201803_oshima Team.F.C.
Dependencies: BMP180 MPU6050 SDFileSystem mbed
Fork of 201803_oshima_jodan by
main.cpp@15:0f267807ce7c, 2018-03-18 (annotated)
- Committer:
- sashida_h
- Date:
- Sun Mar 18 10:18:47 2018 +0000
- Revision:
- 15:0f267807ce7c
- Parent:
- 13:4c1633775de7
- Child:
- 16:4ba85a0e8767
3/18,19:18
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbed_official | 0:bdbd3d6fc5d5 | 1 | #include "mbed.h" |
sashida_h | 5:bb9c685fc1fe | 2 | #include "SDFileSystem.h" |
sashida_h | 5:bb9c685fc1fe | 3 | #include "MPU6050.h" |
sashida_h | 5:bb9c685fc1fe | 4 | #include "math.h" |
sashida_h | 2:0deade364b73 | 5 | #include "BMP180.h" |
sashida_h | 2:0deade364b73 | 6 | |
sashida_h | 2:0deade364b73 | 7 | #define UNLOCK 1 |
sashida_h | 2:0deade364b73 | 8 | #define LOCK 0 |
sashida_h | 3:a7b39e55d100 | 9 | #define TIMER 30 //開放タイマー |
sashida_h | 12:c32b14ca0196 | 10 | #define RATE 50//判定周期 謎の不具合により、145行目のkaihou.attach(_open,1/RATE);はコメントアウトしてるので、直接数字をいじってください |
sashida_h | 10:273500c77873 | 11 | #define ALT 1 //落下判断高度 |
mbed_official | 0:bdbd3d6fc5d5 | 12 | |
sashida_h | 2:0deade364b73 | 13 | SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board |
sashida_h | 2:0deade364b73 | 14 | BMP180 bmp(p28,p27); |
sashida_h | 2:0deade364b73 | 15 | MPU6050 mpu(p28,p27); |
sashida_h | 5:bb9c685fc1fe | 16 | DigitalIn fly(p12); |
sashida_h | 5:bb9c685fc1fe | 17 | DigitalOut myled(p20); |
sashida_h | 5:bb9c685fc1fe | 18 | DigitalOut myled2(p19); |
sashida_h | 5:bb9c685fc1fe | 19 | DigitalOut myled3(p18); |
sashida_h | 2:0deade364b73 | 20 | Serial twe(p9,p10); |
sashida_h | 2:0deade364b73 | 21 | Serial gps(p13,p14); |
sashida_h | 2:0deade364b73 | 22 | Serial pc(USBTX,USBRX); |
sashida_h | 9:b10aaf72d100 | 23 | PwmOut servo_para(p22); |
sashida_h | 15:0f267807ce7c | 24 | PwmOut servo_para2(p21); |
sashida_h | 2:0deade364b73 | 25 | |
sashida_h | 2:0deade364b73 | 26 | LocalFileSystem local("local"); |
sashida_h | 2:0deade364b73 | 27 | FILE *fp; |
sashida_h | 2:0deade364b73 | 28 | FILE *lfp; |
sashida_h | 2:0deade364b73 | 29 | |
sashida_h | 2:0deade364b73 | 30 | Ticker kaihou; |
sashida_h | 5:bb9c685fc1fe | 31 | Ticker ochiru; |
sashida_h | 2:0deade364b73 | 32 | Timer timer1; |
sashida_h | 5:bb9c685fc1fe | 33 | |
sashida_h | 3:a7b39e55d100 | 34 | /*とりあえず全てグローバル変数化してます。*/ |
sashida_h | 2:0deade364b73 | 35 | //カウント変数 |
sashida_h | 2:0deade364b73 | 36 | int Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 37 | int Cnt_para = 0; |
sashida_h | 2:0deade364b73 | 38 | int Cnt_open = 0; |
sashida_h | 8:eb1ebae5f051 | 39 | int i, j, t; |
sashida_h | 2:0deade364b73 | 40 | //高度取得 |
sashida_h | 5:bb9c685fc1fe | 41 | float Alt_buff[256],Alt_buff2[10],Alt_gnd,Alt_now, Max_Alt; |
sashida_h | 2:0deade364b73 | 42 | float p0 = 1013.25; //海面気圧 |
sashida_h | 2:0deade364b73 | 43 | float pressure,temperature, Alt; |
sashida_h | 2:0deade364b73 | 44 | //位置情報取得 |
sashida_h | 2:0deade364b73 | 45 | char gps_data[256]; |
sashida_h | 2:0deade364b73 | 46 | int cnt_gps =0; |
sashida_h | 8:eb1ebae5f051 | 47 | //加速度,ジャイロ取得 |
sashida_h | 2:0deade364b73 | 48 | float a_abs; |
sashida_h | 2:0deade364b73 | 49 | float a[3]; |
sashida_h | 2:0deade364b73 | 50 | float d[3]; |
sashida_h | 15:0f267807ce7c | 51 | float c[10]; |
sashida_h | 15:0f267807ce7c | 52 | float Acc_now; |
sashida_h | 15:0f267807ce7c | 53 | bool tf_launch = true; |
sashida_h | 2:0deade364b73 | 54 | |
sashida_h | 2:0deade364b73 | 55 | bool tf_para = true; |
sashida_h | 5:bb9c685fc1fe | 56 | |
sashida_h | 2:0deade364b73 | 57 | float median(float data[], int num); //中央値求める |
sashida_h | 2:0deade364b73 | 58 | float get_Alt(float press, float temp); |
sashida_h | 2:0deade364b73 | 59 | void _open(void); //kaihou |
sashida_h | 2:0deade364b73 | 60 | float _DMS2DEG(float raw_data); //GPSデータ60進数→10進数 |
sashida_h | 2:0deade364b73 | 61 | void _para(int motion); |
sashida_h | 5:bb9c685fc1fe | 62 | void _recovery(); |
sashida_h | 10:273500c77873 | 63 | int _input(char c); |
sashida_h | 5:bb9c685fc1fe | 64 | |
sashida_h | 2:0deade364b73 | 65 | int main() { |
sashida_h | 5:bb9c685fc1fe | 66 | twe.baud(115200); |
sashida_h | 5:bb9c685fc1fe | 67 | twe.printf("Hello World!\r\n"); |
sashida_h | 2:0deade364b73 | 68 | |
sashida_h | 15:0f267807ce7c | 69 | /* int ret; |
sashida_h | 11:0f8d26600248 | 70 | lfp = fopen("/local/Alt.txt","r"); |
sashida_h | 11:0f8d26600248 | 71 | if(lfp == NULL){ |
sashida_h | 11:0f8d26600248 | 72 | goto normal; |
sashida_h | 11:0f8d26600248 | 73 | } |
sashida_h | 11:0f8d26600248 | 74 | ret = fscanf(lfp,"GND:%f",&Alt_gnd); |
sashida_h | 11:0f8d26600248 | 75 | fclose(lfp); |
sashida_h | 11:0f8d26600248 | 76 | if(ret == -1){ |
sashida_h | 11:0f8d26600248 | 77 | goto normal; |
sashida_h | 11:0f8d26600248 | 78 | }else{ |
sashida_h | 12:c32b14ca0196 | 79 | twe.printf("reboot now\r\n"); |
sashida_h | 11:0f8d26600248 | 80 | goto yabai; |
sashida_h | 11:0f8d26600248 | 81 | } |
sashida_h | 11:0f8d26600248 | 82 | |
sashida_h | 11:0f8d26600248 | 83 | normal: |
sashida_h | 15:0f267807ce7c | 84 | */ |
sashida_h | 10:273500c77873 | 85 | while(1){ |
sashida_h | 10:273500c77873 | 86 | char c = twe.getc(); |
sashida_h | 10:273500c77873 | 87 | if(_input(c) == 1){ |
sashida_h | 10:273500c77873 | 88 | _para(UNLOCK); |
sashida_h | 10:273500c77873 | 89 | twe.printf("servo_open\r\n"); |
sashida_h | 10:273500c77873 | 90 | } |
sashida_h | 10:273500c77873 | 91 | else if(_input(c) == 2){ |
sashida_h | 10:273500c77873 | 92 | _para(LOCK); |
sashida_h | 10:273500c77873 | 93 | twe.printf("servo_lock\r\n"); |
sashida_h | 10:273500c77873 | 94 | } |
sashida_h | 10:273500c77873 | 95 | else if(_input(c) == 3){ |
sashida_h | 10:273500c77873 | 96 | break; |
sashida_h | 10:273500c77873 | 97 | } |
sashida_h | 10:273500c77873 | 98 | |
sashida_h | 10:273500c77873 | 99 | } |
sashida_h | 2:0deade364b73 | 100 | |
sashida_h | 2:0deade364b73 | 101 | mpu.setAcceleroRange(0); |
sashida_h | 2:0deade364b73 | 102 | mpu.setGyroRange(0); |
sashida_h | 5:bb9c685fc1fe | 103 | bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER); |
sashida_h | 2:0deade364b73 | 104 | twe.printf("I2C_initialize_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 105 | |
sashida_h | 3:a7b39e55d100 | 106 | |
sashida_h | 5:bb9c685fc1fe | 107 | //地上高度取得 |
sashida_h | 5:bb9c685fc1fe | 108 | Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 109 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 110 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 2:0deade364b73 | 111 | Alt_buff[i]=get_Alt(pressure, temperature); |
sashida_h | 2:0deade364b73 | 112 | } |
sashida_h | 2:0deade364b73 | 113 | Alt_gnd = median(Alt_buff, 10); |
sashida_h | 2:0deade364b73 | 114 | |
sashida_h | 5:bb9c685fc1fe | 115 | twe.printf("Alt_gnd:%f\r\n", Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 116 | |
sashida_h | 5:bb9c685fc1fe | 117 | lfp = fopen("/local/Alt.txt","a"); |
sashida_h | 5:bb9c685fc1fe | 118 | fprintf(lfp, "GND:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 119 | fclose(lfp); |
sashida_h | 5:bb9c685fc1fe | 120 | twe.printf("lacal_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 121 | |
sashida_h | 15:0f267807ce7c | 122 | mkdir("/sd/mydir", 0777); |
sashida_h | 5:bb9c685fc1fe | 123 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 124 | if(fp == NULL) { |
sashida_h | 2:0deade364b73 | 125 | error("Could not open file for write\n"); |
sashida_h | 2:0deade364b73 | 126 | } |
sashida_h | 2:0deade364b73 | 127 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 128 | fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]); |
sashida_h | 2:0deade364b73 | 129 | } |
sashida_h | 2:0deade364b73 | 130 | |
sashida_h | 2:0deade364b73 | 131 | fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 132 | fclose(fp); |
sashida_h | 2:0deade364b73 | 133 | |
sashida_h | 5:bb9c685fc1fe | 134 | twe.printf("SD_write_OK!!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 135 | |
sashida_h | 5:bb9c685fc1fe | 136 | twe.printf("ALL_READY\r\n"); |
sashida_h | 2:0deade364b73 | 137 | |
sashida_h | 2:0deade364b73 | 138 | while(fly == 1); //フライトピン抜けるまで待機 |
sashida_h | 2:0deade364b73 | 139 | |
sashida_h | 15:0f267807ce7c | 140 | twe.printf("L\r\n"); |
sashida_h | 5:bb9c685fc1fe | 141 | i = 0; |
sashida_h | 5:bb9c685fc1fe | 142 | Alt_buff[0] = 0; |
sashida_h | 5:bb9c685fc1fe | 143 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 5:bb9c685fc1fe | 144 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 15:0f267807ce7c | 145 | yabai: |
sashida_h | 2:0deade364b73 | 146 | timer1.start(); |
sashida_h | 10:273500c77873 | 147 | // kaihou.attach(_open,1/RATE); |
sashida_h | 8:eb1ebae5f051 | 148 | kaihou.attach(_open,0.02); |
sashida_h | 15:0f267807ce7c | 149 | twe.printf("start!!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 150 | |
sashida_h | 2:0deade364b73 | 151 | |
sashida_h | 2:0deade364b73 | 152 | while(1){ |
sashida_h | 2:0deade364b73 | 153 | |
sashida_h | 5:bb9c685fc1fe | 154 | /* twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt, Cnt_para); |
sashida_h | 5:bb9c685fc1fe | 155 | wait(1.0); |
sashida_h | 5:bb9c685fc1fe | 156 | */ |
sashida_h | 2:0deade364b73 | 157 | /* GPS取得&送信 */ |
sashida_h | 5:bb9c685fc1fe | 158 | gps_data[cnt_gps] = gps.getc(); |
sashida_h | 2:0deade364b73 | 159 | if(gps_data[cnt_gps] == '$' || cnt_gps ==256){ |
sashida_h | 2:0deade364b73 | 160 | cnt_gps = 0; |
sashida_h | 2:0deade364b73 | 161 | memset(gps_data,'\0',256); |
sashida_h | 2:0deade364b73 | 162 | }else if(gps_data[cnt_gps] == '\r'){ |
sashida_h | 2:0deade364b73 | 163 | float world_time, lon_east, lat_north; |
sashida_h | 2:0deade364b73 | 164 | int rlock, sat_num; |
sashida_h | 2:0deade364b73 | 165 | char lat,lon; |
sashida_h | 2:0deade364b73 | 166 | if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){ |
sashida_h | 2:0deade364b73 | 167 | if(rlock==1){ |
sashida_h | 2:0deade364b73 | 168 | lat_north = _DMS2DEG(lat_north); |
sashida_h | 2:0deade364b73 | 169 | lon_east = _DMS2DEG(lon_east); |
sashida_h | 2:0deade364b73 | 170 | // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt); |
sashida_h | 2:0deade364b73 | 171 | // twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 172 | twe.printf("Lat,Lon:%f,%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num); |
sashida_h | 2:0deade364b73 | 173 | }else{ |
sashida_h | 2:0deade364b73 | 174 | // pc.printf("max altitude:%f\r\n",Max_Alt); |
sashida_h | 2:0deade364b73 | 175 | twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 176 | } |
sashida_h | 5:bb9c685fc1fe | 177 | twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt,Cnt_para); |
sashida_h | 2:0deade364b73 | 178 | } |
sashida_h | 2:0deade364b73 | 179 | }else{ |
sashida_h | 2:0deade364b73 | 180 | cnt_gps++; |
sashida_h | 2:0deade364b73 | 181 | } |
sashida_h | 2:0deade364b73 | 182 | |
sashida_h | 5:bb9c685fc1fe | 183 | }//while_gps |
sashida_h | 5:bb9c685fc1fe | 184 | }//main |
sashida_h | 5:bb9c685fc1fe | 185 | |
sashida_h | 5:bb9c685fc1fe | 186 | void _open(){ |
sashida_h | 5:bb9c685fc1fe | 187 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 188 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 189 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 190 | Alt_buff2[i] = get_Alt(pressure, temperature); |
sashida_h | 15:0f267807ce7c | 191 | c[i] = a[2]; |
sashida_h | 5:bb9c685fc1fe | 192 | i++; |
sashida_h | 6:e9004c78b394 | 193 | if(i == 10){ //10回ごとに中央値計算 |
sashida_h | 15:0f267807ce7c | 194 | if(tf_launch == true){ |
sashida_h | 15:0f267807ce7c | 195 | Acc_now = median(c, 10); |
sashida_h | 15:0f267807ce7c | 196 | i = 0; |
sashida_h | 15:0f267807ce7c | 197 | if(Acc_now < 0.5) tf_launch = false; |
sashida_h | 15:0f267807ce7c | 198 | |
sashida_h | 15:0f267807ce7c | 199 | }else{ |
sashida_h | 15:0f267807ce7c | 200 | |
sashida_h | 15:0f267807ce7c | 201 | Alt_now = median(Alt_buff2, 10); |
sashida_h | 15:0f267807ce7c | 202 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 15:0f267807ce7c | 203 | t = timer1.read(); |
sashida_h | 15:0f267807ce7c | 204 | fprintf(fp, "%f,%f,%f,%f,%f,%f,%f,%d,%d\r\n",Alt_now,a[0],a[1],a[2],d[0],d[1],d[2],t,Cnt_para); |
sashida_h | 15:0f267807ce7c | 205 | if(Alt_now > Max_Alt) Max_Alt = Alt_now; |
sashida_h | 15:0f267807ce7c | 206 | i = 0; |
sashida_h | 15:0f267807ce7c | 207 | if(tf_para == true){ //パラ開くまでは頂点判定 |
sashida_h | 15:0f267807ce7c | 208 | Alt_buff[Cnt_buff+1] = Alt_now; |
sashida_h | 15:0f267807ce7c | 209 | if(Alt_buff[Cnt_buff]-Alt_buff[Cnt_buff+1] > ALT) Cnt_para++; //直前の値(0.2秒前より1ALTm降下)より小さければカウント+1 |
sashida_h | 15:0f267807ce7c | 210 | // twe.printf("Cnt_para:%d\r\n", Cnt_para); |
sashida_h | 15:0f267807ce7c | 211 | Cnt_buff++; |
sashida_h | 15:0f267807ce7c | 212 | if(Cnt_para == 10 || t > TIMER){ //頂点!!! |
sashida_h | 15:0f267807ce7c | 213 | kaihou.detach(); //SD閉じる前にサーボ動かす前にTicker止める |
sashida_h | 15:0f267807ce7c | 214 | fprintf(fp,"OPEN!\r\n"); |
sashida_h | 15:0f267807ce7c | 215 | fclose(fp); |
sashida_h | 15:0f267807ce7c | 216 | lfp = fopen("/local/Alt.txt","a"); |
sashida_h | 15:0f267807ce7c | 217 | fprintf(lfp, "MAX:%f\r\n",Max_Alt); |
sashida_h | 15:0f267807ce7c | 218 | fclose(lfp); |
sashida_h | 15:0f267807ce7c | 219 | _para(UNLOCK); |
sashida_h | 15:0f267807ce7c | 220 | tf_para = false; |
sashida_h | 15:0f267807ce7c | 221 | timer1.stop(); |
sashida_h | 15:0f267807ce7c | 222 | twe.printf("PARA_OPEN\r\n"); |
sashida_h | 15:0f267807ce7c | 223 | twe.printf("GPS_MODE_ON!!!!\r\n"); |
sashida_h | 9:b10aaf72d100 | 224 | |
sashida_h | 15:0f267807ce7c | 225 | ochiru.attach(_recovery,0.2); //パラメータ保存のためのやつ |
sashida_h | 5:bb9c685fc1fe | 226 | |
sashida_h | 15:0f267807ce7c | 227 | } |
sashida_h | 5:bb9c685fc1fe | 228 | } |
sashida_h | 5:bb9c685fc1fe | 229 | } |
sashida_h | 2:0deade364b73 | 230 | } |
sashida_h | 7:852922a4058a | 231 | |
sashida_h | 7:852922a4058a | 232 | if(Cnt_buff == 250) Cnt_buff = 0; |
sashida_h | 5:bb9c685fc1fe | 233 | |
mbed_official | 0:bdbd3d6fc5d5 | 234 | } |
sashida_h | 2:0deade364b73 | 235 | |
sashida_h | 5:bb9c685fc1fe | 236 | void _recovery(){ |
sashida_h | 2:0deade364b73 | 237 | |
sashida_h | 7:852922a4058a | 238 | if(i == 0){ |
sashida_h | 2:0deade364b73 | 239 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 240 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 241 | } |
sashida_h | 2:0deade364b73 | 242 | |
sashida_h | 5:bb9c685fc1fe | 243 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 244 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 245 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 246 | Alt_now = get_Alt(pressure, temperature); |
sashida_h | 5:bb9c685fc1fe | 247 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 5:bb9c685fc1fe | 248 | fprintf(fp, "%f,%f,%f,%f,%f,%f,%f\r\n",Alt_now,a[0],a[1],a[2],d[0],d[1],d[2]); |
sashida_h | 9:b10aaf72d100 | 249 | i++; |
sashida_h | 2:0deade364b73 | 250 | |
sashida_h | 7:852922a4058a | 251 | if(i == 50){ |
sashida_h | 5:bb9c685fc1fe | 252 | fclose(fp); |
sashida_h | 9:b10aaf72d100 | 253 | i = 0; |
sashida_h | 2:0deade364b73 | 254 | } |
sashida_h | 2:0deade364b73 | 255 | } |
sashida_h | 2:0deade364b73 | 256 | float get_Alt(float press, float temp){ |
sashida_h | 2:0deade364b73 | 257 | return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; |
sashida_h | 2:0deade364b73 | 258 | } |
sashida_h | 2:0deade364b73 | 259 | |
sashida_h | 2:0deade364b73 | 260 | float median(float data[], int num){//todo:処理時間計測 |
sashida_h | 2:0deade364b73 | 261 | float *data_cpy, ans; |
sashida_h | 2:0deade364b73 | 262 | data_cpy = new float[num]; |
sashida_h | 2:0deade364b73 | 263 | memcpy(data_cpy,data,sizeof(float)*num); |
sashida_h | 2:0deade364b73 | 264 | |
sashida_h | 2:0deade364b73 | 265 | for(int i=0; i<num; i++){ |
sashida_h | 2:0deade364b73 | 266 | for(int j=0; j<num-i-1; j++){ |
sashida_h | 2:0deade364b73 | 267 | if(data_cpy[j]>data_cpy[j+1]){ |
sashida_h | 2:0deade364b73 | 268 | float buff = data_cpy[j+1]; |
sashida_h | 2:0deade364b73 | 269 | data_cpy[j+1] = data_cpy[j]; |
sashida_h | 2:0deade364b73 | 270 | data_cpy[j] = buff; |
sashida_h | 2:0deade364b73 | 271 | } |
sashida_h | 2:0deade364b73 | 272 | } |
sashida_h | 2:0deade364b73 | 273 | } |
sashida_h | 2:0deade364b73 | 274 | |
sashida_h | 2:0deade364b73 | 275 | if(num%2!=0) ans = data_cpy[num/2]; |
sashida_h | 2:0deade364b73 | 276 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
sashida_h | 2:0deade364b73 | 277 | delete[] data_cpy; |
sashida_h | 2:0deade364b73 | 278 | return ans; |
sashida_h | 2:0deade364b73 | 279 | } |
sashida_h | 2:0deade364b73 | 280 | |
sashida_h | 2:0deade364b73 | 281 | |
sashida_h | 2:0deade364b73 | 282 | float _DMS2DEG(float raw_data){ |
sashida_h | 2:0deade364b73 | 283 | int d = (int)(raw_data/100); |
sashida_h | 2:0deade364b73 | 284 | float m = (raw_data - (float)d*100); |
sashida_h | 2:0deade364b73 | 285 | return (float)d + m/60; |
sashida_h | 2:0deade364b73 | 286 | } |
sashida_h | 2:0deade364b73 | 287 | |
sashida_h | 2:0deade364b73 | 288 | void _para(int motion){ |
sashida_h | 2:0deade364b73 | 289 | if(motion==UNLOCK){ |
sashida_h | 15:0f267807ce7c | 290 | servo_para.pulsewidth(0.0005); // pulse servo out sita |
sashida_h | 15:0f267807ce7c | 291 | servo_para2.pulsewidth(0.0005); |
sashida_h | 2:0deade364b73 | 292 | }else if(motion==LOCK){ |
sashida_h | 15:0f267807ce7c | 293 | servo_para.pulsewidth(0.0024); // pulse servo outu sita |
sashida_h | 15:0f267807ce7c | 294 | servo_para2.pulsewidth(0.0024); |
sashida_h | 2:0deade364b73 | 295 | } |
sashida_h | 10:273500c77873 | 296 | } |
sashida_h | 10:273500c77873 | 297 | |
sashida_h | 10:273500c77873 | 298 | int _input(char c){ |
sashida_h | 10:273500c77873 | 299 | |
sashida_h | 10:273500c77873 | 300 | if(c=='f'){ |
sashida_h | 10:273500c77873 | 301 | return 3; |
sashida_h | 10:273500c77873 | 302 | }else if(c=='l'){ |
sashida_h | 10:273500c77873 | 303 | return 2; |
sashida_h | 10:273500c77873 | 304 | }else if(c=='u'){ |
sashida_h | 10:273500c77873 | 305 | return 1; |
sashida_h | 10:273500c77873 | 306 | } |
sashida_h | 10:273500c77873 | 307 | return 0; |
sashida_h | 2:0deade364b73 | 308 | } |