Diff: main.cpp

Revision:

0:4e3377fa0a25

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 23 11:24:58 2017 +0000
@@ -0,0 +1,63 @@
+#include "mbed.h"
+#include "SDFileSystem.h"
+
+Serial pc(USBTX,USBRX);//シリアル通信
+SDFileSystem sd(p5,p6,p7,p8,"sd");//SDスロットピン
+PwmOut servo(p24);//パラシュート分離用サーボ
+//PwmOut servo(p21);//パラシュート分離用サーボブレボ
+AnalogIn accel_x(p20);//加速度X軸
+AnalogIn accel_y(p19);//加速度Y軸
+AnalogIn accel_z(p18);//加速度Z軸
+DigitalIn cds(p29);//光センサ
+PwmOut moterL(p21);
+PwmOut moterR(p22);
+DigitalOut stby (p11);//モータドライバ
+DigitalOut AIN(p12);//モータドライバ正転逆転
+DigitalOut led1(LED1);
+float x,y,z;
+
+int main()
+   
+    {
+     stby=1;
+     AIN=1;
+     float pwidth;
+     servo.period_ms(20);//出力周期 20ms=(50Hz)
+     
+     while(1) {
+    x = accel_x;//ｘｙｚの値をそれぞれ格納
+    y = accel_y;
+    z = accel_z;
+          
+         pc.printf("X:%1.3f Y:%1.3f Z:%1.3f \r\n", accel_x.read() ,accel_y.read() ,accel_z.read() );
+         pwidth=0.001;
+         servo.pulsewidth(pwidth);
+         if(cds==1){
+             led1=1;
+             }
+         if(x>=0.8 || y>=0.8 || z>=0.8){//＊＊＊＊＊＊＊＊＊＊＊＊＊調整必要
+              pwidth=0.00075;
+              servo.pulsewidth(pwidth);
+              wait(10.0);
+              moterL.pulsewidth(0.0020);                                  //パルス幅指定
+              moterR.pulsewidth(0.0020);
+             
+              //return(0);
+              } 
+              //return(0);
+ 
+         if(x<0.8 || y<0.8 || z<0.8){
+             FILE *fp = fopen ("/sd/AccLog.txt","a"); //GPSデータをSDに書き込み
+                if(fp == NULL) {
+                    error("Could not open file for write\n");
+                }
+                fprintf(fp,"x:%.3f  ",x);
+                fprintf(fp,"y:%.3f  ",y);
+                fprintf(fp,"z:%.3f\r\n",z);
+                fclose(fp);
+                }
+ 
+ 
+ 
+  } 
+}
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