change2shinsu
Dependencies: mbed mbedTimer SDFileSystem MU2 GPS
main.cpp@18:05d5de29511d, 2019-09-03 (annotated)
- Committer:
- Nerosho
- Date:
- Tue Sep 03 20:34:51 2019 +0000
- Revision:
- 18:05d5de29511d
- Parent:
- 17:993f2fcc43df
- Child:
- 19:75067f4d49b6
0904LAST
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 | 18:05d5de29511d | 14 | #define INTERVALTIME 1800 //インターバルモードの時間 1800 |
Nerosho | 18:05d5de29511d | 15 | #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 | 16 | #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 | 17 | |
Nerosho | 18:05d5de29511d | 18 | char fname[]="/sd/CanSat/log0904EtoE2.csv";//ファイル名をここで設定 |
Nerosho | 18:05d5de29511d | 19 | char fname2[]="/sd/CanSat/sensor0904EtoE2.csv";//感圧センサーのログファイル |
Nerosho | 15:bc013c313ef5 | 20 | |
takepiyo | 8:6b835a82b1eb | 21 | ////////////////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 | 22 | //シーケンス番号//1//////////////////2///////////3///////////4/// |
Nerosho | 14:a07d2a958617 | 23 | //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 | 24 | //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 | 25 | |
takepiyo | 4:0d087e3f731d | 26 | MU2 MuPort(p28,p27); |
Nerosho | 16:917a2c03bd7c | 27 | SDFileSystem sd(p5, p6, p7, p8, "sd");//3号機11,12,13,14 4号機5,6,7,8 |
Nerosho | 16:917a2c03bd7c | 28 | GPS mygps(p13,p14);//3号機9,10 4号機13,14 |
takepiyo | 3:4f1bac105598 | 29 | |
Nerosho | 15:bc013c313ef5 | 30 | 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 | 31 | |
Nerosho | 16:917a2c03bd7c | 32 | DigitalOut FIRE(p25); //3号機24 4号機25 |
Nerosho | 1:a8772ca26d1b | 33 | |
Nerosho | 1:a8772ca26d1b | 34 | DigitalOut myled(LED1); |
takepiyo | 4:0d087e3f731d | 35 | DigitalOut myled2(LED2); |
Nerosho | 1:a8772ca26d1b | 36 | DigitalOut myled3(LED3); |
Nerosho | 1:a8772ca26d1b | 37 | DigitalOut myled4(LED4); |
Nerosho | 0:d0f3991839ec | 38 | |
Nerosho | 15:bc013c313ef5 | 39 | mbedTimer myTimer; |
Nerosho | 15:bc013c313ef5 | 40 | Timer timer_rec;//時間計測 |
Nerosho | 15:bc013c313ef5 | 41 | |
Nerosho | 15:bc013c313ef5 | 42 | int val; |
Nerosho | 16:917a2c03bd7c | 43 | int val2; |
Nerosho | 18:05d5de29511d | 44 | int val3; |
Nerosho | 18:05d5de29511d | 45 | int count; |
Nerosho | 15:bc013c313ef5 | 46 | char sendMessage[128]; |
Nerosho | 17:993f2fcc43df | 47 | char sensorMessage[128]; |
Nerosho | 16:917a2c03bd7c | 48 | float ave_sensor; |
Nerosho | 16:917a2c03bd7c | 49 | int timer; |
Nerosho | 16:917a2c03bd7c | 50 | int timer2; |
Nerosho | 16:917a2c03bd7c | 51 | int timer3; |
Nerosho | 16:917a2c03bd7c | 52 | int timer4; |
Nerosho | 14:a07d2a958617 | 53 | |
Nerosho | 14:a07d2a958617 | 54 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 55 | メイン関数 |
Nerosho | 14:a07d2a958617 | 56 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 57 | |
Nerosho | 0:d0f3991839ec | 58 | int main() |
Nerosho | 0:d0f3991839ec | 59 | { |
Nerosho | 15:bc013c313ef5 | 60 | |
Nerosho | 15:bc013c313ef5 | 61 | timer_rec.start(); |
Nerosho | 18:05d5de29511d | 62 | wait(5);//起動してからちょっと待つ |
takepiyo | 8:6b835a82b1eb | 63 | inlet.Stop(); |
Nerosho | 15:bc013c313ef5 | 64 | FILE* fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 65 | if(fp == NULL) { |
Nerosho | 15:bc013c313ef5 | 66 | |
Nerosho | 14:a07d2a958617 | 67 | myled=1; |
Nerosho | 14:a07d2a958617 | 68 | myled2=1; |
Nerosho | 14:a07d2a958617 | 69 | myled3=1; |
Nerosho | 14:a07d2a958617 | 70 | myled4=1; |
Nerosho | 14:a07d2a958617 | 71 | |
Nerosho | 15:bc013c313ef5 | 72 | fp = fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 73 | if(fp != NULL) { |
Nerosho | 15:bc013c313ef5 | 74 | myled=0; |
Nerosho | 15:bc013c313ef5 | 75 | myled2=0; |
Nerosho | 15:bc013c313ef5 | 76 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 77 | myled4=0; |
Nerosho | 15:bc013c313ef5 | 78 | } |
Nerosho | 15:bc013c313ef5 | 79 | |
Nerosho | 14:a07d2a958617 | 80 | } |
Nerosho | 14:a07d2a958617 | 81 | |
Nerosho | 15:bc013c313ef5 | 82 | val=timer_rec.read(); |
Nerosho | 15:bc013c313ef5 | 83 | myTimer.sendMessage(val); |
Nerosho | 15:bc013c313ef5 | 84 | fprintf(fp, "%s CanSatStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 85 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 86 | MuPort.send("CanSat Start!\r\n"); |
takepiyo | 3:4f1bac105598 | 87 | |
Nerosho | 18:05d5de29511d | 88 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 89 | 溶断まで待機 |
Nerosho | 18:05d5de29511d | 90 | *******************************************************************************/ |
Nerosho | 18:05d5de29511d | 91 | timer=0; |
Nerosho | 18:05d5de29511d | 92 | val2=0; |
Nerosho | 18:05d5de29511d | 93 | val3=0; |
Nerosho | 18:05d5de29511d | 94 | |
Nerosho | 18:05d5de29511d | 95 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 96 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 97 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 98 | fprintf(fp, "%s GPSstart!\r\n",myTimer.timeMessage); |
Nerosho | 18:05d5de29511d | 99 | MuPort.send(myTimer.timeMessage); |
Nerosho | 18:05d5de29511d | 100 | MuPort.send("GPS start!\r\n"); |
Nerosho | 18:05d5de29511d | 101 | |
Nerosho | 18:05d5de29511d | 102 | while(1) { |
Nerosho | 18:05d5de29511d | 103 | myled=0; |
Nerosho | 18:05d5de29511d | 104 | myled2=1; |
Nerosho | 18:05d5de29511d | 105 | |
Nerosho | 18:05d5de29511d | 106 | mygps.getGPGGA(); |
Nerosho | 18:05d5de29511d | 107 | if(mygps.GPSread) { |
Nerosho | 18:05d5de29511d | 108 | myled=1; |
Nerosho | 18:05d5de29511d | 109 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 110 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 111 | myTimer.sendMessage(val3); |
Nerosho | 18:05d5de29511d | 112 | MuPort.send(myTimer.timeMessage); |
Nerosho | 18:05d5de29511d | 113 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 114 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 18:05d5de29511d | 115 | timer++; |
Nerosho | 18:05d5de29511d | 116 | } |
Nerosho | 18:05d5de29511d | 117 | |
Nerosho | 18:05d5de29511d | 118 | if(timer>=WAITTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 18:05d5de29511d | 119 | fclose(fp); |
Nerosho | 18:05d5de29511d | 120 | break; |
Nerosho | 18:05d5de29511d | 121 | } |
Nerosho | 18:05d5de29511d | 122 | |
Nerosho | 18:05d5de29511d | 123 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 124 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 125 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 126 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 127 | val2+=val; |
Nerosho | 18:05d5de29511d | 128 | val=0; |
Nerosho | 18:05d5de29511d | 129 | |
Nerosho | 18:05d5de29511d | 130 | } |
Nerosho | 18:05d5de29511d | 131 | |
Nerosho | 18:05d5de29511d | 132 | } |
Nerosho | 18:05d5de29511d | 133 | |
Nerosho | 2:d6dc5c2224cc | 134 | |
takepiyo | 3:4f1bac105598 | 135 | //溶断機構部分 |
Nerosho | 2:d6dc5c2224cc | 136 | |
Nerosho | 14:a07d2a958617 | 137 | fprintf(fp, "FireStart!\r\n"); |
Nerosho | 14:a07d2a958617 | 138 | MuPort.send("Fire Start!\r\n"); |
Nerosho | 14:a07d2a958617 | 139 | |
takepiyo | 8:6b835a82b1eb | 140 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 141 | myled=1; |
takepiyo | 8:6b835a82b1eb | 142 | wait(FIRETIME);//溶断にかかる時間TBD秒 |
takepiyo | 8:6b835a82b1eb | 143 | FIRE=0; |
Nerosho | 15:bc013c313ef5 | 144 | myled=0; |
Nerosho | 15:bc013c313ef5 | 145 | |
Nerosho | 16:917a2c03bd7c | 146 | /*wait(3); |
Nerosho | 15:bc013c313ef5 | 147 | |
Nerosho | 14:a07d2a958617 | 148 | FIRE=1; |
Nerosho | 15:bc013c313ef5 | 149 | myled=1; |
Nerosho | 14:a07d2a958617 | 150 | wait(3);//溶断にかかる時間TBD秒 |
Nerosho | 14:a07d2a958617 | 151 | FIRE=0; |
Nerosho | 16:917a2c03bd7c | 152 | myled=0;*/ |
Nerosho | 14:a07d2a958617 | 153 | |
Nerosho | 14:a07d2a958617 | 154 | fprintf(fp, "FireFinish!\r\n"); |
Nerosho | 14:a07d2a958617 | 155 | MuPort.send("Fire Finish!\r\n"); |
Nerosho | 14:a07d2a958617 | 156 | |
takepiyo | 3:4f1bac105598 | 157 | //溶断機構終わり |
Nerosho | 0:d0f3991839ec | 158 | |
takepiyo | 3:4f1bac105598 | 159 | |
Nerosho | 14:a07d2a958617 | 160 | /******************************************************************************* |
Nerosho | 18:05d5de29511d | 161 | シェンロン展開 |
Nerosho | 14:a07d2a958617 | 162 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 163 | timer=0; |
Nerosho | 2:d6dc5c2224cc | 164 | |
Nerosho | 14:a07d2a958617 | 165 | while(1) { |
takepiyo | 8:6b835a82b1eb | 166 | myled=0; |
takepiyo | 8:6b835a82b1eb | 167 | myled2=1; |
Nerosho | 14:a07d2a958617 | 168 | |
Nerosho | 16:917a2c03bd7c | 169 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 170 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 171 | myled=1; |
Nerosho | 16:917a2c03bd7c | 172 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 173 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 174 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 175 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 176 | MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 177 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 178 | timer++; |
Nerosho | 16:917a2c03bd7c | 179 | } |
takepiyo | 3:4f1bac105598 | 180 | |
Nerosho | 18:05d5de29511d | 181 | if(timer>=FALLTIME) { //落下開始してからTBD秒後whileを抜ける. |
Nerosho | 15:bc013c313ef5 | 182 | fclose(fp); |
Nerosho | 15:bc013c313ef5 | 183 | break; |
Nerosho | 15:bc013c313ef5 | 184 | } |
Nerosho | 2:d6dc5c2224cc | 185 | |
Nerosho | 18:05d5de29511d | 186 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 187 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 188 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 189 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 190 | val2+=val; |
Nerosho | 18:05d5de29511d | 191 | val=0; |
Nerosho | 18:05d5de29511d | 192 | |
Nerosho | 18:05d5de29511d | 193 | } |
Nerosho | 18:05d5de29511d | 194 | |
Nerosho | 0:d0f3991839ec | 195 | } |
Nerosho | 14:a07d2a958617 | 196 | |
Nerosho | 14:a07d2a958617 | 197 | |
Nerosho | 14:a07d2a958617 | 198 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 199 | インレット連続閉鎖 |
Nerosho | 14:a07d2a958617 | 200 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 201 | |
Nerosho | 15:bc013c313ef5 | 202 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 203 | FILE* fp2= fopen(fname2, "a"); |
Nerosho | 15:bc013c313ef5 | 204 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 205 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 206 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 207 | fprintf(fp, "%s ClosingModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 208 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 209 | MuPort.send("Closing Mode start!\r\n"); |
Nerosho | 14:a07d2a958617 | 210 | |
Nerosho | 14:a07d2a958617 | 211 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 212 | timer2=0; |
Nerosho | 18:05d5de29511d | 213 | count=0; |
Nerosho | 14:a07d2a958617 | 214 | |
Nerosho | 14:a07d2a958617 | 215 | while(1) { |
Nerosho | 15:bc013c313ef5 | 216 | myled=0; |
takepiyo | 8:6b835a82b1eb | 217 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 218 | myled3=1; |
takepiyo | 3:4f1bac105598 | 219 | |
Nerosho | 16:917a2c03bd7c | 220 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 221 | |
Nerosho | 18:05d5de29511d | 222 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 223 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 224 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 225 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 226 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 227 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 228 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 229 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 230 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 231 | timer2++; |
Nerosho | 17:993f2fcc43df | 232 | |
Nerosho | 16:917a2c03bd7c | 233 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 234 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 235 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 236 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 237 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 238 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 239 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 240 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 241 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 242 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 243 | } |
Nerosho | 16:917a2c03bd7c | 244 | |
Nerosho | 16:917a2c03bd7c | 245 | |
Nerosho | 18:05d5de29511d | 246 | if(ave_sensor>THRESHOLID) { |
Nerosho | 18:05d5de29511d | 247 | count++; |
Nerosho | 18:05d5de29511d | 248 | } |
takepiyo | 3:4f1bac105598 | 249 | |
Nerosho | 18:05d5de29511d | 250 | if(count>=SAMPLENUMBER) { |
Nerosho | 16:917a2c03bd7c | 251 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 252 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 253 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 254 | fprintf(fp, "%s Get the rigidity!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 255 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 256 | MuPort.send("Get the rigidity!\r\n"); |
Nerosho | 16:917a2c03bd7c | 257 | |
Nerosho | 16:917a2c03bd7c | 258 | timer=0;//モーター時間で止める用 |
takepiyo | 3:4f1bac105598 | 259 | |
Nerosho | 16:917a2c03bd7c | 260 | while(1) { |
Nerosho | 16:917a2c03bd7c | 261 | mygps.getGPGGA(); |
Nerosho | 17:993f2fcc43df | 262 | |
Nerosho | 18:05d5de29511d | 263 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 264 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 265 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 266 | inlet.getvalue1(); |
Nerosho | 17:993f2fcc43df | 267 | inlet.getvalue2(); |
Nerosho | 17:993f2fcc43df | 268 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 18:05d5de29511d | 269 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 270 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 18:05d5de29511d | 271 | //fclose(fp2); |
Nerosho | 17:993f2fcc43df | 272 | timer2++; |
Nerosho | 17:993f2fcc43df | 273 | |
Nerosho | 16:917a2c03bd7c | 274 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 275 | myled2=1; |
Nerosho | 16:917a2c03bd7c | 276 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 277 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 278 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 279 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 280 | MuPort.send(mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 281 | snprintf(sensorMessage, 128, "%f", ave_sensor); |
Nerosho | 17:993f2fcc43df | 282 | MuPort.send(sensorMessage); |
Nerosho | 16:917a2c03bd7c | 283 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 284 | timer++; |
Nerosho | 16:917a2c03bd7c | 285 | } |
Nerosho | 16:917a2c03bd7c | 286 | |
Nerosho | 16:917a2c03bd7c | 287 | |
Nerosho | 18:05d5de29511d | 288 | if(timer>=CLOSETIME) { |
Nerosho | 16:917a2c03bd7c | 289 | break; |
Nerosho | 16:917a2c03bd7c | 290 | } |
Nerosho | 16:917a2c03bd7c | 291 | |
takepiyo | 3:4f1bac105598 | 292 | } |
Nerosho | 15:bc013c313ef5 | 293 | |
Nerosho | 16:917a2c03bd7c | 294 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 295 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 296 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 297 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 298 | fprintf(fp, "%s ClosingModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 299 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 300 | MuPort.send("Closing Mode Finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 301 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 302 | fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 303 | break; |
Nerosho | 16:917a2c03bd7c | 304 | |
takepiyo | 3:4f1bac105598 | 305 | } |
Nerosho | 16:917a2c03bd7c | 306 | |
Nerosho | 18:05d5de29511d | 307 | if(val>=1800) { |
Nerosho | 18:05d5de29511d | 308 | //timer_rec.stop(); |
Nerosho | 18:05d5de29511d | 309 | timer_rec.reset(); |
Nerosho | 18:05d5de29511d | 310 | //timer_rec.start(); |
Nerosho | 18:05d5de29511d | 311 | val2+=val; |
Nerosho | 18:05d5de29511d | 312 | val=0; |
Nerosho | 18:05d5de29511d | 313 | |
Nerosho | 18:05d5de29511d | 314 | } |
Nerosho | 18:05d5de29511d | 315 | |
Nerosho | 16:917a2c03bd7c | 316 | 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 | 317 | |
Nerosho | 16:917a2c03bd7c | 318 | } |
Nerosho | 16:917a2c03bd7c | 319 | |
Nerosho | 16:917a2c03bd7c | 320 | /******************************************************************************* |
Nerosho | 16:917a2c03bd7c | 321 | インレットインターバル閉鎖 |
Nerosho | 16:917a2c03bd7c | 322 | *******************************************************************************/ |
Nerosho | 16:917a2c03bd7c | 323 | |
Nerosho | 18:05d5de29511d | 324 | fp= fopen(fname, "a"); |
Nerosho | 18:05d5de29511d | 325 | fp2= fopen(fname2, "a"); |
Nerosho | 16:917a2c03bd7c | 326 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 327 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 328 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 329 | fprintf(fp, "%s IntervalModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 330 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 331 | MuPort.send("Interval Mode start!\r\n"); |
Nerosho | 18:05d5de29511d | 332 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 333 | |
Nerosho | 16:917a2c03bd7c | 334 | timer=0;//モーター時間で止める用 |
Nerosho | 16:917a2c03bd7c | 335 | timer3=0; |
Nerosho | 18:05d5de29511d | 336 | |
Nerosho | 16:917a2c03bd7c | 337 | |
Nerosho | 16:917a2c03bd7c | 338 | while(1) { |
Nerosho | 16:917a2c03bd7c | 339 | |
Nerosho | 16:917a2c03bd7c | 340 | myled=0; |
Nerosho | 16:917a2c03bd7c | 341 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 342 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 343 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 344 | |
Nerosho | 16:917a2c03bd7c | 345 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 346 | |
Nerosho | 18:05d5de29511d | 347 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 348 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 349 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 350 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 351 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 352 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 353 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 354 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 355 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 356 | timer2++; |
Nerosho | 16:917a2c03bd7c | 357 | |
Nerosho | 17:993f2fcc43df | 358 | if(mygps.GPSread) { |
Nerosho | 17:993f2fcc43df | 359 | myled3=1; |
Nerosho | 17:993f2fcc43df | 360 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 361 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 362 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 363 | MuPort.send(myTimer.timeMessage); |
Nerosho | 17:993f2fcc43df | 364 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 365 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 17:993f2fcc43df | 366 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 367 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 368 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 369 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 370 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 371 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 372 | timer++; |
Nerosho | 17:993f2fcc43df | 373 | timer3++; |
Nerosho | 17:993f2fcc43df | 374 | } |
Nerosho | 17:993f2fcc43df | 375 | |
Nerosho | 17:993f2fcc43df | 376 | |
Nerosho | 17:993f2fcc43df | 377 | |
Nerosho | 18:05d5de29511d | 378 | if(timer3>=INTERVAL_HIGH) { |
Nerosho | 16:917a2c03bd7c | 379 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 380 | myled=0; |
Nerosho | 16:917a2c03bd7c | 381 | myled2=0; |
Nerosho | 16:917a2c03bd7c | 382 | myled3=0; |
Nerosho | 16:917a2c03bd7c | 383 | myled4=1; |
Nerosho | 16:917a2c03bd7c | 384 | |
Nerosho | 16:917a2c03bd7c | 385 | timer3=0; |
Nerosho | 16:917a2c03bd7c | 386 | timer4=0; |
Nerosho | 16:917a2c03bd7c | 387 | |
Nerosho | 16:917a2c03bd7c | 388 | while(1) { |
Nerosho | 16:917a2c03bd7c | 389 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 390 | |
Nerosho | 18:05d5de29511d | 391 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 392 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 393 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 394 | inlet.getvalue1(); |
Nerosho | 16:917a2c03bd7c | 395 | inlet.getvalue2(); |
Nerosho | 16:917a2c03bd7c | 396 | ave_sensor=(inlet.value1+inlet.value2)/2; |
Nerosho | 16:917a2c03bd7c | 397 | //fp2= fopen(fname2, "a"); |
Nerosho | 18:05d5de29511d | 398 | fprintf(fp2, "%s,%d,sensor1,%f,sensor2,%f,average,%f\n",myTimer.timeMessage,timer2,inlet.value1,inlet.value2,ave_sensor); |
Nerosho | 16:917a2c03bd7c | 399 | //fclose(fp2); |
Nerosho | 16:917a2c03bd7c | 400 | timer2++; |
Nerosho | 16:917a2c03bd7c | 401 | |
Nerosho | 17:993f2fcc43df | 402 | if(mygps.GPSread) { |
Nerosho | 17:993f2fcc43df | 403 | myled3=1; |
Nerosho | 18:05d5de29511d | 404 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 405 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 406 | myTimer.sendMessage(val3); |
Nerosho | 17:993f2fcc43df | 407 | MuPort.send(myTimer.timeMessage); |
Nerosho | 17:993f2fcc43df | 408 | MuPort.send(mygps.getGPS); |
Nerosho | 18:05d5de29511d | 409 | snprintf(sensorMessage, 128, "%f\n", ave_sensor); |
Nerosho | 17:993f2fcc43df | 410 | MuPort.send(sensorMessage); |
Nerosho | 17:993f2fcc43df | 411 | fp= fopen(fname, "a"); |
Nerosho | 17:993f2fcc43df | 412 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 17:993f2fcc43df | 413 | fclose(fp); |
Nerosho | 17:993f2fcc43df | 414 | fclose(fp2); |
Nerosho | 17:993f2fcc43df | 415 | fp2= fopen(fname2, "a"); |
Nerosho | 17:993f2fcc43df | 416 | timer++; |
Nerosho | 17:993f2fcc43df | 417 | timer4++; |
Nerosho | 17:993f2fcc43df | 418 | } |
Nerosho | 17:993f2fcc43df | 419 | |
Nerosho | 17:993f2fcc43df | 420 | |
Nerosho | 18:05d5de29511d | 421 | if(timer4>=INTERVAL_LOW) { |
Nerosho | 16:917a2c03bd7c | 422 | break; |
Nerosho | 16:917a2c03bd7c | 423 | } |
Nerosho | 16:917a2c03bd7c | 424 | |
Nerosho | 16:917a2c03bd7c | 425 | } |
Nerosho | 16:917a2c03bd7c | 426 | |
Nerosho | 16:917a2c03bd7c | 427 | } |
Nerosho | 16:917a2c03bd7c | 428 | |
Nerosho | 18:05d5de29511d | 429 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 430 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 431 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 432 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 433 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 434 | val=0; |
Nerosho | 18:05d5de29511d | 435 | |
Nerosho | 16:917a2c03bd7c | 436 | } |
Nerosho | 16:917a2c03bd7c | 437 | |
Nerosho | 16:917a2c03bd7c | 438 | |
Nerosho | 18:05d5de29511d | 439 | if(timer>=INTERVALTIME) { |
Nerosho | 16:917a2c03bd7c | 440 | inlet.Stop(); |
Nerosho | 16:917a2c03bd7c | 441 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 442 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 443 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 444 | fprintf(fp, "%s IntervalModeFinish!\r\n",myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 445 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 446 | MuPort.send("Interval Mode finish!\r\n"); |
Nerosho | 16:917a2c03bd7c | 447 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 448 | fclose(fp2); |
Nerosho | 15:bc013c313ef5 | 449 | break; |
Nerosho | 15:bc013c313ef5 | 450 | } |
takepiyo | 3:4f1bac105598 | 451 | |
Nerosho | 16:917a2c03bd7c | 452 | 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 | 453 | |
takepiyo | 3:4f1bac105598 | 454 | } |
Nerosho | 14:a07d2a958617 | 455 | |
Nerosho | 14:a07d2a958617 | 456 | |
Nerosho | 14:a07d2a958617 | 457 | /******************************************************************************* |
Nerosho | 14:a07d2a958617 | 458 | 待機モード(何もせずGPS信号を発する) |
Nerosho | 14:a07d2a958617 | 459 | *******************************************************************************/ |
Nerosho | 14:a07d2a958617 | 460 | |
Nerosho | 15:bc013c313ef5 | 461 | fp= fopen(fname, "a"); |
Nerosho | 15:bc013c313ef5 | 462 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 463 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 464 | myTimer.sendMessage(val3); |
Nerosho | 15:bc013c313ef5 | 465 | fprintf(fp, "%s StandbyModeStart!\r\n",myTimer.timeMessage); |
Nerosho | 15:bc013c313ef5 | 466 | MuPort.send(myTimer.timeMessage); |
Nerosho | 14:a07d2a958617 | 467 | MuPort.send("Standby mode start!\r\n"); |
Nerosho | 15:bc013c313ef5 | 468 | fclose(fp); |
Nerosho | 14:a07d2a958617 | 469 | |
Nerosho | 14:a07d2a958617 | 470 | |
Nerosho | 14:a07d2a958617 | 471 | while(1) { |
Nerosho | 15:bc013c313ef5 | 472 | myled=0; |
Nerosho | 15:bc013c313ef5 | 473 | myled2=0; |
takepiyo | 8:6b835a82b1eb | 474 | myled3=0; |
Nerosho | 15:bc013c313ef5 | 475 | myled4=1; |
takepiyo | 6:b7bf39bc3487 | 476 | |
Nerosho | 16:917a2c03bd7c | 477 | mygps.getGPGGA(); |
Nerosho | 16:917a2c03bd7c | 478 | if(mygps.GPSread) { |
Nerosho | 16:917a2c03bd7c | 479 | myled3=1; |
Nerosho | 18:05d5de29511d | 480 | val=timer_rec.read(); |
Nerosho | 18:05d5de29511d | 481 | val3=val+val2; |
Nerosho | 18:05d5de29511d | 482 | myTimer.sendMessage(val3); |
Nerosho | 16:917a2c03bd7c | 483 | MuPort.send(myTimer.timeMessage); |
Nerosho | 16:917a2c03bd7c | 484 | MuPort.send(mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 485 | fp= fopen(fname, "a"); |
Nerosho | 16:917a2c03bd7c | 486 | fprintf(fp, "%s %s\n",myTimer.timeMessage,mygps.getGPS); |
Nerosho | 16:917a2c03bd7c | 487 | fclose(fp); |
Nerosho | 16:917a2c03bd7c | 488 | //wait(1.0); |
Nerosho | 16:917a2c03bd7c | 489 | } |
Nerosho | 17:993f2fcc43df | 490 | |
Nerosho | 18:05d5de29511d | 491 | if(val>=1800) { |
Nerosho | 17:993f2fcc43df | 492 | //timer_rec.stop(); |
Nerosho | 16:917a2c03bd7c | 493 | timer_rec.reset(); |
Nerosho | 17:993f2fcc43df | 494 | //timer_rec.start(); |
Nerosho | 16:917a2c03bd7c | 495 | val2+=val; |
Nerosho | 16:917a2c03bd7c | 496 | val=0; |
Nerosho | 16:917a2c03bd7c | 497 | } |
takepiyo | 6:b7bf39bc3487 | 498 | |
takepiyo | 6:b7bf39bc3487 | 499 | } |
Nerosho | 14:a07d2a958617 | 500 | |
Nerosho | 2:d6dc5c2224cc | 501 | } |
Nerosho | 2:d6dc5c2224cc | 502 | |
Nerosho | 2:d6dc5c2224cc | 503 |