File content as of revision 1:56dc085d9e2d:

#include "mbed.h"
#define mC 3920.072
#define mD 293.665
#define mE 329.628
#define mF 349.228
#define mG 391.995
#define mA 440.000
#define mB 493.883
#define PI 3.14159265358979
#include "mbed.h"
#include "ADXL345.h"
#include "PID.h"
#include "Motor.h"
Timeout sho;
Timeout rev;
PwmOut sp1(p25);
BusOut air(p15,p16);
BusOut air2(p17,p18);
DigitalIn sw(p10,PullUp);
DigitalIn sw2(p11,PullUp);
ADXL345 accell(p5,p6,p7,p8);
PID tilt(0.1, 0.0, 0.0, 0.1);
Motor motor(p12,p13,p21);
int c;
void sound()
{
    float mm[]= {mC,mD,mE,mF,mG,mA,mB,mC*2};

    sp1.period(1.0/mm[0]);
    sp1.write(0.5f);
}
void shoot()
{
    if (sw == 0) {
        air = 1;
        air2 = 1;
    }
    sp1.write(0.0f);
    c = 0;
    wait(1);
}
void ret()
{
    if (sw2 == 0) {
        air = 2;
        air2 = 2;
    }
    wait(1);
    sp1.write(0.0f);
    c = 0;
}
int main()
{
    int gd[3];
    float tc;
    double x,y,z;
    //====加速度センサの準備============
    //Go into standby mode to configure the device.
    accell.setPowerControl(0x00);

    //設定, +/-16g, 4mg/LSB.
    accell.setDataFormatControl(0x0B);

    //データレートを3200Hzに設定。
    accell.setDataRate(ADXL345_3200HZ);

    //計測モード設定
    accell.setPowerControl(0x08);
    //====発射角度PID設定===============
    //角度センサの値の範囲
    tilt.setInputLimits(PI,-PI);
    //出力の設定
    tilt.setOutputLimits(-1.0,1.0);
    tilt.setMode(AUTO_MODE);
    while(1) {
        //加速度センサの値で角度を調整。
        accell.getOutput(gd);
        x = gd[0]/4*0.001;
        y = gd[1]/4*0.001;
        z = gd[2]/4*0.001;
        tilt.setProcessValue(atan2(x,y));
        tc = tilt.compute();
        motor.speed(tc);
        printf("%f\n\r",atan2(x,y));
        
        //発射官制
        if (sw == 0 && c == 0) {
            sound();
            sho.attach(&shoot,3.0);
            c = 1;
        } else if(sw2 == 0 && c == 0) {
            sound();
            rev.attach(&ret,3.0);
            c = 1;
        } else {
            air = 0;
            air2 = 0;
        }
    }
}