all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@27:6ac03194e45e, 2019-09-10 (annotated)
- Committer:
- Nerosho
- Date:
- Tue Sep 10 23:25:05 2019 +0000
- Revision:
- 27:6ac03194e45e
- Parent:
- 26:7ec2cf6a6b51
- Child:
- 28:295ed570a51d
Sequence version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nerosho | 20:b70e877cdc0f | 1 | /******************************************************************************* |
Nerosho | 27:6ac03194e45e | 2 | 2019.09.10 |
takepiyo | 26:7ec2cf6a6b51 | 3 | This is a ARLISS program! MU2あり |
Nerosho | 27:6ac03194e45e | 4 | シーケンス番号追加 |
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 | |
takepiyo | 22:9c062a2def02 | 14 | #define WAITTIME 60 //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 | 27:6ac03194e45e | 16 | #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 | 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 |
takepiyo | 22:9c062a2def02 | 20 | #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 |
Nerosho | 27:6ac03194e45e | 21 | #define INTERVALTIME 7200 //インターバルモードの時間 7200 |
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 | |
takepiyo | 22:9c062a2def02 | 25 | char fname[]="/sd/CanSat/log0909ARLISStest1.csv";//ファイル名をここで設定 |
takepiyo | 22:9c062a2def02 | 26 | char fname2[]="/sd/CanSat/sensor0909ARLISStest1.csv";//感圧センサーのログファイル |
Nerosho | 15:bc013c313ef5 | 27 | |
takepiyo | 26:7ec2cf6a6b51 | 28 | ////////////////溶断→シェンロン展開→インレット連続閉鎖→剛性を得た後→インターバル閉鎖→待機モード |
takepiyo | 26:7ec2cf6a6b51 | 29 | //シーケンス番号/0001//////////0010//////////////0011////////0100///////////0101/////0110 |
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 | 21:fa4360ec5014 | 32 | //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 | 33 | |
takepiyo | 4:0d087e3f731d | 34 | MU2 MuPort(p28,p27); |
Nerosho | 16:917a2c03bd7c | 35 | SDFileSystem sd(p5, p6, p7, p8, "sd");//3号機11,12,13,14 4号機5,6,7,8 |
Nerosho | 16:917a2c03bd7c | 36 | GPS mygps(p13,p14);//3号機9,10 4号機13,14 |
takepiyo | 3:4f1bac105598 | 37 | |
Nerosho | 15:bc013c313ef5 | 38 | 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 | 39 | |
Nerosho | 16:917a2c03bd7c | 40 | DigitalOut FIRE(p25); //3号機24 4号機25 |
Nerosho | 1:a8772ca26d1b | 41 | |
Nerosho | 1:a8772ca26d1b | 42 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 43 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 44 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 45 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 46 | |
Nerosho | 15:bc013c313ef5 | 47 | mbedTimer myTimer; |
Nerosho | 15:bc013c313ef5 | 48 | Timer timer_rec;//時間計測 |
Nerosho | 15:bc013c313ef5 | 49 | |
Nerosho | 15:bc013c313ef5 | 50 | int val; |
Nerosho | 16:917a2c03bd7c | 51 | int val2; |
Nerosho | 18:05d5de29511d | 52 | int val3; |
Nerosho | 18:05d5de29511d | 53 | int count; |
Nerosho | 15:bc013c313ef5 | 54 | char sendMessage[128]; |
Nerosho | 17:993f2fcc43df | 55 | char sensorMessage[128]; |
Nerosho | 16:917a2c03bd7c | 56 | float ave_sensor; |
Nerosho | 16:917a2c03bd7c | 57 | int timer; |
Nerosho | 16:917a2c03bd7c | 58 | int timer2; |
Nerosho | 16:917a2c03bd7c | 59 | int timer3; |
Nerosho | 16:917a2c03bd7c | 60 | int timer4; |
Nerosho | 14:a07d2a958617 | 61 | |
Nerosho | 14:a07d2a958617 | 62 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 63 | メイン関数 |
Nerosho | 14:a07d2a958617 | 64 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 65 | |
Nerosho | 0:d0f3991839ec | 66 | int main() |
Nerosho | 0:d0f3991839ec | 67 | { |
Nerosho | 15:bc013c313ef5 | 68 | |
Nerosho | 15:bc013c313ef5 | 69 | timer_rec.start(); |
Nerosho | 18:05d5de29511d | 70 | wait(5);//起動してからちょっと待つ |
takepiyo | 21:fa4360ec5014 | 71 | |
takepiyo | 21:fa4360ec5014 | 72 | myled=1; |
takepiyo | 21:fa4360ec5014 | 73 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 74 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 75 | myled4=0; |
takepiyo | 21:fa4360ec5014 | 76 | |
takepiyo | 21:fa4360ec5014 | 77 | wait(1); |
takepiyo | 21:fa4360ec5014 | 78 | |
takepiyo | 21:fa4360ec5014 | 79 | myled=0; |
takepiyo | 21:fa4360ec5014 | 80 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 81 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 82 | myled4=1; |
takepiyo | 21:fa4360ec5014 | 83 | |
takepiyo | 8:6b835a82b1eb | 84 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 85 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 86 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 87 | |
Nerosho | 14:a07d2a958617 | 88 | myled=1; |
Nerosho | 14:a07d2a958617 | 89 | myled2=1; |
Nerosho | 14:a07d2a958617 | 90 | myled3=1; |
Nerosho | 14:a07d2a958617 | 91 | myled4=1; |
Nerosho | 14:a07d2a958617 | 92 | |
Nerosho | 15:bc013c313ef5 | 93 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 94 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 95 | myled=0; |
Nerosho | 15:bc013c313ef5 | 96 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 97 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 98 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 99 | } |
takepiyo | 21:fa4360ec5014 | 100 | } |
Nerosho | 15:bc013c313ef5 | 101 | |
takepiyo | 21:fa4360ec5014 | 102 | wait(1); |
takepiyo | 21:fa4360ec5014 | 103 | myled=0; |
takepiyo | 21:fa4360ec5014 | 104 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 105 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 106 | myled4=0; |
Nerosho | 14:a07d2a958617 | 107 | |
Nerosho | 15:bc013c313ef5 | 108 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 109 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 110 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 111 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 112 | MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 113 | |
Nerosho | 18:05d5de29511d | 114 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 115 | 溶断まで待機 |
Nerosho | 18:05d5de29511d | 116 | *******************************************************************************/ |
Nerosho | 18:05d5de29511d | 117 | timer=0; |
Nerosho | 18:05d5de29511d | 118 | val2=0; |
Nerosho | 18:05d5de29511d | 119 | val3=0; |
Nerosho | 18:05d5de29511d | 120 | |
Nerosho | 18:05d5de29511d | 121 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 122 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 123 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 124 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 125 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 126 | MuPort.send("GPS start!\r\n"); |
Nerosho | 18:05d5de29511d | 127 | |
Nerosho | 18:05d5de29511d | 128 | while(1) { |
Nerosho | 18:05d5de29511d | 129 | myled=0; |
Nerosho | 20:b70e877cdc0f | 130 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 131 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 132 | myled4=1; |
Nerosho | 18:05d5de29511d | 133 | |
Nerosho | 18:05d5de29511d | 134 | mygps.getGPGGA(); |
Nerosho | 18:05d5de29511d | 135 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 136 | myled4=0; |
Nerosho | 18:05d5de29511d | 137 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 138 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 139 | myTimer.sendMessage(val3); |
takepiyo | 26:7ec2cf6a6b51 | 140 | MuPort.send(myTimer.timeMessage); |
Nerosho | 27:6ac03194e45e | 141 | MuPort.send("Sequence1\n"); |
takepiyo | 26:7ec2cf6a6b51 | 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 | break; |
Nerosho | 18:05d5de29511d | 149 | } |
Nerosho | 18:05d5de29511d | 150 | |
Nerosho | 18:05d5de29511d | 151 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 152 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 153 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 154 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 155 | val2+=val; |
Nerosho | 18:05d5de29511d | 156 | val=0; |
Nerosho | 18:05d5de29511d | 157 | |
Nerosho | 18:05d5de29511d | 158 | } |
Nerosho | 18:05d5de29511d | 159 | |
Nerosho | 18:05d5de29511d | 160 | } |
Nerosho | 18:05d5de29511d | 161 | |
Nerosho | 2:d6dc5c2224cc | 162 | |
takepiyo | 3:4f1bac105598 | 163 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 164 | |
Nerosho | 14:a07d2a958617 | 165 | fprintf(fp, "FireStart!\r\n"); |
takepiyo | 26:7ec2cf6a6b51 | 166 | MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 167 | |
takepiyo | 8:6b835a82b1eb | 168 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 169 | myled=1; |
takepiyo | 8:6b835a82b1eb | 170 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 171 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 172 | myled=0; |
Nerosho | 15:bc013c313ef5 | 173 | |
takepiyo | 23:a5d3e9827c43 | 174 | wait(10); |
Nerosho | 15:bc013c313ef5 | 175 | |
Nerosho | 14:a07d2a958617 | 176 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 177 | myled=1; |
takepiyo | 24:b962d75f2f29 | 178 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 179 | FIRE=0; |
Nerosho | 20:b70e877cdc0f | 180 | myled=0; |
Nerosho | 14:a07d2a958617 | 181 | |
Nerosho | 14:a07d2a958617 | 182 | fprintf(fp, "FireFinish!\r\n"); |
takepiyo | 26:7ec2cf6a6b51 | 183 | MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 184 | |
takepiyo | 3:4f1bac105598 | 185 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 186 | |
takepiyo | 3:4f1bac105598 | 187 | |
Nerosho | 14:a07d2a958617 | 188 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 189 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 190 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 191 | timer=0; |
Nerosho | 2:d6dc5c2224cc | 192 | |
Nerosho | 14:a07d2a958617 | 193 | while(1) { |
takepiyo | 8:6b835a82b1eb | 194 | myled=0; |
takepiyo | 21:fa4360ec5014 | 195 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 196 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 197 | myled4=0; |
Nerosho | 14:a07d2a958617 | 198 | |
Nerosho | 16:917a2c03bd7c | 199 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 200 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 201 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 202 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 203 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 204 | myTimer.sendMessage(val3); |
takepiyo | 26:7ec2cf6a6b51 | 205 | MuPort.send(myTimer.timeMessage); |
Nerosho | 27:6ac03194e45e | 206 | MuPort.send("Sequence2\n"); |
takepiyo | 26:7ec2cf6a6b51 | 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); |
takepiyo | 26:7ec2cf6a6b51 | 239 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 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); |
takepiyo | 26:7ec2cf6a6b51 | 274 | MuPort.send(myTimer.timeMessage); |
Nerosho | 27:6ac03194e45e | 275 | MuPort.send("Sequence3\n"); |
takepiyo | 26:7ec2cf6a6b51 | 276 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 277 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
takepiyo | 26:7ec2cf6a6b51 | 278 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 279 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 19:75067f4d49b6 | 280 | timer++; |
Nerosho | 16:917a2c03bd7c | 281 | } |
Nerosho | 16:917a2c03bd7c | 282 | |
Nerosho | 16:917a2c03bd7c | 283 | |
Nerosho | 18:05d5de29511d | 284 | if(ave_sensor>THRESHOLID) { |
Nerosho | 18:05d5de29511d | 285 | count++; |
Nerosho | 18:05d5de29511d | 286 | } |
takepiyo | 3:4f1bac105598 | 287 | |
takepiyo | 21:fa4360ec5014 | 288 | if(count>=SAMPLENUMBER) |
takepiyo | 21:fa4360ec5014 | 289 | { |
Nerosho | 16:917a2c03bd7c | 290 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 291 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 292 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 293 | fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 294 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 295 | MuPort.send("Get the rigidity!\r\n"); |
Nerosho | 16:917a2c03bd7c | 296 | |
Nerosho | 16:917a2c03bd7c | 297 | timer=0;//モーター時間で止める用 |
takepiyo | 3:4f1bac105598 | 298 | |
takepiyo | 21:fa4360ec5014 | 299 | while(1) //剛性を得た後一定時間でとめる |
takepiyo | 21:fa4360ec5014 | 300 | { |
takepiyo | 21:fa4360ec5014 | 301 | myled=0; |
takepiyo | 21:fa4360ec5014 | 302 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 303 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 304 | myled4=0; |
takepiyo | 21:fa4360ec5014 | 305 | |
Nerosho | 16:917a2c03bd7c | 306 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 307 | |
Nerosho | 18:05d5de29511d | 308 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 309 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 310 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 311 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 312 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 313 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 314 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 315 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 316 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 317 | timer2++; |
Nerosho | 17:993f2fcc43df | 318 | |
takepiyo | 21:fa4360ec5014 | 319 | if(mygps.GPSread) |
takepiyo | 21:fa4360ec5014 | 320 | { |
takepiyo | 21:fa4360ec5014 | 321 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 322 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 323 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 324 | myTimer.sendMessage(val3); |
takepiyo | 26:7ec2cf6a6b51 | 325 | MuPort.send(myTimer.timeMessage); |
Nerosho | 27:6ac03194e45e | 326 | MuPort.send("Sequence4\n"); |
takepiyo | 26:7ec2cf6a6b51 | 327 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 328 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
takepiyo | 26:7ec2cf6a6b51 | 329 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 330 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 331 | timer++; |
Nerosho | 16:917a2c03bd7c | 332 | } |
Nerosho | 16:917a2c03bd7c | 333 | |
Nerosho | 16:917a2c03bd7c | 334 | |
takepiyo | 21:fa4360ec5014 | 335 | if(timer>=CLOSETIME) |
takepiyo | 21:fa4360ec5014 | 336 | { |
Nerosho | 16:917a2c03bd7c | 337 | break; |
Nerosho | 16:917a2c03bd7c | 338 | } |
takepiyo | 3:4f1bac105598 | 339 | } |
Nerosho | 15:bc013c313ef5 | 340 | |
Nerosho | 16:917a2c03bd7c | 341 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 342 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 343 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 344 | myTimer.sendMessage(val3); |
takepiyo | 21:fa4360ec5014 | 345 | fprintf(fp, "%s ClosingModeFinish!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 346 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 347 | MuPort.send("Time over. Closing Mode Finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 348 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 349 | fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 350 | break; |
Nerosho | 16:917a2c03bd7c | 351 | |
takepiyo | 3:4f1bac105598 | 352 | } |
Nerosho | 20:b70e877cdc0f | 353 | |
Nerosho | 16:917a2c03bd7c | 354 | |
Nerosho | 18:05d5de29511d | 355 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 356 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 357 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 358 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 359 | val2+=val; |
Nerosho | 18:05d5de29511d | 360 | val=0; |
Nerosho | 18:05d5de29511d | 361 | |
Nerosho | 18:05d5de29511d | 362 | } |
Nerosho | 20:b70e877cdc0f | 363 | |
takepiyo | 21:fa4360ec5014 | 364 | if(timer>LIMITTIME) |
takepiyo | 21:fa4360ec5014 | 365 | { |
takepiyo | 21:fa4360ec5014 | 366 | |
Nerosho | 19:75067f4d49b6 | 367 | inlet.Stop(); |
Nerosho | 19:75067f4d49b6 | 368 | val=timer_rec.read(); |
Nerosho | 19:75067f4d49b6 | 369 | val3=val+val2; |
Nerosho | 19:75067f4d49b6 | 370 | myTimer.sendMessage(val3); |
takepiyo | 21:fa4360ec5014 | 371 | fprintf(fp, "%s TimeOver!ClosingModeFinsh!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 372 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 373 | MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 19:75067f4d49b6 | 374 | fclose(fp); |
Nerosho | 19:75067f4d49b6 | 375 | fclose(fp2); |
Nerosho | 19:75067f4d49b6 | 376 | break; |
Nerosho | 19:75067f4d49b6 | 377 | |
Nerosho | 19:75067f4d49b6 | 378 | } |
Nerosho | 16:917a2c03bd7c | 379 | } |
Nerosho | 16:917a2c03bd7c | 380 | |
Nerosho | 16:917a2c03bd7c | 381 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 382 | インレットインターバル閉鎖 |
Nerosho | 16:917a2c03bd7c | 383 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 384 | |
Nerosho | 18:05d5de29511d | 385 | fp= fopen(fname, "a"); |
Nerosho | 18:05d5de29511d | 386 | fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 387 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 388 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 389 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 390 | fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 391 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 392 | MuPort.send("Interval Mode start!\r\n"); |
Nerosho | 18:05d5de29511d | 393 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 394 | |
Nerosho | 16:917a2c03bd7c | 395 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 396 | timer3=0; |
Nerosho | 18:05d5de29511d | 397 | |
Nerosho | 16:917a2c03bd7c | 398 | |
Nerosho | 16:917a2c03bd7c | 399 | while(1) { |
Nerosho | 16:917a2c03bd7c | 400 | |
Nerosho | 16:917a2c03bd7c | 401 | myled=0; |
takepiyo | 21:fa4360ec5014 | 402 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 403 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 404 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 405 | |
Nerosho | 16:917a2c03bd7c | 406 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 407 | |
Nerosho | 18:05d5de29511d | 408 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 409 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 410 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 411 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 412 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 413 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 414 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 415 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 416 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 417 | timer2++; |
Nerosho | 16:917a2c03bd7c | 418 | |
Nerosho | 17:993f2fcc43df | 419 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 420 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 421 | myled4=0; |
Nerosho | 17:993f2fcc43df | 422 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 423 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 424 | myTimer.sendMessage(val3); |
takepiyo | 26:7ec2cf6a6b51 | 425 | MuPort.send(myTimer.timeMessage); |
Nerosho | 27:6ac03194e45e | 426 | MuPort.send("Sequence5\n"); |
takepiyo | 26:7ec2cf6a6b51 | 427 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 428 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
takepiyo | 26:7ec2cf6a6b51 | 429 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 430 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 431 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 432 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 433 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 434 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 435 | timer++; |
Nerosho | 17:993f2fcc43df | 436 | timer3++; |
Nerosho | 17:993f2fcc43df | 437 | } |
Nerosho | 17:993f2fcc43df | 438 | |
Nerosho | 17:993f2fcc43df | 439 | |
Nerosho | 17:993f2fcc43df | 440 | |
Nerosho | 18:05d5de29511d | 441 | if(timer3>=INTERVAL_HIGH) { |
Nerosho | 16:917a2c03bd7c | 442 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 443 | |
Nerosho | 16:917a2c03bd7c | 444 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 445 | timer4=0; |
Nerosho | 16:917a2c03bd7c | 446 | |
Nerosho | 16:917a2c03bd7c | 447 | while(1) { |
Nerosho | 20:b70e877cdc0f | 448 | myled=0; |
takepiyo | 21:fa4360ec5014 | 449 | myled2=1; |
Nerosho | 20:b70e877cdc0f | 450 | myled3=0; |
Nerosho | 20:b70e877cdc0f | 451 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 452 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 453 | |
Nerosho | 18:05d5de29511d | 454 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 455 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 456 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 457 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 458 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 459 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 460 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 461 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 462 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 463 | timer2++; |
Nerosho | 16:917a2c03bd7c | 464 | |
Nerosho | 17:993f2fcc43df | 465 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 466 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 467 | myled4=0; |
Nerosho | 18:05d5de29511d | 468 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 469 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 470 | myTimer.sendMessage(val3); |
takepiyo | 26:7ec2cf6a6b51 | 471 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 472 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 473 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
takepiyo | 26:7ec2cf6a6b51 | 474 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 475 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 476 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 477 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 478 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 479 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 480 | timer++; |
Nerosho | 17:993f2fcc43df | 481 | timer4++; |
Nerosho | 17:993f2fcc43df | 482 | } |
Nerosho | 17:993f2fcc43df | 483 | |
Nerosho | 17:993f2fcc43df | 484 | |
Nerosho | 18:05d5de29511d | 485 | if(timer4>=INTERVAL_LOW) { |
Nerosho | 16:917a2c03bd7c | 486 | break; |
Nerosho | 16:917a2c03bd7c | 487 | } |
Nerosho | 16:917a2c03bd7c | 488 | |
Nerosho | 16:917a2c03bd7c | 489 | } |
Nerosho | 16:917a2c03bd7c | 490 | |
Nerosho | 16:917a2c03bd7c | 491 | } |
Nerosho | 16:917a2c03bd7c | 492 | |
Nerosho | 18:05d5de29511d | 493 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 494 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 495 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 496 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 497 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 498 | val=0; |
Nerosho | 18:05d5de29511d | 499 | |
Nerosho | 16:917a2c03bd7c | 500 | } |
Nerosho | 16:917a2c03bd7c | 501 | |
Nerosho | 16:917a2c03bd7c | 502 | |
Nerosho | 18:05d5de29511d | 503 | if(timer>=INTERVALTIME) { |
Nerosho | 16:917a2c03bd7c | 504 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 505 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 506 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 507 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 508 | fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 509 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 510 | MuPort.send("Interval Mode finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 511 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 512 | fclose(fp2); |
Nerosho | 15:bc013c313ef5 | 513 | break; |
Nerosho | 15:bc013c313ef5 | 514 | } |
takepiyo | 3:4f1bac105598 | 515 | |
takepiyo | 21:fa4360ec5014 | 516 | inlet.Close(); |
Nerosho | 16:917a2c03bd7c | 517 | |
takepiyo | 3:4f1bac105598 | 518 | } |
Nerosho | 14:a07d2a958617 | 519 | |
Nerosho | 14:a07d2a958617 | 520 | |
Nerosho | 14:a07d2a958617 | 521 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 522 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 523 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 524 | |
Nerosho | 15:bc013c313ef5 | 525 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 526 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 527 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 528 | myTimer.sendMessage(val3); |
Nerosho | 15:bc013c313ef5 | 529 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 530 | MuPort.send(myTimer.timeMessage); |
takepiyo | 26:7ec2cf6a6b51 | 531 | MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 532 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 533 | |
Nerosho | 14:a07d2a958617 | 534 | |
Nerosho | 14:a07d2a958617 | 535 | while(1) { |
Nerosho | 15:bc013c313ef5 | 536 | myled=0; |
takepiyo | 21:fa4360ec5014 | 537 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 538 | myled3=1; |
Nerosho | 20:b70e877cdc0f | 539 | myled4=0; |
takepiyo | 6:b7bf39bc3487 | 540 | |
Nerosho | 16:917a2c03bd7c | 541 | mygps.getGPGGA(); |
takepiyo | 21:fa4360ec5014 | 542 | if(mygps.GPSread) |
takepiyo | 21:fa4360ec5014 | 543 | { |
takepiyo | 21:fa4360ec5014 | 544 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 545 | myled3=0; |
Nerosho | 18:05d5de29511d | 546 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 547 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 548 | myTimer.sendMessage(val3); |
takepiyo | 26:7ec2cf6a6b51 | 549 | MuPort.send(myTimer.timeMessage); |
Nerosho | 27:6ac03194e45e | 550 | MuPort.send("Sequence6\n"); |
takepiyo | 26:7ec2cf6a6b51 | 551 | MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 552 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 553 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 554 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 555 | //wait(1.0); |
Nerosho | 16:917a2c03bd7c | 556 | } |
Nerosho | 17:993f2fcc43df | 557 | |
Nerosho | 18:05d5de29511d | 558 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 559 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 560 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 561 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 562 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 563 | val=0; |
Nerosho | 16:917a2c03bd7c | 564 | } |
takepiyo | 6:b7bf39bc3487 | 565 | |
takepiyo | 6:b7bf39bc3487 | 566 | } |
Nerosho | 14:a07d2a958617 | 567 | |
Nerosho | 2:d6dc5c2224cc | 568 | } |
Nerosho | 2:d6dc5c2224cc | 569 |