CORE
/
mission
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
main.cpp@0:31fa273aa56d, 2018-08-03 (annotated)
- Committer:
- ShioHitomi
- Date:
- Fri Aug 03 01:09:43 2018 +0000
- Revision:
- 0:31fa273aa56d
- Child:
- 1:9833a893b719
CORE'S???????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ShioHitomi | 0:31fa273aa56d | 1 | #include "mbed.h" |
ShioHitomi | 0:31fa273aa56d | 2 | #include "math.h" |
ShioHitomi | 0:31fa273aa56d | 3 | #include "BMP180.h" |
ShioHitomi | 0:31fa273aa56d | 4 | |
ShioHitomi | 0:31fa273aa56d | 5 | #define p0 1013.25f//海面気圧 |
ShioHitomi | 0:31fa273aa56d | 6 | #define TIME_TOP 14 |
ShioHitomi | 0:31fa273aa56d | 7 | #define TIME_WATER 20 |
ShioHitomi | 0:31fa273aa56d | 8 | #define TIME_BUZZER 25 |
ShioHitomi | 0:31fa273aa56d | 9 | #define NUM 5 |
ShioHitomi | 0:31fa273aa56d | 10 | #define RATE 10 |
ShioHitomi | 0:31fa273aa56d | 11 | |
ShioHitomi | 0:31fa273aa56d | 12 | enum PHASE{EGG,RISE,DROP,BUZZER} Phase; |
ShioHitomi | 0:31fa273aa56d | 13 | |
ShioHitomi | 0:31fa273aa56d | 14 | //Serial pc(USBTX,USBRX); |
ShioHitomi | 0:31fa273aa56d | 15 | |
ShioHitomi | 0:31fa273aa56d | 16 | PwmOut servo_crack1(p26); |
ShioHitomi | 0:31fa273aa56d | 17 | PwmOut servo_crack2(p25); |
ShioHitomi | 0:31fa273aa56d | 18 | PwmOut servo_open1(p24); |
ShioHitomi | 0:31fa273aa56d | 19 | PwmOut servo_open2(p23); |
ShioHitomi | 0:31fa273aa56d | 20 | DigitalIn rec1(p5); |
ShioHitomi | 0:31fa273aa56d | 21 | DigitalIn rec2(p6); |
ShioHitomi | 0:31fa273aa56d | 22 | DigitalOut heat(p22); |
ShioHitomi | 0:31fa273aa56d | 23 | DigitalOut buzzer(p20); |
ShioHitomi | 0:31fa273aa56d | 24 | DigitalOut myled1(LED1); |
ShioHitomi | 0:31fa273aa56d | 25 | DigitalOut myled2(LED2); |
ShioHitomi | 0:31fa273aa56d | 26 | DigitalOut myled3(LED3); |
ShioHitomi | 0:31fa273aa56d | 27 | BMP180 bmp (p28, p27); |
ShioHitomi | 0:31fa273aa56d | 28 | LocalFileSystem local("local"); |
ShioHitomi | 0:31fa273aa56d | 29 | |
ShioHitomi | 0:31fa273aa56d | 30 | Timer timer_acc; |
ShioHitomi | 0:31fa273aa56d | 31 | Timer timer_top; |
ShioHitomi | 0:31fa273aa56d | 32 | Timer timer_all; |
ShioHitomi | 0:31fa273aa56d | 33 | Ticker tic_mission; |
ShioHitomi | 0:31fa273aa56d | 34 | Ticker tic_buzzer; |
ShioHitomi | 0:31fa273aa56d | 35 | |
ShioHitomi | 0:31fa273aa56d | 36 | void _mission(); |
ShioHitomi | 0:31fa273aa56d | 37 | void _heater_acc(); |
ShioHitomi | 0:31fa273aa56d | 38 | void _buzzer(); |
ShioHitomi | 0:31fa273aa56d | 39 | float _getAlt(float press, float temp); |
ShioHitomi | 0:31fa273aa56d | 40 | float _median(float data[], int num); |
ShioHitomi | 0:31fa273aa56d | 41 | float Med_alt,Maeno_alt; |
ShioHitomi | 0:31fa273aa56d | 42 | float Pressure,Temperature,Altitude; |
ShioHitomi | 0:31fa273aa56d | 43 | float alt[NUM],max=-1000; |
ShioHitomi | 0:31fa273aa56d | 44 | int Cnt_top=0,Cnt_water=0; |
ShioHitomi | 0:31fa273aa56d | 45 | int altitude; |
ShioHitomi | 0:31fa273aa56d | 46 | int med_alt; |
ShioHitomi | 0:31fa273aa56d | 47 | |
ShioHitomi | 0:31fa273aa56d | 48 | int main(){ |
ShioHitomi | 0:31fa273aa56d | 49 | _heater_acc(); |
ShioHitomi | 0:31fa273aa56d | 50 | Phase=EGG; |
ShioHitomi | 0:31fa273aa56d | 51 | tic_mission.attach(&_mission,1.0/RATE); |
ShioHitomi | 0:31fa273aa56d | 52 | tic_buzzer.attach(&_buzzer,1.0/RATE); |
ShioHitomi | 0:31fa273aa56d | 53 | while(1){ |
ShioHitomi | 0:31fa273aa56d | 54 | if(timer_top.read()>=TIME_BUZZER){ |
ShioHitomi | 0:31fa273aa56d | 55 | buzzer=0; |
ShioHitomi | 0:31fa273aa56d | 56 | } |
ShioHitomi | 0:31fa273aa56d | 57 | } |
ShioHitomi | 0:31fa273aa56d | 58 | } |
ShioHitomi | 0:31fa273aa56d | 59 | |
ShioHitomi | 0:31fa273aa56d | 60 | |
ShioHitomi | 0:31fa273aa56d | 61 | void _mission(){ |
ShioHitomi | 0:31fa273aa56d | 62 | switch(Phase){ |
ShioHitomi | 0:31fa273aa56d | 63 | case EGG: |
ShioHitomi | 0:31fa273aa56d | 64 | buzzer=0; |
ShioHitomi | 0:31fa273aa56d | 65 | myled1=0; |
ShioHitomi | 0:31fa273aa56d | 66 | myled2=0; |
ShioHitomi | 0:31fa273aa56d | 67 | timer_all.start(); |
ShioHitomi | 0:31fa273aa56d | 68 | FILE *fp; |
ShioHitomi | 0:31fa273aa56d | 69 | fp = fopen("/local/out.txt", "a"); |
ShioHitomi | 0:31fa273aa56d | 70 | fprintf(fp,"%f:ヒーターON\n\r",timer_all); |
ShioHitomi | 0:31fa273aa56d | 71 | timer_acc.start(); |
ShioHitomi | 0:31fa273aa56d | 72 | servo_crack1.pulsewidth(0.005); |
ShioHitomi | 0:31fa273aa56d | 73 | servo_crack2.pulsewidth(0.024); |
ShioHitomi | 0:31fa273aa56d | 74 | fprintf(fp, "%f:サーボ_割る\n\r",timer_all); |
ShioHitomi | 0:31fa273aa56d | 75 | wait(1.0); |
ShioHitomi | 0:31fa273aa56d | 76 | servo_open1.pulsewidth(0.005); |
ShioHitomi | 0:31fa273aa56d | 77 | servo_open2.pulsewidth(0.024); |
ShioHitomi | 0:31fa273aa56d | 78 | fprintf(fp, "%f:サーボ_開く\n\r",timer_all); |
ShioHitomi | 0:31fa273aa56d | 79 | fclose(fp); |
ShioHitomi | 0:31fa273aa56d | 80 | Phase=RISE; |
ShioHitomi | 0:31fa273aa56d | 81 | break; |
ShioHitomi | 0:31fa273aa56d | 82 | case RISE: |
ShioHitomi | 0:31fa273aa56d | 83 | bmp.Initialize(BMP180_OSS_ULTRA_LOW_POWER); |
ShioHitomi | 0:31fa273aa56d | 84 | //pc.printf("Temperature ,Pressure, Altitude\r\n"); |
ShioHitomi | 0:31fa273aa56d | 85 | int j; |
ShioHitomi | 0:31fa273aa56d | 86 | for(j=0;j<NUM;j++){ |
ShioHitomi | 0:31fa273aa56d | 87 | bmp.ReadData(&Temperature,&Pressure); |
ShioHitomi | 0:31fa273aa56d | 88 | altitude = _getAlt(Pressure,Temperature); |
ShioHitomi | 0:31fa273aa56d | 89 | alt[j]=altitude; |
ShioHitomi | 0:31fa273aa56d | 90 | } |
ShioHitomi | 0:31fa273aa56d | 91 | Med_alt=_median(alt,NUM); |
ShioHitomi | 0:31fa273aa56d | 92 | //pc.printf("%f,%f\n\r",Med_alt,max); |
ShioHitomi | 0:31fa273aa56d | 93 | if(med_alt>max){ |
ShioHitomi | 0:31fa273aa56d | 94 | max=Med_alt; |
ShioHitomi | 0:31fa273aa56d | 95 | Cnt_top=0; |
ShioHitomi | 0:31fa273aa56d | 96 | }else if(max-Med_alt>=2.0){ |
ShioHitomi | 0:31fa273aa56d | 97 | Cnt_top++; |
ShioHitomi | 0:31fa273aa56d | 98 | } |
ShioHitomi | 0:31fa273aa56d | 99 | //pc.printf("%d\n\r",Cnt_top); |
ShioHitomi | 0:31fa273aa56d | 100 | if(Cnt_top>=3||timer_acc.read()>=TIME_TOP){ |
ShioHitomi | 0:31fa273aa56d | 101 | fp = fopen("/local/out.txt", "a"); |
ShioHitomi | 0:31fa273aa56d | 102 | //pc.printf("頂点判定"); |
ShioHitomi | 0:31fa273aa56d | 103 | fprintf(fp, "%f:頂点判定\n\r",timer_all); |
ShioHitomi | 0:31fa273aa56d | 104 | myled1=1; |
ShioHitomi | 0:31fa273aa56d | 105 | timer_top.start(); |
ShioHitomi | 0:31fa273aa56d | 106 | Phase=DROP; |
ShioHitomi | 0:31fa273aa56d | 107 | } |
ShioHitomi | 0:31fa273aa56d | 108 | break; |
ShioHitomi | 0:31fa273aa56d | 109 | case DROP: |
ShioHitomi | 0:31fa273aa56d | 110 | Maeno_alt=Med_alt; |
ShioHitomi | 0:31fa273aa56d | 111 | int i; |
ShioHitomi | 0:31fa273aa56d | 112 | for(i=0;i<NUM;i++){ |
ShioHitomi | 0:31fa273aa56d | 113 | bmp.ReadData(&Temperature,&Pressure); |
ShioHitomi | 0:31fa273aa56d | 114 | altitude = _getAlt(Pressure,Temperature); |
ShioHitomi | 0:31fa273aa56d | 115 | alt[i]=altitude; |
ShioHitomi | 0:31fa273aa56d | 116 | } |
ShioHitomi | 0:31fa273aa56d | 117 | Med_alt=_median(alt,NUM); |
ShioHitomi | 0:31fa273aa56d | 118 | //pc.printf("%f,%f\n\r",Med_alt,max); |
ShioHitomi | 0:31fa273aa56d | 119 | if(Maeno_alt-Med_alt>=-1.0&&Maeno_alt-Med_alt<=1.0){ |
ShioHitomi | 0:31fa273aa56d | 120 | Cnt_water++; |
ShioHitomi | 0:31fa273aa56d | 121 | }else{ |
ShioHitomi | 0:31fa273aa56d | 122 | Cnt_water=0; |
ShioHitomi | 0:31fa273aa56d | 123 | } |
ShioHitomi | 0:31fa273aa56d | 124 | //pc.printf("%d\n\r",Cnt_water); |
ShioHitomi | 0:31fa273aa56d | 125 | if(Cnt_water>=3||timer_top.read()>=TIME_WATER){ |
ShioHitomi | 0:31fa273aa56d | 126 | fp = fopen("/local/out.txt", "a"); |
ShioHitomi | 0:31fa273aa56d | 127 | //pc.printf("着水判定"); |
ShioHitomi | 0:31fa273aa56d | 128 | myled2=1; |
ShioHitomi | 0:31fa273aa56d | 129 | heat=0; |
ShioHitomi | 0:31fa273aa56d | 130 | buzzer=1; |
ShioHitomi | 0:31fa273aa56d | 131 | fprintf(fp, "%f:ヒーターOFF\nブザーON\n\r",timer_all); |
ShioHitomi | 0:31fa273aa56d | 132 | fclose(fp); |
ShioHitomi | 0:31fa273aa56d | 133 | Phase=BUZZER; |
ShioHitomi | 0:31fa273aa56d | 134 | tic_mission.detach(); |
ShioHitomi | 0:31fa273aa56d | 135 | } |
ShioHitomi | 0:31fa273aa56d | 136 | //break; |
ShioHitomi | 0:31fa273aa56d | 137 | |
ShioHitomi | 0:31fa273aa56d | 138 | /*case BUZZER: |
ShioHitomi | 0:31fa273aa56d | 139 | if(timer_top>=TIME_BUZZER){ |
ShioHitomi | 0:31fa273aa56d | 140 | fp = fopen("/local/out.txt", "a"); |
ShioHitomi | 0:31fa273aa56d | 141 | buzzer=0; |
ShioHitomi | 0:31fa273aa56d | 142 | fprintf(fp, "%f:ブザーOFF\n\r",timer_all); |
ShioHitomi | 0:31fa273aa56d | 143 | fclose(fp); |
ShioHitomi | 0:31fa273aa56d | 144 | } |
ShioHitomi | 0:31fa273aa56d | 145 | break;*/ |
ShioHitomi | 0:31fa273aa56d | 146 | } |
ShioHitomi | 0:31fa273aa56d | 147 | } |
ShioHitomi | 0:31fa273aa56d | 148 | |
ShioHitomi | 0:31fa273aa56d | 149 | void _heater_acc(){ |
ShioHitomi | 0:31fa273aa56d | 150 | heat=0; |
ShioHitomi | 0:31fa273aa56d | 151 | while(1){ |
ShioHitomi | 0:31fa273aa56d | 152 | if(rec1==1){ |
ShioHitomi | 0:31fa273aa56d | 153 | heat=1; |
ShioHitomi | 0:31fa273aa56d | 154 | }else if(rec1==0){ |
ShioHitomi | 0:31fa273aa56d | 155 | heat=0; |
ShioHitomi | 0:31fa273aa56d | 156 | } |
ShioHitomi | 0:31fa273aa56d | 157 | if(rec2==1){ |
ShioHitomi | 0:31fa273aa56d | 158 | break; |
ShioHitomi | 0:31fa273aa56d | 159 | }else if(rec2==0){ |
ShioHitomi | 0:31fa273aa56d | 160 | } |
ShioHitomi | 0:31fa273aa56d | 161 | } |
ShioHitomi | 0:31fa273aa56d | 162 | } |
ShioHitomi | 0:31fa273aa56d | 163 | |
ShioHitomi | 0:31fa273aa56d | 164 | void _buzzer(){ |
ShioHitomi | 0:31fa273aa56d | 165 | myled3=!myled3; |
ShioHitomi | 0:31fa273aa56d | 166 | if(rec2==1){ |
ShioHitomi | 0:31fa273aa56d | 167 | buzzer=0; |
ShioHitomi | 0:31fa273aa56d | 168 | }else if(rec2==0){ |
ShioHitomi | 0:31fa273aa56d | 169 | buzzer=0; |
ShioHitomi | 0:31fa273aa56d | 170 | } |
ShioHitomi | 0:31fa273aa56d | 171 | } |
ShioHitomi | 0:31fa273aa56d | 172 | |
ShioHitomi | 0:31fa273aa56d | 173 | float _getAlt(float press, float temp){ |
ShioHitomi | 0:31fa273aa56d | 174 | return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; |
ShioHitomi | 0:31fa273aa56d | 175 | } |
ShioHitomi | 0:31fa273aa56d | 176 | |
ShioHitomi | 0:31fa273aa56d | 177 | float _median(float data[], int num){ |
ShioHitomi | 0:31fa273aa56d | 178 | float *data_cpy, ans; |
ShioHitomi | 0:31fa273aa56d | 179 | data_cpy = new float[num]; |
ShioHitomi | 0:31fa273aa56d | 180 | memcpy(data_cpy,data,sizeof(float)*num); |
ShioHitomi | 0:31fa273aa56d | 181 | |
ShioHitomi | 0:31fa273aa56d | 182 | for(int i=0; i<num; i++){ |
ShioHitomi | 0:31fa273aa56d | 183 | for(int j=0; j<num-i-1; j++){ |
ShioHitomi | 0:31fa273aa56d | 184 | if(data_cpy[j]>data_cpy[j+1]){ |
ShioHitomi | 0:31fa273aa56d | 185 | float buff = data_cpy[j+1]; |
ShioHitomi | 0:31fa273aa56d | 186 | data_cpy[j+1] = data_cpy[j]; |
ShioHitomi | 0:31fa273aa56d | 187 | data_cpy[j] = buff; |
ShioHitomi | 0:31fa273aa56d | 188 | } |
ShioHitomi | 0:31fa273aa56d | 189 | } |
ShioHitomi | 0:31fa273aa56d | 190 | } |
ShioHitomi | 0:31fa273aa56d | 191 | |
ShioHitomi | 0:31fa273aa56d | 192 | if(num%2!=0) ans = data_cpy[num/2]; |
ShioHitomi | 0:31fa273aa56d | 193 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
ShioHitomi | 0:31fa273aa56d | 194 | delete[] data_cpy; |
ShioHitomi | 0:31fa273aa56d | 195 | return ans; |
ShioHitomi | 0:31fa273aa56d | 196 | } |