Revision 5:e5c45611bf43, committed 2017-08-15

Comitter:

nene_kobayashi

Date:

Tue Aug 15 09:54:44 2017 +0000

Parent:

4:a44c7a8adaeb

Commit message:

????????????

Changed in this revision

--- a/main.cpp	Sun Aug 06 09:48:17 2017 +0000
+++ b/main.cpp	Tue Aug 15 09:54:44 2017 +0000
@@ -1,121 +1,113 @@
-#include "mbed.h"
-#include "MS5607I2C.h"
-#include "MPU6050.h"
-#include <math.h>
+#include <mbed.h>
+#include <string.h>
+#include えむぴーゆー
+#include 卍卍エムエス卍卍
 
-#define START_kasokudo 0
-#define START_koudo 0
-#define P_openkoudo 150
-#define SETUP 0
-#define LAUNCH 1
-#define RISE 2
-#define DROP1 3
-#define DROP2 4
-#define LAND 5
+//主関数
+void _log;
+void _open;
 
-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//
-PwmOut servo1(p23);
-PwmOut servo2(p24);
-PwmOut servo3(p25);
-int Phase=SETUP;
-Ticker tic;
-float max=0;
-int count_LAUNCH=0;
-int count_RISE=0;
-int count_DROP1=0;
-Timer Time;
-float LAUNCHtime,RISEtime,DROP1time;
+//雑関数
+float mannaka;
+float 
+
+#define RATE_LOG 100
+#define RATE_OPEN 20
 
-void _judge();
-float _mannaka
+enum FHASE{SETUP=0,LAUNCH=1,RISE=3,DROP1=7,DROP2=15,LAND=16}Fhase; //二進数
+
+//タイマー系
+Ticker tic_log;
+Ticker tic_open;
+Timer time;
 
 int main(){
-    Timer start();
-    Time.start();
-    tic.attach(&_judge,0.1);
-    while(1);
-    return 0;
+ time.start();
+ tic_open.attach(&_open , 1.0/RATE_LOG);
+ tic_open.attach(&_log , 1.0/RATE_OPEN);
+}
+
+void _log{
+    
 }
 
-void _judge(){
-     switch(Phase){
-        case SETUP:
-                Phase=LAUNCH;
-                break;
-                
-        case LAUNCH: 
-                myled1=0;
-                float acc[3];
-                mpu.getAccelero(acc);
-                float acc_LAUNCH = sqrt(acc[0]*acc[0]+acc[1]*acc[1]+acc[2]*acc[2]);
-                if(START_kasokudo < acc_LAUNCH){
-                    count_LAUNCH++;
-                    LAUNCHtime = Time.read();
-                }
-                if(Time.read() >= LAUNCHtime+0.5){
-                    count_LAUNCH=0;
-                }
-                if(count_LAUNCH==5){
-                    myled1=1;
-                    Phase=RISE; 
-                }
-                break;
-                
+void _open{
+    switch(Phase){
+        case SETUP: if フライトモード解除
+                    Fhase = LAUNCH;
+                break
+        case LAUNCH:
+                    配列つくる（X,Y,Z）
+                    タイマースタート
+                    加速度とる
+                    合成する
+                    if 加速度（合成したもの）＝＝一定の値
+                    if (時間>=TBD){
+                        カウント＝0
+                    }
+                    if (カウント==5){
+                    Fhase = RISE;
+                    }
+                break
         case RISE:
-                myled2=0;
-                float alt_RISE = ms.getAltitude();
-                if(max < alt_RISE+0.5){
-                    max = alt_RISE;
-                }else if(max+0.5 > alt_RISE){ 
-                    count_RISE++;
-                    RISEtime = Time.read();
-                }
-                if(Time.read() >= RISEtime + 1.0){
-                    count_RISE = 0;
-                }
-                if(count_RISE==5){
-                    servo1.pulsewidth(0.0015);
-                    servo2.pulsewidth(0.0015);
-                    myled2 = 1;
-                    Phase=DROP1;
-                }
-                break;
-                
+                    タイマー    
+                    高度とる
+                    _mannaka呼び出す
+                    if (高度<=頂点){
+                        カウント++
+                    }
+                    if (時間>＝TBD){
+                        カウント=0
+                    }
+                    if (カウント==5){
+                    パラシュート開放
+                    }
+                    Fhase = DROP1;
+                break
         case DROP1:
-                myled3=0;
-                float alt_DROP1 = ms.getAltitude();
-                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);
-                    myled3 = 1;
-                    Phase=DROP2;
-                }
-                break;
-                
+                    タイマー
+                    高度とる
+                    _mannaka呼び出す
+                    if (高度<＝リーふぃんぐ高度){
+                        カウント＋＋
+                    }
+                    if (時間＞＝TBD){
+                        カウント==0
+                    }
+                    if (カウント＝＝5){
+                        リーふぃんぐ開放
+                    }
+                    Fhase = DROP2;
+                break
         case DROP2:
-                if(ms.getAltitude()== START_koudo){
-                    //ここでサーボ電源切る卍卍//
-                    Phase=LAND;
-                }
-                break;
-                
-                
+                    if 時間＝＝TBD
+                    さーぼの電源切る
+                    Fhase = LAND; 
+                break
         case LAND:
-                break;
+                break
     }
 }
-    
-float _mannaka{
-    
\ No newline at end of file
+
+float mannaka(float data[],int num){
+    float ans;
+    float *data_copy;
+    float data_copy = new float [num] //float型の配列を[num]分確保
+    memcpy(data_copy,data,sizeof(float) *num);
+    for(int i=0,i<num,i++){
+        for(int j=0,j<num+1,j++){
+            if(copy_data[j]>copy_data[j+1]){
+                int tmp = copy_data[j];
+                copy_data[j] = copy_data[j+1];
+                copy_data[j+1] = tmp;
+            }
+        }
+    }
+    if (num%2=0){
+        ans = (data_copy[num/2]+data_copy[(num/2)+1])/2;
+    }else{
+        ans = data_copy[num/2];
+    }
+    delete[] data_copy;
+    return 0;
+}
\ No newline at end of file