Diff: main.cpp

Revision:

21:18a196d3021c

Parent:

20:f92bdcda5a60

Child:

22:92408c551605

--- a/main.cpp	Fri Aug 14 04:56:21 2015 +0000
+++ b/main.cpp	Sat Aug 15 01:57:35 2015 +0000
@@ -68,6 +68,8 @@
  int short_flag = 0;
  int running_flag = 0;
 
+Timer pressure_Timer;
+const int pressure_Time = 10000;
 Timer compass_Timer;
 const int compass_Time = 50;
 Timer running_Timer;
@@ -93,7 +95,7 @@
 const int ofsX = -102;                   //calibration x
 const int ofsY = -381;                   //calibration y
 
-    int16_t raw[3]; 
+    int16_t raw[3];
 
 /////////////////////////////////////////
 //
@@ -116,7 +118,7 @@
 
 int mode = -1; //ロボットのモード
 double target_x = 139.987305,target_y = 40.142655;
-double  goal_Pressure = 1002.20, goal_Temperature,goal_Humidity; //地表地点の気圧、気温、湿度
+double  goal_Pressure = 0.0, goal_Temperature,goal_Humidity; //地表地点の気圧、気温、湿度
 
 Timer sep_Timer;
 const int sep_Time = 3000; //seperate time in ms
@@ -318,6 +320,14 @@
 void standby(){
     
     cansat.control_Motor(1, cansat.get_speed());
+    cansat.set_temperature(sensor.getTemperature()); 
+    cansat.set_pressure(sensor.getPressure());
+    cansat.set_humidity(sensor.getHumidity());
+    
+    if(cansat.get_pressure() > goal_Pressure){
+        goal_Pressure = cansat.get_pressure();
+    }
+    
     if(!short_in){
         xbee.printf("change mode: falling\n");
         short_flag++;
@@ -325,11 +335,13 @@
     else{
         if(running_Timer.read_ms() >= running_Time){
             running_Timer.reset();
-            xbee.printf("stand by\n");
+            xbee.printf("stand by, %f, %f\n", goal_Pressure, cansat.get_pressure());
         }
     }
     if(short_flag >= 5){
         mode = 1;
+        goal_Pressure = goal_Pressure + 0.5;
+        pressure_Timer.start();
         parachute_Timer.start();
     }
     
@@ -359,12 +371,20 @@
             nic = 1;
             fall_flag = 1;
             sep_Timer.reset();
-            mode = 2;
-            xbee.printf("my pressure is high!\n");
-            xbee.printf("remove the parachute\n");
-            xbee.printf("change mode: running\n");
+            //mode = 2;
+            //xbee.printf("my pressure is high!\n");
+            //xbee.printf("remove the parachute\n");
+            //xbee.printf("change mode: running\n");
         }
     }
+    
+    if(fall_flag == 1 && pressure_Timer.read_ms() >= pressure_Time){
+        mode = 2;
+        xbee.printf("my pressure is high!\n");
+        xbee.printf("remove the parachute\n");
+        xbee.printf("change mode: running\n");
+    }
+    
    if(fall_flag == 0 && parachute_Timer.read_ms() >= parachute_Time){
         mode = 2;
         nic = 1;