CanSat-C 2021 / Mbed 2 deprecated AvoidTest

回避行動用のプログラムです。

Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

main.cpp@1:f70beec382b6, 2021-12-03 (annotated)

Committer:
ushiroji
Date:
Fri Dec 03 08:22:57 2021 +0000
Revision:
1:f70beec382b6
Parent:
0:99f4fe3e21c6 
first version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ushiroji 0:99f4fe3e21c6 1 #include "mbed.h"
ushiroji 0:99f4fe3e21c6 2 // 自作関数
ushiroji 0:99f4fe3e21c6 3 #include "Function.h"
ushiroji 0:99f4fe3e21c6 4
ushiroji 0:99f4fe3e21c6 5 int main() {
ushiroji 1:f70beec382b6 6 double angle = 0;
ushiroji 1:f70beec382b6 7
ushiroji 1:f70beec382b6 8 Calibration();
ushiroji 1:f70beec382b6 9
ushiroji 1:f70beec382b6 10 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
ushiroji 1:f70beec382b6 11 angle = compass.sample() / 10;
ushiroji 1:f70beec382b6 12 xbee.printf("%f\r\n", angle);
ushiroji 1:f70beec382b6 13
ushiroji 1:f70beec382b6 14 //角度調節
ushiroji 1:f70beec382b6 15 while(1) {
ushiroji 1:f70beec382b6 16 if(angle < 20 || angle > 340) { //角度判定
ushiroji 1:f70beec382b6 17 xbee.printf("direction finish\n\r");
ushiroji 1:f70beec382b6 18 Move('1', 0); //停止
ushiroji 1:f70beec382b6 19 wait(5);
ushiroji 1:f70beec382b6 20 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
ushiroji 1:f70beec382b6 21 angle = compass.sample() / 10;
ushiroji 1:f70beec382b6 22 xbee.printf("%f\r\n", angle);
ushiroji 1:f70beec382b6 23 }
ushiroji 1:f70beec382b6 24 else {
ushiroji 1:f70beec382b6 25 Move('4', 0.15);//時計回りに回転
ushiroji 1:f70beec382b6 26 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
ushiroji 1:f70beec382b6 27 angle = compass.sample() / 10;
ushiroji 1:f70beec382b6 28 xbee.printf("%f\r\n", angle);
ushiroji 1:f70beec382b6 29 }
ushiroji 0:99f4fe3e21c6 30 }
ushiroji 1:f70beec382b6 31 }