Karl Zweimüller / Mbed OS TMC2209-Test2

Testprogram for TMC2209-Library. Uses Speed-Control via VACTUAL instead of Step/Dir

Dependencies:   TMCStepper mRotaryEncoder-os

main.cpp@10:376299814a3b, 2021-12-11 (annotated)

Committer:
charly
Date:
Sat Dec 11 16:44:13 2021 +0000
Revision:
10:376299814a3b
Parent:
9:babbfb61d347 
baremetal profile

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charly 0:3f4cfbeda9d3 1 #include "mbed.h"
charly 0:3f4cfbeda9d3 2 #include "platform/mbed_thread.h"
charly 2:94c5b3f09463 3 #include "TMCStepper.h"
charly 4:12bfa2c1729f 4 #include "mRotaryEncoder.h"
charly 2:94c5b3f09463 5
charly 2:94c5b3f09463 6 /*
charly 2:94c5b3f09463 7 Testprogram for TMCStepper-Library
charly 2:94c5b3f09463 8 TMCStepper based on https://github.com/teemuatlut/TMCStepper for Arduino
charly 2:94c5b3f09463 9 by https://github.com/teemuatlut
charly 2:94c5b3f09463 10 +++++
charly 2:94c5b3f09463 11 Tested with https://github.com/bigtreetech/BIGTREETECH-TMC2209-V1.2
charly 2:94c5b3f09463 12 */
charly 0:3f4cfbeda9d3 13
charly 0:3f4cfbeda9d3 14
charly 10:376299814a3b 15 DigitalOut ledCW(LED1); // Show rotation clockwise // Gren LED LD3
charly 10:376299814a3b 16 DigitalOut ledCCW(NC); // Show rotation counterclockwise // no more LEDs on L432
charly 5:7f250f463aa2 17
charly 0:3f4cfbeda9d3 18 //Virtual serial port over USB with 15200 baud 8N1
charly 0:3f4cfbeda9d3 19 static BufferedSerial host(USBTX, USBRX,115200);
charly 0:3f4cfbeda9d3 20
charly 4:12bfa2c1729f 21 //mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000)
charly 10:376299814a3b 22 mRotaryEncoder wheel(D2, D3, D6,PullUp,3000); // default 1500
charly 10:376299814a3b 23 //D7, D8 not available on L432KC with default solder bridges
charly 4:12bfa2c1729f 24
charly 2:94c5b3f09463 25 // hardware parameters:
charly 0:3f4cfbeda9d3 26 // MOTOR Steps per Revolution ( 1/8 Microsteps, 200Steps per Rev / 1.8 degrees per FullStep)
charly 0:3f4cfbeda9d3 27 #define MSPR 1600
charly 0:3f4cfbeda9d3 28 // Gear Ratio
charly 0:3f4cfbeda9d3 29 #define GR 288
charly 0:3f4cfbeda9d3 30
charly 0:3f4cfbeda9d3 31 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
charly 5:7f250f463aa2 32 #define R_SENSE 0.11f // R-Sense in OHM. Match to your driver
charly 8:f44d70665051 33 #define MICROSTEPS 256 // # of microsteps
charly 10:376299814a3b 34 #define RMSCURRENT 800 // RMS current of Stepper Coil in mA
charly 10:376299814a3b 35 #define MAXSPEED 5500 // Maximaum speed (5500 with RMS800 @12V/0.6Amax)
charly 0:3f4cfbeda9d3 36
charly 2:94c5b3f09463 37 // A TMCStepper-object with UART and given address and R-Sense
charly 0:3f4cfbeda9d3 38 //RX, TX, RS, Addr
charly 10:376299814a3b 39 TMC2209Stepper stepper(D0, D1, R_SENSE, DRIVER_ADDRESS);
charly 0:3f4cfbeda9d3 40
charly 10:376299814a3b 41 InterruptIn diag(D12);
charly 10:376299814a3b 42 DigitalOut enn(D11);
charly 6:6ad7bc10ac20 43
charly 5:7f250f463aa2 44 volatile bool enc_pressed = false; // Button of rotaryencoder was pressed
charly 5:7f250f463aa2 45 volatile bool enc_rotated = false; // rotary encoder was totaded left or right
charly 5:7f250f463aa2 46 volatile bool enc_action = false; // any change happened
charly 6:6ad7bc10ac20 47 volatile bool diag_event = false; // DIAG-Pin of TMC
charly 4:12bfa2c1729f 48 int lastGet;
charly 4:12bfa2c1729f 49 int thisGet;
charly 4:12bfa2c1729f 50
charly 4:12bfa2c1729f 51 //interrup-Handler for button on rotary-encoder
charly 4:12bfa2c1729f 52 void trigger_sw() {
charly 4:12bfa2c1729f 53 enc_pressed = true; // just set the flag, rest is done outside isr
charly 4:12bfa2c1729f 54 }
charly 4:12bfa2c1729f 55
charly 4:12bfa2c1729f 56 //interrup-Handler for rotary-encoder rotation
charly 4:12bfa2c1729f 57 void trigger_rotated() {
charly 4:12bfa2c1729f 58 enc_rotated = true; // just set the flag, rest is done outside isr
charly 4:12bfa2c1729f 59 }
charly 4:12bfa2c1729f 60
charly 6:6ad7bc10ac20 61 //interrup-Handler for TMC2209-DIAG-Pin
charly 6:6ad7bc10ac20 62 void trigger_diag() {
charly 6:6ad7bc10ac20 63 diag_event = true; // just set the flag, rest is done outside isr
charly 6:6ad7bc10ac20 64 }
charly 6:6ad7bc10ac20 65
charly 0:3f4cfbeda9d3 66 // Assumes little endian
charly 0:3f4cfbeda9d3 67 void printBits(size_t const size, void const * const ptr)
charly 0:3f4cfbeda9d3 68 {
charly 0:3f4cfbeda9d3 69 unsigned char *b = (unsigned char*) ptr;
charly 0:3f4cfbeda9d3 70 unsigned char byte;
charly 0:3f4cfbeda9d3 71 int i, j;
charly 0:3f4cfbeda9d3 72 // puts("#");
charly 0:3f4cfbeda9d3 73 for (i = size-1; i >= 0; i--) {
charly 0:3f4cfbeda9d3 74 for (j = 7; j >= 0; j--) {
charly 0:3f4cfbeda9d3 75 byte = (b[i] >> j) & 1;
charly 0:3f4cfbeda9d3 76 printf("%u", byte);
charly 0:3f4cfbeda9d3 77 }
charly 0:3f4cfbeda9d3 78 }
charly 0:3f4cfbeda9d3 79 // puts("#");
charly 0:3f4cfbeda9d3 80 }
charly 0:3f4cfbeda9d3 81
charly 0:3f4cfbeda9d3 82 int main()
charly 0:3f4cfbeda9d3 83 {
charly 0:3f4cfbeda9d3 84 printf("\r\nConnected to mbed\r\n");
charly 10:376299814a3b 85 printf("This is Mbed OS %d.%d.%d.\n", MBED_MAJOR_VERSION, MBED_MINOR_VERSION, MBED_PATCH_VERSION);
charly 5:7f250f463aa2 86 //Intitiallize RotaryEncoder
charly 4:12bfa2c1729f 87 // call trigger_sw() when button of rotary-encoder is pressed
charly 4:12bfa2c1729f 88 wheel.attachSW(&trigger_sw);
charly 4:12bfa2c1729f 89 // call trigger_rot() when the shaft is rotaded left or right
charly 4:12bfa2c1729f 90 wheel.attachROT(&trigger_rotated);
charly 4:12bfa2c1729f 91 lastGet = 0;
charly 6:6ad7bc10ac20 92 // set enc_rotated, so startup
charly 4:12bfa2c1729f 93 enc_rotated = true;
charly 5:7f250f463aa2 94 enc_action = true;
charly 5:7f250f463aa2 95 ledCW = 1;
charly 5:7f250f463aa2 96 ledCCW = 1;
charly 6:6ad7bc10ac20 97
charly 8:f44d70665051 98 // disable Driver
charly 8:f44d70665051 99 enn=1;
charly 9:babbfb61d347 100 // wait for Hhardware to settle
charly 9:babbfb61d347 101 ThisThread::sleep_for(100ms);
charly 5:7f250f463aa2 102
charly 5:7f250f463aa2 103 // Initialize Stepper
charly 5:7f250f463aa2 104 printf("connecting to TMC-Module...\r\n");
charly 2:94c5b3f09463 105 stepper.begin(); // UART: Init SW UART (if selected) with default baudrate
charly 9:babbfb61d347 106
charly 9:babbfb61d347 107 //read and check version - must be 0x21
charly 9:babbfb61d347 108 uint8_t tmc_version = stepper.version();
charly 9:babbfb61d347 109 printf("TMC-Version: %02X\r\n",tmc_version);
charly 9:babbfb61d347 110 if (tmc_version != 0x21) {
charly 9:babbfb61d347 111 printf("Wrong TMC-Version(not 0x21) or communication error!! STOPPING!!!\r\n");
charly 9:babbfb61d347 112 if (stepper.CRCerror) {
charly 9:babbfb61d347 113 printf("CRC-Error!!!\r\n");
charly 9:babbfb61d347 114 }
charly 9:babbfb61d347 115 while (1) {
charly 9:babbfb61d347 116 ledCW = 1;
charly 9:babbfb61d347 117 ledCCW = 0;
charly 9:babbfb61d347 118 ThisThread::sleep_for(50ms);
charly 9:babbfb61d347 119 ledCW = 0;
charly 9:babbfb61d347 120 ledCCW = 1;
charly 9:babbfb61d347 121 ThisThread::sleep_for(50ms);
charly 9:babbfb61d347 122 };
charly 9:babbfb61d347 123 }
charly 9:babbfb61d347 124
charly 7:51cb60bf3e2d 125 stepper.push(); // initialize all registers??? required?
charly 7:51cb60bf3e2d 126
charly 2:94c5b3f09463 127 stepper.toff(3); // Enables driver in software - 3, 5 ????
charly 2:94c5b3f09463 128 stepper.rms_current(RMSCURRENT); // Set motor RMS current in mA / min 500 for 24V/speed:3000
charly 1:60419aa0c030 129 // 1110, 800
charly 5:7f250f463aa2 130 // working: 800 12V/0,6Amax, Speed up to 5200=4U/min
charly 5:7f250f463aa2 131
charly 0:3f4cfbeda9d3 132 stepper.microsteps(MICROSTEPS); // Set microsteps to 1:Fullstep ... 256: 1/256th
charly 1:60419aa0c030 133 stepper.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!!
charly 0:3f4cfbeda9d3 134 stepper.pwm_autoscale(true); // Needed for stealthChop
charly 0:3f4cfbeda9d3 135
charly 8:f44d70665051 136 // enable driver
charly 8:f44d70665051 137 enn = 0;
charly 8:f44d70665051 138
charly 6:6ad7bc10ac20 139 uint8_t gstat = stepper.GSTAT();
charly 6:6ad7bc10ac20 140 printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
charly 6:6ad7bc10ac20 141
charly 8:f44d70665051 142 uint32_t gconf = stepper.GCONF();
charly 8:f44d70665051 143 printf("GCONF(): "); printBits(sizeof(gconf),&gconf);printf("\r\n");
charly 8:f44d70665051 144
charly 5:7f250f463aa2 145 uint32_t status = stepper.DRV_STATUS();
charly 5:7f250f463aa2 146 printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
charly 5:7f250f463aa2 147
charly 6:6ad7bc10ac20 148 uint32_t ioin = stepper.IOIN();
charly 6:6ad7bc10ac20 149 printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
charly 6:6ad7bc10ac20 150
charly 8:f44d70665051 151 uint8_t ihold = stepper.ihold();
charly 8:f44d70665051 152 printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
charly 8:f44d70665051 153
charly 8:f44d70665051 154 uint8_t irun = stepper.irun();
charly 8:f44d70665051 155 printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
charly 8:f44d70665051 156
charly 8:f44d70665051 157 uint8_t iholddelay = stepper.iholddelay();
charly 8:f44d70665051 158 printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
charly 8:f44d70665051 159
charly 8:f44d70665051 160 // do a peep by setting vactual to a too high speed
charly 8:f44d70665051 161
charly 9:babbfb61d347 162 //stepper.VACTUAL(50000*MICROSTEPS);
charly 9:babbfb61d347 163 //ThisThread::sleep_for(1s);
charly 8:f44d70665051 164
charly 8:f44d70665051 165 // initialize Automatic tunig (Chap 6.1)
charly 9:babbfb61d347 166 printf("Start automatic tunig Chap6.1 .....");
charly 8:f44d70665051 167 stepper.VACTUAL(1);
charly 8:f44d70665051 168 stepper.VACTUAL(0);
charly 8:f44d70665051 169 ThisThread::sleep_for(100ms);
charly 8:f44d70665051 170 stepper.VACTUAL(500*MICROSTEPS);
charly 8:f44d70665051 171 ThisThread::sleep_for(2s);
charly 8:f44d70665051 172 stepper.VACTUAL(0);
charly 9:babbfb61d347 173 printf("done\r\n");
charly 8:f44d70665051 174
charly 7:51cb60bf3e2d 175 diag.rise(&trigger_diag);
charly 7:51cb60bf3e2d 176
charly 5:7f250f463aa2 177 //bool shaft = false; //direction CW or CCW
charly 1:60419aa0c030 178
charly 0:3f4cfbeda9d3 179 while(1) {
charly 5:7f250f463aa2 180 /* Spped-UP/Down-Cycles
charly 0:3f4cfbeda9d3 181 // printf("TSTEP(): %i\r\n", stepper.TSTEP());
charly 0:3f4cfbeda9d3 182 uint32_t status = stepper.DRV_STATUS();
charly 0:3f4cfbeda9d3 183 printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
charly 0:3f4cfbeda9d3 184 uint32_t ioin = stepper.IOIN();
charly 0:3f4cfbeda9d3 185 printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
charly 0:3f4cfbeda9d3 186 // uint32_t otp = stepper.OTP_READ();
charly 0:3f4cfbeda9d3 187 // printf("OTP_READ(): ");printBits(sizeof(otp),&otp);printf("\r\n");
charly 0:3f4cfbeda9d3 188
charly 1:60419aa0c030 189 printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
charly 0:3f4cfbeda9d3 190 // increase
charly 1:60419aa0c030 191 uint32_t maxspeed = 3000; //max 3400 or 3000
charly 1:60419aa0c030 192 uint32_t actspeed = 0;
charly 0:3f4cfbeda9d3 193 while (actspeed < maxspeed) {
charly 0:3f4cfbeda9d3 194 actspeed += 200;
charly 1:60419aa0c030 195 if (actspeed > maxspeed) {
charly 1:60419aa0c030 196 actspeed = maxspeed;
charly 1:60419aa0c030 197 }
charly 3:209a9c414f54 198 printf("actspeed: %i",actspeed);
charly 0:3f4cfbeda9d3 199 stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
charly 1:60419aa0c030 200 ThisThread::sleep_for(25ms); //wait
charly 0:3f4cfbeda9d3 201 }
charly 0:3f4cfbeda9d3 202 printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
charly 3:209a9c414f54 203 ThisThread::sleep_for(5s);
charly 0:3f4cfbeda9d3 204 // decrease
charly 0:3f4cfbeda9d3 205 maxspeed = 0;
charly 0:3f4cfbeda9d3 206 while (actspeed > maxspeed) {
charly 0:3f4cfbeda9d3 207 actspeed -= 200;
charly 1:60419aa0c030 208 if (actspeed < 0) {
charly 1:60419aa0c030 209 actspeed = 0;
charly 1:60419aa0c030 210 }
charly 3:209a9c414f54 211 printf("actspeed: %i",actspeed);
charly 0:3f4cfbeda9d3 212 stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
charly 1:60419aa0c030 213 ThisThread::sleep_for(25ms); //wait
charly 0:3f4cfbeda9d3 214 }
charly 1:60419aa0c030 215
charly 1:60419aa0c030 216 // stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value
charly 0:3f4cfbeda9d3 217 ThisThread::sleep_for(5s); //wait
charly 1:60419aa0c030 218 // inverse direction
charly 1:60419aa0c030 219 shaft = !shaft;
charly 1:60419aa0c030 220 stepper.shaft(shaft);
charly 2:94c5b3f09463 221 // Read Interace-Count
charly 2:94c5b3f09463 222 printf("IFCNT(): %zu \r\n",stepper.IFCNT());
charly 1:60419aa0c030 223 printf("...\r\n");
charly 4:12bfa2c1729f 224 */
charly 5:7f250f463aa2 225 ////// Control motor-speed by rotary-encoder
charly 5:7f250f463aa2 226
charly 6:6ad7bc10ac20 227 // DIAG-PIN showed Error-Condition?
charly 6:6ad7bc10ac20 228 if (diag_event) {
charly 6:6ad7bc10ac20 229 diag_event = false;
charly 6:6ad7bc10ac20 230 printf("DIAG occured!\r\n");
charly 6:6ad7bc10ac20 231 gstat = stepper.GSTAT();
charly 6:6ad7bc10ac20 232 printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
charly 6:6ad7bc10ac20 233 status = stepper.DRV_STATUS();
charly 6:6ad7bc10ac20 234 printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
charly 6:6ad7bc10ac20 235 //safty turn off friver
charly 6:6ad7bc10ac20 236 printf("Shutting Down Motordriver...\r\n");
charly 8:f44d70665051 237 enn=1;
charly 6:6ad7bc10ac20 238 stepper.toff(0);
charly 6:6ad7bc10ac20 239 status = stepper.DRV_STATUS();
charly 6:6ad7bc10ac20 240 printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
charly 6:6ad7bc10ac20 241 ioin = stepper.IOIN();
charly 6:6ad7bc10ac20 242 printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
charly 8:f44d70665051 243 ihold = stepper.ihold();
charly 8:f44d70665051 244 printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
charly 8:f44d70665051 245 irun = stepper.irun();
charly 8:f44d70665051 246 printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
charly 8:f44d70665051 247 iholddelay = stepper.iholddelay();
charly 8:f44d70665051 248 printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
charly 6:6ad7bc10ac20 249 printf("stopping programm - manual RESET required!!!!!!\r\n");
charly 8:f44d70665051 250 while (1) {
charly 8:f44d70665051 251 ledCW = 1;
charly 8:f44d70665051 252 ledCCW = 1;
charly 8:f44d70665051 253 ThisThread::sleep_for(200ms);
charly 8:f44d70665051 254 ledCW = 0;
charly 8:f44d70665051 255 ledCCW = 0;
charly 8:f44d70665051 256 ThisThread::sleep_for(200ms);
charly 8:f44d70665051 257 };
charly 6:6ad7bc10ac20 258
charly 6:6ad7bc10ac20 259 }
charly 6:6ad7bc10ac20 260
charly 4:12bfa2c1729f 261 // shaft has been rotated?
charly 4:12bfa2c1729f 262 if (enc_rotated) {
charly 4:12bfa2c1729f 263 enc_rotated = false;
charly 5:7f250f463aa2 264 enc_action = true;
charly 4:12bfa2c1729f 265 thisGet = wheel.Get();
charly 5:7f250f463aa2 266 if (thisGet*100 > MAXSPEED) { //on upper limit?
charly 5:7f250f463aa2 267 wheel.Set( MAXSPEED/100);
charly 5:7f250f463aa2 268 thisGet = wheel.Get();
charly 5:7f250f463aa2 269 }
charly 5:7f250f463aa2 270 if (thisGet*100 < MAXSPEED*(-1)) { //on lower limit?
charly 5:7f250f463aa2 271 wheel.Set( MAXSPEED*(-1)/100);
charly 5:7f250f463aa2 272 thisGet = wheel.Get();
charly 5:7f250f463aa2 273 }
charly 4:12bfa2c1729f 274 stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value
charly 4:12bfa2c1729f 275 printf("actspeed: %i\r\n",thisGet*100);
charly 5:7f250f463aa2 276
charly 4:12bfa2c1729f 277 }
charly 4:12bfa2c1729f 278 // Button pressed?
charly 4:12bfa2c1729f 279 if (enc_pressed) {
charly 4:12bfa2c1729f 280 enc_pressed = false;
charly 5:7f250f463aa2 281 enc_action = true;
charly 4:12bfa2c1729f 282 wheel.Set(0);
charly 4:12bfa2c1729f 283 thisGet = wheel.Get();
charly 4:12bfa2c1729f 284 stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value
charly 4:12bfa2c1729f 285 printf("actspeed: %i\r\n",thisGet*100);
charly 7:51cb60bf3e2d 286
charly 7:51cb60bf3e2d 287 gstat = stepper.GSTAT();
charly 7:51cb60bf3e2d 288 printf("GSTAT(): "); printBits(sizeof(gstat),&gstat);printf("\r\n");
charly 8:f44d70665051 289 gconf = stepper.GCONF();
charly 8:f44d70665051 290 printf("GCONF(): "); printBits(sizeof(gconf),&gconf);printf("\r\n");
charly 7:51cb60bf3e2d 291 status = stepper.DRV_STATUS();
charly 7:51cb60bf3e2d 292 printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n");
charly 7:51cb60bf3e2d 293 ioin = stepper.IOIN();
charly 7:51cb60bf3e2d 294 printf("IOIN(): "); printBits(sizeof(ioin),&ioin);printf("\r\n");
charly 8:f44d70665051 295 ihold = stepper.ihold();
charly 8:f44d70665051 296 printf("IHOLD(): "); printBits(sizeof(ihold),&ihold);printf("\r\n");
charly 8:f44d70665051 297 irun = stepper.irun();
charly 8:f44d70665051 298 printf("IRUN(): "); printBits(sizeof(irun),&irun);printf("\r\n");
charly 8:f44d70665051 299 iholddelay = stepper.iholddelay();
charly 8:f44d70665051 300 printf("IHOLDDELAY(): "); printBits(sizeof(iholddelay),&iholddelay);printf("\r\n");
charly 4:12bfa2c1729f 301
charly 4:12bfa2c1729f 302 }
charly 5:7f250f463aa2 303 // anything changed?
charly 5:7f250f463aa2 304 if (enc_action) {
charly 5:7f250f463aa2 305 enc_action = false;
charly 5:7f250f463aa2 306 // show direction of motor on leds
charly 5:7f250f463aa2 307 if (thisGet > 0) {
charly 5:7f250f463aa2 308 ledCW = 1;
charly 5:7f250f463aa2 309 ledCCW= 0;
charly 5:7f250f463aa2 310 }
charly 5:7f250f463aa2 311 if (thisGet < 0) {
charly 5:7f250f463aa2 312 ledCW = 0;
charly 5:7f250f463aa2 313 ledCCW= 1;
charly 5:7f250f463aa2 314 }
charly 5:7f250f463aa2 315 if (thisGet == 0) {
charly 5:7f250f463aa2 316 ledCW = 1;
charly 5:7f250f463aa2 317 ledCCW= 1;
charly 5:7f250f463aa2 318 }
charly 5:7f250f463aa2 319 }
charly 4:12bfa2c1729f 320 } // while 1
charly 0:3f4cfbeda9d3 321 }