Diff: main.cpp

Revision:

13:197c4f61b3b7

Parent:

12:2f1e8b205d0f

Child:

14:dc84c793b8b5

--- a/main.cpp	Tue Dec 08 02:34:01 2020 +0000
+++ b/main.cpp	Tue Dec 08 03:06:43 2020 +0000
@@ -32,6 +32,7 @@
 FILE *fp;
 char fname[100];
 float PI = 3.14159265358979323846f;
+float pw;
 
 //float operation parameters
 float target_depth=0;   //global target depth default 0
@@ -93,8 +94,8 @@
             thruster.pulsewidth(1.3/1000.00);
             thruster2.pulsewidth(1.3/1000.00);
         }
-    }
-    while(ttt.read()>=180)
+    
+    if (ttt.read()>=180)
     {   
     
             //stop the timer
@@ -123,6 +124,7 @@
         myled=!myled;
         wait(1);
     }
+    }
 
     
 
@@ -175,7 +177,7 @@
 void log_data()
 {
     fp= fopen(fname, "a");
-    fprintf(fp, "$IMU,3,15, %f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3.f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f;\r\n",t.read(),p_sensor.depth(),p_sensor.MS5837_Temperature(),thruster.pulsewidth(7),accel[0],accel[1],accel[2],gyro[0],gyro[1],gyro[2],euler[0],euler[1],euler[2],t_sensor.temp(),photo.light());
+    fprintf(fp, "$NMEA,3,15, %f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f, %3.3f;\r\n",t.read(),p_sensor.depth(),p_sensor.MS5837_Temperature(),pw,accel[0],accel[1],accel[2],gyro[0],gyro[1],gyro[2],euler[0],euler[1],euler[2],t_sensor.temp(),photo.light());
     fclose(fp);
     
     // log pulse width
@@ -244,7 +246,7 @@
 ////Thruster on control, pw->pulse width in milli-second//
 ////                        pw range between 1 to 1.5//
 ////                       on_time-> thruster on time.
-void thrust_on(float pw, float on_time)  //input is pulse width
+void thrust_on(float on_time)  //input is pulse width
 {
     float pw_max=2.0;
     if(pw>pw_max)