all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@25:5abbad34f941, 2019-09-09 (annotated)
- Committer:
- takepiyo
- Date:
- Mon Sep 09 08:17:18 2019 +0000
- Revision:
- 25:5abbad34f941
- Parent:
- 24:b962d75f2f29
- Child:
- 26:7ec2cf6a6b51
syusei
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nerosho | 20:b70e877cdc0f | 1 | /******************************************************************************* |
takepiyo | 22:9c062a2def02 | 2 | 2019.09.09 |
takepiyo | 22:9c062a2def02 | 3 | This is a ARLISS program! |
Nerosho | 20:b70e877cdc0f | 4 | *******************************************************************************/ |
Nerosho | 20:b70e877cdc0f | 5 | |
Nerosho | 0:d0f3991839ec | 6 | #include "mbed.h" |
Nerosho | 0:d0f3991839ec | 7 | #include "MU2.h" |
Nerosho | 16:917a2c03bd7c | 8 | #include "GPS.h" |
Nerosho | 0:d0f3991839ec | 9 | #include "SDFileSystem.h" |
takepiyo | 3:4f1bac105598 | 10 | #include "inletclose.h" |
Nerosho | 15:bc013c313ef5 | 11 | #include "mbedTimer.h" |
Nerosho | 15:bc013c313ef5 | 12 | |
takepiyo | 25:5abbad34f941 | 13 | |
takepiyo | 25:5abbad34f941 | 14 | |
takepiyo | 22:9c062a2def02 | 15 | #define WAITTIME 60 //フライトピン抜けてからの待機時間 60 |
Nerosho | 18:05d5de29511d | 16 | #define FIRETIME 5 //溶断時間を設定 5 |
takepiyo | 22:9c062a2def02 | 17 | #define FALLTIME 420 //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 | 18 | #define THRESHOLID 0.45 //感圧のしきい値 0.45 |
Nerosho | 18:05d5de29511d | 19 | #define SAMPLENUMBER 5 //しきい値判定に用いるサンプル数 5 |
Nerosho | 18:05d5de29511d | 20 | #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 |
takepiyo | 22:9c062a2def02 | 21 | #define LIMITTIME 1800 //しきい値超えなくてもインターバルモードへ移行 |
takepiyo | 22:9c062a2def02 | 22 | #define INTERVALTIME 7200 //インターバルモードの時間 1800 |
Nerosho | 18:05d5de29511d | 23 | #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 | 24 | #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 | 25 | |
takepiyo | 22:9c062a2def02 | 26 | char fname[]="/sd/CanSat/log0909ARLISStest1.csv";//ファイル名をここで設定 |
takepiyo | 22:9c062a2def02 | 27 | char fname2[]="/sd/CanSat/sensor0909ARLISStest1.csv";//感圧センサーのログファイル |
Nerosho | 15:bc013c313ef5 | 28 | |
takepiyo | 21:fa4360ec5014 | 29 | ////////////////溶断→シェンロン展開→インレット連続閉鎖→インレットインターバル閉鎖→待機モード |
takepiyo | 21:fa4360ec5014 | 30 | //シーケンス番号//0001////////0010////////////0011///////////0100/////////0101/// |
Nerosho | 14:a07d2a958617 | 31 | //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 | 32 | //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 | 21:fa4360ec5014 | 33 | //しかしながらシーケンスが増えたので2進数を採用する |
takepiyo | 8:6b835a82b1eb | 34 | |
takepiyo | 4:0d087e3f731d | 35 | MU2 MuPort(p28,p27); |
Nerosho | 16:917a2c03bd7c | 36 | SDFileSystem sd(p5, p6, p7, p8, "sd");//3号機11,12,13,14 4号機5,6,7,8 |
Nerosho | 16:917a2c03bd7c | 37 | GPS mygps(p13,p14);//3号機9,10 4号機13,14 |
takepiyo | 3:4f1bac105598 | 38 | |
Nerosho | 15:bc013c313ef5 | 39 | 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 | 40 | |
Nerosho | 16:917a2c03bd7c | 41 | DigitalOut FIRE(p25); //3号機24 4号機25 |
Nerosho | 1:a8772ca26d1b | 42 | |
Nerosho | 1:a8772ca26d1b | 43 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 44 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 45 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 46 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 47 | |
Nerosho | 15:bc013c313ef5 | 48 | mbedTimer myTimer; |
Nerosho | 15:bc013c313ef5 | 49 | Timer timer_rec;//時間計測 |
Nerosho | 15:bc013c313ef5 | 50 | |
Nerosho | 15:bc013c313ef5 | 51 | int val; |
Nerosho | 16:917a2c03bd7c | 52 | int val2; |
Nerosho | 18:05d5de29511d | 53 | int val3; |
Nerosho | 18:05d5de29511d | 54 | int count; |
Nerosho | 15:bc013c313ef5 | 55 | char sendMessage[128]; |
Nerosho | 17:993f2fcc43df | 56 | char sensorMessage[128]; |
Nerosho | 16:917a2c03bd7c | 57 | float ave_sensor; |
Nerosho | 16:917a2c03bd7c | 58 | int timer; |
Nerosho | 16:917a2c03bd7c | 59 | int timer2; |
Nerosho | 16:917a2c03bd7c | 60 | int timer3; |
Nerosho | 16:917a2c03bd7c | 61 | int timer4; |
Nerosho | 14:a07d2a958617 | 62 | |
Nerosho | 14:a07d2a958617 | 63 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 64 | メイン関数 |
Nerosho | 14:a07d2a958617 | 65 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 66 | |
Nerosho | 0:d0f3991839ec | 67 | int main() |
Nerosho | 0:d0f3991839ec | 68 | { |
Nerosho | 15:bc013c313ef5 | 69 | |
Nerosho | 15:bc013c313ef5 | 70 | timer_rec.start(); |
Nerosho | 18:05d5de29511d | 71 | wait(5);//起動してからちょっと待つ |
takepiyo | 21:fa4360ec5014 | 72 | |
takepiyo | 21:fa4360ec5014 | 73 | myled=1; |
takepiyo | 21:fa4360ec5014 | 74 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 75 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 76 | myled4=0; |
takepiyo | 21:fa4360ec5014 | 77 | |
takepiyo | 21:fa4360ec5014 | 78 | wait(1); |
takepiyo | 21:fa4360ec5014 | 79 | |
takepiyo | 21:fa4360ec5014 | 80 | myled=0; |
takepiyo | 21:fa4360ec5014 | 81 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 82 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 83 | myled4=1; |
takepiyo | 21:fa4360ec5014 | 84 | |
takepiyo | 8:6b835a82b1eb | 85 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 86 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 87 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 88 | |
Nerosho | 14:a07d2a958617 | 89 | myled=1; |
Nerosho | 14:a07d2a958617 | 90 | myled2=1; |
Nerosho | 14:a07d2a958617 | 91 | myled3=1; |
Nerosho | 14:a07d2a958617 | 92 | myled4=1; |
Nerosho | 14:a07d2a958617 | 93 | |
Nerosho | 15:bc013c313ef5 | 94 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 95 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 96 | myled=0; |
Nerosho | 15:bc013c313ef5 | 97 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 98 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 99 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 100 | } |
takepiyo | 21:fa4360ec5014 | 101 | } |
Nerosho | 15:bc013c313ef5 | 102 | |
takepiyo | 21:fa4360ec5014 | 103 | wait(1); |
takepiyo | 21:fa4360ec5014 | 104 | myled=0; |
takepiyo | 21:fa4360ec5014 | 105 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 106 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 107 | myled4=0; |
Nerosho | 14:a07d2a958617 | 108 | |
Nerosho | 15:bc013c313ef5 | 109 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 110 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 111 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 112 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 113 | //MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 114 | |
Nerosho | 18:05d5de29511d | 115 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 116 | 溶断まで待機 |
Nerosho | 18:05d5de29511d | 117 | *******************************************************************************/ |
Nerosho | 18:05d5de29511d | 118 | timer=0; |
Nerosho | 18:05d5de29511d | 119 | val2=0; |
Nerosho | 18:05d5de29511d | 120 | val3=0; |
Nerosho | 18:05d5de29511d | 121 | |
Nerosho | 18:05d5de29511d | 122 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 123 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 124 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 125 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 126 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 127 | //MuPort.send("GPS start!\r\n"); |
Nerosho | 18:05d5de29511d | 128 | |
Nerosho | 18:05d5de29511d | 129 | while(1) { |
Nerosho | 18:05d5de29511d | 130 | myled=0; |
Nerosho | 20:b70e877cdc0f | 131 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 132 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 133 | myled4=1; |
Nerosho | 18:05d5de29511d | 134 | |
Nerosho | 18:05d5de29511d | 135 | mygps.getGPGGA(); |
Nerosho | 18:05d5de29511d | 136 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 137 | myled4=0; |
Nerosho | 18:05d5de29511d | 138 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 139 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 140 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 141 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 142 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 143 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 18:05d5de29511d | 144 | timer++; |
Nerosho | 18:05d5de29511d | 145 | } |
Nerosho | 18:05d5de29511d | 146 | |
Nerosho | 18:05d5de29511d | 147 | if(timer>=WAITTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 18:05d5de29511d | 148 | fclose(fp); |
Nerosho | 18:05d5de29511d | 149 | break; |
Nerosho | 18:05d5de29511d | 150 | } |
Nerosho | 18:05d5de29511d | 151 | |
Nerosho | 18:05d5de29511d | 152 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 153 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 154 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 155 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 156 | val2+=val; |
Nerosho | 18:05d5de29511d | 157 | val=0; |
Nerosho | 18:05d5de29511d | 158 | |
Nerosho | 18:05d5de29511d | 159 | } |
Nerosho | 18:05d5de29511d | 160 | |
Nerosho | 18:05d5de29511d | 161 | } |
Nerosho | 18:05d5de29511d | 162 | |
Nerosho | 2:d6dc5c2224cc | 163 | |
takepiyo | 3:4f1bac105598 | 164 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 165 | |
Nerosho | 14:a07d2a958617 | 166 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 20:b70e877cdc0f | 167 | //MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 168 | |
takepiyo | 8:6b835a82b1eb | 169 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 170 | myled=1; |
takepiyo | 8:6b835a82b1eb | 171 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 172 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 173 | myled=0; |
Nerosho | 15:bc013c313ef5 | 174 | |
takepiyo | 23:a5d3e9827c43 | 175 | wait(10); |
Nerosho | 15:bc013c313ef5 | 176 | |
Nerosho | 14:a07d2a958617 | 177 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 178 | myled=1; |
takepiyo | 24:b962d75f2f29 | 179 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 180 | FIRE=0; |
Nerosho | 20:b70e877cdc0f | 181 | myled=0; |
Nerosho | 14:a07d2a958617 | 182 | |
Nerosho | 14:a07d2a958617 | 183 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 20:b70e877cdc0f | 184 | //MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 185 | |
takepiyo | 3:4f1bac105598 | 186 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 187 | |
takepiyo | 3:4f1bac105598 | 188 | |
Nerosho | 14:a07d2a958617 | 189 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 190 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 191 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 192 | timer=0; |
Nerosho | 2:d6dc5c2224cc | 193 | |
Nerosho | 14:a07d2a958617 | 194 | while(1) { |
takepiyo | 8:6b835a82b1eb | 195 | myled=0; |
takepiyo | 21:fa4360ec5014 | 196 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 197 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 198 | myled4=0; |
Nerosho | 14:a07d2a958617 | 199 | |
Nerosho | 16:917a2c03bd7c | 200 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 201 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 202 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 203 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 204 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 205 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 206 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 207 | //MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 208 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 209 | timer++; |
Nerosho | 16:917a2c03bd7c | 210 | } |
takepiyo | 3:4f1bac105598 | 211 | |
Nerosho | 18:05d5de29511d | 212 | if(timer>=FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 15:bc013c313ef5 | 213 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 214 | break; |
Nerosho | 15:bc013c313ef5 | 215 | } |
Nerosho | 2:d6dc5c2224cc | 216 | |
Nerosho | 18:05d5de29511d | 217 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 218 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 219 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 220 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 221 | val2+=val; |
Nerosho | 18:05d5de29511d | 222 | val=0; |
Nerosho | 18:05d5de29511d | 223 | |
Nerosho | 18:05d5de29511d | 224 | } |
Nerosho | 18:05d5de29511d | 225 | |
Nerosho | 0:d0f3991839ec | 226 | } |
Nerosho | 14:a07d2a958617 | 227 | |
Nerosho | 14:a07d2a958617 | 228 | |
Nerosho | 14:a07d2a958617 | 229 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 230 | インレット連続閉鎖 |
Nerosho | 14:a07d2a958617 | 231 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 232 | |
Nerosho | 15:bc013c313ef5 | 233 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 234 | FILE* fp2= fopen(fname2, "a"); |
Nerosho | 15:bc013c313ef5 | 235 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 236 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 237 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 238 | fprintf(fp, "%s ClosingModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 239 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 240 | //MuPort.send("Closing Mode start!\r\n"); |
Nerosho | 14:a07d2a958617 | 241 | |
Nerosho | 14:a07d2a958617 | 242 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 243 | timer2=0; |
Nerosho | 18:05d5de29511d | 244 | count=0; |
Nerosho | 14:a07d2a958617 | 245 | |
takepiyo | 21:fa4360ec5014 | 246 | while(1) |
takepiyo | 21:fa4360ec5014 | 247 | { |
Nerosho | 15:bc013c313ef5 | 248 | myled=0; |
takepiyo | 8:6b835a82b1eb | 249 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 250 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 251 | myled4=1; |
takepiyo | 21:fa4360ec5014 | 252 | |
takepiyo | 21:fa4360ec5014 | 253 | inlet.Close(); |
takepiyo | 3:4f1bac105598 | 254 | |
Nerosho | 16:917a2c03bd7c | 255 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 256 | |
Nerosho | 18:05d5de29511d | 257 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 258 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 259 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 260 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 261 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 262 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 263 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 264 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 265 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 266 | timer2++; |
Nerosho | 17:993f2fcc43df | 267 | |
Nerosho | 16:917a2c03bd7c | 268 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 269 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 270 | myled4=0; |
Nerosho | 16:917a2c03bd7c | 271 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 272 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 273 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 274 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 275 | //MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 276 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 277 | //MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 278 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 19:75067f4d49b6 | 279 | timer++; |
Nerosho | 16:917a2c03bd7c | 280 | } |
Nerosho | 16:917a2c03bd7c | 281 | |
Nerosho | 16:917a2c03bd7c | 282 | |
Nerosho | 18:05d5de29511d | 283 | if(ave_sensor>THRESHOLID) { |
Nerosho | 18:05d5de29511d | 284 | count++; |
Nerosho | 18:05d5de29511d | 285 | } |
takepiyo | 3:4f1bac105598 | 286 | |
takepiyo | 21:fa4360ec5014 | 287 | if(count>=SAMPLENUMBER) |
takepiyo | 21:fa4360ec5014 | 288 | { |
Nerosho | 16:917a2c03bd7c | 289 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 290 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 291 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 292 | fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 293 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 294 | //MuPort.send("Get the rigidity!\r\n"); |
Nerosho | 16:917a2c03bd7c | 295 | |
Nerosho | 16:917a2c03bd7c | 296 | timer=0;//モーター時間で止める用 |
takepiyo | 3:4f1bac105598 | 297 | |
takepiyo | 21:fa4360ec5014 | 298 | while(1) //剛性を得た後一定時間でとめる |
takepiyo | 21:fa4360ec5014 | 299 | { |
takepiyo | 21:fa4360ec5014 | 300 | myled=0; |
takepiyo | 21:fa4360ec5014 | 301 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 302 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 303 | myled4=0; |
takepiyo | 21:fa4360ec5014 | 304 | |
Nerosho | 16:917a2c03bd7c | 305 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 306 | |
Nerosho | 18:05d5de29511d | 307 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 308 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 309 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 310 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 311 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 312 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 313 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 314 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 315 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 316 | timer2++; |
Nerosho | 17:993f2fcc43df | 317 | |
takepiyo | 21:fa4360ec5014 | 318 | if(mygps.GPSread) |
takepiyo | 21:fa4360ec5014 | 319 | { |
takepiyo | 21:fa4360ec5014 | 320 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 321 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 322 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 323 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 324 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 325 | //MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 326 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 327 | //MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 328 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 329 | timer++; |
Nerosho | 16:917a2c03bd7c | 330 | } |
Nerosho | 16:917a2c03bd7c | 331 | |
Nerosho | 16:917a2c03bd7c | 332 | |
takepiyo | 21:fa4360ec5014 | 333 | if(timer>=CLOSETIME) |
takepiyo | 21:fa4360ec5014 | 334 | { |
Nerosho | 16:917a2c03bd7c | 335 | break; |
Nerosho | 16:917a2c03bd7c | 336 | } |
takepiyo | 3:4f1bac105598 | 337 | } |
Nerosho | 15:bc013c313ef5 | 338 | |
Nerosho | 16:917a2c03bd7c | 339 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 340 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 341 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 342 | myTimer.sendMessage(val3); |
takepiyo | 21:fa4360ec5014 | 343 | fprintf(fp, "%s ClosingModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 344 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 345 | //MuPort.send("Time over. Closing Mode Finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 346 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 347 | fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 348 | break; |
Nerosho | 16:917a2c03bd7c | 349 | |
takepiyo | 3:4f1bac105598 | 350 | } |
Nerosho | 20:b70e877cdc0f | 351 | |
Nerosho | 16:917a2c03bd7c | 352 | |
Nerosho | 18:05d5de29511d | 353 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 354 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 355 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 356 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 357 | val2+=val; |
Nerosho | 18:05d5de29511d | 358 | val=0; |
Nerosho | 18:05d5de29511d | 359 | |
Nerosho | 18:05d5de29511d | 360 | } |
Nerosho | 20:b70e877cdc0f | 361 | |
takepiyo | 21:fa4360ec5014 | 362 | if(timer>LIMITTIME) |
takepiyo | 21:fa4360ec5014 | 363 | { |
takepiyo | 21:fa4360ec5014 | 364 | |
Nerosho | 19:75067f4d49b6 | 365 | inlet.Stop(); |
Nerosho | 19:75067f4d49b6 | 366 | val=timer_rec.read(); |
Nerosho | 19:75067f4d49b6 | 367 | val3=val+val2; |
Nerosho | 19:75067f4d49b6 | 368 | myTimer.sendMessage(val3); |
takepiyo | 21:fa4360ec5014 | 369 | fprintf(fp, "%s TimeOver!ClosingModeFinsh!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 370 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 371 | //MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 19:75067f4d49b6 | 372 | fclose(fp); |
Nerosho | 19:75067f4d49b6 | 373 | fclose(fp2); |
Nerosho | 19:75067f4d49b6 | 374 | break; |
Nerosho | 19:75067f4d49b6 | 375 | |
Nerosho | 19:75067f4d49b6 | 376 | } |
Nerosho | 16:917a2c03bd7c | 377 | } |
Nerosho | 16:917a2c03bd7c | 378 | |
Nerosho | 16:917a2c03bd7c | 379 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 380 | インレットインターバル閉鎖 |
Nerosho | 16:917a2c03bd7c | 381 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 382 | |
Nerosho | 18:05d5de29511d | 383 | fp= fopen(fname, "a"); |
Nerosho | 18:05d5de29511d | 384 | fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 385 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 386 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 387 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 388 | fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 389 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 390 | //MuPort.send("Interval Mode start!\r\n"); |
Nerosho | 18:05d5de29511d | 391 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 392 | |
Nerosho | 16:917a2c03bd7c | 393 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 394 | timer3=0; |
Nerosho | 18:05d5de29511d | 395 | |
Nerosho | 16:917a2c03bd7c | 396 | |
Nerosho | 16:917a2c03bd7c | 397 | while(1) { |
Nerosho | 16:917a2c03bd7c | 398 | |
Nerosho | 16:917a2c03bd7c | 399 | myled=0; |
takepiyo | 21:fa4360ec5014 | 400 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 401 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 402 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 403 | |
Nerosho | 16:917a2c03bd7c | 404 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 405 | |
Nerosho | 18:05d5de29511d | 406 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 407 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 408 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 409 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 410 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 411 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 412 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 413 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 414 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 415 | timer2++; |
Nerosho | 16:917a2c03bd7c | 416 | |
Nerosho | 17:993f2fcc43df | 417 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 418 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 419 | myled4=0; |
Nerosho | 17:993f2fcc43df | 420 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 421 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 422 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 423 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 424 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 425 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 426 | //MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 427 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 428 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 429 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 430 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 431 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 432 | timer++; |
Nerosho | 17:993f2fcc43df | 433 | timer3++; |
Nerosho | 17:993f2fcc43df | 434 | } |
Nerosho | 17:993f2fcc43df | 435 | |
Nerosho | 17:993f2fcc43df | 436 | |
Nerosho | 17:993f2fcc43df | 437 | |
Nerosho | 18:05d5de29511d | 438 | if(timer3>=INTERVAL_HIGH) { |
Nerosho | 16:917a2c03bd7c | 439 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 440 | |
Nerosho | 16:917a2c03bd7c | 441 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 442 | timer4=0; |
Nerosho | 16:917a2c03bd7c | 443 | |
Nerosho | 16:917a2c03bd7c | 444 | while(1) { |
Nerosho | 20:b70e877cdc0f | 445 | myled=0; |
takepiyo | 21:fa4360ec5014 | 446 | myled2=1; |
Nerosho | 20:b70e877cdc0f | 447 | myled3=0; |
Nerosho | 20:b70e877cdc0f | 448 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 449 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 450 | |
Nerosho | 18:05d5de29511d | 451 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 452 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 453 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 454 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 455 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 456 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 457 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 458 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 459 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 460 | timer2++; |
Nerosho | 16:917a2c03bd7c | 461 | |
Nerosho | 17:993f2fcc43df | 462 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 463 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 464 | myled4=0; |
Nerosho | 18:05d5de29511d | 465 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 466 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 467 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 468 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 469 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 470 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 471 | //MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 472 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 473 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 474 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 475 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 476 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 477 | timer++; |
Nerosho | 17:993f2fcc43df | 478 | timer4++; |
Nerosho | 17:993f2fcc43df | 479 | } |
Nerosho | 17:993f2fcc43df | 480 | |
Nerosho | 17:993f2fcc43df | 481 | |
Nerosho | 18:05d5de29511d | 482 | if(timer4>=INTERVAL_LOW) { |
Nerosho | 16:917a2c03bd7c | 483 | break; |
Nerosho | 16:917a2c03bd7c | 484 | } |
Nerosho | 16:917a2c03bd7c | 485 | |
Nerosho | 16:917a2c03bd7c | 486 | } |
Nerosho | 16:917a2c03bd7c | 487 | |
Nerosho | 16:917a2c03bd7c | 488 | } |
Nerosho | 16:917a2c03bd7c | 489 | |
Nerosho | 18:05d5de29511d | 490 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 491 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 492 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 493 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 494 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 495 | val=0; |
Nerosho | 18:05d5de29511d | 496 | |
Nerosho | 16:917a2c03bd7c | 497 | } |
Nerosho | 16:917a2c03bd7c | 498 | |
Nerosho | 16:917a2c03bd7c | 499 | |
Nerosho | 18:05d5de29511d | 500 | if(timer>=INTERVALTIME) { |
Nerosho | 16:917a2c03bd7c | 501 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 502 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 503 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 504 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 505 | fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 506 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 507 | //MuPort.send("Interval Mode finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 508 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 509 | fclose(fp2); |
Nerosho | 15:bc013c313ef5 | 510 | break; |
Nerosho | 15:bc013c313ef5 | 511 | } |
takepiyo | 3:4f1bac105598 | 512 | |
takepiyo | 21:fa4360ec5014 | 513 | inlet.Close(); |
Nerosho | 16:917a2c03bd7c | 514 | |
takepiyo | 3:4f1bac105598 | 515 | } |
Nerosho | 14:a07d2a958617 | 516 | |
Nerosho | 14:a07d2a958617 | 517 | |
Nerosho | 14:a07d2a958617 | 518 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 519 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 520 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 521 | |
Nerosho | 15:bc013c313ef5 | 522 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 523 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 524 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 525 | myTimer.sendMessage(val3); |
Nerosho | 15:bc013c313ef5 | 526 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 527 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 528 | //MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 529 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 530 | |
Nerosho | 14:a07d2a958617 | 531 | |
Nerosho | 14:a07d2a958617 | 532 | while(1) { |
Nerosho | 15:bc013c313ef5 | 533 | myled=0; |
takepiyo | 21:fa4360ec5014 | 534 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 535 | myled3=1; |
Nerosho | 20:b70e877cdc0f | 536 | myled4=0; |
takepiyo | 6:b7bf39bc3487 | 537 | |
Nerosho | 16:917a2c03bd7c | 538 | mygps.getGPGGA(); |
takepiyo | 21:fa4360ec5014 | 539 | if(mygps.GPSread) |
takepiyo | 21:fa4360ec5014 | 540 | { |
takepiyo | 21:fa4360ec5014 | 541 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 542 | myled3=0; |
Nerosho | 18:05d5de29511d | 543 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 544 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 545 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 546 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 547 | //MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 548 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 549 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 550 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 551 | //wait(1.0); |
Nerosho | 16:917a2c03bd7c | 552 | } |
Nerosho | 17:993f2fcc43df | 553 | |
Nerosho | 18:05d5de29511d | 554 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 555 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 556 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 557 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 558 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 559 | val=0; |
Nerosho | 16:917a2c03bd7c | 560 | } |
takepiyo | 6:b7bf39bc3487 | 561 | |
takepiyo | 6:b7bf39bc3487 | 562 | } |
Nerosho | 14:a07d2a958617 | 563 | |
Nerosho | 2:d6dc5c2224cc | 564 | } |
Nerosho | 2:d6dc5c2224cc | 565 | |
Nerosho | 2:d6dc5c2224cc | 566 |