Revision 8:9059f95fc498, committed 2017-03-24

Comitter:

ojityan

Date:

Fri Mar 24 07:03:37 2017 +0000

Parent:

7:0e3fac3c6a6a

Commit message:

???

Changed in this revision

--- a/main.cpp	Sun Mar 05 18:48:04 2017 +0000
+++ b/main.cpp	Fri Mar 24 07:03:37 2017 +0000
@@ -1,7 +1,5 @@
 #include "mbed.h"
-#include "SDFileSystem.h"
 #include "ADXL345_I2C.h"
-//#include "QEI.h"
 #include <stdio.h>
 #include <stdlib.h>
 
@@ -18,7 +16,6 @@
 PwmOut duty(p24);
 I2C i2c(p28, p27);
 
-SDFileSystem sd(p11, p12, p13, p14, "sd");
 ADXL345_I2C accelerometer(p9, p10);
 Serial debug(USBTX,USBRX);
 //QEI wheel (p21, p22, p23, 1000);
@@ -99,19 +96,19 @@
                 break;
             }
         }
-        save.attach(&savedata, 0.01 );　//割り込み開始
+        save.attach(&savedata, 0.01 ); //割り込み開始
         t.start();
         
         duty.write(duty_output);
 
 
-        while(t.read() <= 0.80) {　//内部タイマーが0.80秒に達するまで制御
+        while(t.read() <= 0.80) { //内部タイマーが0.80秒に達するまで制御
             if(flag) {
                 flag = 0;
                 controller( &v, &duty_output, &acce_device, &acce_output, &F_output);
                 read_current( &C);
                 if(1) {
-                    sprintf(buffer[i],"%f10,%f10,%f10,%f10,%f10,%f10",t.read(),C,acce_device,C,duty_output,F_output);　//バッファにデータを溜めこみ終了時に吐き出す．
+                    sprintf(buffer[i],"%f10,%f10,%f10,%f10,%f10,%f10",t.read(),C,acce_device,C,duty_output,F_output); //バッファにデータを溜めこみ終了時に吐き出す．
                     if( i > 299) {
                         loop_break = 1;
                         break;
@@ -126,7 +123,7 @@
 
         }
         
-        myled2 = 1;　//0.80秒経過したらLED2を光らせる
+        myled2 = 1; //0.80秒経過したらLED2を光らせる
         t.stop();
         save.detach();
 
@@ -157,56 +154,26 @@
 
 }
 
-void flipB(void)//フォトリフレクタの反応によって止める関数
+
+void ADXL_config(void)//ADXL345の初期設定
 {
-    flipB_ = 1;
-    duty = 0.0f;
-    debug.printf("flip sensorB!");
-    __disable_irq();
-}
-
-void ADXL_config(void)
-{
-    //Go into standby mode to configure the device.
+    //初期設定開始
     accelerometer.setPowerControl(0x00);
 
-    //Full resolution, +/-16g, 4mg/LSB.
+    //精度
     accelerometer.setDataFormatControl(0x0B);
 
-    //3.2kHz data rate.
+    //3.2kHz
     accelerometer.setDataRate(ADXL345_3200HZ);
 
-    //Measurement mode.
+    //計測開始
     accelerometer.setPowerControl(0x08);
 
     accelerometer.setOffset (0, 0);
 
 }
 
-void makefile(void)
-{
-    char filename[100];
-    int num;
-    //---SDsetting--
-    mkdir("/sd/mydir", 0777);
-    for(num=1; num<=256; num=num+1) {
-        sprintf(filename,"/sd/mydir/data%d.csv",num);
-        fp = fopen(filename, "r");
-        if(fp == NULL) {
-            fp = fopen(filename,"w");
-            debug.printf("file number is %d.\n",num);
-            break;
-        }
-        fclose(fp);
-        debug.printf("data%d exists\n",num);
-    }
-
-//    fprintf(fp,"Time,Current,acce_device,v_device,duty_output\n");
-
-//    fprintf(fp, "Hello fun SD Card World!\n");
-}
-
-void INA226config(void)
+void INA226config(void) //INA226の設定
 {
 
     char p_addr = 0x00;
@@ -216,7 +183,7 @@
 //---ammeter setting---
     i2c.start();
     if(i2c.write(i2c_addr | 0,&p_addr,sizeof(p_addr)) == 0) {
-        debug.printf("DA-ME-DA-YO!\n");
+        debug.printf("ERROR_write\n");
     }
     debug.printf("OK!\n");
 
@@ -244,7 +211,7 @@
     }
 }
 
-void weight_init(void)
+void weight_init(void) //慣性力発生用のおもりの位置の初期化
 {
 //---position reset---
     dir = 0;
@@ -255,7 +222,7 @@
     myled1 = 1;
 }
 
-void controller(double *v,float *duty_output,double *acce_device, double *acce_output, double *F)
+void controller(double *v,float *duty_output,double *acce_device, double *acce_output, double *F)//制御部
 {
 
     double ka = 100;
@@ -269,22 +236,21 @@
     static int intrrupt_checker = 1;
 
 
-//---reading acceleration and control---
+//---加速度を読み取り変換する---
     accelerometer.getOutput(readings);
     *acce_device = (int16_t)readings[0] * 0.0383;
-//    debug.printf("acce_device = %f\n", *acce_device);
     *v = *v + *acce_device * 0.01;
     if( *acce_device < 0) {
         if(abs(*v) > 0) {
+//---必要な力の算出（今回は不使用）---
             F_1 = -1 * ( ka * *acce_device) + (kv * *v);
             *F = 0.35 * F_1 + 0.4 * F_2 + 0.25 * F_3;
             *acce_output = *F / 8.5;
-            //*duty_output = *acce_output / 118 + *duty_output;
             if(*duty_output > 1.0) {
                 *duty_output = 1.0;
                 myled4 = 1;
             }
-            
+//---加速度を検知したら慣性力発生用おもりを加速させる---
             if(intrrupt_checker <= intrrupt_cnt){
                 *duty_output = *duty_output + 0.04;
                 intrrupt_checker = intrrupt_cnt + 1;
@@ -292,15 +258,14 @@
             
             
             duty.write(*duty_output);
-//            duty.write(1.00);
+
             F_3 = F_2;
             F_2 = *F;
-//            debug.printf("%i,%f,%f\n",  (int16_t)readings[0],*v,*duty_output);
         }
     }
 }
 
-void read_current(double *C)
+void read_current(double *C) //電流量を測る
 {
     char I[2];
     unsigned short read_item;
@@ -318,5 +283,4 @@
     *(d_p + 0) = *(s_p + 0);
     *(d_p + 1) = *(s_p + 1);
     *C = static_cast<double>(d_s) /* * 1.25 */;
-//    debug.printf("%f\n",*C);
 }
\ No newline at end of file