Diff: main.cpp

Revision:

3:ec2b7587be78

Parent:

2:9bbc22250488

Child:

4:975b0d9bd51b

--- a/main.cpp	Sat Nov 06 03:20:14 2021 +0000
+++ b/main.cpp	Wed Nov 10 08:36:55 2021 +0000
@@ -22,7 +22,7 @@
     // パラシュート分離
     
     wait(3);//電源ついてから3v3が安定するまで、秒数は適当、必要かもわからん
-    while(flight_pin){
+    while(flight_pin){}
         pc.printf("flight_pin nuketa");
         xbee.printf("flight_pin nuketa");
         wait(35);//ピン抜けてから地面につくまで70m/2.8(m/s)=25(s)余裕を見て+10s
@@ -31,7 +31,6 @@
         xbee.printf("nichrome in");
         wait(30);
         nichrome=0;
-    }
     // 落下終了
     
     
@@ -60,15 +59,25 @@
                     }
                     else {
                         Move('1', 0);//停止
+                        pc.printf("mortor mode:1 speed:0");
+                        xbee.printf("mortor mode:1 speed:0");
                         Move('4', 0.5);//時計回りに回転
+                        pc.printf("mortor mode:4 speed:0.5");
+                        pc.printf("mortor mode:4 speed:0.5");
                     }
                 }
                 
                 while(FrontGet()) {
                     Move('1', 0);      //停止
+                    pc.printf("mortor mode:1 speed:0");
+                    xbee.printf("mortor mode:1 speed:0");
                     Move('4', 0.5);    //時計回り回転
+                    pc.printf("mortor mode:4 speed:0.5");
+                    xbee.printf("mortor mode:4 speed:0.5");
                     wait(1);
                     Move('1', 0);      //回転停止
+                    pc.printf("mortor mode:1 speed:0");
+                    xbee.printf("mortor mode:1 speed:0");
                 } 
                 pc.printf("\n\rflag=xbee ni Input");
                 xbee.printf("\n\rspeed flag=");
@@ -82,6 +91,8 @@
                         as=0.5;
                         }
                 Move('2', as);
+                pc.printf("mortor mode:2 speed:%f",as);
+                xbee.printf("mortor mode:2 speed:%f",as);
                 catchGPS();
                 pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);
                 xbee.printf("now point(lati, long)=%lf , %lf\r\n", gps.latitude, gps.longitude);
@@ -100,5 +111,7 @@
     pc.printf("End\r\n");
     xbee.printf("End\r\n");
     Move('1', 0);      //停止
+    pc.printf("mortor mode:1 speed:0");
+    xbee.printf("mortor mode:1 speed:0");
     return 0;
 }