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:
- 4:82660534b32d
- Parent:
- 3:0562feabce7b
- Child:
- 5:b4ebd3587dae
--- a/main.cpp Wed Aug 08 08:12:53 2018 +0000
+++ b/main.cpp Mon Aug 20 16:36:21 2018 +0000
@@ -3,23 +3,24 @@
#include "BMP180.h"
#define p0 1013.25f//海面気圧
-#define TIME_TOP 13
-#define TIME_WATER 10
-#define TIME_BUZZER 15
+#define TIME_TOP 17
+#define TIME_WATER 94
+#define TIME_BUZZER 274
#define NUM 5
-#define RATE 10
-
-enum PHASE{EGG,SERVO,RISE,DROP,BUZZER} Phase;
-enum MOVE{HEAT,CRACK,OPEN,TOP,HEAT_BUZZER} Move;
+#define RATE 20
+#define JUDGE_ALT 2.0
-PwmOut servo_crack1(p26);
-PwmOut servo_crack2(p25);
-PwmOut servo_open1(p24);
-PwmOut servo_open2(p23);
-DigitalIn rec1(p5);
-DigitalIn rec2(p6);
-DigitalOut heat(p22);
-DigitalOut buzzer(p21);
+enum PHASE{EGG,SERVO,CLOSE,RISE,DROP,BUZZER} Phase;
+enum MOVE{HEAT,CRACK,OPEN,HUTA,TOP,HEAT_BUZZER} Move;
+
+PwmOut servo_crack1(p21);
+PwmOut servo_crack2(p22);
+PwmOut servo_open1(p23);
+PwmOut servo_open2(p24);
+DigitalIn rec1(p18);
+DigitalIn rec2(p19);
+DigitalOut heat(p25);
+DigitalOut buzzer(p16);
DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
@@ -31,7 +32,6 @@
Timer timer_top;
Timer timer_all;
Ticker tic_mission;
-//Timeout tim_servo;
Ticker tic_buzzer;
bool Save;
@@ -44,7 +44,7 @@
float _median(float data[], int num);
float Med_alt,Maeno_alt;
float Pressure,Temperature,Altitude;
-float alt[NUM],max=-1000;
+float alt[NUM],max=-5000;
float t;
int Cnt_top=0,Cnt_water=0;
int u=0;
@@ -58,6 +58,14 @@
servo_crack2.period_ms(20);
servo_open1.period_ms(20);
servo_open2.period_ms(20);
+ servo_crack1.pulsewidth(0.001);
+ servo_crack2.pulsewidth(0.001);
+ for(float j=0;j<0.00009;j+=0.00001){
+ servo_open1.pulsewidth(0.00099-j);
+ wait(0.02);
+ servo_open2.pulsewidth(0.00094-j);
+ wait(0.02);
+ }
fp = fopen("/local/out.txt", "a");
fprintf(fp,"%f:Hello,World\n\r");
fclose(fp);
@@ -65,17 +73,13 @@
_heater_acc();
Phase=EGG;
tic_mission.attach(&_mission,1.0/20);
- //tic_buzzer.attach(&_buzzer,1.0/RATE);
while(1){
- //_buzzer();
- /*if(Phase==BUZZER){
- tic_mission.detach();*/
if(Save){
_data();
}
- /*if(timer_top.read()>=TIME_BUZZER){
+ if(timer_top.read()>=TIME_BUZZER){
buzzer=0;
- }*/
+ }
}
}
@@ -87,25 +91,50 @@
myled4=!myled4;
switch(Phase){
case EGG:
- buzzer=0;
myled1=0;
myled2=0;
- servo_crack1.pulsewidth(0.005);
- servo_crack2.pulsewidth(0.024);
+ for(float i=0;i<0.00045;i+=0.00005){
+ servo_crack1.pulsewidth(0.001+i);
+ wait(0.02);
+ servo_crack2.pulsewidth(0.001+i);
+ wait(0.02);
+ }
t=timer_all.read();
Move=CRACK;
- Save=true;
+ _data();
Phase=SERVO;
+ break;
- case SERVO: if(timer_all.read()-t>=1.0){
- servo_open1.pulsewidth(0.005);
- servo_open2.pulsewidth(0.024);
+ case SERVO:
+ if(timer_all.read()-t>=0.5){
+ for(float j=0;j<0.00009;j+=0.00001){
+ servo_open1.pulsewidth(0.0009+j);
+ wait(0.02);
+ servo_open2.pulsewidth(0.00085+j);
+ wait(0.02);
+ }
Move=OPEN;
+ _data();
Save=true;
- //tim_servo.attach(&_servo, 1.0);
+ Phase=CLOSE;
+ }
+ break;
+
+ case CLOSE:
+ if(timer_all.read()-t>=1.5){
+ for(float j=0;j<0.00009;j+=0.00001){
+ servo_open1.pulsewidth(0.00099-j);
+ wait(0.02);
+ servo_open2.pulsewidth(0.00094-j);
+ wait(0.02);
+ }
+ Move=HUTA;
+ _data();
+ Save=true;
Phase=RISE;
}
break;
+
case RISE:
for(int j=0;j<NUM;j++){
bmp.ReadData(&Temperature,&Pressure);
@@ -115,8 +144,8 @@
if(Med_alt>max){
max=Med_alt;
Cnt_top=0;
- }else if(max-Med_alt>=2.0){
- Cnt_top++;
+ }else if(max-Med_alt>=JUDGE_ALT){
+ Cnt_top++;
}
if(Cnt_top>=3||timer_acc.read()>=TIME_TOP){
myled1=1;
@@ -134,41 +163,27 @@
alt[i]=_getAlt(Pressure,Temperature);
}
Med_alt=_median(alt,NUM);
- if(Maeno_alt-Med_alt>=-1.0&&Maeno_alt-Med_alt<=1.0){
+ if(Maeno_alt-Med_alt>=-5.0&&Maeno_alt-Med_alt<=5.0){
Cnt_water++;
}else{
Cnt_water=0;
}
- if(/*Cnt_water>=3||*/timer_top.read()>=TIME_WATER){
- //fp = fopen("/local/out.txt", "a");
+ if(Cnt_water>=3||timer_top.read()>=TIME_WATER){
myled2=1;
buzzer=1;
- heat=0;
- //tic_buzzer.attach(&_buzzer,1/100);
+ //heat=0;
Move=HEAT_BUZZER;
+ _data();
Save=true;
- //fclose(fp);
Phase=BUZZER;
- //tic_buzzer.attach(&_buzzer,1.0/40);
- //tic_mission.detach();
-
}
- //break;
-
- /*case BUZZER:
- 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.read());
- fclose(fp);
- }
- break;*/
+ break;
}
}
void _heater_acc(){
heat=0;
- while(1){
+ while(1){
if(u!=rec1){
heat=!heat;
u=rec1;
@@ -176,17 +191,8 @@
Save=true;
_data();
}
- /*if(rec1==1){
+ if(rec2==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;
}
@@ -232,11 +238,4 @@
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
+}
\ No newline at end of file