Diff: main.cpp

Revision:

4:a44c7a8adaeb

Parent:

3:507d05fb5cd8

Child:

5:e5c45611bf43

--- a/main.cpp	Sun Aug 06 07:00:12 2017 +0000
+++ b/main.cpp	Sun Aug 06 09:48:17 2017 +0000
@@ -5,7 +5,7 @@
 
 #define START_kasokudo 0
 #define START_koudo 0
-#define P_openkoudo 0.5
+#define P_openkoudo 150
 #define SETUP 0
 #define LAUNCH 1
 #define RISE 2
@@ -13,12 +13,13 @@
 #define DROP2 4
 #define LAND 5
 
+Degitalout 
+Serial pc(USBTX,USBRX);
 MS5607I2C ms(p9,p10,false);
 MPU6050 mpu(p9,p10);
 DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
 DigitalOut myled3(LED3);//後で削除//
-DigitalOut myled4(LED4);
 PwmOut servo1(p23);
 PwmOut servo2(p24);
 PwmOut servo3(p25);
@@ -31,6 +32,17 @@
 Timer Time;
 float LAUNCHtime,RISEtime,DROP1time;
 
+void _judge();
+float _mannaka
+
+int main(){
+    Timer start();
+    Time.start();
+    tic.attach(&_judge,0.1);
+    while(1);
+    return 0;
+}
+
 void _judge(){
      switch(Phase){
         case SETUP:
@@ -58,20 +70,18 @@
         case RISE:
                 myled2=0;
                 float alt_RISE = ms.getAltitude();
-                if(max < alt_RISE){
+                if(max < alt_RISE+0.5){
                     max = alt_RISE;
-                }else if(max+10 >= alt_RISE){ 
-                    max = alt_RISE;
+                }else if(max+0.5 > alt_RISE){ 
                     count_RISE++;
                     RISEtime = Time.read();
                 }
-                if(Time.read() >= RISEtime + 0.5){
+                if(Time.read() >= RISEtime + 1.0){
                     count_RISE = 0;
                 }
-                if(count_RISE==5);{
+                if(count_RISE==5){
                     servo1.pulsewidth(0.0015);
                     servo2.pulsewidth(0.0015);
-                    wait(2.0);
                     myled2 = 1;
                     Phase=DROP1;
                 }
@@ -80,12 +90,12 @@
         case DROP1:
                 myled3=0;
                 float alt_DROP1 = ms.getAltitude();
-                if(alt_DROP1 - START_koudo < P_openkoudo){
+                if((alt_DROP1 - START_koudo) < P_openkoudo){
                     count_DROP1++;
                 }
                 if(Time.read() <= DROP1time + 0.5){
                     count_DROP1 = 0;
-                }
+                }                                                                
                 if(count_DROP1==5){
                     servo3.pulsewidth(0.0015);
                     wait(2.0);
@@ -107,10 +117,5 @@
     }
 }
     
-int main(){
-    Timer start();
-    Time.start();
-    tic.attach(&_judge,0.1);
-    while(1);
-    return 0;
-}
\ No newline at end of file
+float _mannaka{
+    
\ No newline at end of file