Diff: Landing_Judgement.h

Revision:

0:e7b7def631c2

Child:

1:bb89b58cfa0e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Landing_Judgement.h	Thu Oct 21 01:58:35 2021 +0000
@@ -0,0 +1,78 @@
+#include "mbed.h"
+#include "BMP180.h"
+#include "calculate.h"
+#define PIN_SDA D4
+#define PIN_SCL D5
+
+BMP180 bmp180(PinName PIN_SDA,PinName PIN_SCL);
+class Landing_Judgement:public BMP180{
+    private:
+    BMP180 bmp180(PIN_SDA,PIN_SCL);
+    
+    
+    int x ,y ,n1 , n2 ;
+    int landing ;
+    float h,dp,dt,dp0;
+    float a ,b ,dp_ave,dt_ave;
+    //hは高度、dpは気圧、dtは温度、dp0は海面気圧
+    
+    public:
+    /*ここの関数をlanding_judgementの中に入れ込んじゃいます
+    //landing()が1を返せば着地、0を返せば未着地
+    int landing(){
+        return landing_judgement;
+        }
+    */
+    
+    //着地判定の計算を開始させる関数    
+    int landing_judgement();    
+};
+
+int Landing_Judgement::landing_judgement(){
+    bmp180.Initialize(27,int BMP180_OSS_ULTRA_LOW_POWER);//27は府大の海抜高度
+    
+    for(i=0;i<15;i++){
+        if(bmp180.ReadData(&dt,&dp)){
+            a = a + dp;
+            b = b + dt;
+            n1 = n1 + 1;
+            n2 = n2 + 1;
+            wait(1);
+            }
+        }
+    
+    dp_ave = a / n1;
+    dt_ave = b / n2;    
+    dp0 = calculate_dp0(dp_ave,dt_ave);
+    
+    while(x<10){
+            if(bmp180.ReadData(&dt,&dp)){
+                h = calculate_h(dp0,dp,dt);
+                if(h >= 30){
+                x = x + 1;
+                    }
+                wait(1);
+            }
+    }
+    //10秒以上高度30mにいた場合離陸判定
+    
+    wait(10);
+      
+    while(y<10){
+            if(bmp180.ReadData(&dt,&dp)){
+                h = calculate_h(dp0,dp,dt); 
+                if(h <= 10){
+                y = y + 1;
+                    }
+                wait(1);
+            }
+    }
+    
+    wait(5);
+    
+    landing_judgement = landing_judgement + 1;
+    return landing_judgement;
+    
+    //離陸判定後、10秒以上高度10m以下にいた場合着地判定
+    
+}
\ No newline at end of file