albatross / Mbed 2 deprecated keiki2017

2017年度の製作を開始します。

Dependencies:   BufferedSoftSerial2 SDFileSystem-RTOS mbed mbed-rtos INA226_ver1

Fork of keiki2016ver5 by albatross

main.cpp@27:d2955f29a3aa, 2017-01-28 (annotated)

Committer:
tsumagari
Date:
Sat Jan 28 10:17:50 2017 +0000
Branch:
noThread2017ver.
Revision:
27:d2955f29a3aa
Parent:
26:50272431cd1e
Child:
28:02e21f1fbe3d
Child:
33:69ad9920f693
Thread??ver.????????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 1:5ec2409854da 1 //計器プログラム
taurin 0:085b2c5e3254 2 #include "mbed.h"
tsumagari 27:d2955f29a3aa 3 //#include "rtos.h"
taurin 0:085b2c5e3254 4 #include "Fusokukei.h"
taurin 0:085b2c5e3254 5 #include "MPU6050.h"
tsumagari 15:6966299bea4c 6 #include "BufferedSoftSerial.h"
tsumagari 15:6966299bea4c 7 #include "Cadence.h"
taurin 0:085b2c5e3254 8
tsumagari 26:50272431cd1e 9 #define SOUDA_DATAS_NUM 18
tsumagari 27:d2955f29a3aa 10 #define WRITE_DATAS_NUM 20
tsumagari 27:d2955f29a3aa 11 #define SD_WRITE_NUM 1
tsumagari 27:d2955f29a3aa 12 #define MPU_LOOP_TIME 0.01
taurin 0:085b2c5e3254 13 #define AIR_LOOP_TIME 0.01
taurin 3:8dc516be2e7e 14 #define WRITE_DATAS_LOOP_TIME 1
taurin 3:8dc516be2e7e 15 #define ROLL_R_MAX_DEG 2
taurin 3:8dc516be2e7e 16 #define ROLL_L_MAX_DEG 2
tsumagari 27:d2955f29a3aa 17 #define MPU_DELT_MIN 250
taurin 4:a863a092141c 18 #define INIT_SERVO_PERIOD_MS 20
taurin 0:085b2c5e3254 19
tsumagari 26:50272431cd1e 20 //-----------------------------------(resetInterrupt def)
tsumagari 26:50272431cd1e 21 extern "C" void mbed_reset();
tsumagari 26:50272431cd1e 22 InterruptIn resetPin(p26);
tsumagari 26:50272431cd1e 23 Timer resetTimeCount;
tsumagari 26:50272431cd1e 24 void resetInterrupt(){
tsumagari 26:50272431cd1e 25 while(resetPin){
tsumagari 26:50272431cd1e 26 resetTimeCount.start();
tsumagari 26:50272431cd1e 27 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 26:50272431cd1e 28 }
tsumagari 26:50272431cd1e 29 resetTimeCount.reset();
tsumagari 26:50272431cd1e 30 }
tsumagari 26:50272431cd1e 31 //-------------------------------------------------------
tsumagari 26:50272431cd1e 32
tsumagari 21:8802034b7810 33 RawSerial pc(USBTX,USBRX);
tsumagari 27:d2955f29a3aa 34 RawSerial android(p9,p10);
tsumagari 27:d2955f29a3aa 35 BufferedSoftSerial soudaSerial(p17,p18);
tsumagari 26:50272431cd1e 36 BufferedSoftSerial twe(p11,p12);
tsumagari 27:d2955f29a3aa 37 Cadence cadence_twe(p13,p14);
tsumagari 27:d2955f29a3aa 38 Ticker cadenceUpdateTicker;
tsumagari 27:d2955f29a3aa 39 Ticker writeDatasTicker;
taurin 3:8dc516be2e7e 40 Timer writeTimer;
taurin 0:085b2c5e3254 41
tsumagari 27:d2955f29a3aa 42 InterruptIn FusokukeiPin(p23);
taurin 0:085b2c5e3254 43 Ticker FusokukeiTicker;
taurin 0:085b2c5e3254 44 Fusokukei air;
taurin 0:085b2c5e3254 45 volatile int air_kaitensu= 0;
taurin 0:085b2c5e3254 46
tsumagari 27:d2955f29a3aa 47 Timer sonarTimer;
tsumagari 27:d2955f29a3aa 48 AnalogIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 49 //InterruputIn sonarPin(p15);
tsumagari 27:d2955f29a3aa 50 //double sonarDistTime
tsumagari 27:d2955f29a3aa 51 double sonarDist;
tsumagari 27:d2955f29a3aa 52 float sonarV;
tsumagari 27:d2955f29a3aa 53
tsumagari 27:d2955f29a3aa 54
tsumagari 26:50272431cd1e 55 float sum = 0;
tsumagari 26:50272431cd1e 56 uint32_t sumCount = 0;
taurin 0:085b2c5e3254 57 MPU6050 mpu6050;
taurin 0:085b2c5e3254 58 Timer t;
tsumagari 27:d2955f29a3aa 59 Ticker mpu6050Ticker;
taurin 0:085b2c5e3254 60
taurin 0:085b2c5e3254 61 DigitalOut RollAlarmR(p20);
taurin 0:085b2c5e3254 62 DigitalOut RollAlarmL(p19);
tsumagari 27:d2955f29a3aa 63 DigitalOut led(LED1);
taurin 1:5ec2409854da 64 DigitalOut led2(LED2);
taurin 4:a863a092141c 65
taurin 0:085b2c5e3254 66 char soudaDatas[SOUDA_DATAS_NUM];
taurin 3:8dc516be2e7e 67 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
taurin 3:8dc516be2e7e 68 volatile int write_datas_index = 0;
taurin 0:085b2c5e3254 69
taurin 0:085b2c5e3254 70 void air_countUp();
taurin 0:085b2c5e3254 71 void call_calcAirSpeed();
tsumagari 27:d2955f29a3aa 72 void sonarInterruptStart();
tsumagari 27:d2955f29a3aa 73 void sonarInterruptStop();
taurin 0:085b2c5e3254 74 void init();
taurin 0:085b2c5e3254 75 void FusokukeiInit();
tsumagari 26:50272431cd1e 76 void MpuInit();
tsumagari 26:50272431cd1e 77 void mpuProcessing();
tsumagari 26:50272431cd1e 78 void DataReceiveFromSouda();
taurin 0:085b2c5e3254 79 void WriteDatas();
tsumagari 27:d2955f29a3aa 80 float calcAttackAngle();
tsumagari 27:d2955f29a3aa 81 float calcKXdeg(float x);
tsumagari 15:6966299bea4c 82
taurin 0:085b2c5e3254 83 void air_countUp(){
taurin 0:085b2c5e3254 84 air_kaitensu++;
taurin 0:085b2c5e3254 85 }
taurin 0:085b2c5e3254 86
taurin 0:085b2c5e3254 87 void call_calcAirSpeed(){
taurin 0:085b2c5e3254 88 air.calcAirSpeed(air_kaitensu);
taurin 0:085b2c5e3254 89 air_kaitensu = 0;
taurin 0:085b2c5e3254 90 }
taurin 0:085b2c5e3254 91
tsumagari 27:d2955f29a3aa 92 void sonarInterruptStart(){
tsumagari 27:d2955f29a3aa 93 sonarTimer.start();
tsumagari 27:d2955f29a3aa 94 }
tsumagari 27:d2955f29a3aa 95
tsumagari 27:d2955f29a3aa 96 void sonarInterruptStop(){
tsumagari 26:50272431cd1e 97 // sonarTimer.stop();
tsumagari 26:50272431cd1e 98 // sonarDistTime = sonarTimer.read_us();
tsumagari 26:50272431cd1e 99 // sonarTimer.reset();
tsumagari 27:d2955f29a3aa 100 // sonarDist = sonarDistTime*0.018624 - 13.511;
tsumagari 27:d2955f29a3aa 101 }
tsumagari 27:d2955f29a3aa 102 void sonarCalc(){
tsumagari 27:d2955f29a3aa 103 sonarV = 0;
tsumagari 27:d2955f29a3aa 104 for(int i = 0; i<20; i++){
tsumagari 27:d2955f29a3aa 105 sonarV += sonarPin.read();
tsumagari 27:d2955f29a3aa 106 wait(0.01);
tsumagari 27:d2955f29a3aa 107 }
tsumagari 27:d2955f29a3aa 108 sonarDist = (sonarV/20)*2064.5;// volt*3.3*1000/1.6 (電圧/距離:3.2mV/2cm)
tsumagari 27:d2955f29a3aa 109 }
tsumagari 27:d2955f29a3aa 110
tsumagari 27:d2955f29a3aa 111 void updateCadence(){
tsumagari 27:d2955f29a3aa 112 cadence_twe.readData();
tsumagari 27:d2955f29a3aa 113 }
tsumagari 26:50272431cd1e 114
taurin 0:085b2c5e3254 115 void init(){
tsumagari 26:50272431cd1e 116 //--------------------------------------(resetInterrupt init)
tsumagari 26:50272431cd1e 117 resetPin.rise(resetInterrupt);
tsumagari 26:50272431cd1e 118 resetPin.mode(PullDown);
tsumagari 26:50272431cd1e 119 //-----------------------------------------------------------
tsumagari 27:d2955f29a3aa 120 twe.baud(19200);//BufferedSoftSerialでは19200が上限。twelite側でもBPS無効化が必要
tsumagari 27:d2955f29a3aa 121 //writeTimer.start();
taurin 0:085b2c5e3254 122 FusokukeiInit();
tsumagari 27:d2955f29a3aa 123 MpuInit();
tsumagari 27:d2955f29a3aa 124 //writeDatasTicker.attach(&WriteDatas,1);
tsumagari 27:d2955f29a3aa 125 // cadenceUpdateTicker.attach(&updateCadence, 1);
tsumagari 27:d2955f29a3aa 126
tsumagari 27:d2955f29a3aa 127 //-----for InterruptMode of sonar----------------------------
tsumagari 27:d2955f29a3aa 128 // sonarPin.rise(&sonarInterruptStart);
tsumagari 27:d2955f29a3aa 129 // sonarPin.fall(&sonarInterruptStop);
tsumagari 27:d2955f29a3aa 130 //-----------------------------------------------------------
taurin 0:085b2c5e3254 131 }
taurin 0:085b2c5e3254 132
taurin 0:085b2c5e3254 133 void FusokukeiInit(){
taurin 0:085b2c5e3254 134 FusokukeiPin.rise(air_countUp);
taurin 0:085b2c5e3254 135 FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME);
taurin 0:085b2c5e3254 136 }
taurin 0:085b2c5e3254 137
tsumagari 26:50272431cd1e 138 void MpuInit(){
tsumagari 26:50272431cd1e 139 i2c.frequency(400000); // use fast (400 kHz) I2C
tsumagari 26:50272431cd1e 140 t.start();
tsumagari 26:50272431cd1e 141 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
tsumagari 26:50272431cd1e 142 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
tsumagari 27:d2955f29a3aa 143 wait(1);
tsumagari 26:50272431cd1e 144 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
tsumagari 27:d2955f29a3aa 145 wait(1);
tsumagari 26:50272431cd1e 146 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
tsumagari 26:50272431cd1e 147 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
tsumagari 26:50272431cd1e 148 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
tsumagari 26:50272431cd1e 149 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
tsumagari 27:d2955f29a3aa 150 wait(2);
tsumagari 26:50272431cd1e 151 } else {
tsumagari 26:50272431cd1e 152 }
tsumagari 26:50272431cd1e 153 } else {
tsumagari 26:50272431cd1e 154 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
tsumagari 26:50272431cd1e 155 }
tsumagari 26:50272431cd1e 156 }
taurin 0:085b2c5e3254 157
tsumagari 27:d2955f29a3aa 158 double calcPulse(int deg){
tsumagari 27:d2955f29a3aa 159 return (0.0006+(deg/180.0)*(0.00235-0.00045));
tsumagari 27:d2955f29a3aa 160
tsumagari 27:d2955f29a3aa 161 }
tsumagari 27:d2955f29a3aa 162
tsumagari 27:d2955f29a3aa 163 void mpuProcessing(){
tsumagari 27:d2955f29a3aa 164 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
tsumagari 27:d2955f29a3aa 165 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
tsumagari 27:d2955f29a3aa 166 mpu6050.getAres();
tsumagari 27:d2955f29a3aa 167 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
tsumagari 27:d2955f29a3aa 168 ay = (float)accelCount[1]*aRes - accelBias[1];
tsumagari 27:d2955f29a3aa 169 az = (float)accelCount[2]*aRes - accelBias[2];
tsumagari 27:d2955f29a3aa 170 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
tsumagari 27:d2955f29a3aa 171 mpu6050.getGres();
tsumagari 27:d2955f29a3aa 172 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
tsumagari 27:d2955f29a3aa 173 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
tsumagari 27:d2955f29a3aa 174 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
tsumagari 27:d2955f29a3aa 175 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
tsumagari 27:d2955f29a3aa 176 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
tsumagari 27:d2955f29a3aa 177 }
tsumagari 27:d2955f29a3aa 178 Now = t.read_us();
tsumagari 27:d2955f29a3aa 179 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
tsumagari 27:d2955f29a3aa 180 lastUpdate = Now;
tsumagari 27:d2955f29a3aa 181 sum += deltat;
tsumagari 27:d2955f29a3aa 182 sumCount++;
tsumagari 27:d2955f29a3aa 183 if(lastUpdate - firstUpdate > 10000000.0f) {
tsumagari 27:d2955f29a3aa 184 beta = 0.04; // decrease filter gain after stabilized
tsumagari 27:d2955f29a3aa 185 zeta = 0.015; // increasey bias drift gain after stabilized
tsumagari 27:d2955f29a3aa 186 }
tsumagari 27:d2955f29a3aa 187 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
tsumagari 27:d2955f29a3aa 188 delt_t = t.read_ms() - count;
tsumagari 27:d2955f29a3aa 189 if (delt_t > MPU_DELT_MIN) {
tsumagari 27:d2955f29a3aa 190 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
tsumagari 27:d2955f29a3aa 191 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
tsumagari 27:d2955f29a3aa 192 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
tsumagari 27:d2955f29a3aa 193 pitch *= 180.0f / PI;
tsumagari 27:d2955f29a3aa 194 yaw *= 180.0f / PI;
tsumagari 27:d2955f29a3aa 195 roll *= 180.0f / PI;
tsumagari 27:d2955f29a3aa 196 myled= !myled;
tsumagari 27:d2955f29a3aa 197 count = t.read_ms();
tsumagari 27:d2955f29a3aa 198 sum = 0;
tsumagari 27:d2955f29a3aa 199 sumCount = 0;
tsumagari 26:50272431cd1e 200 }
tsumagari 26:50272431cd1e 201 }
tsumagari 26:50272431cd1e 202
tsumagari 27:d2955f29a3aa 203 void DataReceiveFromSouda(){
tsumagari 27:d2955f29a3aa 204 led2 = !led2;
tsumagari 27:d2955f29a3aa 205 char c = soudaSerial.getc();
tsumagari 27:d2955f29a3aa 206 while( c != ';' ){
tsumagari 27:d2955f29a3aa 207 c = soudaSerial.getc();
tsumagari 26:50272431cd1e 208 }
tsumagari 27:d2955f29a3aa 209 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 210 soudaDatas[i] = soudaSerial.getc();
tsumagari 22:5cbebf097600 211 }
taurin 3:8dc516be2e7e 212 }
taurin 3:8dc516be2e7e 213
taurin 3:8dc516be2e7e 214 void WriteDatas(){
taurin 8:31e07f6ed0f7 215 int i;
tsumagari 27:d2955f29a3aa 216 for(i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 217 //writeDatas[write_datas_index][i] = 0.0;
tsumagari 27:d2955f29a3aa 218 writeDatas[write_datas_index][i] = (float)soudaDatas[i];
taurin 8:31e07f6ed0f7 219 }
taurin 8:31e07f6ed0f7 220 writeDatas[write_datas_index][i++] = pitch;
taurin 8:31e07f6ed0f7 221 writeDatas[write_datas_index][i++] = roll;
taurin 8:31e07f6ed0f7 222 writeDatas[write_datas_index][i++] = yaw;
taurin 8:31e07f6ed0f7 223 writeDatas[write_datas_index][i++] = airSpeed;
tsumagari 27:d2955f29a3aa 224 writeDatas[write_datas_index][i++] = sonarDist;
tsumagari 27:d2955f29a3aa 225 writeDatas[write_datas_index][i++] = cadence;
taurin 8:31e07f6ed0f7 226 //writeDatas[write_datas_index][i++] = writeTimer.read();
tsumagari 27:d2955f29a3aa 227 //for(i = 0; i < WRITE_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 228 // pc.printf("%f ", writeDatas[write_datas_index][i]);
taurin 9:95eb0bbdc2a9 229 // twe.printf("%f,", writeDatas[write_datas_index][i]);
tsumagari 27:d2955f29a3aa 230 // }
tsumagari 27:d2955f29a3aa 231 // pc.printf("\n\r");
taurin 9:95eb0bbdc2a9 232 // twe.printf("\n\r");
tsumagari 27:d2955f29a3aa 233 // if(write_datas_index == SD_WRITE_NUM-1){
tsumagari 27:d2955f29a3aa 234 // write_datas_index=0;
tsumagari 27:d2955f29a3aa 235 // }
tsumagari 27:d2955f29a3aa 236 // else{
tsumagari 27:d2955f29a3aa 237 // write_datas_index++;
tsumagari 27:d2955f29a3aa 238 // }
taurin 9:95eb0bbdc2a9 239 for(int i = 0; i < SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 240 pc.printf("%i ",soudaDatas[i]);
YusukeWakuta 10:1389f938f5f7 241 twe.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 242 // android.printf("%i,",soudaDatas[i]);
taurin 9:95eb0bbdc2a9 243 }
taurin 9:95eb0bbdc2a9 244 //pc.printf("\n\r");
YusukeWakuta 10:1389f938f5f7 245 twe.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 27:d2955f29a3aa 246 twe.printf("%f,%f,%f\r\n",airSpeed,sonarDist,cadence);
tsumagari 27:d2955f29a3aa 247 pc.printf("%f,%f,%f\n\r",pitch,roll,yaw);
taurin 9:95eb0bbdc2a9 248 //pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z));
tsumagari 27:d2955f29a3aa 249 pc.printf("%f,%f,%f\n\r",airSpeed,sonarDist,cadence);
tsumagari 27:d2955f29a3aa 250 pc.putc(cadence_twe.strV[0]);
tsumagari 27:d2955f29a3aa 251 if(android.writeable()){
tsumagari 27:d2955f29a3aa 252 // for(int i = 0; i<SOUDA_DATAS_NUM; i++){
tsumagari 27:d2955f29a3aa 253 // android.printf("%i,",soudaDatas[i]);
tsumagari 27:d2955f29a3aa 254 // }
tsumagari 27:d2955f29a3aa 255 // android.printf("%f,%f,%f,",pitch,roll,yaw);
tsumagari 27:d2955f29a3aa 256 // android.printf("%f,%f,\r\n",airSpeed,sonarDist);
tsumagari 27:d2955f29a3aa 257 android.printf("%f,%f,test\n\r",roll,airSpeed);
tsumagari 27:d2955f29a3aa 258 }
taurin 9:95eb0bbdc2a9 259 //SDprintf();
taurin 9:95eb0bbdc2a9 260 }
taurin 9:95eb0bbdc2a9 261
taurin 9:95eb0bbdc2a9 262 void WriteDatasF(){
taurin 9:95eb0bbdc2a9 263 pc.printf("airSpeed:%f\n\r",airSpeed);
taurin 0:085b2c5e3254 264 }
tsumagari 27:d2955f29a3aa 265
tsumagari 26:50272431cd1e 266 //float calcKXdeg(float x){
tsumagari 26:50272431cd1e 267 // return -310.54*x+156.65;
tsumagari 26:50272431cd1e 268 //}
taurin 0:085b2c5e3254 269
tsumagari 26:50272431cd1e 270 //float calcAttackAngle(){
tsumagari 26:50272431cd1e 271 // return pitch-calcKXdeg(kx_Z.read());
tsumagari 26:50272431cd1e 272 //}
taurin 0:085b2c5e3254 273
taurin 0:085b2c5e3254 274 void RollAlarm(){
taurin 0:085b2c5e3254 275 if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){
taurin 0:085b2c5e3254 276 RollAlarmL = 1;
taurin 0:085b2c5e3254 277 }
taurin 0:085b2c5e3254 278 else{
taurin 0:085b2c5e3254 279 RollAlarmL = 0;
taurin 0:085b2c5e3254 280 }
tsumagari 27:d2955f29a3aa 281
taurin 0:085b2c5e3254 282 if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){
taurin 0:085b2c5e3254 283 RollAlarmR = 1;
taurin 0:085b2c5e3254 284 }
taurin 0:085b2c5e3254 285 else{
taurin 0:085b2c5e3254 286 RollAlarmR = 0;
taurin 0:085b2c5e3254 287 }
taurin 0:085b2c5e3254 288 }
taurin 0:085b2c5e3254 289
tsumagari 27:d2955f29a3aa 290 void WriteServo(){
tsumagari 27:d2955f29a3aa 291 //kisokuServo.pulsewidth(calcPulse(airSpeed*10));
tsumagari 27:d2955f29a3aa 292 // kisokuServo.pulsewidth(calcPulse(9*airSpeed));
tsumagari 27:d2955f29a3aa 293 if(pitch<0){
tsumagari 27:d2955f29a3aa 294 // geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 295 }
tsumagari 27:d2955f29a3aa 296 else{
tsumagari 27:d2955f29a3aa 297 // geikakuServo.pulsewidth(calcPulse(abs(pitch*90/13.0)));
tsumagari 27:d2955f29a3aa 298 }
tsumagari 27:d2955f29a3aa 299 //pc.printf("a:%f",airSpeed);
tsumagari 27:d2955f29a3aa 300 //pc.printf("p:%f\r\n",pitch);
tsumagari 27:d2955f29a3aa 301 //kisokuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 302 //geikakuServo.pulsewidth(calcPulse(0));
tsumagari 27:d2955f29a3aa 303 }
taurin 4:a863a092141c 304
taurin 0:085b2c5e3254 305 int main(){
tsumagari 27:d2955f29a3aa 306 // Thread cadence_thread(&updateCadence);
taurin 0:085b2c5e3254 307 init();
taurin 0:085b2c5e3254 308 while(1){
taurin 9:95eb0bbdc2a9 309 pc.printf("test\n\r");
tsumagari 27:d2955f29a3aa 310 mpuProcessing();
tsumagari 27:d2955f29a3aa 311 sonarCalc();
taurin 8:31e07f6ed0f7 312 RollAlarm();
tsumagari 27:d2955f29a3aa 313 DataReceiveFromSouda();
tsumagari 27:d2955f29a3aa 314 updateCadence();
taurin 3:8dc516be2e7e 315 WriteDatas();
tsumagari 27:d2955f29a3aa 316 // WriteServo();
taurin 0:085b2c5e3254 317 }
taurin 0:085b2c5e3254 318 }