Titech Cansat / Mbed 2 deprecated FM_ver4_for_ARLISS_yesMU2

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed mbedTimer SDFileSystem MU2 GPS

Files at this revision

API Documentation at this revision

Revision 26:7ec2cf6a6b51, committed 2019-09-09

Comitter:
takepiyo
Date:
Mon Sep 09 09:29:03 2019 +0000
Parent:
25:5abbad34f941
Child:
27:6ac03194e45e
Commit message:
ok yesmu2

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Sep 09 08:17:18 2019 +0000
+++ b/main.cpp	Mon Sep 09 09:29:03 2019 +0000
@@ -1,6 +1,6 @@
 /*******************************************************************************
 2019.09.09
-This is a ARLISS program!
+This is a ARLISS program! MU2あり
 *******************************************************************************/
 
 #include "mbed.h"
@@ -10,11 +10,9 @@
 #include "inletclose.h"
 #include "mbedTimer.h"
 
-
-
 #define WAITTIME 60       //フライトピン抜けてからの待機時間 60
 #define FIRETIME 5       //溶断時間を設定 5
-#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
+#define FALLTIME 720       //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
 #define THRESHOLID 0.45  //感圧のしきい値 0.45
 #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
@@ -26,8 +24,8 @@
 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
 
-////////////////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
-//シーケンス番号//0001////////0010////////////0011///////////0100/////////0101///
+////////////////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
 //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
 //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
 //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
@@ -109,8 +107,8 @@
     val=timer_rec.read();
     myTimer.sendMessage(val);
     fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage);
-    //MuPort.send(myTimer.timeMessage);
-    //MuPort.send("CanSat Start!\r\n");
+    MuPort.send(myTimer.timeMessage);
+    MuPort.send("CanSat Start!\r\n");
 
     /*******************************************************************************
     溶断まで待機
@@ -123,8 +121,8 @@
     val3=val+val2;
     myTimer.sendMessage(val3);
     fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage);
-    //MuPort.send(myTimer.timeMessage);
-    //MuPort.send("GPS start!\r\n");
+    MuPort.send(myTimer.timeMessage);
+    MuPort.send("GPS start!\r\n");
 
     while(1) {
         myled=0;
@@ -138,14 +136,13 @@
             val=timer_rec.read();
             val3=val+val2;
             myTimer.sendMessage(val3);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send(mygps.getGPS);
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send(mygps.getGPS);
             fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS);
             timer++;
         }
 
         if(timer>=WAITTIME) { //落下開始してからTBD秒後whileを抜ける．
-            fclose(fp);
             break;
         }
 
@@ -164,7 +161,7 @@
 //溶断機構部分
 
     fprintf(fp, "FireStart!\r\n");
-    //MuPort.send("Fire Start!\r\n");
+    MuPort.send("Fire Start!\r\n");
 
     FIRE=1;
     myled=1;
@@ -181,7 +178,7 @@
     myled=0;
 
     fprintf(fp, "FireFinish!\r\n");
-    //MuPort.send("Fire Finish!\r\n");
+    MuPort.send("Fire Finish!\r\n");
 
 //溶断機構終わり
 
@@ -203,8 +200,8 @@
             val=timer_rec.read();
             val3=val+val2;
             myTimer.sendMessage(val3);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send(mygps.getGPS);
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send(mygps.getGPS);
             fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS);
             timer++;
         }
@@ -236,8 +233,8 @@
     val3=val+val2;
     myTimer.sendMessage(val3);
     fprintf(fp, "%s ClosingModeStart!\r\n",myTimer.timeMessage);
-    //MuPort.send(myTimer.timeMessage);
-    //MuPort.send("Closing Mode start!\r\n");
+    MuPort.send(myTimer.timeMessage);
+    MuPort.send("Closing Mode start!\r\n");
 
     timer=0;//モーター時間で止める用
     timer2=0;
@@ -271,10 +268,10 @@
             val=timer_rec.read();
             val3=val+val2;
             myTimer.sendMessage(val3);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send(mygps.getGPS);
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send(mygps.getGPS);
             snprintf(sensorMessage, 128, "%f", ave_sensor);
-            //MuPort.send(sensorMessage);
+            MuPort.send(sensorMessage);
             fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS);
             timer++;
         }
@@ -290,8 +287,8 @@
             val3=val+val2;
             myTimer.sendMessage(val3);
             fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send("Get the rigidity!\r\n");
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send("Get the rigidity!\r\n");
 
             timer=0;//モーター時間で止める用
 
@@ -321,10 +318,10 @@
                     val=timer_rec.read();
                     val3=val+val2;
                     myTimer.sendMessage(val3);
-                    //MuPort.send(myTimer.timeMessage);
-                    //MuPort.send(mygps.getGPS);
+                    MuPort.send(myTimer.timeMessage);
+                    MuPort.send(mygps.getGPS);
                     snprintf(sensorMessage, 128, "%f", ave_sensor);
-                    //MuPort.send(sensorMessage);
+                    MuPort.send(sensorMessage);
                     fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS);
                     timer++;
                 }
@@ -341,8 +338,8 @@
             val3=val+val2;
             myTimer.sendMessage(val3);
             fprintf(fp, "%s ClosingModeFinish!\r\n",myTimer.timeMessage);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send("Time over. Closing Mode Finish!\r\n");
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send("Time over. Closing Mode Finish!\r\n");
             fclose(fp);
             fclose(fp2);
             break;
@@ -367,8 +364,8 @@
             val3=val+val2;
             myTimer.sendMessage(val3);
             fprintf(fp, "%s TimeOver!ClosingModeFinsh!\r\n",myTimer.timeMessage);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send("Closing Mode Finish!\r\n");
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send("Closing Mode Finish!\r\n");
             fclose(fp);
             fclose(fp2);
             break;
@@ -386,8 +383,8 @@
     val3=val+val2;
     myTimer.sendMessage(val3);
     fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage);
-    //MuPort.send(myTimer.timeMessage);
-    //MuPort.send("Interval Mode start!\r\n");
+    MuPort.send(myTimer.timeMessage);
+    MuPort.send("Interval Mode start!\r\n");
     fclose(fp);
 
     timer=0;//モーター時間で止める用
@@ -420,10 +417,10 @@
             val=timer_rec.read();
             val3=val+val2;
             myTimer.sendMessage(val3);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send(mygps.getGPS);
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send(mygps.getGPS);
             snprintf(sensorMessage, 128, "%f\n", ave_sensor);
-            //MuPort.send(sensorMessage);
+            MuPort.send(sensorMessage);
             fp= fopen(fname, "a");
             fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS);
             fclose(fp);
@@ -465,10 +462,10 @@
                     val=timer_rec.read();
                     val3=val+val2;
                     myTimer.sendMessage(val3);
-                    //MuPort.send(myTimer.timeMessage);
-                    //MuPort.send(mygps.getGPS);
+                    MuPort.send(myTimer.timeMessage);
+                    MuPort.send(mygps.getGPS);
                     snprintf(sensorMessage, 128, "%f\n", ave_sensor);
-                    //MuPort.send(sensorMessage);
+                    MuPort.send(sensorMessage);
                     fp= fopen(fname, "a");
                     fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS);
                     fclose(fp);
@@ -503,8 +500,8 @@
             val3=val+val2;
             myTimer.sendMessage(val3);
             fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send("Interval Mode finish!\r\n");
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send("Interval Mode finish!\r\n");
             fclose(fp);
             fclose(fp2);
             break;
@@ -524,8 +521,8 @@
     val3=val+val2;
     myTimer.sendMessage(val3);
     fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage);
-    //MuPort.send(myTimer.timeMessage);
-    //MuPort.send("Standby mode start!\r\n");
+    MuPort.send(myTimer.timeMessage);
+    MuPort.send("Standby mode start!\r\n");
     fclose(fp);
 
 
@@ -543,8 +540,8 @@
             val=timer_rec.read();
             val3=val+val2;
             myTimer.sendMessage(val3);
-            //MuPort.send(myTimer.timeMessage);
-            //MuPort.send(mygps.getGPS);
+            MuPort.send(myTimer.timeMessage);
+            MuPort.send(mygps.getGPS);
             fp= fopen(fname, "a");
             fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS);
             fclose(fp);
@@ -563,4 +560,3 @@
 
 }
 
-