CORE
2018.08能代CORE'S キッチン ミッション用プログラム
Fork of
mission
by 
hitomi shio
Diff: main.cpp
- Revision:
- 3:0562feabce7b
- Parent:
- 2:b145797d04fb
- Child:
- 4:82660534b32d
--- a/main.cpp Sun Aug 05 12:37:59 2018 +0000
+++ b/main.cpp Wed Aug 08 08:12:53 2018 +0000
@@ -1,17 +1,16 @@
#include "mbed.h"
-#include "math.h"
+#include "math.h"
#include "BMP180.h"
#define p0 1013.25f//海面気圧
-#define TIME_TOP 3
-#define TIME_WATER 5
-#define TIME_BUZZER 16
+#define TIME_TOP 13
+#define TIME_WATER 10
+#define TIME_BUZZER 15
#define NUM 5
#define RATE 10
-enum PHASE{EGG,RISE,DROP,BUZZER} Phase;
-
-//Serial pc(USBTX,USBRX);
+enum PHASE{EGG,SERVO,RISE,DROP,BUZZER} Phase;
+enum MOVE{HEAT,CRACK,OPEN,TOP,HEAT_BUZZER} Move;
PwmOut servo_crack1(p26);
PwmOut servo_crack2(p25);
@@ -19,7 +18,7 @@
PwmOut servo_open2(p23);
DigitalIn rec1(p5);
DigitalIn rec2(p6);
-DigitalOut heat(p22);
+DigitalOut heat(p22);
DigitalOut buzzer(p21);
DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
@@ -29,46 +28,60 @@
LocalFileSystem local("local");
Timer timer_acc;
-Timer timer_top;
+Timer timer_top;
Timer timer_all;
Ticker tic_mission;
+//Timeout tim_servo;
Ticker tic_buzzer;
-
+
+bool Save;
void _mission();
-void _heater_acc();
+void _heater_acc();
void _buzzer();
+void _data();
+void _servo();
float _getAlt(float press, float temp);
float _median(float data[], int num);
float Med_alt,Maeno_alt;
float Pressure,Temperature,Altitude;
float alt[NUM],max=-1000;
+float t;
int Cnt_top=0,Cnt_water=0;
-int altitude;
-int med_alt;
+int u=0;
+
FILE *fp;
int main(){
- //FILE *fp;
+ bmp.Initialize(BMP180_OSS_ULTRA_LOW_POWER);
+ timer_all.start();
+ servo_crack1.period_ms(20);
+ servo_crack2.period_ms(20);
+ servo_open1.period_ms(20);
+ servo_open2.period_ms(20);
fp = fopen("/local/out.txt", "a");
fprintf(fp,"%f:Hello,World\n\r");
+ fclose(fp);
buzzer=0;
_heater_acc();
- Phase=RISE;
- tic_mission.attach(&_mission,1.0/10);
+ Phase=EGG;
+ tic_mission.attach(&_mission,1.0/20);
//tic_buzzer.attach(&_buzzer,1.0/RATE);
- /*while(1){
- _buzzer();
+ while(1){
+ //_buzzer();
/*if(Phase==BUZZER){
tic_mission.detach();*/
- if(timer_top.read()>=TIME_BUZZER){
+ if(Save){
+ _data();
+ }
+ /*if(timer_top.read()>=TIME_BUZZER){
buzzer=0;
- }
-
+ }*/
+ }
}
void _mission(){
- if(Phase==BUZZER){
+ if(Phase==BUZZER){
_buzzer();
}
myled4=!myled4;
@@ -77,74 +90,63 @@
buzzer=0;
myled1=0;
myled2=0;
- timer_all.start();
- FILE *fp;
- //fp = fopen("/local/out.txt", "a");
- fprintf(fp,"%f:ヒーターON\n\r",timer_all);
- timer_acc.start();
servo_crack1.pulsewidth(0.005);
servo_crack2.pulsewidth(0.024);
- fprintf(fp, "%f:サーボ＿割る\n\r",timer_all);
- wait(1.0);
- servo_open1.pulsewidth(0.005);
- servo_open2.pulsewidth(0.024);
- fprintf(fp, "%f:サーボ＿開く\n\r",timer_all);
- //fclose(fp);
- Phase=RISE;
+ t=timer_all.read();
+ Move=CRACK;
+ Save=true;
+ Phase=SERVO;
+
+ case SERVO: if(timer_all.read()-t>=1.0){
+ servo_open1.pulsewidth(0.005);
+ servo_open2.pulsewidth(0.024);
+ Move=OPEN;
+ Save=true;
+ //tim_servo.attach(&_servo, 1.0);
+ Phase=RISE;
+ }
break;
case RISE:
- bmp.Initialize(BMP180_OSS_ULTRA_LOW_POWER);
- //pc.printf("Temperature ,Pressure, Altitude\r\n");
- int j;
- for(j=0;j<NUM;j++){
+ for(int j=0;j<NUM;j++){
bmp.ReadData(&Temperature,&Pressure);
- altitude = _getAlt(Pressure,Temperature);
- alt[j]=altitude;
+ alt[j]=_getAlt(Pressure,Temperature);
}
Med_alt=_median(alt,NUM);
- //pc.printf("%f,%f\n\r",Med_alt,max);
- if(med_alt>max){
+ if(Med_alt>max){
max=Med_alt;
Cnt_top=0;
}else if(max-Med_alt>=2.0){
Cnt_top++;
}
- //pc.printf("%d\n\r",Cnt_top);
if(Cnt_top>=3||timer_acc.read()>=TIME_TOP){
- fp = fopen("/local/out.txt", "a");
- //pc.printf("頂点判定");
- fprintf(fp, "%f:頂点判定\n\r",timer_all);
- fclose(fp);
myled1=1;
timer_top.start();
- //tic_buzzer.attach(&_buzzer,1.0/100);
Phase=DROP;
+ Move=TOP;
+ Save=true;
+ _data();
}
break;
case DROP:
Maeno_alt=Med_alt;
- int i;
- for(i=0;i<NUM;i++){
+ for(int i=0;i<NUM;i++){
bmp.ReadData(&Temperature,&Pressure);
- altitude = _getAlt(Pressure,Temperature);
- alt[i]=altitude;
+ alt[i]=_getAlt(Pressure,Temperature);
}
Med_alt=_median(alt,NUM);
- //pc.printf("%f,%f\n\r",Med_alt,max);
if(Maeno_alt-Med_alt>=-1.0&&Maeno_alt-Med_alt<=1.0){
Cnt_water++;
}else{
Cnt_water=0;
}
- //pc.printf("%d\n\r",Cnt_water);
if(/*Cnt_water>=3||*/timer_top.read()>=TIME_WATER){
- fp = fopen("/local/out.txt", "a");
- //pc.printf("着水判定");
+ //fp = fopen("/local/out.txt", "a");
myled2=1;
+ buzzer=1;
heat=0;
- buzzer=1;
//tic_buzzer.attach(&_buzzer,1/100);
- fprintf(fp, "%f:ヒーターOFF\nブザーON\n\r",timer_all);
+ Move=HEAT_BUZZER;
+ Save=true;
//fclose(fp);
Phase=BUZZER;
//tic_buzzer.attach(&_buzzer,1.0/40);
@@ -157,22 +159,35 @@
if(timer_top.read()>=TIME_BUZZER){
fp = fopen("/local/out.txt", "a");
buzzer=0;
- fprintf(fp, "%f:ブザーOFF\n\r",timer_all);
+ fprintf(fp, "%f:ブザーOFF\n\r",timer_all.read());
fclose(fp);
}
break;*/
- }
+ }
}
void _heater_acc(){
heat=0;
while(1){
- if(rec1==1){
+ if(u!=rec1){
+ heat=!heat;
+ u=rec1;
+ Move=HEAT;
+ Save=true;
+ _data();
+ }
+ /*if(rec1==1){
heat=1;
+ Move=HEAT_ON;
+ Save=true;
+ _data();
}else if(rec1==0){
heat=0;
- }
+ Move=HEAT_OFF;
+ Save=true;
+ }*/
if(rec2==1){
+ timer_acc.start();
break;
}
}
@@ -210,4 +225,18 @@
else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
delete[] data_cpy;
return ans;
-}
\ No newline at end of file
+}
+
+void _data(){
+ Save=false;
+ fp = fopen("/local/out.txt", "a");
+ fprintf(fp,"%f:%d\n\r",timer_all.read(),Move);
+ fclose(fp);
+}
+
+/*void _servo(){
+ servo_open1.pulsewidth(0.005);
+ servo_open2.pulsewidth(0.024);
+ Move=OPEN;
+ Save=true;
+}*/
\ No newline at end of file