Yuji Takubo / Mbed 2 deprecated 201708kaiho_TaKuBo

Dependencies:   MPU6050 MS5607 mbed

main.cpp@0:e527984bccd1, 2017-07-31 (annotated)

Committer:
YujiTakbuo
Date:
Mon Jul 31 14:12:47 2017 +0000
Revision:
0:e527984bccd1
Child:
1:570e3c6fd4bb
201708???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YujiTakbuo 0:e527984bccd1 1 /*
YujiTakbuo 0:e527984bccd1 2 alt →altitude
YujiTakbuo 0:e527984bccd1 3 pres →pressure
YujiTakbuo 0:e527984bccd1 4 acc →acceleration
YujiTakbuo 0:e527984bccd1 5 */
YujiTakbuo 0:e527984bccd1 6
YujiTakbuo 0:e527984bccd1 7 //todo 単位系どうなってるの？
YujiTakbuo 0:e527984bccd1 8
YujiTakbuo 0:e527984bccd1 9 #include "mbed.h"
YujiTakbuo 0:e527984bccd1 10 #include "math.h"
YujiTakbuo 0:e527984bccd1 11 #include "MPU6050.h"
YujiTakbuo 0:e527984bccd1 12 #include "MS5607I2C.h"
YujiTakbuo 0:e527984bccd1 13
YujiTakbuo 0:e527984bccd1 14 //todo defineの整理
YujiTakbuo 0:e527984bccd1 15 #define ALT_TOP 100
YujiTakbuo 0:e527984bccd1 16 #define ALT_LEAFING 300
YujiTakbuo 0:e527984bccd1 17 #define ACC 4*9.8
YujiTakbuo 0:e527984bccd1 18 #define COUNT 5
YujiTakbuo 0:e527984bccd1 19
YujiTakbuo 0:e527984bccd1 20
YujiTakbuo 0:e527984bccd1 21 MPU6050 mpu(p9,p10); //tx,rx
YujiTakbuo 0:e527984bccd1 22 MS5607I2C ms(p9,p10,false); //tx, rx, csピンがGND
YujiTakbuo 0:e527984bccd1 23 DigitalOut myled1(LED1);
YujiTakbuo 0:e527984bccd1 24 DigitalOut myled2(LED2);
YujiTakbuo 0:e527984bccd1 25 DigitalOut myled3(LED3);
YujiTakbuo 0:e527984bccd1 26 DigitalOut myled4(LED4);
YujiTakbuo 0:e527984bccd1 27 float alt=ms.getAltitude();
YujiTakbuo 0:e527984bccd1 28 float acc[3];
YujiTakbuo 0:e527984bccd1 29 float acc_total;
YujiTakbuo 0:e527984bccd1 30 float time_alt;
YujiTakbuo 0:e527984bccd1 31 float time_acc;
YujiTakbuo 0:e527984bccd1 32 int cnt_alt=0;
YujiTakbuo 0:e527984bccd1 33 int cnt_acc;
YujiTakbuo 0:e527984bccd1 34
YujiTakbuo 0:e527984bccd1 35 //todo 変数の追加
YujiTakbuo 0:e527984bccd1 36
YujiTakbuo 0:e527984bccd1 37 Timer timer;
YujiTakbuo 0:e527984bccd1 38
YujiTakbuo 0:e527984bccd1 39
YujiTakbuo 0:e527984bccd1 40
YujiTakbuo 0:e527984bccd1 41 void judge_top(){
YujiTakbuo 0:e527984bccd1 42
YujiTakbuo 0:e527984bccd1 43 while(1){
YujiTakbuo 0:e527984bccd1 44 if(ALT_TOP>=alt){
YujiTakbuo 0:e527984bccd1 45 cnt_alt++;
YujiTakbuo 0:e527984bccd1 46 }
YujiTakbuo 0:e527984bccd1 47 if(timer.read()>0.5){
YujiTakbuo 0:e527984bccd1 48 cnt_alt=0;
YujiTakbuo 0:e527984bccd1 49 }
YujiTakbuo 0:e527984bccd1 50 if(cnt_alt>=COUNT){
YujiTakbuo 0:e527984bccd1 51 myled1=1;
YujiTakbuo 0:e527984bccd1 52 //open the servos
YujiTakbuo 0:e527984bccd1 53 }else{
YujiTakbuo 0:e527984bccd1 54 myled1=0;
YujiTakbuo 0:e527984bccd1 55 }
YujiTakbuo 0:e527984bccd1 56 }
YujiTakbuo 0:e527984bccd1 57 }
YujiTakbuo 0:e527984bccd1 58
YujiTakbuo 0:e527984bccd1 59
YujiTakbuo 0:e527984bccd1 60 int main(){
YujiTakbuo 0:e527984bccd1 61 while(1){
YujiTakbuo 0:e527984bccd1 62 judge_top();
YujiTakbuo 0:e527984bccd1 63 }
YujiTakbuo 0:e527984bccd1 64 }