統合プログラム
Dependencies: mbed Servo BMP180
Landing_Judgement.h
- Committer:
- minanao
- Date:
- 2021-10-21
- Revision:
- 0:e7b7def631c2
- Child:
- 1:bb89b58cfa0e
File content as of revision 0:e7b7def631c2:
#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 }