a
Dependencies: mbed Servo SRF02 LPS25HB_I2C MPU6050 SDFileSystem HEPTA_COM
main.cpp@2:9bfc2984e322, 2021-11-09 (annotated)
- Committer:
- kosukesuzuki
- Date:
- Tue Nov 09 12:07:51 2021 +0000
- Revision:
- 2:9bfc2984e322
- Parent:
- 0:bdbd3d6fc5d5
- Child:
- 3:10861141fce3
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kosukesuzuki | 2:9bfc2984e322 | 1 | //コマンドなしver |
kosukesuzuki | 2:9bfc2984e322 | 2 | //コマンドだと反応しないため |
kosukesuzuki | 2:9bfc2984e322 | 3 | |
mbed_official | 0:bdbd3d6fc5d5 | 4 | #include "mbed.h" |
kosukesuzuki | 2:9bfc2984e322 | 5 | //#include "SRF02.h" |
mbed_official | 0:bdbd3d6fc5d5 | 6 | #include "SDFileSystem.h" |
kosukesuzuki | 2:9bfc2984e322 | 7 | #include "Servo.h" |
kosukesuzuki | 2:9bfc2984e322 | 8 | #include "MPU6050.h" |
kosukesuzuki | 2:9bfc2984e322 | 9 | #include "LPS.h" |
kosukesuzuki | 2:9bfc2984e322 | 10 | |
kosukesuzuki | 2:9bfc2984e322 | 11 | DigitalOut myleds[]={LED1,LED2,LED3,LED4}; |
kosukesuzuki | 2:9bfc2984e322 | 12 | |
kosukesuzuki | 2:9bfc2984e322 | 13 | SDFileSystem sd(p5, p6, p7, p8, "sd"); //SDcard |
kosukesuzuki | 2:9bfc2984e322 | 14 | //SRF02 sensor(p9,p10,0xE0); //距離センサ (使わない) |
kosukesuzuki | 2:9bfc2984e322 | 15 | Servo myservo(p21); //モーター |
kosukesuzuki | 2:9bfc2984e322 | 16 | Serial pc(USBTX,USBRX,9600); //機体teraterm |
kosukesuzuki | 2:9bfc2984e322 | 17 | Serial xbee(p13,p14,9600); //xbee |
kosukesuzuki | 2:9bfc2984e322 | 18 | MPU6050 mpu(p28,p27); //9軸 |
kosukesuzuki | 2:9bfc2984e322 | 19 | I2C i2c(p28,p27); //気圧 |
kosukesuzuki | 2:9bfc2984e322 | 20 | LPS ps(i2c); |
kosukesuzuki | 2:9bfc2984e322 | 21 | |
kosukesuzuki | 2:9bfc2984e322 | 22 | int accel[3]; |
kosukesuzuki | 2:9bfc2984e322 | 23 | |
kosukesuzuki | 2:9bfc2984e322 | 24 | Timer t; |
kosukesuzuki | 2:9bfc2984e322 | 25 | |
mbed_official | 0:bdbd3d6fc5d5 | 26 | int main() { |
kosukesuzuki | 2:9bfc2984e322 | 27 | t.start(); |
kosukesuzuki | 2:9bfc2984e322 | 28 | xbee.printf("SDcard start\r\n"); |
kosukesuzuki | 2:9bfc2984e322 | 29 | pc.printf("SDcard start\r\n"); |
kosukesuzuki | 2:9bfc2984e322 | 30 | mkdir("/sd/mydir", 0777); //filename |
kosukesuzuki | 2:9bfc2984e322 | 31 | FILE *fp = fopen("/sd/mydir/sdtest.txt", "w"); //open |
mbed_official | 0:bdbd3d6fc5d5 | 32 | |
kosukesuzuki | 2:9bfc2984e322 | 33 | if (!ps.init()){ |
kosukesuzuki | 2:9bfc2984e322 | 34 | pc.printf("Failed to autodetect pressure sensor!\r\n"); |
kosukesuzuki | 2:9bfc2984e322 | 35 | while (1); |
kosukesuzuki | 2:9bfc2984e322 | 36 | } |
kosukesuzuki | 2:9bfc2984e322 | 37 | ps.enableDefault(); |
kosukesuzuki | 2:9bfc2984e322 | 38 | for(int num =0;num<1000;num++){ //回数(数値を変える必要ある) |
kosukesuzuki | 2:9bfc2984e322 | 39 | myleds[1] = 1; |
kosukesuzuki | 2:9bfc2984e322 | 40 | wait(0.01); |
kosukesuzuki | 2:9bfc2984e322 | 41 | L: //移動場所 |
kosukesuzuki | 2:9bfc2984e322 | 42 | //気圧センサー(SDcardとteratermに表示する) |
kosukesuzuki | 2:9bfc2984e322 | 43 | float pressure = ps.readPressureMillibars(); |
kosukesuzuki | 2:9bfc2984e322 | 44 | float altitude = ps.pressureToAltitudeMeters(pressure)-65; //補正値必須 |
kosukesuzuki | 2:9bfc2984e322 | 45 | float temperature = ps.readTemperatureC(); |
kosukesuzuki | 2:9bfc2984e322 | 46 | //pc.printf("p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C\r\n",pressure,altitude,temperature); |
kosukesuzuki | 2:9bfc2984e322 | 47 | |
kosukesuzuki | 2:9bfc2984e322 | 48 | //距離SRF02(表示しない) |
kosukesuzuki | 2:9bfc2984e322 | 49 | //int d = sensor.getDistanceCm(); |
kosukesuzuki | 2:9bfc2984e322 | 50 | //pc.printf("Distance = %d cm\r\n",d); |
kosukesuzuki | 2:9bfc2984e322 | 51 | //加速度MPU9250(表示する) |
kosukesuzuki | 2:9bfc2984e322 | 52 | |
kosukesuzuki | 2:9bfc2984e322 | 53 | mpu.readAccelData(accel);//加速度の値をaccel[3]に代入 |
kosukesuzuki | 2:9bfc2984e322 | 54 | int x = accel[0]-123;//x軸方向の加速度 |
kosukesuzuki | 2:9bfc2984e322 | 55 | int y = accel[1]+60;//y軸方向の加速度 |
kosukesuzuki | 2:9bfc2984e322 | 56 | int z = accel[2]+1110 ;//z軸方向の加速度 |
kosukesuzuki | 2:9bfc2984e322 | 57 | float X = x*0.000597964111328125; |
kosukesuzuki | 2:9bfc2984e322 | 58 | float Y = y*0.000597964111328125; |
kosukesuzuki | 2:9bfc2984e322 | 59 | float Z = z*0.000597964111328125; |
kosukesuzuki | 2:9bfc2984e322 | 60 | double a = X*X+Y*Y+Z*Z-95.982071137936; |
kosukesuzuki | 2:9bfc2984e322 | 61 | //pc.printf("%.2f %.2f %.2f %.2f\r\n",X,Y,Z,a);//速度と変位を表示 |
kosukesuzuki | 2:9bfc2984e322 | 62 | |
kosukesuzuki | 2:9bfc2984e322 | 63 | |
kosukesuzuki | 2:9bfc2984e322 | 64 | wait(0.01); |
kosukesuzuki | 2:9bfc2984e322 | 65 | pc.printf("number %f t %0.4f p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C ax%.2f ay%.2f az%.2f |a| %.2f\r\n",num,t.read(),pressure,altitude,temperature,X,Y,Z,a); |
kosukesuzuki | 2:9bfc2984e322 | 66 | xbee.printf("number %f t %0.4f p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C ax%.2f ay%.2f az%.2f |a| %.2f\r\n",num,t.read(),pressure,altitude,temperature,X,Y,Z,a); |
kosukesuzuki | 2:9bfc2984e322 | 67 | |
kosukesuzuki | 2:9bfc2984e322 | 68 | if( 15<altitude && altitude< 20){ //標高(数値変える必要あり) |
kosukesuzuki | 2:9bfc2984e322 | 69 | pc.printf("motor"); |
kosukesuzuki | 2:9bfc2984e322 | 70 | xbee.printf("motor"); |
kosukesuzuki | 2:9bfc2984e322 | 71 | for(int motor =0; motor <100; motor++) { |
kosukesuzuki | 2:9bfc2984e322 | 72 | myservo = motor/100.0; |
kosukesuzuki | 2:9bfc2984e322 | 73 | wait(0.01); |
kosukesuzuki | 2:9bfc2984e322 | 74 | goto L; //Lに移動 |
kosukesuzuki | 2:9bfc2984e322 | 75 | } |
kosukesuzuki | 2:9bfc2984e322 | 76 | } |
kosukesuzuki | 2:9bfc2984e322 | 77 | myleds[1]=0; |
kosukesuzuki | 2:9bfc2984e322 | 78 | wait(0.01); |
kosukesuzuki | 2:9bfc2984e322 | 79 | if(fp == NULL) { //データが無い場合 |
kosukesuzuki | 2:9bfc2984e322 | 80 | error("Could not open file for write\r\n"); |
kosukesuzuki | 2:9bfc2984e322 | 81 | } |
kosukesuzuki | 2:9bfc2984e322 | 82 | //fprintf(fp, "distance %d",d); //距離保存(保存しない) |
kosukesuzuki | 2:9bfc2984e322 | 83 | //fprintf(fp,"%.2f %.2f %.2f %.2f\r\n",X,Y,Z,a); //加速度保存 |
kosukesuzuki | 2:9bfc2984e322 | 84 | //fprintf(fp,"p:%.2f\t mbar\ta:%.2f m\tt:%.2f deg C\r\n",pressure,altitude,temperature); //気圧保存 |
kosukesuzuki | 2:9bfc2984e322 | 85 | fprintf(fp,"%f,%0.4f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,\r\n",num,t.read(),pressure,altitude,temperature,X,Y,Z,a); |
kosukesuzuki | 2:9bfc2984e322 | 86 | } |
kosukesuzuki | 2:9bfc2984e322 | 87 | fclose(fp); //保存終了 |
kosukesuzuki | 2:9bfc2984e322 | 88 | xbee.printf("SDcard OK"); |
kosukesuzuki | 2:9bfc2984e322 | 89 | pc.printf("SDcard OK"); |
kosukesuzuki | 2:9bfc2984e322 | 90 | t.stop(); |
kosukesuzuki | 2:9bfc2984e322 | 91 | } |