This is a test program!!
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@20:b70e877cdc0f, 2019-09-09 (annotated)
- Committer:
- Nerosho
- Date:
- Mon Sep 09 05:41:18 2019 +0000
- Revision:
- 20:b70e877cdc0f
- Parent:
- 19:75067f4d49b6
0908 for test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nerosho | 20:b70e877cdc0f | 1 | /******************************************************************************* |
Nerosho | 20:b70e877cdc0f | 2 | 2019.09.07 |
Nerosho | 20:b70e877cdc0f | 3 | This is a test program! |
Nerosho | 20:b70e877cdc0f | 4 | *******************************************************************************/ |
Nerosho | 20:b70e877cdc0f | 5 | |
Nerosho | 20:b70e877cdc0f | 6 | |
Nerosho | 0:d0f3991839ec | 7 | #include "mbed.h" |
Nerosho | 0:d0f3991839ec | 8 | #include "MU2.h" |
Nerosho | 16:917a2c03bd7c | 9 | #include "GPS.h" |
Nerosho | 0:d0f3991839ec | 10 | #include "SDFileSystem.h" |
takepiyo | 3:4f1bac105598 | 11 | #include "inletclose.h" |
Nerosho | 15:bc013c313ef5 | 12 | #include "mbedTimer.h" |
Nerosho | 15:bc013c313ef5 | 13 | |
Nerosho | 20:b70e877cdc0f | 14 | #define WAITTIME 10 //フライトピン抜けてからの待機時間 60 |
Nerosho | 18:05d5de29511d | 15 | #define FIRETIME 5 //溶断時間を設定 5 |
Nerosho | 20:b70e877cdc0f | 16 | #define FALLTIME 60 //シェンロン展開してインレットを閉鎖するまでの時間を設定 420 |
Nerosho | 18:05d5de29511d | 17 | #define THRESHOLID 0.45 //感圧のしきい値 0.45 |
Nerosho | 18:05d5de29511d | 18 | #define SAMPLENUMBER 5 //しきい値判定に用いるサンプル数 5 |
Nerosho | 18:05d5de29511d | 19 | #define CLOSETIME 60 //しきい値超えてからのインレット閉鎖機構の稼働時間を設定 60 |
Nerosho | 20:b70e877cdc0f | 20 | #define LIMITTIME 60 //しきい値超えなくてもインターバルモードへ移行 |
Nerosho | 20:b70e877cdc0f | 21 | #define INTERVALTIME 60 //インターバルモードの時間 1800 |
Nerosho | 18:05d5de29511d | 22 | #define INTERVAL_HIGH 5 //インターバルモードでモーター回す時間 5 |
Nerosho | 18:05d5de29511d | 23 | #define INTERVAL_LOW 20 //インターバルモードでモーター止める時間 20 |
takepiyo | 8:6b835a82b1eb | 24 | |
Nerosho | 20:b70e877cdc0f | 25 | char fname[]="/sd/CanSat/log0907GPStest1.csv";//ファイル名をここで設定 |
Nerosho | 20:b70e877cdc0f | 26 | char fname2[]="/sd/CanSat/sensor0907GPStest1.csv";//感圧センサーのログファイル |
Nerosho | 15:bc013c313ef5 | 27 | |
takepiyo | 8:6b835a82b1eb | 28 | ////////////////フライトピンが抜ける→シェンロン展開→インレット閉鎖→待機 |
takepiyo | 8:6b835a82b1eb | 29 | //シーケンス番号//1//////////////////2///////////3///////////4/// |
Nerosho | 14:a07d2a958617 | 30 | //mbedのLEDが各シーケンス番号を2進数で示す:ex 0011 インレット閉鎖中 |
Nerosho | 15:bc013c313ef5 | 31 | //ただし今回はシーケンス4つなのでそれぞれのシーケンスでそれぞれのLEDが光る |
takepiyo | 8:6b835a82b1eb | 32 | |
takepiyo | 4:0d087e3f731d | 33 | MU2 MuPort(p28,p27); |
Nerosho | 16:917a2c03bd7c | 34 | SDFileSystem sd(p5, p6, p7, p8, "sd");//3号機11,12,13,14 4号機5,6,7,8 |
Nerosho | 16:917a2c03bd7c | 35 | GPS mygps(p13,p14);//3号機9,10 4号機13,14 |
takepiyo | 3:4f1bac105598 | 36 | |
Nerosho | 15:bc013c313ef5 | 37 | Inlet inlet(p26,p15,p16);//モーター出力,感圧センサー1入力,感圧センサー2入力 |
Nerosho | 0:d0f3991839ec | 38 | |
Nerosho | 16:917a2c03bd7c | 39 | DigitalOut FIRE(p25); //3号機24 4号機25 |
Nerosho | 1:a8772ca26d1b | 40 | |
Nerosho | 1:a8772ca26d1b | 41 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 42 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 43 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 44 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 45 | |
Nerosho | 15:bc013c313ef5 | 46 | mbedTimer myTimer; |
Nerosho | 15:bc013c313ef5 | 47 | Timer timer_rec;//時間計測 |
Nerosho | 15:bc013c313ef5 | 48 | |
Nerosho | 15:bc013c313ef5 | 49 | int val; |
Nerosho | 16:917a2c03bd7c | 50 | int val2; |
Nerosho | 18:05d5de29511d | 51 | int val3; |
Nerosho | 18:05d5de29511d | 52 | int count; |
Nerosho | 15:bc013c313ef5 | 53 | char sendMessage[128]; |
Nerosho | 17:993f2fcc43df | 54 | char sensorMessage[128]; |
Nerosho | 16:917a2c03bd7c | 55 | float ave_sensor; |
Nerosho | 16:917a2c03bd7c | 56 | int timer; |
Nerosho | 16:917a2c03bd7c | 57 | int timer2; |
Nerosho | 16:917a2c03bd7c | 58 | int timer3; |
Nerosho | 16:917a2c03bd7c | 59 | int timer4; |
Nerosho | 14:a07d2a958617 | 60 | |
Nerosho | 14:a07d2a958617 | 61 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 62 | メイン関数 |
Nerosho | 14:a07d2a958617 | 63 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 64 | |
Nerosho | 0:d0f3991839ec | 65 | int main() |
Nerosho | 0:d0f3991839ec | 66 | { |
Nerosho | 15:bc013c313ef5 | 67 | |
Nerosho | 15:bc013c313ef5 | 68 | timer_rec.start(); |
Nerosho | 18:05d5de29511d | 69 | wait(5);//起動してからちょっと待つ |
takepiyo | 8:6b835a82b1eb | 70 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 71 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 72 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 73 | |
Nerosho | 14:a07d2a958617 | 74 | myled=1; |
Nerosho | 14:a07d2a958617 | 75 | myled2=1; |
Nerosho | 14:a07d2a958617 | 76 | myled3=1; |
Nerosho | 14:a07d2a958617 | 77 | myled4=1; |
Nerosho | 14:a07d2a958617 | 78 | |
Nerosho | 15:bc013c313ef5 | 79 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 80 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 81 | myled=0; |
Nerosho | 15:bc013c313ef5 | 82 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 83 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 84 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 85 | } |
Nerosho | 15:bc013c313ef5 | 86 | |
Nerosho | 14:a07d2a958617 | 87 | } |
Nerosho | 14:a07d2a958617 | 88 | |
Nerosho | 15:bc013c313ef5 | 89 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 90 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 91 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 92 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 93 | //MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 94 | |
Nerosho | 18:05d5de29511d | 95 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 96 | 溶断まで待機 |
Nerosho | 18:05d5de29511d | 97 | *******************************************************************************/ |
Nerosho | 18:05d5de29511d | 98 | timer=0; |
Nerosho | 18:05d5de29511d | 99 | val2=0; |
Nerosho | 18:05d5de29511d | 100 | val3=0; |
Nerosho | 18:05d5de29511d | 101 | |
Nerosho | 18:05d5de29511d | 102 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 103 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 104 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 105 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 106 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 107 | //MuPort.send("GPS start!\r\n"); |
Nerosho | 18:05d5de29511d | 108 | |
Nerosho | 18:05d5de29511d | 109 | while(1) { |
Nerosho | 18:05d5de29511d | 110 | myled=0; |
Nerosho | 20:b70e877cdc0f | 111 | myled2=0; |
Nerosho | 18:05d5de29511d | 112 | |
Nerosho | 18:05d5de29511d | 113 | mygps.getGPGGA(); |
Nerosho | 18:05d5de29511d | 114 | if(mygps.GPSread) { |
Nerosho | 18:05d5de29511d | 115 | myled=1; |
Nerosho | 18:05d5de29511d | 116 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 117 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 118 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 119 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 120 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 121 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 18:05d5de29511d | 122 | timer++; |
Nerosho | 18:05d5de29511d | 123 | } |
Nerosho | 18:05d5de29511d | 124 | |
Nerosho | 18:05d5de29511d | 125 | if(timer>=WAITTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 18:05d5de29511d | 126 | fclose(fp); |
Nerosho | 18:05d5de29511d | 127 | break; |
Nerosho | 18:05d5de29511d | 128 | } |
Nerosho | 18:05d5de29511d | 129 | |
Nerosho | 18:05d5de29511d | 130 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 131 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 132 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 133 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 134 | val2+=val; |
Nerosho | 18:05d5de29511d | 135 | val=0; |
Nerosho | 18:05d5de29511d | 136 | |
Nerosho | 18:05d5de29511d | 137 | } |
Nerosho | 18:05d5de29511d | 138 | |
Nerosho | 18:05d5de29511d | 139 | } |
Nerosho | 18:05d5de29511d | 140 | |
Nerosho | 2:d6dc5c2224cc | 141 | |
takepiyo | 3:4f1bac105598 | 142 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 143 | |
Nerosho | 14:a07d2a958617 | 144 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 20:b70e877cdc0f | 145 | //MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 146 | |
takepiyo | 8:6b835a82b1eb | 147 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 148 | myled=1; |
takepiyo | 8:6b835a82b1eb | 149 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 150 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 151 | myled=0; |
Nerosho | 15:bc013c313ef5 | 152 | |
Nerosho | 20:b70e877cdc0f | 153 | wait(3); |
Nerosho | 15:bc013c313ef5 | 154 | |
Nerosho | 14:a07d2a958617 | 155 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 156 | myled=1; |
Nerosho | 14:a07d2a958617 | 157 | wait(3);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 158 | FIRE=0; |
Nerosho | 20:b70e877cdc0f | 159 | myled=0; |
Nerosho | 14:a07d2a958617 | 160 | |
Nerosho | 14:a07d2a958617 | 161 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 20:b70e877cdc0f | 162 | //MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 163 | |
takepiyo | 3:4f1bac105598 | 164 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 165 | |
takepiyo | 3:4f1bac105598 | 166 | |
Nerosho | 14:a07d2a958617 | 167 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 168 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 169 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 170 | timer=0; |
Nerosho | 2:d6dc5c2224cc | 171 | |
Nerosho | 14:a07d2a958617 | 172 | while(1) { |
takepiyo | 8:6b835a82b1eb | 173 | myled=0; |
takepiyo | 8:6b835a82b1eb | 174 | myled2=1; |
Nerosho | 14:a07d2a958617 | 175 | |
Nerosho | 16:917a2c03bd7c | 176 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 177 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 178 | myled=1; |
Nerosho | 16:917a2c03bd7c | 179 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 180 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 181 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 182 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 183 | //MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 184 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 185 | timer++; |
Nerosho | 16:917a2c03bd7c | 186 | } |
takepiyo | 3:4f1bac105598 | 187 | |
Nerosho | 18:05d5de29511d | 188 | if(timer>=FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 15:bc013c313ef5 | 189 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 190 | break; |
Nerosho | 15:bc013c313ef5 | 191 | } |
Nerosho | 2:d6dc5c2224cc | 192 | |
Nerosho | 18:05d5de29511d | 193 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 194 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 195 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 196 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 197 | val2+=val; |
Nerosho | 18:05d5de29511d | 198 | val=0; |
Nerosho | 18:05d5de29511d | 199 | |
Nerosho | 18:05d5de29511d | 200 | } |
Nerosho | 18:05d5de29511d | 201 | |
Nerosho | 0:d0f3991839ec | 202 | } |
Nerosho | 14:a07d2a958617 | 203 | |
Nerosho | 14:a07d2a958617 | 204 | |
Nerosho | 14:a07d2a958617 | 205 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 206 | インレット連続閉鎖 |
Nerosho | 14:a07d2a958617 | 207 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 208 | |
Nerosho | 15:bc013c313ef5 | 209 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 210 | FILE* fp2= fopen(fname2, "a"); |
Nerosho | 15:bc013c313ef5 | 211 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 212 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 213 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 214 | fprintf(fp, "%s ClosingModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 215 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 216 | //MuPort.send("Closing Mode start!\r\n"); |
Nerosho | 14:a07d2a958617 | 217 | |
Nerosho | 14:a07d2a958617 | 218 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 219 | timer2=0; |
Nerosho | 18:05d5de29511d | 220 | count=0; |
Nerosho | 14:a07d2a958617 | 221 | |
Nerosho | 14:a07d2a958617 | 222 | while(1) { |
Nerosho | 15:bc013c313ef5 | 223 | myled=0; |
takepiyo | 8:6b835a82b1eb | 224 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 225 | myled3=1; |
takepiyo | 3:4f1bac105598 | 226 | |
Nerosho | 16:917a2c03bd7c | 227 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 228 | |
Nerosho | 18:05d5de29511d | 229 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 230 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 231 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 232 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 233 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 234 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 235 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 236 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 237 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 238 | timer2++; |
Nerosho | 17:993f2fcc43df | 239 | |
Nerosho | 16:917a2c03bd7c | 240 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 241 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 242 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 243 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 244 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 245 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 246 | //MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 247 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 248 | //MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 249 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 19:75067f4d49b6 | 250 | timer++; |
Nerosho | 16:917a2c03bd7c | 251 | } |
Nerosho | 16:917a2c03bd7c | 252 | |
Nerosho | 16:917a2c03bd7c | 253 | |
Nerosho | 18:05d5de29511d | 254 | if(ave_sensor>THRESHOLID) { |
Nerosho | 18:05d5de29511d | 255 | count++; |
Nerosho | 18:05d5de29511d | 256 | } |
takepiyo | 3:4f1bac105598 | 257 | |
Nerosho | 18:05d5de29511d | 258 | if(count>=SAMPLENUMBER) { |
Nerosho | 16:917a2c03bd7c | 259 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 260 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 261 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 262 | fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 263 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 264 | //MuPort.send("Get the rigidity!\r\n"); |
Nerosho | 16:917a2c03bd7c | 265 | |
Nerosho | 16:917a2c03bd7c | 266 | timer=0;//モーター時間で止める用 |
takepiyo | 3:4f1bac105598 | 267 | |
Nerosho | 16:917a2c03bd7c | 268 | while(1) { |
Nerosho | 16:917a2c03bd7c | 269 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 270 | |
Nerosho | 18:05d5de29511d | 271 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 272 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 273 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 274 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 275 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 276 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 277 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 278 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 279 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 280 | timer2++; |
Nerosho | 17:993f2fcc43df | 281 | |
Nerosho | 16:917a2c03bd7c | 282 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 283 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 284 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 285 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 286 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 287 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 288 | //MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 289 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 290 | //MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 291 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 292 | timer++; |
Nerosho | 16:917a2c03bd7c | 293 | } |
Nerosho | 16:917a2c03bd7c | 294 | |
Nerosho | 16:917a2c03bd7c | 295 | |
Nerosho | 18:05d5de29511d | 296 | if(timer>=CLOSETIME) { |
Nerosho | 16:917a2c03bd7c | 297 | break; |
Nerosho | 16:917a2c03bd7c | 298 | } |
Nerosho | 16:917a2c03bd7c | 299 | |
takepiyo | 3:4f1bac105598 | 300 | } |
Nerosho | 15:bc013c313ef5 | 301 | |
Nerosho | 16:917a2c03bd7c | 302 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 303 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 304 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 305 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 306 | fprintf(fp, "%s TimeOverClosingModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 307 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 308 | //MuPort.send("Time over. Closing Mode Finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 309 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 310 | fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 311 | break; |
Nerosho | 16:917a2c03bd7c | 312 | |
takepiyo | 3:4f1bac105598 | 313 | } |
Nerosho | 20:b70e877cdc0f | 314 | |
Nerosho | 16:917a2c03bd7c | 315 | |
Nerosho | 18:05d5de29511d | 316 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 317 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 318 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 319 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 320 | val2+=val; |
Nerosho | 18:05d5de29511d | 321 | val=0; |
Nerosho | 18:05d5de29511d | 322 | |
Nerosho | 18:05d5de29511d | 323 | } |
Nerosho | 20:b70e877cdc0f | 324 | |
Nerosho | 19:75067f4d49b6 | 325 | if(timer>LIMITTIME) { |
Nerosho | 19:75067f4d49b6 | 326 | inlet.Stop(); |
Nerosho | 19:75067f4d49b6 | 327 | val=timer_rec.read(); |
Nerosho | 19:75067f4d49b6 | 328 | val3=val+val2; |
Nerosho | 19:75067f4d49b6 | 329 | myTimer.sendMessage(val3); |
Nerosho | 19:75067f4d49b6 | 330 | fprintf(fp, "%s ClosingModeFinsh!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 331 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 332 | //MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 19:75067f4d49b6 | 333 | fclose(fp); |
Nerosho | 19:75067f4d49b6 | 334 | fclose(fp2); |
Nerosho | 19:75067f4d49b6 | 335 | break; |
Nerosho | 19:75067f4d49b6 | 336 | |
Nerosho | 19:75067f4d49b6 | 337 | } |
Nerosho | 18:05d5de29511d | 338 | |
Nerosho | 16:917a2c03bd7c | 339 | inlet.Close(1.1);//1より大きい引数にしておけばモーターはずっと回ってる. |
Nerosho | 16:917a2c03bd7c | 340 | |
Nerosho | 16:917a2c03bd7c | 341 | } |
Nerosho | 16:917a2c03bd7c | 342 | |
Nerosho | 16:917a2c03bd7c | 343 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 344 | インレットインターバル閉鎖 |
Nerosho | 16:917a2c03bd7c | 345 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 346 | |
Nerosho | 18:05d5de29511d | 347 | fp= fopen(fname, "a"); |
Nerosho | 18:05d5de29511d | 348 | fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 349 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 350 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 351 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 352 | fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 353 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 354 | //MuPort.send("Interval Mode start!\r\n"); |
Nerosho | 18:05d5de29511d | 355 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 356 | |
Nerosho | 16:917a2c03bd7c | 357 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 358 | timer3=0; |
Nerosho | 18:05d5de29511d | 359 | |
Nerosho | 16:917a2c03bd7c | 360 | |
Nerosho | 16:917a2c03bd7c | 361 | while(1) { |
Nerosho | 16:917a2c03bd7c | 362 | |
Nerosho | 16:917a2c03bd7c | 363 | myled=0; |
Nerosho | 16:917a2c03bd7c | 364 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 365 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 366 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 367 | |
Nerosho | 16:917a2c03bd7c | 368 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 369 | |
Nerosho | 18:05d5de29511d | 370 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 371 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 372 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 373 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 374 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 375 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 376 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 377 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 378 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 379 | timer2++; |
Nerosho | 16:917a2c03bd7c | 380 | |
Nerosho | 17:993f2fcc43df | 381 | if(mygps.GPSread) { |
Nerosho | 17:993f2fcc43df | 382 | myled3=1; |
Nerosho | 17:993f2fcc43df | 383 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 384 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 385 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 386 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 387 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 388 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 389 | //MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 390 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 391 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 392 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 393 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 394 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 395 | timer++; |
Nerosho | 17:993f2fcc43df | 396 | timer3++; |
Nerosho | 17:993f2fcc43df | 397 | } |
Nerosho | 17:993f2fcc43df | 398 | |
Nerosho | 17:993f2fcc43df | 399 | |
Nerosho | 17:993f2fcc43df | 400 | |
Nerosho | 18:05d5de29511d | 401 | if(timer3>=INTERVAL_HIGH) { |
Nerosho | 16:917a2c03bd7c | 402 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 403 | |
Nerosho | 16:917a2c03bd7c | 404 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 405 | timer4=0; |
Nerosho | 16:917a2c03bd7c | 406 | |
Nerosho | 16:917a2c03bd7c | 407 | while(1) { |
Nerosho | 20:b70e877cdc0f | 408 | myled=0; |
Nerosho | 20:b70e877cdc0f | 409 | myled2=0; |
Nerosho | 20:b70e877cdc0f | 410 | myled3=0; |
Nerosho | 20:b70e877cdc0f | 411 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 412 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 413 | |
Nerosho | 18:05d5de29511d | 414 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 415 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 416 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 417 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 418 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 419 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 420 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 421 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 422 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 423 | timer2++; |
Nerosho | 16:917a2c03bd7c | 424 | |
Nerosho | 17:993f2fcc43df | 425 | if(mygps.GPSread) { |
Nerosho | 20:b70e877cdc0f | 426 | myled2=1; |
Nerosho | 18:05d5de29511d | 427 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 428 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 429 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 430 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 431 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 432 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 433 | //MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 434 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 435 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 436 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 437 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 438 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 439 | timer++; |
Nerosho | 17:993f2fcc43df | 440 | timer4++; |
Nerosho | 17:993f2fcc43df | 441 | } |
Nerosho | 17:993f2fcc43df | 442 | |
Nerosho | 17:993f2fcc43df | 443 | |
Nerosho | 18:05d5de29511d | 444 | if(timer4>=INTERVAL_LOW) { |
Nerosho | 16:917a2c03bd7c | 445 | break; |
Nerosho | 16:917a2c03bd7c | 446 | } |
Nerosho | 16:917a2c03bd7c | 447 | |
Nerosho | 16:917a2c03bd7c | 448 | } |
Nerosho | 16:917a2c03bd7c | 449 | |
Nerosho | 16:917a2c03bd7c | 450 | } |
Nerosho | 16:917a2c03bd7c | 451 | |
Nerosho | 18:05d5de29511d | 452 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 453 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 454 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 455 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 456 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 457 | val=0; |
Nerosho | 18:05d5de29511d | 458 | |
Nerosho | 16:917a2c03bd7c | 459 | } |
Nerosho | 16:917a2c03bd7c | 460 | |
Nerosho | 16:917a2c03bd7c | 461 | |
Nerosho | 18:05d5de29511d | 462 | if(timer>=INTERVALTIME) { |
Nerosho | 16:917a2c03bd7c | 463 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 464 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 465 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 466 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 467 | fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 468 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 469 | //MuPort.send("Interval Mode finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 470 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 471 | fclose(fp2); |
Nerosho | 15:bc013c313ef5 | 472 | break; |
Nerosho | 15:bc013c313ef5 | 473 | } |
takepiyo | 3:4f1bac105598 | 474 | |
Nerosho | 16:917a2c03bd7c | 475 | inlet.Close(1.1);//1より大きい引数にしておけばモーターはずっと回ってる. |
Nerosho | 16:917a2c03bd7c | 476 | |
takepiyo | 3:4f1bac105598 | 477 | } |
Nerosho | 14:a07d2a958617 | 478 | |
Nerosho | 14:a07d2a958617 | 479 | |
Nerosho | 14:a07d2a958617 | 480 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 481 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 482 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 483 | |
Nerosho | 15:bc013c313ef5 | 484 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 485 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 486 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 487 | myTimer.sendMessage(val3); |
Nerosho | 15:bc013c313ef5 | 488 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 489 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 490 | //MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 491 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 492 | |
Nerosho | 14:a07d2a958617 | 493 | |
Nerosho | 14:a07d2a958617 | 494 | while(1) { |
Nerosho | 15:bc013c313ef5 | 495 | myled=0; |
Nerosho | 15:bc013c313ef5 | 496 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 497 | myled3=0; |
Nerosho | 20:b70e877cdc0f | 498 | myled4=0; |
takepiyo | 6:b7bf39bc3487 | 499 | |
Nerosho | 16:917a2c03bd7c | 500 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 501 | if(mygps.GPSread) { |
Nerosho | 20:b70e877cdc0f | 502 | myled4=1; |
Nerosho | 18:05d5de29511d | 503 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 504 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 505 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 506 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 507 | //MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 508 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 509 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 510 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 511 | //wait(1.0); |
Nerosho | 16:917a2c03bd7c | 512 | } |
Nerosho | 17:993f2fcc43df | 513 | |
Nerosho | 18:05d5de29511d | 514 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 515 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 516 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 517 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 518 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 519 | val=0; |
Nerosho | 16:917a2c03bd7c | 520 | } |
takepiyo | 6:b7bf39bc3487 | 521 | |
takepiyo | 6:b7bf39bc3487 | 522 | } |
Nerosho | 14:a07d2a958617 | 523 | |
Nerosho | 2:d6dc5c2224cc | 524 | } |
Nerosho | 2:d6dc5c2224cc | 525 | |
Nerosho | 2:d6dc5c2224cc | 526 |