 226 else{
rschimpf78 3:fd2ca631ab44 227 pc.printf("\nERROR: Additional objects detected in beam path");
rschimpf78 3:fd2ca631ab44 228 }
rschimpf78 3:fd2ca631ab44 229 }
rschimpf78 3:fd2ca631ab44 230 }
rschimpf78 3:fd2ca631ab44 231 void retract()
rschimpf78 0:88834eed3de0 232 {
rschimpf78 2:e8f8095464cf 233 while(homeSwitch == 1)
rschimpf78 2:e8f8095464cf 234 {
rschimpf78 0:88834eed3de0 235 in1=0;
rschimpf78 2:e8f8095464cf 236 in2=1;
rschimpf78 3:fd2ca631ab44 237 }
rschimpf78 2:e8f8095464cf 238 in1=1;
rschimpf78 2:e8f8095464cf 239 in2=1;
rschimpf78 0:88834eed3de0 240 }
rschimpf78 0:88834eed3de0 241
rschimpf78 3:fd2ca631ab44 242 void send()
rschimpf78 3:fd2ca631ab44 243 {
rschimpf78 3:fd2ca631ab44 244 in1=1;
rschimpf78 3:fd2ca631ab44 245 in2=0;
rschimpf78 4:63f0989c8d1e 246 wait(14);
rschimpf78 0:88834eed3de0 247 in1=1;
rschimpf78 2:e8f8095464cf 248 in2=1;
rschimpf78 0:88834eed3de0 249 }
rschimpf78 3:fd2ca631ab44 250
rschimpf78 0:88834eed3de0 251 void internalpullups()
rschimpf78 0:88834eed3de0 252 {
rschimpf78 2:e8f8095464cf 253 homeSwitch.mode(PullUp);
rschimpf78 0:88834eed3de0 254 wait (.01);
rschimpf78 0:88834eed3de0 255 }
rschimpf78 3:fd2ca631ab44 256
rschimpf78 3:fd2ca631ab44 257 void send_error_check()
rschimpf78 3:fd2ca631ab44 258 {
rschimpf78 3:fd2ca631ab44 259 if (plates <= 0 || plates >= 17)
rschimpf78 2:e8f8095464cf 260 {
rschimpf78 3:fd2ca631ab44 261 pc.printf("\nERROR: Invalid Range |");
rschimpf78 2:e8f8095464cf 262 }
rschimpf78 3:fd2ca631ab44 263 else if(homeSwitch == 1)
rschimpf78 3:fd2ca631ab44 264 {
rschimpf78 3:fd2ca631ab44 265 pc.printf("\nERROR: Not at Home Position |");
rschimpf78 3:fd2ca631ab44 266 }
rschimpf78 3:fd2ca631ab44 267 else
rschimpf78 3:fd2ca631ab44 268 {
rschimpf78 3:fd2ca631ab44 269 plate_selection();
rschimpf78 3:fd2ca631ab44 270 send();
rschimpf78 3:fd2ca631ab44 271 }
rschimpf78 3:fd2ca631ab44 272 }
rschimpf78 3:fd2ca631ab44 273 void select_error_check()
rschimpf78 3:fd2ca631ab44 274 {
rschimpf78 3:fd2ca631ab44 275 if (homeSwitch == 1)
rschimpf78 3:fd2ca631ab44 276 {
rschimpf78 3:fd2ca631ab44 277 pc.printf("\nERROR: Not at Home Position |");
rschimpf78 3:fd2ca631ab44 278 }
rschimpf78 3:fd2ca631ab44 279 else
rschimpf78 3:fd2ca631ab44 280 {
rschimpf78 3:fd2ca631ab44 281 plate_selection();
rschimpf78 3:fd2ca631ab44 282 }
rschimpf78 3:fd2ca631ab44 283 }
rschimpf78 3:fd2ca631ab44 284 void retract_error_check()
rschimpf78 3:fd2ca631ab44 285 {
rschimpf78 3:fd2ca631ab44 286 if (homeSwitch == 0)
rschimpf78 3:fd2ca631ab44 287 {
rschimpf78 3:fd2ca631ab44 288 pc.printf("\nERROR: Already at Home Position |");
rschimpf78 0:88834eed3de0 289 }
rschimpf78 2:e8f8095464cf 290 else
rschimpf78 2:e8f8095464cf 291 {
rschimpf78 3:fd2ca631ab44 292 retract();
rschimpf78 2:e8f8095464cf 293 }
rschimpf78 2:e8f8095464cf 294 }
rschimpf78 0:88834eed3de0 295
rschimpf78 0:88834eed3de0 296 int main()
rschimpf78 2:e8f8095464cf 297 {
rschimpf78 2:e8f8095464cf 298 in1=1;
rschimpf78 2:e8f8095464cf 299 in2=1;
rschimpf78 2:e8f8095464cf 300 en = 1;
rschimpf78 2:e8f8095464cf 301 wait(0.1);
rschimpf78 0:88834eed3de0 302 internalpullups();
rschimpf78 3:fd2ca631ab44 303 wait(0.1);
rschimpf78 2:e8f8095464cf 304
rschimpf78 2:e8f8095464cf 305 while(1)
rschimpf78 0:88834eed3de0 306 {
rschimpf78 4:63f0989c8d1e 307
rschimpf78 4:63f0989c8d1e 308 plates = (rand() % 16) + 1;
rschimpf78 4:63f0989c8d1e 309 wait(2);
rschimpf78 2:e8f8095464cf 310 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 311 send_error_check();
rschimpf78 3:fd2ca631ab44 312 beam();
rschimpf78 3:fd2ca631ab44 313 platedetect();
rschimpf78 4:63f0989c8d1e 314 wait(2);
rschimpf78 3:fd2ca631ab44 315 retract_error_check();
rschimpf78 4:63f0989c8d1e 316 wait(2);
rschimpf78 0:88834eed3de0 317 }
rschimpf78 4:63f0989c8d1e 318 }