2017.11伊豆大島共同打ち上げ実験の開放用プログラム
Dependencies: BMP180 MPU6050 mbed
Fork of 2017_11_1114 by
Diff: main.cpp
- Revision:
- 3:217b56515009
- Parent:
- 2:6238109d564d
- Child:
- 4:ae20e73f4924
diff -r 6238109d564d -r 217b56515009 main.cpp --- a/main.cpp Fri Oct 20 03:49:28 2017 +0000 +++ b/main.cpp Sat Oct 21 16:10:49 2017 +0000 @@ -3,7 +3,7 @@ #include "MPU6050.h" #include "BMP180.h" -#define LAUNCH_JUDGE_ACC_g 3.0 +#define LAUNCH_JUDGE_ACC_g -1.0 #define PARA_OPEN_TIME_s 5.0 #define LEAF_UNLOCK_TIME_s 5.0 #define LEAF_UNLOCK_ALT_m 300.0 @@ -14,10 +14,10 @@ Timer para_timer; Timer leaf_timer; Ticker readtimer; -PwmOut mg995(dp1); -PwmOut sg92(dp18); +PwmOut mg996(dp1); +PwmOut sg92(dp2); DigitalOut myled(LED1); -Serial pc(USBTX,USBRX); +//Serial pc(USBTX,USBRX); /* 自作関数 */ void _flight(); @@ -39,8 +39,8 @@ int main() { - pc.printf("Hello!"); - mg995.period_ms(20); +// pc.printf("Hello!"); + mg996.period_ms(20); sg92.period_ms(20); _close(); _leaf_lock(); @@ -51,7 +51,7 @@ } -/*フライトモード用関数 */ +/* フライトモード用関数 */ void _flight(){ /* 地上高度取得 */ @@ -59,10 +59,11 @@ Alt_buff[i] = _getAlt(); } land_alt = _median(Alt_buff,10); - for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); +// for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); /* 発射判定 */ while(1){ + myled = !myled; for(int i=0;i<10;i++){ acc = _getAcc(); Acc_buff[i] = acc; @@ -70,7 +71,7 @@ acc = _median(Acc_buff,10); if(acc >= LAUNCH_JUDGE_ACC_g){ para_timer.start(); - for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]); +// for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]); break; } } @@ -87,7 +88,7 @@ _open(); leaf_timer.start(); para_timer.stop(); - for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); +// for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); break; } } @@ -101,7 +102,7 @@ if(altitude <= LEAF_UNLOCK_ALT_m || leaf_timer.read() >= LEAF_UNLOCK_TIME_s){ _leaf_unlock(); leaf_timer.stop(); - for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); +// for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); break; } } @@ -109,8 +110,8 @@ /* サーボ用関数 */ -void _close() {mg995.pulsewidth(0.0006);} -void _open() {mg995.pulsewidth(0.0023);} +void _close() {mg996.pulsewidth(0.0006);} +void _open() {mg996.pulsewidth(0.0023);} void _leaf_lock() {sg92.pulsewidth(0.0005);} void _leaf_unlock() {sg92.pulsewidth(0.0023);}