DRV8835を使った2輪倒立ロボの小改良 DRV8835IP6TKIRSp2.ino

	//Inverted Pendulum Robot
	//DRV8835 driver
	//wheele dia = 55mm
	//Battery: NiHM x 4
	//MPU: ProMini 3.3V
	//Gyro: MPU6050 (I2C pullup 4.7kohm)
	//Motor driver: DRV8835 connected to Arduino pin 8,9,10,11
	//Distance sensor: Sharp GP2Y0A21 connected to Arduino pin A1
	//Trace sensor: Reflectance (distance from axis ~= 30mm) connected to Arduino pin A0
	//IR sensor PL-IRM2161-XD1 connected to Arduino pin 2
	#include <Wire.h>
	#include <IRremote.h>
	IRrecv receiveIR(2);
	decode_results results;
	void motor();
	void drvMotorR(int pwm);
	void drvMotorL(int pwm);
	void drive();
	void drvMotor(int pinPhase, int pinEnable, int pwm);
	void pulseMotor(int n);
	void calibrate();
	void getBaselineAcc();
	void getBaselineGyro();
	bool standing();
	bool laid();
	bool upright();
	void calcTarget();
	void getDistance();
	void getGyro();
	void readGyro();
	void getIR();
	void monitorVoltage();
	void selectMode();
	void getBaselineGyro();
	void resetMotor();
	void resetVar();
	void blinkLED(int n);
	void checkVoltage();
	void sendSerial();
	int accX, accY, accZ, temp, gyroX, gyroY, gyroZ;
	int counter=0;
	unsigned long time1=0;
	unsigned long time0=0;
	float power, powerR, powerL;
	float gyroZdps, accXg;
	float varAng, varOmg, varSpd, varDst, varIang, varIdst;
	float gyroZoffset, gyroYoffset, accXoffset;
	float gyroZdata, gyroYdata, accXdata, accZdata;
	float gyroLSB=1.0/131.0; // deg/sec
	float accLSB=1.0/16384.0; // g
	float clk = 0.01; // in sec,
	unsigned long interval = (unsigned long) (clk*1000.0); // in msec
	float cutoff = 0.1; // 2 * PI * f (f=Hz)
	float yawPower;
	float moveTarget, moveRate=0.0; //moveRate 0:stop, +:forward, -:backward
	float moveStep = 0.0013;
	float spinDestination, spinTarget, spinRate;
	float spinStep = 30.0*clk;
	float orientation;
	float dirStep = 30.0 * clk; //30deg/sec
	int state=-1;
	int traceSensor;
	bool serialMonitor=;
	bool spinContinuous=false;
	bool follow=false;
	bool trace=false;
	int ipowerR = 0;
	int ipowerL = 0;
	int motorRdir=0; //stop 1:+ -1:-
	int motorLdir=0; //stop
	float battFactor=1.0;
	float bVolt;
	float distance;
	int traceThLevel=500;
	int counterOverSpd;
	float aveAccX=0.0;
	float aveAccZ=0.0;
	float Kang=120.0;
	float Komg=2.8;
	float KIang=2300.0;
	float Kyaw=15.0;
	float Kdst=100.0;
	float Kspd=7.0;
	float KIdst=0.0;
	float mechFactorR=0.4;
	float mechFactorL=0.4;
	int backlashSpd=15;
	int motorDeadPWM=0;
	float maxSpd=250.0;
	void setup() {
	TCCR1B = TCCR1B & B11111000 | B00000001;
	pinMode(2,INPUT); //IR
	pinMode(8,OUTPUT); //APhase
	pinMode(9,OUTPUT); //AEnable
	pinMode(11,OUTPUT); //BPhase
	pinMode(10,OUTPUT); //BEnable
	pinMode(13, OUTPUT); //LED
	Wire.begin();
	Wire.setClock(50000L);
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6B); // Power management register
	Wire.write(0); // wake up MPU-6050
	Wire.endTransmission(true);
	receiveIR.enableIRIn(); // Start the receiver
	Serial.begin(115200);
	checkVoltage();
	resetVar();
	delay(50); //stabilize gyro
	getBaselineGyro();
	selectMode();
	}
	void loop() {
	monitorVoltage();
	getIR();
	traceSensor = analogRead(A0);
	getGyro();
	getDistance();
	switch (state) {
	case -1:
	calcTarget();
	if (upright()) state =0;
	break;
	case 0: //baseline
	calibrate();
	state=1;
	break;
	case 1: //run
	if (standing() && counterOverSpd <= 30) {
	calcTarget();
	drive();
	}
	else {
	sendSerial();
	resetMotor();
	resetVar();
	if (upright()) state=0;
	else state=9;
	}
	break;
	case 2: //wait until upright
	if (upright()) state=0;
	break;
	case 9: //fell
	if (laid()) state=2;
	break;
	}
	counter += 1;
	if (counter >= 100) {
	counter = 0;
	if (serialMonitor) sendSerial();
	}
	do time1 = millis();
	while (time1 - time0 < interval);
	time0 = time1;
	}
	void getIR() {
	if (receiveIR.decode(&results)) {
	// Serial.println(results.value, HEX);
	switch (results.value & 0x0000FFFF) {
	case 0x728D: //LAPIO up
	case 0x7C83: //TOSHIBA up
	moveRate=4.0; //forward
	break;
	case 0xF20D: //LAPIO down
	case 0xFC03: //TOSHIBA down
	moveRate=-4.0; //backward
	break;
	case 0xFA05: //LAPIO&TOSHIBA left = spin left
	spinDestination -= 30.0;
	break;
	case 0xDA25: //LAPIO&TOSHIBA right = spin right
	spinDestination += 30.0;
	break;
	case 0xBC43: //LAPIO&TOSHIBA OK = stop
	trace=false;
	follow=false;
	spinContinuous=false;
	moveRate=0.0;
	spinDestination = spinTarget;
	break;
	case 0x807F: //LAPIO&TOSHIBA button 1
	spinContinuous=true;
	follow=false;
	trace=false;
	moveRate=3.0;
	spinStep=0.30;
	break;
	}
	receiveIR.resume(); // Receive the next value
	}
	}
	void calcTarget() {
	if (trace) {
	float tmp = (float) (traceSensor - traceThLevel);
	spinTarget += 0.001 * tmp;
	moveRate = 2.0;
	}
	else {
	if (spinContinuous) {
	spinTarget += spinStep;
	}
	else {
	if (spinTarget < spinDestination) spinTarget += spinStep;
	if (spinTarget > spinDestination) spinTarget -= spinStep;
	}
	}
	if (follow) {
	if (distance > 180.0) moveRate=2.8;
	else if (distance > 130.0) moveRate=2.4;
	else if (distance > 90.0) moveRate=0.0;
	else moveRate=-1.0;
	}
	moveTarget += moveStep * moveRate;
	}
	void drive() {
	varSpd += power * clk;
	varDst += Kdst * (varSpd * clk - moveTarget);
	varIang += KIang * varAng * clk;
	varIdst += KIdst * varDst * clk;
	power = varIang + varIdst + varDst + (Kspd * varSpd) + (Kang * varAng) + (Komg * varOmg);
	if (abs(power) > 3000.0) counterOverSpd += 1;
	else counterOverSpd =0;
	if (counterOverSpd > 30) return;
	yawPower = (orientation - spinTarget) * Kyaw;
	powerR = power + yawPower;
	powerL = power - yawPower;
	motor();
	}
	void motor() {
	ipowerR = (int) (constrain(powerR * mechFactorR * battFactor, -maxSpd, maxSpd));
	if (ipowerR > 0) {
	if (motorRdir == 1) drvMotorR(ipowerR + motorDeadPWM);
	else drvMotorR(ipowerR + motorDeadPWM + backlashSpd); //compensate backlash
	motorRdir = 1;
	}
	else if (ipowerR < 0) {
	if (motorRdir == -1) drvMotorR(ipowerR - motorDeadPWM);
	else drvMotorR(ipowerR - motorDeadPWM - backlashSpd);
	motorRdir = -1;
	}
	else {
	drvMotorR(0);
	motorRdir = 0;
	}
	ipowerL = (int) (constrain(powerL * mechFactorL * battFactor, -maxSpd, maxSpd));
	if (ipowerL > 0) {
	if (motorLdir == 1) drvMotorL(ipowerL + motorDeadPWM);
	else drvMotorL(ipowerL + motorDeadPWM + backlashSpd); //compensate backlash
	motorLdir = 1;
	}
	else if (ipowerL < 0) {
	if (motorLdir == -1) drvMotorL(ipowerL - motorDeadPWM);
	else drvMotorL(ipowerL - motorDeadPWM - backlashSpd);
	motorLdir = -1;
	}
	else {
	drvMotorL(0);
	motorLdir = 0;
	}
	}
	void getDistance() { //distance in mm
	int dist=analogRead(A1);
	if (dist>0) distance = constrain(95000.0 / ((float) dist) -30.0, 60.0, 400.0);
	else distance = -1.0;
	}
	void getGyro() {
	readGyro();
	gyroZdps = (gyroZdata - gyroZoffset) * gyroLSB;
	varOmg = (gyroYdata - gyroYoffset) * gyroLSB; // unit:deg/sec
	accXg = (accXdata - accXoffset) * accLSB; //unit:g
	orientation += gyroZdps * clk;
	varAng += (varOmg + (accXg * 57.3 - varAng) * cutoff ) * clk;
	}
	void readGyro() {
	Wire.beginTransmission(0x68);
	Wire.write(0x3B);
	Wire.endTransmission(false); //enable incremental read
	Wire.requestFrom(0x68, 14, (int)true); //used to be requestFrom(0x68, 14, true) but got warning.
	accX=Wire.read()<<8|Wire.read(); //0x3B
	accY=Wire.read()<<8|Wire.read(); //0x3D
	accZ=Wire.read()<<8|Wire.read(); //0x3F
	temp=Wire.read()<<8|Wire.read(); //0x41
	gyroX=Wire.read()<<8|Wire.read(); //0x43
	gyroY=Wire.read()<<8|Wire.read(); //0x45
	gyroZ=Wire.read()<<8|Wire.read(); //0x47
	gyroZdata = (float) gyroY;
	gyroYdata = (float) gyroZ;
	accXdata = -(float) accX;
	aveAccX = aveAccX * 0.9 + accXdata * 0.1;
	accZdata = (float) accY;
	aveAccZ = aveAccZ * 0.9 + accZdata * 0.1;
	}
	bool laid() {
	if (abs(aveAccX) >13000.0) return true;
	else return false;
	}
	bool upright() {
	if (abs(aveAccZ) >13000.0) return true;
	else return false;
	}
	bool standing() {
	if (abs(aveAccZ) > 10000.0 && abs(varAng) < 40.0) return true;
	else return false;
	}
	void calibrate() {
	resetVar();
	resetMotor();
	delay(2000);
	if (serialMonitor) sendSerial();
	pulseMotor(1);
	delay(100);
	if (serialMonitor) sendSerial();
	getBaselineAcc();
	}
	void getBaselineAcc() {
	accXoffset=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	accXoffset += accXdata;
	delay(20);
	}
	accXoffset /= 30;
	}
	void getBaselineGyro() {
	gyroYoffset=gyroZoffset=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	gyroYoffset += gyroYdata;
	gyroZoffset += gyroZdata;
	delay(20);
	}
	gyroZoffset /= 30;
	gyroYoffset /= 30;
	}
	void resetVar() {
	power=0.0;
	moveTarget=0.0;
	spinDestination=0.0;
	spinTarget=0.0;
	spinRate=0.0;
	orientation=0.0;
	varAng=0.0;
	varOmg=0.0;
	varDst=0.0;
	varSpd=0.0;
	varIang=0.0;
	varIdst=0.0;
	}
	void resetMotor() {
	drvMotorR(0);
	drvMotorL(0);
	counterOverSpd=0;
	sendSerial();
	}
	void checkVoltage() {
	bVolt = ((float) analogRead(A2)) / 1023.0 * 6.6;
	if (bVolt > 5.0) blinkLED(3);
	else if (bVolt > 4.8) blinkLED(2);
	else if (bVolt > 4.6) blinkLED(1);
	else blinkLED(100);
	}
	void blinkLED(int n) {
	for (int i=0; i<n; i++) {
	digitalWrite(13,HIGH);
	delay(10);
	digitalWrite(13,LOW);
	delay(200);
	}
	}
	void monitorVoltage() {
	digitalWrite(13, LOW);
	bVolt = ((float) analogRead(A2)) / 1023.0 * 6.6;
	battFactor = 5.0 / bVolt;
	if (bVolt<=4.4) {
	digitalWrite(13, HIGH);
	if (serialMonitor) {
	Serial.print("Batt=");
	Serial.println(bVolt);
	}
	}
	}
	void selectMode() {
	getDistance();
	traceSensor = analogRead(A0);
	if (distance > 100.0) {
	if (traceSensor > traceThLevel) { //follow & trace
	trace=true;
	follow=true;
	blinkLED(3);
	}
	else { //stand still
	trace=false;
	follow=false;
	blinkLED(1);
	}
	}
	else if (distance > 0.0) { //circle
	follow=false;
	trace=false;
	moveRate=3.0;
	spinStep=0.30;
	spinContinuous=true;
	blinkLED(5);
	}
	}
	void pulseMotor(int n) {
	for (int i=0; i<n; i++) {
	drvMotorR(motorDeadPWM+50);
	delay(15);
	drvMotorR(0);
	delay(50);
	drvMotorR(-motorDeadPWM-50);
	delay(15);
	drvMotorR(0);
	delay(200);
	}
	}
	void drvMotorR(int pwm) {
	drvMotor(8,9, constrain(pwm, -255, 255));
	}
	void drvMotorL(int pwm) {
	drvMotor(11,10, constrain(pwm, -255, 255));
	}
	void drvMotor(int pinPhase, int pinEnable, int pwm) {
	if (pwm>=0) {
	// digitalWrite(pinEnable,LOW);
	// delayMicroseconds(10);
	digitalWrite(pinPhase,HIGH);
	analogWrite(pinEnable,pwm);
	}
	else {
	// digitalWrite(pinEnable,LOW);
	// delayMicroseconds(10);
	digitalWrite(pinPhase,LOW);
	analogWrite(pinEnable,-pwm);
	}
	}
	void sendSerial () {
	Serial.print(millis()-time0);
	Serial.print(" state=");Serial.print(state);
	// Serial.print(" dist=");Serial.print(distance);
	// Serial.print(" accX="); Serial.print(accXdata);
	// Serial.print(" accOfs=");Serial.print(accXoffset);
	// Serial.print(" gyYoffset="); Serial.print(gyroYoffset);
	// Serial.print(" ang=");Serial.print(varAng);
	// Serial.print(" temp = "); Serial.print(temp/340.0+36.53);
	// Serial.print(" Omg="); Serial.print(varOmg);
	// Serial.print(" power="); Serial.print(power);
	// Serial.print(" Dst="); Serial.print(varDst);
	Serial.print(" bVolt="); Serial.print(bVolt);
	// Serial.print(" Iang="); Serial.print(varIang);
	// Serial.print(" mTarg="); Serial.print(moveTarget);
	// Serial.print(" follow="); Serial.print(follow);
	// Serial.print(" interval="); Serial.print(interval);
	Serial.print(" ");
	Serial.println(millis()-time0);
	}

view raw DRV8835IP6TKIRSp2.ino hosted with ❤ by GitHub

DRV8835で2輪倒立ロボ DRV8835IP6TKIRSp.ino

	//Inverted Pendulum Robot
	//DRV8835 driver
	//wheele dia = 55mm
	//Battery: NiHM x 4
	//MPU: ProMini 3.3V
	//Gyro: MPU6050 (I2C pullup 4.7kohm)
	//Motor driver: DRV8835 connected to Arduino pin 4,5,6,7
	//Distance sensor: Sharp GP2Y0A21 connected to Arduino pin A1
	//Trace sensor: Reflectance (distance from axis ~= 30mm) connected to Arduino pin A0
	//IR sensor PL-IRM2161-XD1 connected to Arduino pin 2
	#include <Wire.h>
	#include <IRremote.h>
	IRrecv receiveIR(2);
	decode_results results;
	void motor();
	void drvMotorR(int pwm);
	void drvMotorL(int pwm);
	void drive();
	void drvMotor(int pinPhase, int pinEnable, int pwm);
	void pulseMotor(int n);
	void calibrate();
	void getBaselineAcc();
	void getBaselineGyro();
	bool standing();
	bool laid();
	bool upright();
	void calcTarget();
	void getDistance();
	void getGyro();
	void readGyro();
	void getIR();
	void monitorVoltage();
	void selectMode();
	void getBaselineGyro();
	void resetMotor();
	void resetVar();
	void blinkLED(int n);
	void checkVoltage();
	void sendSerial();
	int accX, accY, accZ, temp, gyroX, gyroY, gyroZ;
	int counter=0;
	unsigned long time1=0;
	unsigned long time0=0;
	float power, powerR, powerL;
	float gyroZdps, accXg;
	float varAng, varOmg, varSpd, varDst, varIang, varIdst;
	float gyroZoffset, gyroYoffset, accXoffset;
	float gyroZdata, gyroYdata, accXdata, accZdata;
	float gyroLSB=1.0/131.0; // deg/sec
	float accLSB=1.0/16384.0; // g
	float clk = 0.01; // in sec,
	unsigned long interval = (unsigned long) (clk*1000.0); // in msec
	float cutoff = 0.1; // 2 * PI * f (f=Hz)
	float yawPower;
	float moveTarget, moveRate=0.0; //moveRate 0:stop, +:forward, -:backward
	float moveStep = 0.0013;
	float spinDestination, spinTarget, spinRate;
	float spinStep = 30.0*clk;
	float orientation;
	float dirStep = 30.0 * clk; //30deg/sec
	int state=-1;
	int traceSensor;
	bool serialMonitor=false;
	bool spinContinuous=false;
	bool follow=false;
	bool trace=false;
	int ipowerR = 0;
	int ipowerL = 0;
	int motorRdir=0; //stop 1:+ -1:-
	int motorLdir=0; //stop
	float battFactor=1.0;
	float bVolt;
	float distance;
	int traceThLevel=500;
	int counterOverSpd;
	float aveAccX=0.0;
	float aveAccZ=0.0;
	float Kang=120.0;
	float Komg=2.4;
	float KIang=1800.0;
	float Kyaw=15.0;
	float Kdst=100.0;
	float Kspd=7.0;
	float KIdst=0.0;
	float mechFactorR=0.6;
	float mechFactorL=0.6;
	int backlashSpd=15;
	int motorDeadPWM=0;
	float maxSpd=250.0;
	void setup() {
	pinMode(2,INPUT); //IR
	pinMode(4,OUTPUT); //APhase
	pinMode(5,OUTPUT); //AEnable
	pinMode(6,OUTPUT); //BEnable
	pinMode(7,OUTPUT); //BPhase
	pinMode (13, OUTPUT); //LED
	Wire.begin();
	Wire.setClock(50000L);
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6B); // Power management register
	Wire.write(0); // wake up MPU-6050
	Wire.endTransmission(true);
	receiveIR.enableIRIn(); // Start the receiver
	Serial.begin(115200);
	checkVoltage();
	resetVar();
	delay(50); //stabilize gyro
	getBaselineGyro();
	selectMode();
	}
	void loop() {
	monitorVoltage();
	getIR();
	traceSensor = analogRead(A0);
	getGyro();
	getDistance();
	switch (state) {
	case -1:
	calcTarget();
	if (upright()) state =0;
	break;
	case 0: //baseline
	calibrate();
	state=1;
	break;
	case 1: //run
	if (standing() && counterOverSpd <= 30) {
	calcTarget();
	drive();
	}
	else {
	sendSerial();
	resetMotor();
	resetVar();
	if (upright()) state=0;
	else state=9;
	}
	break;
	case 2: //wait until upright
	if (upright()) state=0;
	break;
	case 9: //fell
	if (laid()) state=2;
	break;
	}
	counter += 1;
	if (counter >= 100) {
	counter = 0;
	if (serialMonitor) sendSerial();
	}
	do time1 = millis();
	while (time1 - time0 < interval);
	time0 = time1;
	}
	void getIR() {
	if (receiveIR.decode(&results)) {
	// Serial.println(results.value, HEX);
	switch (results.value & 0x0000FFFF) {
	case 0x728D: //LAPIO up
	case 0x7C83: //TOSHIBA up
	moveRate=4.0; //forward
	break;
	case 0xF20D: //LAPIO down
	case 0xFC03: //TOSHIBA down
	moveRate=-4.0; //backward
	break;
	case 0xFA05: //LAPIO&TOSHIBA left = spin left
	spinDestination -= 30.0;
	break;
	case 0xDA25: //LAPIO&TOSHIBA right = spin right
	spinDestination += 30.0;
	break;
	case 0xBC43: //LAPIO&TOSHIBA OK = stop
	trace=false;
	follow=false;
	spinContinuous=false;
	moveRate=0.0;
	spinDestination = spinTarget;
	break;
	case 0x807F: //LAPIO&TOSHIBA button 1
	spinContinuous=true;
	follow=false;
	trace=false;
	moveRate=3.0;
	spinStep=0.30;
	break;
	}
	receiveIR.resume(); // Receive the next value
	}
	}
	void calcTarget() {
	if (trace) {
	float tmp = (float) (traceSensor - traceThLevel);
	spinTarget += 0.001 * tmp;
	moveRate = 2.0;
	}
	else {
	if (spinContinuous) {
	spinTarget += spinStep;
	}
	else {
	if (spinTarget < spinDestination) spinTarget += spinStep;
	if (spinTarget > spinDestination) spinTarget -= spinStep;
	}
	}
	if (follow) {
	if (distance > 180.0) moveRate=2.8;
	else if (distance > 130.0) moveRate=2.4;
	else if (distance > 90.0) moveRate=0.0;
	else moveRate=-1.0;
	}
	moveTarget += moveStep * moveRate;
	}
	void drive() {
	varSpd += power * clk;
	varDst += Kdst * (varSpd * clk - moveTarget);
	varIang += KIang * varAng * clk;
	varIdst += KIdst * varDst * clk;
	power = varIang + varIdst + varDst + (Kspd * varSpd) + (Kang * varAng) + (Komg * varOmg);
	if (abs(power) > 3000.0) counterOverSpd += 1;
	else counterOverSpd =0;
	if (counterOverSpd > 30) return;
	yawPower = (orientation - spinTarget) * Kyaw;
	powerR = power + yawPower;
	powerL = power - yawPower;
	motor();
	}
	void motor() {
	ipowerR = (int) (constrain(powerR * mechFactorR * battFactor, -maxSpd, maxSpd));
	if (ipowerR > 0) {
	if (motorRdir == 1) drvMotorR(ipowerR + motorDeadPWM);
	else drvMotorR(ipowerR + motorDeadPWM + backlashSpd); //compensate backlash
	motorRdir = 1;
	}
	else if (ipowerR < 0) {
	if (motorRdir == -1) drvMotorR(ipowerR - motorDeadPWM);
	else drvMotorR(ipowerR - motorDeadPWM - backlashSpd);
	motorRdir = -1;
	}
	else {
	drvMotorR(0);
	motorRdir = 0;
	}
	ipowerL = (int) (constrain(powerL * mechFactorL * battFactor, -maxSpd, maxSpd));
	if (ipowerL > 0) {
	if (motorLdir == 1) drvMotorL(ipowerL + motorDeadPWM);
	else drvMotorL(ipowerL + motorDeadPWM + backlashSpd); //compensate backlash
	motorLdir = 1;
	}
	else if (ipowerL < 0) {
	if (motorLdir == -1) drvMotorL(ipowerL - motorDeadPWM);
	else drvMotorL(ipowerL - motorDeadPWM - backlashSpd);
	motorLdir = -1;
	}
	else {
	drvMotorL(0);
	motorLdir = 0;
	}
	}
	void getDistance() { //distance in mm
	int dist=analogRead(A1);
	if (dist>0) distance = constrain(95000.0 / ((float) dist) -30.0, 60.0, 400.0);
	else distance = 0.0;
	}
	void getGyro() {
	readGyro();
	gyroZdps = (gyroZdata - gyroZoffset) * gyroLSB;
	varOmg = (gyroYdata - gyroYoffset) * gyroLSB; // unit:deg/sec
	accXg = (accXdata - accXoffset) * accLSB; //unit:g
	orientation += gyroZdps * clk;
	varAng += (varOmg + (accXg * 57.3 - varAng) * cutoff ) * clk;
	}
	void readGyro() {
	Wire.beginTransmission(0x68);
	Wire.write(0x3B);
	Wire.endTransmission(false); //enable incremental read
	Wire.requestFrom(0x68, 14, (int)true); //used to be requestFrom(0x68, 14, true) but got warning.
	accX=Wire.read()<<8|Wire.read(); //0x3B
	accY=Wire.read()<<8|Wire.read(); //0x3D
	accZ=Wire.read()<<8|Wire.read(); //0x3F
	temp=Wire.read()<<8|Wire.read(); //0x41
	gyroX=Wire.read()<<8|Wire.read(); //0x43
	gyroY=Wire.read()<<8|Wire.read(); //0x45
	gyroZ=Wire.read()<<8|Wire.read(); //0x47
	gyroZdata = (float) gyroY;
	gyroYdata = (float) gyroZ;
	accXdata = -(float) accX;
	aveAccX = aveAccX * 0.9 + accXdata * 0.1;
	accZdata = (float) accY;
	aveAccZ = aveAccZ * 0.9 + accZdata * 0.1;
	}
	bool laid() {
	if (abs(aveAccX) >13000.0) return true;
	else return false;
	}
	bool upright() {
	if (abs(aveAccZ) >13000.0) return true;
	else return false;
	}
	bool standing() {
	if (abs(aveAccZ) > 10000.0 && abs(varAng) < 40.0) return true;
	else return false;
	}
	void calibrate() {
	resetVar();
	resetMotor();
	delay(2000);
	if (serialMonitor) sendSerial();
	pulseMotor(1);
	delay(1000);
	if (serialMonitor) sendSerial();
	getBaselineAcc();
	}
	void getBaselineAcc() {
	accXoffset=0.0;
	// traceThLevel=0;
	for (int i=1; i <= 30; i++){
	readGyro();
	accXoffset += accXdata;
	// traceThLevel += analogRead(A0);
	delay(20);
	}
	accXoffset /= 30;
	// traceThLevel /= 30;
	}
	void getBaselineGyro() {
	gyroYoffset=gyroZoffset=0.0;
	for (int i=1; i <= 30; i++){
	readGyro();
	gyroYoffset += gyroYdata;
	gyroZoffset += gyroZdata;
	delay(20);
	}
	gyroZoffset /= 30;
	gyroYoffset /= 30;
	}
	void resetVar() {
	power=0.0;
	moveTarget=0.0;
	moveRate=0.0;
	spinDestination=0.0;
	spinTarget=0.0;
	spinRate=0.0;
	orientation=0.0;
	varAng=0.0;
	varOmg=0.0;
	varDst=0.0;
	varSpd=0.0;
	varIang=0.0;
	varIdst=0.0;
	}
	void resetMotor() {
	drvMotorR(0);
	drvMotorL(0);
	counterOverSpd=0;
	sendSerial();
	}
	void checkVoltage() {
	bVolt = ((float) analogRead(A2)) / 1023.0 * 6.6;
	if (bVolt > 5.0) blinkLED(3);
	else if (bVolt > 4.8) blinkLED(2);
	else if (bVolt > 4.6) blinkLED(1);
	else blinkLED(100);
	}
	void blinkLED(int n) {
	for (int i=0; i<n; i++) {
	digitalWrite(13,HIGH);
	delay(10);
	digitalWrite(13,LOW);
	delay(200);
	}
	}
	void monitorVoltage() {
	digitalWrite(13, LOW);
	bVolt = ((float) analogRead(A2)) / 1023.0 * 6.6;
	battFactor = 5.0 / bVolt;
	if (bVolt<=4.4) {
	digitalWrite(13, HIGH);
	if (serialMonitor) {
	Serial.print("Batt=");Serial.println(bVolt);
	}
	}
	}
	void selectMode() {
	getDistance();
	traceSensor = analogRead(A0);
	if (distance > 100.0) {
	if (traceSensor > traceThLevel) { //follow & trace
	trace=true;
	follow=true;
	blinkLED(3);
	}
	else { //stand still
	trace=false;
	follow=false;
	blinkLED(1);
	}
	}
	else if (distance >=0.0) { //circle
	follow=false;
	trace=false;
	moveRate=3.0;
	spinStep=0.30;
	spinContinuous=true;
	blinkLED(5);
	}
	else { //no distance sensor
	follow=false;
	if (traceSensor > 500) { //trace only
	trace=true;
	blinkLED(2);
	}
	else { //stand still
	trace=false;
	blinkLED(1);
	}
	}
	}
	void pulseMotor(int n) {
	for (int i=0; i<n; i++) {
	drvMotorR(motorDeadPWM+50);
	delay(15);
	drvMotorR(0);
	delay(50);
	drvMotorR(-motorDeadPWM-50);
	delay(15);
	drvMotorR(0);
	delay(200);
	}
	}
	void drvMotorR(int pwm) {
	drvMotor(4,5, constrain(pwm, -255, 255));
	}
	void drvMotorL(int pwm) {
	drvMotor(7,6, constrain(pwm, -255, 255));
	}
	void drvMotor(int pinPhase, int pinEnable, int pwm) {
	if (pwm>=0) {
	// digitalWrite(pinEnable,LOW);
	digitalWrite(pinPhase,HIGH);
	analogWrite(pinEnable,pwm);
	}
	else {
	// digitalWrite(pinEnable,LOW);
	digitalWrite(pinPhase,LOW);
	analogWrite(pinEnable,-pwm);
	}
	}
	void sendSerial () {
	Serial.print(millis()-time0);
	Serial.print(" state=");Serial.print(state);
	// Serial.print(" dist=");Serial.print(distance);
	// Serial.print(" sens="); Serial.print(traceSensor);
	Serial.print(" accX="); Serial.print(accXdata);
	Serial.print(" accOfs=");Serial.print(accXoffset);
	// Serial.print(" gyYoffset="); Serial.print(gyroYoffset);
	Serial.print(" ang=");Serial.print(varAng);
	// Serial.print(" temp = "); Serial.print(temp/340.0+36.53);
	Serial.print(" Omg="); Serial.print(varOmg);
	// Serial.print(" power="); Serial.print(power);
	Serial.print(" Dst="); Serial.print(varDst);
	Serial.print(" bVolt="); Serial.print(bVolt);
	Serial.print(" Iang="); Serial.print(varIang);
	// Serial.print(" mTarg="); Serial.print(moveTarget);
	// Serial.print(" follow="); Serial.print(follow);
	// Serial.print(" interval="); Serial.print(interval);
	Serial.print(", ");
	Serial.print(millis()-time0);
	Serial.println();
	}

view raw DRV8835IP6TKIRSp.ino hosted with ❤ by GitHub

棒テンプ時計の精度アップ Folio Clock v61

	//(C) Kirakulabo 2017
	//DRV8835 connected to D2,3,4,5,6 (MODE pin to GND)
	//MPU6050 (I2C) gyro and acc sensor
	//MB1422 (I2C) mag sensor with 3.3V power
	//AQM0802 (I2C) LCD driver
	//Touch sens antenna connected to A0
	//LED connected to D9
	//1H = 64 escapment wheel turn
	//1 escapment turn = 15 tic
	//tact time 100ms
	//folio calc every 1 turn of ecapement
	//V60 switch between Gyro and Mag,
	//V61 removed nRF24
	//#define NOMOTOR //define this to simulate motor
	//#define GYRO //if defined, gyro(MPU6050). if not, mag(BM1422)
	#include <ST7032.h>
	#include <RTC.h>
	#include <Wire.h>
	#define TOUCHPIN A0
	#define LED 9
	#define DRVPWR 2
	#define DRVAIN1 3
	#define DRVAIN2 4
	#define DRVBIN1 5
	#define DRVBIN2 6
	#define NHISTORY 64
	#define BM14 0x0E
	ST7032 lcd;
	boolean serialMon=false;
	volatile long rtcTic=1;
	long rtcLastLoop=1;
	int dataX, dataY, dataZ;
	int angle, angLast; //1deg=10
	int angMax, angMin, angThresh;
	int angHyst=50; //5deg
	int omegaHysteresis=2000;
	int folioDir, folioDirLast;
	unsigned long loopTime;
	long rtcLastFolioMove;
	long tFolio;
	long tFolioCumulativeError=0;
	long cFolio=-1;
	int stepNumber=0;
	int stepNumberTarget=0;
	long rtcEscWheelHistory[NHISTORY];
	long nEscapeTurn;
	long tFolioRateError=0;
	long nCumulativeStep=0;
	long tFolioErrorMax=0;
	long tFolioErrorMin=0;
	boolean lcdEnabled=true;
	int lcdOnTime=900; //90 sec
	int lcdTimer;
	int steps;
	int accY, gyroY;
	int gyroData, omega;
	void setup() {
	pinMode(DRVPWR, OUTPUT);
	pinMode(DRVAIN1, OUTPUT);
	pinMode(DRVAIN2, OUTPUT);
	pinMode(DRVBIN1, OUTPUT);
	pinMode(DRVBIN2, OUTPUT);
	pinMode(LED, OUTPUT);
	digitalWrite(LED, HIGH);
	digitalWrite(DRVPWR, LOW);
	#ifdef GYRO
	initGyro();
	#endif
	setPowerManagementMode(PM_STOP_MODE);
	rtc_init();
	rtc_attach_constant_period_interrupt_handler(rtcIntHandler);
	rtc_set_constant_period_interrupt_time(RTC_CONSTANT_PERIOD_TIME_1SECOND);
	rtc_constant_period_interrupt_on();
	delay(100);
	initMag();
	lcd.begin(8,2); //(c,r)
	delay(1000);
	startup();
	if (serialMon) {
	Serial.begin(115200);
	Serial.println("Ready");
	Serial.flush(); //this allows serial comm while CPU is in PM_STOP_MODE
	}
	}
	void loop() {
	loopTime=millis();
	#ifdef GYRO
	getOmega();
	if (omega>omegaHysteresis) folioDir=1;
	if (omega<-omegaHysteresis) folioDir=-1;
	#else
	getAngle();
	if (angle>angThresh+angHyst) folioDir=1;
	if (angle<angThresh-angHyst) folioDir=-1;
	#endif
	if (folioDir==1 && folioDirLast==-1) folioCycle();
	folioDirLast=folioDir;
	if (rtcTic != rtcLastLoop) { //executed very 1 sec
	rtcLastLoop=rtcTic;
	if (lcdEnabled) {
	tFolioCumulativeError=tFolio-rtcTic;
	lcdDispStatus();
	}
	}
	delay(50);
	touchSense();
	while(millis()-loopTime<100) delay(2);
	}
	void rtcIntHandler() {
	rtcTic++;
	}
	void startup() {
	lcd.setContrast(25);
	lcdOn();
	lcdDispText(0,0, "STEPPER ");
	lcdDispText(0,1, "TRAINING");
	delay(1000);
	for (int i=0; i<25; i++) {
	stepNumberTarget+=10;
	motorStep();
	delay(200);
	}
	stepNumber=200;
	stepNumberTarget=0;
	motorStep();
	nCumulativeStep=0;
	lcdDispText(0,0, "WAIT FOR");
	lcdDispText(0,1, "FOLIO MV");
	#ifdef GYRO
	do {
	getOmega();
	} while (omega<=omegaHysteresis);
	delay(10000);
	#else
	waitFolioMotion();
	lcdDispText(0,0, "CALC ANG");
	lcdDispText(0,1, "THRESHLD");
	getThresh();
	#endif
	lcdDispText(0,0, "OK 000");
	lcdDispText(0,1, "0000 000");
	}
	void folioCycle() {
	digitalWrite(LED, LOW);
	delay(1);
	digitalWrite(LED, HIGH);
	cFolio++;
	if (cFolio<0) return;
	if (cFolio==0) rtcTic=0;
	long rtcTicAtCycle=rtcTic;
	rtcLastFolioMove=rtcTicAtCycle;
	tFolio=cFolio*15/4; //escapement 1tic=3.75sec
	tFolioCumulativeError=tFolio-rtcTicAtCycle;
	if (tFolioCumulativeError>tFolioErrorMax) tFolioErrorMax=tFolioCumulativeError;
	if (tFolioCumulativeError<tFolioErrorMin) tFolioErrorMin=tFolioCumulativeError;
	lcdDispFolioTic(4,1);
	lcdDispNum34(4,0, tFolioCumulativeError);
	if (abs(tFolioCumulativeError)>300) return; //if error > 5min, do not move motor nor send RF
	if (cFolio%15==0) { //every 15 turn =~1min
	nEscapeTurn=cFolio/15;
	rtcEscWheelHistory[nEscapeTurn%NHISTORY]=rtcTicAtCycle;
	if (nEscapeTurn>=4) tFolioRateError=225-(rtcTicAtCycle-rtcEscWheelHistory[(nEscapeTurn+NHISTORY-4)%NHISTORY]); //gain against 4 escape turns ago (=~4min)
	else tFolioRateError=tFolioCumulativeError;
	lcdDispNum3(5,1, tFolioRateError);
	if (abs(tFolioCumulativeError)<=300) { //if error > 5min, do not move motor
	if (tFolioRateError*tFolioCumulativeError >=0) steps=(int) ((tFolioRateError*2)/3 + tFolioCumulativeError/5);
	else steps=0;
	stepNumberTarget = constrain(stepNumber+steps, -200, 200);
	steps = stepNumberTarget-stepNumber;
	if (stepNumberTarget != stepNumber) {
	motorStep();
	lcdDispNum4(0,0, nCumulativeStep);
	}
	}
	}
	}
	void touchSense() {
	int adata1=analogRead(TOUCHPIN); //touch sensor
	delay(1);
	int adata2=analogRead(TOUCHPIN);
	if (abs(adata1-adata2) > 18 || adata1+adata2 < 800) { //touch detect threshold
	if (!lcdEnabled) lcdOn();
	lcdTimer=lcdOnTime;
	}
	else {
	if (lcdEnabled) lcdTimer--;
	if (lcdTimer<=0) lcdOff();
	}
	}
	void lcdOn() {
	lcdTimer=lcdOnTime;
	lcd.display();
	lcdEnabled=true;
	lcdDispNum4(0,0, nCumulativeStep);
	lcdDispNum4(0,1, tFolioErrorMax);
	lcdDispNum34(4,0, tFolioCumulativeError);
	lcdDispNum3(5,1, tFolioRateError);
	}
	void lcdOff() {
	lcd.noDisplay();
	lcdEnabled=false;
	}
	void lcdDispText(int col, int row, String s) {
	if (!lcdEnabled) return;
	lcd.setCursor(col,row);
	lcd.print(s);
	}
	void lcdDispStatus() {
	if (rtcTic-rtcLastFolioMove > 6) lcdDispNum34(4,0, tFolioCumulativeError); //disp LCD even if folio not moving
	if (rtcTic%8==0) {
	lcdDispNum4(0,0, nCumulativeStep);
	lcdDispNum4(0,1, tFolioErrorMax);
	}
	else if (rtcTic%8==4) {
	if (rtcTic<43200) {
	lcdDispNum3(0,0, rtcTic/60);
	lcdDispText(3,0, "M");
	}
	else if (rtcTic<3600000) {
	lcdDispNum3(0,0, rtcTic/3600);
	lcdDispText(3,0, "H");
	}
	else {
	lcdDispNum3(0,0, rtcTic/86400);
	lcdDispText(3,0, "D");
	}
	lcdDispNum4(0,1, tFolioErrorMin);
	}
	}
	void lcdDispNum4(int col, int row, long n) {
	if (!lcdEnabled) return;
	char pNum[6];
	if (n>999999) sprintf(pNum, "%s", ">1+6");
	else if (n>99999) sprintf(pNum, "%02dE4", n/10000);
	else if (n>9999) sprintf(pNum, "%02dE3", n/1000);
	else if (n>=0) sprintf(pNum, "%04d", n);
	else if (n>=-999) sprintf(pNum, "%04d", n);
	else if (n>=-9999) sprintf(pNum, "%02d-2", -n/100);
	else if (n>=-99999) sprintf(pNum, "%02d-3", -n/1000);
	else if (n>=-999999) sprintf(pNum, "%02d-4", -n/10000);
	else sprintf(pNum, "%s", "<1-6");
	lcd.setCursor(col,row);
	lcd.print(pNum);
	}
	void lcdDispNum3(int col, int row, long n) {
	if (!lcdEnabled) return;
	char pNum[6];
	if (n>999) sprintf(pNum, "%s", ">k+");
	else if (n>=-99) sprintf(pNum, "%03d", n);
	else if (n>=-999) sprintf(pNum, "%02d-", -n/10);
	else sprintf(pNum, "%s", "<k-");
	lcd.setCursor(col,row);
	lcd.print(pNum);
	}
	void lcdDispNum34(int col, int row, long n) {
	if (!lcdEnabled) return;
	char pNum[6];
	if (n>999) sprintf(pNum, "%s", " >k+");
	else if (n>=-99) sprintf(pNum, " %03d", n);
	else if (n>=-999) sprintf(pNum, "%04d", n);
	else sprintf(pNum, "%s", " <k-");
	lcd.setCursor(col,row);
	lcd.print(pNum);
	}
	void lcdDispFolioTic(int col, int row) {
	if (!lcdEnabled) return;
	lcd.setCursor(col, row);
	char n=cFolio%60+0xA1; //"縲�"=0,... "繝ｯ"=59
	lcd.print(n);
	}
	void motorStep() {
	digitalWrite(DRVPWR, HIGH);
	delay(5);
	while (stepNumberTarget-stepNumber != 0) {
	if (stepNumberTarget>stepNumber) stepNumber++;
	else stepNumber--;
	nCumulativeStep++;
	#if defined(NOMOTOR)
	Serial.print("Motor setp=");
	Serial.flush(); //this allows serial comm while CPU is in PM_STOP_MODE
	Serial.println(stepNumber);
	Serial.flush(); //this allows serial comm while CPU is in PM_STOP_MODE
	#else
	motorDrive();
	#endif
	delay(10); //motor freq=100Hz
	}
	motorOut(LOW, LOW, LOW, LOW);
	digitalWrite(DRVPWR, LOW);
	}
	void motorDrive() {
	int phase=stepNumber%4;
	if (phase<0) phase=4+phase;
	if (phase==0) motorOut(HIGH, LOW, HIGH, LOW);
	if (phase==1) motorOut(LOW, HIGH, HIGH, LOW);
	if (phase==2) motorOut(LOW, HIGH, LOW, HIGH);
	if (phase==3) motorOut(HIGH, LOW, LOW, HIGH);
	}
	void motorOut(byte out1, byte out2, byte out3, byte out4) {
	digitalWrite(DRVAIN1, out1);
	digitalWrite(DRVAIN2, out2);
	digitalWrite(DRVBIN1, out3);
	digitalWrite(DRVBIN2, out4);
	}
	void getMag() {
	magWrite(0x1D, 0x40); //Start ADC
	delay(1);
	dataX=magRead(0x10);
	dataY=magRead(0x12);
	dataY+=160;
	dataZ=magRead(0x14);
	dataZ+=50;
	}
	void initMag() {
	magWrite(0x1B, 0x82); //CNTL1
	delay(2);
	magWrite(0x5C, 0); //CNTL4 LSB
	magWrite(0x5D, 0); //CNTL4 MSB
	magWrite(0x1C, 0x08); //CNTL2 DRDY enable with low active
	getMag();
	}
	void waitFolioMotion() {
	angMax=-3600;
	angMin=3600;
	do {
	getAngle();
	if (angle > angMax) angMax=angle;
	if (angle < angMin) angMin=angle;
	delay(100);
	} while (angMax-angMin<300); //30deg
	if (serialMon) {
	Serial.println("MOTION OK");
	Serial.flush();
	}
	}
	void getThresh() {
	unsigned long msec=millis();
	angMax=-3600;
	angMin=3600;
	do {
	getAngle();
	if (angle > angMax) angMax=angle;
	if (angle < angMin) angMin=angle;
	delay(100);
	} while (millis()-msec<15000); //15second
	angThresh=(angMax+angMin)/2;
	}
	void getAngle() {
	getMag();
	angle= (int) (atan2((double)dataZ, (double)dataY)*572.9579); //1800.0/3.141592=572.9579, 180deg=1800
	int diff=angle - angLast;
	if (diff > 1800) angle-=3600;
	if (diff < -1800) angle+=3600;
	angLast=angle;
	if (serialMon) {
	Serial.print(dataZ);
	Serial.print(" ");
	Serial.print(dataY);
	Serial.print(" ");
	Serial.print(angle);
	Serial.print(" ");
	Serial.print(angMax);
	Serial.print(" ");
	Serial.print(angMin);
	Serial.print(" ");
	Serial.println(angThresh);
	Serial.flush();
	}
	}
	void magWrite (unsigned char adr, unsigned char data) {
	Wire.beginTransmission(BM14);
	Wire.write(adr);
	Wire.write(data);
	Wire.endTransmission(true);
	}
	int magRead(unsigned char adr) {
	Wire.beginTransmission(BM14);
	Wire.write(adr);
	Wire.endTransmission(false);
	Wire.requestFrom(BM14, 2, (int)true);
	return Wire.read()|Wire.read()<<8;
	}
	void initGyro() {
	delay(100);
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6B); // Power management register1
	Wire.write(0x0A); // wake up MPU-6050, disable Temperature sensor, use gyroY PLL for clock
	Wire.endTransmission(true);
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6C); // Power management register2
	Wire.write(0xED); // disable accX, accZ, gyroX, gyroZ
	Wire.endTransmission(true);
	}
	void getOmega() {
	long tmp =0;
	for (int i=0; i<5; i++) {
	readGyro();
	tmp += (long) gyroData;
	delay(2);
	}
	omega=(int) (tmp / 5);
	}
	void readGyro() {
	Wire.beginTransmission(0x68);
	Wire.write(0x3D);
	Wire.endTransmission(false); //enable incremental read
	Wire.requestFrom(0x68, 2, (int)true); //used to be requestFrom(0x68, 14, true) but got warning.
	accY=Wire.read()<<8|Wire.read(); //0x3D
	Wire.beginTransmission(0x68);
	Wire.write(0x45);
	Wire.endTransmission(false); //enable incremental read
	Wire.requestFrom(0x68, 2, (int)true); //used to be requestFrom(0x68, 14, true) but got warning.
	gyroY=Wire.read()<<8|Wire.read(); //0x45
	gyroData = gyroY;
	}

view raw FolioClock61.ino hosted with ❤ by GitHub

GR-ADZUKIで倒立振子ロボADZUMIN v47

	//ADZUMIN Inverted Pendulum Robot
	//Copyright MAENOH! & KIRAKULABO 2017
	//wheele dia ~= 58mm
	//Gear ratio ~= 114 (TAMIYA Double Gear Box)
	//Battery: Alkaline x 3
	//MPU/Driver: GR-ADZUKI
	//Gyro/Acc: MPU6050 (I2C)
	//Adhoc IR remote control registration during laying just after power up.
	//SW1: Stand still with debug and serialMonito on (1 blink)
	//SW2: demo (2 blinks)
	//Default: Stand still (no blink)
	#include "Arduino.h"
	#include <Wire.h>
	#include <EEPROM.h>
	#include <SD.h>
	#define LED_R 22
	#define LED_G 23
	#define LED_B 24
	#define HCODE 0x4D //M
	#define PWMMAX 255
	#define LED1_M1F 6
	#define LED2_M0F 9
	#define LED3_M0B 10
	#define LED4_M1B 11
	#define LED5 12
	#define LED6 13
	#define LED_ON 1
	#define LED_OFF 0
	#define SW1_SINT_PIN 3 //SW1 and Sound Interrupt
	#define SW2_IRINT_PIN 2 // SW2 and IR Receive
	#define GP2Y A0
	#define BATT A1
	#define TONE_PIN 5
	#define SERVO_PIN 4
	#define AKI_REMO_CUSTOMER (0x10EF)
	#define AKI_REMO_POWER (0xD827)
	#define AKI_REMO_A (0xF807)
	#define AKI_REMO_B (0x7887)
	#define AKI_REMO_C (0x58A7)
	#define AKI_REMO_UP (0xA05F)
	#define AKI_REMO_DOWN (0x00FF)
	#define AKI_REMO_RIGHT (0x807F)
	#define AKI_REMO_LEFT (0x10EF)
	#define AKI_REMO_CENTER (0x20DF)
	#define AKI_REMO_UR (0x21DE)
	#define AKI_REMO_UL (0xB14E)
	#define AKI_REMO_DR (0x817E)
	#define AKI_REMO_DL (0x11EE)
	#define INTSOUND 1 //Sound interrupt number
	#define INTIR 0 // IR RECEIVE interrupt number
	#define IRON LOW
	#define IROFF HIGH
	#define IRBUFFLEN 200
	#define MINIRINTERVAL 220
	// Ad hoc IR code
	#define IR_UP 1
	#define IR_DOWN 7
	#define IR_RIGHT 5
	#define IR_LEFT 3
	#define IR_CENTER 4
	#define IR_CIRL 0
	#define IR_CIRR 2
	#define IR_BALF 6
	#define IR_BALB 8
	#define ADHOC_IR_MAX 9
	#define MAXSINTERVAL 15
	#define MINSINTERVAL 5
	unsigned int ADHOC_CUSTOMER[ADHOC_IR_MAX] = {0xFFFF,0xFFFF,0XFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF}; //1,2,3,4,5,6,7,8,9
	unsigned int ADHOC_IR[ADHOC_IR_MAX] = {0xFFFF,0xFFFF,0XFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF}; // 1,2,3,4,5,6,7,8,9
	int adhoc_ir_num=-1;
	void selectMode();
	void sendSerial();
	void resetPara();
	void resetVar();
	void getGyro();
	void readGyro();
	void calibGyro();
	void calibAcc();
	void calcTarget();
	boolean pendDrive();
	void motor();
	void resetMotor();
	void freeMotor();
	boolean laid();
	boolean upright();
	boolean standing();
	void drvMotorL(int pwm);
	void drvMotorR(int pwm);
	void drvMotor0(int pwm);
	void drvMotor1(int pwm);
	void checkVoltage();
	void monitorVoltage();
	double getBattVolt();
	void blinkLED(int n);
	void setColor(int r, int g, int b);
	void readEEPROMbal();
	void writeEEPROMbal();
	void readEEPROMadhoc();
	void writeEEPROMadhoc();
	void demo8();
	void getIR();
	void regIR();
	void printIrData();
	void decodeNECAEHA();
	void decodeSONY();
	void irInt();
	void irCommand();
	void printIrData(String s);
	void soundIntSD();
	void soundInt();
	void soundStartSD(File s, unsigned long sz, int gain);
	void soundStart(const byte* ptr, unsigned long sz, int gain);
	void servoStart(double ang, double stp);
	void servoContinue(double ang, double stp);
	void servoDrive();
	void pendulum();
	void servoHead();
	void randomPlay();
	void openFiles();
	boolean lightHead=false;
	boolean usbPower=false;
	int button=IR_CENTER;
	volatile unsigned long irMicroOn;
	volatile unsigned long irMicroOff;
	volatile unsigned int irDataOn[200];
	volatile unsigned int irDataOff[200];
	volatile int irOnIndex=0;
	volatile int irOffIndex=0;
	volatile boolean irStarted=false;
	volatile boolean irDecoding=false;
	volatile unsigned long lastIrTime=0;
	boolean irReady=false;
	byte irData[30];
	unsigned int ircode;
	unsigned int customer_code;
	int MotorConfig = 0; // 0 to 3
	int accX, accY, accZ, temp, gyroX, gyroY, gyroZ;
	int counter=0;
	volatile int counterSec=0;
	volatile int counterSec0=0;
	unsigned long time1=0;
	unsigned long time0=0;
	double power, powerR, powerL;
	double snsGyroY, snsAccX;
	double varAng, varOmg, varSpd, varDst, varIang, varIdst;
	double gyroOffsetY, gyroOffsetZ, accOffsetX;
	double gyroDataY, gyroDataZ, accDataX, accDataY;
	double gyroLSB=1.0/131.0; // deg/sec
	double accLSB=1.0/16384.0; // g
	double pendClk = 0.01; // in sec,
	unsigned long pendInterval = 10000; // in usec
	double cutoff = 0.1; // 2 * PI * f (f=Hz) //0.1
	double Kang, Komg, Kdst, Kspd, Kspin, KIang, KIdst;
	double spinPower;
	double moveTarget, moveRate=0.0; //moveRate 0:stop, +:forward, -:backward
	double moveStep = 0.0013;
	double spinDestination, spinTarget;
	double spinStep = 0.0;
	double spinAngle;
	boolean spinContinuous=false;
	int pendPhase=-1;
	int ipowerR = 0;
	int ipowerL = 0;
	int motorRdir=0; //stop 1:+ -1:-
	int motorLdir=0; //stop
	int backlashSpd;
	double mechFactorR, mechFactorL;
	double battFactor=1.3; // 2016.07.14
	double bVolt;
	double maxSpd=250.0;
	int counterOverSpd;
	int maxOverSpd=15;
	double aveAccX=0.0;
	double aveAccY=0.0;
	boolean debug=false;
	boolean serialMonitor=false;
	double aveVolt=4.5;
	int8_t drvHLbalance=0;
	int demoPhase=0;
	int demoDelayCounter=0;
	int demoMode=0;
	double minVolt=4.5;
	int servoPhase=1;
	boolean servoComplete=false;
	int servoPulseWidth=1500;
	double servoAngDestination=90.0;
	double servoAngTarget=90.0;
	double servoAngStep=1.0;
	int servoWidth=1500; //in usec
	File voiceFile[11];
	unsigned long fsizeVoice[11];
	File musicFile[10];
	unsigned long fsizeMusic[10];
	File sdfile, volFile;
	File fGreet, fStop, fRight, fLeft, fForward, fBack, fSpin, fAccel, fTipover, fDemo, fDebug, fBattery, fReplace;
	int vGreet, vStop, vRight, vLeft, vForward, vBack, vSpin, vAccel, vTipover, vDemo, vDebug, vBattery, vReplace;
	unsigned long fsizeGreet, fsizeStop, fsizeRight, fsizeLeft, fsizeForward, fsizeBack, fsizeSpin, fsizeAccel, fsizeTipover, fsizeDemo, fsizeDebug, fsizeBattery, fsizeReplace;
	volatile unsigned long filePointer;
	volatile unsigned long fileSize;
	volatile boolean soundBusy=false;
	volatile unsigned long soundIndex=0;
	volatile const byte *soundPtr;
	volatile unsigned long soundSize;
	volatile int soundGain=10; //10=100%
	boolean soundFlg=false;
	int soundInterval=MAXSINTERVAL;
	volatile boolean soundStop=false;
	int soundId;
	boolean musicPlaying=false;
	boolean randomSoundOn=true;
	int soundPhase=1;
	int maxVoiceFile=0;
	int minVoiceFile=-1;
	int maxMusicFile=0;
	int minMusicFile=-1;
	const char *soundVoice[] = {"vmu_168m.wav", "v1_168m.wav", "v2_168m.wav", "v3_168m.wav", "v4_168m.wav", "v5_168m.wav", "v6_168m.wav", "v7_168m.wav", "v8_168m.wav", "v9_168m.wav", "v10_168m.wav"};
	const char *soundVoiceIni[] = {"vmu_168m.ini", "v1_168m.ini", "v2_168m.ini", "v3_168m.ini", "v4_168m.ini", "v5_168m.ini", "v6_168m.ini", "v7_168m.ini", "v8_168m.ini", "v9_168m.ini", "v10_168m.ini"};
	const char *soundMusic[] = {"mu1_168m.wav", "mu2_168m.wav", "mu3_168m.wav", "mu4_168m.wav", "mu5_168m.wav", "mu6_168m.wav", "mu7_168m.wav", "mu8_168m.wav", "mu9_168m.wav", "mu10_168m.wav"};
	const char *soundMusicIni[] = {"mu1_168m.ini", "mu2_168m.ini", "mu3_168m.ini", "mu4_168m.ini", "mu5_168m.ini", "mu6_168m.ini", "mu7_168m.ini", "mu8_168m.ini", "mu9_168m.ini", "mu10_168m.ini"};
	const double headLeft=150.0;
	const double headRight=30.0;
	int vVoice[sizeof(soundVoice)/2];
	int vMusic[sizeof(soundMusic)/2];
	const byte soundGreet[] = {
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x75,0x74,0x71,0x6e,
	0x6f,0x73,0x7b,0x81,0x8b,0x8e,0x8e,0x8c,0x8a,0x86,0x80,0x7e,0x80,0x7f,0x81,0x80,
	0x80,0x7f,0x7e,0x80,0x78,0x77,0x76,0x7c,0x7f,0x84,0x8d,0x8f,0x95,0x92,0x8e,0x86,
	0x80,0x7d,0x79,0x79,0x7c,0x7f,0x80,0x80,0x7d,0x79,0x7a,0x7a,0x7d,0x7f,0x84,0x87,
	0x88,0x88,0x87,0x85,0x85,0x81,0x72,0x67,0x60,0x61,0x68,0x76,0x85,0x90,0x98,0x96,
	0x8c,0x81,0x7d,0x7e,0x80,0x86,0x89,0x8b,0x8a,0x88,0x81,0x76,0x78,0x77,0x7c,0x82,
	0x8a,0x91,0x92,0x8d,0x80,0x73,0x6a,0x69,0x6a,0x71,0x7b,0x84,0x85,0x84,0x80,0x7a,
	0x75,0x73,0x74,0x73,0x77,0x7b,0x7f,0x81,0x87,0x8d,0x90,0x91,0x8f,0x8a,0x82,0x7c,
	0x77,0x71,0x70,0x74,0x79,0x81,0x8d,0x9a,0xa1,0xa2,0x9c,0x93,0x85,0x78,0x70,0x6a,
	0x69,0x6a,0x6d,0x6d,0x6f,0x72,0x72,0x71,0x75,0x7d,0x85,0x8e,0x96,0x97,0x93,0x8c,
	0x84,0x78,0x72,0x73,0x76,0x7b,0x7f,0x80,0x80,0x80,0x7f,0x7e,0x76,0x71,0x6d,0x70,
	0x78,0x81,0x8d,0x94,0x98,0x94,0x8e,0x84,0x7f,0x7e,0x7f,0x81,0x84,0x88,0x89,0x87,
	0x83,0x7b,0x72,0x6c,0x6a,0x6b,0x6e,0x78,0x7f,0x86,0x8b,0x8e,0x8f,0x8e,0x8b,0x87,
	0x83,0x7d,0x77,0x70,0x68,0x62,0x60,0x63,0x6a,0x78,0x89,0x96,0xa1,0xa3,0xa1,0x98,
	0x91,0x8a,0x86,0x82,0x86,0x7e,0x7d,0x76,0x57,0x52,0x50,0x60,0x78,0xa2,0xbe,0xc9,
	0xc8,0xac,0x83,0x60,0x57,0x57,0x66,0x7c,0x90,0x92,0x8b,0x7d,0x67,0x56,0x57,0x5f,
	0x6d,0x81,0x95,0x9b,0x94,0x89,0x7b,0x70,0x6f,0x78,0x80,0x88,0x88,0x82,0x72,0x68,
	0x64,0x69,0x73,0x83,0x90,0x95,0x98,0x91,0x8e,0x8b,0x93,0x9d,0x9f,0xa1,0x95,0x82,
	0x6a,0x5c,0x5c,0x67,0x87,0x92,0x97,0x94,0x7d,0x65,0x53,0x5e,0x75,0x9b,0xbc,0xbc,
	0xa9,0x92,0x75,0x5a,0x4d,0x50,0x5d,0x6d,0x7c,0x81,0x7d,0x7a,0x74,0x6b,0x66,0x6c,
	0x78,0x83,0x8a,0x8c,0x89,0x80,0x7b,0x76,0x76,0x7a,0x83,0x8a,0x8c,0x8d,0x8d,0x8c,
	0x88,0x8d,0x91,0x9a,0xa3,0xad,0xad,0xa6,0xa3,0xa2,0xa4,0xa4,0x8b,0x66,0x50,0x3c,
	0x33,0x33,0x3f,0x53,0x6d,0x8c,0x9a,0x9e,0xa4,0xa8,0x9f,0x91,0x87,0x7a,0x72,0x6d,
	0x64,0x58,0x52,0x54,0x58,0x5c,0x66,0x74,0x82,0x8a,0x90,0x90,0x8c,0x89,0x87,0x84,
	0x83,0x86,0x8a,0x88,0x87,0x89,0x8b,0x8b,0x8e,0x90,0x94,0x9b,0xa2,0xaa,0xa8,0xb0,
	0xa8,0xac,0x8f,0x66,0x57,0x3d,0x39,0x45,0x5b,0x69,0x84,0x94,0x8e,0x86,0x81,0x82,
	0x7d,0x84,0x8e,0x91,0x92,0x91,0x81,0x6b,0x5b,0x54,0x50,0x54,0x62,0x74,0x7d,0x83,
	0x81,0x7c,0x75,0x77,0x7a,0x7d,0x87,0x91,0x93,0x8b,0x84,0x7c,0x77,0x78,0x7c,0x86,
	0x8e,0x97,0x9b,0x96,0x99,0x97,0x9e,0xa3,0xb0,0xb6,0xb5,0xb0,0x7e,0x5f,0x55,0x40,
	0x38,0x4b,0x5d,0x6a,0x80,0x89,0x80,0x81,0x8c,0x8a,0x87,0x94,0x9f,0x96,0x8d,0x81,
	0x6a,0x5c,0x5b,0x5b,0x5d,0x67,0x73,0x75,0x72,0x73,0x77,0x7a,0x82,0x8a,0x8e,0x90,
	0x8f,0x87,0x7c,0x76,0x77,0x7a,0x7c,0x7e,0x80,0x7d,0x79,0x74,0x76,0x7c,0x8a,0x97,
	0xa2,0xab,0xb5,0xbb,0xbd,0xc1,0xc2,0xc1,0xa0,0x72,0x45,0x2d,0x26,0x2a,0x3d,0x50,
	0x70,0x88,0x8f,0x80,0x7f,0x8e,0x9a,0xa7,0xa9,0xa8,0xa2,0x97,0x7f,0x5b,0x46,0x45,
	0x4d,0x54,0x5f,0x6b,0x72,0x78,0x79,0x77,0x7b,0x89,0x95,0x97,0x96,0x90,0x88,0x7d,
	0x75,0x71,0x74,0x7b,0x82,0x83,0x82,0x80,0x83,0x85,0x8e,0x9b,0xab,0xbb,0xc6,0xd0,
	0xd0,0xcb,0x9c,0x78,0x5a,0x32,0x25,0x30,0x40,0x59,0x6c,0x6e,0x70,0x70,0x80,0x89,
	0x96,0xb0,0xbf,0xbb,0xa5,0x8a,0x6f,0x5b,0x56,0x57,0x5f,0x68,0x71,0x69,0x58,0x56,
	0x5b,0x6b,0x7d,0x93,0x9f,0xa2,0x9c,0x8d,0x7c,0x75,0x7a,0x80,0x84,0x85,0x82,0x77,
	0x6c,0x65,0x67,0x72,0x87,0x99,0xa6,0xaf,0xb5,0xb7,0xbd,0xc6,0xd1,0xde,0xb9,0x84,
	0x5c,0x35,0x18,0x17,0x2a,0x45,0x6c,0x76,0x74,0x6e,0x7b,0x8f,0x97,0xab,0xbc,0xc5,
	0xb9,0x9b,0x76,0x5b,0x53,0x53,0x55,0x58,0x63,0x69,0x63,0x54,0x56,0x67,0x7e,0x93,
	0x9f,0xa3,0xa0,0x9b,0x88,0x77,0x74,0x7d,0x7f,0x7e,0x7a,0x74,0x70,0x6e,0x6f,0x78,
	0x88,0x9d,0xac,0xb2,0xb9,0xbc,0xc4,0xcf,0xe5,0xb4,0x7f,0x77,0x3b,0x19,0x27,0x37,
	0x4c,0x61,0x78,0x63,0x62,0x7b,0x7a,0x85,0xad,0xc8,0xb7,0xb4,0xa5,0x89,0x6d,0x57,
	0x54,0x57,0x69,0x65,0x59,0x4f,0x4d,0x5f,0x68,0x75,0x8e,0xa8,0xa8,0x9a,0x8d,0x7d,
	0x7d,0x81,0x80,0x7c,0x85,0x88,0x7d,0x6a,0x6b,0x72,0x7b,0x89,0x9b,0xab,0xb1,0xb0,
	0xa5,0xb1,0xb4,0xc8,0xc6,0xb2,0x83,0x4e,0x35,0x1b,0x31,0x4f,0x63,0x68,0x6f,0x69,
	0x5d,0x71,0x85,0x96,0xb0,0xbe,0xb9,0xa6,0x97,0x7f,0x6a,0x5b,0x53,0x54,0x5f,0x67,
	0x5e,0x5a,0x55,0x5a,0x6b,0x7f,0x92,0xa3,0xab,0x9e,0x8e,0x82,0x7b,0x7b,0x7f,0x84,
	0x80,0x81,0x7b,0x72,0x6f,0x78,0x85,0x94,0xa3,0xad,0xb4,0xbc,0xc2,0xc6,0xd0,0xae,
	0x96,0x74,0x49,0x3b,0x38,0x3d,0x44,0x56,0x4e,0x4a,0x52,0x60,0x77,0x92,0xaf,0xb6,
	0xba,0xb2,0xa0,0x90,0x85,0x7f,0x76,0x6f,0x62,0x58,0x4d,0x48,0x49,0x53,0x65,0x78,
	0x88,0x91,0x95,0x95,0x94,0x8f,0x90,0x90,0x8f,0x8a,0x83,0x78,0x70,0x6c,0x6c,0x70,
	0x7b,0x87,0x91,0x9b,0xa1,0xa8,0xaf,0xbd,0xc7,0xda,0xc4,0xa9,0x8d,0x5d,0x4c,0x42,
	0x43,0x49,0x57,0x58,0x4c,0x4f,0x54,0x64,0x7c,0x96,0xa7,0xaf,0xb2,0xa4,0x97,0x8b,
	0x85,0x7f,0x7a,0x70,0x63,0x58,0x4d,0x4a,0x4e,0x5b,0x6b,0x79,0x82,0x87,0x8b,0x8e,
	0x8f,0x91,0x93,0x94,0x90,0x8c,0x85,0x7f,0x7f,0x7e,0x80,0x84,0x8a,0x8f,0x97,0x9f,
	0xaa,0xb4,0xc5,0xc7,0xac,0x9a,0x79,0x60,0x58,0x55,0x57,0x5c,0x61,0x54,0x4b,0x4e,
	0x57,0x6b,0x83,0x95,0x9e,0xa2,0x9e,0x94,0x8c,0x8a,0x8b,0x8b,0x83,0x77,0x68,0x5a,
	0x51,0x51,0x59,0x65,0x74,0x7a,0x79,0x79,0x7c,0x80,0x88,0x92,0x97,0x96,0x92,0x88,
	0x7f,0x7d,0x80,0x84,0x89,0x8d,0x8e,0x8e,0x91,0x95,0xa3,0xb2,0xc3,0xca,0xb0,0x9d,
	0x7e,0x63,0x5c,0x5b,0x60,0x62,0x67,0x55,0x47,0x47,0x4d,0x62,0x7c,0x91,0x99,0x9e,
	0x98,0x8d,0x8a,0x8c,0x90,0x92,0x8e,0x7e,0x6f,0x60,0x56,0x54,0x5c,0x68,0x71,0x77,
	0x73,0x72,0x73,0x78,0x80,0x8b,0x93,0x96,0x94,0x8d,0x86,0x85,0x87,0x8a,0x8e,0x90,
	0x90,0x91,0x93,0x95,0xa2,0xa9,0xb9,0xb9,0xa1,0x95,0x78,0x68,0x65,0x66,0x67,0x6a,
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	0x7f,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x80,
	0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x80,
	0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,
	0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x80,0x80,
	0x80,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80
	};
	const byte soundWow[] ={
	0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x80,
	0x80,0x80,0x80,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x81,0x81,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x81,0x80,0x81,0x80,0x80,0x80,0x7f,
	0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,0x7f,0x80,0x80,
	0x80,0x7e,0x80,0x7e,0x81,0x78,0x79,0x82,0x7b,0x83,0x82,0x84,0x80,0x82,0x7f,0x80,
	0x7e,0x80,0x7e,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x7e,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x7f,0x7a,0x76,0x7e,0x7a,0x80,0x81,0x86,0x83,0x84,0x81,0x80,
	0x7d,0x7f,0x7f,0x80,0x7e,0x7d,0x80,0x80,0x83,0x83,0x85,0x83,0x82,0x81,0x75,0x7e,
	0x79,0x7d,0x7f,0x83,0x82,0x84,0x82,0x80,0x80,0x7d,0x80,0x7c,0x80,0x7f,0x80,0x80,
	0x81,0x7f,0x7f,0x7e,0x7e,0x80,0x7f,0x81,0x7f,0x81,0x7f,0x80,0x7f,0x81,0x7f,0x81,
	0x80,0x81,0x80,0x81,0x80,0x81,0x81,0x80,0x7e,0x7f,0x7e,0x7f,0x81,0x80,0x81,0x7f,
	0x80,0x7e,0x7f,0x7e,0x80,0x7e,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,
	0x7f,0x81,0x7f,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x81,
	0x7f,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x81,0x80,
	0x80,0x7f,0x7f,0x80,0x80,0x7f,0x82,0x7f,0x81,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,
	0x7f,0x80,0x7e,0x80,0x7e,0x81,0x7f,0x81,0x7f,0x81,0x80,0x7f,0x80,0x7e,0x7f,0x7f,
	0x7f,0x7e,0x7e,0x7f,0x7f,0x80,0x7e,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x81,0x80,0x81,
	0x7f,0x80,0x7f,0x7e,0x7f,0x81,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,
	0x7f,0x7f,0x7f,0x7e,0x80,0x7f,0x80,0x80,0x7e,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,0x80,
	0x80,0x81,0x80,0x81,0x80,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x7e,0x80,0x7e,0x80,0x80,
	0x7f,0x81,0x80,0x81,0x81,0x81,0x80,0x81,0x7e,0x80,0x7f,0x7d,0x7f,0x7d,0x7e,0x7e,
	0x7e,0x7f,0x7e,0x7f,0x80,0x81,0x81,0x82,0x83,0x81,0x81,0x81,0x7e,0x7f,0x7e,0x7d,
	0x7d,0x7d,0x7b,0x7d,0x7b,0x7e,0x7e,0x81,0x82,0x84,0x88,0x89,0x8a,0x88,0x86,0x81,
	0x7c,0x7a,0x75,0x75,0x75,0x74,0x76,0x77,0x78,0x7a,0x7c,0x82,0x88,0x8f,0x97,0x9b,
	0x9d,0x98,0x8d,0x83,0x77,0x6e,0x63,0x60,0x61,0x5e,0x68,0x6f,0x79,0x85,0x8e,0x96,
	0x9d,0xa2,0xa5,0xa8,0x9c,0x8f,0x7f,0x6a,0x4e,0x4e,0x46,0x4e,0x68,0x77,0x8c,0x99,
	0x99,0x97,0x90,0x8f,0x91,0x99,0x9c,0x97,0x8c,0x7e,0x71,0x59,0x58,0x58,0x5b,0x6f,
	0x7c,0x87,0x8f,0x8e,0x8c,0x8d,0x8f,0x96,0xa0,0xa5,0x98,0x8a,0x76,0x64,0x55,0x52,
	0x5b,0x65,0x74,0x84,0x8c,0x8e,0x8c,0x8a,0x8a,0x8f,0x99,0xa4,0xa5,0x98,0x82,0x71,
	0x5a,0x4c,0x52,0x5c,0x6c,0x7f,0x8c,0x90,0x8d,0x88,0x85,0x8a,0x94,0xa2,0xaa,0xa4,
	0x8d,0x75,0x60,0x46,0x49,0x53,0x63,0x7e,0x8e,0x95,0x95,0x8a,0x83,0x84,0x8d,0x9b,
	0xad,0xa9,0x95,0x7e,0x61,0x4b,0x44,0x4d,0x64,0x7a,0x8f,0x98,0x92,0x89,0x83,0x82,
	0x8c,0x9f,0xad,0xaa,0x95,0x7a,0x5e,0x46,0x43,0x55,0x68,0x82,0x95,0x96,0x8f,0x84,
	0x7d,0x83,0x91,0xa2,0xb0,0xa5,0x90,0x70,0x59,0x43,0x4a,0x5e,0x74,0x8c,0x96,0x95,
	0x87,0x7e,0x7d,0x86,0x9a,0xad,0xaa,0x98,0x7c,0x5b,0x4c,0x44,0x5a,0x75,0x8b,0x9a,
	0x99,0x89,0x79,0x78,0x7e,0x91,0xaa,0xad,0x9c,0x80,0x5f,0x47,0x41,0x56,0x74,0x90,
	0xa2,0xa1,0x8f,0x7b,0x74,0x7c,0x8e,0xaa,0xaa,0x99,0x7f,0x56,0x43,0x3f,0x58,0x79,
	0x97,0xa7,0xa2,0x8f,0x76,0x74,0x7d,0x95,0xaf,0xa6,0x95,0x71,0x47,0x3b,0x40,0x5f,
	0x86,0xa3,0xa9,0x9f,0x89,0x76,0x7b,0x8c,0xa3,0xb1,0x9e,0x80,0x59,0x35,0x38,0x4e,
	0x73,0x99,0xab,0xa2,0x8f,0x7b,0x76,0x89,0xa5,0xbb,0xb2,0x90,0x67,0x37,0x23,0x3a,
	0x60,0x8d,0xad,0xaf,0x96,0x7c,0x6f,0x7a,0x9a,0xbc,0xc5,0xa1,0x7f,0x4d,0x1f,0x30,
	0x58,0x7c,0xa2,0xb3,0x94,0x78,0x6c,0x73,0x91,0xb7,0xcd,0xad,0x87,0x5a,0x29,0x2a,
	0x54,0x7c,0x9d,0xb0,0x9a,0x75,0x66,0x6f,0x8b,0xb1,0xcb,0xb1,0x84,0x5d,0x2e,0x31,
	0x57,0x87,0xa2,0xad,0x98,0x75,0x61,0x6e,0x8c,0xac,0xc3,0xb1,0x7d,0x55,0x35,0x31,
	0x57,0x8e,0xa9,0xaa,0x9f,0x7b,0x63,0x71,0x90,0xa5,0xbd,0xaa,0x73,0x50,0x36,0x35,
	0x5a,0x94,0xa9,0xa7,0x9c,0x7b,0x67,0x76,0x99,0xad,0xb9,0xa1,0x6b,0x48,0x2f,0x3a,
	0x65,0x96,0xa9,0xa2,0x93,0x79,0x6d,0x82,0xa3,0xb2,0xba,0x8e,0x5e,0x3e,0x2d,0x44,
	0x74,0x9e,0xa5,0x9c,0x89,0x76,0x73,0x8e,0xae,0xb6,0xae,0x7b,0x53,0x39,0x36,0x56,
	0x82,0x9d,0x9c,0x90,0x80,0x79,0x81,0xa1,0xb2,0xb7,0x9f,0x66,0x45,0x37,0x47,0x67,
	0x8d,0x9c,0x90,0x7f,0x7c,0x80,0x8d,0xaa,0xb7,0xb1,0x8a,0x57,0x47,0x3d,0x51,0x73,
	0x95,0x96,0x84,0x7f,0x7e,0x80,0x95,0xb6,0xb7,0xae,0x79,0x50,0x3b,0x3e,0x60,0x80,
	0x9e,0x95,0x81,0x77,0x7d,0x83,0xa4,0xb8,0xb9,0xa4,0x64,0x47,0x39,0x46,0x6a,0x8b,
	0x9a,0x89,0x7a,0x7a,0x83,0x8c,0xac,0xb7,0xb9,0x97,0x57,0x4c,0x3c,0x48,0x72,0x91,
	0x90,0x82,0x7e,0x7e,0x82,0x95,0xb2,0xb3,0xb4,0x8d,0x57,0x45,0x41,0x51,0x70,0x8f,
	0x8e,0x7d,0x7d,0x89,0x87,0x97,0xb3,0xb7,0xaa,0x77,0x53,0x4b,0x45,0x5e,0x82,0x8f,
	0x7f,0x78,0x7e,0x83,0x8b,0xa7,0xb6,0xb5,0xa1,0x5f,0x4f,0x4c,0x4d,0x6d,0x8d,0x8e,
	0x73,0x73,0x7e,0x82,0x91,0xb4,0xb4,0xb3,0x90,0x55,0x4b,0x49,0x57,0x74,0x8f,0x88,
	0x74,0x7a,0x88,0x87,0x98,0xb5,0xb7,0xa8,0x72,0x53,0x4b,0x4b,0x67,0x85,0x91,0x7f,
	0x72,0x78,0x84,0x8b,0xa6,0xb6,0xba,0x97,0x5b,0x54,0x48,0x55,0x76,0x91,0x86,0x70,
	0x78,0x81,0x84,0x95,0xb2,0xad,0xad,0x7f,0x54,0x4c,0x53,0x64,0x7c,0x8e,0x83,0x75,
	0x7b,0x8e,0x8d,0x9d,0xac,0xb2,0x97,0x5d,0x50,0x52,0x5a,0x71,0x8d,0x8d,0x72,0x70,
	0x86,0x8c,0x91,0xae,0xb9,0xac,0x74,0x50,0x51,0x4a,0x63,0x83,0x95,0x7f,0x6e,0x7e,
	0x8c,0x88,0x9f,0xb6,0xb2,0x97,0x5b,0x51,0x4a,0x5a,0x74,0x8d,0x8a,0x74,0x72,0x88,
	0x8f,0x90,0xac,0xb5,0xac,0x70,0x50,0x57,0x4d,0x63,0x84,0x92,0x7a,0x6f,0x80,0x8d,
	0x88,0xa0,0xb8,0xae,0x92,0x65,0x56,0x4d,0x53,0x74,0x88,0x84,0x76,0x79,0x86,0x8c,
	0x90,0xab,0xb5,0xad,0x81,0x56,0x52,0x4f,0x5b,0x7a,0x8c,0x7d,0x74,0x84,0x90,0x8a,
	0x98,0xb3,0xb3,0x97,0x60,0x55,0x55,0x58,0x71,0x8c,0x85,0x6b,0x75,0x89,0x8e,0x8f,
	0xad,0xb3,0xa7,0x77,0x5a,0x57,0x50,0x65,0x7f,0x8b,0x7d,0x73,0x81,0x8d,0x86,0x99,
	0xb1,0xb5,0x8e,0x5d,0x59,0x54,0x58,0x74,0x8d,0x85,0x70,0x7b,0x91,0x8c,0x8f,0xa7,
	0xb0,0x9c,0x6c,0x56,0x5c,0x5e,0x6b,0x81,0x8a,0x73,0x6d,0x8b,0x96,0x8f,0x9e,0xaf,
	0xac,0x82,0x53,0x58,0x5a,0x5e,0x73,0x90,0x84,0x6d,0x7e,0x99,0x90,0x92,0xab,0xae,
	0x93,0x5e,0x58,0x5d,0x5a,0x6a,0x85,0x86,0x71,0x74,0x92,0x99,0x8d,0xa2,0xb1,0xa6,
	0x72,0x54,0x5c,0x5c,0x62,0x7b,0x88,0x77,0x6d,0x87,0x9d,0x94,0x9a,0xac,0xab,0x8a,
	0x5a,0x57,0x5d,0x5d,0x70,0x89,0x83,0x6e,0x75,0x95,0x98,0x94,0xa7,0xb1,0xa0,0x63,
	0x4f,0x60,0x60,0x65,0x7f,0x8a,0x73,0x68,0x8a,0xa1,0x94,0x9b,0xad,0xa9,0x78,0x55,
	0x60,0x63,0x5f,0x73,0x88,0x79,0x6a,0x7d,0x9e,0x98,0x98,0xa9,0xb1,0x91,0x5c,0x54,
	0x61,0x5f,0x69,0x85,0x87,0x6d,0x6d,0x90,0x9d,0x95,0xa3,0xaf,0xa2,0x6d,0x51,0x61,
	0x63,0x65,0x79,0x8a,0x77,0x66,0x7d,0x9e,0x99,0x9c,0xab,0xad,0x88,0x55,0x57,0x67,
	0x65,0x6b,0x85,0x83,0x69,0x6b,0x94,0x9f,0x94,0xa4,0xb2,0x9f,0x65,0x54,0x65,0x63,
	0x64,0x7e,0x89,0x74,0x64,0x81,0x9c,0x97,0x9e,0xaf,0xad,0x83,0x55,0x54,0x61,0x64,
	0x74,0x86,0x83,0x6b,0x73,0x94,0x9d,0x98,0xa6,0xad,0x99,0x64,0x51,0x60,0x64,0x69,
	0x7c,0x88,0x75,0x69,0x85,0x9d,0x97,0x9c,0xaf,0xab,0x79,0x4f,0x59,0x66,0x65,0x74,
	0x8b,0x7f,0x65,0x74,0x9a,0x9c,0x97,0xa9,0xaf,0x90,0x5f,0x54,0x63,0x66,0x6c,0x7f,
	0x84,0x70,0x6a,0x8a,0x9f,0x98,0x9e,0xaf,0xa5,0x75,0x50,0x5a,0x62,0x6a,0x7a,0x88,
	0x7a,0x68,0x78,0x99,0x9e,0x9d,0xa7,0xab,0x8f,0x5a,0x4f,0x62,0x68,0x6f,0x7f,0x85,
	0x70,0x6c,0x8c,0xa0,0x9c,0xa2,0xac,0xa0,0x6c,0x50,0x5c,0x66,0x6a,0x7a,0x85,0x77,
	0x67,0x7f,0x9c,0x9c,0x9d,0xad,0xae,0x85,0x56,0x55,0x60,0x62,0x70,0x84,0x83,0x6d,
	0x71,0x91,0x9d,0x97,0xa2,0xb2,0x9e,0x6a,0x50,0x5e,0x63,0x68,0x7a,0x88,0x76,0x67,
	0x7f,0x9e,0x9b,0x9c,0xaa,0xa9,0x83,0x55,0x58,0x69,0x6b,0x6f,0x80,0x80,0x6b,0x6f,
	0x92,0x9f,0x99,0xa3,0xae,0x9a,0x66,0x51,0x5f,0x6c,0x6f,0x7a,0x82,0x73,0x69,0x82,
	0x9c,0x9a,0x9c,0xab,0xa5,0x7e,0x59,0x57,0x66,0x6c,0x7a,0x82,0x7a,0x6b,0x74,0x91,
	0x9b,0x99,0xa3,0xaa,0x98,0x6b,0x54,0x60,0x69,0x6c,0x77,0x81,0x77,0x70,0x84,0x9a,
	0x98,0x99,0xa9,0xa6,0x83,0x5b,0x58,0x64,0x67,0x71,0x81,0x7f,0x6e,0x75,0x90,0x9b,
	0x97,0xa2,0xae,0x9c,0x6b,0x56,0x5e,0x66,0x69,0x79,0x83,0x76,0x6d,0x84,0x99,0x98,
	0x99,0xa8,0xaa,0x88,0x5f,0x58,0x65,0x63,0x6b,0x7c,0x82,0x72,0x76,0x8e,0x9b,0x94,
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	};
	void setup() {
	attachInterrupt(INTIR, irInt, CHANGE);
	analogWriteFrequency(16000);
	pinMode(LED1_M1F, OUTPUT);
	pinMode(LED2_M0F, OUTPUT);
	pinMode(LED3_M0B, OUTPUT);
	pinMode(LED4_M1B, OUTPUT);
	pinMode(LED5, OUTPUT);
	pinMode(LED6, OUTPUT);
	pinMode(LED_R, OUTPUT);
	pinMode(LED_G, OUTPUT);
	pinMode(LED_B, OUTPUT);
	pinMode(SERVO_PIN, OUTPUT);
	digitalWrite(LED5, LED_OFF);
	digitalWrite(LED6, LED_OFF);
	freeMotor();
	randomSeed((unsigned int)analogRead(BATT));
	Serial.begin(115200);
	Wire.begin();
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6B); // Power management register
	Wire.write(0); // wake up MPU-6050
	Wire.endTransmission();
	SD2.begin(27);
	checkVoltage();
	selectMode();
	delay(100);
	readEEPROMbal();
	readEEPROMadhoc();
	resetPara();
	resetVar();
	openFiles();
	digitalWrite(LED6, LED_ON);
	calibGyro();
	digitalWrite(LED6, LED_OFF);
	pinMode(TONE_PIN, OUTPUT);
	analogWrite(TONE_PIN, 0);
	delay(10);
	if (fGreet) soundStartSD(fGreet, fsizeGreet, vGreet);
	else soundStart(soundGreet, sizeof(soundGreet), 70);
	while (soundBusy);
	if (demoMode==2) soundStartSD(fDemo, fsizeDemo, vDemo);
	if (debug) soundStartSD(fDebug, fsizeDebug, vDebug);
	}
	void loop(){
	time0=micros();
	getIR();
	getGyro();
	pendulum();
	servoHead();
	randomPlay();
	if (pendPhase!=-1) monitorVoltage();
	counter += 1;
	if (counter >= 100) {
	counter = 0;
	counterSec++;
	if (debug) digitalWrite(LED6, LED_ON);
	if (serialMonitor) sendSerial();
	digitalWrite(LED6, LED_OFF);
	}
	while (micros() - time0 < pendInterval);
	}
	void pendulum() {
	switch (pendPhase) {
	case -1: //wait until upright
	calcTarget();
	if (upright()) {
	pendPhase =0;
	digitalWrite(LED5, LED_OFF);
	}
	break;
	case 0: //calib Acc
	resetVar();
	demoDelayCounter=0;
	demoPhase=0;
	delay(1300);
	if (!upright()) pendPhase=2;
	else {
	digitalWrite(LED6, LED_ON);
	calibAcc();
	digitalWrite(LED6, LED_OFF);
	if (upright()) pendPhase=1;
	else pendPhase=2;
	}
	break;
	case 1: //run
	if (!standing()) {
	if (musicPlaying) soundStop=true;
	soundStart(soundWow, sizeof(soundWow), 70);
	pendPhase=6;
	}
	// else if (bVolt<2.0) resetMotor();
	else {
	if (demoMode==2) demo8();
	calcTarget();
	boolean ok=pendDrive();
	if (!ok) {
	if (musicPlaying) soundStop=true;
	delay(1300);
	pendPhase=2;
	}
	}
	break;
	case 2: //wait until upright
	freeMotor();
	if (upright()) pendPhase=0;
	break;
	case 6: //fell
	if (laid() && !soundBusy) pendPhase=8;
	break;
	case 8:
	soundStartSD(fTipover, fsizeTipover, vTipover);
	pendPhase=2;
	break;
	}
	}
	void openFiles() {
	fGreet=SD2.open("kon168m.wav");
	fsizeGreet=fGreet.size();
	vGreet=getVolume(SD2.open("kon168m.ini"));
	fStop=SD2.open("tom168m.wav");
	fsizeStop=fStop.size();
	vStop=getVolume(SD2.open("tom168m.ini"));
	fRight=SD2.open("mig168m.wav");
	fsizeRight=fRight.size();
	vRight=getVolume(SD2.open("mig168m.ini"));
	fLeft=SD2.open("hid168m.wav");
	fsizeLeft=fLeft.size();
	vLeft=getVolume(SD2.open("hid168m.ini"));
	fForward=SD2.open("sus168m.wav");
	fsizeForward=fForward.size();
	vForward=getVolume(SD2.open("sus168m.ini"));
	fBack=SD2.open("bac168m.wav");
	fsizeBack=fBack.size();
	vBack=getVolume(SD2.open("bac168m.ini"));
	fSpin=SD2.open("maw168m.wav");
	fsizeSpin=fSpin.size();
	vSpin=getVolume(SD2.open("maw168m.ini"));
	fAccel=SD2.open("kaso168m.wav");
	fsizeAccel=fAccel.size();
	vAccel=getVolume(SD2.open("kaso168m.ini"));
	fTipover=SD2.open("koro168m.wav");
	fsizeTipover=fTipover.size();
	vTipover=getVolume(SD2.open("koro168m.ini"));
	fDemo=SD2.open("demo168m.wav");
	fsizeDemo=fDemo.size();
	vDemo=getVolume(SD2.open("demo168m.ini"));
	fDebug=SD2.open("debu168m.wav");
	fsizeDebug=fDebug.size();
	vDebug=getVolume(SD2.open("debu168m.ini"));
	fBattery=SD2.open("denc168m.wav");
	fsizeBattery=fBattery.size();
	vBattery=getVolume(SD2.open("denc168m.ini"));
	fReplace=SD2.open("kouk168m.wav");
	fsizeReplace=fReplace.size();
	vReplace=getVolume(SD2.open("kouk168m.ini"));
	voiceFile[0]=SD2.open(soundVoice[0]);
	if (voiceFile[0]) {
	fsizeVoice[0]=voiceFile[0].size();
	vVoice[0]=getVolume(SD2.open(soundVoiceIni[0]));
	if (serialMonitor) {Serial.print(soundVoice[0]);Serial.print(" size=");Serial.println(fsizeVoice[0]);}
	minVoiceFile=0;
	}
	for (int i=1; i<sizeof(soundVoice)/2; i++) {
	voiceFile[i]=SD2.open(soundVoice[i]);
	if (voiceFile[i]) {
	fsizeVoice[i]=voiceFile[i].size();
	vVoice[i]=getVolume(SD2.open(soundVoiceIni[i]));
	if (serialMonitor) {Serial.print(soundVoice[i]);Serial.print(" size=");Serial.println(fsizeVoice[i]);}
	maxVoiceFile=i;
	}
	}
	if (minVoiceFile==-1 && maxVoiceFile>=1) minVoiceFile=1;
	for (int i=0; i<sizeof(soundMusic)/2; i++) {
	musicFile[i]=SD2.open(soundMusic[i]);
	if (musicFile[i]) {
	fsizeMusic[i]=musicFile[i].size();
	vMusic[i]=getVolume(SD2.open(soundMusicIni[i]));
	if (serialMonitor) {Serial.print(soundMusic[i]);Serial.print(" size=");Serial.println(fsizeMusic[i]);}
	minMusicFile=0;
	maxMusicFile=i;
	}
	}
	}
	int getVolume(File f) {
	if (f) {
	int vol=0;
	while(f.available()) {
	char c=f.read();
	if (c>=0x30 && c<0x39) vol=vol*10+c-0x30;
	}
	f.close();
	if (vol>=0 && vol<=100) return vol;
	else return 10;
	}
	else return 10;
	}
	void randomPlay() {
	if (!randomSoundOn || minVoiceFile==-1) return;
	switch (soundPhase) {
	case 1:
	if (!soundBusy) {
	counterSec0=counterSec;
	soundInterval=(int)random(MINSINTERVAL, MAXSINTERVAL+1);
	soundPhase=2;
	}
	break;
	case 2:
	if (counterSec-counterSec0>soundInterval) {
	soundId=(int)random(minVoiceFile, maxVoiceFile+1);
	soundStartSD(voiceFile[soundId], fsizeVoice[soundId], vVoice[soundId]);
	if (soundId==0) {
	if (minMusicFile!=-1 && demoMode==0) soundPhase=3;
	else soundPhase=1;
	}
	else soundPhase=1;
	}
	break;
	case 3:
	if (!soundBusy) {
	musicPlaying=true;
	int id=(int)random(minMusicFile, maxMusicFile+1);
	soundStartSD(musicFile[id], fsizeMusic[id], vMusic[id]);
	soundPhase=1;
	}
	break;
	}
	}
	void servoHead() {
	switch(servoPhase) {
	case 1:
	servoDrive();
	if (servoComplete) {
	servoComplete=false;
	servoPhase=2;
	}
	break;
	case 2:
	servoContinue(90.0, 1.0);
	servoPhase=3;
	break;
	case 3:
	servoDrive();
	if (servoComplete) {
	servoComplete=false;
	servoPhase=4;
	}
	break;
	case 4:
	break;
	}
	}
	void servoStart(double ang, double stp) {
	servoPhase=1;
	servoContinue(ang, stp);
	}
	void servoContinue(double ang, double stp) {
	if (ang<servoAngTarget) stp=-stp;
	servoAngDestination=ang;
	servoAngStep=stp;
	}
	void servoDrive() {
	if (servoAngStep>=0) {
	if (servoAngDestination-servoAngStep>servoAngTarget) servoAngTarget+=servoAngStep;
	else {
	servoAngTarget=servoAngDestination;
	servoComplete=true;
	}
	}
	else {
	if (servoAngDestination-servoAngStep<servoAngTarget) servoAngTarget+=servoAngStep;
	else {
	servoAngTarget=servoAngDestination;
	servoComplete=true;
	}
	}
	servoPulseWidth=600+(int)(servoAngTarget*10.0);
	digitalWrite(SERVO_PIN, HIGH);
	delayMicroseconds(servoPulseWidth);
	digitalWrite(SERVO_PIN, LOW);
	}
	void calcTarget() {
	if (spinContinuous) spinTarget += spinStep;
	else {
	if (spinTarget < spinDestination) spinTarget += spinStep;
	if (spinTarget > spinDestination) spinTarget -= spinStep;
	}
	moveTarget -= moveStep * moveRate;
	}
	boolean pendDrive() {
	varSpd += power * pendClk;
	varDst += Kdst * (varSpd * pendClk - moveTarget);
	varIang += KIang * varAng * pendClk;
	varIdst += KIdst * varDst * pendClk;
	power = varIang + varIdst + varDst + (Kspd * varSpd) + (Kang * varAng) + (Komg * varOmg);
	if (abs(power) > 5000.0) counterOverSpd +=1;
	else counterOverSpd=0;
	if (counterOverSpd > maxOverSpd) {
	resetMotor();
	resetVar();
	return false;
	}
	spinPower = (spinAngle - spinTarget) * Kspin;
	powerL = power - spinPower;
	powerR = power + spinPower;
	motor();
	return true;
	}
	void motor() {
	ipowerL = (int) (constrain(powerL * mechFactorL * battFactor, -maxSpd, maxSpd));
	if (ipowerL > 0) {
	if (motorLdir == 1) drvMotorL(ipowerL);
	else drvMotorL(ipowerL + backlashSpd); //compensate backlash
	motorLdir = 1;
	}
	else if (ipowerL < 0) {
	if (motorLdir == -1) drvMotorL(ipowerL);
	else drvMotorL(ipowerL - backlashSpd);
	motorLdir = -1;
	}
	else {
	drvMotorL(0);
	motorLdir = 0;
	}
	ipowerR = (int) (constrain(powerR * mechFactorR * battFactor, -maxSpd, maxSpd));
	if (ipowerR > 0) {
	if (motorRdir == 1) drvMotorR(ipowerR);
	else drvMotorR(ipowerR + backlashSpd); //compensate backlash
	motorRdir = 1;
	}
	else if (ipowerR < 0) {
	if (motorRdir == -1) drvMotorR(ipowerR);
	else drvMotorR(ipowerR - backlashSpd);
	motorRdir = -1;
	}
	else {
	drvMotorR(0);
	motorRdir = 0;
	}
	}
	void drvMotorL(int pwm) {
	switch (MotorConfig) {
	case 0: drvMotor1(pwm);
	break;
	case 1: drvMotor1(-pwm);
	break;
	case 2: drvMotor1(pwm);
	break;
	case 3: drvMotor1(-pwm);
	break;
	}
	}
	void drvMotorR(int pwm) {
	switch (MotorConfig) {
	case 0: drvMotor0(pwm);
	break;
	case 1: drvMotor0(-pwm);
	break;
	case 2: drvMotor0(-pwm);
	break;
	case 3: drvMotor0(pwm);
	break;
	}
	}
	void drvMotor0(int pwm) {
	if (pwm >0) {
	digitalWrite(LED3_M0B,LOW);
	analogWrite(LED2_M0F,constrain(pwm+drvHLbalance, 0,PWMMAX));
	}
	else if (pwm < 0) {
	digitalWrite(LED3_M0B,HIGH);
	analogWrite(LED2_M0F,constrain(PWMMAX+pwm, 0,PWMMAX));
	}
	else {
	pinMode(LED2_M0F, OUTPUT);
	digitalWrite(LED2_M0F,HIGH);
	digitalWrite(LED3_M0B,HIGH);
	}
	}
	void drvMotor1(int pwm) {
	if (pwm >0) {
	digitalWrite(LED4_M1B,LOW);
	analogWrite(LED1_M1F,constrain(pwm+drvHLbalance, 0,PWMMAX));
	}
	else if (pwm < 0) {
	digitalWrite(LED4_M1B,HIGH);
	analogWrite(LED1_M1F,constrain(PWMMAX+pwm, 0,PWMMAX));
	}
	else {
	pinMode(LED1_M1F, OUTPUT);
	digitalWrite(LED1_M1F,HIGH);
	digitalWrite(LED4_M1B,HIGH);
	}
	}
	void getGyro() {
	readGyro();
	snsGyroY = (gyroDataY - gyroOffsetY) * gyroLSB;
	varOmg = (gyroDataZ - gyroOffsetZ) * gyroLSB; // unit:deg/sec
	snsAccX = (accDataX - accOffsetX) * accLSB; //unit:g
	spinAngle += snsGyroY * pendClk;
	varAng += (varOmg + (snsAccX * 57.3 - varAng) * cutoff ) * pendClk;
	//angle filter accX=g*sin(ang) -> accX/g=sin(ang)=ang [rad] (if ang is small) -> ang=accX*57.3[deg]
	// varAng += varOmg * pendClk;
	}
	void readGyro() {
	Wire.beginTransmission(0x68);
	Wire.write(0x3B);
	Wire.endTransmission();
	Wire.requestFrom(0x68, 14);
	accX=Wire.read()<<8|Wire.read(); //0x3B
	accY=Wire.read()<<8|Wire.read(); //0x3D
	accZ=Wire.read()<<8|Wire.read(); //0x3F
	temp=Wire.read()<<8|Wire.read(); //0x41
	gyroX=Wire.read()<<8|Wire.read(); //0x43
	gyroY=Wire.read()<<8|Wire.read(); //0x45
	gyroZ=Wire.read()<<8|Wire.read(); //0x47
	gyroDataY = (double) gyroY;
	gyroDataZ = -(double) gyroX;
	accDataX = -(double) accZ;
	aveAccX = aveAccX * 0.9 + accDataX * 0.1;
	accDataY = -(double) accY;
	aveAccY = aveAccY * 0.9 + accDataY * 0.1;
	}
	boolean laid() {
	if (abs(aveAccX) >13000.0) return true;
	else return false;
	}
	boolean upright() {
	if (abs(aveAccY) >13000.0) return true;
	else return false;
	}
	boolean standing() {
	if (abs(aveAccY) >8000.0 && abs(varAng) < 40.0) return true;
	else {
	resetMotor();
	resetVar();
	return false;
	}
	}
	void calibAcc() {
	accOffsetX=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	accOffsetX += accDataX;
	delay(20);
	}
	accOffsetX /= 30.0;
	}
	void calibGyro() {
	gyroOffsetZ=gyroOffsetY=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	gyroOffsetZ += gyroDataZ;
	gyroOffsetY += gyroDataY;
	delay(20);
	}
	gyroOffsetY /= 30.0;
	gyroOffsetZ /= 30.0;
	}
	void resetPara() {
	Kang=150.0;
	Komg=3.0;
	KIang=1300.0;
	Kspin=15.0;
	Kdst=80.0;
	Kspd=3.5;
	KIdst=0.0;
	mechFactorR=0.38;
	mechFactorL=0.38;
	backlashSpd=30;
	}
	void resetVar() {
	power=0.0;
	moveTarget=0.0;
	spinDestination=0.0;
	spinTarget=0.0;
	spinAngle=0.0;
	varAng=0.0;
	varOmg=0.0;
	varDst=0.0;
	varSpd=0.0;
	varIang=0.0;
	varIdst=0.0;
	counterOverSpd=0;
	spinContinuous=false;
	moveRate=0.0;
	}
	void resetMotor() {
	drvMotorL(0);
	drvMotorR(0);
	}
	void freeMotor() {
	pinMode(LED2_M0F, OUTPUT);
	pinMode(LED1_M1F, OUTPUT);
	digitalWrite(LED2_M0F, LOW);
	digitalWrite(LED3_M0B, LOW);
	digitalWrite(LED1_M1F, LOW);
	digitalWrite(LED4_M1B, LOW);
	}
	void checkVoltage() {
	monitorVoltage();
	if (serialMonitor) {Serial.print("Batt=");Serial.println(bVolt);}
	if (!usbPower && bVolt<3.8) {
	soundStartSD(fBattery, fsizeBattery, vBattery);
	blinkLED(5); //Batt Low
	soundStartSD(fReplace, fsizeReplace, vReplace);
	blinkLED(45);
	}
	}
	void blinkLED(int n) {
	for (int i=0; i<n; i++) {
	digitalWrite(LED6, LED_ON);
	delay(10);
	digitalWrite(LED6, LED_OFF);
	delay(200);
	}
	}
	void monitorVoltage() {
	bVolt=getBattVolt();
	aveVolt = aveVolt * 0.98 + bVolt * 0.02;
	if (bVolt<minVolt) minVolt=bVolt;
	if (bVolt<0.5) { //USB POWER
	usbPower=true;
	battFactor=1.3;
	setColor(0,0,1);
	}
	else {
	battFactor = 18.0 / aveVolt / aveVolt;
	// battFactor = 4.5 / aveVolt;
	// battFactor = 4.5 / bVolt;
	if (bVolt<3.6) setColor(1,0,1);
	else if (bVolt<4.0) setColor(1,0,0);
	else if (bVolt<4.4) setColor(1,1,0);
	else setColor(0,1,0);
	}
	}
	double getBattVolt() {
	return ((double) analogRead(BATT)) * 0.0064516; // analogRead / 1023.0 * 6.6;
	}
	void selectMode() {
	pinMode(SW1_SINT_PIN, INPUT_PULLUP);
	pinMode(SW2_IRINT_PIN, INPUT_PULLUP);
	delay(10);
	if (digitalRead(SW1_SINT_PIN) == LOW) { //debug
	debug=true;
	serialMonitor=true;
	spinStep=0.0;
	blinkLED(1);
	while(digitalRead(SW1_SINT_PIN)==LOW);
	}
	else if (digitalRead(SW2_IRINT_PIN) == LOW) { //demo
	demoMode=2;
	blinkLED(2);
	while(digitalRead(SW2_IRINT_PIN) == LOW);
	}
	else spinStep=0.0;
	pinMode(SW1_SINT_PIN, INPUT);
	pinMode(SW2_IRINT_PIN, INPUT);
	}
	void demo8() {
	switch (demoPhase) {
	case 0:
	demoDelayCounter=200;
	demoPhase=1;
	break;
	case 1:
	if (demoDelayCounter>1) demoDelayCounter--;
	else {
	moveRate=3.0;
	spinStep=0.5;
	spinDestination += 270.0;
	demoPhase=2;
	}
	break;
	case 2:
	if (abs(spinTarget-spinDestination)<5.0) {
	demoDelayCounter=100;
	moveRate=5.0;
	demoPhase=3;
	}
	break;
	case 3:
	if (demoDelayCounter>1) demoDelayCounter--;
	else {
	moveRate=3.0;
	spinDestination -= 270.0;
	demoPhase=4;
	}
	break;
	case 4:
	if (abs(spinTarget-spinDestination)<5.0) {
	demoDelayCounter=100;
	moveRate=5.0;
	demoPhase=1;
	}
	break;
	}
	}
	void setColor(int r, int g, int b) {
	digitalWrite(LED_R, r);
	digitalWrite(LED_G, g);
	digitalWrite(LED_B, b);
	}
	void readEEPROMbal() {
	if (EEPROM.read(0)==HCODE) {
	drvHLbalance=EEPROM.read(1);
	if (serialMonitor) {Serial.print("drvHLbal=");Serial.println(drvHLbalance);}
	}
	else {
	drvHLbalance=30;
	noInterrupts();
	EEPROM.write(0, HCODE);
	EEPROM.write(1, drvHLbalance);
	interrupts();
	}
	}
	void writeEEPROMbal() {
	noInterrupts();
	EEPROM.write(1, drvHLbalance);
	interrupts();
	}
	void readEEPROMadhoc() {
	if (EEPROM.read(2)==HCODE) {
	for (int i=0; i<ADHOC_IR_MAX; i++) {
	ADHOC_CUSTOMER[i]=EEPROM.read(3+i*4)<<8|EEPROM.read(4+i*4);
	ADHOC_IR[i]=EEPROM.read(5+i*4)<<8|EEPROM.read(6+i*4);
	if (serialMonitor) {
	Serial.print("CUST=");Serial.print(ADHOC_CUSTOMER[i],HEX);Serial.print(" CODE=");Serial.println(ADHOC_IR[i],HEX);
	}
	}
	}
	}
	void writeEEPROMadhoc() {
	noInterrupts();
	EEPROM.write(2, HCODE);
	for (int i=0; i<ADHOC_IR_MAX; i++) {
	EEPROM.write(3+i*4, (byte)((ADHOC_CUSTOMER[i]>>8)&0xFF));
	EEPROM.write(4+i*4, (byte)(ADHOC_CUSTOMER[i]&0xFF));
	EEPROM.write(5+i*4, (byte)((ADHOC_IR[i]>>8)&0xFF));
	EEPROM.write(6+i*4, (byte)(ADHOC_IR[i]&0xFF));
	}
	interrupts();
	}
	void sendSerial () {
	Serial.print(micros()-time0);
	Serial.print(" phase=");Serial.print(pendPhase);
	Serial.print(" accX="); Serial.print(aveAccX);
	Serial.print(" accY="); Serial.print(aveAccY);
	Serial.print(" ang=");Serial.print(varAng);
	// Serial.print(" temp = "); Serial.print(temp/340.0+36.53);
	Serial.print(" drvBal="); Serial.print(drvHLbalance);
	Serial.print(" mVolt="); Serial.print(minVolt);
	Serial.print(", ");
	Serial.print(micros()-time0);
	Serial.println();
	}
	void getIR() {
	if (!(irStarted && (micros()-irMicroOff>10000))) return;
	if ((irDataOn[0]>1800) && musicPlaying) soundStop=true;
	irStarted=false;
	irDecoding=true;
	if (irDataOn[0]>7000) { //NEC
	if (irOffIndex >=33) {
	decodeNECAEHA();
	printIrData("NEC");
	}
	}
	else if (irDataOn[0]>2600) { //AEHA
	if (irOffIndex >=41) {
	decodeNECAEHA();
	printIrData("AEHA");
	}
	}
	else if (irDataOn[0]>1800) { //SONY
	if (irOnIndex >=12) {
	decodeSONY();
	printIrData("SONY");
	}
	}
	if (irReady) {
	irReady=false;
	lastIrTime=millis();
	if (adhoc_ir_num>=0 && adhoc_ir_num<ADHOC_IR_MAX && pendPhase==-1) regIR();
	else irCommand();
	}
	irDecoding=false;
	}
	void irCommand() {
	if (
	((ircode==AKI_REMO_CENTER)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CENTER])&&(customer_code==ADHOC_CUSTOMER[IR_CENTER])) ) {
	if (pendPhase!=-1) {
	if (abs(moveRate)>1.0 || abs(spinStep)>0.1) {
	if (fStop) soundStartSD(fStop, fsizeStop, vStop);
	else tone(TONE_PIN, 500, 100);
	}
	button=IR_CENTER;
	demoMode=0;
	spinContinuous=false;
	spinStep=0.0;
	moveRate=0.0;
	spinDestination = spinTarget;
	}
	}
	else if (
	((ircode==AKI_REMO_RIGHT)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_RIGHT])&&(customer_code==ADHOC_CUSTOMER[IR_RIGHT])) ) {
	if (pendPhase==-1) {
	servoStart(60.0, 0.5);
	drvMotorR(-80);
	delay(1000);
	drvMotorR(0);
	}
	else if (demoMode==0) {
	servoStart(headRight, 3.0);
	if (button!=IR_RIGHT && fRight) soundStartSD(fRight, fsizeRight, vRight);
	else tone(TONE_PIN, 2000, 100);
	button=IR_RIGHT;
	if (spinContinuous) spinDestination=spinTarget;
	spinContinuous=false;
	spinStep=0.6;
	spinDestination -= 30.0;
	}
	}
	else if (
	((ircode==AKI_REMO_LEFT)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_LEFT])&&(customer_code==ADHOC_CUSTOMER[IR_LEFT])) ) {
	if (pendPhase==-1) {
	servoStart(120.0, 0.5);
	drvMotorL(-80);
	delay(1000);
	drvMotorL(0);
	}
	else if (demoMode==0) {
	servoStart(headLeft, 3.0);
	if (button!=IR_LEFT && fLeft) soundStartSD(fLeft, fsizeLeft, vLeft);
	else tone(TONE_PIN, 2000, 100);
	button=IR_LEFT;
	if (spinContinuous) spinDestination=spinTarget;
	spinContinuous=false;
	spinStep=0.6;
	spinDestination += 30.0;
	}
	}
	else if (
	((ircode==AKI_REMO_UP)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_UP])&&(customer_code==ADHOC_CUSTOMER[IR_UP])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=IR_UP;
	if (abs(moveRate)<1.0 && fForward) soundStartSD(fForward, fsizeForward, vForward);
	else if (abs(moveRate)>10.0 && fAccel) soundStartSD(fAccel, fsizeAccel, vAccel);
	else tone(TONE_PIN, 1000, 100);
	moveRate+=4.0;
	}
	}
	else if (
	((ircode==AKI_REMO_DOWN)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_DOWN])&&(customer_code==ADHOC_CUSTOMER[IR_DOWN])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=IR_DOWN;
	if (abs(moveRate)<1.0 && fBack) soundStartSD(fBack, fsizeBack, vBack);
	else tone(TONE_PIN, 1000, 100);
	moveRate-=4.0;
	}
	}
	else if (
	((ircode==AKI_REMO_UL)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CIRL])&&(customer_code==ADHOC_CUSTOMER[IR_CIRL])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=IR_CIRL;
	if (abs(spinStep)<0.1 && fSpin) soundStartSD(fSpin, fsizeSpin, vSpin);
	else tone(TONE_PIN, 2000, 20);
	if (!spinContinuous) spinStep=0.0;
	spinContinuous=true;
	spinStep+=0.3;
	}
	}
	else if (
	((ircode==AKI_REMO_UR)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CIRR])&&(customer_code==ADHOC_CUSTOMER[IR_CIRR])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=IR_CIRR;
	if (abs(spinStep)<0.1 && fSpin) soundStartSD(fSpin, fsizeSpin, vSpin);
	else tone(TONE_PIN, 2000, 20);
	if (!spinContinuous) spinStep=0.0;
	spinContinuous=true;
	spinStep-=0.3;
	}
	}
	else if (
	((ircode==AKI_REMO_DL)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_BALF])&&(customer_code==ADHOC_CUSTOMER[IR_BALF])) ) {
	if (demoMode==0) {
	if (moveRate==0.0 && spinTarget==spinDestination) {
	if (drvHLbalance>=-100) {
	tone(TONE_PIN, 4000, 10);
	drvHLbalance-=5;
	setColor(1,1,1);
	digitalWrite(LED5,LED_ON);
	writeEEPROMbal();
	digitalWrite(LED5,LED_OFF);
	}
	else tone(TONE_PIN, 4000, 40);
	}
	}
	}
	else if (
	((ircode==AKI_REMO_DR)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_BALB])&&(customer_code==ADHOC_CUSTOMER[IR_BALB])) ) {
	if (demoMode==0) {
	if (moveRate==0.0 && spinTarget==spinDestination) {
	if (drvHLbalance<=100) {
	tone(TONE_PIN, 4000, 10);
	drvHLbalance+=5;
	setColor(1,1,1);
	digitalWrite(LED5,LED_ON);
	writeEEPROMbal();
	digitalWrite(LED5,LED_OFF);
	}
	else tone(TONE_PIN, 4000, 40);
	}
	}
	}
	else {
	if (pendPhase == -1 && debug && adhoc_ir_num==-1) {
	setColor(1,1,1);
	digitalWrite(LED5, LED_ON);
	randomSoundOn=false;
	adhoc_ir_num=0;
	}
	}
	}
	void regIR() {
	// Ad hoc IR code registration
	if (adhoc_ir_num<ADHOC_IR_MAX) {
	ADHOC_IR[adhoc_ir_num]=ircode;
	ADHOC_CUSTOMER[adhoc_ir_num]=customer_code;
	if (serialMonitor) {
	Serial.print("set ADHOC_IR[");
	Serial.print(adhoc_ir_num);
	Serial.print("] = ");
	Serial.println(ircode, HEX);
	Serial.print("set ADHOC_CUSTOMER[");
	Serial.print(adhoc_ir_num);
	Serial.print("] = ");
	Serial.println(customer_code, HEX);
	}
	if (adhoc_ir_num==0) adhoc_ir_num++;
	else if (ADHOC_IR[adhoc_ir_num-1]!=ircode) adhoc_ir_num++;
	for (int i=1; i<=adhoc_ir_num; i++) {
	digitalWrite(LED5, LED_OFF);
	delay(200);
	digitalWrite(LED5, LED_ON);
	delay(100);
	}
	if (adhoc_ir_num==ADHOC_IR_MAX) {
	writeEEPROMadhoc();
	digitalWrite(LED5, LED_OFF);
	randomSoundOn=true;
	}
	}
	}
	void irInt() {
	if (millis()-lastIrTime<MINIRINTERVAL) return;
	if (irDecoding) return;
	if (pendPhase!=-1) digitalWrite(LED5, LED_ON);
	if (digitalRead(SW2_IRINT_PIN) == IRON) {
	irMicroOn=micros();
	if (irStarted) {
	irDataOff[irOffIndex]=irMicroOn-irMicroOff;
	irOffIndex++;
	if (irOffIndex>=IRBUFFLEN) irStarted=false;
	}
	else {
	irStarted=true;
	irOnIndex=0;
	irOffIndex=0;
	irMicroOff=irMicroOn;
	}
	}
	else {
	irMicroOff=micros();
	irDataOn[irOnIndex]=irMicroOff-irMicroOn;
	irOnIndex++;
	if (irOnIndex>=IRBUFFLEN) irStarted=false;
	}
	digitalWrite(LED5, LED_OFF);
	}
	void decodeNECAEHA() {
	int len=irOffIndex/8;
	int idx=1;
	for (int i=0; i<len; i++) {
	irData[i]=0;
	for (int j=0; j<8; j++) {
	irData[i]>>=1;
	if (irDataOff[idx]>1000) irData[i]|=0x80;
	idx++;
	}
	}
	customer_code=irData[0]<<8|irData[1];
	ircode=irData[len-2]<<8|irData[len-1];
	irReady=true;
	}
	void decodeSONY() {
	byte data=0;
	for (int i=1; i<=7; i++) {
	if (irDataOn[i]>900) data|=0x80;
	data>>=1;
	}
	unsigned int addr=0;
	int idx=8;
	for (int i=0; i<16; i++) {
	addr>>=1;
	if (idx<irOnIndex && irDataOn[idx]<1800) {
	if (irDataOn[idx]>900) addr|=0x8000;
	idx++;
	}
	}
	customer_code=addr;
	ircode=(unsigned int)data;
	irReady=true;
	}
	void printIrData(String s) {
	if (!serialMonitor) return;
	/*
	for (int i=0; i<irOffIndex; i++) {
	Serial.print(irDataOn[i]);Serial.print(" ");Serial.println(irDataOff[i]);
	}
	Serial.println("");
	*/
	Serial.println(s);
	Serial.print("Customer=");Serial.println(customer_code, HEX);
	Serial.print("Code=");Serial.println(ircode, HEX);
	}
	void soundIntSD() {
	if (filePointer<fileSize && !soundStop) {
	byte d=sdfile.read();
	filePointer++;
	if (soundGain!=10) {
	int di=(int)d-128;
	di=(di*soundGain)/10;
	d=(byte)constrain((di+128), 10, 250);
	}
	else d=constrain(d, 10, 250);
	analogWrite(TONE_PIN, d);
	}
	else {
	detachInterrupt(INTSOUND);
	analogWrite(TONE_PIN, 0);
	musicPlaying=false;
	soundBusy=false;
	}
	}
	void soundStartSD(File s, unsigned long sz, int gain) {
	if (soundBusy || !s) return;
	sdfile=s;
	fileSize=sz;
	soundBusy=true;
	soundStop=false;
	if (sdfile.seek(44)) {
	soundGain=gain;
	filePointer=44;
	attachInterrupt(INTSOUND, soundIntSD, RISING);
	analogWrite(TONE_PIN, 128);
	}
	}
	void soundStart(const byte* ptr, unsigned long sz, int gain) {
	if (soundBusy) return;
	counterSec0=counterSec;
	soundBusy=true;
	soundIndex=0;
	soundPtr=ptr;
	soundSize=sz;
	soundGain=gain;
	attachInterrupt(INTSOUND, soundInt, RISING);
	analogWrite(TONE_PIN, 128);
	}
	void soundInt() {
	byte d=soundPtr[soundIndex];
	if (soundGain!=10) {
	int di=(int)d-128;
	di=(di*soundGain)/10;
	d=(byte)constrain((di+128), 10, 250);
	}
	else d=constrain(d, 10, 250);
	analogWrite(TONE_PIN, d);
	soundIndex++;
	if (soundIndex>=soundSize) {
	detachInterrupt(INTSOUND);
	analogWrite(TONE_PIN, 0);
	soundBusy=false;
	}
	}

view raw adzuki_ip_robo_v47.ino hosted with ❤ by GitHub

GR-ADZUKIで倒立振子ロボADZUMIN v41

	//ADZUMIN Inverted Pendulum Robot
	//Copyright MAENOH! & KIRAKULABO 2017
	//wheele dia ~= 58mm
	//Gear ratio ~= 114 (TAMIYA Double Gear Box)
	//Battery: Alkaline x 3
	//MPU/Driver: GR-ADZUKI
	//Gyro/Acc: MPU6050 (I2C)
	//Adhoc IR remote control registration during laying just after power up.
	//SW1: Stand still with debug and serialMonito on (1 blink)
	//SW2: demo (2 blinks)
	//Default: Stand still (no blink)
	#include "Arduino.h"
	#include <Wire.h>
	#include <EEPROM.h>
	#include <SD.h>
	#define LED_R 22
	#define LED_G 23
	#define LED_B 24
	#define HCODE 0x4D //M
	#define PWMMAX 255
	#define M1F 6
	#define M0F 9
	#define M0B 10
	#define M1B 11
	#define LED1_M1F 6
	#define LED2_M0F 9
	#define LED3_M0B 10
	#define LED4_M1B 11
	#define LED5 12
	#define LED6 13
	#define LED_ON 1
	#define LED_OFF 0
	#define SW1 3
	#define SW2 2
	#define GP2Y A0
	#define BATT A1
	#define TONE_PIN 5
	#define AKI_REMO_CUSTOMER (0x10EF)
	#define AKI_REMO_POWER (0xD827)
	#define AKI_REMO_A (0xF807)
	#define AKI_REMO_B (0x7887)
	#define AKI_REMO_C (0x58A7)
	#define AKI_REMO_UP (0xA05F)
	#define AKI_REMO_DOWN (0x00FF)
	#define AKI_REMO_RIGHT (0x807F)
	#define AKI_REMO_LEFT (0x10EF)
	#define AKI_REMO_CENTER (0x20DF)
	#define AKI_REMO_UR (0x21DE)
	#define AKI_REMO_UL (0xB14E)
	#define AKI_REMO_DR (0x817E)
	#define AKI_REMO_DL (0x11EE)
	#define SW_ON 0
	#define SW_OFF 1
	#define SOUTPIN 5
	#define SINTPIN 3
	#define INTSOUND 1
	#define IRIN 2 // IR RECEIVE PIN
	#define INTIR 0 // IR RECEIVE interrupt number
	#define IRON LOW
	#define IROFF HIGH
	#define IRBUFFLEN 200
	// Ad hoc IR code
	#define IR_UP 1
	#define IR_DOWN 7
	#define IR_RIGHT 5
	#define IR_LEFT 3
	#define IR_CENTER 4
	#define IR_CIRL 0
	#define IR_CIRR 2
	#define IR_BALF 6
	#define IR_BALB 8
	#define ADHOC_IR_MAX 9
	#define MAXSINTERVAL 15
	#define MINSINTERVAL 5
	unsigned int ADHOC_CUSTOMER[ADHOC_IR_MAX] = {0xFFFF,0xFFFF,0XFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF}; //1,2,3,4,5,6,7,8,9
	unsigned int ADHOC_IR[ADHOC_IR_MAX] = {0xFFFF,0xFFFF,0XFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF}; // 1,2,3,4,5,6,7,8,9
	int adhoc_ir_num=-1;
	void selectMode();
	void sendSerial();
	void resetPara();
	void resetVar();
	void getGyro();
	void readGyro();
	void calibGyro();
	void calibAcc();
	void calcTarget();
	void drive();
	void motor();
	void resetMotor();
	boolean laid();
	boolean upright();
	boolean standing();
	void drvMotorL(int pwm);
	void drvMotorR(int pwm);
	void checkVoltage();
	void monitorVoltage();
	double getBattVolt();
	void blinkLED(int n);
	void setColor(int r, int g, int b);
	void readEEPROMbal();
	void writeEEPROMbal();
	void readEEPROMadhoc();
	void writeEEPROMadhoc();
	void demo8();
	void getIR();
	void regIR();
	void printIrData();
	void decodeNECAEHA();
	void decodeSONY();
	void irInt();
	void irCommand();
	void printIrData(String s);
	void soundIntSD();
	void soundInt();
	void soundStartSD(File s, int gain);
	void soundStart(const byte* ptr, unsigned long sz, int gain);
	void servoStart(double ang, double stp);
	void servoContinue(double ang, double stp);
	void servoDrive();
	void pendulum();
	void servoHead();
	void randomPlay();
	void openFiles();
	int button=0;
	volatile unsigned long irMicroOn;
	volatile unsigned long irMicroOff;
	volatile unsigned int irDataOn[200];
	volatile unsigned int irDataOff[200];
	volatile int irOnIndex=0;
	volatile int irOffIndex=0;
	volatile boolean irStarted=false;
	volatile boolean irDecoding=false;
	volatile unsigned long lastIrTime=0;
	boolean irReady=false;
	byte irData[30];
	unsigned int ircode;
	unsigned int customer_code;
	int MotorConfig = 0; // 0 to 3
	int accX, accY, accZ, temp, gyroX, gyroY, gyroZ;
	int counter=0;
	volatile int counterSec=0;
	volatile int counterSec0=0;
	unsigned long time1=0;
	unsigned long time0=0;
	double power, powerR, powerL;
	double snsGyroY, snsAccX;
	double varAng, varOmg, varSpd, varDst, varIang, varIdst;
	double gyroOffsetY, gyroOffsetZ, accOffsetX;
	double gyroDataY, gyroDataZ, accDataX, accDataY;
	double gyroLSB=1.0/131.0; // deg/sec
	double accLSB=1.0/16384.0; // g
	double pendClk = 0.01; // in sec,
	unsigned long pendInterval = 10000; // in usec
	double cutoff = 0.1; // 2 * PI * f (f=Hz) //0.1
	double Kang, Komg, Kdst, Kspd, Kspin, KIang, KIdst;
	double spinPower;
	double moveTarget, moveRate=0.0; //moveRate 0:stop, +:forward, -:backward
	double moveStep = 0.0013;
	double spinDestination, spinTarget;
	double spinStep = 0.0;
	double spinAngle;
	boolean spinContinuous=false;
	int pendPhase=-1;
	int ipowerR = 0;
	int ipowerL = 0;
	int motorRdir=0; //stop 1:+ -1:-
	int motorLdir=0; //stop
	int backlashSpd;
	double mechFactorR, mechFactorL;
	double battFactor=1.3; // 2016.07.14
	double bVolt;
	double maxSpd=250.0;
	int counterOverSpd;
	int maxOverSpd=15;
	double aveAccX=0.0;
	double aveAccY=0.0;
	boolean debug=false;
	boolean serialMonitor=false;
	double aveVolt=4.5;
	boolean usbPower=false;
	int8_t drvHLbalance=0;
	int demoPhase=0;
	int demoDelayCounter=0;
	int demoMode=0;
	int servoPhase=1;
	boolean servoComplete=false;
	int servoPulseWidth=1500;
	double servoAngDestination=90.0;
	double servoAngTarget=90.0;
	double servoAngStep=1.0;
	int servoWidth=1500; //in usec
	File voiceFile[11];
	File musicFile[10];
	File sdfile;
	File fGreet, fStop, fRight, fLeft, fForward, fBack, fSpin, fAccel, fTipover, fDemo, fDebug, fBattery, fReplace;
	volatile boolean soundBusy=false;
	volatile unsigned long soundIndex=0;
	volatile const byte *soundPtr;
	volatile unsigned long soundSize;
	volatile int soundGain=10; //10=100%
	boolean soundSD;
	boolean soundFlg=false;
	int soundInterval=MAXSINTERVAL;
	volatile boolean soundStop=false;
	int soundId;
	boolean musicPlaying=false;
	boolean soundOn=true;
	boolean randomSoundOn=true;
	int soundPhase=1;
	int maxVoiceFile=0;
	int minVoiceFile=-1;
	int maxMusicFile=0;
	int minMusicFile=-1;
	const char *soundVoice[] = {"vmu_168m.wav", "v1_168m.wav", "v2_168m.wav", "v3_168m.wav", "v4_168m.wav", "v5_168m.wav", "v6_168m.wav", "v7_168m.wav", "v8_168m.wav", "v9_168m.wav", "v10_168m.wav"};
	const char *soundMusic[] = {"mu1_168m.wav", "mu2_168m.wav", "mu3_168m.wav", "mu4_168m.wav", "mu5_168m.wav", "mu6_168m.wav", "mu7_168m.wav", "mu8_168m.wav", "mu9_168m.wav", "mu10_168m.wav"};
	const double headLeft=150.0;
	const double headRight=30.0;
	const byte soundGreet[] = {
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x75,0x74,0x71,0x6e,
	0x6f,0x73,0x7b,0x81,0x8b,0x8e,0x8e,0x8c,0x8a,0x86,0x80,0x7e,0x80,0x7f,0x81,0x80,
	0x80,0x7f,0x7e,0x80,0x78,0x77,0x76,0x7c,0x7f,0x84,0x8d,0x8f,0x95,0x92,0x8e,0x86,
	0x80,0x7d,0x79,0x79,0x7c,0x7f,0x80,0x80,0x7d,0x79,0x7a,0x7a,0x7d,0x7f,0x84,0x87,
	0x88,0x88,0x87,0x85,0x85,0x81,0x72,0x67,0x60,0x61,0x68,0x76,0x85,0x90,0x98,0x96,
	0x8c,0x81,0x7d,0x7e,0x80,0x86,0x89,0x8b,0x8a,0x88,0x81,0x76,0x78,0x77,0x7c,0x82,
	0x8a,0x91,0x92,0x8d,0x80,0x73,0x6a,0x69,0x6a,0x71,0x7b,0x84,0x85,0x84,0x80,0x7a,
	0x75,0x73,0x74,0x73,0x77,0x7b,0x7f,0x81,0x87,0x8d,0x90,0x91,0x8f,0x8a,0x82,0x7c,
	0x77,0x71,0x70,0x74,0x79,0x81,0x8d,0x9a,0xa1,0xa2,0x9c,0x93,0x85,0x78,0x70,0x6a,
	0x69,0x6a,0x6d,0x6d,0x6f,0x72,0x72,0x71,0x75,0x7d,0x85,0x8e,0x96,0x97,0x93,0x8c,
	0x84,0x78,0x72,0x73,0x76,0x7b,0x7f,0x80,0x80,0x80,0x7f,0x7e,0x76,0x71,0x6d,0x70,
	0x78,0x81,0x8d,0x94,0x98,0x94,0x8e,0x84,0x7f,0x7e,0x7f,0x81,0x84,0x88,0x89,0x87,
	0x83,0x7b,0x72,0x6c,0x6a,0x6b,0x6e,0x78,0x7f,0x86,0x8b,0x8e,0x8f,0x8e,0x8b,0x87,
	0x83,0x7d,0x77,0x70,0x68,0x62,0x60,0x63,0x6a,0x78,0x89,0x96,0xa1,0xa3,0xa1,0x98,
	0x91,0x8a,0x86,0x82,0x86,0x7e,0x7d,0x76,0x57,0x52,0x50,0x60,0x78,0xa2,0xbe,0xc9,
	0xc8,0xac,0x83,0x60,0x57,0x57,0x66,0x7c,0x90,0x92,0x8b,0x7d,0x67,0x56,0x57,0x5f,
	0x6d,0x81,0x95,0x9b,0x94,0x89,0x7b,0x70,0x6f,0x78,0x80,0x88,0x88,0x82,0x72,0x68,
	0x64,0x69,0x73,0x83,0x90,0x95,0x98,0x91,0x8e,0x8b,0x93,0x9d,0x9f,0xa1,0x95,0x82,
	0x6a,0x5c,0x5c,0x67,0x87,0x92,0x97,0x94,0x7d,0x65,0x53,0x5e,0x75,0x9b,0xbc,0xbc,
	0xa9,0x92,0x75,0x5a,0x4d,0x50,0x5d,0x6d,0x7c,0x81,0x7d,0x7a,0x74,0x6b,0x66,0x6c,
	0x78,0x83,0x8a,0x8c,0x89,0x80,0x7b,0x76,0x76,0x7a,0x83,0x8a,0x8c,0x8d,0x8d,0x8c,
	0x88,0x8d,0x91,0x9a,0xa3,0xad,0xad,0xa6,0xa3,0xa2,0xa4,0xa4,0x8b,0x66,0x50,0x3c,
	0x33,0x33,0x3f,0x53,0x6d,0x8c,0x9a,0x9e,0xa4,0xa8,0x9f,0x91,0x87,0x7a,0x72,0x6d,
	0x64,0x58,0x52,0x54,0x58,0x5c,0x66,0x74,0x82,0x8a,0x90,0x90,0x8c,0x89,0x87,0x84,
	0x83,0x86,0x8a,0x88,0x87,0x89,0x8b,0x8b,0x8e,0x90,0x94,0x9b,0xa2,0xaa,0xa8,0xb0,
	0xa8,0xac,0x8f,0x66,0x57,0x3d,0x39,0x45,0x5b,0x69,0x84,0x94,0x8e,0x86,0x81,0x82,
	0x7d,0x84,0x8e,0x91,0x92,0x91,0x81,0x6b,0x5b,0x54,0x50,0x54,0x62,0x74,0x7d,0x83,
	0x81,0x7c,0x75,0x77,0x7a,0x7d,0x87,0x91,0x93,0x8b,0x84,0x7c,0x77,0x78,0x7c,0x86,
	0x8e,0x97,0x9b,0x96,0x99,0x97,0x9e,0xa3,0xb0,0xb6,0xb5,0xb0,0x7e,0x5f,0x55,0x40,
	0x38,0x4b,0x5d,0x6a,0x80,0x89,0x80,0x81,0x8c,0x8a,0x87,0x94,0x9f,0x96,0x8d,0x81,
	0x6a,0x5c,0x5b,0x5b,0x5d,0x67,0x73,0x75,0x72,0x73,0x77,0x7a,0x82,0x8a,0x8e,0x90,
	0x8f,0x87,0x7c,0x76,0x77,0x7a,0x7c,0x7e,0x80,0x7d,0x79,0x74,0x76,0x7c,0x8a,0x97,
	0xa2,0xab,0xb5,0xbb,0xbd,0xc1,0xc2,0xc1,0xa0,0x72,0x45,0x2d,0x26,0x2a,0x3d,0x50,
	0x70,0x88,0x8f,0x80,0x7f,0x8e,0x9a,0xa7,0xa9,0xa8,0xa2,0x97,0x7f,0x5b,0x46,0x45,
	0x4d,0x54,0x5f,0x6b,0x72,0x78,0x79,0x77,0x7b,0x89,0x95,0x97,0x96,0x90,0x88,0x7d,
	0x75,0x71,0x74,0x7b,0x82,0x83,0x82,0x80,0x83,0x85,0x8e,0x9b,0xab,0xbb,0xc6,0xd0,
	0xd0,0xcb,0x9c,0x78,0x5a,0x32,0x25,0x30,0x40,0x59,0x6c,0x6e,0x70,0x70,0x80,0x89,
	0x96,0xb0,0xbf,0xbb,0xa5,0x8a,0x6f,0x5b,0x56,0x57,0x5f,0x68,0x71,0x69,0x58,0x56,
	0x5b,0x6b,0x7d,0x93,0x9f,0xa2,0x9c,0x8d,0x7c,0x75,0x7a,0x80,0x84,0x85,0x82,0x77,
	0x6c,0x65,0x67,0x72,0x87,0x99,0xa6,0xaf,0xb5,0xb7,0xbd,0xc6,0xd1,0xde,0xb9,0x84,
	0x5c,0x35,0x18,0x17,0x2a,0x45,0x6c,0x76,0x74,0x6e,0x7b,0x8f,0x97,0xab,0xbc,0xc5,
	0xb9,0x9b,0x76,0x5b,0x53,0x53,0x55,0x58,0x63,0x69,0x63,0x54,0x56,0x67,0x7e,0x93,
	0x9f,0xa3,0xa0,0x9b,0x88,0x77,0x74,0x7d,0x7f,0x7e,0x7a,0x74,0x70,0x6e,0x6f,0x78,
	0x88,0x9d,0xac,0xb2,0xb9,0xbc,0xc4,0xcf,0xe5,0xb4,0x7f,0x77,0x3b,0x19,0x27,0x37,
	0x4c,0x61,0x78,0x63,0x62,0x7b,0x7a,0x85,0xad,0xc8,0xb7,0xb4,0xa5,0x89,0x6d,0x57,
	0x54,0x57,0x69,0x65,0x59,0x4f,0x4d,0x5f,0x68,0x75,0x8e,0xa8,0xa8,0x9a,0x8d,0x7d,
	0x7d,0x81,0x80,0x7c,0x85,0x88,0x7d,0x6a,0x6b,0x72,0x7b,0x89,0x9b,0xab,0xb1,0xb0,
	0xa5,0xb1,0xb4,0xc8,0xc6,0xb2,0x83,0x4e,0x35,0x1b,0x31,0x4f,0x63,0x68,0x6f,0x69,
	0x5d,0x71,0x85,0x96,0xb0,0xbe,0xb9,0xa6,0x97,0x7f,0x6a,0x5b,0x53,0x54,0x5f,0x67,
	0x5e,0x5a,0x55,0x5a,0x6b,0x7f,0x92,0xa3,0xab,0x9e,0x8e,0x82,0x7b,0x7b,0x7f,0x84,
	0x80,0x81,0x7b,0x72,0x6f,0x78,0x85,0x94,0xa3,0xad,0xb4,0xbc,0xc2,0xc6,0xd0,0xae,
	0x96,0x74,0x49,0x3b,0x38,0x3d,0x44,0x56,0x4e,0x4a,0x52,0x60,0x77,0x92,0xaf,0xb6,
	0xba,0xb2,0xa0,0x90,0x85,0x7f,0x76,0x6f,0x62,0x58,0x4d,0x48,0x49,0x53,0x65,0x78,
	0x88,0x91,0x95,0x95,0x94,0x8f,0x90,0x90,0x8f,0x8a,0x83,0x78,0x70,0x6c,0x6c,0x70,
	0x7b,0x87,0x91,0x9b,0xa1,0xa8,0xaf,0xbd,0xc7,0xda,0xc4,0xa9,0x8d,0x5d,0x4c,0x42,
	0x43,0x49,0x57,0x58,0x4c,0x4f,0x54,0x64,0x7c,0x96,0xa7,0xaf,0xb2,0xa4,0x97,0x8b,
	0x85,0x7f,0x7a,0x70,0x63,0x58,0x4d,0x4a,0x4e,0x5b,0x6b,0x79,0x82,0x87,0x8b,0x8e,
	0x8f,0x91,0x93,0x94,0x90,0x8c,0x85,0x7f,0x7f,0x7e,0x80,0x84,0x8a,0x8f,0x97,0x9f,
	0xaa,0xb4,0xc5,0xc7,0xac,0x9a,0x79,0x60,0x58,0x55,0x57,0x5c,0x61,0x54,0x4b,0x4e,
	0x57,0x6b,0x83,0x95,0x9e,0xa2,0x9e,0x94,0x8c,0x8a,0x8b,0x8b,0x83,0x77,0x68,0x5a,
	0x51,0x51,0x59,0x65,0x74,0x7a,0x79,0x79,0x7c,0x80,0x88,0x92,0x97,0x96,0x92,0x88,
	0x7f,0x7d,0x80,0x84,0x89,0x8d,0x8e,0x8e,0x91,0x95,0xa3,0xb2,0xc3,0xca,0xb0,0x9d,
	0x7e,0x63,0x5c,0x5b,0x60,0x62,0x67,0x55,0x47,0x47,0x4d,0x62,0x7c,0x91,0x99,0x9e,
	0x98,0x8d,0x8a,0x8c,0x90,0x92,0x8e,0x7e,0x6f,0x60,0x56,0x54,0x5c,0x68,0x71,0x77,
	0x73,0x72,0x73,0x78,0x80,0x8b,0x93,0x96,0x94,0x8d,0x86,0x85,0x87,0x8a,0x8e,0x90,
	0x90,0x91,0x93,0x95,0xa2,0xa9,0xb9,0xb9,0xa1,0x95,0x78,0x68,0x65,0x66,0x67,0x6a,
	0x6b,0x57,0x4c,0x4c,0x52,0x65,0x7c,0x8a,0x8e,0x93,0x8d,0x86,0x88,0x8c,0x90,0x94,
	0x8e,0x80,0x73,0x67,0x5f,0x5f,0x65,0x6b,0x72,0x70,0x6c,0x6c,0x6e,0x74,0x7f,0x8a,
	0x90,0x93,0x90,0x8a,0x88,0x8a,0x8e,0x93,0x96,0x97,0x95,0x95,0x94,0x9b,0xa3,0xaf,
	0xb1,0xa3,0x97,0x80,0x70,0x6a,0x66,0x69,0x6c,0x6c,0x60,0x55,0x52,0x54,0x61,0x72,
	0x7e,0x86,0x8b,0x88,0x83,0x85,0x89,0x8e,0x93,0x91,0x87,0x7d,0x72,0x69,0x67,0x6c,
	0x70,0x74,0x73,0x6f,0x6c,0x6c,0x70,0x77,0x82,0x88,0x8c,0x8b,0x88,0x85,0x87,0x8b,
	0x8f,0x93,0x96,0x96,0x93,0x93,0x96,0x9c,0xa4,0xaf,0xa9,0x9d,0x93,0x7e,0x74,0x70,
	0x6e,0x6f,0x71,0x6c,0x5d,0x58,0x56,0x59,0x65,0x72,0x79,0x7e,0x82,0x7e,0x7e,0x83,
	0x88,0x8e,0x91,0x8f,0x87,0x80,0x77,0x73,0x73,0x75,0x77,0x77,0x72,0x6e,0x6c,0x6c,
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	0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,
	0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x80,0x80,
	0x80,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80
	};
	const byte soundWow[] ={
	0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x80,
	0x80,0x80,0x80,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x81,0x81,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x81,0x80,0x81,0x80,0x80,0x80,0x7f,
	0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,0x7f,0x80,0x80,
	0x80,0x7e,0x80,0x7e,0x81,0x78,0x79,0x82,0x7b,0x83,0x82,0x84,0x80,0x82,0x7f,0x80,
	0x7e,0x80,0x7e,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x7e,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x7f,0x7a,0x76,0x7e,0x7a,0x80,0x81,0x86,0x83,0x84,0x81,0x80,
	0x7d,0x7f,0x7f,0x80,0x7e,0x7d,0x80,0x80,0x83,0x83,0x85,0x83,0x82,0x81,0x75,0x7e,
	0x79,0x7d,0x7f,0x83,0x82,0x84,0x82,0x80,0x80,0x7d,0x80,0x7c,0x80,0x7f,0x80,0x80,
	0x81,0x7f,0x7f,0x7e,0x7e,0x80,0x7f,0x81,0x7f,0x81,0x7f,0x80,0x7f,0x81,0x7f,0x81,
	0x80,0x81,0x80,0x81,0x80,0x81,0x81,0x80,0x7e,0x7f,0x7e,0x7f,0x81,0x80,0x81,0x7f,
	0x80,0x7e,0x7f,0x7e,0x80,0x7e,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,
	0x7f,0x81,0x7f,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x81,
	0x7f,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x81,0x80,
	0x80,0x7f,0x7f,0x80,0x80,0x7f,0x82,0x7f,0x81,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,
	0x7f,0x80,0x7e,0x80,0x7e,0x81,0x7f,0x81,0x7f,0x81,0x80,0x7f,0x80,0x7e,0x7f,0x7f,
	0x7f,0x7e,0x7e,0x7f,0x7f,0x80,0x7e,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x81,0x80,0x81,
	0x7f,0x80,0x7f,0x7e,0x7f,0x81,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,
	0x7f,0x7f,0x7f,0x7e,0x80,0x7f,0x80,0x80,0x7e,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,0x80,
	0x80,0x81,0x80,0x81,0x80,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x7e,0x80,0x7e,0x80,0x80,
	0x7f,0x81,0x80,0x81,0x81,0x81,0x80,0x81,0x7e,0x80,0x7f,0x7d,0x7f,0x7d,0x7e,0x7e,
	0x7e,0x7f,0x7e,0x7f,0x80,0x81,0x81,0x82,0x83,0x81,0x81,0x81,0x7e,0x7f,0x7e,0x7d,
	0x7d,0x7d,0x7b,0x7d,0x7b,0x7e,0x7e,0x81,0x82,0x84,0x88,0x89,0x8a,0x88,0x86,0x81,
	0x7c,0x7a,0x75,0x75,0x75,0x74,0x76,0x77,0x78,0x7a,0x7c,0x82,0x88,0x8f,0x97,0x9b,
	0x9d,0x98,0x8d,0x83,0x77,0x6e,0x63,0x60,0x61,0x5e,0x68,0x6f,0x79,0x85,0x8e,0x96,
	0x9d,0xa2,0xa5,0xa8,0x9c,0x8f,0x7f,0x6a,0x4e,0x4e,0x46,0x4e,0x68,0x77,0x8c,0x99,
	0x99,0x97,0x90,0x8f,0x91,0x99,0x9c,0x97,0x8c,0x7e,0x71,0x59,0x58,0x58,0x5b,0x6f,
	0x7c,0x87,0x8f,0x8e,0x8c,0x8d,0x8f,0x96,0xa0,0xa5,0x98,0x8a,0x76,0x64,0x55,0x52,
	0x5b,0x65,0x74,0x84,0x8c,0x8e,0x8c,0x8a,0x8a,0x8f,0x99,0xa4,0xa5,0x98,0x82,0x71,
	0x5a,0x4c,0x52,0x5c,0x6c,0x7f,0x8c,0x90,0x8d,0x88,0x85,0x8a,0x94,0xa2,0xaa,0xa4,
	0x8d,0x75,0x60,0x46,0x49,0x53,0x63,0x7e,0x8e,0x95,0x95,0x8a,0x83,0x84,0x8d,0x9b,
	0xad,0xa9,0x95,0x7e,0x61,0x4b,0x44,0x4d,0x64,0x7a,0x8f,0x98,0x92,0x89,0x83,0x82,
	0x8c,0x9f,0xad,0xaa,0x95,0x7a,0x5e,0x46,0x43,0x55,0x68,0x82,0x95,0x96,0x8f,0x84,
	0x7d,0x83,0x91,0xa2,0xb0,0xa5,0x90,0x70,0x59,0x43,0x4a,0x5e,0x74,0x8c,0x96,0x95,
	0x87,0x7e,0x7d,0x86,0x9a,0xad,0xaa,0x98,0x7c,0x5b,0x4c,0x44,0x5a,0x75,0x8b,0x9a,
	0x99,0x89,0x79,0x78,0x7e,0x91,0xaa,0xad,0x9c,0x80,0x5f,0x47,0x41,0x56,0x74,0x90,
	0xa2,0xa1,0x8f,0x7b,0x74,0x7c,0x8e,0xaa,0xaa,0x99,0x7f,0x56,0x43,0x3f,0x58,0x79,
	0x97,0xa7,0xa2,0x8f,0x76,0x74,0x7d,0x95,0xaf,0xa6,0x95,0x71,0x47,0x3b,0x40,0x5f,
	0x86,0xa3,0xa9,0x9f,0x89,0x76,0x7b,0x8c,0xa3,0xb1,0x9e,0x80,0x59,0x35,0x38,0x4e,
	0x73,0x99,0xab,0xa2,0x8f,0x7b,0x76,0x89,0xa5,0xbb,0xb2,0x90,0x67,0x37,0x23,0x3a,
	0x60,0x8d,0xad,0xaf,0x96,0x7c,0x6f,0x7a,0x9a,0xbc,0xc5,0xa1,0x7f,0x4d,0x1f,0x30,
	0x58,0x7c,0xa2,0xb3,0x94,0x78,0x6c,0x73,0x91,0xb7,0xcd,0xad,0x87,0x5a,0x29,0x2a,
	0x54,0x7c,0x9d,0xb0,0x9a,0x75,0x66,0x6f,0x8b,0xb1,0xcb,0xb1,0x84,0x5d,0x2e,0x31,
	0x57,0x87,0xa2,0xad,0x98,0x75,0x61,0x6e,0x8c,0xac,0xc3,0xb1,0x7d,0x55,0x35,0x31,
	0x57,0x8e,0xa9,0xaa,0x9f,0x7b,0x63,0x71,0x90,0xa5,0xbd,0xaa,0x73,0x50,0x36,0x35,
	0x5a,0x94,0xa9,0xa7,0x9c,0x7b,0x67,0x76,0x99,0xad,0xb9,0xa1,0x6b,0x48,0x2f,0x3a,
	0x65,0x96,0xa9,0xa2,0x93,0x79,0x6d,0x82,0xa3,0xb2,0xba,0x8e,0x5e,0x3e,0x2d,0x44,
	0x74,0x9e,0xa5,0x9c,0x89,0x76,0x73,0x8e,0xae,0xb6,0xae,0x7b,0x53,0x39,0x36,0x56,
	0x82,0x9d,0x9c,0x90,0x80,0x79,0x81,0xa1,0xb2,0xb7,0x9f,0x66,0x45,0x37,0x47,0x67,
	0x8d,0x9c,0x90,0x7f,0x7c,0x80,0x8d,0xaa,0xb7,0xb1,0x8a,0x57,0x47,0x3d,0x51,0x73,
	0x95,0x96,0x84,0x7f,0x7e,0x80,0x95,0xb6,0xb7,0xae,0x79,0x50,0x3b,0x3e,0x60,0x80,
	0x9e,0x95,0x81,0x77,0x7d,0x83,0xa4,0xb8,0xb9,0xa4,0x64,0x47,0x39,0x46,0x6a,0x8b,
	0x9a,0x89,0x7a,0x7a,0x83,0x8c,0xac,0xb7,0xb9,0x97,0x57,0x4c,0x3c,0x48,0x72,0x91,
	0x90,0x82,0x7e,0x7e,0x82,0x95,0xb2,0xb3,0xb4,0x8d,0x57,0x45,0x41,0x51,0x70,0x8f,
	0x8e,0x7d,0x7d,0x89,0x87,0x97,0xb3,0xb7,0xaa,0x77,0x53,0x4b,0x45,0x5e,0x82,0x8f,
	0x7f,0x78,0x7e,0x83,0x8b,0xa7,0xb6,0xb5,0xa1,0x5f,0x4f,0x4c,0x4d,0x6d,0x8d,0x8e,
	0x73,0x73,0x7e,0x82,0x91,0xb4,0xb4,0xb3,0x90,0x55,0x4b,0x49,0x57,0x74,0x8f,0x88,
	0x74,0x7a,0x88,0x87,0x98,0xb5,0xb7,0xa8,0x72,0x53,0x4b,0x4b,0x67,0x85,0x91,0x7f,
	0x72,0x78,0x84,0x8b,0xa6,0xb6,0xba,0x97,0x5b,0x54,0x48,0x55,0x76,0x91,0x86,0x70,
	0x78,0x81,0x84,0x95,0xb2,0xad,0xad,0x7f,0x54,0x4c,0x53,0x64,0x7c,0x8e,0x83,0x75,
	0x7b,0x8e,0x8d,0x9d,0xac,0xb2,0x97,0x5d,0x50,0x52,0x5a,0x71,0x8d,0x8d,0x72,0x70,
	0x86,0x8c,0x91,0xae,0xb9,0xac,0x74,0x50,0x51,0x4a,0x63,0x83,0x95,0x7f,0x6e,0x7e,
	0x8c,0x88,0x9f,0xb6,0xb2,0x97,0x5b,0x51,0x4a,0x5a,0x74,0x8d,0x8a,0x74,0x72,0x88,
	0x8f,0x90,0xac,0xb5,0xac,0x70,0x50,0x57,0x4d,0x63,0x84,0x92,0x7a,0x6f,0x80,0x8d,
	0x88,0xa0,0xb8,0xae,0x92,0x65,0x56,0x4d,0x53,0x74,0x88,0x84,0x76,0x79,0x86,0x8c,
	0x90,0xab,0xb5,0xad,0x81,0x56,0x52,0x4f,0x5b,0x7a,0x8c,0x7d,0x74,0x84,0x90,0x8a,
	0x98,0xb3,0xb3,0x97,0x60,0x55,0x55,0x58,0x71,0x8c,0x85,0x6b,0x75,0x89,0x8e,0x8f,
	0xad,0xb3,0xa7,0x77,0x5a,0x57,0x50,0x65,0x7f,0x8b,0x7d,0x73,0x81,0x8d,0x86,0x99,
	0xb1,0xb5,0x8e,0x5d,0x59,0x54,0x58,0x74,0x8d,0x85,0x70,0x7b,0x91,0x8c,0x8f,0xa7,
	0xb0,0x9c,0x6c,0x56,0x5c,0x5e,0x6b,0x81,0x8a,0x73,0x6d,0x8b,0x96,0x8f,0x9e,0xaf,
	0xac,0x82,0x53,0x58,0x5a,0x5e,0x73,0x90,0x84,0x6d,0x7e,0x99,0x90,0x92,0xab,0xae,
	0x93,0x5e,0x58,0x5d,0x5a,0x6a,0x85,0x86,0x71,0x74,0x92,0x99,0x8d,0xa2,0xb1,0xa6,
	0x72,0x54,0x5c,0x5c,0x62,0x7b,0x88,0x77,0x6d,0x87,0x9d,0x94,0x9a,0xac,0xab,0x8a,
	0x5a,0x57,0x5d,0x5d,0x70,0x89,0x83,0x6e,0x75,0x95,0x98,0x94,0xa7,0xb1,0xa0,0x63,
	0x4f,0x60,0x60,0x65,0x7f,0x8a,0x73,0x68,0x8a,0xa1,0x94,0x9b,0xad,0xa9,0x78,0x55,
	0x60,0x63,0x5f,0x73,0x88,0x79,0x6a,0x7d,0x9e,0x98,0x98,0xa9,0xb1,0x91,0x5c,0x54,
	0x61,0x5f,0x69,0x85,0x87,0x6d,0x6d,0x90,0x9d,0x95,0xa3,0xaf,0xa2,0x6d,0x51,0x61,
	0x63,0x65,0x79,0x8a,0x77,0x66,0x7d,0x9e,0x99,0x9c,0xab,0xad,0x88,0x55,0x57,0x67,
	0x65,0x6b,0x85,0x83,0x69,0x6b,0x94,0x9f,0x94,0xa4,0xb2,0x9f,0x65,0x54,0x65,0x63,
	0x64,0x7e,0x89,0x74,0x64,0x81,0x9c,0x97,0x9e,0xaf,0xad,0x83,0x55,0x54,0x61,0x64,
	0x74,0x86,0x83,0x6b,0x73,0x94,0x9d,0x98,0xa6,0xad,0x99,0x64,0x51,0x60,0x64,0x69,
	0x7c,0x88,0x75,0x69,0x85,0x9d,0x97,0x9c,0xaf,0xab,0x79,0x4f,0x59,0x66,0x65,0x74,
	0x8b,0x7f,0x65,0x74,0x9a,0x9c,0x97,0xa9,0xaf,0x90,0x5f,0x54,0x63,0x66,0x6c,0x7f,
	0x84,0x70,0x6a,0x8a,0x9f,0x98,0x9e,0xaf,0xa5,0x75,0x50,0x5a,0x62,0x6a,0x7a,0x88,
	0x7a,0x68,0x78,0x99,0x9e,0x9d,0xa7,0xab,0x8f,0x5a,0x4f,0x62,0x68,0x6f,0x7f,0x85,
	0x70,0x6c,0x8c,0xa0,0x9c,0xa2,0xac,0xa0,0x6c,0x50,0x5c,0x66,0x6a,0x7a,0x85,0x77,
	0x67,0x7f,0x9c,0x9c,0x9d,0xad,0xae,0x85,0x56,0x55,0x60,0x62,0x70,0x84,0x83,0x6d,
	0x71,0x91,0x9d,0x97,0xa2,0xb2,0x9e,0x6a,0x50,0x5e,0x63,0x68,0x7a,0x88,0x76,0x67,
	0x7f,0x9e,0x9b,0x9c,0xaa,0xa9,0x83,0x55,0x58,0x69,0x6b,0x6f,0x80,0x80,0x6b,0x6f,
	0x92,0x9f,0x99,0xa3,0xae,0x9a,0x66,0x51,0x5f,0x6c,0x6f,0x7a,0x82,0x73,0x69,0x82,
	0x9c,0x9a,0x9c,0xab,0xa5,0x7e,0x59,0x57,0x66,0x6c,0x7a,0x82,0x7a,0x6b,0x74,0x91,
	0x9b,0x99,0xa3,0xaa,0x98,0x6b,0x54,0x60,0x69,0x6c,0x77,0x81,0x77,0x70,0x84,0x9a,
	0x98,0x99,0xa9,0xa6,0x83,0x5b,0x58,0x64,0x67,0x71,0x81,0x7f,0x6e,0x75,0x90,0x9b,
	0x97,0xa2,0xae,0x9c,0x6b,0x56,0x5e,0x66,0x69,0x79,0x83,0x76,0x6d,0x84,0x99,0x98,
	0x99,0xa8,0xaa,0x88,0x5f,0x58,0x65,0x63,0x6b,0x7c,0x82,0x72,0x76,0x8e,0x9b,0x94,
	0x9e,0xad,0xa0,0x74,0x57,0x61,0x66,0x66,0x73,0x82,0x78,0x6d,0x80,0x98,0x97,0x95,
	0xa6,0xaa,0x8f,0x66,0x59,0x63,0x66,0x6b,0x78,0x80,0x75,0x73,0x89,0x99,0x96,0x9a,
	0xa8,0xa1,0x81,0x5f,0x5e,0x65,0x67,0x6e,0x78,0x7b,0x77,0x7e,0x91,0x96,0x95,0xa1,
	0xa6,0x99,0x76,0x5b,0x5b,0x65,0x6e,0x74,0x7b,0x7b,0x77,0x82,0x93,0x99,0x9c,0xa4,
	0xa6,0x8b,0x62,0x58,0x62,0x67,0x6d,0x76,0x7d,0x7a,0x7d,0x8d,0x96,0x96,0x9d,0xa6,
	0x9f,0x7b,0x5a,0x59,0x64,0x68,0x70,0x7b,0x7f,0x7a,0x82,0x92,0x99,0x99,0xa1,0xa0,
	0x90,0x69,0x5b,0x60,0x68,0x6e,0x72,0x7a,0x7d,0x7d,0x88,0x93,0x99,0x9f,0xa2,0xa0,
	0x7f,0x5e,0x58,0x64,0x6c,0x6e,0x77,0x7e,0x79,0x7f,0x8f,0x9a,0x9b,0x9f,0xa2,0x97,
	0x72,0x59,0x5c,0x67,0x6b,0x70,0x7e,0x80,0x79,0x83,0x94,0x99,0x99,0x9e,0xa3,0x88,
	0x61,0x5b,0x68,0x6e,0x6c,0x73,0x7c,0x79,0x79,0x8a,0x99,0x9c,0x9f,0xa2,0x9b,0x7a,
	0x60,0x5e,0x63,0x6b,0x6f,0x79,0x7d,0x7c,0x81,0x8d,0x95,0x9b,0xa0,0xa2,0x93,0x72,
	0x5b,0x5f,0x66,0x6a,0x70,0x7b,0x7f,0x7b,0x82,0x91,0x99,0x9d,0x9f,0xa1,0x88,0x64,
	0x5a,0x65,0x6c,0x6c,0x75,0x7d,0x79,0x79,0x8a,0x97,0x9c,0x9e,0xa6,0x9c,0x79,0x5d,
	0x5d,0x66,0x6a,0x6f,0x79,0x7f,0x79,0x7e,0x8e,0x98,0x97,0x9b,0xa1,0x98,0x74,0x5c,
	0x60,0x68,0x6a,0x6d,0x7a,0x7f,0x7b,0x82,0x92,0x9a,0x9d,0x9e,0xa2,0x8d,0x6b,0x5d,
	0x61,0x69,0x6c,0x72,0x7b,0x7c,0x7c,0x87,0x94,0x98,0x99,0xa0,0xa1,0x84,0x63,0x5b,
	0x66,0x6a,0x6e,0x76,0x7d,0x7a,0x7b,0x8a,0x97,0x9a,0x9c,0xa0,0x9a,0x7b,0x60,0x5f,
	0x68,0x6c,0x6c,0x75,0x7e,0x7d,0x7f,0x8c,0x98,0x9a,0x9c,0xa0,0x98,0x75,0x5b,0x5f,
	0x69,0x6c,0x6f,0x7a,0x7e,0x79,0x7e,0x91,0x9b,0x9e,0x9d,0xa0,0x8f,0x6b,0x5c,0x62,
	0x6b,0x6d,0x70,0x7a,0x7d,0x7b,0x85,0x92,0x9a,0x9a,0x9d,0x9e,0x8c,0x68,0x5e,0x67,
	0x68,0x66,0x70,0x7f,0x7f,0x7c,0x89,0x96,0x99,0x9d,0xa0,0x9d,0x7d,0x60,0x61,0x69,
	0x6a,0x6b,0x75,0x7d,0x7b,0x7e,0x8b,0x94,0x99,0x9c,0xa2,0x9c,0x7b,0x5f,0x5c,0x66,
	0x6b,0x70,0x79,0x7d,0x79,0x80,0x8f,0x97,0x99,0x9e,0xa0,0x92,0x72,0x64,0x66,0x67,
	0x67,0x6d,0x7a,0x7d,0x7b,0x83,0x90,0x96,0x9b,0xa1,0xa2,0x90,0x6f,0x5f,0x63,0x67,
	0x6c,0x73,0x7b,0x79,0x78,0x85,0x92,0x96,0x9a,0xa2,0xa4,0x8b,0x6c,0x5f,0x63,0x65,
	0x6b,0x76,0x7b,0x77,0x7b,0x88,0x93,0x95,0x9a,0xa2,0xa3,0x89,0x69,0x5f,0x62,0x66,
	0x6e,0x77,0x7b,0x77,0x7a,0x86,0x92,0x98,0x9d,0xa4,0xa2,0x87,0x66,0x5d,0x61,0x65,
	0x6f,0x78,0x7c,0x77,0x7a,0x89,0x92,0x94,0x9b,0xa6,0xa2,0x86,0x68,0x5e,0x5f,0x65,
	0x70,0x79,0x7a,0x78,0x7c,0x89,0x90,0x95,0x9f,0xa5,0x9f,0x85,0x65,0x5f,0x63,0x65,
	0x6c,0x79,0x7c,0x77,0x7b,0x8c,0x92,0x95,0x9b,0xa8,0xa2,0x82,0x65,0x61,0x62,0x65,
	0x6e,0x79,0x7a,0x77,0x7d,0x8b,0x91,0x94,0x9c,0xa7,0xa7,0x87,0x64,0x59,0x5e,0x66,
	0x6e,0x7a,0x7f,0x78,0x79,0x88,0x91,0x93,0x99,0xa6,0xa8,0x89,0x66,0x5f,0x61,0x61,
	0x68,0x78,0x7f,0x7a,0x7b,0x88,0x8f,0x92,0x99,0xa7,0xa7,0x8f,0x6b,0x5d,0x5d,0x61,
	0x69,0x75,0x7e,0x7b,0x7a,0x86,0x91,0x93,0x98,0xa4,0xad,0x97,0x6d,0x5a,0x57,0x5d,
	0x66,0x77,0x84,0x80,0x79,0x82,0x8c,0x90,0x95,0xa4,0xac,0x9d,0x72,0x5a,0x58,0x5b,
	0x63,0x75,0x83,0x82,0x79,0x82,0x8d,0x8f,0x92,0xa2,0xb1,0xa6,0x7a,0x58,0x53,0x56,
	0x60,0x74,0x87,0x86,0x7b,0x7c,0x89,0x8d,0x8f,0x9d,0xb0,0xae,0x89,0x5c,0x52,0x53,
	0x5b,0x6c,0x83,0x8a,0x80,0x7c,0x87,0x8a,0x8b,0x98,0xaf,0xb6,0x93,0x62,0x51,0x52,
	0x56,0x66,0x83,0x8f,0x81,0x76,0x81,0x8a,0x89,0x92,0xad,0xb9,0xa0,0x71,0x55,0x50,
	0x4f,0x5e,0x7b,0x90,0x88,0x7a,0x7a,0x83,0x83,0x8c,0xa6,0xb8,0xb6,0x89,0x59,0x4d,
	0x4f,0x57,0x6d,0x89,0x93,0x82,0x78,0x7c,0x84,0x85,0x95,0xaf,0xbf,0xa8,0x71,0x50,
	0x4d,0x52,0x5e,0x7a,0x91,0x8c,0x79,0x77,0x80,0x83,0x83,0x9d,0xba,0xc1,0x99,0x5b,
	0x47,0x4e,0x57,0x6c,0x8b,0x92,0x7f,0x73,0x7b,0x81,0x82,0x89,0xa3,0xbb,0xbf,0x93,
	0x55,0x45,0x4b,0x5c,0x7d,0x98,0x8b,0x6d,0x68,0x7d,0x85,0x85,0x88,0x9f,0xb6,0xc0,
	0x9b,0x5c,0x42,0x49,0x5b,0x7a,0x9b,0x98,0x6f,0x5e,0x73,0x85,0x81,0x7e,0x97,0xb4,
	0xc7,0xb4,0x74,0x45,0x3f,0x4d,0x70,0x9a,0xa5,0x7d,0x5f,0x69,0x7d,0x7e,0x7a,0x86,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
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	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80
	};
	void setup() {
	attachInterrupt(INTIR, irInt, CHANGE);
	analogWriteFrequency(16000);
	pinMode(LED1_M1F, OUTPUT);
	pinMode(LED2_M0F, OUTPUT);
	pinMode(LED3_M0B, OUTPUT);
	pinMode(LED4_M1B, OUTPUT);
	pinMode(LED5, OUTPUT);
	pinMode(LED6, OUTPUT);
	pinMode(LED_R, OUTPUT);
	pinMode(LED_G, OUTPUT);
	pinMode(LED_B, OUTPUT);
	pinMode(4, OUTPUT);
	pinMode(SW1, INPUT_PULLUP);
	pinMode(SW2, INPUT_PULLUP);
	digitalWrite(LED1_M1F, LED_OFF);
	digitalWrite(LED2_M0F, LED_OFF);
	digitalWrite(LED3_M0B, LED_OFF);
	digitalWrite(LED4_M1B, LED_OFF);
	digitalWrite(LED5, LED_OFF);
	digitalWrite(LED6, LED_OFF);
	randomSeed((unsigned int)analogRead(BATT));
	Serial.begin(115200);
	Wire.begin();
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6B); // Power management register
	Wire.write(0); // wake up MPU-6050
	Wire.endTransmission(true);
	SD2.begin(27);
	checkVoltage();
	selectMode();
	pinMode(SW1, INPUT);
	pinMode(SW2, INPUT);
	pinMode(SOUTPIN, OUTPUT);
	analogWrite(SOUTPIN, 0);
	delay(100); //allow gyro to stabilize
	readEEPROMbal();
	readEEPROMadhoc();
	resetPara();
	resetVar();
	digitalWrite(LED6, LED_ON);
	calibGyro();
	digitalWrite(LED6, LED_OFF);
	soundStart(soundGreet, sizeof(soundGreet), 70);
	openFiles();
	while (soundBusy);
	if (demoMode==2) soundStartSD(fDemo, 70);
	if (debug) soundStartSD(fDebug, 70);
	}
	void loop(){
	time0=micros();
	getIR();
	getGyro();
	pendulum();
	servoHead();
	randomPlay();
	if (pendPhase!=-1) monitorVoltage();
	counter += 1;
	if (counter >= 100) {
	counter = 0;
	counterSec++;
	if (debug) digitalWrite(LED6, LED_ON);
	if (serialMonitor) sendSerial();
	digitalWrite(LED6, LED_OFF);
	}
	while (micros() - time0 < pendInterval);
	}
	void pendulum() {
	switch (pendPhase) {
	case -1: //wait until upright
	calcTarget();
	if (upright()) {
	pendPhase =0;
	digitalWrite(LED5, LED_OFF);
	}
	break;
	case 0: //calib Acc
	resetVar();
	demoDelayCounter=0;
	demoPhase=0;
	delay(1300);
	if (!upright()) pendPhase=2;
	else {
	digitalWrite(LED6, LED_ON);
	calibAcc();
	digitalWrite(LED6, LED_OFF);
	if (upright()) pendPhase=1;
	else pendPhase=2;
	}
	break;
	case 1: //run
	if (!standing()) {
	if (musicPlaying) soundStop=true;
	soundStart(soundWow, sizeof(soundWow), 70);
	pendPhase=6;
	}
	else {
	if (demoMode==2) demo8();
	calcTarget();
	drive();
	if (counterOverSpd > maxOverSpd) {
	if (musicPlaying) soundStop=true;
	delay(1300);
	pendPhase=2;
	}
	}
	break;
	case 2: //wait until upright
	if (upright()) pendPhase=0;
	break;
	case 6: //fell
	if (laid() && !soundBusy) pendPhase=8;
	break;
	case 8:
	if (soundSD) soundStartSD(fTipover, 70);
	pendPhase=2;
	break;
	}
	}
	void openFiles() {
	fGreet=SD2.open("kon168m.wav");
	if (!fGreet) {
	soundSD=false;
	return;
	}
	soundSD=true;
	fStop=SD2.open("tom168m.wav");
	fRight=SD2.open("mig168m.wav");
	fLeft=SD2.open("hid168m.wav");
	fForward=SD2.open("sus168m.wav");
	fBack=SD2.open("bac168m.wav");
	fSpin=SD2.open("maw168m.wav");
	fAccel=SD2.open("kaso168m.wav");
	fTipover=SD2.open("koro168m.wav");
	fDemo=SD2.open("demo168m.wav");
	fDebug=SD2.open("debu168m.wav");
	fBattery=SD2.open("denc168m.wav");
	fReplace=SD2.open("kouk168m.wav");
	voiceFile[0]=SD2.open(soundVoice[0]);
	if (voiceFile[0]) {
	if (serialMonitor) Serial.println(soundVoice[0]);
	minVoiceFile=0;
	}
	for (int i=1; i<sizeof(soundVoice)/2; i++) {
	voiceFile[i]=SD2.open(soundVoice[i]);
	if (voiceFile[i]) {
	if (serialMonitor) Serial.println(soundVoice[i]);
	maxVoiceFile=i;
	}
	}
	if (minVoiceFile==-1 && maxVoiceFile>=1) minVoiceFile=1;
	for (int i=0; i<sizeof(soundMusic)/2; i++) {
	musicFile[i]=SD2.open(soundMusic[i]);
	if (musicFile[i]) {
	if (serialMonitor) Serial.println(soundMusic[i]);
	minMusicFile=0;
	maxMusicFile=i;
	}
	}
	}
	void randomPlay() {
	if (!randomSoundOn || minVoiceFile==-1) return;
	switch (soundPhase) {
	case 1:
	if (!soundBusy) {
	counterSec0=counterSec;
	soundInterval=(int)random(MINSINTERVAL, MAXSINTERVAL+1);
	soundPhase=2;
	}
	break;
	case 2:
	if (counterSec-counterSec0>soundInterval) {
	soundId=random(minVoiceFile, maxVoiceFile+1);
	soundStartSD(voiceFile[soundId], 10);
	if (soundId==0) {
	if (minMusicFile!=-1 && demoMode==0) soundPhase=3;
	else soundPhase=1;
	}
	else soundPhase=1;
	}
	break;
	case 3:
	if (!soundBusy) {
	musicPlaying=true;
	soundStartSD(musicFile[random(minMusicFile, maxMusicFile+1)], 10);
	soundPhase=1;
	}
	break;
	}
	}
	void servoHead() {
	switch(servoPhase) {
	case 1:
	servoDrive();
	if (servoComplete) {
	servoComplete=false;
	servoPhase=2;
	}
	break;
	case 2:
	servoContinue(90.0, 1.0);
	servoPhase=3;
	break;
	case 3:
	servoDrive();
	if (servoComplete) {
	servoComplete=false;
	servoPhase=4;
	}
	break;
	case 4:
	break;
	}
	}
	void servoStart(double ang, double stp) {
	servoPhase=1;
	servoContinue(ang, stp);
	}
	void servoContinue(double ang, double stp) {
	if (ang<servoAngTarget) stp=-stp;
	servoAngDestination=ang;
	servoAngStep=stp;
	}
	void servoDrive() {
	if (servoAngStep>=0) {
	if (servoAngDestination-servoAngStep>servoAngTarget) servoAngTarget+=servoAngStep;
	else {
	servoAngTarget=servoAngDestination;
	servoComplete=true;
	}
	}
	else {
	if (servoAngDestination-servoAngStep<servoAngTarget) servoAngTarget+=servoAngStep;
	else {
	servoAngTarget=servoAngDestination;
	servoComplete=true;
	}
	}
	servoPulseWidth=600+(int)(servoAngTarget*10.0);
	digitalWrite(4, HIGH);
	delayMicroseconds(servoPulseWidth);
	digitalWrite(4, LOW);
	}
	void calcTarget() {
	if (spinContinuous) spinTarget += spinStep;
	else {
	if (spinTarget < spinDestination) spinTarget += spinStep;
	if (spinTarget > spinDestination) spinTarget -= spinStep;
	}
	moveTarget -= moveStep * moveRate;
	}
	void drive() {
	varSpd += power * pendClk;
	varDst += Kdst * (varSpd * pendClk - moveTarget);
	varIang += KIang * varAng * pendClk;
	varIdst += KIdst * varDst * pendClk;
	power = varIang + varIdst + varDst + (Kspd * varSpd) + (Kang * varAng) + (Komg * varOmg);
	if (abs(power) > 5000.0) counterOverSpd +=1;
	else counterOverSpd=0;
	if (counterOverSpd > maxOverSpd) {
	resetMotor();
	return;
	}
	spinPower = (spinAngle - spinTarget) * Kspin;
	powerR = power - spinPower;
	powerL = power + spinPower;
	motor();
	}
	void motor() {
	ipowerR = (int) (constrain(powerR * mechFactorR * battFactor, -maxSpd, maxSpd));
	if (ipowerR > 0) {
	if (motorRdir == 1) drvMotorL(ipowerR);
	else drvMotorL(ipowerR + backlashSpd); //compensate backlash
	motorRdir = 1;
	}
	else if (ipowerR < 0) {
	if (motorRdir == -1) drvMotorL(ipowerR);
	else drvMotorL(ipowerR - backlashSpd);
	motorRdir = -1;
	}
	else {
	drvMotorL(0);
	motorRdir = 0;
	}
	ipowerL = (int) (constrain(powerL * mechFactorL * battFactor, -maxSpd, maxSpd));
	if (ipowerL > 0) {
	if (motorLdir == 1) drvMotorR(ipowerL);
	else drvMotorR(ipowerL + backlashSpd); //compensate backlash
	motorLdir = 1;
	}
	else if (ipowerL < 0) {
	if (motorLdir == -1) drvMotorR(ipowerL);
	else drvMotorR(ipowerL - backlashSpd);
	motorLdir = -1;
	}
	else {
	drvMotorR(0);
	motorLdir = 0;
	}
	}
	void drvMotor0(int pwm) {
	if (pwm >0) {
	digitalWrite(M0B,LOW);
	analogWrite(M0F,constrain(pwm+drvHLbalance, 0,PWMMAX));
	}
	else if (pwm < 0) {
	digitalWrite(M0B,HIGH);
	analogWrite(M0F,constrain(PWMMAX+pwm, 0,PWMMAX));
	}
	else {
	digitalWrite(M0B,LOW);
	pinMode(M0F, OUTPUT);
	digitalWrite(M0F,LOW);
	}
	}
	void drvMotor1(int pwm) {
	if (pwm >0) {
	digitalWrite(M1B,LOW);
	analogWrite(M1F,constrain(pwm+drvHLbalance, 0,PWMMAX));
	}
	else if (pwm < 0) {
	digitalWrite(M1B,HIGH);
	analogWrite(M1F,constrain(PWMMAX+pwm, 0,PWMMAX));
	}
	else {
	digitalWrite(M1B,LOW);
	pinMode(M1F, OUTPUT);
	digitalWrite(M1F,LOW);
	}
	}
	void drvMotorL(int pwm) {
	switch (MotorConfig) {
	case 0: drvMotor1(pwm);
	break;
	case 1: drvMotor1(-pwm);
	break;
	case 2: drvMotor1(pwm);
	break;
	case 3: drvMotor1(-pwm);
	break;
	}
	}
	void drvMotorR(int pwm) {
	switch (MotorConfig) {
	case 0: drvMotor0(pwm);
	break;
	case 1: drvMotor0(-pwm);
	break;
	case 2: drvMotor0(-pwm);
	break;
	case 3: drvMotor0(pwm);
	break;
	}
	}
	void getGyro() {
	readGyro();
	snsGyroY = (gyroDataY - gyroOffsetY) * gyroLSB;
	varOmg = (gyroDataZ - gyroOffsetZ) * gyroLSB; // unit:deg/sec
	snsAccX = (accDataX - accOffsetX) * accLSB; //unit:g
	spinAngle += snsGyroY * pendClk;
	varAng += (varOmg + (snsAccX * 57.3 - varAng) * cutoff ) * pendClk;
	//angle filter accX=g*sin(ang) -> accX/g=sin(ang)=ang [rad] (if ang is small) -> ang=accX*57.3[deg]
	// varAng += varOmg * pendClk;
	}
	void readGyro() {
	Wire.beginTransmission(0x68);
	Wire.write(0x3B);
	Wire.endTransmission(false); //enable incremental read
	Wire.requestFrom(0x68, 14, (int)true);
	accX=Wire.read()<<8|Wire.read(); //0x3B
	accY=Wire.read()<<8|Wire.read(); //0x3D
	accZ=Wire.read()<<8|Wire.read(); //0x3F
	temp=Wire.read()<<8|Wire.read(); //0x41
	gyroX=Wire.read()<<8|Wire.read(); //0x43
	gyroY=Wire.read()<<8|Wire.read(); //0x45
	gyroZ=Wire.read()<<8|Wire.read(); //0x47
	gyroDataY = (double) gyroY;
	gyroDataZ = -(double) gyroX;
	accDataX = -(double) accZ;
	aveAccX = aveAccX * 0.9 + accDataX * 0.1;
	accDataY = -(double) accY;
	aveAccY = aveAccY * 0.9 + accDataY * 0.1;
	}
	boolean laid() {
	if (abs(aveAccX) >13000.0) return true;
	else return false;
	}
	boolean upright() {
	if (abs(aveAccY) >13000.0) return true;
	else return false;
	}
	boolean standing() {
	if (abs(aveAccY) >8000.0 && abs(varAng) < 40.0) return true;
	else {
	resetMotor();
	return false;
	}
	}
	void calibAcc() {
	accOffsetX=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	accOffsetX += accDataX;
	delay(20);
	}
	accOffsetX /= 30.0;
	}
	void calibGyro() {
	gyroOffsetZ=gyroOffsetY=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	gyroOffsetZ += gyroDataZ;
	gyroOffsetY += gyroDataY;
	delay(20);
	}
	gyroOffsetY /= 30.0;
	gyroOffsetZ /= 30.0;
	}
	void resetPara() {
	Kang=150.0;
	Komg=3.0;
	KIang=1200.0;
	Kspin=15.0;
	Kdst=80.0;
	Kspd=3.5;
	KIdst=0.0;
	mechFactorR=0.4;
	mechFactorL=0.4;
	backlashSpd=30;
	}
	void resetVar() {
	power=0.0;
	moveTarget=0.0;
	spinDestination=0.0;
	spinTarget=0.0;
	spinAngle=0.0;
	varAng=0.0;
	varOmg=0.0;
	varDst=0.0;
	varSpd=0.0;
	varIang=0.0;
	varIdst=0.0;
	counterOverSpd=0;
	spinContinuous=false;
	moveRate=0.0;
	}
	void resetMotor() {
	digitalWrite(M0B,LOW);
	pinMode(M0F, OUTPUT);
	digitalWrite(M0F,LOW);
	digitalWrite(M1B,LOW);
	pinMode(M1F, OUTPUT);
	digitalWrite(M1F,LOW);
	}
	void checkVoltage() {
	monitorVoltage();
	if (serialMonitor) {Serial.print("Batt=");Serial.println(bVolt);}
	if (bVolt>=0.5 && bVolt<3.8) {
	if (soundSD) soundStartSD(fBattery, 70);
	blinkLED(5); //Batt Low
	if (soundSD) soundStartSD(fReplace, 70);
	blinkLED(45);
	}
	}
	void blinkLED(int n) {
	for (int i=0; i<n; i++) {
	digitalWrite(LED6, LED_ON);
	delay(10);
	digitalWrite(LED6, LED_OFF);
	delay(200);
	}
	}
	void monitorVoltage() {
	bVolt=getBattVolt();
	aveVolt = aveVolt * 0.98 + bVolt * 0.02;
	if (bVolt<0.5) { //USB POWER
	battFactor=1.3;
	setColor(0,0,1);
	}
	else {
	battFactor = 18.0 / aveVolt / aveVolt;
	// battFactor = 4.5 / aveVolt;
	// battFactor = 4.5 / bVolt;
	if (bVolt<3.6) setColor(0,0,0);
	else if (bVolt<4.0) setColor(1,0,0);
	else if (bVolt<4.4) setColor(1,1,0);
	else setColor(0,1,0);
	}
	}
	double getBattVolt() {
	return ((double) analogRead(BATT)) / 1023.0 * 6.6;
	}
	void selectMode() {
	if (digitalRead(SW1) == LOW) { //debug
	debug=true;
	serialMonitor=true;
	spinStep=0.0;
	blinkLED(1);
	}
	else if (digitalRead(SW2) == LOW) { //demo
	demoMode=2;
	blinkLED(2);
	}
	else spinStep=0.0;
	}
	void demo8() {
	switch (demoPhase) {
	case 0:
	demoDelayCounter=200;
	demoPhase=1;
	break;
	case 1:
	if (demoDelayCounter>1) demoDelayCounter--;
	else {
	moveRate=3.0;
	spinStep=0.5;
	spinDestination += 270.0;
	demoPhase=2;
	}
	break;
	case 2:
	if (abs(spinTarget-spinDestination)<5.0) {
	demoDelayCounter=100;
	moveRate=5.0;
	demoPhase=3;
	}
	break;
	case 3:
	if (demoDelayCounter>1) demoDelayCounter--;
	else {
	moveRate=3.0;
	spinDestination -= 270.0;
	demoPhase=4;
	}
	break;
	case 4:
	if (abs(spinTarget-spinDestination)<5.0) {
	demoDelayCounter=100;
	moveRate=5.0;
	demoPhase=1;
	}
	break;
	}
	}
	void setColor(int r, int g, int b) {
	digitalWrite(LED_R, r);
	digitalWrite(LED_G, g);
	digitalWrite(LED_B, b);
	}
	void readEEPROMbal() {
	if (EEPROM.read(0)==HCODE) {
	drvHLbalance=EEPROM.read(1);
	if (serialMonitor) {Serial.print("drvHLbal=");Serial.println(drvHLbalance);}
	}
	else {
	drvHLbalance=30;
	noInterrupts();
	EEPROM.write(0, HCODE);
	EEPROM.write(1, drvHLbalance);
	interrupts();
	}
	}
	void writeEEPROMbal() {
	noInterrupts();
	EEPROM.write(1, drvHLbalance);
	interrupts();
	}
	void readEEPROMadhoc() {
	if (EEPROM.read(2)==HCODE) {
	for (int i=0; i<ADHOC_IR_MAX; i++) {
	ADHOC_CUSTOMER[i]=EEPROM.read(3+i*4)<<8|EEPROM.read(4+i*4);
	ADHOC_IR[i]=EEPROM.read(5+i*4)<<8|EEPROM.read(6+i*4);
	if (serialMonitor) {
	Serial.print("CUST=");Serial.print(ADHOC_CUSTOMER[i],HEX);Serial.print(" CODE=");Serial.println(ADHOC_IR[i],HEX);
	}
	}
	}
	}
	void writeEEPROMadhoc() {
	noInterrupts();
	EEPROM.write(2, HCODE);
	for (int i=0; i<ADHOC_IR_MAX; i++) {
	EEPROM.write(3+i*4, (byte)((ADHOC_CUSTOMER[i]>>8)&0xFF));
	EEPROM.write(4+i*4, (byte)(ADHOC_CUSTOMER[i]&0xFF));
	EEPROM.write(5+i*4, (byte)((ADHOC_IR[i]>>8)&0xFF));
	EEPROM.write(6+i*4, (byte)(ADHOC_IR[i]&0xFF));
	}
	interrupts();
	}
	void sendSerial () {
	Serial.print(micros()-time0);
	Serial.print(" phase=");Serial.print(pendPhase);
	Serial.print(" accX="); Serial.print(aveAccX);
	Serial.print(" accY="); Serial.print(aveAccY);
	Serial.print(" ang=");Serial.print(varAng);
	// Serial.print(" temp = "); Serial.print(temp/340.0+36.53);
	Serial.print(" drvBal="); Serial.print(drvHLbalance);
	Serial.print(F(" apinA=")); Serial.print(spinAngle);
	Serial.print(F(" batt=")); Serial.print(aveVolt);
	Serial.print(", ");
	Serial.print(micros()-time0);
	Serial.println();
	}
	void getIR() {
	if (!(irStarted && (micros()-irMicroOff>10000))) return;
	if ((irDataOn[0]>1800) && musicPlaying) soundStop=true;
	irStarted=false;
	irDecoding=true;
	if (irDataOn[0]>7000) { //NEC
	if (irOffIndex >=33) {
	decodeNECAEHA();
	printIrData("NEC");
	}
	}
	else if (irDataOn[0]>2600) { //AEHA
	if (irOffIndex >=41) {
	decodeNECAEHA();
	printIrData("AEHA");
	}
	}
	else if (irDataOn[0]>1800) { //SONY
	if (irOnIndex >=12) {
	decodeSONY();
	printIrData("SONY");
	}
	}
	if (irReady) {
	irReady=false;
	lastIrTime=millis();
	if (serialMonitor) {
	Serial.print("IR code=");Serial.println(ircode, HEX);
	Serial.print("Cust Code=");Serial.println(customer_code, HEX);
	}
	if (adhoc_ir_num>=0 && adhoc_ir_num<ADHOC_IR_MAX && pendPhase==-1) regIR();
	else irCommand();
	}
	irDecoding=false;
	}
	void irCommand() {
	if (
	((ircode==AKI_REMO_CENTER)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CENTER])&&(customer_code==ADHOC_CUSTOMER[IR_CENTER])) ) {
	if (pendPhase!=-1) {
	if (abs(moveRate)>1.0 || abs(spinStep)>0.1) {
	if (soundSD) soundStartSD(fStop, 10);
	else tone(TONE_PIN, 500, 100);
	}
	button=5;
	demoMode=0;
	spinContinuous=false;
	spinStep=0.0;
	moveRate=0.0;
	spinDestination = spinTarget;
	}
	}
	else if (
	((ircode==AKI_REMO_RIGHT)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_RIGHT])&&(customer_code==ADHOC_CUSTOMER[IR_RIGHT])) ) {
	if (pendPhase==-1) {
	servoStart(60.0, 0.5);
	drvMotorR(-80);
	delay(1000);
	drvMotorR(0);
	}
	else if (demoMode==0) {
	servoStart(headRight, 3.0);
	if (button!=6) {
	if (soundSD) soundStartSD(fRight, 10);
	else tone(TONE_PIN, 2000, 100);
	}
	button=6;
	if (spinContinuous) spinDestination=spinTarget;
	spinContinuous=false;
	spinStep=0.6;
	spinDestination -= 30.0;
	}
	}
	else if (
	((ircode==AKI_REMO_LEFT)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_LEFT])&&(customer_code==ADHOC_CUSTOMER[IR_LEFT])) ) {
	if (pendPhase==-1) {
	servoStart(120.0, 0.5);
	drvMotorL(-80);
	delay(1000);
	drvMotorL(0);
	}
	else if (demoMode==0) {
	servoStart(headLeft, 3.0);
	if (button!=4) {
	if (soundSD) soundStartSD(fLeft, 10);
	else tone(TONE_PIN, 2000, 100);
	}
	button=4;
	if (spinContinuous) spinDestination=spinTarget;
	spinContinuous=false;
	spinStep=0.6;
	spinDestination += 30.0;
	}
	}
	else if (
	((ircode==AKI_REMO_UP)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_UP])&&(customer_code==ADHOC_CUSTOMER[IR_UP])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=2;
	if (abs(moveRate)<1.0) {
	if (soundSD) soundStartSD(fForward, 10);
	else tone(TONE_PIN, 1000, 100);
	}
	if (moveRate>10.0) {
	if (soundSD) soundStartSD(fAccel, 70);
	else soundStart(soundWow, sizeof(soundWow), 10);
	}
	moveRate+=4.0;
	}
	}
	else if (
	((ircode==AKI_REMO_DOWN)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_DOWN])&&(customer_code==ADHOC_CUSTOMER[IR_DOWN])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=8;
	if (abs(moveRate)<1.0) {
	if (soundSD) soundStartSD(fBack, 10);
	else tone(TONE_PIN, 1000, 100);
	}
	moveRate-=4.0;
	}
	}
	else if (
	((ircode==AKI_REMO_UL)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CIRL])&&(customer_code==ADHOC_CUSTOMER[IR_CIRL])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=1;
	if (abs(spinStep)<0.1) {
	if (soundSD) soundStartSD(fSpin, 10);
	else tone(TONE_PIN, 2000, 20);
	}
	if (!spinContinuous) spinStep=0.0;
	spinContinuous=true;
	spinStep+=0.3;
	}
	}
	else if (
	((ircode==AKI_REMO_UR)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CIRR])&&(customer_code==ADHOC_CUSTOMER[IR_CIRR])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=3;
	if (abs(spinStep)<0.1) {
	if (soundSD) soundStartSD(fSpin, 10);
	else tone(TONE_PIN, 2000, 20);
	}
	if (!spinContinuous) spinStep=0.0;
	spinContinuous=true;
	spinStep-=0.3;
	}
	}
	else if (
	((ircode==AKI_REMO_DL)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_BALF])&&(customer_code==ADHOC_CUSTOMER[IR_BALF])) ) {
	if (demoMode==0) {
	if (moveRate==0.0 && spinTarget==spinDestination) {
	if (drvHLbalance<100) {
	drvHLbalance-=5;
	setColor(1,0,1);
	digitalWrite(LED5,LED_ON);
	writeEEPROMbal();
	digitalWrite(LED5,LED_OFF);
	}
	}
	}
	}
	else if (
	((ircode==AKI_REMO_DR)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_BALB])&&(customer_code==ADHOC_CUSTOMER[IR_BALB])) ) {
	if (demoMode==0) {
	if (moveRate==0.0 && spinTarget==spinDestination) {
	if (drvHLbalance>-100) {
	drvHLbalance+=5;
	setColor(1,0,1);
	digitalWrite(LED5,LED_ON);
	writeEEPROMbal();
	digitalWrite(LED5,LED_OFF);
	}
	}
	}
	}
	else {
	if (pendPhase == -1 && debug && adhoc_ir_num==-1) {
	setColor(1,0,1);
	digitalWrite(LED5, LED_ON);
	randomSoundOn=false;
	adhoc_ir_num=0;
	}
	}
	}
	void regIR() {
	// Ad hoc IR code registration
	if (adhoc_ir_num<ADHOC_IR_MAX) {
	ADHOC_IR[adhoc_ir_num]=ircode;
	ADHOC_CUSTOMER[adhoc_ir_num]=customer_code;
	if (serialMonitor) {
	Serial.print("set ADHOC_IR[");
	Serial.print(adhoc_ir_num);
	Serial.print("] = ");
	Serial.println(ircode, HEX);
	Serial.print("set ADHOC_CUSTOMER[");
	Serial.print(adhoc_ir_num);
	Serial.print("] = ");
	Serial.println(customer_code, HEX);
	}
	if (adhoc_ir_num==0) adhoc_ir_num++;
	else if (ADHOC_IR[adhoc_ir_num-1]!=ircode) adhoc_ir_num++;
	for (int i=1; i<=adhoc_ir_num; i++) {
	digitalWrite(LED5, LED_OFF);
	delay(200);
	digitalWrite(LED5, LED_ON);
	delay(100);
	}
	if (adhoc_ir_num==ADHOC_IR_MAX) {
	writeEEPROMadhoc();
	digitalWrite(LED5, LED_OFF);
	randomSoundOn=true;
	}
	}
	}
	void irInt() {
	if (millis()-lastIrTime<250) return;
	if (irDecoding) return;
	if (digitalRead(IRIN) == IRON) {
	irMicroOn=micros();
	if (irStarted) {
	irDataOff[irOffIndex]=irMicroOn-irMicroOff;
	irOffIndex++;
	if (irOffIndex>=IRBUFFLEN) irStarted=false;
	}
	else {
	irStarted=true;
	irOnIndex=0;
	irOffIndex=0;
	irMicroOff=irMicroOn;
	}
	}
	else {
	irMicroOff=micros();
	irDataOn[irOnIndex]=irMicroOff-irMicroOn;
	irOnIndex++;
	if (irOnIndex>=IRBUFFLEN) irStarted=false;
	}
	}
	void decodeNECAEHA() {
	int len=irOffIndex/8;
	int idx=1;
	for (int i=0; i<len; i++) {
	irData[i]=0;
	for (int j=0; j<8; j++) {
	irData[i]>>=1;
	if (irDataOff[idx]>1000) irData[i]|=0x80;
	idx++;
	}
	}
	customer_code=irData[0]<<8|irData[1];
	ircode=irData[len-2]<<8|irData[len-1];
	irReady=true;
	}
	void decodeSONY() {
	byte data=0;
	for (int i=1; i<=7; i++) {
	if (irDataOn[i]>900) data|=0x80;
	data>>=1;
	}
	unsigned int addr=0;
	int idx=8;
	for (int i=0; i<16; i++) {
	addr>>=1;
	if (idx<irOnIndex && irDataOn[idx]<1800) {
	if (irDataOn[idx]>900) addr|=0x8000;
	idx++;
	}
	}
	customer_code=addr;
	ircode=(unsigned int)data;
	irReady=true;
	}
	void printIrData(String s) {
	if (!serialMonitor) return;
	Serial.println(s);
	Serial.print("Customer=");Serial.println(customer_code, HEX);
	Serial.print("Code=");Serial.println(ircode, HEX);
	/*
	for (int i=0; i<irOffIndex; i++) {
	Serial.print(irDataOn[i]);Serial.print(" ");Serial.println(irDataOff[i]);
	}
	Serial.println("");
	*/
	}
	void soundIntSD() {
	if (sdfile.available() && !soundStop) {
	byte d=sdfile.read();
	if (soundGain!=10) {
	int di=(int)d-128;
	di=(di*soundGain)/10;
	d=(byte)constrain((di+128), 10, 250);
	}
	else d=constrain(d, 10, 250);
	analogWrite(SOUTPIN, d);
	}
	else {
	detachInterrupt(INTSOUND);
	analogWrite(SOUTPIN, 0);
	musicPlaying=false;
	soundBusy=false;
	}
	}
	void soundStartSD(File s, int gain) {
	if (soundBusy || !soundSD || !soundOn) return;
	sdfile=s;
	soundBusy=true;
	soundStop=false;
	if (sdfile.seek(44)) {
	soundGain=gain;
	attachInterrupt(INTSOUND, soundIntSD, RISING);
	analogWrite(SOUTPIN, 128);
	}
	}
	void soundStart(const byte* ptr, unsigned long sz, int gain) {
	if (soundBusy || !soundOn) return;
	counterSec0=counterSec;
	soundBusy=true;
	soundIndex=0;
	soundPtr=ptr;
	soundSize=sz;
	soundGain=gain;
	attachInterrupt(INTSOUND, soundInt, RISING);
	analogWrite(SOUTPIN, 128);
	}
	void soundInt() {
	byte d=soundPtr[soundIndex];
	if (soundGain!=10) {
	int di=(int)d-128;
	di=(di*soundGain)/10;
	d=(byte)constrain((di+128), 10, 250);
	}
	else d=constrain(d, 10, 250);
	analogWrite(SOUTPIN, d);
	soundIndex++;
	if (soundIndex>=soundSize) {
	detachInterrupt(INTSOUND);
	analogWrite(SOUTPIN, 0);
	soundBusy=false;
	}
	}

view raw adzuki_ip_robo_v41.ino hosted with ❤ by GitHub

GR-ADZUKIで倒立振子ロボADZUMIN v40

	//ADZUMIN Inverted Pendulum Robot
	//Copyright MAENOH! & KIRAKULABO 2017
	//wheele dia ~= 58mm
	//Gear ratio ~= 114 (TAMIYA Double Gear Box)
	//Battery: Alkaline x 3
	//MPU/Driver: GR-ADZUKI
	//Gyro/Acc: MPU6050 (I2C)
	//Adhoc IR remote control registration during laying just after power up.
	//SW1: Stand still with debug and serialMonito on (1 blink)
	//SW2: demo (2 blinks)
	//Default: Stand still (no blink)
	#include "Arduino.h"
	#include <Wire.h>
	#include <EEPROM.h>
	#include <SD.h>
	#define LED_R 22
	#define LED_G 23
	#define LED_B 24
	#define HCODE 0x4D //M
	#define PWMMAX 255
	#define M1F 6
	#define M0F 9
	#define M0B 10
	#define M1B 11
	#define LED1_M1F 6
	#define LED2_M0F 9
	#define LED3_M0B 10
	#define LED4_M1B 11
	#define LED5 12
	#define LED6 13
	#define LED_ON 1
	#define LED_OFF 0
	#define SW1 3
	#define SW2 2
	#define GP2Y A0
	#define BATT A1
	#define TONE_PIN 5
	#define AKI_REMO_CUSTOMER (0x10EF)
	#define AKI_REMO_POWER (0xD827)
	#define AKI_REMO_A (0xF807)
	#define AKI_REMO_B (0x7887)
	#define AKI_REMO_C (0x58A7)
	#define AKI_REMO_UP (0xA05F)
	#define AKI_REMO_DOWN (0x00FF)
	#define AKI_REMO_RIGHT (0x807F)
	#define AKI_REMO_LEFT (0x10EF)
	#define AKI_REMO_CENTER (0x20DF)
	#define AKI_REMO_UR (0x21DE)
	#define AKI_REMO_UL (0xB14E)
	#define AKI_REMO_DR (0x817E)
	#define AKI_REMO_DL (0x11EE)
	#define SW_ON 0
	#define SW_OFF 1
	#define SOUTPIN 5
	#define SINTPIN 3
	#define INTSOUND 1
	#define IRIN 2 // IR RECEIVE PIN
	#define INTIR 0 // IR RECEIVE interrupt number
	#define IRON LOW
	#define IROFF HIGH
	#define IRBUFFLEN 200
	// Ad hoc IR code
	#define IR_UP 1
	#define IR_DOWN 7
	#define IR_RIGHT 5
	#define IR_LEFT 3
	#define IR_CENTER 4
	#define IR_CIRL 0
	#define IR_CIRR 2
	#define IR_BALF 6
	#define IR_BALB 8
	#define ADHOC_IR_MAX 9
	#define MAXSINTERVAL 15
	#define MINSINTERVAL 5
	unsigned int ADHOC_CUSTOMER[ADHOC_IR_MAX] = {0xFFFF,0xFFFF,0XFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF}; //1,2,3,4,5,6,7,8,9
	unsigned int ADHOC_IR[ADHOC_IR_MAX] = {0xFFFF,0xFFFF,0XFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF}; // 1,2,3,4,5,6,7,8,9
	int adhoc_ir_num=-1;
	void selectMode();
	void sendSerial();
	void resetPara();
	void resetVar();
	void getGyro();
	void readGyro();
	void calibGyro();
	void calibAcc();
	void calcTarget();
	void drive();
	void motor();
	void resetMotor();
	boolean laid();
	boolean upright();
	boolean standing();
	void drvMotorL(int pwm);
	void drvMotorR(int pwm);
	void checkVoltage();
	void monitorVoltage();
	double getBattVolt();
	void blinkLED(int n);
	void setColor(int r, int g, int b);
	void readEEPROMbal();
	void writeEEPROMbal();
	void readEEPROMadhoc();
	void writeEEPROMadhoc();
	void demo8();
	void getIR();
	void regIR();
	void printIrData();
	void decodeNECAEHA();
	void decodeSONY();
	void irInt();
	void irCommand();
	void printIrData(String s);
	void soundIntSD();
	void soundInt();
	void soundStartSD(File s, int gain);
	void soundStart(const byte* ptr, unsigned long sz, int gain);
	void servoStart(double ang, double stp);
	void servoContinue(double ang, double stp);
	void servoDrive();
	void pendulum();
	void servoHead();
	void randomPlay();
	void openFiles();
	int button=0;
	volatile unsigned long irMicroOn;
	volatile unsigned long irMicroOff;
	volatile unsigned int irDataOn[200];
	volatile unsigned int irDataOff[200];
	volatile int irOnIndex=0;
	volatile int irOffIndex=0;
	volatile boolean irStarted=false;
	volatile boolean irDecoding=false;
	volatile unsigned long lastIrTime=0;
	boolean irReady=false;
	byte irData[30];
	unsigned int ircode;
	unsigned int customer_code;
	int MotorConfig = 0; // 0 to 3
	int accX, accY, accZ, temp, gyroX, gyroY, gyroZ;
	int counter=0;
	volatile int counterSec=0;
	volatile int counterSec0=0;
	unsigned long time1=0;
	unsigned long time0=0;
	double power, powerR, powerL;
	double snsGyroY, snsAccX;
	double varAng, varOmg, varSpd, varDst, varIang, varIdst;
	double gyroOffsetY, gyroOffsetZ, accOffsetX;
	double gyroDataY, gyroDataZ, accDataX, accDataY;
	double gyroLSB=1.0/131.0; // deg/sec
	double accLSB=1.0/16384.0; // g
	double pendClk = 0.01; // in sec,
	unsigned long pendInterval = 10000; // in usec
	double cutoff = 0.1; // 2 * PI * f (f=Hz) //0.1
	double Kang, Komg, Kdst, Kspd, Kspin, KIang, KIdst;
	double spinPower;
	double moveTarget, moveRate=0.0; //moveRate 0:stop, +:forward, -:backward
	double moveStep = 0.0013;
	double spinDestination, spinTarget;
	double spinStep = 0.0;
	double spinAngle;
	boolean spinContinuous=false;
	int pendPhase=-1;
	int ipowerR = 0;
	int ipowerL = 0;
	int motorRdir=0; //stop 1:+ -1:-
	int motorLdir=0; //stop
	int backlashSpd;
	double mechFactorR, mechFactorL;
	double battFactor=1.3; // 2016.07.14
	double bVolt;
	double maxSpd=250.0;
	int counterOverSpd;
	int maxOverSpd=15;
	double aveAccX=0.0;
	double aveAccY=0.0;
	boolean debug=false;
	boolean serialMonitor=false;
	double aveVolt=4.5;
	boolean usbPower=false;
	int8_t drvHLbalance=0;
	int demoPhase=0;
	int demoDelayCounter=0;
	int demoMode=0;
	int servoPhase=1;
	boolean servoComplete=false;
	int servoPulseWidth=1500;
	double servoAngDestination=90.0;
	double servoAngTarget=90.0;
	double servoAngStep=1.0;
	int servoWidth=1500; //in usec
	File voiceFile[11];
	File musicFile[10];
	File sdfile;
	File fGreet, fStop, fRight, fLeft, fForward, fBack, fSpin, fAccel, fTipover, fDemo, fDebug, fBattery, fReplace;
	volatile boolean soundBusy=false;
	volatile unsigned long soundIndex=0;
	volatile const byte *soundPtr;
	volatile unsigned long soundSize;
	volatile int soundGain=10; //10=100%
	boolean soundSD;
	boolean soundFlg=false;
	int soundInterval=MAXSINTERVAL;
	volatile boolean soundStop=false;
	int soundId;
	boolean musicPlaying=false;
	boolean soundOn=true;
	boolean randomSoundOn=true;
	int soundPhase=1;
	int maxVoiceFile=0;
	int minVoiceFile=-1;
	int maxMusicFile=0;
	int minMusicFile=-1;
	const char *soundVoice[] = {"vmu_168m.wav", "v1_168m.wav", "v2_168m.wav", "v3_168m.wav", "v4_168m.wav", "v5_168m.wav", "v6_168m.wav", "v7_168m.wav", "v8_168m.wav", "v9_168m.wav", "v10_168m.wav"};
	const char *soundMusic[] = {"mu1_168m.wav", "mu2_168m.wav", "mu3_168m.wav", "mu4_168m.wav", "mu5_168m.wav", "mu6_168m.wav", "mu7_168m.wav", "mu8_168m.wav", "mu9_168m.wav", "mu10_168m.wav"};
	const double headLeft=150.0;
	const double headRight=30.0;
	const byte soundGreet[] = {
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x75,0x74,0x71,0x6e,
	0x6f,0x73,0x7b,0x81,0x8b,0x8e,0x8e,0x8c,0x8a,0x86,0x80,0x7e,0x80,0x7f,0x81,0x80,
	0x80,0x7f,0x7e,0x80,0x78,0x77,0x76,0x7c,0x7f,0x84,0x8d,0x8f,0x95,0x92,0x8e,0x86,
	0x80,0x7d,0x79,0x79,0x7c,0x7f,0x80,0x80,0x7d,0x79,0x7a,0x7a,0x7d,0x7f,0x84,0x87,
	0x88,0x88,0x87,0x85,0x85,0x81,0x72,0x67,0x60,0x61,0x68,0x76,0x85,0x90,0x98,0x96,
	0x8c,0x81,0x7d,0x7e,0x80,0x86,0x89,0x8b,0x8a,0x88,0x81,0x76,0x78,0x77,0x7c,0x82,
	0x8a,0x91,0x92,0x8d,0x80,0x73,0x6a,0x69,0x6a,0x71,0x7b,0x84,0x85,0x84,0x80,0x7a,
	0x75,0x73,0x74,0x73,0x77,0x7b,0x7f,0x81,0x87,0x8d,0x90,0x91,0x8f,0x8a,0x82,0x7c,
	0x77,0x71,0x70,0x74,0x79,0x81,0x8d,0x9a,0xa1,0xa2,0x9c,0x93,0x85,0x78,0x70,0x6a,
	0x69,0x6a,0x6d,0x6d,0x6f,0x72,0x72,0x71,0x75,0x7d,0x85,0x8e,0x96,0x97,0x93,0x8c,
	0x84,0x78,0x72,0x73,0x76,0x7b,0x7f,0x80,0x80,0x80,0x7f,0x7e,0x76,0x71,0x6d,0x70,
	0x78,0x81,0x8d,0x94,0x98,0x94,0x8e,0x84,0x7f,0x7e,0x7f,0x81,0x84,0x88,0x89,0x87,
	0x83,0x7b,0x72,0x6c,0x6a,0x6b,0x6e,0x78,0x7f,0x86,0x8b,0x8e,0x8f,0x8e,0x8b,0x87,
	0x83,0x7d,0x77,0x70,0x68,0x62,0x60,0x63,0x6a,0x78,0x89,0x96,0xa1,0xa3,0xa1,0x98,
	0x91,0x8a,0x86,0x82,0x86,0x7e,0x7d,0x76,0x57,0x52,0x50,0x60,0x78,0xa2,0xbe,0xc9,
	0xc8,0xac,0x83,0x60,0x57,0x57,0x66,0x7c,0x90,0x92,0x8b,0x7d,0x67,0x56,0x57,0x5f,
	0x6d,0x81,0x95,0x9b,0x94,0x89,0x7b,0x70,0x6f,0x78,0x80,0x88,0x88,0x82,0x72,0x68,
	0x64,0x69,0x73,0x83,0x90,0x95,0x98,0x91,0x8e,0x8b,0x93,0x9d,0x9f,0xa1,0x95,0x82,
	0x6a,0x5c,0x5c,0x67,0x87,0x92,0x97,0x94,0x7d,0x65,0x53,0x5e,0x75,0x9b,0xbc,0xbc,
	0xa9,0x92,0x75,0x5a,0x4d,0x50,0x5d,0x6d,0x7c,0x81,0x7d,0x7a,0x74,0x6b,0x66,0x6c,
	0x78,0x83,0x8a,0x8c,0x89,0x80,0x7b,0x76,0x76,0x7a,0x83,0x8a,0x8c,0x8d,0x8d,0x8c,
	0x88,0x8d,0x91,0x9a,0xa3,0xad,0xad,0xa6,0xa3,0xa2,0xa4,0xa4,0x8b,0x66,0x50,0x3c,
	0x33,0x33,0x3f,0x53,0x6d,0x8c,0x9a,0x9e,0xa4,0xa8,0x9f,0x91,0x87,0x7a,0x72,0x6d,
	0x64,0x58,0x52,0x54,0x58,0x5c,0x66,0x74,0x82,0x8a,0x90,0x90,0x8c,0x89,0x87,0x84,
	0x83,0x86,0x8a,0x88,0x87,0x89,0x8b,0x8b,0x8e,0x90,0x94,0x9b,0xa2,0xaa,0xa8,0xb0,
	0xa8,0xac,0x8f,0x66,0x57,0x3d,0x39,0x45,0x5b,0x69,0x84,0x94,0x8e,0x86,0x81,0x82,
	0x7d,0x84,0x8e,0x91,0x92,0x91,0x81,0x6b,0x5b,0x54,0x50,0x54,0x62,0x74,0x7d,0x83,
	0x81,0x7c,0x75,0x77,0x7a,0x7d,0x87,0x91,0x93,0x8b,0x84,0x7c,0x77,0x78,0x7c,0x86,
	0x8e,0x97,0x9b,0x96,0x99,0x97,0x9e,0xa3,0xb0,0xb6,0xb5,0xb0,0x7e,0x5f,0x55,0x40,
	0x38,0x4b,0x5d,0x6a,0x80,0x89,0x80,0x81,0x8c,0x8a,0x87,0x94,0x9f,0x96,0x8d,0x81,
	0x6a,0x5c,0x5b,0x5b,0x5d,0x67,0x73,0x75,0x72,0x73,0x77,0x7a,0x82,0x8a,0x8e,0x90,
	0x8f,0x87,0x7c,0x76,0x77,0x7a,0x7c,0x7e,0x80,0x7d,0x79,0x74,0x76,0x7c,0x8a,0x97,
	0xa2,0xab,0xb5,0xbb,0xbd,0xc1,0xc2,0xc1,0xa0,0x72,0x45,0x2d,0x26,0x2a,0x3d,0x50,
	0x70,0x88,0x8f,0x80,0x7f,0x8e,0x9a,0xa7,0xa9,0xa8,0xa2,0x97,0x7f,0x5b,0x46,0x45,
	0x4d,0x54,0x5f,0x6b,0x72,0x78,0x79,0x77,0x7b,0x89,0x95,0x97,0x96,0x90,0x88,0x7d,
	0x75,0x71,0x74,0x7b,0x82,0x83,0x82,0x80,0x83,0x85,0x8e,0x9b,0xab,0xbb,0xc6,0xd0,
	0xd0,0xcb,0x9c,0x78,0x5a,0x32,0x25,0x30,0x40,0x59,0x6c,0x6e,0x70,0x70,0x80,0x89,
	0x96,0xb0,0xbf,0xbb,0xa5,0x8a,0x6f,0x5b,0x56,0x57,0x5f,0x68,0x71,0x69,0x58,0x56,
	0x5b,0x6b,0x7d,0x93,0x9f,0xa2,0x9c,0x8d,0x7c,0x75,0x7a,0x80,0x84,0x85,0x82,0x77,
	0x6c,0x65,0x67,0x72,0x87,0x99,0xa6,0xaf,0xb5,0xb7,0xbd,0xc6,0xd1,0xde,0xb9,0x84,
	0x5c,0x35,0x18,0x17,0x2a,0x45,0x6c,0x76,0x74,0x6e,0x7b,0x8f,0x97,0xab,0xbc,0xc5,
	0xb9,0x9b,0x76,0x5b,0x53,0x53,0x55,0x58,0x63,0x69,0x63,0x54,0x56,0x67,0x7e,0x93,
	0x9f,0xa3,0xa0,0x9b,0x88,0x77,0x74,0x7d,0x7f,0x7e,0x7a,0x74,0x70,0x6e,0x6f,0x78,
	0x88,0x9d,0xac,0xb2,0xb9,0xbc,0xc4,0xcf,0xe5,0xb4,0x7f,0x77,0x3b,0x19,0x27,0x37,
	0x4c,0x61,0x78,0x63,0x62,0x7b,0x7a,0x85,0xad,0xc8,0xb7,0xb4,0xa5,0x89,0x6d,0x57,
	0x54,0x57,0x69,0x65,0x59,0x4f,0x4d,0x5f,0x68,0x75,0x8e,0xa8,0xa8,0x9a,0x8d,0x7d,
	0x7d,0x81,0x80,0x7c,0x85,0x88,0x7d,0x6a,0x6b,0x72,0x7b,0x89,0x9b,0xab,0xb1,0xb0,
	0xa5,0xb1,0xb4,0xc8,0xc6,0xb2,0x83,0x4e,0x35,0x1b,0x31,0x4f,0x63,0x68,0x6f,0x69,
	0x5d,0x71,0x85,0x96,0xb0,0xbe,0xb9,0xa6,0x97,0x7f,0x6a,0x5b,0x53,0x54,0x5f,0x67,
	0x5e,0x5a,0x55,0x5a,0x6b,0x7f,0x92,0xa3,0xab,0x9e,0x8e,0x82,0x7b,0x7b,0x7f,0x84,
	0x80,0x81,0x7b,0x72,0x6f,0x78,0x85,0x94,0xa3,0xad,0xb4,0xbc,0xc2,0xc6,0xd0,0xae,
	0x96,0x74,0x49,0x3b,0x38,0x3d,0x44,0x56,0x4e,0x4a,0x52,0x60,0x77,0x92,0xaf,0xb6,
	0xba,0xb2,0xa0,0x90,0x85,0x7f,0x76,0x6f,0x62,0x58,0x4d,0x48,0x49,0x53,0x65,0x78,
	0x88,0x91,0x95,0x95,0x94,0x8f,0x90,0x90,0x8f,0x8a,0x83,0x78,0x70,0x6c,0x6c,0x70,
	0x7b,0x87,0x91,0x9b,0xa1,0xa8,0xaf,0xbd,0xc7,0xda,0xc4,0xa9,0x8d,0x5d,0x4c,0x42,
	0x43,0x49,0x57,0x58,0x4c,0x4f,0x54,0x64,0x7c,0x96,0xa7,0xaf,0xb2,0xa4,0x97,0x8b,
	0x85,0x7f,0x7a,0x70,0x63,0x58,0x4d,0x4a,0x4e,0x5b,0x6b,0x79,0x82,0x87,0x8b,0x8e,
	0x8f,0x91,0x93,0x94,0x90,0x8c,0x85,0x7f,0x7f,0x7e,0x80,0x84,0x8a,0x8f,0x97,0x9f,
	0xaa,0xb4,0xc5,0xc7,0xac,0x9a,0x79,0x60,0x58,0x55,0x57,0x5c,0x61,0x54,0x4b,0x4e,
	0x57,0x6b,0x83,0x95,0x9e,0xa2,0x9e,0x94,0x8c,0x8a,0x8b,0x8b,0x83,0x77,0x68,0x5a,
	0x51,0x51,0x59,0x65,0x74,0x7a,0x79,0x79,0x7c,0x80,0x88,0x92,0x97,0x96,0x92,0x88,
	0x7f,0x7d,0x80,0x84,0x89,0x8d,0x8e,0x8e,0x91,0x95,0xa3,0xb2,0xc3,0xca,0xb0,0x9d,
	0x7e,0x63,0x5c,0x5b,0x60,0x62,0x67,0x55,0x47,0x47,0x4d,0x62,0x7c,0x91,0x99,0x9e,
	0x98,0x8d,0x8a,0x8c,0x90,0x92,0x8e,0x7e,0x6f,0x60,0x56,0x54,0x5c,0x68,0x71,0x77,
	0x73,0x72,0x73,0x78,0x80,0x8b,0x93,0x96,0x94,0x8d,0x86,0x85,0x87,0x8a,0x8e,0x90,
	0x90,0x91,0x93,0x95,0xa2,0xa9,0xb9,0xb9,0xa1,0x95,0x78,0x68,0x65,0x66,0x67,0x6a,
	0x6b,0x57,0x4c,0x4c,0x52,0x65,0x7c,0x8a,0x8e,0x93,0x8d,0x86,0x88,0x8c,0x90,0x94,
	0x8e,0x80,0x73,0x67,0x5f,0x5f,0x65,0x6b,0x72,0x70,0x6c,0x6c,0x6e,0x74,0x7f,0x8a,
	0x90,0x93,0x90,0x8a,0x88,0x8a,0x8e,0x93,0x96,0x97,0x95,0x95,0x94,0x9b,0xa3,0xaf,
	0xb1,0xa3,0x97,0x80,0x70,0x6a,0x66,0x69,0x6c,0x6c,0x60,0x55,0x52,0x54,0x61,0x72,
	0x7e,0x86,0x8b,0x88,0x83,0x85,0x89,0x8e,0x93,0x91,0x87,0x7d,0x72,0x69,0x67,0x6c,
	0x70,0x74,0x73,0x6f,0x6c,0x6c,0x70,0x77,0x82,0x88,0x8c,0x8b,0x88,0x85,0x87,0x8b,
	0x8f,0x93,0x96,0x96,0x93,0x93,0x96,0x9c,0xa4,0xaf,0xa9,0x9d,0x93,0x7e,0x74,0x70,
	0x6e,0x6f,0x71,0x6c,0x5d,0x58,0x56,0x59,0x65,0x72,0x79,0x7e,0x82,0x7e,0x7e,0x83,
	0x88,0x8e,0x91,0x8f,0x87,0x80,0x77,0x73,0x73,0x75,0x77,0x77,0x72,0x6e,0x6c,0x6c,
	0x70,0x77,0x7e,0x82,0x86,0x86,0x84,0x86,0x89,0x8b,0x90,0x93,0x95,0x94,0x95,0x94,
	0x97,0x99,0xa1,0xa1,0x98,0x95,0x86,0x7e,0x7a,0x78,0x74,0x75,0x73,0x67,0x62,0x5f,
	0x5f,0x64,0x6c,0x71,0x73,0x79,0x77,0x79,0x7b,0x80,0x84,0x88,0x89,0x86,0x86,0x80,
	0x7f,0x7d,0x7e,0x7e,0x7f,0x7c,0x78,0x76,0x74,0x75,0x77,0x7a,0x7c,0x7e,0x7f,0x7e,
	0x7f,0x83,0x85,0x8a,0x8d,0x8f,0x8f,0x91,0x8f,0x92,0x95,0x9a,0x9c,0x97,0x94,0x8b,
	0x85,0x82,0x7f,0x7d,0x7c,0x7a,0x72,0x6c,0x68,0x66,0x69,0x6d,0x71,0x72,0x75,0x74,
	0x74,0x76,0x79,0x7e,0x82,0x85,0x84,0x84,0x81,0x81,0x80,0x81,0x83,0x83,0x82,0x7f,
	0x7e,0x7b,0x7b,0x7d,0x7d,0x7d,0x7e,0x7d,0x7d,0x7e,0x80,0x82,0x85,0x86,0x88,0x89,
	0x8b,0x8b,0x8d,0x8e,0x90,0x91,0x90,0x8d,0x89,0x87,0x84,0x83,0x81,0x7f,0x7d,0x79,
	0x75,0x72,0x71,0x71,0x72,0x73,0x73,0x74,0x73,0x74,0x75,0x77,0x7a,0x7d,0x7f,0x80,
	0x80,0x80,0x81,0x81,0x83,0x83,0x83,0x82,0x7f,0x7d,0x7c,0x7c,0x7e,0x7e,0x80,0x7f,
	0x7f,0x7d,0x7e,0x80,0x80,0x84,0x86,0x85,0x87,0x87,0x87,0x8a,0x8a,0x8d,0x8c,0x8b,
	0x8a,0x85,0x85,0x83,0x83,0x83,0x82,0x80,0x7d,0x7a,0x77,0x76,0x76,0x76,0x76,0x76,
	0x76,0x75,0x76,0x75,0x76,0x79,0x7b,0x7d,0x7f,0x80,0x80,0x81,0x81,0x81,0x82,0x82,
	0x81,0x80,0x80,0x7f,0x7d,0x7f,0x7d,0x7e,0x7e,0x7d,0x7e,0x7f,0x80,0x81,0x81,0x82,
	0x82,0x83,0x83,0x85,0x86,0x87,0x89,0x87,0x88,0x87,0x85,0x84,0x84,0x83,0x83,0x83,
	0x82,0x80,0x7f,0x7d,0x7b,0x7b,0x7a,0x7a,0x7a,0x79,0x78,0x78,0x77,0x78,0x79,0x7b,
	0x7c,0x7e,0x7e,0x7f,0x7e,0x7f,0x7e,0x80,0x7f,0x82,0x81,0x80,0x80,0x7e,0x7d,0x7d,
	0x7e,0x7e,0x80,0x7e,0x7f,0x7d,0x80,0x80,0x81,0x84,0x83,0x83,0x85,0x84,0x85,0x88,
	0x87,0x88,0x86,0x85,0x83,0x81,0x82,0x81,0x81,0x81,0x80,0x7f,0x7e,0x7d,0x7d,0x7c,
	0x7c,0x7c,0x7b,0x79,0x78,0x78,0x78,0x79,0x7a,0x7c,0x7c,0x7c,0x7b,0x7c,0x7c,0x7e,
	0x82,0x82,0x83,0x82,0x80,0x7f,0x7f,0x7e,0x80,0x7f,0x7f,0x7f,0x7d,0x7e,0x7f,0x80,
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	0x81,0x7f,0x81,0x7d,0x81,0x7d,0x81,0x7f,0x81,0x7f,0x80,0x7f,0x7e,0x80,0x7e,0x82,
	0x7f,0x81,0x7f,0x80,0x7f,0x7e,0x81,0x7f,0x7f,0x81,0x7f,0x80,0x80,0x7f,0x82,0x7f,
	0x80,0x81,0x7e,0x81,0x7e,0x81,0x7e,0x82,0x7e,0x80,0x80,0x7e,0x82,0x7c,0x84,0x7d,
	0x81,0x80,0x80,0x80,0x7f,0x81,0x7e,0x81,0x80,0x7f,0x80,0x7e,0x81,0x7e,0x80,0x80,
	0x7e,0x80,0x7f,0x7f,0x81,0x7f,0x80,0x80,0x7e,0x82,0x7c,0x83,0x7e,0x81,0x80,0x7f,
	0x81,0x7e,0x82,0x7e,0x81,0x7e,0x82,0x7d,0x81,0x7e,0x80,0x81,0x7e,0x83,0x7e,0x81,
	0x7e,0x80,0x7f,0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x81,0x7f,0x81,0x7f,
	0x81,0x7e,0x81,0x80,0x7e,0x82,0x7d,0x82,0x7e,0x81,0x80,0x7d,0x81,0x7d,0x80,0x7f,
	0x80,0x7f,0x7f,0x80,0x7e,0x80,0x7f,0x81,0x7f,0x81,0x7f,0x7f,0x80,0x7f,0x81,0x7f,
	0x81,0x7f,0x7f,0x80,0x7e,0x80,0x7f,0x7f,0x81,0x80,0x7f,0x7f,0x80,0x80,0x7e,0x81,
	0x80,0x7e,0x7f,0x7f,0x80,0x7e,0x82,0x7e,0x81,0x7f,0x7f,0x80,0x7d,0x82,0x7d,0x82,
	0x7f,0x7f,0x80,0x7d,0x81,0x7e,0x81,0x7f,0x7f,0x80,0x7d,0x80,0x7f,0x81,0x7e,0x81,
	0x80,0x7e,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7e,0x81,0x7d,0x81,0x7d,0x81,0x7f,
	0x7f,0x81,0x7d,0x80,0x7e,0x80,0x80,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,
	0x80,0x7f,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x81,0x7e,0x80,0x7e,0x81,0x7f,
	0x7f,0x81,0x7d,0x81,0x7d,0x81,0x7f,0x7f,0x80,0x7e,0x80,0x7f,0x81,0x7f,0x80,0x7f,
	0x80,0x80,0x7f,0x81,0x7f,0x80,0x7e,0x80,0x7e,0x80,0x80,0x7e,0x80,0x7f,0x80,0x7e,
	0x81,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7e,0x81,0x7e,0x80,0x7f,0x80,
	0x7e,0x80,0x7f,0x7e,0x81,0x7f,0x80,0x7e,0x80,0x7e,0x7f,0x80,0x7e,0x80,0x7f,0x7f,
	0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x80,0x80,
	0x7e,0x81,0x80,0x7f,0x81,0x7e,0x81,0x7e,0x81,0x7f,0x7f,0x81,0x7e,0x80,0x7f,0x7f,
	0x80,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x81,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7e,0x81,0x7e,0x80,0x7f,0x81,0x7f,0x80,0x81,
	0x7e,0x81,0x7e,0x81,0x7e,0x81,0x80,0x7f,0x80,0x7f,0x7f,0x81,0x7f,0x81,0x7f,0x80,
	0x80,0x7e,0x81,0x7e,0x80,0x80,0x80,0x7f,0x7f,0x81,0x7f,0x7f,0x82,0x7e,0x81,0x7f,
	0x80,0x7f,0x80,0x81,0x7e,0x82,0x7e,0x81,0x7f,0x80,0x7f,0x7f,0x7f,0x7f,0x80,0x7f,
	0x80,0x80,0x7f,0x80,0x80,0x80,0x80,0x80,0x81,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,
	0x80,0x7f,0x81,0x7f,0x80,0x80,0x7f,0x80,0x7e,0x80,0x80,0x7f,0x81,0x7f,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,
	0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7e,0x81,0x7f,0x80,0x7f,
	0x81,0x7f,0x80,0x80,0x7f,0x81,0x7e,0x81,0x7e,0x80,0x7f,0x80,0x7f,0x80,0x7e,0x80,
	0x7f,0x7f,0x81,0x7e,0x81,0x7e,0x80,0x7f,0x7f,0x80,0x7f,0x81,0x7e,0x7f,0x80,0x7f,
	0x80,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x7e,0x7f,0x7f,
	0x7f,0x80,0x80,0x80,0x7e,0x80,0x7e,0x80,0x80,0x80,0x80,0x7e,0x80,0x7e,0x7f,0x80,
	0x7f,0x80,0x80,0x7e,0x80,0x7e,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,
	0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x81,0x7f,0x7f,0x80,0x7e,0x80,
	0x7f,0x80,0x7f,0x7e,0x80,0x7d,0x81,0x7e,0x7f,0x81,0x7e,0x80,0x7f,0x80,0x80,0x7e,
	0x81,0x7d,0x81,0x7f,0x7f,0x80,0x7e,0x81,0x7d,0x81,0x7e,0x80,0x80,0x7f,0x80,0x7f,
	0x81,0x7e,0x80,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7e,0x80,0x7f,0x80,0x80,0x7f,0x80,
	0x7f,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x80,0x7e,0x80,0x7f,0x7f,0x7f,0x80,0x80,0x7f,
	0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,
	0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x80,
	0x7f,0x81,0x7f,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x81,0x7f,0x7f,0x80,0x7f,0x7f,
	0x80,0x7f,0x80,0x80,0x7f,0x80,0x80,0x80,0x7f,0x81,0x7f,0x80,0x80,0x7f,0x80,0x7f,
	0x81,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x81,0x7f,0x80,0x7f,0x80,
	0x7f,0x80,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7e,0x81,0x7f,0x82,0x7e,0x80,0x7f,
	0x7f,0x80,0x7f,0x81,0x7e,0x81,0x7e,0x80,0x7e,0x81,0x7f,0x80,0x80,0x7f,0x80,0x7e,
	0x81,0x7f,0x81,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x80,
	0x80,0x7f,0x81,0x7e,0x81,0x7e,0x80,0x80,0x7f,0x81,0x7e,0x81,0x7e,0x80,0x7f,0x80,
	0x80,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x81,
	0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7e,0x81,0x7e,0x81,0x7e,0x80,0x7e,0x80,0x80,
	0x7f,0x81,0x7e,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7e,0x80,0x7f,0x7f,
	0x80,0x7f,0x80,0x7f,0x81,0x7e,0x81,0x7e,0x81,0x7e,0x80,0x7f,0x80,0x80,0x7f,0x80,
	0x7e,0x81,0x7e,0x81,0x7e,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x7f,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7e,0x7f,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x7f,
	0x80,0x7f,0x7f,0x7f,0x80,0x80,0x7f,0x80,0x7e,0x80,0x7e,0x80,0x7e,0x80,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x80,0x7e,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,
	0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x81,
	0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x81,0x7e,0x80,0x7e,0x80,0x7f,0x80,0x80,0x7f,0x80,
	0x7f,0x80,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x80,0x7f,0x81,
	0x7e,0x81,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x81,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x80,0x7f,0x81,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,
	0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,
	0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,
	0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x80,0x7f,0x7f,0x80,
	0x7f,0x80,0x80,0x80,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,
	0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,
	0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x81,0x7f,0x80,0x7f,0x7f,0x7f,
	0x80,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,
	0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x80,
	0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x80,
	0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,
	0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x7f,0x80,0x7f,0x80,0x7f,
	0x80,0x7f,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x80,0x80,
	0x80,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x7f,0x80,0x80,0x80
	};
	const byte soundWow[] ={
	0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x80,
	0x80,0x80,0x80,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x81,0x81,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x81,0x80,0x81,0x80,0x80,0x80,0x7f,
	0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,0x7f,0x80,0x80,
	0x80,0x7e,0x80,0x7e,0x81,0x78,0x79,0x82,0x7b,0x83,0x82,0x84,0x80,0x82,0x7f,0x80,
	0x7e,0x80,0x7e,0x7f,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x7f,0x80,0x80,0x80,0x7f,0x7f,0x7f,0x7f,0x7e,0x7f,0x7f,
	0x7f,0x7f,0x7f,0x7f,0x7f,0x7a,0x76,0x7e,0x7a,0x80,0x81,0x86,0x83,0x84,0x81,0x80,
	0x7d,0x7f,0x7f,0x80,0x7e,0x7d,0x80,0x80,0x83,0x83,0x85,0x83,0x82,0x81,0x75,0x7e,
	0x79,0x7d,0x7f,0x83,0x82,0x84,0x82,0x80,0x80,0x7d,0x80,0x7c,0x80,0x7f,0x80,0x80,
	0x81,0x7f,0x7f,0x7e,0x7e,0x80,0x7f,0x81,0x7f,0x81,0x7f,0x80,0x7f,0x81,0x7f,0x81,
	0x80,0x81,0x80,0x81,0x80,0x81,0x81,0x80,0x7e,0x7f,0x7e,0x7f,0x81,0x80,0x81,0x7f,
	0x80,0x7e,0x7f,0x7e,0x80,0x7e,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7e,0x7f,0x7f,0x7f,
	0x7f,0x81,0x7f,0x7f,0x80,0x7f,0x7f,0x80,0x80,0x7f,0x7f,0x7f,0x80,0x7f,0x7f,0x81,
	0x7f,0x80,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x7f,0x80,0x80,0x80,0x80,0x81,0x80,
	0x80,0x7f,0x7f,0x80,0x80,0x7f,0x82,0x7f,0x81,0x7f,0x80,0x7f,0x7f,0x7f,0x80,0x7f,
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	0x68,0x78,0x7f,0x7a,0x7b,0x88,0x8f,0x92,0x99,0xa7,0xa7,0x8f,0x6b,0x5d,0x5d,0x61,
	0x69,0x75,0x7e,0x7b,0x7a,0x86,0x91,0x93,0x98,0xa4,0xad,0x97,0x6d,0x5a,0x57,0x5d,
	0x66,0x77,0x84,0x80,0x79,0x82,0x8c,0x90,0x95,0xa4,0xac,0x9d,0x72,0x5a,0x58,0x5b,
	0x63,0x75,0x83,0x82,0x79,0x82,0x8d,0x8f,0x92,0xa2,0xb1,0xa6,0x7a,0x58,0x53,0x56,
	0x60,0x74,0x87,0x86,0x7b,0x7c,0x89,0x8d,0x8f,0x9d,0xb0,0xae,0x89,0x5c,0x52,0x53,
	0x5b,0x6c,0x83,0x8a,0x80,0x7c,0x87,0x8a,0x8b,0x98,0xaf,0xb6,0x93,0x62,0x51,0x52,
	0x56,0x66,0x83,0x8f,0x81,0x76,0x81,0x8a,0x89,0x92,0xad,0xb9,0xa0,0x71,0x55,0x50,
	0x4f,0x5e,0x7b,0x90,0x88,0x7a,0x7a,0x83,0x83,0x8c,0xa6,0xb8,0xb6,0x89,0x59,0x4d,
	0x4f,0x57,0x6d,0x89,0x93,0x82,0x78,0x7c,0x84,0x85,0x95,0xaf,0xbf,0xa8,0x71,0x50,
	0x4d,0x52,0x5e,0x7a,0x91,0x8c,0x79,0x77,0x80,0x83,0x83,0x9d,0xba,0xc1,0x99,0x5b,
	0x47,0x4e,0x57,0x6c,0x8b,0x92,0x7f,0x73,0x7b,0x81,0x82,0x89,0xa3,0xbb,0xbf,0x93,
	0x55,0x45,0x4b,0x5c,0x7d,0x98,0x8b,0x6d,0x68,0x7d,0x85,0x85,0x88,0x9f,0xb6,0xc0,
	0x9b,0x5c,0x42,0x49,0x5b,0x7a,0x9b,0x98,0x6f,0x5e,0x73,0x85,0x81,0x7e,0x97,0xb4,
	0xc7,0xb4,0x74,0x45,0x3f,0x4d,0x70,0x9a,0xa5,0x7d,0x5f,0x69,0x7d,0x7e,0x7a,0x86,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80
	};
	void setup() {
	attachInterrupt(INTIR, irInt, CHANGE);
	analogWriteFrequency(16000);
	pinMode(LED1_M1F, OUTPUT);
	pinMode(LED2_M0F, OUTPUT);
	pinMode(LED3_M0B, OUTPUT);
	pinMode(LED4_M1B, OUTPUT);
	pinMode(LED5, OUTPUT);
	pinMode(LED6, OUTPUT);
	pinMode(LED_R, OUTPUT);
	pinMode(LED_G, OUTPUT);
	pinMode(LED_B, OUTPUT);
	pinMode(4, OUTPUT);
	pinMode(SW1, INPUT_PULLUP);
	pinMode(SW2, INPUT_PULLUP);
	digitalWrite(LED1_M1F, LED_OFF);
	digitalWrite(LED2_M0F, LED_OFF);
	digitalWrite(LED3_M0B, LED_OFF);
	digitalWrite(LED4_M1B, LED_OFF);
	digitalWrite(LED5, LED_OFF);
	digitalWrite(LED6, LED_OFF);
	randomSeed((unsigned int)analogRead(BATT));
	Serial.begin(115200);
	Wire.begin();
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6B); // Power management register
	Wire.write(0); // wake up MPU-6050
	Wire.endTransmission(true);
	SD2.begin(27);
	checkVoltage();
	selectMode();
	pinMode(SOUTPIN, OUTPUT);
	analogWrite(SOUTPIN, 0);
	delay(100); //allow pullup and gyro to stabilize
	readEEPROMbal();
	readEEPROMadhoc();
	resetPara();
	resetVar();
	digitalWrite(LED6, LED_ON);
	calibGyro();
	digitalWrite(LED6, LED_OFF);
	soundStart(soundGreet, sizeof(soundGreet), 70);
	openFiles();
	while (soundBusy);
	if (demoMode==2) soundStartSD(fDemo, 70);
	if (debug) soundStartSD(fDebug, 70);
	}
	void loop(){
	time0=micros();
	getIR();
	getGyro();
	pendulum();
	servoHead();
	randomPlay();
	if (pendPhase!=-1) monitorVoltage();
	counter += 1;
	if (counter >= 100) {
	counter = 0;
	counterSec++;
	if (debug) digitalWrite(LED6, LED_ON);
	if (serialMonitor) sendSerial();
	digitalWrite(LED6, LED_OFF);
	}
	while (micros() - time0 < pendInterval);
	}
	void pendulum() {
	switch (pendPhase) {
	case -1: //wait until upright
	calcTarget();
	if (upright()) pendPhase =0;
	break;
	case 0: //calib Acc
	resetVar();
	demoDelayCounter=0;
	demoPhase=0;
	delay(1300);
	digitalWrite(LED6, LED_ON);
	calibAcc();
	digitalWrite(LED6, LED_OFF);
	pendPhase=1;
	break;
	case 1: //run
	if (demoMode==2) demo8();
	calcTarget();
	drive();
	if (!standing()) {
	if (musicPlaying) soundStop=true;
	soundStart(soundWow, sizeof(soundWow), 70);
	pendPhase=6;
	}
	else if (counterOverSpd > maxOverSpd) {
	if (musicPlaying) soundStop=true;
	delay(1000);
	pendPhase=2;
	}
	break;
	case 2: //wait until upright
	if (upright()) pendPhase=0;
	break;
	case 6: //fell
	if (laid() && !soundBusy) pendPhase=8;
	break;
	case 8:
	if (soundSD) soundStartSD(fTipover, 70);
	pendPhase=2;
	break;
	}
	}
	void openFiles() {
	fGreet=SD2.open("kon168m.wav");
	if (!fGreet) {
	soundSD=false;
	return;
	}
	soundSD=true;
	fStop=SD2.open("tom168m.wav");
	fRight=SD2.open("mig168m.wav");
	fLeft=SD2.open("hid168m.wav");
	fForward=SD2.open("sus168m.wav");
	fBack=SD2.open("bac168m.wav");
	fSpin=SD2.open("maw168m.wav");
	fAccel=SD2.open("kaso168m.wav");
	fTipover=SD2.open("koro168m.wav");
	fDemo=SD2.open("demo168m.wav");
	fDebug=SD2.open("debu168m.wav");
	fBattery=SD2.open("denc168m.wav");
	fReplace=SD2.open("kouk168m.wav");
	voiceFile[0]=SD2.open(soundVoice[0]);
	if (voiceFile[0]) {
	if (serialMonitor) Serial.println(soundVoice[0]);
	minVoiceFile=0;
	}
	for (int i=1; i<sizeof(soundVoice)/2; i++) {
	voiceFile[i]=SD2.open(soundVoice[i]);
	if (voiceFile[i]) {
	if (serialMonitor) Serial.println(soundVoice[i]);
	maxVoiceFile=i;
	}
	}
	if (minVoiceFile==-1 && maxVoiceFile>=1) minVoiceFile=1;
	for (int i=0; i<sizeof(soundMusic)/2; i++) {
	musicFile[i]=SD2.open(soundMusic[i]);
	if (musicFile[i]) {
	if (serialMonitor) Serial.println(soundMusic[i]);
	minMusicFile=0;
	maxMusicFile=i;
	}
	}
	}
	void randomPlay() {
	if (!randomSoundOn || minVoiceFile==-1) return;
	// if (abs(moveRate)<10.0 && abs(spinStep)<1.5) {
	switch (soundPhase) {
	case 1:
	if (!soundBusy) {
	counterSec0=counterSec;
	soundInterval=(int)random(MINSINTERVAL, MAXSINTERVAL+1);
	soundPhase=2;
	}
	break;
	case 2:
	if (counterSec-counterSec0>soundInterval) {
	soundId=random(minVoiceFile, maxVoiceFile+1);
	soundStartSD(voiceFile[soundId], 10);
	if (soundId==0) {
	if (minMusicFile!=-1 && demoMode==0) soundPhase=3;
	else soundPhase=1;
	}
	else soundPhase=1;
	}
	break;
	case 3:
	if (!soundBusy) {
	musicPlaying=true;
	soundStartSD(musicFile[random(minMusicFile, maxMusicFile+1)], 10);
	soundPhase=1;
	}
	break;
	}
	// }
	}
	void servoHead() {
	switch(servoPhase) {
	case 1:
	servoDrive();
	if (servoComplete) {
	servoComplete=false;
	servoPhase=2;
	}
	break;
	case 2:
	servoContinue(90.0, 1.0);
	servoPhase=3;
	break;
	case 3:
	servoDrive();
	if (servoComplete) {
	servoComplete=false;
	servoPhase=4;
	}
	break;
	case 4:
	break;
	}
	}
	void servoStart(double ang, double stp) {
	servoPhase=1;
	servoContinue(ang, stp);
	}
	void servoContinue(double ang, double stp) {
	if (ang<servoAngTarget) stp=-stp;
	servoAngDestination=ang;
	servoAngStep=stp;
	}
	void servoDrive() {
	if (servoAngStep>=0) {
	if (servoAngDestination-servoAngStep>servoAngTarget) servoAngTarget+=servoAngStep;
	else {
	servoAngTarget=servoAngDestination;
	servoComplete=true;
	}
	}
	else {
	if (servoAngDestination-servoAngStep<servoAngTarget) servoAngTarget+=servoAngStep;
	else {
	servoAngTarget=servoAngDestination;
	servoComplete=true;
	}
	}
	servoPulseWidth=600+(int)(servoAngTarget*10.0);
	digitalWrite(4, HIGH);
	delayMicroseconds(servoPulseWidth);
	digitalWrite(4, LOW);
	}
	void calcTarget() {
	if (spinContinuous) spinTarget += spinStep;
	else {
	if (spinTarget < spinDestination) spinTarget += spinStep;
	if (spinTarget > spinDestination) spinTarget -= spinStep;
	}
	moveTarget -= moveStep * moveRate;
	}
	void drive() {
	varSpd += power * pendClk;
	varDst += Kdst * (varSpd * pendClk - moveTarget);
	varIang += KIang * varAng * pendClk;
	varIdst += KIdst * varDst * pendClk;
	power = varIang + varIdst + varDst + (Kspd * varSpd) + (Kang * varAng) + (Komg * varOmg);
	if (abs(power) > 5000.0) counterOverSpd +=1;
	else counterOverSpd=0;
	if (counterOverSpd > maxOverSpd) {
	resetMotor();
	return;
	}
	spinPower = (spinAngle - spinTarget) * Kspin;
	powerR = power - spinPower;
	powerL = power + spinPower;
	motor();
	}
	void motor() {
	ipowerR = (int) (constrain(powerR * mechFactorR * battFactor, -maxSpd, maxSpd));
	if (ipowerR > 0) {
	if (motorRdir == 1) drvMotorL(ipowerR);
	else drvMotorL(ipowerR + backlashSpd); //compensate backlash
	motorRdir = 1;
	}
	else if (ipowerR < 0) {
	if (motorRdir == -1) drvMotorL(ipowerR);
	else drvMotorL(ipowerR - backlashSpd);
	motorRdir = -1;
	}
	else {
	drvMotorL(0);
	motorRdir = 0;
	}
	ipowerL = (int) (constrain(powerL * mechFactorL * battFactor, -maxSpd, maxSpd));
	if (ipowerL > 0) {
	if (motorLdir == 1) drvMotorR(ipowerL);
	else drvMotorR(ipowerL + backlashSpd); //compensate backlash
	motorLdir = 1;
	}
	else if (ipowerL < 0) {
	if (motorLdir == -1) drvMotorR(ipowerL);
	else drvMotorR(ipowerL - backlashSpd);
	motorLdir = -1;
	}
	else {
	drvMotorR(0);
	motorLdir = 0;
	}
	}
	void drvMotor0(int pwm) {
	if (pwm >0) {
	digitalWrite(M0B,LOW);
	analogWrite(M0F,constrain(pwm+drvHLbalance, 0,PWMMAX));
	}
	else if (pwm < 0) {
	digitalWrite(M0B,HIGH);
	analogWrite(M0F,constrain(PWMMAX+pwm, 0,PWMMAX));
	}
	else {
	digitalWrite(M0B,LOW);
	pinMode(M0F, OUTPUT);
	digitalWrite(M0F,LOW);
	}
	}
	void drvMotor1(int pwm) {
	if (pwm >0) {
	digitalWrite(M1B,LOW);
	analogWrite(M1F,constrain(pwm+drvHLbalance, 0,PWMMAX));
	}
	else if (pwm < 0) {
	digitalWrite(M1B,HIGH);
	analogWrite(M1F,constrain(PWMMAX+pwm, 0,PWMMAX));
	}
	else {
	digitalWrite(M1B,LOW);
	pinMode(M1F, OUTPUT);
	digitalWrite(M1F,LOW);
	}
	}
	void drvMotorL(int pwm) {
	switch (MotorConfig) {
	case 0: drvMotor1(pwm);
	break;
	case 1: drvMotor1(-pwm);
	break;
	case 2: drvMotor1(pwm);
	break;
	case 3: drvMotor1(-pwm);
	break;
	}
	}
	void drvMotorR(int pwm) {
	switch (MotorConfig) {
	case 0: drvMotor0(pwm);
	break;
	case 1: drvMotor0(-pwm);
	break;
	case 2: drvMotor0(-pwm);
	break;
	case 3: drvMotor0(pwm);
	break;
	}
	}
	void getGyro() {
	readGyro();
	snsGyroY = (gyroDataY - gyroOffsetY) * gyroLSB;
	varOmg = (gyroDataZ - gyroOffsetZ) * gyroLSB; // unit:deg/sec
	snsAccX = (accDataX - accOffsetX) * accLSB; //unit:g
	spinAngle += snsGyroY * pendClk;
	varAng += (varOmg + (snsAccX * 57.3 - varAng) * cutoff ) * pendClk;
	//angle filter accX=g*sin(ang) -> accX/g=sin(ang)=ang [rad] (if ang is small) -> ang=accX*57.3[deg]
	// varAng += varOmg * pendClk;
	}
	void readGyro() {
	Wire.beginTransmission(0x68);
	Wire.write(0x3B);
	Wire.endTransmission(false); //enable incremental read
	Wire.requestFrom(0x68, 14, (int)true);
	accX=Wire.read()<<8|Wire.read(); //0x3B
	accY=Wire.read()<<8|Wire.read(); //0x3D
	accZ=Wire.read()<<8|Wire.read(); //0x3F
	temp=Wire.read()<<8|Wire.read(); //0x41
	gyroX=Wire.read()<<8|Wire.read(); //0x43
	gyroY=Wire.read()<<8|Wire.read(); //0x45
	gyroZ=Wire.read()<<8|Wire.read(); //0x47
	gyroDataY = (double) gyroY;
	gyroDataZ = -(double) gyroX;
	accDataX = -(double) accZ;
	aveAccX = aveAccX * 0.9 + accDataX * 0.1;
	accDataY = -(double) accY;
	aveAccY = aveAccY * 0.9 + accDataY * 0.1;
	}
	boolean laid() {
	if (abs(aveAccX) >13000.0) return true;
	else return false;
	}
	boolean upright() {
	if (abs(aveAccY) >13000.0) return true;
	else return false;
	}
	boolean standing() {
	if (abs(aveAccY) >8000.0 && abs(varAng) < 40.0) return true;
	else {
	resetMotor();
	return false;
	}
	}
	void calibAcc() {
	accOffsetX=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	accOffsetX += accDataX;
	delay(20);
	}
	accOffsetX /= 30.0;
	}
	void calibGyro() {
	gyroOffsetZ=gyroOffsetY=0.0;
	for (int i=1; i <= 30; i++) {
	readGyro();
	gyroOffsetZ += gyroDataZ;
	gyroOffsetY += gyroDataY;
	delay(20);
	}
	gyroOffsetY /= 30.0;
	gyroOffsetZ /= 30.0;
	}
	void resetPara() {
	Kang=150.0;
	Komg=3.0;
	KIang=1200.0;
	Kspin=15.0;
	Kdst=80.0;
	Kspd=3.5;
	KIdst=0.0;
	mechFactorR=0.4;
	mechFactorL=0.4;
	backlashSpd=30;
	}
	void resetVar() {
	power=0.0;
	moveTarget=0.0;
	spinDestination=0.0;
	spinTarget=0.0;
	spinAngle=0.0;
	varAng=0.0;
	varOmg=0.0;
	varDst=0.0;
	varSpd=0.0;
	varIang=0.0;
	varIdst=0.0;
	counterOverSpd=0;
	spinContinuous=false;
	moveRate=0.0;
	}
	void resetMotor() {
	digitalWrite(M0B,LOW);
	pinMode(M0F, OUTPUT);
	digitalWrite(M0F,LOW);
	digitalWrite(M1B,LOW);
	pinMode(M1F, OUTPUT);
	digitalWrite(M1F,LOW);
	}
	void checkVoltage() {
	monitorVoltage();
	if (serialMonitor) {Serial.print("Batt=");Serial.println(bVolt);}
	if (bVolt>=0.5 && bVolt<3.8) {
	if (soundSD) soundStartSD(fBattery, 70);
	blinkLED(5); //Batt Low
	if (soundSD) soundStartSD(fReplace, 70);
	blinkLED(45);
	}
	}
	void blinkLED(int n) {
	for (int i=0; i<n; i++) {
	digitalWrite(LED6, LED_ON);
	delay(10);
	digitalWrite(LED6, LED_OFF);
	delay(200);
	}
	}
	void monitorVoltage() {
	bVolt=getBattVolt();
	aveVolt = aveVolt * 0.98 + bVolt * 0.02;
	if (bVolt<0.5) { //USB POWER
	battFactor=1.3;
	setColor(0,0,1);
	}
	else {
	battFactor = 18.0 / aveVolt / aveVolt;
	// battFactor = 4.5 / aveVolt;
	// battFactor = 4.5 / bVolt;
	if (bVolt<3.6) setColor(0,0,0);
	else if (bVolt<4.0) setColor(1,0,0);
	else if (bVolt<4.4) setColor(1,1,0);
	else setColor(0,1,0);
	}
	}
	double getBattVolt() {
	return ((double) analogRead(BATT)) / 1023.0 * 6.6;
	}
	void selectMode() {
	if (digitalRead(SW1) == LOW) { //debug
	debug=true;
	serialMonitor=true;
	spinStep=0.0;
	blinkLED(1);
	}
	else if (digitalRead(SW2) == LOW) { //demo
	demoMode=2;
	blinkLED(2);
	}
	else spinStep=0.0;
	}
	void demo8() {
	switch (demoPhase) {
	case 0:
	demoDelayCounter=200;
	demoPhase=1;
	break;
	case 1:
	if (demoDelayCounter>1) demoDelayCounter--;
	else {
	moveRate=3.0;
	spinStep=0.5;
	spinDestination += 270.0;
	demoPhase=2;
	}
	break;
	case 2:
	if (abs(spinTarget-spinDestination)<5.0) {
	demoDelayCounter=100;
	moveRate=5.0;
	demoPhase=3;
	}
	break;
	case 3:
	if (demoDelayCounter>1) demoDelayCounter--;
	else {
	moveRate=3.0;
	spinDestination -= 270.0;
	demoPhase=4;
	}
	break;
	case 4:
	if (abs(spinTarget-spinDestination)<5.0) {
	demoDelayCounter=100;
	moveRate=5.0;
	demoPhase=1;
	}
	break;
	}
	}
	void setColor(int r, int g, int b) {
	digitalWrite(LED_R, r);
	digitalWrite(LED_G, g);
	digitalWrite(LED_B, b);
	}
	void readEEPROMbal() {
	if (EEPROM.read(0)==HCODE) {
	drvHLbalance=EEPROM.read(1);
	if (serialMonitor) {Serial.print("drvHLbal=");Serial.println(drvHLbalance);}
	}
	else {
	drvHLbalance=30;
	noInterrupts();
	EEPROM.write(0, HCODE);
	EEPROM.write(1, drvHLbalance);
	interrupts();
	}
	}
	void writeEEPROMbal() {
	noInterrupts();
	EEPROM.write(1, drvHLbalance);
	interrupts();
	}
	void readEEPROMadhoc() {
	if (EEPROM.read(2)==HCODE) {
	for (int i=0; i<ADHOC_IR_MAX; i++) {
	ADHOC_CUSTOMER[i]=EEPROM.read(3+i*4)<<8|EEPROM.read(4+i*4);
	ADHOC_IR[i]=EEPROM.read(5+i*4)<<8|EEPROM.read(6+i*4);
	if (serialMonitor) {
	Serial.print("CUST=");Serial.print(ADHOC_CUSTOMER[i],HEX);Serial.print(" CODE=");Serial.println(ADHOC_IR[i],HEX);
	}
	}
	}
	}
	void writeEEPROMadhoc() {
	noInterrupts();
	EEPROM.write(2, HCODE);
	for (int i=0; i<ADHOC_IR_MAX; i++) {
	EEPROM.write(3+i*4, (byte)((ADHOC_CUSTOMER[i]>>8)&0xFF));
	EEPROM.write(4+i*4, (byte)(ADHOC_CUSTOMER[i]&0xFF));
	EEPROM.write(5+i*4, (byte)((ADHOC_IR[i]>>8)&0xFF));
	EEPROM.write(6+i*4, (byte)(ADHOC_IR[i]&0xFF));
	}
	interrupts();
	}
	void sendSerial () {
	Serial.print(micros()-time0);
	Serial.print(" phase=");Serial.print(pendPhase);
	Serial.print(" accX="); Serial.print(aveAccX);
	Serial.print(" accY="); Serial.print(aveAccY);
	Serial.print(" ang=");Serial.print(varAng);
	// Serial.print(" temp = "); Serial.print(temp/340.0+36.53);
	Serial.print(" drvBal="); Serial.print(drvHLbalance);
	Serial.print(F(" apinA=")); Serial.print(spinAngle);
	Serial.print(F(" batt=")); Serial.print(aveVolt);
	Serial.print(", ");
	Serial.print(micros()-time0);
	Serial.println();
	}
	void getIR() {
	if (!(irStarted && (micros()-irMicroOff>10000))) return;
	if ((irDataOn[0]>1800) && musicPlaying) soundStop=true;
	irStarted=false;
	irDecoding=true;
	if (irDataOn[0]>7000) { //NEC
	if (irOffIndex >=33) {
	decodeNECAEHA();
	printIrData("NEC");
	}
	}
	else if (irDataOn[0]>2600) { //AEHA
	if (irOffIndex >=41) {
	decodeNECAEHA();
	printIrData("AEHA");
	}
	}
	else if (irDataOn[0]>1800) { //SONY
	if (irOnIndex >=12) {
	decodeSONY();
	printIrData("SONY");
	}
	}
	if (irReady) {
	irReady=false;
	lastIrTime=millis();
	if (serialMonitor) {
	Serial.print("IR code=");Serial.println(ircode, HEX);
	Serial.print("Cust Code=");Serial.println(customer_code, HEX);
	}
	if (adhoc_ir_num>=0 && adhoc_ir_num<ADHOC_IR_MAX) regIR();
	else irCommand();
	}
	irDecoding=false;
	}
	void irCommand() {
	if (
	((ircode==AKI_REMO_CENTER)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CENTER])&&(customer_code==ADHOC_CUSTOMER[IR_CENTER])) ) {
	if (pendPhase!=-1) {
	if (abs(moveRate)>1.0 || abs(spinStep)>0.1) {
	if (soundSD) soundStartSD(fStop, 10);
	else tone(TONE_PIN, 500, 100);
	}
	button=5;
	demoMode=0;
	spinContinuous=false;
	spinStep=0.0;
	moveRate=0.0;
	spinDestination = spinTarget;
	}
	}
	else if (
	((ircode==AKI_REMO_RIGHT)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_RIGHT])&&(customer_code==ADHOC_CUSTOMER[IR_RIGHT])) ) {
	if (pendPhase==-1) {
	servoStart(60.0, 0.5);
	drvMotorR(-80);
	delay(1000);
	drvMotorR(0);
	}
	else if (demoMode==0) {
	servoStart(headRight, 3.0);
	if (button!=6) {
	if (soundSD) soundStartSD(fRight, 10);
	else tone(TONE_PIN, 2000, 100);
	}
	button=6;
	if (spinContinuous) spinDestination=spinTarget;
	spinContinuous=false;
	spinStep=0.6;
	spinDestination -= 30.0;
	}
	}
	else if (
	((ircode==AKI_REMO_LEFT)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_LEFT])&&(customer_code==ADHOC_CUSTOMER[IR_LEFT])) ) {
	if (pendPhase==-1) {
	servoStart(120.0, 0.5);
	drvMotorL(-80);
	delay(1000);
	drvMotorL(0);
	}
	else if (demoMode==0) {
	servoStart(headLeft, 3.0);
	if (button!=4) {
	if (soundSD) soundStartSD(fLeft, 10);
	else tone(TONE_PIN, 2000, 100);
	}
	button=4;
	if (spinContinuous) spinDestination=spinTarget;
	spinContinuous=false;
	spinStep=0.6;
	spinDestination += 30.0;
	}
	}
	else if (
	((ircode==AKI_REMO_UP)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_UP])&&(customer_code==ADHOC_CUSTOMER[IR_UP])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=2;
	if (abs(moveRate)<1.0) {
	if (soundSD) soundStartSD(fForward, 10);
	else tone(TONE_PIN, 1000, 100);
	}
	if (moveRate>10.0) {
	if (soundSD) soundStartSD(fAccel, 70);
	else soundStart(soundWow, sizeof(soundWow), 10);
	}
	moveRate+=4.0;
	}
	}
	else if (
	((ircode==AKI_REMO_DOWN)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_DOWN])&&(customer_code==ADHOC_CUSTOMER[IR_DOWN])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=8;
	if (abs(moveRate)<1.0) {
	if (soundSD) soundStartSD(fBack, 10);
	else tone(TONE_PIN, 1000, 100);
	}
	moveRate-=4.0;
	}
	}
	else if (
	((ircode==AKI_REMO_UL)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CIRL])&&(customer_code==ADHOC_CUSTOMER[IR_CIRL])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=1;
	if (abs(spinStep)<0.1) {
	if (soundSD) soundStartSD(fSpin, 10);
	else tone(TONE_PIN, 2000, 20);
	}
	if (!spinContinuous) spinStep=0.0;
	spinContinuous=true;
	spinStep+=0.3;
	}
	}
	else if (
	((ircode==AKI_REMO_UR)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_CIRR])&&(customer_code==ADHOC_CUSTOMER[IR_CIRR])) ) {
	if (pendPhase!=-1 && demoMode==0) {
	button=3;
	if (abs(spinStep)<0.1) {
	if (soundSD) soundStartSD(fSpin, 10);
	else tone(TONE_PIN, 2000, 20);
	}
	if (!spinContinuous) spinStep=0.0;
	spinContinuous=true;
	spinStep-=0.3;
	}
	}
	else if (
	((ircode==AKI_REMO_DL)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_BALF])&&(customer_code==ADHOC_CUSTOMER[IR_BALF])) ) {
	if (demoMode==0) {
	if (moveRate==0.0 && spinTarget==spinDestination) {
	if (drvHLbalance<100) {
	drvHLbalance-=5;
	setColor(1,0,1);
	digitalWrite(LED5,LED_ON);
	writeEEPROMbal();
	digitalWrite(LED5,LED_OFF);
	}
	}
	}
	}
	else if (
	((ircode==AKI_REMO_DR)&&(customer_code==AKI_REMO_CUSTOMER))||
	((ircode==ADHOC_IR[IR_BALB])&&(customer_code==ADHOC_CUSTOMER[IR_BALB])) ) {
	if (demoMode==0) {
	if (moveRate==0.0 && spinTarget==spinDestination) {
	if (drvHLbalance>-100) {
	drvHLbalance+=5;
	setColor(1,0,1);
	digitalWrite(LED5,LED_ON);
	writeEEPROMbal();
	digitalWrite(LED5,LED_OFF);
	}
	}
	}
	}
	else {
	if (pendPhase == -1 && debug && adhoc_ir_num==-1) {
	setColor(1,0,1);
	digitalWrite(LED5, LED_ON);
	randomSoundOn=false;
	adhoc_ir_num=0;
	}
	}
	}
	void regIR() {
	// Ad hoc IR code registration
	if (adhoc_ir_num<ADHOC_IR_MAX) {
	ADHOC_IR[adhoc_ir_num]=ircode;
	ADHOC_CUSTOMER[adhoc_ir_num]=customer_code;
	if (serialMonitor) {
	Serial.print("set ADHOC_IR[");
	Serial.print(adhoc_ir_num);
	Serial.print("] = ");
	Serial.println(ircode, HEX);
	Serial.print("set ADHOC_CUSTOMER[");
	Serial.print(adhoc_ir_num);
	Serial.print("] = ");
	Serial.println(customer_code, HEX);
	}
	if (adhoc_ir_num==0) adhoc_ir_num++;
	else if (ADHOC_IR[adhoc_ir_num-1]!=ircode) adhoc_ir_num++;
	for (int i=1; i<=adhoc_ir_num; i++) {
	digitalWrite(LED5, LED_OFF);
	delay(200);
	digitalWrite(LED5, LED_ON);
	delay(100);
	}
	if (adhoc_ir_num==ADHOC_IR_MAX) {
	writeEEPROMadhoc();
	digitalWrite(LED5, LED_OFF);
	randomSoundOn=true;
	}
	}
	}
	void irInt() {
	if (millis()-lastIrTime<250) return;
	if (irDecoding) return;
	if (digitalRead(IRIN) == IRON) {
	irMicroOn=micros();
	if (irStarted) {
	irDataOff[irOffIndex]=irMicroOn-irMicroOff;
	irOffIndex++;
	if (irOffIndex>=IRBUFFLEN) irStarted=false;
	}
	else {
	irStarted=true;
	irOnIndex=0;
	irOffIndex=0;
	irMicroOff=irMicroOn;
	}
	}
	else {
	irMicroOff=micros();
	irDataOn[irOnIndex]=irMicroOff-irMicroOn;
	irOnIndex++;
	if (irOnIndex>=IRBUFFLEN) irStarted=false;
	}
	}
	void decodeNECAEHA() {
	int len=irOffIndex/8;
	int idx=1;
	for (int i=0; i<len; i++) {
	irData[i]=0;
	for (int j=0; j<8; j++) {
	irData[i]>>=1;
	if (irDataOff[idx]>1000) irData[i]|=0x80;
	idx++;
	}
	}
	customer_code=irData[0]<<8|irData[1];
	ircode=irData[len-2]<<8|irData[len-1];
	irReady=true;
	}
	void decodeSONY() {
	byte data=0;
	for (int i=1; i<=7; i++) {
	if (irDataOn[i]>900) data|=0x80;
	data>>=1;
	}
	unsigned int addr=0;
	int idx=8;
	for (int i=0; i<16; i++) {
	addr>>=1;
	if (idx<irOnIndex && irDataOn[idx]<1800) {
	if (irDataOn[idx]>900) addr|=0x8000;
	idx++;
	}
	}
	customer_code=addr;
	ircode=(unsigned int)data;
	irReady=true;
	}
	void printIrData(String s) {
	if (!serialMonitor) return;
	Serial.println(s);
	Serial.print("Customer=");Serial.println(customer_code, HEX);
	Serial.print("Code=");Serial.println(ircode, HEX);
	/*
	for (int i=0; i<irOffIndex; i++) {
	Serial.print(irDataOn[i]);Serial.print(" ");Serial.println(irDataOff[i]);
	}
	Serial.println("");
	*/
	}
	void soundIntSD() {
	if (sdfile.available() && !soundStop) {
	byte d=sdfile.read();
	if (soundGain!=10) {
	int di=(int)d-128;
	di=(di*soundGain)/10;
	d=(byte)constrain((di+128), 10, 250);
	}
	else d=constrain(d, 10, 250);
	analogWrite(SOUTPIN, d);
	}
	else {
	detachInterrupt(INTSOUND);
	analogWrite(SOUTPIN, 0);
	musicPlaying=false;
	soundBusy=false;
	}
	}
	void soundStartSD(File s, int gain) {
	if (soundBusy || !soundSD || !soundOn) return;
	sdfile=s;
	soundBusy=true;
	soundStop=false;
	if (sdfile.seek(44)) {
	soundGain=gain;
	attachInterrupt(INTSOUND, soundIntSD, RISING);
	analogWrite(SOUTPIN, 128);
	}
	}
	void soundStart(const byte* ptr, unsigned long sz, int gain) {
	if (soundBusy || !soundOn) return;
	counterSec0=counterSec;
	soundBusy=true;
	soundIndex=0;
	soundPtr=ptr;
	soundSize=sz;
	soundGain=gain;
	attachInterrupt(INTSOUND, soundInt, RISING);
	analogWrite(SOUTPIN, 128);
	}
	void soundInt() {
	byte d=soundPtr[soundIndex];
	if (soundGain!=10) {
	int di=(int)d-128;
	di=(di*soundGain)/10;
	d=(byte)constrain((di+128), 10, 250);
	}
	else d=constrain(d, 10, 250);
	analogWrite(SOUTPIN, d);
	soundIndex++;
	if (soundIndex>=soundSize) {
	detachInterrupt(INTSOUND);
	analogWrite(SOUTPIN, 0);
	soundBusy=false;
	}
	}

view raw adzuki_ip_robo_v40.ino hosted with ❤ by GitHub

Processingでm2xのデータをダウンロード

	import java.io.InputStreamReader;
	import java.io.BufferedInputStream;
	import java.net.HttpURLConnection;
	import java.net.URL;
	Table dataTable;
	String filePath;
	final String dataFile="dataFile.csv";
	final String[] stream={"Temp1", "Temp2", "Temp3", "Temp4", "Humid1", "Humid2", "Humid3", "Humid4"};
	final String apiKey="xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
	final String deviceId="yyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyy";
	void setup() {
	tableSetup();
	getData();
	exit();
	}
	void draw() {
	}
	void getData() {
	String request;
	String startTime="";
	for (int i=0; i<stream.length; i++) {
	int lastIdx=dataTable.getInt(0, stream[i]);
	if (lastIdx==0) {
	request="?sort=timestamp&dir=desc&limit=1";
	}
	else {
	startTime=dataTable.getString(lastIdx, "time"+stream[i]);
	request="?sort=timestamp&dir=asc&limit=1000&start="+startTime;
	}
	try {
	String s="http://api-m2x.att.com/v2/devices/"+deviceId+"/streams/"+stream[i]+"/values.csv"+request;
	println(s);
	URL url = new URL(s);
	HttpURLConnection con = (HttpURLConnection) url.openConnection();
	con.setRequestMethod("GET");
	con.setRequestProperty("X-M2X-KEY", apiKey);
	con.connect();
	int res=con.getResponseCode();
	if (res==200) {
	InputStream inputStr = new BufferedInputStream(con.getInputStream());
	BufferedReader rd= new BufferedReader(new InputStreamReader(inputStr));
	String line=rd.readLine();
	while (line!=null) {
	String[] csvData = split(line, ',');
	String time=csvData[0];
	float data=float(csvData[1]);
	println(time+", "+data);
	if (!time.equals(startTime)) {
	int idx=dataTable.getInt(0, stream[i]);
	idx++;
	if (dataTable.getRowCount()<=idx) dataTable.addRow();
	dataTable.setString(idx, "time"+stream[i], time);
	dataTable.setFloat(idx, stream[i], data);
	dataTable.setInt(0, stream[i], idx);
	}
	line=rd.readLine();
	}
	}
	else println("Http Error "+con.getErrorStream());
	}
	catch(IOException e) {
	println("EXCEPTION "+e);
	}
	}
	saveTable(dataTable, filePath+dataFile);
	println("File saved: "+filePath+dataFile);
	}
	void tableSetup() {
	filePath=sketchPath("");
	File f=new File(filePath+dataFile);
	if (f.exists()) {
	dataTable=loadTable(filePath+dataFile, "header");
	println("File loaded: "+filePath+dataFile);
	}
	else {
	dataTable = new Table();
	for (int i=0; i<stream.length; i++) {
	dataTable.addColumn("time"+stream[i]);
	dataTable.addColumn(stream[i]);
	}
	dataTable.addRow();
	for (int i=0; i<stream.length; i++) {
	dataTable.setInt(0, stream[i], 0);
	}
	saveTable(dataTable, filePath+dataFile);
	println("File created: "+filePath+dataFile);
	}
	}

view raw m2x0561c.pde hosted with ❤ by GitHub

COTTON虫Ver2

<script src="https://gist.github.com/kirakulabo/c615397ce78a164231648f80f736849e.js"></script>

GR-ADZUKIで倒立振子

	/*GR-ADZUKI Sketch Template Version: V1.02*/
	//wheele dia ~= 50mm
	//Gear ratio ~= 114 (TAMIYA Double Gear Box)
	//Battery: Alkaline x 3
	//MPU/Driver: GR-ADZUKI
	//Gyro: MPU6050 (I2C)
	//SW1: Circle
	#include "Arduino.h"
	#include <Wire.h>
	#define LED5 13
	#define leftFwd 6
	#define leftRvs 11
	#define rightFwd 5
	#define rightRvs 10
	#define ON LOW //LOW active LED
	#define OFF HIGH
	#define SW1 2
	#define SW2 3
	#define BATT A3
	void resetPara();
	void resetVar();
	void getGyro();
	void readGyro();
	void calcTarget();
	void motor();
	void selectMode();
	void calibrate();
	bool laid();
	bool upright();
	bool standing();
	void getBaseline();
	void drive();
	void resetMotor();
	void adaptCalibAccX();
	void sendSerial();
	void drvMotorR(int pwm);
	void drvMotorL(int pwm);
	int state=-1;
	int cycleCount=0;
	unsigned long time1=0;
	unsigned long time0=0;
	float power, powerR, powerL, yawPower;
	int ipowerR, ipowerL;
	float Kang, Komg, Kdst, Kspd, Kyaw, KIang, KIdst;
	float gyroZdps, accXg;
	float varAng, varOmg, varSpd, varDst, varIang, varIdst;
	float aveDst, aveDst0;
	int accX, accY, accZ, temp, gyroX, gyroY, gyroZ;
	float gyroZoffset, gyroYoffset, accXoffset;
	float gyroZdata, gyroYdata, accXdata, accZdata;
	float aveAccX=0.0;
	float aveAccZ=0.0;
	float moveStep, moveTarget;
	float spinStep, spinTarget;
	float orientation;
	int motorRdir=0; //0:stop 1:+ -1:-
	int motorLdir=0;
	int overSpdCount;
	float battFactor=1.3; // 2016.07.14
	float bVolt;
	float aveVolt=4.5;
	bool usbPower=false;
	bool serialMonitor=false;
	const float gyroLSB=1.0/131.0; // deg/sec
	const float accLSB=1.0/16384.0; // g
	const float clk = 0.01; // in sec,
	const unsigned long interval = (unsigned long) (clk*1000.0); // in msec
	const float filterConst = 0.1;
	const float maxSpd=250.0;
	const float battConst=6.6/1023.0;
	const int driverHLoffset=27; //bigger : backword
	const float mechFactorR=0.55;
	const float mechFactorL=0.55;
	const int backlashSpd=30;
	void setup() {
	analogWriteFrequency(25000);
	pinMode(leftFwd,OUTPUT);
	pinMode(leftRvs,OUTPUT);
	pinMode(rightFwd,OUTPUT);
	pinMode(rightRvs,OUTPUT);
	pinMode(LED5, OUTPUT);
	pinMode(SW1, INPUT_PULLUP);
	pinMode(SW2, INPUT_PULLUP);
	digitalWrite(LED5, OFF);
	Serial.begin(115200);
	Wire.begin();
	Wire.beginTransmission(0x68); //Gyro sensor
	Wire.write(0x6B); // Power management register
	Wire.write(0); // wake up MPU-6050
	Wire.endTransmission(true);
	delay(500);
	checkVoltage();
	resetPara();
	resetVar();
	selectMode();
	delay(1000);
	}
	void loop(){
	monitorVoltage();
	getGyro();
	switch (state) {
	case -1:
	calcTarget();
	if (upright()) state =0;
	break;
	case 0: //baseline
	calibrate();
	state=1;
	break;
	case 1: //run
	if (standing() && overSpdCount <= 20) {
	calcTarget();
	drive();
	}
	else {
	resetMotor();
	resetVar();
	if (upright()) state=0;
	else state=9;
	}
	break;
	case 2: //wait until upright
	if (upright()) state=0;
	break;
	case 9: //fell
	if (laid()) state=2;
	break;
	}
	cycleCount += 1;
	if (cycleCount >= 100) {
	cycleCount = 0;
	adaptCalibAccX();
	if (serialMonitor) sendSerial();
	}
	do time1 = millis();
	while (time1 - time0 < interval);
	time0 = time1;
	}
	void resetPara() {
	Kang=150.0;//150
	Komg=3.0;//3.0
	KIang=1500.0;//1200
	Kyaw=15.0;//15
	Kdst=80.0;//80
	Kspd=3.5;//3.5
	KIdst=0.0;
	}
	void calcTarget() {
	spinTarget += spinStep;
	moveTarget += moveStep;
	}
	void drive() {
	varSpd += power * clk;
	varDst += Kdst * (varSpd * clk - moveTarget);
	aveDst = aveDst * 0.99 + varDst * 0.01;
	varIang += KIang * varAng * clk;
	varIdst += KIdst * varDst * clk;
	power = varIang + varIdst + varDst + (Kspd * varSpd) + (Kang * varAng) + (Komg * varOmg);
	if (abs(power) > 300.0) overSpdCount += 1;
	else overSpdCount =0;
	if (overSpdCount > 20) return;
	yawPower = (orientation - spinTarget) * Kyaw;
	powerR = power + yawPower;
	powerL = power - yawPower;
	motor();
	}
	void motor() {
	ipowerR = (int) (constrain(powerR * mechFactorR * battFactor, -maxSpd, maxSpd));
	if (ipowerR > 0) {
	if (motorRdir == 1) drvMotorR(ipowerR);
	else drvMotorR(ipowerR + backlashSpd);
	motorRdir = 1;
	}
	else if (ipowerR < 0) {
	if (motorRdir == -1) drvMotorR(ipowerR);
	else drvMotorR(ipowerR - backlashSpd);
	motorRdir = -1;
	}
	else {
	drvMotorR(0);
	motorRdir = 0;
	}
	ipowerL = (int) (constrain(powerL * mechFactorL * battFactor, -maxSpd, maxSpd));
	if (ipowerL > 0) {
	if (motorLdir == 1) drvMotorL(ipowerL);
	else drvMotorL(ipowerL + backlashSpd);
	motorLdir = 1;
	}
	else if (ipowerL < 0) {
	if (motorLdir == -1) drvMotorL(ipowerL);
	else drvMotorL(ipowerL - backlashSpd);
	motorLdir = -1;
	}
	else {
	drvMotorL(0);
	motorLdir = 0;
	}
	}
	void getGyro() {
	readGyro();
	gyroZdps = (gyroZdata - gyroZoffset) * gyroLSB;
	varOmg = (gyroYdata - gyroYoffset) * gyroLSB; // unit:deg/sec
	accXg = (accXdata - accXoffset) * accLSB; //unit:g
	orientation += gyroZdps * clk;
	varAng += (varOmg + (accXg * 57.3 - varAng) * filterConst ) * clk;
	// varAng += varOmg * clk;
	}
	void readGyro() {
	Wire.beginTransmission(0x68);
	Wire.write(0x3B);
	Wire.endTransmission(false); //enable incremental read
	Wire.requestFrom(0x68, 14, (int)true); //used to be requestFrom(0x68, 14, true) but got warning.
	accX=Wire.read()<<8|Wire.read(); //0x3B
	accY=Wire.read()<<8|Wire.read(); //0x3D
	accZ=Wire.read()<<8|Wire.read(); //0x3F
	temp=Wire.read()<<8|Wire.read(); //0x41
	gyroX=Wire.read()<<8|Wire.read(); //0x43
	gyroY=Wire.read()<<8|Wire.read(); //0x45
	gyroZ=Wire.read()<<8|Wire.read(); //0x47
	gyroZdata = -(float) gyroX;
	gyroYdata = (float) gyroY;
	accXdata = -(float) accZ;
	aveAccX = aveAccX * 0.9 + accXdata * 0.1;
	accZdata = -(float) accX;
	aveAccZ = aveAccZ * 0.9 + accZdata * 0.1;
	}
	bool laid() {
	if (abs(aveAccX) >13000.0) return true;
	else return false;
	}
	bool upright() {
	if (abs(aveAccZ) >13000.0) return true;
	else return false;
	}
	bool standing() {
	if (abs(aveAccZ) > 10000.0 && abs(varAng) < 40.0) return true;
	else return false;
	}
	void calibrate() {
	resetVar();
	resetMotor();
	delay(2000);
	blinkLED(2);
	delay(500);
	getBaseline();
	delay(500);
	blinkLED(2);
	}
	void getBaseline() {
	gyroYoffset=gyroZoffset=0.0;
	accXoffset=0.0;
	for (int i=1; i <= 30; i++){
	readGyro();
	gyroYoffset += gyroYdata;
	gyroZoffset += gyroZdata;
	accXoffset += accXdata;
	delay(10);
	}
	gyroZoffset /= 30.0;
	gyroYoffset /= 30.0;
	accXoffset /= 30.0;
	}
	void adaptCalibAccX() {
	if (aveDst > 100.0 && aveDst > aveDst0) accXoffset -= 20.0;
	if (aveDst < -100.0 && aveDst < aveDst0) accXoffset += 20.0;
	aveDst0=aveDst;
	}
	void resetVar() {
	power=0.0;
	moveTarget=0.0;
	spinTarget=0.0;
	orientation=0.0;
	varAng=0.0;
	varOmg=0.0;
	varDst=0.0;
	varSpd=0.0;
	varIang=0.0;
	varIdst=0.0;
	aveDst=0.0;
	aveDst0=0.0;
	}
	void resetMotor() {
	drvMotorR(0);
	drvMotorL(0);
	overSpdCount=0;
	}
	void checkVoltage() {
	usbPower=false;
	bVolt = ((float) analogRead(BATT)) * battConst;
	if (serialMonitor) Serial.println(bVolt);
	if (bVolt > 4.4) blinkLED(3);
	else if (bVolt > 4.1) blinkLED(2);
	else if (bVolt > 3.8) blinkLED(1);
	else if (bVolt > 0.5) blinkLED(200);
	else usbPower=true;
	}
	void blinkLED(int n) {
	for (int i=0; i<n; i++) {
	digitalWrite(LED5,ON);
	delay(10);
	digitalWrite(LED5,OFF);
	delay(200);
	}
	}
	void monitorVoltage() {
	digitalWrite(LED5, OFF);
	bVolt = ((float) analogRead(BATT)) * battConst;
	if (bVolt<3.4) {
	digitalWrite(LED5, ON);
	if (serialMonitor) {
	Serial.print("Batt=");
	Serial.println(bVolt);
	}
	}
	aveVolt = aveVolt * 0.99 + bVolt * 0.01;
	if (usbPower) battFactor = 1.3;
	else battFactor = 5.0 / aveVolt;
	}
	void drvMotorR(int pwm) {
	if (pwm >0) {
	digitalWrite(rightRvs, HIGH);
	analogWrite(rightFwd, constrain(256-pwm, -255, 255));
	}
	else if (pwm < 0) {
	digitalWrite(rightRvs, LOW);
	analogWrite(rightFwd, constrain(-pwm+driverHLoffset, -255, 255));
	}
	else {
	digitalWrite(rightRvs, LOW);
	analogWrite(rightFwd, constrain(pwm, -255, 255));
	}
	}
	void drvMotorL(int pwm) {
	if (pwm >0) {
	digitalWrite(leftRvs, HIGH);
	analogWrite(leftFwd, constrain(256-pwm, -255, 255));
	}
	else if (pwm < 0) {
	digitalWrite(leftRvs, LOW);
	analogWrite(leftFwd, constrain(-pwm+driverHLoffset, -255, 255));
	}
	else {
	digitalWrite(leftRvs, LOW);
	analogWrite(leftFwd, constrain(pwm, -255, 255));
	}
	}
	void selectMode() {
	if (digitalRead(SW1) == LOW) { //circle
	moveStep=0.003;
	spinStep=0.2;
	blinkLED(1);
	}
	}
	void sendSerial () {
	Serial.print(millis()-time0);
	Serial.print(" state=");Serial.print(state);
	Serial.print(" accX="); Serial.print(aveAccX);
	Serial.print(" Xoffset=");Serial.print(accXoffset);
	Serial.print(" accZ="); Serial.print(aveAccZ);
	Serial.print(" ang=");Serial.print(varAng);
	// Serial.print(" Omg="); Serial.print(varOmg);
	// Serial.print(" temp="); Serial.print(temp/340.0+36.53);
	Serial.print(" Dst="); Serial.print(varDst);
	Serial.print(" aveDst=");Serial.print(aveDst);
	Serial.print(" power="); Serial.print(power);
	// Serial.print(" ori="); Serial.print(orientation);
	Serial.print(" batt="); Serial.print(aveVolt);
	Serial.print(" bFactor=");Serial.print(battFactor);
	Serial.print(" ");
	Serial.print(millis()-time0);
	Serial.println();
	}

view raw adzuki_robo_4.ino hosted with ❤ by GitHub

棒テンプ時計精度アップ

	//DRV8835 connected to D2,3,4,5,6,9
	//MBM1422 mag sensor with 3.3V power
	//Touch sens antenna connected to A0
	//LED connected to D13
	//1H = 64 escapment wheel turn
	//1 escapment turn = 15 tic
	//tact time 100ms
	//folio calc every 4 min
	//#define NOMOTOR
	#include <ST7032.h>
	#include <RTC.h>
	#include <Wire.h>
	#define DRVPWR 9
	#define DRVMODE 2
	#define DRVAIN1 3
	#define DRVAIN2 4
	#define DRVBIN1 5
	#define DRVBIN2 6
	#define NHISTORY 64
	#define BM14 0x0E
	ST7032 lcd;
	volatile long rtcTic=1;
	long rtcLastLoop=1;
	int dataX, dataY, dataZ;
	int angle, angLast; //1deg=10
	int angMax, angMin;
	int angThresh;
	int angHyst=50; //5deg
	int folioDir, folioDirLast;
	unsigned long loopTime;
	long rtcLastFolioMove;
	long tFolio, tFolioCumulativeError;
	long cFolio=-3;
	int stepNumber=0;
	int stepNumberTarget=0;
	long rtcEscWheelHistory[NHISTORY];
	long nEscapeTurn, thresh;
	long tFolioRateError;
	long nCumulativeStep=0;
	long tFolioErrorMax=0;
	long tFolioErrorMin=0;
	boolean lcdEnabled=true;
	int lcdTimerCount=900; //90 sec
	int lcdTimer;
	void setup() {
	pinMode(DRVPWR, OUTPUT);
	pinMode(DRVMODE, OUTPUT);
	pinMode(DRVAIN1, OUTPUT);
	pinMode(DRVAIN2, OUTPUT);
	pinMode(DRVBIN1, OUTPUT);
	pinMode(DRVBIN2, OUTPUT);
	pinMode(13, OUTPUT);
	digitalWrite(13, HIGH);
	digitalWrite(DRVPWR, LOW);
	digitalWrite(DRVMODE, LOW);
	Serial.begin(115200);
	setPowerManagementMode(PM_STOP_MODE);
	rtc_init();
	rtc_attach_constant_period_interrupt_handler(rtcIntHandler);
	rtc_set_constant_period_interrupt_time(RTC_CONSTANT_PERIOD_TIME_1SECOND);
	rtc_constant_period_interrupt_on();
	delay(100);
	initMag();
	lcd.begin(8,2); //(c,r)
	delay(1000);
	startup();
	Serial.println("Ready");
	}
	void loop() {
	loopTime=millis();
	getAngle();
	if (angle>angThresh+angHyst) folioDir=1;
	if (angle<angThresh-angHyst) folioDir=-1;
	if (folioDir==1 && folioDirLast==-1) folioCycle();
	folioDirLast=folioDir;
	if (rtcTic != rtcLastLoop && cFolio>0) { //executed very 1 sec
	rtcLastLoop=rtcTic;
	lcdDispStatus();
	}
	delay(50);
	touchSens();
	while(millis()-loopTime<100) delay(2);
	}
	void rtcIntHandler() {
	rtcTic++;
	}
	void startup() {
	lcd.setContrast(25);
	lcdOn();
	lcdDispText(0,0, "STEPPER");
	lcdDispText(0,1, "TRAINING");
	delay(1000);
	for (int i=0; i<20; i++) {
	stepNumberTarget+=10;
	motorStep();
	delay(200);
	}
	stepNumber=190;
	stepNumberTarget=0;
	motorStep();
	nCumulativeStep=0;
	lcdDispText(0,0, "WAIT FOR");
	lcdDispText(0,1, "FOLIO MV");
	waitFolioMotion();
	lcdDispText(0,0, "CALC ANG");
	lcdDispText(0,1, "THRESHLD");
	getThresh();
	lcdDispText(0,0, "OK 000");
	lcdDispText(0,1, "0000 000");
	}
	void folioCycle() {
	digitalWrite(13, LOW);
	delay(1);
	digitalWrite(13, HIGH);
	rtcLastFolioMove=rtcTic;
	cFolio++;
	if (cFolio==0) {
	rtcTic=0;
	cFolio=0;
	stepNumber=stepNumberTarget=0;
	tFolioErrorMax=tFolioErrorMin=0;
	nCumulativeStep=0;
	}
	else if (cFolio<=0 || rtcTic<=0) return;
	tFolio=cFolio*15/4; //escapement 1tic=3.75sec
	tFolioCumulativeError=tFolio-rtcTic;
	lcdDispFolioTic(4,1);
	lcdDispNum34(4,0, tFolioCumulativeError);
	if (tFolioCumulativeError>tFolioErrorMax) tFolioErrorMax=tFolioCumulativeError;
	if (tFolioCumulativeError<tFolioErrorMin) tFolioErrorMin=tFolioCumulativeError;
	if (cFolio%60==0) { //every 60 turn =~4min
	nEscapeTurn=cFolio/15;
	rtcEscWheelHistory[nEscapeTurn%NHISTORY]=rtcTic;
	if (nEscapeTurn>=4) tFolioRateError=225-(rtcTic-rtcEscWheelHistory[(nEscapeTurn+NHISTORY-4)%NHISTORY]); //gain against 4 turns ago
	else tFolioRateError=0;
	lcdDispNum3(5,1, tFolioRateError);
	if (tFolioRateError*tFolioCumulativeError >=0) stepNumberTarget += (int) tFolioRateError/3 + (int) tFolioCumulativeError/4;
	if (stepNumberTarget != stepNumber) {
	motorStep();
	lcdDispNum4(0,0, nCumulativeStep);
	}
	}
	}
	void touchSens() {
	int adata1=analogRead(A0); //touch sensor
	delay(1);
	int adata2=analogRead(A0);
	if (abs(adata1-adata2) > 18 || adata1+adata2 < 800) { //touch detect threshold
	if (!lcdEnabled) lcdOn();
	lcdTimer=lcdTimerCount;
	}
	else {
	if (lcdEnabled) lcdTimer--;
	if (lcdTimer<=0) lcdOff();
	}
	}
	void lcdOn() {
	lcdTimer=lcdTimerCount;
	lcd.display();
	lcdEnabled=true;
	lcdDispNum4(0,0, nCumulativeStep);
	lcdDispNum4(0,1, tFolioErrorMax);
	lcdDispNum34(4,0, tFolioCumulativeError);
	lcdDispNum3(5,1, tFolioRateError);
	}
	void lcdOff() {
	lcd.noDisplay();
	lcdEnabled=false;
	}
	void lcdDispText(int col, int row, String s) {
	if (!lcdEnabled) return;
	lcd.setCursor(col,row);
	lcd.print(s);
	}
	void lcdDispStatus() {
	if (rtcTic-rtcLastFolioMove > 6) { //disp LCD even if folio not moving
	tFolioCumulativeError=tFolio-rtcTic;
	lcdDispNum34(4,0, tFolioCumulativeError);
	}
	if (rtcTic%8==0) {
	lcdDispNum4(0,0, nCumulativeStep);
	lcdDispNum4(0,1, tFolioErrorMax);
	}
	else if (rtcTic%8==4) {
	if (rtcTic<43200) {
	lcdDispNum3(0,0, rtcTic/60);
	lcdDispText(3,0, "M");
	}
	else if (rtcTic<3600000) {
	lcdDispNum3(0,0, rtcTic/3600);
	lcdDispText(3,0, "H");
	}
	else {
	lcdDispNum3(0,0, rtcTic/86400);
	lcdDispText(3,0, "D");
	}
	lcdDispNum4(0,1, tFolioErrorMin);
	}
	}
	void lcdDispNum4(int col, int row, long n) {
	if (!lcdEnabled) return;
	char pNum[6];
	if (n>999999) sprintf(pNum, "%s", ">1+6");
	else if (n>99999) sprintf(pNum, "%02dE4", n/10000);
	else if (n>9999) sprintf(pNum, "%02dE3", n/1000);
	else if (n>=0) sprintf(pNum, "%04d", n);
	else if (n>=-999) sprintf(pNum, "%04d", n);
	else if (n>=-9999) sprintf(pNum, "%02d-2", -n/100);
	else if (n>=-99999) sprintf(pNum, "%02d-3", -n/1000);
	else if (n>=-999999) sprintf(pNum, "%02d-4", -n/10000);
	else sprintf(pNum, "%s", "<1-6");
	lcd.setCursor(col,row);
	lcd.print(pNum);
	}
	void lcdDispNum3(int col, int row, long n) {
	if (!lcdEnabled) return;
	char pNum[6];
	if (n>999) sprintf(pNum, "%s", ">k+");
	else if (n>=-99) sprintf(pNum, "%03d", n);
	else if (n>=-999) sprintf(pNum, "%02d-", -n/10);
	else sprintf(pNum, "%s", "<k-");
	lcd.setCursor(col,row);
	lcd.print(pNum);
	}
	void lcdDispNum34(int col, int row, long n) {
	if (!lcdEnabled) return;
	char pNum[6];
	if (n>999) sprintf(pNum, "%s", " >k+");
	else if (n>=-99) sprintf(pNum, " %03d", n);
	else if (n>=-999) sprintf(pNum, "%04d", n);
	else sprintf(pNum, "%s", " <k-");
	lcd.setCursor(col,row);
	lcd.print(pNum);
	}
	void lcdDispFolioTic(int col, int row) {
	if (!lcdEnabled) return;
	lcd.setCursor(col, row);
	char n=cFolio%15+0xb1; //"ア"=0,... "ソ"=14
	lcd.print(n);
	}
	void motorStep() {
	digitalWrite(DRVPWR, HIGH);
	delay(5);
	while (stepNumberTarget-stepNumber != 0) {
	if (stepNumberTarget>stepNumber) stepNumber++;
	else stepNumber--;
	nCumulativeStep++;
	#ifdef NOMOTOR
	Serial.print("Motor setp=");Serial.println(stepNumber);
	#else
	motorDrive();
	#endif
	delay(10); //motor freq=100Hz
	}
	motorOut(LOW, LOW, LOW, LOW);
	digitalWrite(DRVPWR, LOW);
	}
	void motorDrive() {
	int phase=stepNumber%4;
	if (phase<0) phase=4+phase;
	if (phase==0) motorOut(HIGH, LOW, HIGH, LOW);
	if (phase==1) motorOut(LOW, HIGH, HIGH, LOW);
	if (phase==2) motorOut(LOW, HIGH, LOW, HIGH);
	if (phase==3) motorOut(HIGH, LOW, LOW, HIGH);
	}
	void motorOut(byte out1, byte out2, byte out3, byte out4) {
	digitalWrite(DRVAIN1, out1);
	digitalWrite(DRVAIN2, out2);
	digitalWrite(DRVBIN1, out3);
	digitalWrite(DRVBIN2, out4);
	}
	void getMag() {
	magWrite(0x1D, 0x40); //Start ADC
	delay(1);
	dataX=magRead(0x10);
	dataY=magRead(0x12);
	dataY+=160;
	dataZ=magRead(0x14);
	dataZ+=50;
	}
	void initMag() {
	// AVE_A defaul=0 -> 4times averate
	magWrite(0x1B, 0x82); //CNTL1
	delay(2);
	magWrite(0x5C, 0); //CNTL4 LSB
	magWrite(0x5D, 0); //CNTL4 MSB
	magWrite(0x1C, 0x08); //CNTL2 DRDY enable with low active
	getMag();
	}
	void waitFolioMotion() {
	angMax=-3600;
	angMin=3600;
	do {
	getAngle();
	if (angle > angMax) angMax=angle;
	if (angle < angMin) angMin=angle;
	delay(100);
	} while (angMax-angMin<300);
	}
	void getThresh() {
	unsigned long msec=millis();
	angMax=-3600;
	angMin=3600;
	do {
	getAngle();
	if (angle > angMax) angMax=angle;
	if (angle < angMin) angMin=angle;
	delay(100);
	} while (millis()-msec<15000); //15second
	angThresh=(angMax+angMin)/2;
	}
	void getAngle() {
	getMag();
	angle= (int) (atan2((double)dataZ, (double)dataY)*572.9579); //1800.0/3.141592=572.9579
	int diff=angle - angLast;
	if (diff > 1800) angle-=3600;
	if (diff < -1800) angle+=3600;
	angLast=angle;
	/*
	Serial.print(dataZ);
	Serial.print(" ");
	Serial.print(dataY);
	Serial.print(" ");
	Serial.print(angle);
	*/
	}
	void magWrite (unsigned char adr, unsigned char data) {
	Wire.beginTransmission(BM14);
	Wire.write(adr);
	Wire.write(data);
	Wire.endTransmission(true);
	}
	int magRead(unsigned char adr) {
	Wire.beginTransmission(BM14);
	Wire.write(adr);
	Wire.endTransmission(false);
	Wire.requestFrom(BM14, 2, (int)true);
	return Wire.read()|Wire.read()<<8;
	}

view raw FolioClock27Mag.ino hosted with ❤ by GitHub