all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@19:75067f4d49b6, 2019-09-07 (annotated)
- Committer:
- Nerosho
- Date:
- Sat Sep 07 22:07:18 2019 +0000
- Revision:
- 19:75067f4d49b6
- Parent:
- 18:05d5de29511d
- Child:
- 20:b70e877cdc0f
0907 for ARLISS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nerosho | 0:d0f3991839ec | 1 | #include "mbed.h" |
Nerosho | 0:d0f3991839ec | 2 | #include "MU2.h" |
Nerosho | 16:917a2c03bd7c | 3 | #include "GPS.h" |
Nerosho | 0:d0f3991839ec | 4 | #include "SDFileSystem.h" |
takepiyo | 3:4f1bac105598 | 5 | #include "inletclose.h" |
Nerosho | 15:bc013c313ef5 | 6 | #include "mbedTimer.h" |
Nerosho | 15:bc013c313ef5 | 7 | |
Nerosho | 18:05d5de29511d | 8 | #define WAITTIME 60 //フライトピン抜けてからの待機時間 60 |
Nerosho | 18:05d5de29511d | 9 | #define FIRETIME 5 //溶断時間を設定 5 |
Nerosho | 18:05d5de29511d | 10 | #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 | 11 | #define THRESHOLID 0.45 //感圧のしきい値 0.45 |
Nerosho | 18:05d5de29511d | 12 | #define SAMPLENUMBER 5 //しきい値判定に用いるサンプル数 5 |
Nerosho | 18:05d5de29511d | 13 | #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 | 19:75067f4d49b6 | 14 | #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 | 19:75067f4d49b6 | 15 | #define INTERVALTIME 7200 //インターバルモードの時間 1800 |
Nerosho | 18:05d5de29511d | 16 | #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 | 17 | #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 | 18 | |
Nerosho | 18:05d5de29511d | 19 | char fname[]="/sd/CanSat/log0904EtoE2.csv";//ファイル名をここで設定 |
Nerosho | 18:05d5de29511d | 20 | char fname2[]="/sd/CanSat/sensor0904EtoE2.csv";//感圧センサーのログファイル |
Nerosho | 15:bc013c313ef5 | 21 | |
takepiyo | 8:6b835a82b1eb | 22 | ////////////////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 | 23 | //シーケンス番号//1//////////////////2///////////3///////////4/// |
Nerosho | 14:a07d2a958617 | 24 | //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 | 25 | //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 | 26 | |
takepiyo | 4:0d087e3f731d | 27 | MU2 MuPort(p28,p27); |
Nerosho | 16:917a2c03bd7c | 28 | SDFileSystem sd(p5, p6, p7, p8, "sd");//3号機11,12,13,14 4号機5,6,7,8 |
Nerosho | 16:917a2c03bd7c | 29 | GPS mygps(p13,p14);//3号機9,10 4号機13,14 |
takepiyo | 3:4f1bac105598 | 30 | |
Nerosho | 15:bc013c313ef5 | 31 | 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 | 32 | |
Nerosho | 16:917a2c03bd7c | 33 | DigitalOut FIRE(p25); //3号機24 4号機25 |
Nerosho | 1:a8772ca26d1b | 34 | |
Nerosho | 1:a8772ca26d1b | 35 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 36 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 37 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 38 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 39 | |
Nerosho | 15:bc013c313ef5 | 40 | mbedTimer myTimer; |
Nerosho | 15:bc013c313ef5 | 41 | Timer timer_rec;//時間計測 |
Nerosho | 15:bc013c313ef5 | 42 | |
Nerosho | 15:bc013c313ef5 | 43 | int val; |
Nerosho | 16:917a2c03bd7c | 44 | int val2; |
Nerosho | 18:05d5de29511d | 45 | int val3; |
Nerosho | 18:05d5de29511d | 46 | int count; |
Nerosho | 15:bc013c313ef5 | 47 | char sendMessage[128]; |
Nerosho | 17:993f2fcc43df | 48 | char sensorMessage[128]; |
Nerosho | 16:917a2c03bd7c | 49 | float ave_sensor; |
Nerosho | 16:917a2c03bd7c | 50 | int timer; |
Nerosho | 16:917a2c03bd7c | 51 | int timer2; |
Nerosho | 16:917a2c03bd7c | 52 | int timer3; |
Nerosho | 16:917a2c03bd7c | 53 | int timer4; |
Nerosho | 14:a07d2a958617 | 54 | |
Nerosho | 14:a07d2a958617 | 55 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 56 | メイン関数 |
Nerosho | 14:a07d2a958617 | 57 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 58 | |
Nerosho | 0:d0f3991839ec | 59 | int main() |
Nerosho | 0:d0f3991839ec | 60 | { |
Nerosho | 15:bc013c313ef5 | 61 | |
Nerosho | 15:bc013c313ef5 | 62 | timer_rec.start(); |
Nerosho | 18:05d5de29511d | 63 | wait(5);//起動してからちょっと待つ |
takepiyo | 8:6b835a82b1eb | 64 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 65 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 66 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 67 | |
Nerosho | 14:a07d2a958617 | 68 | myled=1; |
Nerosho | 14:a07d2a958617 | 69 | myled2=1; |
Nerosho | 14:a07d2a958617 | 70 | myled3=1; |
Nerosho | 14:a07d2a958617 | 71 | myled4=1; |
Nerosho | 14:a07d2a958617 | 72 | |
Nerosho | 15:bc013c313ef5 | 73 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 74 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 75 | myled=0; |
Nerosho | 15:bc013c313ef5 | 76 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 77 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 78 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 79 | } |
Nerosho | 15:bc013c313ef5 | 80 | |
Nerosho | 14:a07d2a958617 | 81 | } |
Nerosho | 14:a07d2a958617 | 82 | |
Nerosho | 15:bc013c313ef5 | 83 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 84 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 85 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 86 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 87 | MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 88 | |
Nerosho | 18:05d5de29511d | 89 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 90 | 溶断まで待機 |
Nerosho | 18:05d5de29511d | 91 | *******************************************************************************/ |
Nerosho | 18:05d5de29511d | 92 | timer=0; |
Nerosho | 18:05d5de29511d | 93 | val2=0; |
Nerosho | 18:05d5de29511d | 94 | val3=0; |
Nerosho | 18:05d5de29511d | 95 | |
Nerosho | 18:05d5de29511d | 96 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 97 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 98 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 99 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
Nerosho | 18:05d5de29511d | 100 | MuPort.send(myTimer.timeMessage); |
Nerosho | 18:05d5de29511d | 101 | MuPort.send("GPS start!\r\n"); |
Nerosho | 18:05d5de29511d | 102 | |
Nerosho | 18:05d5de29511d | 103 | while(1) { |
Nerosho | 18:05d5de29511d | 104 | myled=0; |
Nerosho | 18:05d5de29511d | 105 | myled2=1; |
Nerosho | 18:05d5de29511d | 106 | |
Nerosho | 18:05d5de29511d | 107 | mygps.getGPGGA(); |
Nerosho | 18:05d5de29511d | 108 | if(mygps.GPSread) { |
Nerosho | 18:05d5de29511d | 109 | myled=1; |
Nerosho | 18:05d5de29511d | 110 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 111 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 112 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 113 | MuPort.send(myTimer.timeMessage); |
Nerosho | 18:05d5de29511d | 114 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 115 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 18:05d5de29511d | 116 | timer++; |
Nerosho | 18:05d5de29511d | 117 | } |
Nerosho | 18:05d5de29511d | 118 | |
Nerosho | 18:05d5de29511d | 119 | if(timer>=WAITTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 18:05d5de29511d | 120 | fclose(fp); |
Nerosho | 18:05d5de29511d | 121 | break; |
Nerosho | 18:05d5de29511d | 122 | } |
Nerosho | 18:05d5de29511d | 123 | |
Nerosho | 18:05d5de29511d | 124 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 125 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 126 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 127 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 128 | val2+=val; |
Nerosho | 18:05d5de29511d | 129 | val=0; |
Nerosho | 18:05d5de29511d | 130 | |
Nerosho | 18:05d5de29511d | 131 | } |
Nerosho | 18:05d5de29511d | 132 | |
Nerosho | 18:05d5de29511d | 133 | } |
Nerosho | 18:05d5de29511d | 134 | |
Nerosho | 2:d6dc5c2224cc | 135 | |
takepiyo | 3:4f1bac105598 | 136 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 137 | |
Nerosho | 14:a07d2a958617 | 138 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 139 | MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 140 | |
takepiyo | 8:6b835a82b1eb | 141 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 142 | myled=1; |
takepiyo | 8:6b835a82b1eb | 143 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 144 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 145 | myled=0; |
Nerosho | 15:bc013c313ef5 | 146 | |
Nerosho | 16:917a2c03bd7c | 147 | /*wait(3); |
Nerosho | 15:bc013c313ef5 | 148 | |
Nerosho | 14:a07d2a958617 | 149 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 150 | myled=1; |
Nerosho | 14:a07d2a958617 | 151 | wait(3);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 152 | FIRE=0; |
Nerosho | 16:917a2c03bd7c | 153 | myled=0;*/ |
Nerosho | 14:a07d2a958617 | 154 | |
Nerosho | 14:a07d2a958617 | 155 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 14:a07d2a958617 | 156 | MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 157 | |
takepiyo | 3:4f1bac105598 | 158 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 159 | |
takepiyo | 3:4f1bac105598 | 160 | |
Nerosho | 14:a07d2a958617 | 161 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 162 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 163 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 164 | timer=0; |
Nerosho | 2:d6dc5c2224cc | 165 | |
Nerosho | 14:a07d2a958617 | 166 | while(1) { |
takepiyo | 8:6b835a82b1eb | 167 | myled=0; |
takepiyo | 8:6b835a82b1eb | 168 | myled2=1; |
Nerosho | 14:a07d2a958617 | 169 | |
Nerosho | 16:917a2c03bd7c | 170 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 171 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 172 | myled=1; |
Nerosho | 16:917a2c03bd7c | 173 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 174 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 175 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 176 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 177 | MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 178 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 179 | timer++; |
Nerosho | 16:917a2c03bd7c | 180 | } |
takepiyo | 3:4f1bac105598 | 181 | |
Nerosho | 18:05d5de29511d | 182 | if(timer>=FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 15:bc013c313ef5 | 183 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 184 | break; |
Nerosho | 15:bc013c313ef5 | 185 | } |
Nerosho | 2:d6dc5c2224cc | 186 | |
Nerosho | 18:05d5de29511d | 187 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 188 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 189 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 190 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 191 | val2+=val; |
Nerosho | 18:05d5de29511d | 192 | val=0; |
Nerosho | 18:05d5de29511d | 193 | |
Nerosho | 18:05d5de29511d | 194 | } |
Nerosho | 18:05d5de29511d | 195 | |
Nerosho | 0:d0f3991839ec | 196 | } |
Nerosho | 14:a07d2a958617 | 197 | |
Nerosho | 14:a07d2a958617 | 198 | |
Nerosho | 14:a07d2a958617 | 199 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 200 | インレット連続閉鎖 |
Nerosho | 14:a07d2a958617 | 201 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 202 | |
Nerosho | 15:bc013c313ef5 | 203 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 204 | FILE* fp2= fopen(fname2, "a"); |
Nerosho | 15:bc013c313ef5 | 205 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 206 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 207 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 208 | fprintf(fp, "%s ClosingModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 209 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 210 | MuPort.send("Closing Mode start!\r\n"); |
Nerosho | 14:a07d2a958617 | 211 | |
Nerosho | 14:a07d2a958617 | 212 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 213 | timer2=0; |
Nerosho | 18:05d5de29511d | 214 | count=0; |
Nerosho | 14:a07d2a958617 | 215 | |
Nerosho | 14:a07d2a958617 | 216 | while(1) { |
Nerosho | 15:bc013c313ef5 | 217 | myled=0; |
takepiyo | 8:6b835a82b1eb | 218 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 219 | myled3=1; |
takepiyo | 3:4f1bac105598 | 220 | |
Nerosho | 16:917a2c03bd7c | 221 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 222 | |
Nerosho | 18:05d5de29511d | 223 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 224 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 225 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 226 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 227 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 228 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 229 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 230 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 231 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 232 | timer2++; |
Nerosho | 17:993f2fcc43df | 233 | |
Nerosho | 16:917a2c03bd7c | 234 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 235 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 236 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 237 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 238 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 239 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 240 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 241 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 242 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 243 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 19:75067f4d49b6 | 244 | timer++; |
Nerosho | 16:917a2c03bd7c | 245 | } |
Nerosho | 16:917a2c03bd7c | 246 | |
Nerosho | 16:917a2c03bd7c | 247 | |
Nerosho | 18:05d5de29511d | 248 | if(ave_sensor>THRESHOLID) { |
Nerosho | 18:05d5de29511d | 249 | count++; |
Nerosho | 18:05d5de29511d | 250 | } |
takepiyo | 3:4f1bac105598 | 251 | |
Nerosho | 18:05d5de29511d | 252 | if(count>=SAMPLENUMBER) { |
Nerosho | 16:917a2c03bd7c | 253 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 254 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 255 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 256 | fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 257 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 258 | MuPort.send("Get the rigidity!\r\n"); |
Nerosho | 16:917a2c03bd7c | 259 | |
Nerosho | 16:917a2c03bd7c | 260 | timer=0;//モーター時間で止める用 |
takepiyo | 3:4f1bac105598 | 261 | |
Nerosho | 16:917a2c03bd7c | 262 | while(1) { |
Nerosho | 16:917a2c03bd7c | 263 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 264 | |
Nerosho | 18:05d5de29511d | 265 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 266 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 267 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 268 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 269 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 270 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 271 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 272 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 273 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 274 | timer2++; |
Nerosho | 17:993f2fcc43df | 275 | |
Nerosho | 16:917a2c03bd7c | 276 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 277 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 278 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 279 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 280 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 281 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 282 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 283 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 284 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 285 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 286 | timer++; |
Nerosho | 16:917a2c03bd7c | 287 | } |
Nerosho | 16:917a2c03bd7c | 288 | |
Nerosho | 16:917a2c03bd7c | 289 | |
Nerosho | 18:05d5de29511d | 290 | if(timer>=CLOSETIME) { |
Nerosho | 16:917a2c03bd7c | 291 | break; |
Nerosho | 16:917a2c03bd7c | 292 | } |
Nerosho | 16:917a2c03bd7c | 293 | |
takepiyo | 3:4f1bac105598 | 294 | } |
Nerosho | 15:bc013c313ef5 | 295 | |
Nerosho | 16:917a2c03bd7c | 296 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 297 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 298 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 299 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 300 | fprintf(fp, "%s ClosingModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 301 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 302 | MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 303 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 304 | fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 305 | break; |
Nerosho | 16:917a2c03bd7c | 306 | |
takepiyo | 3:4f1bac105598 | 307 | } |
Nerosho | 19:75067f4d49b6 | 308 | |
Nerosho | 16:917a2c03bd7c | 309 | |
Nerosho | 18:05d5de29511d | 310 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 311 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 312 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 313 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 314 | val2+=val; |
Nerosho | 18:05d5de29511d | 315 | val=0; |
Nerosho | 18:05d5de29511d | 316 | |
Nerosho | 18:05d5de29511d | 317 | } |
Nerosho | 19:75067f4d49b6 | 318 | |
Nerosho | 19:75067f4d49b6 | 319 | if(timer>LIMITTIME) { |
Nerosho | 19:75067f4d49b6 | 320 | inlet.Stop(); |
Nerosho | 19:75067f4d49b6 | 321 | val=timer_rec.read(); |
Nerosho | 19:75067f4d49b6 | 322 | val3=val+val2; |
Nerosho | 19:75067f4d49b6 | 323 | myTimer.sendMessage(val3); |
Nerosho | 19:75067f4d49b6 | 324 | fprintf(fp, "%s ClosingModeFinsh!\r\n",myTimer.timeMessage); |
Nerosho | 19:75067f4d49b6 | 325 | MuPort.send(myTimer.timeMessage); |
Nerosho | 19:75067f4d49b6 | 326 | MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 19:75067f4d49b6 | 327 | fclose(fp); |
Nerosho | 19:75067f4d49b6 | 328 | fclose(fp2); |
Nerosho | 19:75067f4d49b6 | 329 | break; |
Nerosho | 19:75067f4d49b6 | 330 | |
Nerosho | 19:75067f4d49b6 | 331 | } |
Nerosho | 18:05d5de29511d | 332 | |
Nerosho | 16:917a2c03bd7c | 333 | 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 | 334 | |
Nerosho | 16:917a2c03bd7c | 335 | } |
Nerosho | 16:917a2c03bd7c | 336 | |
Nerosho | 16:917a2c03bd7c | 337 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 338 | インレットインターバル閉鎖 |
Nerosho | 16:917a2c03bd7c | 339 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 340 | |
Nerosho | 18:05d5de29511d | 341 | fp= fopen(fname, "a"); |
Nerosho | 18:05d5de29511d | 342 | fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 343 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 344 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 345 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 346 | fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 347 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 348 | MuPort.send("Interval Mode start!\r\n"); |
Nerosho | 18:05d5de29511d | 349 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 350 | |
Nerosho | 16:917a2c03bd7c | 351 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 352 | timer3=0; |
Nerosho | 18:05d5de29511d | 353 | |
Nerosho | 16:917a2c03bd7c | 354 | |
Nerosho | 16:917a2c03bd7c | 355 | while(1) { |
Nerosho | 16:917a2c03bd7c | 356 | |
Nerosho | 16:917a2c03bd7c | 357 | myled=0; |
Nerosho | 16:917a2c03bd7c | 358 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 359 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 360 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 361 | |
Nerosho | 16:917a2c03bd7c | 362 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 363 | |
Nerosho | 18:05d5de29511d | 364 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 365 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 366 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 367 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 368 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 369 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 370 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 371 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 372 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 373 | timer2++; |
Nerosho | 16:917a2c03bd7c | 374 | |
Nerosho | 17:993f2fcc43df | 375 | if(mygps.GPSread) { |
Nerosho | 17:993f2fcc43df | 376 | myled3=1; |
Nerosho | 17:993f2fcc43df | 377 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 378 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 379 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 380 | MuPort.send(myTimer.timeMessage); |
Nerosho | 17:993f2fcc43df | 381 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 382 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 17:993f2fcc43df | 383 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 384 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 385 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 386 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 387 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 388 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 389 | timer++; |
Nerosho | 17:993f2fcc43df | 390 | timer3++; |
Nerosho | 17:993f2fcc43df | 391 | } |
Nerosho | 17:993f2fcc43df | 392 | |
Nerosho | 17:993f2fcc43df | 393 | |
Nerosho | 17:993f2fcc43df | 394 | |
Nerosho | 18:05d5de29511d | 395 | if(timer3>=INTERVAL_HIGH) { |
Nerosho | 16:917a2c03bd7c | 396 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 397 | myled=0; |
Nerosho | 16:917a2c03bd7c | 398 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 399 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 400 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 401 | |
Nerosho | 16:917a2c03bd7c | 402 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 403 | timer4=0; |
Nerosho | 16:917a2c03bd7c | 404 | |
Nerosho | 16:917a2c03bd7c | 405 | while(1) { |
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) { |
Nerosho | 17:993f2fcc43df | 420 | myled3=1; |
Nerosho | 18:05d5de29511d | 421 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 422 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 423 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 424 | MuPort.send(myTimer.timeMessage); |
Nerosho | 17:993f2fcc43df | 425 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 426 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 17:993f2fcc43df | 427 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 428 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 429 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 430 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 431 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 432 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 433 | timer++; |
Nerosho | 17:993f2fcc43df | 434 | timer4++; |
Nerosho | 17:993f2fcc43df | 435 | } |
Nerosho | 17:993f2fcc43df | 436 | |
Nerosho | 17:993f2fcc43df | 437 | |
Nerosho | 18:05d5de29511d | 438 | if(timer4>=INTERVAL_LOW) { |
Nerosho | 16:917a2c03bd7c | 439 | break; |
Nerosho | 16:917a2c03bd7c | 440 | } |
Nerosho | 16:917a2c03bd7c | 441 | |
Nerosho | 16:917a2c03bd7c | 442 | } |
Nerosho | 16:917a2c03bd7c | 443 | |
Nerosho | 16:917a2c03bd7c | 444 | } |
Nerosho | 16:917a2c03bd7c | 445 | |
Nerosho | 18:05d5de29511d | 446 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 447 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 448 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 449 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 450 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 451 | val=0; |
Nerosho | 18:05d5de29511d | 452 | |
Nerosho | 16:917a2c03bd7c | 453 | } |
Nerosho | 16:917a2c03bd7c | 454 | |
Nerosho | 16:917a2c03bd7c | 455 | |
Nerosho | 18:05d5de29511d | 456 | if(timer>=INTERVALTIME) { |
Nerosho | 16:917a2c03bd7c | 457 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 458 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 459 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 460 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 461 | fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 462 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 463 | MuPort.send("Interval Mode finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 464 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 465 | fclose(fp2); |
Nerosho | 15:bc013c313ef5 | 466 | break; |
Nerosho | 15:bc013c313ef5 | 467 | } |
takepiyo | 3:4f1bac105598 | 468 | |
Nerosho | 16:917a2c03bd7c | 469 | 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 | 470 | |
takepiyo | 3:4f1bac105598 | 471 | } |
Nerosho | 14:a07d2a958617 | 472 | |
Nerosho | 14:a07d2a958617 | 473 | |
Nerosho | 14:a07d2a958617 | 474 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 475 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 476 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 477 | |
Nerosho | 15:bc013c313ef5 | 478 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 479 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 480 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 481 | myTimer.sendMessage(val3); |
Nerosho | 15:bc013c313ef5 | 482 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 483 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 484 | MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 485 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 486 | |
Nerosho | 14:a07d2a958617 | 487 | |
Nerosho | 14:a07d2a958617 | 488 | while(1) { |
Nerosho | 15:bc013c313ef5 | 489 | myled=0; |
Nerosho | 15:bc013c313ef5 | 490 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 491 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 492 | myled4=1; |
takepiyo | 6:b7bf39bc3487 | 493 | |
Nerosho | 16:917a2c03bd7c | 494 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 495 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 496 | myled3=1; |
Nerosho | 18:05d5de29511d | 497 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 498 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 499 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 500 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 501 | MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 502 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 503 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 504 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 505 | //wait(1.0); |
Nerosho | 16:917a2c03bd7c | 506 | } |
Nerosho | 17:993f2fcc43df | 507 | |
Nerosho | 18:05d5de29511d | 508 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 509 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 510 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 511 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 512 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 513 | val=0; |
Nerosho | 16:917a2c03bd7c | 514 | } |
takepiyo | 6:b7bf39bc3487 | 515 | |
takepiyo | 6:b7bf39bc3487 | 516 | } |
Nerosho | 14:a07d2a958617 | 517 | |
Nerosho | 2:d6dc5c2224cc | 518 | } |
Nerosho | 2:d6dc5c2224cc | 519 | |
Nerosho | 2:d6dc5c2224cc | 520 |