For Cansat mission mbed

Dependencies:   MU2Class RS405cb mbed myCAN_logger

Files at this revision

API Documentation at this revision

Comitter:
YSB
Date:
Fri Aug 16 08:25:12 2013 +0000
Parent:
6:c206e90971e1
Commit message:
20130816ver

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
myCAN.lib Show annotated file Show diff for this revision Revisions of this file
diff -r c206e90971e1 -r 6aaf33eac704 main.cpp
--- a/main.cpp	Mon Aug 05 08:58:22 2013 +0000
+++ b/main.cpp	Fri Aug 16 08:25:12 2013 +0000
@@ -24,6 +24,8 @@
     Timeout landing_timeout;
 //for mission
     DigitalOut led1(LED1);
+    DigitalOut led3(LED3);
+    DigitalOut led4(LED4);
 
 //for pc
     #define PC_BAUD 9600
@@ -67,8 +69,11 @@
         NIKUROMU3_OFF
   
     //servo init
-        servo.TORQUE_ON(2); //for rotation
-        servo.Rotate_Servo_Float(2,-150.0);
+        for(int i=0;i<10;i++){
+            servo.TORQUE_ON(2); //for rotation
+            servo.Rotate_Servo_Float(2,-150.0);
+            wait(0.01);
+        }
   
     //for debug test
         //servo.Rotate_Servo_Float_Test(1);
@@ -78,6 +83,8 @@
     
     //0.MU2 check
         mission_status = 0;
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         MU2_permit = 0;//on
         wait(1.0);//wait until mu2 will be steady
         MyMu2.send("we will start cansat mission soon.\r\n");
@@ -92,12 +99,21 @@
         MyMu2.send("0 please check MU2 is off \r\n");
         MU2_permit = 1;//off
         Send_Call.attach(&data_send,COMMUNICATION_RATE);
+        
     
     //1.freeze sequence while flightpin are fixed
         mission_status = 1;
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         while(flightpin == 1){
             led1 = !led1;
-            wait(0.5);
+            wait(0.1);
+            led2 = !led2;
+            wait(0.1);
+            led3 = !led3;
+            wait(0.1);
+            led4 = !led4;
+            wait(0.1);
         }       
         //after emission    
             MU2_permit = 0;//on
@@ -107,16 +123,24 @@
             servo.TORQUE_ON(3);
             MyMu2.send("emission finished!\r\n");
             
+            
     //2.fix mechanism start
             mission_status = 2; 
+            can.make_mission_senddata(mission_status);
+            can.send(MISSION);
             MyMu2.send("start fix mechanism\r\n");
             NIKUROMU1_ON
             wait(6.0);
             NIKUROMU1_OFF
             MyMu2.send("finish fix mechanism\r\n");
+            wait(2.0);
+            // rotate 22deg to avoid nails return
+//            servo.Rotate_Servo_Float(2,
     
     //3.check landing
         mission_status = 3; 
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         int roll_data[10];
         int roll_average;
         int roll_breakup;
@@ -138,11 +162,16 @@
                 landing_flg=1;
             }
         }
+        
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
     
         wait(5);//rest
         
     //4.rotation mechanism start 
         mission_status = 4; 
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         MyMu2.send("start rotation mechanism\r\n");
         servo.TORQUE_ON(2);
         servo.Rotate_Servo_Float(2,-150.0);
@@ -153,8 +182,10 @@
         
         wait(5);//rest
     
-    //5.open door   
+   //5.open door   
         mission_status = 5; 
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         MyMu2.send("start opening door\r\n");   
         NIKUROMU2_ON
         wait(6.0);
@@ -165,6 +196,8 @@
     
     //6.develope parabolic antenna
         mission_status = 6; 
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         MyMu2.send("start developing parabolic antenna\r\n");  
         NIKUROMU3_ON
         wait(6.0);
@@ -175,11 +208,15 @@
     
     //7.start RHI scaning 
         mission_status = 7; 
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         MyMu2.send("start RHI scaning\r\n");
         RHI_Scan();  
         
     //8.end of sequence
         mission_status = 8; 
+        can.make_mission_senddata(mission_status);
+        can.send(MISSION);
         MyMu2.send("END!\r\n");
 }
 
diff -r c206e90971e1 -r 6aaf33eac704 myCAN.lib
--- a/myCAN.lib	Mon Aug 05 08:58:22 2013 +0000
+++ b/myCAN.lib	Fri Aug 16 08:25:12 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/YSB/code/myCAN_logger/#8f81f36c6458
+http://mbed.org/users/YSB/code/myCAN_logger/#ef1cc9f2945e