Revision 7:9415448ae9ca, committed 2016-05-20

Comitter:

taurin

Date:

Fri May 20 12:26:32 2016 +0000

Parent:

6:98a63127aa11

Child:

8:31e07f6ed0f7

Commit message:

5/20 ????;

Changed in this revision

--- a/Fusokukei.h	Fri May 13 07:31:18 2016 +0000
+++ b/Fusokukei.h	Fri May 20 12:26:32 2016 +0000
@@ -3,8 +3,9 @@
 
 #include "mbed.h"
 
+
 #define AIR_K 0.14737
-#define AIR_N 1.19
+#define AIR_N 1.12
 #define AIR_A 1.4314
 #define AIR_B 0.209
 #define AIR_SUM_NUM 20
@@ -37,7 +38,8 @@
           if(air_counter % AIR_SUM_NUM == 0)
             air_counter = 0;
           airSpeed_ave = make_ave(air_sum, AIR_SUM_NUM);
-          airSpeed = airSpeed_ave*AIR_A+AIR_B;
+          //airSpeed = airSpeed_ave*AIR_A+AIR_B;
+          airSpeed=airSpeed_ave;
           if(airSpeed > airSpeed_max)
             airSpeed_max = airSpeed;  
           air_counter++;

--- a/main.cpp	Fri May 13 07:31:18 2016 +0000
+++ b/main.cpp	Fri May 20 12:26:32 2016 +0000
@@ -81,8 +81,8 @@
     kisokuServo.period_ms(INIT_SERVO_PERIOD_MS);
     geikakuServo.period_ms(INIT_SERVO_PERIOD_MS);
     FusokukeiInit();
-    MpuInit(); 
-    SdInit();
+    //MpuInit(); 
+    //SdInit();
     //writeDatasTicker.attach(&WriteDatas,1);
     //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq);
 }
@@ -199,31 +199,32 @@
 }
 
 void WriteDatas(){
-    int i;
-    for(i = 0; i < SOUDA_DATAS_NUM; i++){
-        writeDatas[write_datas_index][i] = (float)soudaDatas[i];
-    }
-    writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read());
-    writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read());
-    writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read());
-    writeDatas[write_datas_index][i++] = pitch;
-    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();
-    for(i = 0; i < WRITE_DATAS_NUM; i++){
-        pc.printf("%f   ", writeDatas[write_datas_index][i]);
-        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;
-    }
-    else{
-        write_datas_index++;
-    } 
+    pc.printf("%f\n\r",airSpeed);
+    //int i;
+//    for(i = 0; i < SOUDA_DATAS_NUM; i++){
+//        writeDatas[write_datas_index][i] = (float)soudaDatas[i];
+//    }
+//    writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read());
+//    writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read());
+//    writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read());
+//    writeDatas[write_datas_index][i++] = pitch;
+//    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();
+//    for(i = 0; i < WRITE_DATAS_NUM; i++){
+//        pc.printf("%f   ", writeDatas[write_datas_index][i]);
+//        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;
+//    }
+//    else{
+//        write_datas_index++;
+//    } 
         //for(int i = 0; i < SOUDA_DATAS_NUM; i++){
 //            pc.printf("%i   ",soudaDatas[i]);
 //            twe.printf("%i  ",soudaDatas[i]);
@@ -275,10 +276,10 @@
 int main(){
     init();
     while(1){
-        mpuProcessing();
-        RollAlarm();
-        DataReceiveFromSouda();
+        //uProcessing();
+       // RollAlarm();
+        //taReceiveFromSouda();
         WriteDatas();
-        WriteServo();
+        //iteServo();
     }
 }
\ No newline at end of file