Revision 1354
adding keyboard remote control for testing...still in progress.
| trunk/code/projects/colonet/robot/joystick/keyboard_control/keyboard.c | ||
|---|---|---|
| 1 |
#include <stdlib.h> |
|
| 2 |
#include <stdio.h> |
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| 3 |
#include <string.h> |
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| 4 |
#include <curses.h> // you need to install the ncurses library |
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| 5 |
#include "../../../../libwireless/lib/wireless.h" |
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| 6 |
#include <unistd.h> |
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| 7 |
|
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| 8 |
#define WL_CNTL_GROUP 4 |
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| 9 |
|
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| 10 |
#define CNTL_FORWARD 'f' |
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| 11 |
#define CNTL_BACK 'b' |
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| 12 |
#define CNTL_LEFT 'l' |
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| 13 |
#define CNTL_RIGHT 'r' |
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| 14 |
#define CNTL_STOP 's' |
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| 15 |
#define CNTL_BUZZ0 't' |
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| 16 |
#define CNTL_BUZZ1 'u' |
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| 17 |
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| 18 |
void send_packet (char type, int dst_robot); |
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| 19 |
|
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| 20 |
PacketGroupHandler cntlHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL};
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| 21 |
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| 22 |
int main(int argc, char *argv[]) {
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| 23 |
/* if (argc != 3) {
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| 24 |
printf("Usage: ./test <robot #> <USB port #>\n");
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| 25 |
return 1; |
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| 26 |
} |
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| 27 |
|
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| 28 |
char c; |
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| 29 |
int robot = atoi(argv[1]); |
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| 30 |
char port[14]; // port that XBee is on |
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| 31 |
|
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| 32 |
// USB port to use is second cmd-line argument |
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| 33 |
strcpy(port, "/dev/ttyUSB"); |
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| 34 |
strcat(port, argv[2]); |
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| 35 |
|
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| 36 |
printf("Beginning: robot=%d\r\n", robot);
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| 37 |
wl_set_com_port(port); |
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| 38 |
wl_init(); |
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| 39 |
//wl_set_channel(CHAN); |
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| 40 |
printf("Wireless initialized.\r\n");
|
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| 41 |
wl_register_packet_group(&cntlHandler); |
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| 42 |
printf("Packet groups initialized.\r\n");
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| 43 |
fflush(stdout); |
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| 44 |
*/ |
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| 45 |
|
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| 46 |
char c; |
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| 47 |
WINDOW* win = initscr(); |
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| 48 |
cbreak(); |
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| 49 |
noecho(); |
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| 50 |
while (1) {
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| 51 |
c = getch(); |
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| 52 |
printf("%c\r\n", c);
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| 53 |
fflush(stdout); |
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| 54 |
if (c == '0') |
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| 55 |
break; |
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| 56 |
/*switch (c) {
|
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| 57 |
case 'w': |
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| 58 |
send_packet(CNTL_FORWARD, robot); |
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| 59 |
break; |
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| 60 |
case 's': |
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| 61 |
send_packet(CNTL_BACK, robot); |
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| 62 |
break; |
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| 63 |
case 'a': |
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| 64 |
send_packet(CNTL_LEFT, robot); |
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| 65 |
break; |
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| 66 |
case 'd': |
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| 67 |
send_packet(CNTL_RIGHT, robot); |
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| 68 |
break; |
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| 69 |
case 'x': |
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| 70 |
send_packet(CNTL_STOP, robot); |
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| 71 |
break; |
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| 72 |
default: |
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| 73 |
//send_packet(CNTL_STOP, robot); |
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| 74 |
break; |
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| 75 |
}*/ |
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| 76 |
} |
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| 77 |
delwin(win); |
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| 78 |
endwin(); |
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| 79 |
refresh(); |
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| 80 |
return 0; |
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| 81 |
} |
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| 82 |
/* |
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| 83 |
void send_packet (char type, int dst_robot) {
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| 84 |
wl_send_robot_to_robot_global_packet(WL_CNTL_GROUP, type, |
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| 85 |
NULL, 0, dst_robot, 0); |
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| 86 |
}*/ |
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| 87 |
|
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| trunk/code/projects/colonet/robot/joystick/keyboard_control/Makefile | ||
|---|---|---|
| 1 |
CC = gcc |
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| 2 |
CFLAGS = -Wall -g |
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| 3 |
|
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| 4 |
all: keyboard |
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| 5 |
|
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| 6 |
test: *.c ../../libwireless/lib/*.c |
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| 7 |
$(CC) $(CFLAGS) *.c -L../../libwireless/lib -o test -DWL_DEBUG -lwireless -lpthread -lncurses -ggdb |
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| 8 |
|
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| 9 |
clean: |
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| 10 |
rm -f *.o test ../lib/*.o |
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| 11 |
|
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| trunk/code/projects/colonet/robot/joystick/discrete_control/joystick.c | ||
|---|---|---|
| 29 | 29 |
#define MOVED_Y_CENTER (1<<8) |
| 30 | 30 |
#define MOVED_DOWN (1<<9) |
| 31 | 31 |
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| 32 |
/* Command Types */ |
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| 33 |
#define CNTL_FORWARD 'f' |
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| 34 |
#define CNTL_STOP 's' |
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| 35 |
#define CNTL_BACK 'b' |
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| 36 |
#define CNTL_LEFT 'l' |
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| 37 |
#define CNTL_RIGHT 'r' |
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| 38 |
#define CNTL_BUZZ0 't' |
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| 39 |
#define CNTL_BUZZ1 'u' |
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| 40 |
|
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| 41 |
#define WL_CNTL_GROUP 4 |
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| 42 |
|
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| 32 | 43 |
int joystick_status (void); |
| 33 | 44 |
int joystick_change (int old, int new); |
| 34 | 45 |
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| 35 |
PacketGroupHandler cntlHandler = {4, NULL, NULL, NULL, NULL};
|
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| 46 |
PacketGroupHandler cntlHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL};
|
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| 36 | 47 |
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| 37 | 48 |
int main (void) {
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| 38 |
dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG); |
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| 49 |
dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG);
|
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| 39 | 50 |
ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
| 40 |
//xbee_init(); |
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| 41 |
wl_init(); |
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| 42 |
wl_register_packet_group(&cntlHandler); |
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| 51 |
wl_init(); |
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| 52 |
wl_register_packet_group(&cntlHandler); |
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| 43 | 53 |
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| 44 |
orb_set_color(BLUE); |
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| 54 |
orb_set_color(BLUE);
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| 45 | 55 |
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| 46 |
int change; |
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| 47 |
int last_status = 0; |
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| 48 |
int cur_status = 0; |
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| 56 |
int change;
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| 57 |
int last_status = 0;
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| 58 |
int cur_status = 0;
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| 49 | 59 |
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| 50 |
while (1) {
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| 51 |
last_status = cur_status; |
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| 52 |
cur_status = joystick_status(); |
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| 53 |
change = joystick_change(last_status, cur_status); |
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| 54 |
|
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| 55 |
/* char buf[100]; |
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| 56 |
sprintf(buf, "status: %d\n", cur_status); |
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| 57 |
usb_puts(buf); |
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| 58 |
*/ |
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| 59 |
if (change & MOVED_UP) {
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| 60 |
orb_set_color(GREEN); |
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| 61 |
//xbee_putc('f');
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| 62 |
wl_send_global_packet(4, 'f', NULL, 0, 0); |
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| 63 |
usb_putc('f');
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| 64 |
} |
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| 65 |
if (change & MOVED_Y_CENTER) {
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| 66 |
orb_set_color(RED); |
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| 67 |
//xbee_putc('s');
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| 68 |
wl_send_global_packet(4, 's', NULL, 0, 0); |
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| 69 |
usb_putc('s');
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| 70 |
} |
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| 71 |
if (change & MOVED_DOWN) {
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| 72 |
orb_set_color(BLUE); |
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| 73 |
//xbee_putc('b');
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| 74 |
wl_send_global_packet(4, 'b', NULL, 0, 0); |
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| 75 |
usb_putc('b');
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| 76 |
} |
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| 77 |
if (change & MOVED_LEFT) {
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| 78 |
orb_set_color(ORANGE); |
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| 79 |
//xbee_putc('l');
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| 80 |
wl_send_global_packet(4, 'l', NULL, 0, 0); |
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| 81 |
usb_putc('l');
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| 82 |
} |
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| 83 |
if (change & MOVED_X_CENTER) {
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| 84 |
orb_set_color(RED); |
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| 85 |
//xbee_putc('s');
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| 86 |
wl_send_global_packet(4, 's', NULL, 0, 0); |
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| 87 |
usb_putc('s');
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| 88 |
} |
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| 89 |
if (change & MOVED_RIGHT) {
|
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| 90 |
orb_set_color(YELLOW); |
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| 91 |
//xbee_putc('r');
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| 92 |
wl_send_global_packet(4, 'r', NULL, 0, 0); |
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| 93 |
usb_putc('r');
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| 94 |
} |
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| 95 |
if (change & TRIGGER_PRESSED) {
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| 96 |
orb_set_color(PURPLE); |
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| 97 |
//xbee_putc('t');
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| 98 |
wl_send_global_packet(4, 't', NULL, 0, 0); |
|
| 99 |
} |
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| 100 |
if (change & BUTTON_PRESSED) {
|
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| 101 |
orb_set_color(YELLOW); |
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| 102 |
//xbee_putc('u');
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| 103 |
wl_send_global_packet(4, 's', NULL, 0, 0); |
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| 104 |
} |
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| 105 |
delay_ms(100); |
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| 106 |
} |
|
| 60 |
while (1) {
|
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| 61 |
last_status = cur_status; |
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| 62 |
cur_status = joystick_status(); |
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| 63 |
change = joystick_change(last_status, cur_status); |
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| 64 |
|
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| 65 |
if (change & MOVED_UP) {
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| 66 |
orb_set_color(GREEN); |
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| 67 |
wl_send_global_packet(4, CNTL_FORWARD, NULL, 0, 0); |
|
| 68 |
} |
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| 69 |
if (change & MOVED_Y_CENTER) {
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| 70 |
orb_set_color(RED); |
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| 71 |
wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
|
| 72 |
} |
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| 73 |
if (change & MOVED_DOWN) {
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| 74 |
orb_set_color(BLUE); |
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| 75 |
wl_send_global_packet(4, CNTL_BACK, NULL, 0, 0); |
|
| 76 |
} |
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| 77 |
if (change & MOVED_LEFT) {
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| 78 |
orb_set_color(ORANGE); |
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| 79 |
wl_send_global_packet(4, CNTL_LEFT, NULL, 0, 0); |
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| 80 |
} |
|
| 81 |
if (change & MOVED_X_CENTER) {
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| 82 |
orb_set_color(RED); |
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| 83 |
wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
|
| 84 |
} |
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| 85 |
if (change & MOVED_RIGHT) {
|
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| 86 |
orb_set_color(YELLOW); |
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| 87 |
wl_send_global_packet(4, CNTL_RIGHT, NULL, 0, 0); |
|
| 88 |
} |
|
| 89 |
if (change & TRIGGER_PRESSED) {
|
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| 90 |
orb_set_color(PURPLE); |
|
| 91 |
wl_send_global_packet(4, CNTL_BUZZ0, NULL, 0, 0); |
|
| 92 |
} |
|
| 93 |
if (change & BUTTON_PRESSED) {
|
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| 94 |
orb_set_color(YELLOW); |
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| 95 |
wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
|
| 96 |
} |
|
| 97 |
delay_ms(100); |
|
| 98 |
} |
|
| 107 | 99 |
|
| 108 | 100 |
} |
| 109 | 101 |
|
| 110 | 102 |
int joystick_change (int old, int new) {
|
| 111 |
int trigger_change = 0;
|
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| 112 |
int button_change = 0;
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| 113 |
int x_change = 0;
|
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| 114 |
int y_change = 0;
|
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| 115 |
/* Check for trigger change */
|
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| 116 |
if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
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| 117 |
trigger_change = TRIGGER_RELEASED;
|
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| 118 |
if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
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| 119 |
trigger_change = TRIGGER_PRESSED;
|
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| 120 |
/* Check for button change */
|
|
| 121 |
if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
|
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| 122 |
button_change = BUTTON_RELEASED;
|
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| 123 |
if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
|
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| 124 |
button_change = BUTTON_PRESSED;
|
|
| 125 |
/* Check for X change */
|
|
| 126 |
if ((old & X_CENTER) && (new & X_RIGHT))
|
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| 127 |
x_change = MOVED_RIGHT;
|
|
| 128 |
if ((old & X_CENTER) && (new & X_LEFT))
|
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| 129 |
x_change = MOVED_LEFT;
|
|
| 130 |
if (!(old & X_CENTER) && (new & X_CENTER))
|
|
| 131 |
x_change = MOVED_X_CENTER;
|
|
| 132 |
/* Check for Y change */
|
|
| 133 |
if ((old & Y_CENTER) && (new & Y_UP))
|
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| 134 |
y_change = MOVED_UP;
|
|
| 135 |
if ((old & Y_CENTER) && (new & Y_DOWN))
|
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| 136 |
y_change = MOVED_DOWN;
|
|
| 137 |
if (!(old & Y_CENTER) && (new & Y_CENTER))
|
|
| 138 |
y_change = MOVED_Y_CENTER;
|
|
| 139 |
return trigger_change | button_change | x_change | y_change;
|
|
| 103 |
int trigger_change = 0;
|
|
| 104 |
int button_change = 0;
|
|
| 105 |
int x_change = 0;
|
|
| 106 |
int y_change = 0;
|
|
| 107 |
/* Check for trigger change */
|
|
| 108 |
if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
|
|
| 109 |
trigger_change = TRIGGER_RELEASED;
|
|
| 110 |
if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
|
|
| 111 |
trigger_change = TRIGGER_PRESSED;
|
|
| 112 |
/* Check for button change */
|
|
| 113 |
if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
|
|
| 114 |
button_change = BUTTON_RELEASED;
|
|
| 115 |
if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
|
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| 116 |
button_change = BUTTON_PRESSED;
|
|
| 117 |
/* Check for X change */
|
|
| 118 |
if ((old & X_CENTER) && (new & X_RIGHT))
|
|
| 119 |
x_change = MOVED_RIGHT;
|
|
| 120 |
if ((old & X_CENTER) && (new & X_LEFT))
|
|
| 121 |
x_change = MOVED_LEFT;
|
|
| 122 |
if (!(old & X_CENTER) && (new & X_CENTER))
|
|
| 123 |
x_change = MOVED_X_CENTER;
|
|
| 124 |
/* Check for Y change */
|
|
| 125 |
if ((old & Y_CENTER) && (new & Y_UP))
|
|
| 126 |
y_change = MOVED_UP;
|
|
| 127 |
if ((old & Y_CENTER) && (new & Y_DOWN))
|
|
| 128 |
y_change = MOVED_DOWN;
|
|
| 129 |
if (!(old & Y_CENTER) && (new & Y_CENTER))
|
|
| 130 |
y_change = MOVED_Y_CENTER;
|
|
| 131 |
return trigger_change | button_change | x_change | y_change;
|
|
| 140 | 132 |
} |
| 141 | 133 |
|
| 142 | 134 |
/** |
| ... | ... | |
| 150 | 142 |
int y_status = 0; |
| 151 | 143 |
int xval, yval; |
| 152 | 144 |
|
| 153 |
if (analog_get8(AN0) > 200) |
|
| 154 |
trigger_status = TRIGGER_DOWN; |
|
| 155 |
else |
|
| 156 |
trigger_status = TRIGGER_UP; |
|
| 157 |
|
|
| 158 |
if (analog_get8(AN1) > 200) |
|
| 159 |
button_status = BUTTON_DOWN; |
|
| 160 |
else |
|
| 161 |
button_status = BUTTON_UP; |
|
| 162 |
|
|
| 163 |
xval = analog_get8(AN4); // actually AN6, AN7 for connection |
|
| 164 |
yval = analog_get8(AN5); |
|
| 165 |
|
|
| 166 |
if (xval > 150) |
|
| 167 |
x_status = X_LEFT; |
|
| 168 |
else if (xval < 75) |
|
| 169 |
x_status = X_RIGHT; |
|
| 170 |
else |
|
| 171 |
x_status = X_CENTER; |
|
| 172 |
|
|
| 173 |
if (yval > 150) |
|
| 174 |
y_status = Y_UP; |
|
| 175 |
else if (yval < 75) |
|
| 176 |
y_status = Y_DOWN; |
|
| 177 |
else |
|
| 178 |
y_status = Y_CENTER; |
|
| 145 |
if (analog_get8(AN0) > 200) |
|
| 146 |
trigger_status = TRIGGER_DOWN; |
|
| 147 |
else |
|
| 148 |
trigger_status = TRIGGER_UP; |
|
| 179 | 149 |
|
| 150 |
if (analog_get8(AN1) > 200) |
|
| 151 |
button_status = BUTTON_DOWN; |
|
| 152 |
else |
|
| 153 |
button_status = BUTTON_UP; |
|
| 180 | 154 |
|
| 181 |
return trigger_status | button_status | x_status | y_status; |
|
| 155 |
xval = analog_get8(AN4); // actually AN6, AN7 for connection |
|
| 156 |
yval = analog_get8(AN5); |
|
| 157 |
|
|
| 158 |
if (xval > 150) |
|
| 159 |
x_status = X_LEFT; |
|
| 160 |
else if (xval < 75) |
|
| 161 |
x_status = X_RIGHT; |
|
| 162 |
else |
|
| 163 |
x_status = X_CENTER; |
|
| 164 |
|
|
| 165 |
if (yval > 150) |
|
| 166 |
y_status = Y_UP; |
|
| 167 |
else if (yval < 75) |
|
| 168 |
y_status = Y_DOWN; |
|
| 169 |
else |
|
| 170 |
y_status = Y_CENTER; |
|
| 171 |
|
|
| 172 |
|
|
| 173 |
return trigger_status | button_status | x_status | y_status; |
|
| 182 | 174 |
} |
| 183 | 175 |
|
| trunk/code/projects/colonet/robot/joystick/simple_slave/slave.c | ||
|---|---|---|
| 2 | 2 |
#include <wireless.h> |
| 3 | 3 |
#include "../../../common/colonet_defs.h" |
| 4 | 4 |
|
| 5 |
/* Command Types */ |
|
| 6 |
#define CNTL_FORWARD 'f' |
|
| 7 |
#define CNTL_STOP 's' |
|
| 8 |
#define CNTL_BACK 'b' |
|
| 9 |
#define CNTL_LEFT 'l' |
|
| 10 |
#define CNTL_RIGHT 'r' |
|
| 11 |
#define CNTL_BUZZ0 't' |
|
| 12 |
#define CNTL_BUZZ1 'u' |
|
| 13 |
|
|
| 14 |
#define WL_CNTL_GROUP 4 |
|
| 15 |
|
|
| 5 | 16 |
void packet_receive (char type, int source, unsigned char* packet, int length); |
| 6 | 17 |
|
| 7 |
PacketGroupHandler packetHandler = {4, NULL, NULL, &packet_receive, NULL};
|
|
| 18 |
PacketGroupHandler packetHandler = {WL_CNTL_GROUP, NULL, NULL, &packet_receive, NULL};
|
|
| 8 | 19 |
|
| 9 | 20 |
int main (void) {
|
| 10 |
dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER);
|
|
| 21 |
dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER);
|
|
| 11 | 22 |
ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
| 12 |
//xbee_init(); |
|
| 13 | 23 |
wl_init(); |
| 14 | 24 |
wl_register_packet_group(&packetHandler); |
| 15 | 25 |
orb_set_color(PURPLE); |
| 16 | 26 |
|
| 17 |
/*char buf[100]; |
|
| 18 |
char c;*/ |
|
| 19 |
while (1) {
|
|
| 20 |
//usb_puts("entering while loop\n");
|
|
| 21 |
wl_do(); |
|
| 22 |
// c = xbee_getc(); |
|
| 23 |
// orb_set_color(GREEN); |
|
| 24 |
// sprintf(buf, "got char: %c\n", c); |
|
| 25 |
// usb_puts(buf); |
|
| 26 |
|
|
| 27 |
/*if (c == 'f') {
|
|
| 28 |
orb_set_color(GREEN); |
|
| 29 |
motor1_set(1, 250); |
|
| 30 |
motor2_set(1, 250); |
|
| 31 |
} |
|
| 32 |
if (c == 'b') {
|
|
| 33 |
orb_set_color(BLUE); |
|
| 34 |
motor1_set(0, 250); |
|
| 35 |
motor2_set(0, 250); |
|
| 36 |
} |
|
| 37 |
if (c == 'l') {
|
|
| 38 |
orb_set_color(ORANGE); |
|
| 39 |
motor1_set(0, 250); |
|
| 40 |
motor2_set(1, 250); |
|
| 41 |
} |
|
| 42 |
if (c == 'r') {
|
|
| 43 |
orb_set_color(YELLOW); |
|
| 44 |
motor1_set(1, 250); |
|
| 45 |
motor2_set(0, 250); |
|
| 46 |
} |
|
| 47 |
if (c == 's') {
|
|
| 48 |
orb_set_color(RED); |
|
| 49 |
motor1_set(0, 0); |
|
| 50 |
motor2_set(0, 0); |
|
| 51 |
} |
|
| 52 |
if (c == 't') {
|
|
| 53 |
orb_set_color(PURPLE); |
|
| 54 |
buzzer_chirp(1000, C5); |
|
| 55 |
} |
|
| 56 |
if (c == 'u') {
|
|
| 57 |
orb_set_color(YELLOW); |
|
| 58 |
buzzer_chirp(1000, A4); |
|
| 59 |
} |
|
| 60 |
|
|
| 61 |
delay_ms(100);*/ |
|
| 62 |
} |
|
| 63 |
|
|
| 27 |
while (1) {
|
|
| 28 |
wl_do(); |
|
| 29 |
delay_ms(100); |
|
| 30 |
} |
|
| 64 | 31 |
} |
| 65 | 32 |
|
| 66 | 33 |
void packet_receive (char type, int source, unsigned char* packet, int length) {
|
| 67 | 34 |
switch (type) {
|
| 68 |
case 'f':
|
|
| 35 |
case CNTL_FORWARD:
|
|
| 69 | 36 |
orb_set_color(GREEN); |
| 70 | 37 |
motor1_set(1, 250); |
| 71 | 38 |
motor2_set(1, 250); |
| 72 | 39 |
break; |
| 73 |
case 's':
|
|
| 40 |
case CNTL_STOP:
|
|
| 74 | 41 |
orb_set_color(RED); |
| 75 | 42 |
motor1_set(0, 0); |
| 76 | 43 |
motor2_set(0, 0); |
| 77 | 44 |
break; |
| 78 |
case 'b':
|
|
| 45 |
case CNTL_BACK:
|
|
| 79 | 46 |
orb_set_color(BLUE); |
| 80 | 47 |
motor1_set(0, 250); |
| 81 | 48 |
motor2_set(0, 250); |
| 82 | 49 |
break; |
| 83 |
case 'l':
|
|
| 50 |
case CNTL_LEFT:
|
|
| 84 | 51 |
orb_set_color(ORANGE); |
| 85 | 52 |
motor1_set(0, 250); |
| 86 | 53 |
motor2_set(1, 250); |
| 87 | 54 |
break; |
| 88 |
case 'r':
|
|
| 55 |
case CNTL_RIGHT:
|
|
| 89 | 56 |
orb_set_color(YELLOW); |
| 90 | 57 |
motor1_set(1, 250); |
| 91 | 58 |
motor2_set(0, 250); |
| 92 | 59 |
break; |
| 93 |
case 't':
|
|
| 60 |
case CNTL_BUZZ0:
|
|
| 94 | 61 |
orb_set_color(PURPLE); |
| 95 | 62 |
buzzer_chirp(1000, C5); |
| 96 | 63 |
break; |
| 97 |
case 'u':
|
|
| 64 |
case CNTL_BUZZ1:
|
|
| 98 | 65 |
orb_set_color(YELLOW); |
| 99 | 66 |
buzzer_chirp(1000, A4); |
| 100 | 67 |
break; |
Also available in: Unified diff