2017年能代開放用プログラム
Dependencies: mbed MPU6050 MS5607
Diff: main.cpp
- Revision:
- 1:68309ba0103d
- Parent:
- 0:a4734a842395
--- a/main.cpp Sun Jul 23 03:34:48 2017 +0000 +++ b/main.cpp Fri Aug 11 13:57:14 2017 +0000 @@ -1,12 +1,79 @@ #include "mbed.h" +#include "math.h" +#include "MPU6050.h" +#include "MS5607I2C.h" + +#define STANBY +#define LAUNCH +#define RISE +#define DROP +#define ACC +#define SERCH_TIME +#define +#define +#define +#define -DigitalOut myled(LED1); + +MPU6050 mpu(p9, p10); +MS5607I2C ms(p9, p10, false); +PwmOut servo1(p26); +PwmOut servo2(p25); +PwmOut servo3(p24); +DegitalOut myled1(LED1); +DegitalOut myled2(LED2); +DegitalOut myled3(LED3); +Timer timer; +Ticker ticker; + + +void _judge(); +float _median(float[5]); + int main() { - while(1) { - myled = 1; - wait(0.2); - myled = 0; - wait(0.2); - } + timer.start() } + +void _judge(){ + switch(FHASE){ + case STANBY: + break; + case LAUNCH: + myled1 = 0; + float acc[3], acc_3; + int count = 0; + + getAccelero(acc); + acc_3 = pow(acc[0], 2) + pow(acc[1], 2) + pow(acc[2], 2); + acc_3 = sqrt(acc_3); + + if(acc >= ACC){ + if(count == 0) SERCH_TIME = timer.read(); + count++; + } + + if(timer.read() > time + SERCH_TIME){ + count = 0; + } + + if(count == COUNT){ + myled = 1; + PHASE = RISE; + } + + break; + case RISE: + myled2 = 0; + + break; + case DROP: + + break; + + } +} + +float _median(){ + +}