Diff: main.cpp

Revision:

3:217b56515009

Parent:

2:6238109d564d

Child:

4:ae20e73f4924

--- a/main.cpp	Fri Oct 20 03:49:28 2017 +0000
+++ b/main.cpp	Sat Oct 21 16:10:49 2017 +0000
@@ -3,7 +3,7 @@
 #include "MPU6050.h"
 #include "BMP180.h"
 
-#define LAUNCH_JUDGE_ACC_g  3.0
+#define LAUNCH_JUDGE_ACC_g  -1.0
 #define PARA_OPEN_TIME_s    5.0
 #define LEAF_UNLOCK_TIME_s  5.0
 #define LEAF_UNLOCK_ALT_m   300.0
@@ -14,10 +14,10 @@
 Timer       para_timer;
 Timer       leaf_timer;
 Ticker      readtimer;
-PwmOut      mg995(dp1);
-PwmOut      sg92(dp18);
+PwmOut      mg996(dp1);
+PwmOut      sg92(dp2);
 DigitalOut  myled(LED1);
-Serial      pc(USBTX,USBRX);
+//Serial      pc(USBTX,USBRX);
 
 /*  自作関数    */
 void    _flight();
@@ -39,8 +39,8 @@
 
 
 int main() {
-    pc.printf("Hello!");
-    mg995.period_ms(20);
+//    pc.printf("Hello!");
+    mg996.period_ms(20);
     sg92.period_ms(20);
     _close();
     _leaf_lock();
@@ -51,7 +51,7 @@
 }
 
 
-/*フライトモード用関数    */
+/*  フライトモード用関数  */
 void _flight(){
     
     /*  地上高度取得  */
@@ -59,10 +59,11 @@
         Alt_buff[i] = _getAlt();
     }
     land_alt = _median(Alt_buff,10);
-    for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
+//    for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
 
     /*  発射判定    */
     while(1){
+        myled = !myled;
         for(int i=0;i<10;i++){
             acc = _getAcc();
             Acc_buff[i] = acc;
@@ -70,7 +71,7 @@
         acc = _median(Acc_buff,10);
         if(acc >= LAUNCH_JUDGE_ACC_g){
             para_timer.start();
-            for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]);
+//            for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]);
             break;
         }
     }
@@ -87,7 +88,7 @@
             _open();
             leaf_timer.start();
             para_timer.stop();
-            for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
+//            for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
             break;
         }
     }
@@ -101,7 +102,7 @@
         if(altitude <= LEAF_UNLOCK_ALT_m || leaf_timer.read() >= LEAF_UNLOCK_TIME_s){
             _leaf_unlock();
             leaf_timer.stop();
-            for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
+//            for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]);
             break;
         }
     }
@@ -109,8 +110,8 @@
 
 
 /*  サーボ用関数  */
-void _close() {mg995.pulsewidth(0.0006);}
-void _open() {mg995.pulsewidth(0.0023);}
+void _close() {mg996.pulsewidth(0.0006);}
+void _open() {mg996.pulsewidth(0.0023);}
 void _leaf_lock() {sg92.pulsewidth(0.0005);}
 void _leaf_unlock() {sg92.pulsewidth(0.0023);}