imano yuta / Mbed 2 deprecated sahaquiel_raspi_uart_test

skipper_raspi_uart_test

Dependencies:   mbed MPU6050_2 HMC5883L_4 SDFileSystem3

main.cpp@26:ea86e69563b5, 2019-02-19 (annotated)

Committer:
HARUKIDELTA
Date:
Tue Feb 19 10:36:19 2019 +0000
Revision:
26:ea86e69563b5
Parent:
25:1f938342d5f9
Child:
27:f67efcee6509
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HARUKIDELTA 0:84ddd6d354e1 1 #include "mbed.h"
Skykon 3:c18342e4fddd 2 #include "MPU6050_DMP6.h"
taknokolat 6:166746820555 3 #include "HMC5883L.h"
taknokolat 12:083662bca47d 4 #include "SDFileSystem.h"
taknokolat 12:083662bca47d 5 #include "SkipperSv2.h"
taknokolat 12:083662bca47d 6 #include "falfalla.h"
Skykon 3:c18342e4fddd 7
Skykon 3:c18342e4fddd 8 //MPU_check用
Skykon 3:c18342e4fddd 9 #define PI 3.14159265358979
HARUKIDELTA 0:84ddd6d354e1 10
HARUKIDELTA 17:83db05cab3d1 11 #define servo_NEUTRAL_R 1614
HARUKIDELTA 17:83db05cab3d1 12 #define servo_NEUTRAL_L 1621
HARUKIDELTA 0:84ddd6d354e1 13 #define servo_slow_FORWARD_R 1560
HARUKIDELTA 0:84ddd6d354e1 14 #define servo_slow_FORWARD_L 1560
taknokolat 12:083662bca47d 15 #define servo_high_FORWARD_R 1860
taknokolat 12:083662bca47d 16 #define servo_high_FORWARD_L 1860
HARUKIDELTA 17:83db05cab3d1 17 #define turntable_NEUTRAL 1180 //カメラ台座のサーボ
HARUKIDELTA 17:83db05cab3d1 18 #define matchspeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度
HARUKIDELTA 17:83db05cab3d1 19 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ
HARUKIDELTA 17:83db05cab3d1 20 #define camera_deg_A 1400 //カメラ角度調整
HARUKIDELTA 17:83db05cab3d1 21 #define camera_deg_B 1800
HARUKIDELTA 17:83db05cab3d1 22 #define pint_speed 25
taknokolat 20:011977a37394 23 #define pint_wait 3
HARUKIDELTA 17:83db05cab3d1 24 #define turntable_speed 1800
taknokolat 24:0ad1725c7849 25 #define time360 110
taknokolat 24:0ad1725c7849 26 #define match_wid 5
taknokolat 20:011977a37394 27 #define camera_board_wait 100
HARUKIDELTA 0:84ddd6d354e1 28
HARUKIDELTA 0:84ddd6d354e1 29 #define MOVE_NEUTRAL 0
taknokolat 19:949bab1e9451 30 #define MOVE_FORWARD 1
HARUKIDELTA 0:84ddd6d354e1 31 #define MOVE_LEFT 2
HARUKIDELTA 0:84ddd6d354e1 32 #define MOVE_RIGHT 3
HARUKIDELTA 0:84ddd6d354e1 33 #define MOVE_BACK 4
Skykon 3:c18342e4fddd 34 #define GOAL_FORWARD 5 //ゴール付近_ゆっくり
HARUKIDELTA 0:84ddd6d354e1 35 #define GOAL_LEFT 6
HARUKIDELTA 0:84ddd6d354e1 36 #define GOAL_RIGHT 7
Skykon 3:c18342e4fddd 37 #define MAX_FORWARD 8 //はやい_姿勢修正用
HARUKIDELTA 0:84ddd6d354e1 38 #define MAX_BACK 9
HARUKIDELTA 0:84ddd6d354e1 39
taknokolat 1:290e621741fd 40 void getSF_Serial_jevois();
taknokolat 1:290e621741fd 41 void getSF_Serial_pi();
taknokolat 1:290e621741fd 42
Skykon 3:c18342e4fddd 43 //MPU_check用
Skykon 3:c18342e4fddd 44 void SensingMPU();
taknokolat 7:8989a4b84695 45
taknokolat 7:8989a4b84695 46 void MoveCansat(char g_landingcommand);
Skykon 3:c18342e4fddd 47 void setup();
Skykon 3:c18342e4fddd 48 void Init_sensors();
Skykon 3:c18342e4fddd 49 void DisplayClock();
taknokolat 4:67f705d42f1e 50 void DebugPrint();
taknokolat 6:166746820555 51 void SensingHMC();
taknokolat 7:8989a4b84695 52 void MoveCameraBoard();
taknokolat 7:8989a4b84695 53 void MatchPosition();
taknokolat 7:8989a4b84695 54 void FocusAdjust();
Skykon 3:c18342e4fddd 55
taknokolat 12:083662bca47d 56 //sd設定
taknokolat 12:083662bca47d 57 int GetParameter(FILE *fp, const char *paramName,char parameter[]);
taknokolat 12:083662bca47d 58
taknokolat 13:b088f0db7158 59 int SetOptions(int *Servo_NEUTRAL_R,int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 60 int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 61 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 62 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 63 int *Camera_deg_A, int *Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 64 int *Pint_speed, float *Pint_wait,
taknokolat 19:949bab1e9451 65 int *Turntable_speed,
taknokolat 24:0ad1725c7849 66 int *Time360, int *Match_wid,
taknokolat 20:011977a37394 67 int *Camera_board_wait
taknokolat 12:083662bca47d 68 );
taknokolat 12:083662bca47d 69
taknokolat 6:166746820555 70 static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
taknokolat 6:166746820555 71 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
Skykon 3:c18342e4fddd 72
taknokolat 7:8989a4b84695 73 bool setupFlag = false;
taknokolat 7:8989a4b84695 74 bool CameraDegFlag = false;
taknokolat 7:8989a4b84695 75 bool jevoisFlag = true;
taknokolat 4:67f705d42f1e 76
taknokolat 24:0ad1725c7849 77 int g_CameraDegCounter = 0; //カメラの回転数をカウント
taknokolat 24:0ad1725c7849 78
Skykon 3:c18342e4fddd 79 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 80
Skykon 3:c18342e4fddd 81 Timer t;
HARUKIDELTA 26:ea86e69563b5 82 Timer t2;
Skykon 3:c18342e4fddd 83
HARUKIDELTA 25:1f938342d5f9 84 FILE *g_fp;
HARUKIDELTA 25:1f938342d5f9 85
taknokolat 14:90e9b44eb819 86 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
taknokolat 14:90e9b44eb819 87
taknokolat 11:d44d137831b9 88 RawSerial pc(PA_2,PA_3,115200); //uart2
taknokolat 11:d44d137831b9 89 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 12:083662bca47d 90 RawSerial pc2(PA_11,PA_12,115200); //uart1
taknokolat 11:d44d137831b9 91 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 92
HARUKIDELTA 5:8bfe95431ec0 93 //PWM pin宣言
taknokolat 6:166746820555 94 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 95 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 96 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 97 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 98 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
HARUKIDELTA 5:8bfe95431ec0 99 PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
HARUKIDELTA 5:8bfe95431ec0 100 PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 101
HARUKIDELTA 5:8bfe95431ec0 102 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 103 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 104 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 105 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 106 */
HARUKIDELTA 5:8bfe95431ec0 107
HARUKIDELTA 5:8bfe95431ec0 108 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 109
HARUKIDELTA 23:29b2722bd753 110 DigitalOut led1(PA_0); //tanakaOK kimuraは動作不良
HARUKIDELTA 23:29b2722bd753 111 DigitalOut led2(PA_1); //tanakaOK kimuraOK
HARUKIDELTA 23:29b2722bd753 112 DigitalOut led3(PB_5); //使ってないよ
HARUKIDELTA 23:29b2722bd753 113 DigitalOut led4(PB_4); //使ってないよ
HARUKIDELTA 17:83db05cab3d1 114
HARUKIDELTA 17:83db05cab3d1 115
HARUKIDELTA 5:8bfe95431ec0 116 //外付けコンパス
taknokolat 24:0ad1725c7849 117 //HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 118
taknokolat 2:f30666d7838b 119 char g_landingcommand='N';
taknokolat 1:290e621741fd 120
Skykon 3:c18342e4fddd 121 //MPU_check用
Skykon 3:c18342e4fddd 122 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 123
Skykon 3:c18342e4fddd 124
HARUKIDELTA 0:84ddd6d354e1 125 int main() {
taknokolat 1:290e621741fd 126
Skykon 3:c18342e4fddd 127 //MPU_check
Skykon 3:c18342e4fddd 128 setup();
taknokolat 19:949bab1e9451 129 //コンパスチェック用
taknokolat 19:949bab1e9451 130 /*while(1){
taknokolat 22:a19be3b505b7 131 //SensingMPU();
taknokolat 19:949bab1e9451 132 SensingHMC();
taknokolat 22:a19be3b505b7 133 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 19:949bab1e9451 134 pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 19:949bab1e9451 135 pc.printf("\r\n");
taknokolat 19:949bab1e9451 136 wait_ms(30);
taknokolat 19:949bab1e9451 137 }*/
taknokolat 19:949bab1e9451 138
Skykon 3:c18342e4fddd 139
HARUKIDELTA 17:83db05cab3d1 140 servoCameradeg.pulsewidth_us(Camera_deg_A);
taknokolat 11:d44d137831b9 141
taknokolat 1:290e621741fd 142 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 143 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 144 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
taknokolat 1:290e621741fd 145
HARUKIDELTA 0:84ddd6d354e1 146 while(1) {
taknokolat 7:8989a4b84695 147 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 148 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 20:011977a37394 149 pc.printf("Move Camera Board\r\n");
taknokolat 10:63fe920595a7 150 MoveCameraBoard();
taknokolat 10:63fe920595a7 151
taknokolat 20:011977a37394 152 pc.printf("Position\r\n");
taknokolat 22:a19be3b505b7 153 pc.printf("g_landingcommand=%c\r\n",g_landingcommand);
HARUKIDELTA 25:1f938342d5f9 154
taknokolat 22:a19be3b505b7 155 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 156 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 157 if(g_landingcommand!='N') MatchPosition();
taknokolat 22:a19be3b505b7 158 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 159 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 160
taknokolat 8:d11a59d2a2f1 161 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 8:d11a59d2a2f1 162 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 163
taknokolat 20:011977a37394 164 pc.printf("Move Cansat\r\n");
taknokolat 7:8989a4b84695 165 MoveCansat(g_landingcommand);
taknokolat 22:a19be3b505b7 166 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 167 else NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 168 wait_ms(23);
taknokolat 8:d11a59d2a2f1 169
taknokolat 20:011977a37394 170 pc.printf("finish\r\n");
taknokolat 7:8989a4b84695 171 if(jevoisFlag==true) NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 172 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 173 }
HARUKIDELTA 0:84ddd6d354e1 174 }
HARUKIDELTA 0:84ddd6d354e1 175
Skykon 3:c18342e4fddd 176
taknokolat 22:a19be3b505b7 177 void MoveCansat(char a)
HARUKIDELTA 0:84ddd6d354e1 178 {
taknokolat 22:a19be3b505b7 179 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 180 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 22:a19be3b505b7 181 switch(a){
taknokolat 2:f30666d7838b 182 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 17:83db05cab3d1 183 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 184 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 22:a19be3b505b7 185 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 186 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 26:ea86e69563b5 187 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 26:ea86e69563b5 188 fprintf(g_fp, "Not found\r\n.");
HARUKIDELTA 26:ea86e69563b5 189 fclose(g_fp);
HARUKIDELTA 0:84ddd6d354e1 190 break;
taknokolat 1:290e621741fd 191
taknokolat 2:f30666d7838b 192 case 'Y': //MOVE_FORWARD
HARUKIDELTA 17:83db05cab3d1 193 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 194 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 22:a19be3b505b7 195 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 196 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 197 break;
taknokolat 1:290e621741fd 198
taknokolat 12:083662bca47d 199 case 'l': //MOVE_LEFT Low Speed
HARUKIDELTA 17:83db05cab3d1 200 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
taknokolat 22:a19be3b505b7 201 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 22:a19be3b505b7 202 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 203 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 204
taknokolat 12:083662bca47d 205 case 'L': //MOVE_LEFT High Speed
HARUKIDELTA 17:83db05cab3d1 206 servoR.pulsewidth_us(Servo_high_FORWARD_R);
taknokolat 22:a19be3b505b7 207 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 22:a19be3b505b7 208 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 209 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 210
taknokolat 12:083662bca47d 211 case 'r': //MOVE_RIGHT Low Speed
taknokolat 22:a19be3b505b7 212 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 213 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
taknokolat 22:a19be3b505b7 214 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 215 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 216 break;
taknokolat 12:083662bca47d 217
taknokolat 12:083662bca47d 218 case 'R': //MOVE_RIGHT High Speed
taknokolat 22:a19be3b505b7 219 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 220 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 22:a19be3b505b7 221 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 222 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 223 break;
taknokolat 1:290e621741fd 224
taknokolat 1:290e621741fd 225 case 'G': //GOAL_FORWARD
HARUKIDELTA 17:83db05cab3d1 226 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 227 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
taknokolat 22:a19be3b505b7 228 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 229 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 230 break;
taknokolat 12:083662bca47d 231
taknokolat 12:083662bca47d 232 case '1': //MOVE_FORWARD Speed Level 1
HARUKIDELTA 17:83db05cab3d1 233 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 234 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 235 wait(1);
taknokolat 12:083662bca47d 236 do{
taknokolat 22:a19be3b505b7 237 SensingMPU();
taknokolat 22:a19be3b505b7 238 wait_ms(30);
taknokolat 22:a19be3b505b7 239 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 240 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 241 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 242 break;
taknokolat 12:083662bca47d 243
taknokolat 12:083662bca47d 244 case '2': //MOVE_FORWARD Speed Level 2
HARUKIDELTA 17:83db05cab3d1 245 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 246 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 247 wait(2);
taknokolat 12:083662bca47d 248 do{
taknokolat 22:a19be3b505b7 249 SensingMPU();
taknokolat 22:a19be3b505b7 250 wait_ms(30);
taknokolat 22:a19be3b505b7 251 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 252 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 253 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 254 break;
taknokolat 12:083662bca47d 255
taknokolat 12:083662bca47d 256 case '3': //MOVE_FORWARD Speed Level 3
HARUKIDELTA 17:83db05cab3d1 257 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 258 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 259 wait(3);
taknokolat 12:083662bca47d 260 do{
taknokolat 22:a19be3b505b7 261 SensingMPU();
taknokolat 22:a19be3b505b7 262 wait_ms(30);
taknokolat 22:a19be3b505b7 263 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 264 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 265 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 266 break;
taknokolat 12:083662bca47d 267
taknokolat 12:083662bca47d 268 case '4': //MOVE_FORWARD Speed Level 4
HARUKIDELTA 17:83db05cab3d1 269 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 270 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 271 wait(4);
taknokolat 12:083662bca47d 272 do{
taknokolat 22:a19be3b505b7 273 SensingMPU();
taknokolat 22:a19be3b505b7 274 wait_ms(30);
taknokolat 22:a19be3b505b7 275 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)||(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 276 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 277 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 278 break;
taknokolat 7:8989a4b84695 279
taknokolat 12:083662bca47d 280 case '5': //MOVE_FORWARD Speed Level 5
HARUKIDELTA 17:83db05cab3d1 281 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 282 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 7:8989a4b84695 283 wait(5);
taknokolat 10:63fe920595a7 284 do{
taknokolat 22:a19be3b505b7 285 SensingMPU();
taknokolat 22:a19be3b505b7 286 wait_ms(30);
taknokolat 22:a19be3b505b7 287 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 288 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 289 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 290 break;
taknokolat 7:8989a4b84695 291
taknokolat 7:8989a4b84695 292 case 'M': //MatchPosition
HARUKIDELTA 17:83db05cab3d1 293 servoR.pulsewidth_us(Matchspeed);
taknokolat 22:a19be3b505b7 294 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 295 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 296 break;
taknokolat 7:8989a4b84695 297
taknokolat 12:083662bca47d 298 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 299 jevoisFlag = false;
taknokolat 22:a19be3b505b7 300 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 301 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 302 break;
taknokolat 12:083662bca47d 303
taknokolat 12:083662bca47d 304 case 'S':
taknokolat 12:083662bca47d 305 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 22:a19be3b505b7 306 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 307 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 308 break;
taknokolat 1:290e621741fd 309
taknokolat 1:290e621741fd 310 default :
taknokolat 22:a19be3b505b7 311 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 312 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 313 break;
taknokolat 1:290e621741fd 314
HARUKIDELTA 0:84ddd6d354e1 315 }
taknokolat 7:8989a4b84695 316
HARUKIDELTA 0:84ddd6d354e1 317 return;
taknokolat 1:290e621741fd 318 }
taknokolat 1:290e621741fd 319
taknokolat 7:8989a4b84695 320 void MoveCameraBoard(){
taknokolat 22:a19be3b505b7 321 //pc.printf("start\r\n");
taknokolat 7:8989a4b84695 322 MoveCansat('N');
taknokolat 22:a19be3b505b7 323 //pc.printf("ok\r\n");
taknokolat 10:63fe920595a7 324 g_landingcommand='N';
taknokolat 24:0ad1725c7849 325 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL - Turntable_speed);
taknokolat 20:011977a37394 326 wait_ms(Camera_board_wait);
taknokolat 24:0ad1725c7849 327 g_CameraDegCounter++;
HARUKIDELTA 17:83db05cab3d1 328 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 22:a19be3b505b7 329 //pc.printf("zoom1\r\n");
taknokolat 7:8989a4b84695 330 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 331 else wait(1);
taknokolat 7:8989a4b84695 332 if(g_landingcommand!='N') return;
taknokolat 7:8989a4b84695 333 if(!CameraDegFlag){
taknokolat 18:4566d1f5fc60 334 for(int i=30; i<Camera_deg_B-Camera_deg_A;i=i+30){
taknokolat 18:4566d1f5fc60 335 servoCameradeg.pulsewidth_us(Camera_deg_A+i);
taknokolat 22:a19be3b505b7 336 //pc.printf("%d\r\n",i);
taknokolat 15:1519fccfcae3 337 wait_ms(20);
taknokolat 15:1519fccfcae3 338 }
taknokolat 7:8989a4b84695 339 CameraDegFlag=!CameraDegFlag;
taknokolat 7:8989a4b84695 340 }else{
taknokolat 18:4566d1f5fc60 341 for(int i=30; i<Camera_deg_B-Camera_deg_A;i=i+30){
taknokolat 18:4566d1f5fc60 342 servoCameradeg.pulsewidth_us(Camera_deg_B-i);
taknokolat 22:a19be3b505b7 343 //pc.printf("%d\r\n",i);
taknokolat 18:4566d1f5fc60 344 wait_ms(20);
taknokolat 15:1519fccfcae3 345 }
taknokolat 7:8989a4b84695 346 CameraDegFlag = !CameraDegFlag;
taknokolat 7:8989a4b84695 347 }
taknokolat 22:a19be3b505b7 348 if(g_landingcommand!='N') return;
taknokolat 22:a19be3b505b7 349 //pc.printf("zoom2\r\n");
taknokolat 7:8989a4b84695 350 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 351 else wait(1);
taknokolat 7:8989a4b84695 352
taknokolat 20:011977a37394 353
taknokolat 22:a19be3b505b7 354 //pc.printf("Move Board Finish\r\n");
taknokolat 7:8989a4b84695 355 return;
taknokolat 7:8989a4b84695 356 }
taknokolat 7:8989a4b84695 357
taknokolat 7:8989a4b84695 358 void MatchPosition(){
taknokolat 22:a19be3b505b7 359 pc.printf("MatchPosition\r\n");
taknokolat 24:0ad1725c7849 360
taknokolat 24:0ad1725c7849 361 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
taknokolat 24:0ad1725c7849 362 wait_ms(Camera_board_wait*g_CameraDegCounter);
taknokolat 24:0ad1725c7849 363 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 24:0ad1725c7849 364
taknokolat 22:a19be3b505b7 365 int SetLoop=0;
taknokolat 22:a19be3b505b7 366
taknokolat 22:a19be3b505b7 367 while(SetLoop<30){
taknokolat 7:8989a4b84695 368 SensingMPU();
taknokolat 22:a19be3b505b7 369 wait_ms(20);
taknokolat 24:0ad1725c7849 370 //SensingHMC();
taknokolat 24:0ad1725c7849 371 //wait_ms(20);
taknokolat 22:a19be3b505b7 372 //DebugPrint();
taknokolat 22:a19be3b505b7 373 SetLoop++;
taknokolat 22:a19be3b505b7 374 //pc.printf("nowAngle_HMC=%f\tMPU=%f\r\n",nowAngle_HMC,nowAngle[YAW]);
taknokolat 22:a19be3b505b7 375
taknokolat 22:a19be3b505b7 376 }
taknokolat 7:8989a4b84695 377
taknokolat 24:0ad1725c7849 378 static float TargetDeg = 0;
taknokolat 24:0ad1725c7849 379
taknokolat 24:0ad1725c7849 380 TargetDeg = 360*(float)Camera_board_wait*(float)g_CameraDegCounter/(float)Time360;
taknokolat 24:0ad1725c7849 381
taknokolat 24:0ad1725c7849 382 float HighTargetYaw = TargetDeg + Match_wid;
taknokolat 24:0ad1725c7849 383 float LowTargetYaw = TargetDeg - Match_wid;
taknokolat 21:ca8f35e24e66 384
taknokolat 22:a19be3b505b7 385
taknokolat 21:ca8f35e24e66 386 if(HighTargetYaw >= 360.0) HighTargetYaw = HighTargetYaw - 360.0;
taknokolat 22:a19be3b505b7 387
taknokolat 21:ca8f35e24e66 388 if(LowTargetYaw < 0) LowTargetYaw = LowTargetYaw + 360.0;
taknokolat 21:ca8f35e24e66 389
taknokolat 22:a19be3b505b7 390 pc.printf("\r\nnow=%f\t,high=%f\t,low=%f\r\n",nowAngle[YAW],HighTargetYaw,LowTargetYaw);
taknokolat 22:a19be3b505b7 391
taknokolat 24:0ad1725c7849 392 MoveCansat('r');
taknokolat 22:a19be3b505b7 393
taknokolat 22:a19be3b505b7 394 if(HighTargetYaw-LowTargetYaw<0){
taknokolat 22:a19be3b505b7 395 while(nowAngle[YAW] > HighTargetYaw && nowAngle[YAW] < LowTargetYaw){
taknokolat 22:a19be3b505b7 396 //MoveCansat('r');
taknokolat 22:a19be3b505b7 397 SensingMPU();
taknokolat 22:a19be3b505b7 398 wait_ms(30);
taknokolat 22:a19be3b505b7 399 pc.printf("nowAngle_MPU=%f\r\n",nowAngle[YAW]);
taknokolat 22:a19be3b505b7 400 }
taknokolat 22:a19be3b505b7 401 }else{
taknokolat 22:a19be3b505b7 402 while(nowAngle[YAW] > HighTargetYaw || nowAngle[YAW] < LowTargetYaw){
taknokolat 22:a19be3b505b7 403 //MoveCansat('r');
taknokolat 22:a19be3b505b7 404 SensingMPU();
taknokolat 22:a19be3b505b7 405 wait_ms(30);
taknokolat 22:a19be3b505b7 406 pc.printf("nowAngle_MPU=%f\r\n",nowAngle[YAW]);
taknokolat 22:a19be3b505b7 407 }
taknokolat 7:8989a4b84695 408 }
taknokolat 24:0ad1725c7849 409 g_CameraDegCounter = 0;
taknokolat 7:8989a4b84695 410 return;
taknokolat 7:8989a4b84695 411 }
taknokolat 7:8989a4b84695 412
taknokolat 7:8989a4b84695 413 void FocusAdjust(){
HARUKIDELTA 17:83db05cab3d1 414 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL-200);
taknokolat 20:011977a37394 415 pc.printf("set\r\n");
taknokolat 11:d44d137831b9 416 wait(1);
taknokolat 20:011977a37394 417 pc.printf("set2\r\n");
HARUKIDELTA 17:83db05cab3d1 418 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL+Pint_speed);
taknokolat 20:011977a37394 419 pc.printf("check\r\n");
taknokolat 20:011977a37394 420 wait(Pint_wait);
HARUKIDELTA 17:83db05cab3d1 421 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL);
taknokolat 11:d44d137831b9 422
taknokolat 7:8989a4b84695 423 return;
taknokolat 15:1519fccfcae3 424 }
taknokolat 7:8989a4b84695 425
taknokolat 1:290e621741fd 426 void getSF_Serial_jevois(){
taknokolat 22:a19be3b505b7 427
taknokolat 22:a19be3b505b7 428 //pc.printf("jevois\r\n");
taknokolat 1:290e621741fd 429
taknokolat 1:290e621741fd 430
taknokolat 1:290e621741fd 431 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 432
taknokolat 1:290e621741fd 433 static int bufcounter=0;
taknokolat 1:290e621741fd 434
taknokolat 1:290e621741fd 435
taknokolat 1:290e621741fd 436
taknokolat 1:290e621741fd 437 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 438
taknokolat 1:290e621741fd 439 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 440 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 441 //pc.printf("x");
taknokolat 1:290e621741fd 442 return;
taknokolat 1:290e621741fd 443 }
taknokolat 1:290e621741fd 444
taknokolat 1:290e621741fd 445
taknokolat 1:290e621741fd 446
taknokolat 22:a19be3b505b7 447 pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 448
Skykon 3:c18342e4fddd 449 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 450
taknokolat 1:290e621741fd 451 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 452
taknokolat 1:290e621741fd 453 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 454 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 455 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 456 //wait_ms(20);
taknokolat 1:290e621741fd 457 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 458 bufcounter = 0;
taknokolat 1:290e621741fd 459 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 460 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 461 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 462 }
taknokolat 1:290e621741fd 463
taknokolat 1:290e621741fd 464 else if(bufcounter>=5){
taknokolat 1:290e621741fd 465 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 466 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 467 bufcounter = 0;
taknokolat 1:290e621741fd 468 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 469 }
taknokolat 1:290e621741fd 470 }
taknokolat 1:290e621741fd 471
taknokolat 1:290e621741fd 472
taknokolat 1:290e621741fd 473 }
taknokolat 1:290e621741fd 474
taknokolat 1:290e621741fd 475
taknokolat 12:083662bca47d 476 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 477
taknokolat 7:8989a4b84695 478 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 479
taknokolat 1:290e621741fd 480 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 481
taknokolat 1:290e621741fd 482 static int bufcounter=0;
taknokolat 1:290e621741fd 483
taknokolat 1:290e621741fd 484
taknokolat 1:290e621741fd 485
taknokolat 1:290e621741fd 486 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 487
taknokolat 1:290e621741fd 488 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 489 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 490 //pc.printf("x");
taknokolat 1:290e621741fd 491 return;
taknokolat 1:290e621741fd 492 }
taknokolat 1:290e621741fd 493
taknokolat 1:290e621741fd 494
taknokolat 1:290e621741fd 495
taknokolat 1:290e621741fd 496 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 497
taknokolat 1:290e621741fd 498 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 499
taknokolat 1:290e621741fd 500 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 501
taknokolat 1:290e621741fd 502 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 503 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 504 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 505 //wait_ms(20);
taknokolat 1:290e621741fd 506 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 507 bufcounter = 0;
taknokolat 1:290e621741fd 508 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 509 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 510 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 511 }
taknokolat 1:290e621741fd 512
taknokolat 1:290e621741fd 513 else if(bufcounter>=5){
taknokolat 1:290e621741fd 514 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 515 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 516 bufcounter = 0;
taknokolat 1:290e621741fd 517 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 518 }
taknokolat 1:290e621741fd 519 }
taknokolat 2:f30666d7838b 520
taknokolat 7:8989a4b84695 521 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 522
taknokolat 12:083662bca47d 523 }
taknokolat 1:290e621741fd 524
Skykon 3:c18342e4fddd 525
Skykon 3:c18342e4fddd 526 void setup(){
HARUKIDELTA 23:29b2722bd753 527
HARUKIDELTA 23:29b2722bd753 528 led1 = 1;
HARUKIDELTA 23:29b2722bd753 529 led2 = 1;
HARUKIDELTA 23:29b2722bd753 530 led3 = 1;
HARUKIDELTA 23:29b2722bd753 531 led4 = 1;
HARUKIDELTA 26:ea86e69563b5 532
HARUKIDELTA 26:ea86e69563b5 533 servoR.pulsewidth_us(Servo_NEUTRAL_R); //servo initialize
HARUKIDELTA 26:ea86e69563b5 534 servoL.pulsewidth_us(Servo_NEUTRAL_L);
HARUKIDELTA 26:ea86e69563b5 535 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
HARUKIDELTA 26:ea86e69563b5 536 servoCameradeg.pulsewidth_us(Camera_deg_A);
HARUKIDELTA 26:ea86e69563b5 537 servoCameraPinto.pulsewidth_us(focus_NEUTRAL);
Skykon 3:c18342e4fddd 538
taknokolat 13:b088f0db7158 539 SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 540 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 541 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 542 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 543 &Camera_deg_A, &Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 544 &Pint_speed,&Pint_wait,
taknokolat 19:949bab1e9451 545 &Turntable_speed,
taknokolat 24:0ad1725c7849 546 &Time360, &Match_wid,
taknokolat 20:011977a37394 547 &Camera_board_wait
taknokolat 13:b088f0db7158 548 );
taknokolat 12:083662bca47d 549
Skykon 3:c18342e4fddd 550 Init_sensors();
Skykon 3:c18342e4fddd 551 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 552
taknokolat 7:8989a4b84695 553 //NVIC_SetPriority(USART1_IRQn,0);
taknokolat 7:8989a4b84695 554 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 555 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 556 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 557 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 558
taknokolat 7:8989a4b84695 559 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 560 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 561
Skykon 3:c18342e4fddd 562 DisplayClock();
Skykon 3:c18342e4fddd 563 t.start();
Skykon 3:c18342e4fddd 564
Skykon 3:c18342e4fddd 565 pc.printf("MPU calibration start\r\n");
taknokolat 24:0ad1725c7849 566 //pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 567
Skykon 3:c18342e4fddd 568 float offsetstart = t.read();
Skykon 3:c18342e4fddd 569 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 570 SensingMPU();
taknokolat 24:0ad1725c7849 571 //SensingHMC();
Skykon 3:c18342e4fddd 572 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 24:0ad1725c7849 573 //pc.printf("\t%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 574 pc.printf("\r\n");
HARUKIDELTA 23:29b2722bd753 575 led1 = !led1;
HARUKIDELTA 23:29b2722bd753 576 led2 = !led2;
HARUKIDELTA 23:29b2722bd753 577 led3 = !led3;
HARUKIDELTA 23:29b2722bd753 578 led4 = !led4;
Skykon 3:c18342e4fddd 579 }
Skykon 3:c18342e4fddd 580
Skykon 3:c18342e4fddd 581 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 582 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 583 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 584 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 585 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 586 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 587
taknokolat 24:0ad1725c7849 588 //g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 24:0ad1725c7849 589 //nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 24:0ad1725c7849 590 //if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 591
HARUKIDELTA 23:29b2722bd753 592 led1 = 0;
HARUKIDELTA 23:29b2722bd753 593 led2 = 0;
HARUKIDELTA 23:29b2722bd753 594 led3 = 0;
HARUKIDELTA 23:29b2722bd753 595 led4 = 0;
HARUKIDELTA 23:29b2722bd753 596
Skykon 3:c18342e4fddd 597 wait(0.2);
Skykon 3:c18342e4fddd 598
HARUKIDELTA 26:ea86e69563b5 599
HARUKIDELTA 26:ea86e69563b5 600 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 26:ea86e69563b5 601 if( g_fp == NULL ) {
HARUKIDELTA 26:ea86e69563b5 602 pc.printf( "ファイルオープンエラー\r\n" );
HARUKIDELTA 26:ea86e69563b5 603 }
HARUKIDELTA 26:ea86e69563b5 604 fprintf(g_fp,"-------------------------\r\n");
HARUKIDELTA 26:ea86e69563b5 605 fprintf(g_fp,"All initialized.\r\n");
HARUKIDELTA 26:ea86e69563b5 606 fclose( g_fp );
HARUKIDELTA 26:ea86e69563b5 607
HARUKIDELTA 26:ea86e69563b5 608
Skykon 3:c18342e4fddd 609 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 610 setupFlag=true;
taknokolat 1:290e621741fd 611 }
taknokolat 1:290e621741fd 612
Skykon 3:c18342e4fddd 613
Skykon 3:c18342e4fddd 614 void SensingMPU(){
Skykon 3:c18342e4fddd 615 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 616 //t_start = t.read_us();
Skykon 3:c18342e4fddd 617
taknokolat 7:8989a4b84695 618 float rpy[3] = {0};
Skykon 3:c18342e4fddd 619 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 620 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 621 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 622 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 623 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 624 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 625 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 626
Skykon 3:c18342e4fddd 627 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 628
Skykon 3:c18342e4fddd 629 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 630 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 631 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 632 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 633 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 634
Skykon 3:c18342e4fddd 635
Skykon 3:c18342e4fddd 636 //外れ値対策
Skykon 3:c18342e4fddd 637 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 638 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 639 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 640 if(!setupFlag){
taknokolat 4:67f705d42f1e 641 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 642 }else{
taknokolat 4:67f705d42f1e 643 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 644 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 645 }else{
taknokolat 4:67f705d42f1e 646 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 647 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 648 }
taknokolat 4:67f705d42f1e 649 }
Skykon 3:c18342e4fddd 650
Skykon 3:c18342e4fddd 651 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
Skykon 3:c18342e4fddd 652 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 653 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 654 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 655 }
Skykon 3:c18342e4fddd 656 count_changeRPY = 0;
Skykon 3:c18342e4fddd 657 }else count_changeRPY++;
Skykon 3:c18342e4fddd 658 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 659
Skykon 3:c18342e4fddd 660 }
Skykon 3:c18342e4fddd 661
Skykon 3:c18342e4fddd 662
Skykon 3:c18342e4fddd 663 void Init_sensors(){
Skykon 3:c18342e4fddd 664 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 665 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 666 }
Skykon 3:c18342e4fddd 667 }
Skykon 3:c18342e4fddd 668
Skykon 3:c18342e4fddd 669
Skykon 3:c18342e4fddd 670 void DisplayClock(){
Skykon 3:c18342e4fddd 671 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 672 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 673 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 674 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 675 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 676 }
taknokolat 6:166746820555 677
taknokolat 24:0ad1725c7849 678 /*void SensingHMC(){
taknokolat 6:166746820555 679 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 680 //t_start = t.read_us();
taknokolat 6:166746820555 681
taknokolat 7:8989a4b84695 682 float rpy=0;
taknokolat 6:166746820555 683 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 684 static bool flg_checkoutlier = false;
taknokolat 6:166746820555 685 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 6:166746820555 686 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 687 //NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 688 //NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 689 //NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 690
taknokolat 24:0ad1725c7849 691 rpy= compass.getHeadingXYDeg(Time360,Match_wid);
taknokolat 6:166746820555 692
taknokolat 6:166746820555 693 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 6:166746820555 694 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 695 //NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 696 //NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 697 //NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 698
taknokolat 6:166746820555 699
taknokolat 6:166746820555 700 //外れ値対策
taknokolat 6:166746820555 701 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 702 if(!setupFlag){
taknokolat 6:166746820555 703 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 704 }else{
taknokolat 6:166746820555 705 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 706 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 707 }else{
taknokolat 6:166746820555 708 rpy += 360.0f;
taknokolat 6:166746820555 709 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 710 }
taknokolat 6:166746820555 711 }
taknokolat 6:166746820555 712
taknokolat 6:166746820555 713 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 714 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 715
taknokolat 6:166746820555 716 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 717
taknokolat 6:166746820555 718 count_changeRPY = 0;
taknokolat 6:166746820555 719 }else count_changeRPY++;
taknokolat 6:166746820555 720 flg_checkoutlier = false;
taknokolat 6:166746820555 721
taknokolat 24:0ad1725c7849 722 }*/
taknokolat 12:083662bca47d 723
taknokolat 12:083662bca47d 724 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 725 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 726 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 727 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 728 int *Camera_deg_A, int *Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 729 int *Pint_speed, float *Pint_wait,
taknokolat 19:949bab1e9451 730 int *Turntable_speed,
taknokolat 24:0ad1725c7849 731 int *Time360, int *Match_wid,
taknokolat 20:011977a37394 732 int *Camera_board_wait
taknokolat 12:083662bca47d 733 ){
taknokolat 12:083662bca47d 734
taknokolat 12:083662bca47d 735 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 736
taknokolat 12:083662bca47d 737 FILE *fp;
taknokolat 12:083662bca47d 738 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 739 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 740 const char *paramNames[] = {
taknokolat 12:083662bca47d 741 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 742 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 743 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 744 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 745 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 746 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 747 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 748 "MATCH_SPEED",
taknokolat 12:083662bca47d 749 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 750 "CAMERA_DEG_A",
taknokolat 16:26cee2aaf61d 751 "CAMERA_DEG_B",
taknokolat 16:26cee2aaf61d 752 "PINT_SPEED",
HARUKIDELTA 17:83db05cab3d1 753 "PINT_WAIT",
taknokolat 19:949bab1e9451 754 "TURNTABLE_SPEED",
taknokolat 24:0ad1725c7849 755 "TIME360",
taknokolat 24:0ad1725c7849 756 "MATCH_WID",
taknokolat 20:011977a37394 757 "CAMERA_BOARD_WAIT"
taknokolat 12:083662bca47d 758 };
taknokolat 12:083662bca47d 759
taknokolat 12:083662bca47d 760 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 761
taknokolat 12:083662bca47d 762 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 763 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 764 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 765 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 766 SDerrorcount++;
taknokolat 12:083662bca47d 767 }
taknokolat 12:083662bca47d 768 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 769 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 770 SDerrorcount++;
taknokolat 12:083662bca47d 771 }
taknokolat 12:083662bca47d 772 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 773 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 774 SDerrorcount++;
taknokolat 12:083662bca47d 775 }
taknokolat 12:083662bca47d 776 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 777 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 778 SDerrorcount++;
taknokolat 12:083662bca47d 779 }
taknokolat 12:083662bca47d 780 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 781 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 782 SDerrorcount++;
taknokolat 12:083662bca47d 783 }
taknokolat 12:083662bca47d 784 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 785 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 786 SDerrorcount++;
taknokolat 12:083662bca47d 787 }
taknokolat 12:083662bca47d 788
taknokolat 12:083662bca47d 789 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 790 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 791 SDerrorcount++;
taknokolat 12:083662bca47d 792 }
taknokolat 12:083662bca47d 793 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 794 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 795 SDerrorcount++;
taknokolat 12:083662bca47d 796 }
taknokolat 12:083662bca47d 797 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 798 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 799 SDerrorcount++;
taknokolat 12:083662bca47d 800 }
taknokolat 19:949bab1e9451 801 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 802 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 803 SDerrorcount++;
taknokolat 12:083662bca47d 804 }
taknokolat 19:949bab1e9451 805 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 806 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 807 SDerrorcount++;
taknokolat 12:083662bca47d 808 }
taknokolat 19:949bab1e9451 809 if(GetParameter(fp,paramNames[11],parameter)) *Pint_speed = atof(parameter);
taknokolat 16:26cee2aaf61d 810 else{ *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 811 SDerrorcount++;
taknokolat 16:26cee2aaf61d 812 }
taknokolat 20:011977a37394 813 if(GetParameter(fp,paramNames[12],parameter)) *Pint_wait = atof(parameter);
taknokolat 20:011977a37394 814 else{ *Pint_wait = pint_wait;
taknokolat 16:26cee2aaf61d 815 SDerrorcount++;
taknokolat 16:26cee2aaf61d 816 }
taknokolat 19:949bab1e9451 817 if(GetParameter(fp,paramNames[13],parameter)) *Turntable_speed = atof(parameter);
HARUKIDELTA 17:83db05cab3d1 818 else{ *Turntable_speed = turntable_speed;
HARUKIDELTA 17:83db05cab3d1 819 SDerrorcount++;
HARUKIDELTA 17:83db05cab3d1 820 }
taknokolat 24:0ad1725c7849 821 if(GetParameter(fp,paramNames[14],parameter)) *Time360 = atof(parameter);
taknokolat 24:0ad1725c7849 822 else{ *Time360 = time360;
taknokolat 19:949bab1e9451 823 SDerrorcount++;
taknokolat 19:949bab1e9451 824 }
taknokolat 24:0ad1725c7849 825 if(GetParameter(fp,paramNames[15],parameter)) *Match_wid = atof(parameter);
taknokolat 24:0ad1725c7849 826 else{ *Match_wid = match_wid;
taknokolat 19:949bab1e9451 827 SDerrorcount++;
taknokolat 19:949bab1e9451 828 }
taknokolat 20:011977a37394 829 if(GetParameter(fp,paramNames[16],parameter)) *Camera_board_wait = atof(parameter);
taknokolat 20:011977a37394 830 else{ *Camera_board_wait = camera_board_wait;
taknokolat 20:011977a37394 831 SDerrorcount++;
taknokolat 20:011977a37394 832 }
taknokolat 12:083662bca47d 833 fclose(fp);
taknokolat 12:083662bca47d 834
taknokolat 12:083662bca47d 835 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 836 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 837
taknokolat 12:083662bca47d 838 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 839 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 840 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 841 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 842 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 843 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 844 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 845 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 846 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 847 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 848 *Camera_deg_B = camera_deg_B;
taknokolat 16:26cee2aaf61d 849 *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 850 *Pint_wait = pint_wait;
HARUKIDELTA 17:83db05cab3d1 851 *Turntable_speed = turntable_speed;
taknokolat 24:0ad1725c7849 852 *Time360 = time360;
taknokolat 24:0ad1725c7849 853 *Match_wid = match_wid;
taknokolat 22:a19be3b505b7 854 *Camera_board_wait = camera_board_wait;
taknokolat 12:083662bca47d 855 SDerrorcount = -1;
taknokolat 12:083662bca47d 856 }
taknokolat 12:083662bca47d 857 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 858 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 859 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 860 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 861
taknokolat 12:083662bca47d 862 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 13:b088f0db7158 863 pc.printf("Servo_high_FORWARD_R = %d, Servo_high_FORWARD_L = %d\r\n", *Servo_high_FORWARD_R, *Servo_high_FORWARD_L);
taknokolat 13:b088f0db7158 864 pc.printf("Servo_slow_FORWARD_R = %d, Servo_slow_FORWARD_L = %d\r\n", *Servo_slow_FORWARD_R, *Servo_slow_FORWARD_L);
taknokolat 13:b088f0db7158 865 pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 13:b088f0db7158 866 pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL);
taknokolat 13:b088f0db7158 867 pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 16:26cee2aaf61d 868 pc.printf("Pint_speed = %d, Pint_wait = %f\r\n", *Pint_speed, *Pint_wait);
HARUKIDELTA 17:83db05cab3d1 869 pc.printf("Turntable_speed = %d\r\n",*Turntable_speed);
taknokolat 24:0ad1725c7849 870 pc.printf("Time360 = %d, Match_wid = %d\r\n", *Time360, *Match_wid);
taknokolat 20:011977a37394 871 pc.printf("Camera_board_wait = %d\r\n", *Camera_board_wait);
taknokolat 12:083662bca47d 872
taknokolat 12:083662bca47d 873 return SDerrorcount;
taknokolat 12:083662bca47d 874 }
taknokolat 12:083662bca47d 875 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 876 int i=0, j=0;
taknokolat 12:083662bca47d 877 int strmax = 200;
taknokolat 12:083662bca47d 878 char str[strmax];
taknokolat 12:083662bca47d 879
taknokolat 12:083662bca47d 880 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 881 while(1){
taknokolat 12:083662bca47d 882 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 883 return 0;
taknokolat 12:083662bca47d 884 }
taknokolat 12:083662bca47d 885 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 886 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 887 while (str[i] != '\n') {
taknokolat 12:083662bca47d 888 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 889 }
taknokolat 12:083662bca47d 890 parameter[j] = '\0';
taknokolat 12:083662bca47d 891 return 1;
taknokolat 12:083662bca47d 892 }
taknokolat 12:083662bca47d 893 }
taknokolat 12:083662bca47d 894 }
taknokolat 12:083662bca47d 895
taknokolat 12:083662bca47d 896
taknokolat 6:166746820555 897
taknokolat 4:67f705d42f1e 898 void DebugPrint(){
taknokolat 4:67f705d42f1e 899 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); //skipper地磁気センサ_デバック用
taknokolat 7:8989a4b84695 900 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 901 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 902 //pc.printf("\r\n");
taknokolat 6:166746820555 903 }