programming used 2

8/17/2019 Programming Used 2

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#pragma confg ALTI2C1 = OFF // Alternate I2C pins or I2C1 (SDA1/SC1 pins areselecte! as t"e I/O pins or I2C1

#pragma confg ALTI2C2 = OFF // Alternate I2C pins or I2C2 (I2C2 mappe! toSDA2/SCL2 pins

// FICD

#pragma confg ICS = $%D1 // ICD Comm&nication C"annel Select 'its(Comm&nicate on $%C2 an! $%D2

#pragma confg )ST$)I = $F // )eset Target *ector Select 'it (De+ice ,ill o'tainreset instr&ction rom $rimar- .as"

#pragma confg TA%0 = OFF // TA% na'le it (TA% is !isa'le!

// FAS

#pragma confg A)$ = OFF // A&3iliar- Segment rite4protect 'it (A&3 Flas"ma- 'e ,ritten

#pragma confg A$L = OFF // A&3iliar- Segment Co!e4protect 'it (A&3 Flas"Co!e protect is !isa'le!

#pragma confg A$L = OFF // A&3iliar- Segment e- 'its (A&3 Flas" rite$rotection an! Co!e $rotection is Disa'le!

//==========================================================================================================

==========================================

//===LD===//

#!efne LD5)D LAT6'its7LAT68

#!efne LD5%)0 LAT6'its7LAT69

#!efne LD56IT LAT'its7LAT18

#!efne LD5L: LATF'its7LATF1;

//===SITC6===//

#!efne S1 $O)T6'its7)6<

#!efne S2 $O)T6'its7)61

//===>OTO)===//

#!efne ser+o1 $DC2 //S)*O 1

#!efne ser+o2 $DC8 //S)*O 2

#!efne >1A LAT%'its7LAT%9 //>OTO) ?

#!efne >1 LAT'its7LAT1;


2/37

#!efne sp1 $DC9

#!efne >2A LAT%'its7LAT%< //>OTO) 8

#!efne >2 LAT%'its7LAT%@#!efne sp2 $DC? // ma3 2? $DC

#!efne >;A LAT'its7LAT< //>OTO) ;

#!efne >; LATA'its7LATA

#!efne sp; $DC;

#!efne >8A LAT'its7LAT //>OTO) 2

#!efne >8 LAT'its7LAT

#!efne sp8 $DC@

#!efne >?A LAT'its7LAT? //>OTO) 1

#!efne >? LAT'its7LAT1

#!efne sp? $DC1 //$DC8 t&Bar&nt&B ser+o1

#!efne >9A LAT'its7LAT; //>OTO) A0A0

#!efne >9 LAT'its7LAT8

//=======12$I0 I/O========//

#!efne T)I%%) LAT6'its7LAT612

//====================:A)T====================//

#!efne T; :;T)%

#!efne T8 :8T)%

//===========A:)AT==============//

#!efne )%*AL ((F$/A:D)AT/1941

#!efne A:D)AT 9


3/37

#!efne F$ ?

//===========sBps protocol==============//

#!efne p5select

#!efne p5o-l 1#!efne p5o-r 2

#!efne p5start ;

#!efne p5&p 8

#!efne p5rig"t ?

#!efne p5!o,n 9

#!efne p5let @

#!efne p5l2 <

#!efne p5r2

#!efne p5l1 1

#!efne p5r1 11

#!efne p5triangle 12

#!efne p5circle 1;

#!efne p5cross 18

#!efne p5sE&are 1?

#!efne p5o-5l3 19

#!efne p5o-5l- 1@

#!efne p5o-5r3 1<

#!efne p5o-5r- 1

#!efne p5o-5l& 2

#!efne p5o-5l! 21

#!efne p5o-5ll 22

#!efne p5o-5lr 2;

#!efne p5o-5r& 28

#!efne p5o-5r! 2?

#!efne p5o-5rl 29

#!efne p5o-5rr 2@

#!efne p5con5stat&s 2<

#!efne p5motor1 2


4/37

#!efne p5motor2 ;

//=======================================//

+oi!init5IO(+oi!

+oi!init5$>(+oi!+oi!c"ange5pin(+oi!

//====&nction mecan&m &sing sa'ertoot"====//

+oi!mecan&m5or,ar!(&nsigne! int mLG &nsigne! intm)

+oi!mecan&m5re+erse(&nsigne! int mLG &nsigne! intm)

+oi!mecan&m5let(&nsigne! int mLG &nsigne! intm)

+oi!mecan&m5rig"t(&nsigne! int mLG &nsigne! intm)

+oi! mecan&m58?(&nsigne! int mLG &nsigne! intm)

+oi! mecan&m51;?(&nsigne! int mLG &nsigne! intm)


+oi! mecan&m5;1?(&nsigne! int mLG &nsigne! intm)

+oi!mecan&m5C(&nsigne! int mLG &nsigne! intm)

+oi!mecan&m5CC(&nsigne! int mLG &nsigne! intm)

+oi! mecan&m5t&rn1(&nsigne! int mLG &nsigne! intm)

//====&nction mecan&m &sing rela-====//

+oi!mecan&m5rela-5or,ar! (+oi!

+oi!mecan&m5rela-5re+erse (+oi!

+oi!mecan&m5rela-5rig"t (+oi!

+oi!mecan&m5rela-5let (+oi!

+oi!mecan&m5rela-5C (+oi!

+oi!mecan&m5rela-5CC (+oi!

+oi!sp5rela-5ma3(+oi! //&nction spee! ma3/normal/slo,

+oi!sp5rela-5slo,(+oi!

+oi!sp5rela-5normal(+oi!

+oi!tem'aB (+oi!

//====sBps====//

+oi!&art5sen!(&nsigne! c"ar !ata

&nsigne! c"ar &art5rec(+oi!

&nsigne! c"ar sBps(&nsigne! c"ar !ata


5/37

+oi! init5&art2(+oi!

//====&nction tam'a"an====//

+oi! !ela-(&nsigne! long i

+oi!le!5'linBing(+oi!&nsigne! c"ar s1L

&nsigne! c"ar s1)

&nsigne! c"ar s2L

&nsigne! c"ar s2)

&nsigne!int static 3 = ;

&nsigne!int static - = ??

int main(+oi!

H

DTSDisa'le

init5IO(

T)I%%)=1

:;T)%=

:8T)%=

!ela-(1

T)I%%)=1

LD5)D=1

ser+o1=2? //trigger

ser+o2=1 //gripper

,"ile(1

H

i(sBps(p5start==

H

LD5)D=

T)I%%)=1

,"ile(1


6/37

H

LD5%)0=1

i(sBps(p5&p==

Hi(sBps(p5rig"t==

H

LD5%)0=1

LD56IT=1

mecan&m5rig"t(9;G9;

else i(sBps(p5let==

H

LD5)D=1

LD5L:=1

mecan&m5let(9;G9;

else i(sBps(p5r1==

H

LD5%)0=1

LD56IT=1

mecan&m5C(9;G9;

else i(sBps(p5l1==

H

LD5)D=1

LD5L:=1

mecan&m5CC(9;G9;

else i(sBps(p5r2==

H

LD5%)0=1

LD56IT=1


7/37

mecan&m58?(9;G9;

else i(sBps(p5l2==

H LD5)D=1

LD5L:=1

mecan&m51;?(9;G9;

else

H

LD5)D=1

LD5%)0=1

mecan&m5or,ar!(9;G9;

else i(sBps(p5!o,n==

H

i(sBps(p5rig"t==

H

LD5%)0=1

LD56IT=1

mecan&m5let(9;G9;

else i(sBps(p5let==

H

LD5)D=1

LD5L:=1

mecan&m5rig"t(9;G9;

else i(sBps(p5r1==

H

LD5%)0=1


8/37

LD56IT=1

mecan&m5C(9;G9;

else i(sBps(p5l1== H

LD5)D=1

LD5L:=1

mecan&m5CC(9;G9;

else i(sBps(p5r2==

H

LD5%)0=1

LD56IT=1

mecan&m5;1?(9;G9;

else i(sBps(p5l2==

H

LD5)D=1

LD5L:=1

mecan&m522?(9;G9;

else

H

LD5L:=1

LD56IT=1

mecan&m5re+erse(9;G9;

else i(sBps(p5rig"t==

H

LD5%)0=1

LD56IT=1


9/37

mecan&m5rig"t(9;G9;

else i(sBps(p5let==

H LD5)D=1

LD5L:=1

mecan&m5let(9;G9;

else i(sBps(p5r1==

H

LD5)D=1

LD5L:=1

mecan&m5C(9;G9;

else i(sBps(p5l1==

H

LD5%)0=1

LD56IT=1

mecan&m5CC(9;G9;

else i(sBps(p5r2==

H

LD5%)0=1

LD56IT=1

mecan&m58?(9;G9;

else i(sBps(p5l2==

H

LD5)D=1

LD5L:=1

mecan&m51;?(9;G9;


10/37

else i(sBps(p5o-5l!J=?

H

ser+o1=ser+o14?

i(ser+o1K=2 H

ser+o1=2

else i(sBps(p5o-5l&J=?

H

ser+o1=ser+o1?

i(ser+o1J=8

H

ser+o1=8

else i(sBps(p5o-l==

H

ser+o1=28

else i(sBps(p5o-5rlJ=?

H

ser+o2=ser+o2?

i(ser+o1J=2?

H

ser+o2=2?

else i(sBps(p5o-5rrJ=?

H

ser+o2=ser+o24?


11/37

i(ser+o1K=2

H

ser+o2=2

else i(sBps(p5cross==

H

LD5L:=1

T)I%%)=

// tem'aB(

else i(sBps(p5select==

H

init5IO(

LD5L:=LD5%)0=LD56IT=LD5)D=1

!ela-(1

LD5L:=LD5%)0=LD56IT=LD5)D=

else

H

init5IO(

LD5L:=LD5%)0=LD56IT=LD5)D=

T)I%%)=1

:;T)%=

:8T)%=

ret&rn


12/37

+oi!init5IO(+oi!

H

//================ST I/O AS DI%ITAL======================//

A0SLA = A0SL =

A0SLC =

A0SLD =

A0SL =

//=================ST $I0 AS I0$:T========================//

//$:S6 :TTO0

T)IS6'its7T)IS6< = 1

T)IS6'its7T)IS61 = 1

//=================ST $I0 AS O:T$:T=======================//

//LD

T)IS6'its7T)IS68 =

T)IS6'its7T)IS69 =

T)IS'its7T)IS18 =

T)ISF'its7T)ISF1; =

//>OTO)

T)IS'its7T)IS< =

T)IS'its7T)IS =

T)ISA'its7T)ISA =

T)IS'its7T)IS =

T)IS%'its7T)IS%< =

T)IS'its7T)IS1 =

T)IS%'its7T)IS%@ =

T)IS'its7T)IS? =

T)IS%'its7T)IS%9 =

T)IS'its7T)IS8 =

T)IS'its7T)IS1; =


13/37

T)IS'its7T)IS; =

//12$I0 I/

T)IS6'its7T)IS612 = //T)I%%)

c"ange5pin(

init5&art2(

init5$>(

//:1)% =)%*AL //&nt&B testing :A)T man&al

//:2)% =)%*AL

:;)% =)%*AL

:8)% =)%*AL

//T2=

T;=

T8=

//=================I0ITIALIM TO M)O======================//

LD5L: = //mera"//se'el&mt&Bar

LD5%)0 = //"ia&

LD5)D = //p&ti"

LD56IT = //'ir&

T)I%%)=1

>1A=>1=>2A=>2=>;A=>;=>8A=>8=>?A=>?=

+oi!init5$>(

H

$T$) = 288 /N $T$) = ((1 / 8B6 / 178ns = 288G ,"ere8B6

is t"e !esire! s,itc"ing reE&enc- an! 178ns is $> resol&tion7 N/

$TCO02'its7$CLDI*=9 //1 = Di+i!e4'-498


14/37

/NPPPPPPPPPPPPPPPPPPPPPPP $>1 Confg&rationPPPPPPPPPPPPPPPPPPPPPPPPPPPPN/

IOCO01'its7$06 = 1 /N $>16 is controlle! '- $> mo!&le

N/

IOCO01'its7$0L = /N $>1L is controlle! '- %$IO mo!&leN/

IOCO01'its7$>OD = 1 /N Select In!epen!ent O&tp&t $>mo!e N/

//$DC1 = /N Initial D&t- c-cle N/

DT)1 = 98 /N Dea!time setting N/

ALTDT)1 = 98 /N Dea!time setting N/

$6AS1 = /N 0o p"ase s"it N/

/NPPPPPPPPPPPPPPPPPPPPPPP $>2 Confg&rationPPPPPPPPPPPPPPPPPPPPPPPPPPPPPN/

IOCO02'its7$06 = 1 /N $>26 is controlle! '- $> mo!&leN/






$6AS2 = /N appro3imatel- 2?ns p"ase s"it N/

/NPPPPPPPPPPPPPPPPPPPPPPP $>; Confg&ration

PPPPPPPPPPPPPPPPPPPPPPPPPPPPN/

IOCO0;'its7$06 = 1 /N $>16 is controlle! '- $> mo!&leN/

IOCO0;'its7$0L = /N $>1L is controlle! '- %$IO mo!&leN/

IOCO0;'its7$>OD = 1 /N Select In!epen!ent O&tp&t $>mo!e N/

$DC; = /N Initial D&t- c-cle N/

DT); = 98 /N Dea!time setting N/ ALTDT); = 98 /N Dea!time setting N/


15/37

$6AS; = /N 0o p"ase s"it N/









/NPPPPPPPPPPPPPPPPPPPPPPP $>? Confg&rationPPPPPPPPPPPPPPPPPPPPPPPPPPPPN/

IOCO0?'its7$06 = 1 /N $>16 is controlle! '- $> mo!&leN/

IOCO0?'its7$0L = /N $>1L is controlle! '- %$IO mo!&le

N/

IOCO0?'its7$>OD = 1 /N Select In!epen!ent O&tp&t $>mo!e N/

$DC? = /N Initial D&t- c-cle N/

DT)? = 98 /N Dea!time setting N/

ALTDT)? = 98 /N Dea!time setting N/

$6AS? = /N 0o p"ase s"it N/





$DC9 = /N Initial D&t- c-cle N/ DT)9 = 98 /N Dea!time setting N/


16/37



/NPPPPPPPPPPPPPPPPPPPPPPP $>@ Confg&rationPPPPPPPPPPPPPPPPPPPPPPPPPPPPN/

IOCO0@'its7$06 = 1 /N $>16 is controlle! '- $> mo!&leN/

IOCO0@'its7$0L = /N $>1L is controlle! '- %$IO mo!&leN/

IOCO0@'its7$>OD = 1 /N Select In!epen!ent O&tp&t $>mo!e N/

$DC@ = /N Initial D&t- c-cle N/

DT)@ = 98 /N Dea!time setting N/

ALTDT)@ = 98 /N Dea!time setting N/

$6AS@ = /N 0o p"ase s"it N/

//==================================//

$TCO0'its7$T0 = 1 /N na'le t"e $> >o!&le N/

+oi!c"ange5pin(+oi! //:A)T 0 T:A) $I0

H

//:1>OD'its7:A)T0 =1 //>OD T

//:1STA'its7:T0 =1 //CO0T)OLL )%IST)

//:2>OD'its7:A)T0 =1 //!" setting Bt&ntion :A)T

//:2STA'its7:T0 =1

:;>OD'its7:A)T0 =1

:;STA'its7:T0 =1

:8>OD'its7:A)T0 =1

:8STA'its7:T0 =1

//:A)T 24S$S //g&na :A)T2

)$I0)1'its7:2))=112 //S$S4) 111

)$O)1'its7)$9@)=; //:A)T24T 11


17/37

)$O)1'its7)$99)=2@ //:A)T;4T 1 111

)$O)'its7)$9?)=2 //:A)T84T 1 111

+oi! init5&art2(+oi!

H

:2STA'its7:)ISL =

I$C@'its7:2)I$=?

:2STA'its7O)) =

IFS1'its7:2)IF =

IC1'its7:2)I =

:2>OD'its7:A)T0 = 1

:2STA'its7:T0 = 1

:2)% = )%*AL

// &art &nction (serial comm&nication

//=======================================================================

+oi!&art5sen!(&nsigne! c"ar !ata //&nction to sen! o&t a '-te +ia &art

H

,"ile(:2STA'its7:TF == 1 //,ait or pre+io&s !ata to fnis" sen! o&t

:2T)% = !ata //sen! ne, !ata

&nsigne! c"ar &art5rec(+oi! //&nction to ,ait or a '-te recei+e rom &art

H

,"ile(:2STA'its7:)DA == //,ait or !ata to recei+e!

:2STA'its7O)) =

ret&rn :2))% //ret&rn t"e recei+e! !ata

// sBps &nction (rea! an! ,rite !ata to $S2


18/37

//=======================================================================

&nsigne! c"ar sBps(&nsigne! c"ar !ata //&nction to rea! '&tton an! o-sticB

H

&art5sen!(!ata

ret&rn&art5rec(

+oi! !ela-(&nsigne! long i

H

or(iJi44

H

+oi!le!5'linBing(+oi!

H

LD5L: = 1

!ela-(1

LD5L: =

!ela-(1

+oi!mecan&m5or,ar!(&nsigne! int mLG &nsigne! intm)

H

i(sBps(p5triangle==

H

s1L = 98 mL 43

s1) = 12 m) 43

:;T)% = s1L

:;T)% = s1)


19/37

s2L = 98 4 mL 3

s2) = 12 4 m) 3

:8T)% = s2L

:8T)% = s2)

else i(sBps(p5circle==

H

s1L = 98 mL 4-

s1) = 12 m) 4-

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL -

s2) = 12 4 m) -

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98 mL

s1) = 12 m)

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL

s2) = 12 4 m)

:8T)% = s2L

:8T)% = s2)

+oi!mecan&m5re+erse(&nsigne! int mLG &nsigne! intm)


20/37

H

i(sBps(p5triangle==

H

s1L = 98 4 mL 3 s1) = 12 4 m) 3

:;T)% = s1L

:;T)% = s1)

s2L = 98 mL 43

s2) = 12 m) 43

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 4 mL -

s1) = 12 4 m) -

:;T)% = s1L

:;T)% = s1)

s2L = 98 mL 4-

s2) = 12 m) 4-

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98 4 mL

s1) = 12 4 m)

:;T)% = s1L

:;T)% = s1)


21/37

s2L = 98 mL

s2) = 12 m)

:8T)% = s2L

:8T)% = s2)

+oi!mecan&m5let(&nsigne! int mLG &nsigne! intm)

H

i(sBps(p5triangle==

H

s1L = 98 4 mL 3

s1) = 12 m) 43

:;T)% = s1L

:;T)% = s1)

s2L = 98 mL 43

s2) = 12 4 m) 3

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 4 mL -

s1) = 12 m) 4-

:;T)% = s1L

:;T)% = s1)

s2L = 98 mL 4-

s2) = 12 4 m) -

:8T)% = s2L

:8T)% = s2)


22/37

else

H

s1L = 98 4 mL s1) = 12 m)

:;T)% = s1L

:;T)% = s1)

s2L = 98 mL

s2) = 12 4 m)

:8T)% = s2L

:8T)% = s2)

+oi!mecan&m5rig"t(&nsigne! int mLG &nsigne! intm)

H

i(sBps(p5triangle==

H

s1L = 98 mL 43

s1) = 12 4 m) 3

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL 3

s2) = 12 m) 43

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 mL 4-


23/37

s1) = 12 4 m) -

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL -

s2) = 12 m) 4-

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98 mL

s1) = 12 4 m)

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL

s2) = 12 m)

:8T)% = s2L

:8T)% = s2)


H

i(sBps(p5triangle==

H

s1L = 98 mL 43

s1) = 12

:;T)% = s1L

:;T)% = s1)


24/37

s2L = 98 4 m) 3

s2) = 12

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 mL 4-

s1) = 12

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 m) -

s2) = 12

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98 mL

s1) = 12

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 m)

s2) = 12

:8T)% = s2L

:8T)% = s2)

+oi! mecan&m51;?(&nsigne! int mLG &nsigne! intm)


25/37

H

i(sBps(p5triangle==

H

s1L = 98 s1) = 12 m) 43

:;T)% = s1L

:;T)% = s1)

s2) = 98

s2L = 12 4 mL 3

:8T)% = s2L

:8T)% = s2)


H

s1L = 98

s1) = 12 m) 4-

:;T)% = s1L

:;T)% = s1)

s2) = 98

s2L = 12 4 mL -

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98

s1) = 12 m)

:;T)% = s1L

:;T)% = s1)


26/37

s2) = 98

s2L = 12 4 mL

:8T)% = s2L

:8T)% = s2)


H

i(sBps(p5triangle==

H

s1L = 98 4 mL 3

s1) = 12

:;T)% = s1L

:;T)% = s1)

s2L = 98 m) 43

s2) = 12

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 4 mL -

s1) = 12

:;T)% = s1L

:;T)% = s1)

s2L = 98 m) 4-

s2) = 12

:8T)% = s2L

:8T)% = s2)


27/37

else

H

s1L = 98 4 mL s1) = 12

:;T)% = s1L

:;T)% = s1)

s2L = 98 m)

s2) = 12

:8T)% = s2L

:8T)% = s2)

+oi! mecan&m5;1?(&nsigne! int mLG &nsigne! intm)

H

i(sBps(p5triangle==

H

s1L = 98

s1) = 12 4 m) 3

:;T)% = s1L

:;T)% = s1)

s2) = 98

s2L = 12 mL 43

:8T)% = s2L

:8T)% = s2)


H

s1L = 98


28/37

s1) = 12 4 m) -

:;T)% = s1L

:;T)% = s1)

s2) = 98

s2L = 12 mL 4-

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98

s1) = 12 4 m)

:;T)% = s1L

:;T)% = s1)

s2) = 98

s2L = 12 mL

:8T)% = s2L

:8T)% = s2)

+oi!mecan&m5CC(&nsigne! int mLG &nsigne! intm)

H

i(sBps(p5triangle==

H

s1L = 98 4 mL 3

s1) = 12 m) 43

:;T)% = s1L

:;T)% = s1)


29/37

s2L = 98 4 mL 3

s2) = 12 m) 43

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 4 mL -

s1) = 12 m) 4-

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL -

s2) = 12 m) 4-

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98 4 mL

s1) = 12 m)

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL

s2) = 12 m)

:8T)% = s2L

:8T)% = s2)

+oi!mecan&m5C(&nsigne! int mLG &nsigne! intm)


30/37

H

i(sBps(p5triangle==

H

s1L = 98 mL 43 s1) = 12 4 m) 3

:;T)% = s1L

:;T)% = s1)

s2L = 98 mL 43

s2) = 12 4 m) 3

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 mL 4-

s1) = 12 4 m) -

:;T)% = s1L

:;T)% = s1)

s2L = 98 mL 4-

s2) = 12 4 m) -

:8T)% = s2L

:8T)% = s2)

else

H

s1L = 98 mL

s1) = 12 4 m)

:;T)% = s1L

:;T)% = s1)


31/37

s2L = 98 mL

s2) = 12 4 m)

:8T)% = s2L

:8T)% = s2)

+oi! mecan&m5t&rn1(&nsigne! int mLG &nsigne! intm)

H

i(sBps(p5triangle==

H

s1L = 98 mL 43

s1) = 12 4 m) 3

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL 3

s2) = 12 m) 43

:8T)% = s2L

:8T)% = s2)


H

s1L = 98 mL 4-

s1) = 12 4 m) -

:;T)% = s1L

:;T)% = s1)

s2L = 98 4 mL -

s2) = 12 m) 4-

:8T)% = s2L


32/37

:8T)% = s2)

else

H s1L = 98 4 mL

s1) = 12 m)

:;T)% = s1L

:;T)% = s1)

s2L = 98

s2) = 12

:8T)% = s2L

:8T)% = s2)

+oi!mecan&m5rela-5or,ar! (+oi!

H

>1A=1 //or,ar!

>1=

// sp1=3

>2A= //or,ar!

>2=1

// sp2=-

>;A=1 //or,ar!

>;=

// sp;=3

>8A= //or,ar!

>8=1

// sp8=-

sp5rela-5normal(


33/37

+oi!mecan&m5rela-5re+erse (+oi!

H

>1A= //'acB,ar! >1=1

// sp1=3

>2A=1 //'acB,ar!

>2=

// sp2=-

>;A= //'acB,ar!

>;=1

// sp;=3

>8A=1 //'acB,ar!

>8=

// sp8=-

sp5rela-5normal(

+oi!mecan&m5rela-5let (+oi!

H

>1A= //'acB,ar!

>1=1

// sp1=3

>2A= //'acB,ar!

>2=1

// sp2=-

>;A=1 //or,ar!

>;=

// sp;=3

>8A=1 //or,ar!

>8=

// sp8=-


34/37

sp5rela-5normal(

+oi!mecan&m5rela-5rig"t (+oi!H

>1A=1 //or,ar!

>1=

// sp1=3

>2A=1 //or,ar!

>2=

// sp2=-

>;A= //'acB,ar!

>;=1

// sp;=3

>8A= //'acB,ar!

>8=1

// sp8=-

sp5rela-5normal(

+oi!mecan&m5rela-5C (+oi!

H

>1A=1 //or,ar!

>1=

// sp1=3

>2A=1 //or,ar!

>2=

// sp2=-

>;A=1 //or,ar!

>;=

// sp;=3

>8A=1 //or,ar!


35/37

>8=

// sp8=-

sp5rela-5normal(

+oi!mecan&m5rela-5CC (+oi!

H

>1A= //or,ar!

>1=1

// sp1=3

>2A= //or,ar!

>2=1

// sp2=-

>;A= //or,ar!

>;=1

// sp;=3

>8A= //or,ar!

>8=1

// sp8=-

sp5rela-5normal(

+oi!sp5rela-5normal(+oi!

H

i(sBps(p5triangle==

H

sp5rela-5ma3(

else i(sBps(p5sE&are==

H

sp5rela-5slo,(


36/37

else

H

sp1=2

sp2=2 sp;=2

sp8=2

+oi!sp5rela-5slo,(+oi!

H

sp1=?

sp2=?

sp;=?

sp8=?

+oi!sp5rela-5ma3(+oi!

H

sp1=2?

sp2=2?

sp;=2?

sp8=2?

+oi!tem'aB(+oi!

H

T)I%%)=

LD5L:=1

!ela-(1

T)I%%)=1

LD5L:=

!ela-(1

T)I%%)=


37/37

LD5L:=1

!ela-(1

T)I%%)=1

LD5L:=1!ela-(1

programming used 2

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