monoCanSat / Mbed 2 deprecated cansat

cansat

Dependencies:   SDFileSystem mbed

main.cpp@0:649fc30be6ec, 2016-02-29 (annotated)

Committer:
Nike3221
Date:
Mon Feb 29 11:10:31 2016 +0000
Revision:
0:649fc30be6ec
Child:
1:a2629e589080
cansat

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nike3221 0:649fc30be6ec 1 #include "mbed.h"
Nike3221 0:649fc30be6ec 2 #include "SDFileSystem.h"
Nike3221 0:649fc30be6ec 3
Nike3221 0:649fc30be6ec 4 Ticker timer;
Nike3221 0:649fc30be6ec 5 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
Nike3221 0:649fc30be6ec 6 Serial gp(p28, p27); // tx, rx
Nike3221 0:649fc30be6ec 7 Serial pc(USBTX, USBRX); // tx, rx
Nike3221 0:649fc30be6ec 8 PwmOut moterl(p21);//左モーター
Nike3221 0:649fc30be6ec 9 PwmOut moterr(p22);//右モーター
Nike3221 0:649fc30be6ec 10 DigitalOut led1(LED1);
Nike3221 0:649fc30be6ec 11 DigitalOut fet3(p23);//ニクロム線
Nike3221 0:649fc30be6ec 12 DigitalOut led2(LED2);
Nike3221 0:649fc30be6ec 13 DigitalOut led3(LED3);
Nike3221 0:649fc30be6ec 14 DigitalOut led4(LED4);
Nike3221 0:649fc30be6ec 15 DigitalOut janpa1(p19);//パラシュートの開きを検知
Nike3221 0:649fc30be6ec 16 DigitalIn janpa2(p20);//パラシュートの開きを検知
Nike3221 0:649fc30be6ec 17 int gosa;
Nike3221 0:649fc30be6ec 18
Nike3221 0:649fc30be6ec 19 char gpsc[100];
Nike3221 0:649fc30be6ec 20 int a,b,c,d;
Nike3221 0:649fc30be6ec 21 int i=0;
Nike3221 0:649fc30be6ec 22
Nike3221 0:649fc30be6ec 23 void gps()
Nike3221 0:649fc30be6ec 24 {
Nike3221 0:649fc30be6ec 25 led1 = 1;
Nike3221 0:649fc30be6ec 26
Nike3221 0:649fc30be6ec 27 printf("Hello World!\n");
Nike3221 0:649fc30be6ec 28
Nike3221 0:649fc30be6ec 29 mkdir("/sd/mydir", 0777);
Nike3221 0:649fc30be6ec 30 FILE *fp = fopen("/sd/mydir/sdtest.txt", "a");
Nike3221 0:649fc30be6ec 31 if(fp == NULL) {
Nike3221 0:649fc30be6ec 32 error("Could not open file for write\n");
Nike3221 0:649fc30be6ec 33 }
Nike3221 0:649fc30be6ec 34
Nike3221 0:649fc30be6ec 35 led1 = 0;
Nike3221 0:649fc30be6ec 36 led2 = 1;
Nike3221 0:649fc30be6ec 37 while(i!=50)
Nike3221 0:649fc30be6ec 38 { fputc(gp.getc(),fp);
Nike3221 0:649fc30be6ec 39 i++; }
Nike3221 0:649fc30be6ec 40 fputc(a,fp);
Nike3221 0:649fc30be6ec 41
Nike3221 0:649fc30be6ec 42 fclose(fp);
Nike3221 0:649fc30be6ec 43
Nike3221 0:649fc30be6ec 44 led1 = 0;
Nike3221 0:649fc30be6ec 45 }
Nike3221 0:649fc30be6ec 46
Nike3221 0:649fc30be6ec 47
Nike3221 0:649fc30be6ec 48 void start()
Nike3221 0:649fc30be6ec 49 {
Nike3221 0:649fc30be6ec 50 janpa1=1;
Nike3221 0:649fc30be6ec 51 while(janpa2 == 1)
Nike3221 0:649fc30be6ec 52 { led4 = 0;
Nike3221 0:649fc30be6ec 53 led3 = 1;}//2
Nike3221 0:649fc30be6ec 54
Nike3221 0:649fc30be6ec 55 }
Nike3221 0:649fc30be6ec 56
Nike3221 0:649fc30be6ec 57
Nike3221 0:649fc30be6ec 58
Nike3221 0:649fc30be6ec 59 void nikuromu()
Nike3221 0:649fc30be6ec 60 {
Nike3221 0:649fc30be6ec 61 led4=1;
Nike3221 0:649fc30be6ec 62 fet3=1;//3
Nike3221 0:649fc30be6ec 63 wait(60);//焼き切り時間
Nike3221 0:649fc30be6ec 64 led4=0;
Nike3221 0:649fc30be6ec 65 led3=0;
Nike3221 0:649fc30be6ec 66 led2=1;//4
Nike3221 0:649fc30be6ec 67 }
Nike3221 0:649fc30be6ec 68
Nike3221 0:649fc30be6ec 69 void moter() {
Nike3221 0:649fc30be6ec 70 while(1)
Nike3221 0:649fc30be6ec 71 {
Nike3221 0:649fc30be6ec 72 float offset=0.0;
Nike3221 0:649fc30be6ec 73 float offset2=0.0;
Nike3221 0:649fc30be6ec 74 moterl.period(0.02); // 周期
Nike3221 0:649fc30be6ec 75 moterr.period(0.02);
Nike3221 0:649fc30be6ec 76 moterl.pulsewidth(0.08); // servo position determined by a pulsewidth between 1-2ms
Nike3221 0:649fc30be6ec 77 moterr.pulsewidth(0.08); //パルス幅
Nike3221 0:649fc30be6ec 78
Nike3221 0:649fc30be6ec 79
Nike3221 0:649fc30be6ec 80 }
Nike3221 0:649fc30be6ec 81 led2=led3=led4=1;
Nike3221 0:649fc30be6ec 82 wait(1.0);
Nike3221 0:649fc30be6ec 83 led2=led3=led4=0;
Nike3221 0:649fc30be6ec 84 wait(1.0);
Nike3221 0:649fc30be6ec 85 led2=led3=led4=1;
Nike3221 0:649fc30be6ec 86 }
Nike3221 0:649fc30be6ec 87
Nike3221 0:649fc30be6ec 88 int main()
Nike3221 0:649fc30be6ec 89 {
Nike3221 0:649fc30be6ec 90 gp.baud(9600);
Nike3221 0:649fc30be6ec 91 timer.attach(&gps, 2.0);//割り込み
Nike3221 0:649fc30be6ec 92 led4 = 1;
Nike3221 0:649fc30be6ec 93 start();
Nike3221 0:649fc30be6ec 94 wait(60);//落下中
Nike3221 0:649fc30be6ec 95 nikuromu();
Nike3221 0:649fc30be6ec 96 moter();
Nike3221 0:649fc30be6ec 97
Nike3221 0:649fc30be6ec 98 return 0;
Nike3221 0:649fc30be6ec 99 }