all ok yesMU2
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
Revision 28:295ed570a51d, committed 2019-09-11
- Comitter:
- Nerosho
- Date:
- Wed Sep 11 02:36:52 2019 +0000
- Parent:
- 27:6ac03194e45e
- Commit message:
- 0910 EtoE OK!
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Sep 10 23:25:05 2019 +0000 +++ b/main.cpp Wed Sep 11 02:36:52 2019 +0000 @@ -18,12 +18,12 @@ #define SAMPLENUMBER 5 //しきい値判定に用いるサンプル数 5 #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 #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 -#define INTERVALTIME 7200 //インターバルモードの時間 7200 +#define INTERVALTIME 1800 //インターバルモードの時間 7200 #define INTERVAL_HIGH 5 //インターバルモードでモーター回す時間 5 #define INTERVAL_LOW 20 //インターバルモードでモーター止める時間 20 -char fname[]="/sd/CanSat/log0909ARLISStest1.csv";//ファイル名をここで設定 -char fname2[]="/sd/CanSat/sensor0909ARLISStest1.csv";//感圧センサーのログファイル +char fname[]="/sd/CanSat/log0910EtoE.csv";//ファイル名をここで設定 +char fname2[]="/sd/CanSat/sensor0910EtoE.csv";//感圧センサーのログファイル ////////////////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 //シーケンス番号/0001//////////0010//////////////0011////////0100///////////0101/////0110 @@ -69,18 +69,6 @@ timer_rec.start(); wait(5);//起動してからちょっと待つ - myled=1; - myled2=0; - myled3=1; - myled4=0; - - wait(1); - - myled=0; - myled2=1; - myled3=0; - myled4=1; - inlet.Stop(); FILE* fp= fopen(fname, "a"); if(fp == NULL) { @@ -99,11 +87,6 @@ } } - wait(1); - myled=0; - myled2=0; - myled3=0; - myled4=0; val=timer_rec.read(); myTimer.sendMessage(val); @@ -138,9 +121,9 @@ val3=val+val2; myTimer.sendMessage(val3); MuPort.send(myTimer.timeMessage); - MuPort.send("Sequence1\n"); + MuPort.send("Sequence1"); MuPort.send(mygps.getGPS); - fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); timer++; } @@ -165,19 +148,90 @@ fprintf(fp, "FireStart!\r\n"); MuPort.send("Fire Start!\r\n"); - FIRE=1; - myled=1; - wait(FIRETIME);//溶断にかかる時間TBD秒 - FIRE=0; - myled=0; + timer=0; + + while(1) { + + FIRE=1; + myled=1; + + mygps.getGPGGA(); + if(mygps.GPSread) { + myled3=0; + val=timer_rec.read(); + val3=val+val2; + myTimer.sendMessage(val3); + MuPort.send(myTimer.timeMessage); + MuPort.send("Sequence1-FireOn"); + MuPort.send(mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); + timer++; + } + + if(timer>=FIRETIME) { + FIRE=0; + myled=0; + break; + } + + } + + timer=0; + + while(1) { + + FIRE=0; + myled=0; - wait(10); + mygps.getGPGGA(); + if(mygps.GPSread) { + myled3=0; + val=timer_rec.read(); + val3=val+val2; + myTimer.sendMessage(val3); + MuPort.send(myTimer.timeMessage); + MuPort.send("Sequence1-FireOff"); + MuPort.send(mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); + timer++; + } + + if(timer>=10) { + FIRE=0; + myled=0; + break; + } + + } + + + timer=0; - FIRE=1; - myled=1; - wait(FIRETIME);//溶断にかかる時間TBD秒 - FIRE=0; - myled=0; + while(1) { + + FIRE=1; + myled=1; + + mygps.getGPGGA(); + if(mygps.GPSread) { + myled3=0; + val=timer_rec.read(); + val3=val+val2; + myTimer.sendMessage(val3); + MuPort.send(myTimer.timeMessage); + MuPort.send("Sequence1-FireOn"); + MuPort.send(mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); + timer++; + } + + if(timer>=FIRETIME) { + FIRE=0; + myled=0; + break; + } + + } fprintf(fp, "FireFinish!\r\n"); MuPort.send("Fire Finish!\r\n"); @@ -203,9 +257,9 @@ val3=val+val2; myTimer.sendMessage(val3); MuPort.send(myTimer.timeMessage); - MuPort.send("Sequence2\n"); + MuPort.send("Sequence2"); MuPort.send(mygps.getGPS); - fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); timer++; } @@ -243,13 +297,12 @@ timer2=0; count=0; - while(1) - { + while(1) { myled=0; myled2=0; myled3=1; myled4=1; - + inlet.Close(); mygps.getGPGGA(); @@ -272,11 +325,11 @@ val3=val+val2; myTimer.sendMessage(val3); MuPort.send(myTimer.timeMessage); - MuPort.send("Sequence3\n"); + MuPort.send("Sequence3"); MuPort.send(mygps.getGPS); snprintf(sensorMessage, 128, "%f", ave_sensor); MuPort.send(sensorMessage); - fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); timer++; } @@ -285,8 +338,7 @@ count++; } - if(count>=SAMPLENUMBER) - { + if(count>=SAMPLENUMBER) { val=timer_rec.read(); val3=val+val2; myTimer.sendMessage(val3); @@ -296,13 +348,12 @@ timer=0;//モーター時間で止める用 - while(1) //剛性を得た後一定時間でとめる - { + while(1) { //剛性を得た後一定時間でとめる myled=0; myled2=1; myled3=0; myled4=0; - + mygps.getGPGGA(); val=timer_rec.read(); @@ -316,24 +367,22 @@ //fclose(fp2); timer2++; - if(mygps.GPSread) - { + if(mygps.GPSread) { myled2=0; val=timer_rec.read(); val3=val+val2; myTimer.sendMessage(val3); MuPort.send(myTimer.timeMessage); - MuPort.send("Sequence4\n"); + MuPort.send("Sequence4"); MuPort.send(mygps.getGPS); snprintf(sensorMessage, 128, "%f", ave_sensor); MuPort.send(sensorMessage); - fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); timer++; } - if(timer>=CLOSETIME) - { + if(timer>=CLOSETIME) { break; } } @@ -361,9 +410,8 @@ } - if(timer>LIMITTIME) - { - + if(timer>LIMITTIME) { + inlet.Stop(); val=timer_rec.read(); val3=val+val2; @@ -423,12 +471,12 @@ val3=val+val2; myTimer.sendMessage(val3); MuPort.send(myTimer.timeMessage); - MuPort.send("Sequence5\n"); + MuPort.send("Sequence5"); MuPort.send(mygps.getGPS); snprintf(sensorMessage, 128, "%f\n", ave_sensor); MuPort.send(sensorMessage); fp= fopen(fname, "a"); - fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); fclose(fp); fclose(fp2); fp2= fopen(fname2, "a"); @@ -469,11 +517,12 @@ val3=val+val2; myTimer.sendMessage(val3); MuPort.send(myTimer.timeMessage); + MuPort.send("Sequence5"); MuPort.send(mygps.getGPS); snprintf(sensorMessage, 128, "%f\n", ave_sensor); MuPort.send(sensorMessage); fp= fopen(fname, "a"); - fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); fclose(fp); fclose(fp2); fp2= fopen(fname2, "a"); @@ -539,18 +588,17 @@ myled4=0; mygps.getGPGGA(); - if(mygps.GPSread) - { + if(mygps.GPSread) { myled2=0; myled3=0; val=timer_rec.read(); val3=val+val2; myTimer.sendMessage(val3); MuPort.send(myTimer.timeMessage); - MuPort.send("Sequence6\n"); + MuPort.send("Sequence6"); MuPort.send(mygps.getGPS); fp= fopen(fname, "a"); - fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); + fprintf(fp, "%s,%s",myTimer.timeMessage,mygps.getGPS); fclose(fp); //wait(1.0); }