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3/24 計器
Dependencies: SDFileSystem mbed
Fork of keiki2016ver2 by
Revision 5:1b3c8e5ee99e, committed 2016-03-25
- Comitter:
- taurin
- Date:
- Fri Mar 25 01:22:17 2016 +0000
- Parent:
- 4:a863a092141c
- Commit message:
- 3/25 ??
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r a863a092141c -r 1b3c8e5ee99e main.cpp --- a/main.cpp Thu Mar 24 09:50:51 2016 +0000 +++ b/main.cpp Fri Mar 25 01:22:17 2016 +0000 @@ -7,7 +7,7 @@ #define KX_VALUE_MIN 0.4 #define KX_VALUE_MAX 0.8 #define SOUDA_DATAS_NUM 13 -#define WRITE_DATAS_NUM 21 +#define WRITE_DATAS_NUM 20 #define MPU_LOOP_TIME 0.01 #define AIR_LOOP_TIME 0.01 #define WRITE_DATAS_LOOP_TIME 1 @@ -47,8 +47,8 @@ SDFileSystem sd(p5, p6, p7, p8, "sd"); FILE* fp; -PwmOut drugServo(p22); -PwmOut eruronServo(p23); +PwmOut kisokuServo(p22); +PwmOut geikakuServo(p25); char soudaDatas[SOUDA_DATAS_NUM]; float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; @@ -78,8 +78,8 @@ void init(){ twe.baud(115200); writeTimer.start(); - drugServo.period_ms(INIT_SERVO_PERIOD_MS); - eruronServo.period_ms(INIT_SERVO_PERIOD_MS); + kisokuServo.period_ms(INIT_SERVO_PERIOD_MS); + geikakuServo.period_ms(INIT_SERVO_PERIOD_MS); FusokukeiInit(); MpuInit(); SdInit(); @@ -108,7 +108,7 @@ } else { } } else { - pc.printf("out\n\r"); // Loop forever if communication doesn't happen + //pc.printf("out\n\r"); // Loop forever if communication doesn't happen } } @@ -150,7 +150,6 @@ pitch *= 180.0f / PI; yaw *= 180.0f / PI; roll *= 180.0f / PI; - pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); myled= !myled; count = t.read_ms(); sum = 0; @@ -170,7 +169,7 @@ void DataReceiveFromSouda(){ led2 = !led2; - pc.printf("received\n\r"); + //pc.printf("received\n\r"); for(int i = 0; i < SOUDA_DATAS_NUM; i++){ soudaDatas[i] = soudaSerial.getc(); } @@ -183,10 +182,10 @@ } for(int i = 0; i < SD_WRITE_NUM; i++){ for(int j = 0; j < WRITE_DATAS_NUM; j++){ - fprintf(fp,"%f ", writeDatas[i][j]); - if(i%7==0){ - fprintf(fp,"\n\r"); - } + fprintf(fp,"%f,", writeDatas[i][j]); + //if(i%7==0){ +// fprintf(fp,"\n\r"); +// } } } //for(int i = 0; i < SOUDA_DATAS_NUM; i++){ @@ -195,12 +194,12 @@ // fprintf(fp, "p:%f,r:%f,y:%f\n",pitch,roll,yaw); // fprintf(fp, "gx:%f,gy:%f,gz:%f\n",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); // fprintf(fp, "as:%f\n",airSpeed); + fprintf(fp,"\n\r"); fclose(fp); } void WriteDatas(){ int i; - pc.printf("testw\n\r"); for(i = 0; i < SOUDA_DATAS_NUM; i++){ writeDatas[write_datas_index][i] = (float)soudaDatas[i]; } @@ -211,15 +210,13 @@ writeDatas[write_datas_index][i++] = roll; writeDatas[write_datas_index][i++] = yaw; writeDatas[write_datas_index][i++] = airSpeed; - writeDatas[write_datas_index][i++] = writeTimer.read(); + //writeDatas[write_datas_index][i++] = writeTimer.read(); for(i = 0; i < WRITE_DATAS_NUM; i++){ pc.printf("%f ", writeDatas[write_datas_index][i]); - twe.printf("%f ", writeDatas[write_datas_index][i]); - if(i%7==0){ - pc.printf("\n\r"); - twe.printf("\n\r"); - } + twe.printf("%f,", writeDatas[write_datas_index][i]); } + pc.printf("\n\r"); + twe.printf("\n\r"); if(write_datas_index == SD_WRITE_NUM-1){ SDprintf(); write_datas_index=0; @@ -267,8 +264,11 @@ } void WriteServo(){ - eruronServo.pulsewidth(calcPulse(airSpeed*10)); - drugServo.pulsewidth(calcPulse()); + kisokuServo.pulsewidth(calcPulse(airSpeed*10)); + //geikakuServo.pulsewidth(calcPulse(pitch*0.13)); + + //kisokuServo.pulsewidth(calcPulse(0)); + //geikakuServo.pulsewidth(calcPulse(0)); } int main(){