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:
- 5:a5cf6914e7c4
- Parent:
- 4:ae20e73f4924
- Child:
- 6:e0c25c3976ae
diff -r ae20e73f4924 -r a5cf6914e7c4 main.cpp --- a/main.cpp Sun Oct 22 04:36:54 2017 +0000 +++ b/main.cpp Sun Oct 22 15:07:19 2017 +0000 @@ -4,8 +4,9 @@ #include "BMP180.h" #define LAUNCH_JUDGE_ACC_g 3.0 -#define PARA_OPEN_TIME_s 5.0 -#define LEAF_UNLOCK_TIME_s 5.0 +#define PARA_OPEN_TIME_s 10.0 +#define PARA_OPEN_FILTER_s 6.0 +#define LEAF_UNLOCK_TIME_s 10.0 #define LEAF_UNLOCK_ALT_m 300.0 #define p0 1013.25f @@ -14,8 +15,8 @@ Timer para_timer; Timer leaf_timer; Ticker readtimer; -PwmOut mg996(dp1); -PwmOut sg92(dp2); +PwmOut mg996(dp18); +PwmOut sg92(dp1); DigitalIn oshirase1(dp11); DigitalInOut oshirase2(dp10); DigitalOut myled(LED1); @@ -50,6 +51,7 @@ mpu.setAcceleroRange(0); bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER); oshirase2.input(); + wait(0.5); while(1){ if(oshirase1==0 && oshirase2==1){ _flight(); @@ -118,13 +120,15 @@ Alt_buff[i] = _getAlt(); if(Alt_buff[i] < Alt_buff[i-1]) Alt_cnt++; } - if(Alt_cnt > 6 || para_timer.read() >= PARA_OPEN_TIME_s){ - _open(); - leaf_timer.start(); - oshirase2 = 0; - para_timer.stop(); -// for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); - break; + if(para_timer.read() >= PARA_OPEN_FILTER_s){ + if(Alt_cnt > 6 || para_timer.read() >= PARA_OPEN_TIME_s){ + _open(); + leaf_timer.start(); + oshirase2 = 0; + para_timer.stop(); + // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); + break; + } } }