Xbeeを実装、speakをfunctionに、rotate消した、calibrationで回るように、ゴール判定を消した
Dependencies: ATP3012 mbed a HMC US015_2 getGPS
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; }