2017.11伊豆大島共同打ち上げ実験の開放用プログラム
Dependencies: BMP180 MPU6050 mbed
Fork of Sample_BMP180 by
Revision 8:b10169df8f5f, committed 2017-11-10
- Comitter:
- oichan
- Date:
- Fri Nov 10 12:43:15 2017 +0000
- Parent:
- 7:4efaca1e9acd
- Commit message:
- flight model
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 4efaca1e9acd -r b10169df8f5f main.cpp --- a/main.cpp Sat Nov 04 01:08:35 2017 +0000 +++ b/main.cpp Fri Nov 10 12:43:15 2017 +0000 @@ -4,10 +4,10 @@ #include "BMP180.h" #define LAUNCH_JUDGE_ACC_g 3.0 -#define PARA_OPEN_TIME_s 10.0 +#define PARA_OPEN_TIME_s 20.0 #define PARA_OPEN_CNT 7 -#define PARA_OPEN_FILTER_s 6.0 -#define LEAF_UNLOCK_TIME_s 10.0 +#define PARA_OPEN_FILTER_s 8.0 +#define LEAF_UNLOCK_TIME_s 85.0 #define LEAF_UNLOCK_ALT_m 300.0 #define p0 1013.25f @@ -20,8 +20,8 @@ PwmOut sg92(dp18); DigitalIn oshirase1(dp11); DigitalInOut oshirase2(dp10); -DigitalOut myled(LED1); -//Serial pc(USBTX,USBRX); +//DigitalOut myled(LED1); +//Serial pc(USBTX,USBRX); /* 自作関数 */ void _flight(); @@ -45,7 +45,7 @@ int main() { -// pc.printf("Hello!"); +// pc.printf("Hello!\r\n"); mg996.period_ms(20); sg92.period_ms(20); mpu.setAcceleroRange(0); @@ -86,6 +86,7 @@ /* フライトモード用関数 */ void _flight(){ +// pc.printf("flight mode on\r\n"); oshirase2.output(); oshirase2 = 0; _close(); @@ -96,20 +97,21 @@ Alt_buff[i] = _getAlt(); } Land_Alt = _median(Alt_buff,10); +// pc.printf("Land_Alt = %f\r\n",Land_Alt); // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); /* 発射判定 */ while(1){ - myled = !myled; +// myled = !myled; for(int i=0;i<10;i++){ - Acc = _getAcc(); - Acc_buff[i] = Acc; + Acc_buff[i] = _getAcc(); } Acc = _median(Acc_buff,10); if(Acc >= LAUNCH_JUDGE_ACC_g){ para_timer.start(); oshirase2 = 1; // for(int i=0;i<10;i++)pc.printf("%f\n\r",Acc_buff[i]); +// pc.printf("Acc = %f\r\n",Acc); break; } } @@ -136,6 +138,7 @@ leaf_timer.start(); oshirase2 = 0; para_timer.stop(); +// pc.printf("para open\r\n"); // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); break; } @@ -152,6 +155,7 @@ _leaf_unlock(); oshirase2 = 1; leaf_timer.stop(); +// pc.printf("leafing unlock\r\n"); // for(int i=0;i<10;i++)pc.printf("%f\n\r",Alt_buff[i]); break; } @@ -160,10 +164,10 @@ /* サーボ用関数 */ -void _close() {mg996.pulsewidth(0.0010);} -void _open() {mg996.pulsewidth(0.0020);} -void _leaf_lock() {sg92.pulsewidth(0.0010);} -void _leaf_unlock() {sg92.pulsewidth(0.0020);} +void _close() {mg996.pulsewidth(0.0005);} +void _open() {mg996.pulsewidth(0.0024);} +void _leaf_lock() {sg92.pulsewidth(0.0024);} +void _leaf_unlock() {sg92.pulsewidth(0.0005);} /* 高度取得関数 */