Diff: main.cpp

Revision:

27:f67efcee6509

Parent:

26:ea86e69563b5

Child:

28:887df143fa9c

--- a/main.cpp	Tue Feb 19 10:36:19 2019 +0000
+++ b/main.cpp	Tue Feb 19 11:21:00 2019 +0000
@@ -142,6 +142,7 @@
     // シリアル通信受信の割り込みイベント登録
     pc.attach(getSF_Serial_jevois, Serial::RxIrq);
     pc2.attach(getSF_Serial_pi, Serial::RxIrq);
+    t2.start();
     
     while(1) {
         if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
@@ -185,7 +186,7 @@
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn);
             g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
-            fprintf(g_fp, "Not found\r\n.");        
+            fprintf(g_fp, "Time = %d min %d sec : Goal is not found.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
             fclose(g_fp);
             break;
             
@@ -194,6 +195,9 @@
             servoL.pulsewidth_us(Servo_high_FORWARD_L);
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move forward .\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
             
         case 'l': //MOVE_LEFT Low Speed
@@ -201,18 +205,29 @@
             servoL.pulsewidth_us(Servo_NEUTRAL_L);
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
-        
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move left low speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
+            break;
+            
         case 'L': //MOVE_LEFT High Speed
             servoR.pulsewidth_us(Servo_high_FORWARD_R);
             servoL.pulsewidth_us(Servo_NEUTRAL_L);
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move left high speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
+            break;
             
         case 'r': //MOVE_RIGHT Low Speed  
             servoR.pulsewidth_us(Servo_NEUTRAL_R);
             servoL.pulsewidth_us(Servo_slow_FORWARD_L);
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move right low speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
         
         case 'R': //MOVE_RIGHT  High Speed
@@ -220,6 +235,9 @@
             servoL.pulsewidth_us(Servo_high_FORWARD_L);
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move left high speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
             
         case 'G': //GOAL_FORWARD
@@ -227,6 +245,9 @@
             servoL.pulsewidth_us(Servo_slow_FORWARD_L);
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move goal forward mode.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
         
         case '1': //MOVE_FORWARD Speed Level 1
@@ -239,6 +260,9 @@
             }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn);  
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 1sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
         
         case '2': //MOVE_FORWARD Speed Level 2
@@ -251,6 +275,9 @@
             }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 2sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
         
         case '3': //MOVE_FORWARD Speed Level 3
@@ -263,6 +290,9 @@
             }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 3sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
         
         case '4': //MOVE_FORWARD Speed Level 4
@@ -275,6 +305,9 @@
             }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)||(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 4sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
             
         case '5': //MOVE_FORWARD Speed Level 5
@@ -287,6 +320,9 @@
             }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
             NVIC_EnableIRQ(USART1_IRQn);
             NVIC_EnableIRQ(USART2_IRQn); 
+            g_fp = fopen( "/sd/Datalog01.txt","a" );
+            fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 5sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);        
+            fclose(g_fp);
             break;
             
         case 'M': //MatchPosition
@@ -601,7 +637,7 @@
     if( g_fp == NULL ) {
         pc.printf( "ファイルオープンエラー\r\n" );
     }
-    fprintf(g_fp,"-------------------------\r\n");
+    fprintf(g_fp,"\r\n-------------------------\r\n");
     fprintf(g_fp,"All initialized.\r\n");
     fclose( g_fp );