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mission
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hitomi shio
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main.cpp
00001 #include "mbed.h" 00002 #include "math.h" 00003 #include "BMP180.h" 00004 00005 #define p0 1013.25f//海面気圧 00006 #define TIME_TOP 16 00007 #define TIME_WATER 94 00008 #define TIME_BUZZER 274 00009 #define NUM 5 00010 #define RATE 20 00011 #define JUDGE_ALT 2.0 00012 00013 enum PHASE{EGG,SERVO,CLOSE,RISE,DROP,BUZZER} Phase; 00014 enum MOVE{HEAT,CRACK,OPEN,HUTA,TOP,HEAT_BUZZER} Move; 00015 00016 PwmOut servo_crack1(p21); 00017 PwmOut servo_crack2(p22); 00018 PwmOut servo_open1(p23); 00019 PwmOut servo_open2(p24); 00020 DigitalIn rec1(p18); 00021 DigitalIn rec2(p19); 00022 DigitalOut heat(p25); 00023 DigitalOut buzzer(p16); 00024 DigitalOut myled1(LED1); 00025 DigitalOut myled2(LED2); 00026 DigitalOut myled3(LED3); 00027 DigitalOut myled4(LED4); 00028 BMP180 bmp (p28, p27); 00029 LocalFileSystem local("local"); 00030 00031 Timer timer_acc; 00032 Timer timer_top; 00033 Timer timer_all; 00034 Ticker tic_mission; 00035 Ticker tic_buzzer; 00036 00037 bool Save; 00038 void _mission(); 00039 void _heater_acc(); 00040 void _buzzer(); 00041 void _data(); 00042 void _servo(); 00043 float _getAlt(float press, float temp); 00044 float _median(float data[], int num); 00045 float Med_alt,Maeno_alt; 00046 float Pressure,Temperature,Altitude; 00047 float alt[NUM],max=-5000; 00048 float t; 00049 int Cnt_top=0,Cnt_water=0; 00050 int u=0; 00051 00052 FILE *fp; 00053 00054 int main(){ 00055 bmp.Initialize(BMP180_OSS_ULTRA_LOW_POWER); 00056 timer_all.start(); 00057 servo_crack1.period_ms(20); 00058 servo_crack2.period_ms(20); 00059 servo_open1.period_ms(20); 00060 servo_open2.period_ms(20); 00061 servo_crack1.pulsewidth(0.001); 00062 servo_crack2.pulsewidth(0.001); 00063 for(float j=0;j<0.00009;j+=0.00001){ 00064 servo_open1.pulsewidth(0.00099-j); 00065 wait(0.02); 00066 servo_open2.pulsewidth(0.00094-j); 00067 wait(0.02); 00068 } 00069 fp = fopen("/local/out.txt", "a"); 00070 fprintf(fp,"%f:Hello,World\n\r"); 00071 fclose(fp); 00072 buzzer=0; 00073 _heater_acc(); 00074 Phase=EGG; 00075 tic_mission.attach(&_mission,1.0/20); 00076 while(1){ 00077 if(Save){ 00078 _data(); 00079 } 00080 if(timer_top.read()>=TIME_BUZZER){ 00081 buzzer=0; 00082 } 00083 } 00084 } 00085 00086 00087 void _mission(){ 00088 if(Phase==BUZZER){ 00089 _buzzer(); 00090 } 00091 myled4=!myled4; 00092 switch(Phase){ 00093 case EGG: 00094 myled1=0; 00095 myled2=0; 00096 for(float i=0;i<0.00045;i+=0.00005){ 00097 servo_crack1.pulsewidth(0.001+i); 00098 wait(0.02); 00099 servo_crack2.pulsewidth(0.001+i); 00100 wait(0.02); 00101 } 00102 t=timer_all.read(); 00103 Move=CRACK; 00104 _data(); 00105 Phase=SERVO; 00106 break; 00107 00108 case SERVO: 00109 if(timer_all.read()-t>=0.5){ 00110 for(float j=0;j<0.00009;j+=0.00001){ 00111 servo_open1.pulsewidth(0.0009+j); 00112 wait(0.02); 00113 servo_open2.pulsewidth(0.00085+j); 00114 wait(0.02); 00115 } 00116 Move=OPEN; 00117 _data(); 00118 Save=true; 00119 Phase=CLOSE; 00120 } 00121 break; 00122 00123 case CLOSE: 00124 if(timer_all.read()-t>=1.5){ 00125 for(float j=0;j<0.00009;j+=0.00001){ 00126 servo_open1.pulsewidth(0.00099-j); 00127 wait(0.02); 00128 servo_open2.pulsewidth(0.00094-j); 00129 wait(0.02); 00130 } 00131 Move=HUTA; 00132 _data(); 00133 Save=true; 00134 Phase=RISE; 00135 } 00136 break; 00137 00138 case RISE: 00139 for(int j=0;j<NUM;j++){ 00140 bmp.ReadData(&Temperature,&Pressure); 00141 alt[j]=_getAlt(Pressure,Temperature); 00142 } 00143 Med_alt=_median(alt,NUM); 00144 if(Med_alt>max){ 00145 max=Med_alt; 00146 Cnt_top=0; 00147 }else if(max-Med_alt>=JUDGE_ALT){ 00148 Cnt_top++; 00149 } 00150 if(Cnt_top>=3||timer_acc.read()>=TIME_TOP){ 00151 myled1=1; 00152 timer_top.start(); 00153 Phase=DROP; 00154 Move=TOP; 00155 Save=true; 00156 _data(); 00157 } 00158 break; 00159 case DROP: 00160 Maeno_alt=Med_alt; 00161 for(int i=0;i<NUM;i++){ 00162 bmp.ReadData(&Temperature,&Pressure); 00163 alt[i]=_getAlt(Pressure,Temperature); 00164 } 00165 Med_alt=_median(alt,NUM); 00166 if(Maeno_alt-Med_alt>=-5.0&&Maeno_alt-Med_alt<=5.0){ 00167 Cnt_water++; 00168 }else{ 00169 Cnt_water=0; 00170 } 00171 if(Cnt_water>=3||timer_top.read()>=TIME_WATER){ 00172 myled2=1; 00173 buzzer=1; 00174 //heat=0; 00175 Move=HEAT_BUZZER; 00176 _data(); 00177 Save=true; 00178 Phase=BUZZER; 00179 } 00180 break; 00181 } 00182 } 00183 00184 void _heater_acc(){ 00185 heat=0; 00186 while(1){ 00187 if(u!=rec1){ 00188 heat=!heat; 00189 u=rec1; 00190 Move=HEAT; 00191 Save=true; 00192 _data(); 00193 } 00194 if(rec2==1){ 00195 heat=1; 00196 timer_acc.start(); 00197 break; 00198 } 00199 } 00200 } 00201 00202 void _buzzer(){ 00203 myled3=!myled3; 00204 if(rec2==1){ 00205 buzzer=1; 00206 }else if(rec2==0){ 00207 buzzer=0; 00208 } 00209 } 00210 00211 float _getAlt(float press, float temp){ 00212 return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; 00213 } 00214 00215 float _median(float data[], int num){ 00216 float *data_cpy, ans; 00217 data_cpy = new float[num]; 00218 memcpy(data_cpy,data,sizeof(float)*num); 00219 00220 for(int i=0; i<num; i++){ 00221 for(int j=0; j<num-i-1; j++){ 00222 if(data_cpy[j]>data_cpy[j+1]){ 00223 float buff = data_cpy[j+1]; 00224 data_cpy[j+1] = data_cpy[j]; 00225 data_cpy[j] = buff; 00226 } 00227 } 00228 } 00229 00230 if(num%2!=0) ans = data_cpy[num/2]; 00231 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; 00232 delete[] data_cpy; 00233 return ans; 00234 } 00235 00236 void _data(){ 00237 Save=false; 00238 fp = fopen("/local/out.txt", "a"); 00239 fprintf(fp,"%f:%d\n\r",timer_all.read(),Move); 00240 fclose(fp); 00241 }
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