統合プログラム
Dependencies: mbed Servo BMP180
Landing_Judgement.h
- Committer:
- tsubasa_nakajima
- Date:
- 2021-10-28
- Revision:
- 4:6e24a1b3edca
- Parent:
- 3:a583276d9fef
- Child:
- 5:e1001bfc423a
File content as of revision 4:6e24a1b3edca:
#include "mbed.h" #include "BMP180.h" #define PIN_SDA D4 #define PIN_SCL D5 //nの階乗を計算する関数 int fact(int n){ int i, result = 1; if(n == 0){ return 1; } else { for(i = 1;i <= n;i++) { result *= i; } return result; } } float my_pow(float x, int n){ int i; float pow_result = 1; if(n == 0) return 1; else { for(i = 0;i < n;i++) { pow_result *= x; } return pow_result; } } float my_exp(float x) { int i; float result = 0; for(i = 1;i <= 25; i++) { result += my_pow(x, i) / fact(i); } return result + 1; } float my_log(float x) { int i; float result1, result2; x -= 1; result1 = 0; result2 = 0; for(i = 1;i <= 40;i++) { if(i % 2 == 1) result1 += my_pow(x, i) / i; else result2 += my_pow(x, i) / i; } return result1 - result2; } //累乗 float mypow(float x, float y) { return my_exp(y * my_log(x)); } //高度計算 float calculate_h(float dP0FIX,float dp,float dt){ float dpow = 1.0/5.256; float dP0 = 1013.25; float a = (dt+(float)273.15)/(float)0.0065; float s = (mypow(dP0/dp,dpow)- mypow(dP0/dP0FIX,dpow))*a - 27; return s; } //海面気圧計算 float calculate_dp0(float dp,float dt){ float s = dp*mypow(1 - (0.0065*27)/(dt+0.0065*27+273.15),-5.257); return s; } BMP180 bmp180(PIN_SDA,PIN_SCL); class Landing_Judgement:public BMP180{ private: int x ,y ,n1 , n2 ; int landing_judgement ; 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_judgement1(){ BMP180 bmp180(PIN_SDA,PIN_SCL); landing_judgement = 0; x = 0; y = 0; n1 = 0; n2 = 0; a = 0; b = 0; bmp180.Initialize(27,int BMP180_OSS_ULTRA_LOW_POWER); //27は府大の海抜高度 for(int 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 } };