CanSat-C 2021 / Mbed 2 deprecated Run-Compass

角度調整用のプログラムです。 (モータードライバー＋磁気センサー)

Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

main.cpp@2:83023bafb526, 2021-12-14 (annotated)

Committer:
ushiroji
Date:
Tue Dec 14 07:13:21 2021 +0000
Revision:
2:83023bafb526
Parent:
1:f70beec382b6 
test

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 2:83023bafb526 8
ushiroji 2:83023bafb526 9
ushiroji 2:83023bafb526 10 Move('2', 0.5);
ushiroji 2:83023bafb526 11 wait(20);
ushiroji 2:83023bafb526 12 Move('2', 0.3);
ushiroji 2:83023bafb526 13 wait(10);
ushiroji 2:83023bafb526 14 Move('2', 0.18);
ushiroji 2:83023bafb526 15 wait(10);
ushiroji 2:83023bafb526 16 Move('1', 0);
ushiroji 2:83023bafb526 17 wait(10);
ushiroji 2:83023bafb526 18
ushiroji 2:83023bafb526 19
ushiroji 2:83023bafb526 20
ushiroji 2:83023bafb526 21
ushiroji 1:f70beec382b6 22 Calibration();
ushiroji 1:f70beec382b6 23
ushiroji 1:f70beec382b6 24 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
ushiroji 1:f70beec382b6 25 angle = compass.sample() / 10;
ushiroji 1:f70beec382b6 26 xbee.printf("%f\r\n", angle);
ushiroji 1:f70beec382b6 27
ushiroji 1:f70beec382b6 28 //角度調節
ushiroji 1:f70beec382b6 29 while(1) {
ushiroji 1:f70beec382b6 30 if(angle < 20 || angle > 340) { //角度判定
ushiroji 1:f70beec382b6 31 xbee.printf("direction finish\n\r");
ushiroji 1:f70beec382b6 32 Move('1', 0); //停止
ushiroji 1:f70beec382b6 33 wait(5);
ushiroji 1:f70beec382b6 34 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
ushiroji 1:f70beec382b6 35 angle = compass.sample() / 10;
ushiroji 1:f70beec382b6 36 xbee.printf("%f\r\n", angle);
ushiroji 1:f70beec382b6 37 }
ushiroji 1:f70beec382b6 38 else {
ushiroji 1:f70beec382b6 39 Move('4', 0.15);//時計回りに回転
ushiroji 1:f70beec382b6 40 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
ushiroji 1:f70beec382b6 41 angle = compass.sample() / 10;
ushiroji 1:f70beec382b6 42 xbee.printf("%f\r\n", angle);
ushiroji 2:83023bafb526 43 speak();
ushiroji 1:f70beec382b6 44 }
ushiroji 0:99f4fe3e21c6 45 }
ushiroji 1:f70beec382b6 46 }