Revision 6:49a007861c76, committed 2015-05-30

Comitter:

ovidiup13

Date:

Sat May 30 14:58:44 2015 +0000

Parent:

5:5b1a8ad6c187

Child:

7:11675c1dce4f

Commit message:

integrated level meter functionality and added 3-way switch control

Changed in this revision

--- a/Item.h	Thu May 28 16:07:00 2015 +0000
+++ b/Item.h	Sat May 30 14:58:44 2015 +0000
@@ -3,12 +3,20 @@
 
 #include "st7565LCD.h"
 #include "rtos.h"
+
+//screen configuration
 #define LEFT_MARGIN 5
 #define DEFAULT_COLOR 20
 
 #define SCREEN_WIDTH 128
 #define SCREEN_HEIGHT 64
 
+//control macros
+#define NL    121  //select - y
+#define UP    119  //up - w
+#define DOWN  115  //down - s
+
+//threading macros
 #define START_THREAD 1
 #define PAUSE_THREAD 2
 

--- a/LevelMeter.cpp	Thu May 28 16:07:00 2015 +0000
+++ b/LevelMeter.cpp	Sat May 30 14:58:44 2015 +0000
@@ -26,12 +26,15 @@
 void LevelMeter::update_cross()
 {
     lt->signal_wait(START_THREAD); //wait for signal to start thread
+    initSensors();
+    Result_avrg result;
     //draw the static circle
-    int i = 0, j = 0;
+    //int i = 0, j = 0;
     while(true) {
-        draw_elements(i++, j++);
-        //do something
-        Thread::wait(30);
+        calc_avrg_or(&result,2);
+        draw_elements(result.x, result.y);
+        //printf("%0.0f, %0.0f\n", result.x, result.y);
+        Thread::wait(15);
         st7565->clear();
     }
 }
@@ -51,14 +54,22 @@
     if(ry >= 270) ry -= 360;
     
     //calculate coordinates
-    cross_x = (int) ((rx * SCREEN_WIDTH)/360.0) + 63;
-    cross_y = (int) ((ry * SCREEN_HEIGHT)/360.0) + 35;
+    cross_x = (int) ((2*rx * SCREEN_WIDTH)/360.0) + X0;
+    cross_y = (int) ((2*ry * SCREEN_HEIGHT)/360.0) + Y0;
     
-    printf("Coordinates for cross are: %d, %d\n", cross_x, cross_y);
+    //printf("Coordinates for cross are: %d, %d\n", cross_x, cross_y);
     
     //draw the cross
-    st7565->drawline(cross_x, cross_y - RADIUS_lvl/2, cross_x, cross_y + RADIUS_lvl/2, DEFAULT_COLOR);
-    st7565->drawline(cross_x - RADIUS_lvl/2, cross_y, cross_x + RADIUS_lvl/2, cross_y, DEFAULT_COLOR);
+    st7565->drawline(cross_x, cross_y - RADIUS_lvl*3, cross_x, cross_y + RADIUS_lvl*3, DEFAULT_COLOR);
+    st7565->drawline(cross_x - RADIUS_lvl*3, cross_y, cross_x + RADIUS_lvl*3, cross_y, DEFAULT_COLOR);
+    
+    //draw results
+    char *rsx = (char*)malloc(sizeof(char)*7);
+    char *rsy = (char*)malloc(sizeof(char)*7);
+    sprintf(rsx, "X: %0.0f", rx);
+    sprintf(rsy, "Y: %0.0f", ry);
+    st7565->drawstring(3, 7, rsx);
+    st7565->drawstring(SCREEN_WIDTH - 38, 7, rsy);
     
     //display
     st7565->display();

--- a/LevelMeter.h	Thu May 28 16:07:00 2015 +0000
+++ b/LevelMeter.h	Sat May 30 14:58:44 2015 +0000
@@ -1,10 +1,11 @@
 #include "Item.h"
+#include "gyro.h"
 
 //define coordinates
 #define X0 63 //center
-#define Y0 35 //center
+#define Y0 31 //center
 #define POINTER_LENGTH 10
-#define RADIUS_lvl 10
+#define RADIUS_lvl 3
 
 class LevelMeter: public Item {
     public:

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MKI124V1.h	Sat May 30 14:58:44 2015 +0000
@@ -0,0 +1,84 @@
+// Defines for the MEMS sensors on the STEVAL-MKI124V1 board
+// Liam Goudge. March 2014
+
+// LPS331AP MEMS pressure and temperature sensor
+#define LPS331addr      0xBA // I2C address of the sensor for writes (line SAO is tied high on this board so bit 1=1. Note this may not work on other boards).
+
+#define pWHO_AM_I        0x0F // "ping" register. Device will respond even when in sleep mode
+#define pRES_CONF        0x10 // Reset value is 0x7A (512 pressure samples and 128 temperature samples)
+#define pCTRL_REG1       0x20
+#define pCTRL_REG2       0x21
+#define pCTRL_REG3       0x22
+#define pPRESS_OUT_XL    0x28
+#define pPRESS_OUT_L     0x29
+#define pPRESS_OUT_H     0x2A
+#define pTEMP_OUT_L      0x2B // Temperature data. 2's complement. Device will respond when in sleep mode
+#define pTEMP_OUT_H      0x2C
+
+// LSM303DLHC MEMS ascceleratometer, magnetometer and temperature sensor
+#define LSM303_m        0x3C // I2C base address of the magnetometer sensor
+#define LSM303_a        0x32 // I2C base address of the accelerometer sensor
+
+// Magnetometer registers
+#define mCRA_REG_M       0x00 // Magnetic sensor configuration register A
+#define mCRB_REG_M       0x01 // Magnetic sensor configuration register B
+#define mMR_REG_M        0x02 // Magnetometer mode register
+#define mOUT_X_H_M       0x03 // X-axis magnetic field data High byte
+#define mOUT_X_L_M       0x04 // X-axis magnetic field data Low byte
+#define mOUT_Z_H_M       0x05 // Z-axis magnetic field data High byte
+#define mOUT_Z_L_M       0x06 // Z-axis magnetic field data Low byte
+#define mOUT_Y_H_M       0x07 // Y-axis magnetic field data High byte
+#define mOUT_Y_L_M       0x08 // Y-axis magnetic field data Low byte
+#define mSR_REG_M        0x09 // Magnetometer status register
+#define mIRA_REG_M       0x0A // ID register A. Should read 0x48
+#define mCTRL_REG1_A     0x20
+#define mTEMP_OUT_H_M    0x31 // Magnetometer temperature register High byte
+#define mTEMP_OUT_L_M    0x32 // Magnetometer temperature register Low byte
+
+// Accelerometer registers
+#define aCTRL_REG1_A     0x20 // Accelerometer output data rate ODR, low power modes etc
+#define aCTRL_REG4_A     0x23 // Accelerometer full scale selection etc
+#define aOUT_X_L_A       0x28 // Accelerometer X axis low byte
+#define aOUT_X_H_A       0x29 // Accelerometer X axis high byte
+#define aOUT_Y_L_A       0x2A // Accelerometer Y axis low byte
+#define aOUT_Y_H_A       0x2B // Accelerometer Y axis high byte
+#define aOUT_Z_L_A       0x2C // Accelerometer Z axis low byte
+#define aOUT_Z_H_A       0x2D // Accelerometer Z axis high byte
+
+// L3GD20 MEMS gyro. 3 axis angular rate sensor
+#define L3GD20_ADDR     0xD6 // I2C base address of the gyro
+
+#define gWHO_AM_I        0x0F // Ping register. Response is 0xD4. Responds even when device is off
+#define gCTRL_REG1       0x20 // Sets Output Data Rate, Bandwidth and Power mode
+#define gCTRL_REG4       0x23 // 
+#define gOUT_TEMP        0x26 // Temperature data. 8 bit resolution
+#define gOUT_X_L         0x28 // X-axis angular rate low byte expressed as 2's complement
+#define gOUT_X_H         0x29 // X-axis angular rate high byte
+#define gOUT_Y_L         0x2A
+#define gOUT_Y_H         0x2B
+#define gOUT_Z_L         0x2C
+#define gOUT_Z_H         0x2D
+
+
+// Structs
+typedef struct{   
+    float   pitch;
+    float   roll;
+    int16_t   aX;
+    int16_t   aY;
+    int16_t   aZ;
+    float   heading;
+    float   tempC;
+    float   pressuremB;
+    } SensorState_t;
+    
+
+
+typedef struct{
+    float x;
+    float y;
+    float z;
+    int16_t aX;
+    int16_t aY;
+    int16_t aZ;
+}Result_avrg;

--- a/Menu.h	Thu May 28 16:07:00 2015 +0000
+++ b/Menu.h	Sat May 30 14:58:44 2015 +0000
@@ -1,17 +1,8 @@
 #ifndef _MENU_H_
 #define _MENU_H_
 
-#include<stdio.h>
-#include <stdlib.h>
-#include "st7565LCD.h"
 #include "Item.h"
 
-//define control keys
-#define NL    121 //newline char
-#define BS     8 //backspace
-#define UP   119  
-#define DOWN 115
-
 int const MAX_ITEMS = 16;
 int const TITLE_LINE = 1;
 int const FIRST_ITEM_LINE = 1;

--- a/UserInterface.h	Thu May 28 16:07:00 2015 +0000
+++ b/UserInterface.h	Sat May 30 14:58:44 2015 +0000
@@ -25,6 +25,13 @@
 //define default color
 #define _DEFAULT_COLOR 20
 
+//define mbed pins
+#define _MOSI p11
+#define _SCLK p13
+#define _RST p24
+#define _A0 p8
+#define _CS p12
+
 using namespace std;
 
 class Item;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gyro.cpp	Sat May 30 14:58:44 2015 +0000
@@ -0,0 +1,219 @@
+#include "gyro.h"
+
+//DigitalOut myled(LED1);
+//Serial pc(USBTX, USBRX);    // tx, rx for USB debug printf to terminal console
+I2C i2c(p28, p27);          // LPC1768 I2C pin allocation
+//DigitalIn din(p23); // used as a test button
+
+// Globals
+int16_t const   Offset_mX=-40.0;
+int16_t const   Offset_mY=-115.0;
+float const     RadtoDeg=(180.0/3.141592654);
+
+
+char readByte(char address, char reg)
+// Reads one byte from an I2C address
+// Didn't bother to make a multi-byte version to read in X,Y,Z low/high series of registers because...
+// the data registers of all sensors they are in the same XL,XH,YL,YH,ZL,ZH order apart from the magnetometer which is XH,XL,ZH,ZL,YH,YL...
+{
+    char result;
+    
+    i2c.start();
+    i2c.write(address);         // Slave address with direction=write
+    i2c.write(reg);             // Subaddress (register)
+    
+    i2c.start();                // Break transmission to change bus direction
+    i2c.write(address + 1);     // Slave address with direction=read [bit0=1]
+    
+    result = i2c.read(0);
+    i2c.stop();
+    return (result);
+    }
+    
+void writeByte(char address, char reg,char value)
+// Sends 1 byte to an I2C address
+{    
+    i2c.start();
+    i2c.write(address);         // Slave address
+    i2c.write(reg);             // Subaddress (register)
+    i2c.write(value);
+    i2c.stop();
+    
+    }
+    
+void initSensors (void)
+// Switch on and set up the 3 on-board sensors
+{
+    //pc.printf("--------------------------------------\n");
+    //pc.printf("\nSTM MEMS eval board sensor init \n");
+    
+#ifdef LSM303_on
+    // LSM303DLHC Magnetic sensor
+    //pc.printf("LSM303DLHC ping (should reply 0x48): %x \n",readByte(LSM303_m,mIRA_REG_M));
+    writeByte(LSM303_m,mCRA_REG_M,0x94);     //switch on temperature sensor and set Output Data Rate to 30Hz
+    writeByte(LSM303_m,mCRB_REG_M,0x20);     // Set the gain for +/- 1.3 Gauss full scale range
+    writeByte(LSM303_m,mMR_REG_M,0x0);       // Continuous convertion mode
+    
+    // LSM303DLHC Accelerometer
+    writeByte(LSM303_a,aCTRL_REG1_A ,0x37); // Set 25Hz ODR, everything else on
+    writeByte(LSM303_a,aCTRL_REG4_A ,0x08); // Set full scale to +/- 2g sensitivity and high rez mode
+#endif
+    
+    //pc.printf("--------------------------------------\n \n");
+    wait(2); // Wait for settings to stabilize
+    }    
+
+void LSM303 (SensorState_t * state)
+// Magnetometer and accelerometer
+{
+    char        xL, xH, yL, yH, zL, zH;
+    int16_t     mX, mY, mZ,aX,aY,aZ;
+    float       pitch,roll,faX,faY;
+
+    xL=readByte(LSM303_m,mOUT_X_L_M);
+    xH=readByte(LSM303_m,mOUT_X_H_M);
+    yL=readByte(LSM303_m,mOUT_Y_L_M);
+    yH=readByte(LSM303_m,mOUT_Y_H_M);
+    zL=readByte(LSM303_m,mOUT_Z_L_M);
+    zH=readByte(LSM303_m,mOUT_Z_H_M);
+    
+    mX=(xH<<8) | (xL); // 16-bit 2's complement data
+    mY=(yH<<8) | (yL);
+    mZ=(zH<<8) | (zL);
+    
+    //pc.printf("mX=%hd   %X          mY=%hd  %X      mZ=%hd  %X      \n",mX,mX,mY,mY,mZ,mZ);
+    
+    mX=mX-Offset_mX; // These are callibration co-efficients to deal with non-zero soft iron magnetic offset
+    mY=mY-Offset_mY; 
+    
+    xL=readByte(LSM303_a,aOUT_X_L_A);
+    xH=readByte(LSM303_a,aOUT_X_H_A);
+    yL=readByte(LSM303_a,aOUT_Y_L_A);
+    yH=readByte(LSM303_a,aOUT_Y_H_A);
+    zL=readByte(LSM303_a,aOUT_Z_L_A);
+    zH=readByte(LSM303_a,aOUT_Z_H_A);
+
+    aX=(signed short) ( (xH<<8) | (xL) ) >> 4; // 12-bit data from ADC. Cast ensures that the 2's complement sign is not lost in the right shift.
+    aY=(signed short) ( (yH<<8) | (yL) ) >> 4;
+    aZ=(signed short) ( (zH<<8) | (zL) ) >> 4;
+    
+    //pc.printf("aX=%hd   %X          aY=%hd  %X      aZ=%hd  %X      \n",aX,aX,aY,aY,aZ,aZ);
+    
+    faX=((float) aX) /2000.0; // Accelerometer scale I chose is 1mg per LSB with range +/-2g. So to normalize for full scale need to divide by 2000.
+    faY=((float) aY) /2000.0; // If you don't do this the pitch and roll calcs will not work (inverse cosine of a value greater than 1)
+    //faZ=((float) aZ) /2000.0; // Not used in a calc so comment out to avoid the compiler warning
+        
+    // Trigonometry derived from STM app note AN3192 and from WikiRobots
+   pitch = asin((float) -faX*2); // Dividing faX and faY by 1000 rather than 2000 seems to give better tilt immunity. Do it here rather than above to preserve true mg units of faX etc
+   roll = asin(faY*2/cos(pitch));
+   
+  float xh = mX * cos(pitch) + mZ * sin(pitch);
+  float yh = mX * sin(roll) * sin(pitch) + mY * cos(roll) - mZ * sin(roll) * cos(pitch);
+  float zh = -mX * cos(roll) * sin(pitch) + mY * sin(roll) + mZ * cos(roll) * cos(pitch);
+ 
+  float heading = atan2(yh, xh) * RadtoDeg; // Note use of atan2 rather than atan since better for working with quadrants
+  if (yh < 0)
+    heading=360+heading;
+    
+    state->heading=heading;
+    state->pitch=pitch;
+    state->roll=roll;
+    state->aX = (float)aX;
+    state->aY = (float)aY;
+    state->aZ = (float)aZ;
+    //5.1f 
+    //pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n",roll*RadtoDeg,pitch*RadtoDeg,heading);
+    //pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",aX,aY,aZ);    
+    
+}
+
+//calculates the difference for acceleration in int16_t value  
+void calc_avrg_ac(Result_avrg* result,int samples){
+    int i = 0;
+    result -> aX = 0;
+    result -> aY = 0;
+    result -> aZ = 0;
+    SensorState_t   state;
+    for(i = 0;i<samples;i++){
+        #ifdef LSM303_on
+            LSM303(&state);
+        #endif
+        result -> aX += state.aX;
+        result -> aY += state.aY;
+        result -> aZ += state.aZ;
+        //pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",state.aX,state.aY,state.aZ);
+           
+        wait(0.01);
+    }
+    //pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",result->aX,result->aY,result->aZ);   
+    result -> aX = result -> aX / samples;
+    result -> aY = result -> aY / samples;
+    result -> aZ = result -> aZ / samples;
+    //pc.printf("rAcceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",result->aX,result->aY,result->aZ);   
+}
+
+//calculates the difference for orientation in float value
+void calc_avrg_or(Result_avrg* result,int samples){
+    int i = 0;
+    result -> x = 0;
+    result -> y = 0;
+    result -> z = 0;
+    SensorState_t   state;
+    for(i = 0;i<samples;i++){
+        #ifdef LSM303_on
+            LSM303(&state);
+        #endif
+        result -> x +=  state.roll*RadtoDeg;
+        result -> y += state.pitch*RadtoDeg;
+        result -> z += state.heading;
+        //pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n",state.roll*RadtoDeg,state.pitch*RadtoDeg,state.heading);
+        wait(0.01);
+    }
+    //pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n", result -> x ,result -> y,result -> z);
+    result -> x = result -> x / samples;
+    result -> y = result -> y / samples;
+    result -> z = result -> z / samples;
+    //pc.printf("Orientation (deg):   rRot_X: %0.0f    rRot_Y: %0.0f     rRot_Z: %0.0f \n", result -> x ,result -> y,result -> z);
+}
+
+//gets the two results and saves the answer in r1 structure
+void calc_diff(Result_avrg* r1, Result_avrg* r2){
+    r1 -> x = abs(r1->x - r2->x);
+    r1 -> y = abs(r1->y - r2->y);
+    r1 -> z = abs(r1->z - r2->z);
+    
+    r1 -> aX = abs(r1->aX - r2->aX);
+    r1 -> aY = abs(r1->aY - r2->aY);
+    r1 -> aZ = abs(r1->aZ - r2->aZ);
+}
+
+/*
+
+int main()
+{
+    SensorState_t   state;
+    Result_avrg result1;
+    //Result_avrg result2;
+    initSensors();
+    //pc.baud(115200);
+    calc_avrg_or(&result1,3);
+    //calc_avrg_ac(&result1,3);
+    //pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n", result1.x ,result1.y,result1.z);
+    //pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",result1.aX,result1.aY,result1.aZ);   
+    //calc_avrg_or(&result2,3);
+    //calc_avrg_ac(&result2,3);
+    //pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n", result2.x ,result2.y,result2.z);
+    //pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",result2.aX,result2.aY,result2.aZ);
+    //calc_diff(&result1,&result2);
+    //pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n", result1.x ,result1.y,result1.z);
+    //pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",result1.aX,result1.aY,result1.aZ);
+#ifdef LSM303_on
+    //LSM303(&state);
+#endif
+
+    //pc.printf("Orientation (deg):   Rot_X: %0.0f    Rot_Y: %0.0f     Rot_Z: %0.0f \n",state.roll*RadtoDeg,state.pitch*RadtoDeg,state.heading);
+    //pc.printf("Acceleration (mg):   X: %5hd         Y: %5hd          Z: %5hd \n",state.aX,state.aY,state.aZ);  
+    //pc.printf("\n");
+    
+}
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gyro.h	Sat May 30 14:58:44 2015 +0000
@@ -0,0 +1,27 @@
+// MBED reference code for the ST Micro STEVAL-MKI124V1 header board
+// This board has: LPS331 pressure/temperature sensor, L3GD20 gyroscope and LSM303DLHC magnetometer/accelerometer
+// Code accesses each of the 3 MEMS sensors and calculates pressure, temp, heading, tilt, roll and angular velocity
+// Code is not optimized for efficienecy but instead for clarity of how you use the sensors
+// ST application note AN3192 was key in developing the tilt-corrected compass
+// Developed on an LPC1768
+// By Liam Goudge. March 2014
+
+#define LSM303_on
+
+#include "mbed.h"
+#include "MKI124V1.h"
+#include "math.h"
+
+char readByte(char address, char reg);
+
+void writeByte(char address, char reg,char value);
+
+void initSensors (void);
+
+void LSM303 (SensorState_t * state);
+
+void calc_avrg_ac(Result_avrg* result,int samples);
+
+void calc_avrg_or(Result_avrg* result,int samples);
+
+void calc_diff(Result_avrg* r1, Result_avrg* r2);
\ No newline at end of file

--- a/main.cpp	Thu May 28 16:07:00 2015 +0000
+++ b/main.cpp	Sat May 30 14:58:44 2015 +0000
@@ -1,25 +1,22 @@
 #include "UserInterface.h"
 #include "st7565LCD.h"
 
-//define mbed pins
-#define _MOSI p11
-#define _SCLK p13
-#define _RST p24
-#define _A0 p8
-#define _CS p12
-
 ST7565 st7565(_MOSI, _SCLK, _CS, _RST, _A0); // mosi, sclk, cs, rst, a0
 Serial pc(USBTX, USBRX); //rx, tx
 
 //buttons
 DigitalIn down(p18);
 DigitalIn select(p19);
+DigitalIn up(p20);
 
-void init_config(UI *ui){
+int main(){
+    //create god UI object
+    UI * ui = new UI(&st7565);
+    //initialize configuration
     //create main menu
     Menu * main_menu = new Menu(" Main Menu", &st7565);
     
-    /*
+    
     //create distance screens
     Measure *distance = new Measure(" Distance", &st7565, main_menu);
     distance->setDescription("Select Start from the menu below to start laser.");
@@ -33,8 +30,6 @@
     distance2->setNext(" Select", distance3);
     distance3->setNext(" Start again", distance);
     main_menu->addItem(distance);
-    */
-    
     
     //create point-to-point screens
     Measure *p2p = new Measure(" Point-to-Point", &st7565, main_menu);
@@ -75,12 +70,6 @@
     thermo3->setNext(" Start", thermo);
     main_menu->addItem(thermo);
     
-    /*
-    //create settings menu
-    Menu *settings = new Menu(" Settings", &st7565);
-    main_menu->addItem(settings);
-    */
-    
     //create header object
     Header * header = new Header(70, "", &st7565);
     
@@ -88,28 +77,19 @@
     ui->setCurrent(main_menu);
     ui->setHeader(header);
     ui->init();
-}
-
-int main(){
-    //create god UI object
-    UI * ui = new UI(&st7565);
-    //initialize configuration
-    init_config(ui);
     
     while(1) {
-        if(down){
-            ui->update('s');
+        if(!down){
+            ui->update('s'); //ascii 115
             wait(0.2);
         }
-        else if(select){
-            ui->update('y');
+        else if(!select){
+            ui->update('y'); //ascii 121
             wait(0.2);
         }
-        /*
-        else{
-            char c = pc.getc();
-            ui->update(c);
+        else if(!up){
+            ui->update('w'); //ascii 119
+            wait(0.2);
         }
-        */
     }
 }
\ No newline at end of file