Diff: main.cpp

Revision:

6:15204813ef87

Parent:

5:bcf55d8fe7a7

Child:

7:5f693667d0e9

--- a/main.cpp	Mon Feb 20 12:25:06 2017 +0000
+++ b/main.cpp	Wed Feb 22 08:49:59 2017 +0000
@@ -16,9 +16,9 @@
 VIN--------------------------------------------------------------------4.5~9.0V
 -----------------------------------VIN------VIN------VIN------VIN------5V
 Vout-----VCC------VIN-----VDD------------------------------------------3.3V
-        -ADO     -PS
+       \-ADO    \-PS
 GND------GND------GND-----VSS------GND------GND------GND------GND------0V
-                 -CS
+                \-CS
 p9-------SDA------SDA----------------------------------------------------
 p10------SCL------SCL----------------------------------------------------
 p11-----------------------CLK--------------------------------------------
@@ -40,8 +40,8 @@
 #define RATE_LOG 10//ログ用
 #define RATE_OPEN 10//開放用
 /*サーボ動作*/
-#define LOCK true
-#define UNLOCK false
+#define LOCK 0.0005
+#define UNLOCK 0.0015
 /*フェイズ定義*/
 #define STANDBY 0
 #define LAUNCH 1
@@ -80,7 +80,7 @@
 FILE *fp;
 
 void _Open();
-void _Servo(int8_t door_num, bool door_motion);
+void _Servo(int8_t door_num, float motion);
 void _Log();
 
 int main() {
@@ -89,6 +89,7 @@
    Door_1_2.period_ms(20);
    Door_2_1.period_ms(20);
    Door_2_2.period_ms(20);
+   _Servo(0,LOCK);
    fp = fopen("/sd/log.txt", "w");
    fprintf(fp, "pressure,temperature,ax,ay,az,gx,gy,gz\r\n");
    loop_log.attach(&_Log,1.0/RATE_LOG);
@@ -96,6 +97,7 @@
    while(1);
 }
 
+/*開放用関数　RATE_OPEN[Hz]で判定を行う*/
 void _Open(){
    myled = 1 << (Phase-1);
    switch (Phase) {
@@ -127,6 +129,7 @@
    }
 }
 
+/*記録用関数　RATE_LOG[Hz]で記録を行う*/
 void _Log(){
    t[row][col] = timer.read();
    pressure[row][col] = ms5607.getPressure();
@@ -145,6 +148,20 @@
     }
 }
 
-void _Servo(int8_t door_num, bool door_motion){
-   
+/*サーボ動作用関数 _Servo(int8_t 扉番号,float pwm波長)*/
+void _Servo(int8_t door_num, float motion){
+   if(door_num==0){//全扉
+      Door_1_1.pulsewidth(motion);
+      Door_1_2.pulsewidth(motion);
+      Door_2_1.pulsewidth(motion);
+      Door_2_2.pulsewidth(motion);
+   }else if(door_num==1){//扉１
+      Door_1_1.pulsewidth(motion);
+      Door_1_2.pulsewidth(motion);
+   }else if(door_num==2){//扉２
+      Door_2_1.pulsewidth(motion);
+      Door_2_2.pulsewidth(motion);
+   }else{
+      pc.printf("error\r\n");
+   }
 }