Diff: main.cpp

Revision:

10:273500c77873

Parent:

9:b10aaf72d100

Child:

11:0f8d26600248

--- a/main.cpp	Fri Mar 09 14:14:57 2018 +0000
+++ b/main.cpp	Sun Mar 11 13:50:11 2018 +0000
@@ -8,6 +8,7 @@
 #define LOCK 0
 #define TIMER 30 //開放タイマー
 #define RATE 50//判定周期
+#define ALT 1 //落下判断高度
  
 SDFileSystem    sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
 BMP180          bmp(p28,p27);
@@ -59,12 +60,27 @@
 float _DMS2DEG(float raw_data);         //GPSデータ60進数→10進数
 void _para(int motion);
 void _recovery();
+int _input(char c);
  
 int main() {
     twe.baud(115200);
     twe.printf("Hello World!\r\n");
     
-    _para(LOCK);
+    while(1){
+        char c = twe.getc();
+        if(_input(c) == 1){
+            _para(UNLOCK);
+            twe.printf("servo_open\r\n");
+        }
+        else if(_input(c) == 2){
+            _para(LOCK);
+            twe.printf("servo_lock\r\n");
+        }
+        else if(_input(c) == 3){
+            break;
+        }
+
+    }
     
     mpu.setAcceleroRange(0);
     mpu.setGyroRange(0);
@@ -110,7 +126,7 @@
     fp = fopen("/sd/mydir/sdtest.txt", "a");
     if(fp == NULL)twe.printf("ERROR\r\n");
     timer1.start();
-    kaihou.attach(_open,1/RATE);
+//    kaihou.attach(_open,1/RATE);
     kaihou.attach(_open,0.02);
     
     
@@ -163,13 +179,16 @@
         i = 0;
         if(tf_para == true){    //パラ開くまでは頂点判定
             Alt_buff[Cnt_buff+1] = Alt_now; 
-            if(Alt_buff[Cnt_buff]-Alt_buff[Cnt_buff+1] > 1) Cnt_para++; //直前の値より小さければカウント+1
+            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
 //            twe.printf("Cnt_para:%d\r\n", Cnt_para); 
             Cnt_buff++;                   
             if(Cnt_para == 10 || t > TIMER){    //頂点！！！
                 kaihou.detach();                //SD閉じる前にサーボ動かす前にTicker止める
                 fprintf(fp,"OPEN!\r\n");        
-                fclose(fp);        
+                fclose(fp);
+                lfp = fopen("/local/Alt.txt","a");
+                fprintf(lfp, "MAX:%f\r\n",Max_Alt);
+                fclose(lfp);        
                 _para(UNLOCK);
                 tf_para = false;
                 timer1.stop();
@@ -244,4 +263,16 @@
     }else if(motion==LOCK){
             servo_para.pulsewidth(0.002); // pulse servo outu sita     
     }
+}
+
+int _input(char c){
+
+    if(c=='f'){
+        return 3;
+    }else if(c=='l'){
+        return 2;
+    }else if(c=='u'){
+        return 1;
+    }
+    return 0;
 }
\ No newline at end of file