all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@22:9c062a2def02, 2019-09-09 (annotated)
- Committer:
- takepiyo
- Date:
- Mon Sep 09 06:53:50 2019 +0000
- Revision:
- 22:9c062a2def02
- Parent:
- 21:fa4360ec5014
- Child:
- 23:a5d3e9827c43
honbanyouniizitta
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 | 22:9c062a2def02 | 13 | #define WAITTIME 60 //フライトピン抜けてからの待機時間 60 |
Nerosho | 18:05d5de29511d | 14 | #define FIRETIME 5 //溶断時間を設定 5 |
takepiyo | 22:9c062a2def02 | 15 | #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 | 16 | #define THRESHOLID 0.45 //感圧のしきい値 0.45 |
Nerosho | 18:05d5de29511d | 17 | #define SAMPLENUMBER 5 //しきい値判定に用いるサンプル数 5 |
Nerosho | 18:05d5de29511d | 18 | #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 | 19 | #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 | 20 | #define INTERVALTIME 7200 //インターバルモードの時間 1800 |
Nerosho | 18:05d5de29511d | 21 | #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 | 22 | #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 | 23 | |
takepiyo | 22:9c062a2def02 | 24 | char fname[]="/sd/CanSat/log0909ARLISStest1.csv";//ファイル名をここで設定 |
takepiyo | 22:9c062a2def02 | 25 | char fname2[]="/sd/CanSat/sensor0909ARLISStest1.csv";//感圧センサーのログファイル |
Nerosho | 15:bc013c313ef5 | 26 | |
takepiyo | 21:fa4360ec5014 | 27 | ////////////////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 | 28 | //シーケンス番号//0001////////0010////////////0011///////////0100/////////0101/// |
Nerosho | 14:a07d2a958617 | 29 | //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 | 30 | //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 | 31 | //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 | 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 | 21:fa4360ec5014 | 70 | |
takepiyo | 21:fa4360ec5014 | 71 | myled=1; |
takepiyo | 21:fa4360ec5014 | 72 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 73 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 74 | myled4=0; |
takepiyo | 21:fa4360ec5014 | 75 | |
takepiyo | 21:fa4360ec5014 | 76 | wait(1); |
takepiyo | 21:fa4360ec5014 | 77 | |
takepiyo | 21:fa4360ec5014 | 78 | myled=0; |
takepiyo | 21:fa4360ec5014 | 79 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 80 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 81 | myled4=1; |
takepiyo | 21:fa4360ec5014 | 82 | |
takepiyo | 8:6b835a82b1eb | 83 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 84 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 85 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 86 | |
Nerosho | 14:a07d2a958617 | 87 | myled=1; |
Nerosho | 14:a07d2a958617 | 88 | myled2=1; |
Nerosho | 14:a07d2a958617 | 89 | myled3=1; |
Nerosho | 14:a07d2a958617 | 90 | myled4=1; |
Nerosho | 14:a07d2a958617 | 91 | |
Nerosho | 15:bc013c313ef5 | 92 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 93 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 94 | myled=0; |
Nerosho | 15:bc013c313ef5 | 95 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 96 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 97 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 98 | } |
takepiyo | 21:fa4360ec5014 | 99 | } |
Nerosho | 15:bc013c313ef5 | 100 | |
takepiyo | 21:fa4360ec5014 | 101 | wait(1); |
takepiyo | 21:fa4360ec5014 | 102 | myled=0; |
takepiyo | 21:fa4360ec5014 | 103 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 104 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 105 | myled4=0; |
Nerosho | 14:a07d2a958617 | 106 | |
Nerosho | 15:bc013c313ef5 | 107 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 108 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 109 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 110 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 111 | //MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 112 | |
Nerosho | 18:05d5de29511d | 113 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 114 | 溶断まで待機 |
Nerosho | 18:05d5de29511d | 115 | *******************************************************************************/ |
Nerosho | 18:05d5de29511d | 116 | timer=0; |
Nerosho | 18:05d5de29511d | 117 | val2=0; |
Nerosho | 18:05d5de29511d | 118 | val3=0; |
Nerosho | 18:05d5de29511d | 119 | |
Nerosho | 18:05d5de29511d | 120 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 121 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 122 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 123 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 124 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 125 | //MuPort.send("GPS start!\r\n"); |
Nerosho | 18:05d5de29511d | 126 | |
Nerosho | 18:05d5de29511d | 127 | while(1) { |
Nerosho | 18:05d5de29511d | 128 | myled=0; |
Nerosho | 20:b70e877cdc0f | 129 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 130 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 131 | myled4=1; |
Nerosho | 18:05d5de29511d | 132 | |
Nerosho | 18:05d5de29511d | 133 | mygps.getGPGGA(); |
Nerosho | 18:05d5de29511d | 134 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 135 | myled4=0; |
Nerosho | 18:05d5de29511d | 136 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 137 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 138 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 139 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 140 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 141 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 18:05d5de29511d | 142 | timer++; |
Nerosho | 18:05d5de29511d | 143 | } |
Nerosho | 18:05d5de29511d | 144 | |
Nerosho | 18:05d5de29511d | 145 | if(timer>=WAITTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 18:05d5de29511d | 146 | fclose(fp); |
Nerosho | 18:05d5de29511d | 147 | break; |
Nerosho | 18:05d5de29511d | 148 | } |
Nerosho | 18:05d5de29511d | 149 | |
Nerosho | 18:05d5de29511d | 150 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 151 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 152 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 153 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 154 | val2+=val; |
Nerosho | 18:05d5de29511d | 155 | val=0; |
Nerosho | 18:05d5de29511d | 156 | |
Nerosho | 18:05d5de29511d | 157 | } |
Nerosho | 18:05d5de29511d | 158 | |
Nerosho | 18:05d5de29511d | 159 | } |
Nerosho | 18:05d5de29511d | 160 | |
Nerosho | 2:d6dc5c2224cc | 161 | |
takepiyo | 3:4f1bac105598 | 162 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 163 | |
Nerosho | 14:a07d2a958617 | 164 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 20:b70e877cdc0f | 165 | //MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 166 | |
takepiyo | 8:6b835a82b1eb | 167 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 168 | myled=1; |
takepiyo | 8:6b835a82b1eb | 169 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 170 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 171 | myled=0; |
Nerosho | 15:bc013c313ef5 | 172 | |
Nerosho | 20:b70e877cdc0f | 173 | wait(3); |
Nerosho | 15:bc013c313ef5 | 174 | |
Nerosho | 14:a07d2a958617 | 175 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 176 | myled=1; |
Nerosho | 14:a07d2a958617 | 177 | wait(3);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 178 | FIRE=0; |
Nerosho | 20:b70e877cdc0f | 179 | myled=0; |
Nerosho | 14:a07d2a958617 | 180 | |
Nerosho | 14:a07d2a958617 | 181 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 20:b70e877cdc0f | 182 | //MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 183 | |
takepiyo | 3:4f1bac105598 | 184 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 185 | |
takepiyo | 3:4f1bac105598 | 186 | |
Nerosho | 14:a07d2a958617 | 187 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 188 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 189 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 190 | timer=0; |
Nerosho | 2:d6dc5c2224cc | 191 | |
Nerosho | 14:a07d2a958617 | 192 | while(1) { |
takepiyo | 8:6b835a82b1eb | 193 | myled=0; |
takepiyo | 21:fa4360ec5014 | 194 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 195 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 196 | myled4=0; |
Nerosho | 14:a07d2a958617 | 197 | |
Nerosho | 16:917a2c03bd7c | 198 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 199 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 200 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 201 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 202 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 203 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 204 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 205 | //MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 206 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 207 | timer++; |
Nerosho | 16:917a2c03bd7c | 208 | } |
takepiyo | 3:4f1bac105598 | 209 | |
Nerosho | 18:05d5de29511d | 210 | if(timer>=FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 15:bc013c313ef5 | 211 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 212 | break; |
Nerosho | 15:bc013c313ef5 | 213 | } |
Nerosho | 2:d6dc5c2224cc | 214 | |
Nerosho | 18:05d5de29511d | 215 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 216 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 217 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 218 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 219 | val2+=val; |
Nerosho | 18:05d5de29511d | 220 | val=0; |
Nerosho | 18:05d5de29511d | 221 | |
Nerosho | 18:05d5de29511d | 222 | } |
Nerosho | 18:05d5de29511d | 223 | |
Nerosho | 0:d0f3991839ec | 224 | } |
Nerosho | 14:a07d2a958617 | 225 | |
Nerosho | 14:a07d2a958617 | 226 | |
Nerosho | 14:a07d2a958617 | 227 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 228 | インレット連続閉鎖 |
Nerosho | 14:a07d2a958617 | 229 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 230 | |
Nerosho | 15:bc013c313ef5 | 231 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 232 | FILE* fp2= fopen(fname2, "a"); |
Nerosho | 15:bc013c313ef5 | 233 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 234 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 235 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 236 | fprintf(fp, "%s ClosingModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 237 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 238 | //MuPort.send("Closing Mode start!\r\n"); |
Nerosho | 14:a07d2a958617 | 239 | |
Nerosho | 14:a07d2a958617 | 240 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 241 | timer2=0; |
Nerosho | 18:05d5de29511d | 242 | count=0; |
Nerosho | 14:a07d2a958617 | 243 | |
takepiyo | 21:fa4360ec5014 | 244 | while(1) |
takepiyo | 21:fa4360ec5014 | 245 | { |
Nerosho | 15:bc013c313ef5 | 246 | myled=0; |
takepiyo | 8:6b835a82b1eb | 247 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 248 | myled3=1; |
takepiyo | 21:fa4360ec5014 | 249 | myled4=1; |
takepiyo | 21:fa4360ec5014 | 250 | |
takepiyo | 21:fa4360ec5014 | 251 | inlet.Close(); |
takepiyo | 3:4f1bac105598 | 252 | |
Nerosho | 16:917a2c03bd7c | 253 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 254 | |
Nerosho | 18:05d5de29511d | 255 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 256 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 257 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 258 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 259 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 260 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 261 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 262 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 263 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 264 | timer2++; |
Nerosho | 17:993f2fcc43df | 265 | |
Nerosho | 16:917a2c03bd7c | 266 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 267 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 268 | myled4=0; |
Nerosho | 16:917a2c03bd7c | 269 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 270 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 271 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 272 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 273 | //MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 274 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 275 | //MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 276 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 19:75067f4d49b6 | 277 | timer++; |
Nerosho | 16:917a2c03bd7c | 278 | } |
Nerosho | 16:917a2c03bd7c | 279 | |
Nerosho | 16:917a2c03bd7c | 280 | |
Nerosho | 18:05d5de29511d | 281 | if(ave_sensor>THRESHOLID) { |
Nerosho | 18:05d5de29511d | 282 | count++; |
Nerosho | 18:05d5de29511d | 283 | } |
takepiyo | 3:4f1bac105598 | 284 | |
takepiyo | 21:fa4360ec5014 | 285 | if(count>=SAMPLENUMBER) |
takepiyo | 21:fa4360ec5014 | 286 | { |
Nerosho | 16:917a2c03bd7c | 287 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 288 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 289 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 290 | fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 291 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 292 | //MuPort.send("Get the rigidity!\r\n"); |
Nerosho | 16:917a2c03bd7c | 293 | |
Nerosho | 16:917a2c03bd7c | 294 | timer=0;//モーター時間で止める用 |
takepiyo | 3:4f1bac105598 | 295 | |
takepiyo | 21:fa4360ec5014 | 296 | while(1) //剛性を得た後一定時間でとめる |
takepiyo | 21:fa4360ec5014 | 297 | { |
takepiyo | 21:fa4360ec5014 | 298 | myled=0; |
takepiyo | 21:fa4360ec5014 | 299 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 300 | myled3=0; |
takepiyo | 21:fa4360ec5014 | 301 | myled4=0; |
takepiyo | 21:fa4360ec5014 | 302 | |
Nerosho | 16:917a2c03bd7c | 303 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 304 | |
Nerosho | 18:05d5de29511d | 305 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 306 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 307 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 308 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 309 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 310 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 311 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 312 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 313 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 314 | timer2++; |
Nerosho | 17:993f2fcc43df | 315 | |
takepiyo | 21:fa4360ec5014 | 316 | if(mygps.GPSread) |
takepiyo | 21:fa4360ec5014 | 317 | { |
takepiyo | 21:fa4360ec5014 | 318 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 319 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 320 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 321 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 322 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 323 | //MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 324 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 325 | //MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 326 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 327 | timer++; |
Nerosho | 16:917a2c03bd7c | 328 | } |
Nerosho | 16:917a2c03bd7c | 329 | |
Nerosho | 16:917a2c03bd7c | 330 | |
takepiyo | 21:fa4360ec5014 | 331 | if(timer>=CLOSETIME) |
takepiyo | 21:fa4360ec5014 | 332 | { |
Nerosho | 16:917a2c03bd7c | 333 | break; |
Nerosho | 16:917a2c03bd7c | 334 | } |
takepiyo | 3:4f1bac105598 | 335 | } |
Nerosho | 15:bc013c313ef5 | 336 | |
Nerosho | 16:917a2c03bd7c | 337 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 338 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 339 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 340 | myTimer.sendMessage(val3); |
takepiyo | 21:fa4360ec5014 | 341 | fprintf(fp, "%s ClosingModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 342 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 343 | //MuPort.send("Time over. Closing Mode Finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 344 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 345 | fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 346 | break; |
Nerosho | 16:917a2c03bd7c | 347 | |
takepiyo | 3:4f1bac105598 | 348 | } |
Nerosho | 20:b70e877cdc0f | 349 | |
Nerosho | 16:917a2c03bd7c | 350 | |
Nerosho | 18:05d5de29511d | 351 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 352 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 353 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 354 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 355 | val2+=val; |
Nerosho | 18:05d5de29511d | 356 | val=0; |
Nerosho | 18:05d5de29511d | 357 | |
Nerosho | 18:05d5de29511d | 358 | } |
Nerosho | 20:b70e877cdc0f | 359 | |
takepiyo | 21:fa4360ec5014 | 360 | if(timer>LIMITTIME) |
takepiyo | 21:fa4360ec5014 | 361 | { |
takepiyo | 21:fa4360ec5014 | 362 | |
Nerosho | 19:75067f4d49b6 | 363 | inlet.Stop(); |
Nerosho | 19:75067f4d49b6 | 364 | val=timer_rec.read(); |
Nerosho | 19:75067f4d49b6 | 365 | val3=val+val2; |
Nerosho | 19:75067f4d49b6 | 366 | myTimer.sendMessage(val3); |
takepiyo | 21:fa4360ec5014 | 367 | fprintf(fp, "%s TimeOver!ClosingModeFinsh!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 368 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 369 | //MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 19:75067f4d49b6 | 370 | fclose(fp); |
Nerosho | 19:75067f4d49b6 | 371 | fclose(fp2); |
Nerosho | 19:75067f4d49b6 | 372 | break; |
Nerosho | 19:75067f4d49b6 | 373 | |
Nerosho | 19:75067f4d49b6 | 374 | } |
Nerosho | 16:917a2c03bd7c | 375 | } |
Nerosho | 16:917a2c03bd7c | 376 | |
Nerosho | 16:917a2c03bd7c | 377 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 378 | インレットインターバル閉鎖 |
Nerosho | 16:917a2c03bd7c | 379 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 380 | |
Nerosho | 18:05d5de29511d | 381 | fp= fopen(fname, "a"); |
Nerosho | 18:05d5de29511d | 382 | fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 383 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 384 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 385 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 386 | fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 387 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 388 | //MuPort.send("Interval Mode start!\r\n"); |
Nerosho | 18:05d5de29511d | 389 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 390 | |
Nerosho | 16:917a2c03bd7c | 391 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 392 | timer3=0; |
Nerosho | 18:05d5de29511d | 393 | |
Nerosho | 16:917a2c03bd7c | 394 | |
Nerosho | 16:917a2c03bd7c | 395 | while(1) { |
Nerosho | 16:917a2c03bd7c | 396 | |
Nerosho | 16:917a2c03bd7c | 397 | myled=0; |
takepiyo | 21:fa4360ec5014 | 398 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 399 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 400 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 401 | |
Nerosho | 16:917a2c03bd7c | 402 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 403 | |
Nerosho | 18:05d5de29511d | 404 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 405 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 406 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 407 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 408 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 409 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 410 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 411 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 412 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 413 | timer2++; |
Nerosho | 16:917a2c03bd7c | 414 | |
Nerosho | 17:993f2fcc43df | 415 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 416 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 417 | myled4=0; |
Nerosho | 17:993f2fcc43df | 418 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 419 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 420 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 421 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 422 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 423 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 424 | //MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 425 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 426 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 427 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 428 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 429 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 430 | timer++; |
Nerosho | 17:993f2fcc43df | 431 | timer3++; |
Nerosho | 17:993f2fcc43df | 432 | } |
Nerosho | 17:993f2fcc43df | 433 | |
Nerosho | 17:993f2fcc43df | 434 | |
Nerosho | 17:993f2fcc43df | 435 | |
Nerosho | 18:05d5de29511d | 436 | if(timer3>=INTERVAL_HIGH) { |
Nerosho | 16:917a2c03bd7c | 437 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 438 | |
Nerosho | 16:917a2c03bd7c | 439 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 440 | timer4=0; |
Nerosho | 16:917a2c03bd7c | 441 | |
Nerosho | 16:917a2c03bd7c | 442 | while(1) { |
Nerosho | 20:b70e877cdc0f | 443 | myled=0; |
takepiyo | 21:fa4360ec5014 | 444 | myled2=1; |
Nerosho | 20:b70e877cdc0f | 445 | myled3=0; |
Nerosho | 20:b70e877cdc0f | 446 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 447 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 448 | |
Nerosho | 18:05d5de29511d | 449 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 450 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 451 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 452 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 453 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 454 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 455 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 456 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 457 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 458 | timer2++; |
Nerosho | 16:917a2c03bd7c | 459 | |
Nerosho | 17:993f2fcc43df | 460 | if(mygps.GPSread) { |
takepiyo | 21:fa4360ec5014 | 461 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 462 | myled4=0; |
Nerosho | 18:05d5de29511d | 463 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 464 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 465 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 466 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 467 | //MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 468 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 20:b70e877cdc0f | 469 | //MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 470 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 471 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 472 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 473 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 474 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 475 | timer++; |
Nerosho | 17:993f2fcc43df | 476 | timer4++; |
Nerosho | 17:993f2fcc43df | 477 | } |
Nerosho | 17:993f2fcc43df | 478 | |
Nerosho | 17:993f2fcc43df | 479 | |
Nerosho | 18:05d5de29511d | 480 | if(timer4>=INTERVAL_LOW) { |
Nerosho | 16:917a2c03bd7c | 481 | break; |
Nerosho | 16:917a2c03bd7c | 482 | } |
Nerosho | 16:917a2c03bd7c | 483 | |
Nerosho | 16:917a2c03bd7c | 484 | } |
Nerosho | 16:917a2c03bd7c | 485 | |
Nerosho | 16:917a2c03bd7c | 486 | } |
Nerosho | 16:917a2c03bd7c | 487 | |
Nerosho | 18:05d5de29511d | 488 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 489 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 490 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 491 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 492 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 493 | val=0; |
Nerosho | 18:05d5de29511d | 494 | |
Nerosho | 16:917a2c03bd7c | 495 | } |
Nerosho | 16:917a2c03bd7c | 496 | |
Nerosho | 16:917a2c03bd7c | 497 | |
Nerosho | 18:05d5de29511d | 498 | if(timer>=INTERVALTIME) { |
Nerosho | 16:917a2c03bd7c | 499 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 500 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 501 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 502 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 503 | fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 504 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 505 | //MuPort.send("Interval Mode finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 506 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 507 | fclose(fp2); |
Nerosho | 15:bc013c313ef5 | 508 | break; |
Nerosho | 15:bc013c313ef5 | 509 | } |
takepiyo | 3:4f1bac105598 | 510 | |
takepiyo | 21:fa4360ec5014 | 511 | inlet.Close(); |
Nerosho | 16:917a2c03bd7c | 512 | |
takepiyo | 3:4f1bac105598 | 513 | } |
Nerosho | 14:a07d2a958617 | 514 | |
Nerosho | 14:a07d2a958617 | 515 | |
Nerosho | 14:a07d2a958617 | 516 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 517 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 518 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 519 | |
Nerosho | 15:bc013c313ef5 | 520 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 521 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 522 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 523 | myTimer.sendMessage(val3); |
Nerosho | 15:bc013c313ef5 | 524 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 525 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 526 | //MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 527 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 528 | |
Nerosho | 14:a07d2a958617 | 529 | |
Nerosho | 14:a07d2a958617 | 530 | while(1) { |
Nerosho | 15:bc013c313ef5 | 531 | myled=0; |
takepiyo | 21:fa4360ec5014 | 532 | myled2=1; |
takepiyo | 21:fa4360ec5014 | 533 | myled3=1; |
Nerosho | 20:b70e877cdc0f | 534 | myled4=0; |
takepiyo | 6:b7bf39bc3487 | 535 | |
Nerosho | 16:917a2c03bd7c | 536 | mygps.getGPGGA(); |
takepiyo | 21:fa4360ec5014 | 537 | if(mygps.GPSread) |
takepiyo | 21:fa4360ec5014 | 538 | { |
takepiyo | 21:fa4360ec5014 | 539 | myled2=0; |
takepiyo | 21:fa4360ec5014 | 540 | myled3=0; |
Nerosho | 18:05d5de29511d | 541 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 542 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 543 | myTimer.sendMessage(val3); |
Nerosho | 20:b70e877cdc0f | 544 | //MuPort.send(myTimer.timeMessage); |
Nerosho | 20:b70e877cdc0f | 545 | //MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 546 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 547 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 548 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 549 | //wait(1.0); |
Nerosho | 16:917a2c03bd7c | 550 | } |
Nerosho | 17:993f2fcc43df | 551 | |
Nerosho | 18:05d5de29511d | 552 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 553 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 554 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 555 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 556 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 557 | val=0; |
Nerosho | 16:917a2c03bd7c | 558 | } |
takepiyo | 6:b7bf39bc3487 | 559 | |
takepiyo | 6:b7bf39bc3487 | 560 | } |
Nerosho | 14:a07d2a958617 | 561 | |
Nerosho | 2:d6dc5c2224cc | 562 | } |
Nerosho | 2:d6dc5c2224cc | 563 | |
Nerosho | 2:d6dc5c2224cc | 564 |