201803_oshima_jodam_test
Dependencies: BMP180 MPU6050 SDFileSystem mbed
Fork of SDFileSystem_HelloWorld by
main.cpp@11:0f8d26600248, 2018-03-12 (annotated)
- Committer:
- sashida_h
- Date:
- Mon Mar 12 09:15:12 2018 +0000
- Revision:
- 11:0f8d26600248
- Parent:
- 10:273500c77873
- Child:
- 12:c32b14ca0196
add yabai mode
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 | 5:bb9c685fc1fe | 10 | #define RATE 50//判定周期 |
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 | 5:bb9c685fc1fe | 20 | DigitalOut myled4(LED1); |
sashida_h | 5:bb9c685fc1fe | 21 | DigitalOut myled5(LED2); |
sashida_h | 5:bb9c685fc1fe | 22 | DigitalOut myled6(LED3); |
sashida_h | 5:bb9c685fc1fe | 23 | DigitalOut myled7(LED4); |
sashida_h | 2:0deade364b73 | 24 | Serial twe(p9,p10); |
sashida_h | 2:0deade364b73 | 25 | Serial gps(p13,p14); |
sashida_h | 2:0deade364b73 | 26 | Serial pc(USBTX,USBRX); |
sashida_h | 9:b10aaf72d100 | 27 | PwmOut servo_para(p22); |
sashida_h | 2:0deade364b73 | 28 | |
sashida_h | 2:0deade364b73 | 29 | LocalFileSystem local("local"); |
sashida_h | 2:0deade364b73 | 30 | FILE *fp; |
sashida_h | 2:0deade364b73 | 31 | FILE *lfp; |
sashida_h | 2:0deade364b73 | 32 | |
sashida_h | 2:0deade364b73 | 33 | Ticker kaihou; |
sashida_h | 5:bb9c685fc1fe | 34 | Ticker ochiru; |
sashida_h | 2:0deade364b73 | 35 | Timer timer1; |
sashida_h | 5:bb9c685fc1fe | 36 | |
sashida_h | 3:a7b39e55d100 | 37 | /*とりあえず全てグローバル変数化してます。*/ |
sashida_h | 2:0deade364b73 | 38 | //カウント変数 |
sashida_h | 2:0deade364b73 | 39 | int Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 40 | int Cnt_para = 0; |
sashida_h | 2:0deade364b73 | 41 | int Cnt_open = 0; |
sashida_h | 8:eb1ebae5f051 | 42 | int i, j, t; |
sashida_h | 2:0deade364b73 | 43 | //高度取得 |
sashida_h | 5:bb9c685fc1fe | 44 | float Alt_buff[256],Alt_buff2[10],Alt_gnd,Alt_now, Max_Alt; |
sashida_h | 2:0deade364b73 | 45 | float p0 = 1013.25; //海面気圧 |
sashida_h | 2:0deade364b73 | 46 | float pressure,temperature, Alt; |
sashida_h | 2:0deade364b73 | 47 | //位置情報取得 |
sashida_h | 2:0deade364b73 | 48 | char gps_data[256]; |
sashida_h | 2:0deade364b73 | 49 | int cnt_gps =0; |
sashida_h | 8:eb1ebae5f051 | 50 | //加速度,ジャイロ取得 |
sashida_h | 2:0deade364b73 | 51 | float a_abs; |
sashida_h | 2:0deade364b73 | 52 | float a[3]; |
sashida_h | 2:0deade364b73 | 53 | float d[3]; |
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 | 11:0f8d26600248 | 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 | 11:0f8d26600248 | 79 | goto yabai; |
sashida_h | 11:0f8d26600248 | 80 | } |
sashida_h | 11:0f8d26600248 | 81 | |
sashida_h | 11:0f8d26600248 | 82 | normal: |
sashida_h | 11:0f8d26600248 | 83 | |
sashida_h | 10:273500c77873 | 84 | while(1){ |
sashida_h | 10:273500c77873 | 85 | char c = twe.getc(); |
sashida_h | 10:273500c77873 | 86 | if(_input(c) == 1){ |
sashida_h | 10:273500c77873 | 87 | _para(UNLOCK); |
sashida_h | 10:273500c77873 | 88 | twe.printf("servo_open\r\n"); |
sashida_h | 10:273500c77873 | 89 | } |
sashida_h | 10:273500c77873 | 90 | else if(_input(c) == 2){ |
sashida_h | 10:273500c77873 | 91 | _para(LOCK); |
sashida_h | 10:273500c77873 | 92 | twe.printf("servo_lock\r\n"); |
sashida_h | 10:273500c77873 | 93 | } |
sashida_h | 10:273500c77873 | 94 | else if(_input(c) == 3){ |
sashida_h | 10:273500c77873 | 95 | break; |
sashida_h | 10:273500c77873 | 96 | } |
sashida_h | 10:273500c77873 | 97 | |
sashida_h | 10:273500c77873 | 98 | } |
sashida_h | 2:0deade364b73 | 99 | |
sashida_h | 2:0deade364b73 | 100 | mpu.setAcceleroRange(0); |
sashida_h | 2:0deade364b73 | 101 | mpu.setGyroRange(0); |
sashida_h | 5:bb9c685fc1fe | 102 | bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER); |
sashida_h | 2:0deade364b73 | 103 | twe.printf("I2C_initialize_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 104 | |
sashida_h | 3:a7b39e55d100 | 105 | |
sashida_h | 5:bb9c685fc1fe | 106 | //地上高度取得 |
sashida_h | 5:bb9c685fc1fe | 107 | Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 108 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 109 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 2:0deade364b73 | 110 | Alt_buff[i]=get_Alt(pressure, temperature); |
sashida_h | 2:0deade364b73 | 111 | } |
sashida_h | 2:0deade364b73 | 112 | Alt_gnd = median(Alt_buff, 10); |
sashida_h | 2:0deade364b73 | 113 | |
sashida_h | 5:bb9c685fc1fe | 114 | twe.printf("Alt_gnd:%f\r\n", Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 115 | |
sashida_h | 5:bb9c685fc1fe | 116 | lfp = fopen("/local/Alt.txt","a"); |
sashida_h | 5:bb9c685fc1fe | 117 | fprintf(lfp, "GND:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 118 | fclose(lfp); |
sashida_h | 5:bb9c685fc1fe | 119 | twe.printf("lacal_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 120 | |
sashida_h | 5:bb9c685fc1fe | 121 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 122 | if(fp == NULL) { |
sashida_h | 2:0deade364b73 | 123 | error("Could not open file for write\n"); |
sashida_h | 2:0deade364b73 | 124 | } |
sashida_h | 2:0deade364b73 | 125 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 126 | fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]); |
sashida_h | 2:0deade364b73 | 127 | } |
sashida_h | 2:0deade364b73 | 128 | |
sashida_h | 2:0deade364b73 | 129 | fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 130 | fclose(fp); |
sashida_h | 2:0deade364b73 | 131 | |
sashida_h | 5:bb9c685fc1fe | 132 | twe.printf("SD_write_OK!!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 133 | |
sashida_h | 5:bb9c685fc1fe | 134 | twe.printf("ALL_READY\r\n"); |
sashida_h | 2:0deade364b73 | 135 | |
sashida_h | 2:0deade364b73 | 136 | while(fly == 1); //フライトピン抜けるまで待機 |
sashida_h | 2:0deade364b73 | 137 | |
sashida_h | 11:0f8d26600248 | 138 | yabai: |
sashida_h | 9:b10aaf72d100 | 139 | twe.printf("SEPARATE!!!!!!!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 140 | i = 0; |
sashida_h | 5:bb9c685fc1fe | 141 | Alt_buff[0] = 0; |
sashida_h | 5:bb9c685fc1fe | 142 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 5:bb9c685fc1fe | 143 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 144 | timer1.start(); |
sashida_h | 10:273500c77873 | 145 | // kaihou.attach(_open,1/RATE); |
sashida_h | 8:eb1ebae5f051 | 146 | kaihou.attach(_open,0.02); |
sashida_h | 5:bb9c685fc1fe | 147 | |
sashida_h | 2:0deade364b73 | 148 | |
sashida_h | 2:0deade364b73 | 149 | while(1){ |
sashida_h | 2:0deade364b73 | 150 | |
sashida_h | 5:bb9c685fc1fe | 151 | /* twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt, Cnt_para); |
sashida_h | 5:bb9c685fc1fe | 152 | wait(1.0); |
sashida_h | 5:bb9c685fc1fe | 153 | */ |
sashida_h | 2:0deade364b73 | 154 | /* GPS取得&送信 */ |
sashida_h | 5:bb9c685fc1fe | 155 | gps_data[cnt_gps] = gps.getc(); |
sashida_h | 2:0deade364b73 | 156 | if(gps_data[cnt_gps] == '$' || cnt_gps ==256){ |
sashida_h | 2:0deade364b73 | 157 | cnt_gps = 0; |
sashida_h | 2:0deade364b73 | 158 | memset(gps_data,'\0',256); |
sashida_h | 2:0deade364b73 | 159 | }else if(gps_data[cnt_gps] == '\r'){ |
sashida_h | 2:0deade364b73 | 160 | float world_time, lon_east, lat_north; |
sashida_h | 2:0deade364b73 | 161 | int rlock, sat_num; |
sashida_h | 2:0deade364b73 | 162 | char lat,lon; |
sashida_h | 2:0deade364b73 | 163 | 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 | 164 | if(rlock==1){ |
sashida_h | 2:0deade364b73 | 165 | lat_north = _DMS2DEG(lat_north); |
sashida_h | 2:0deade364b73 | 166 | lon_east = _DMS2DEG(lon_east); |
sashida_h | 2:0deade364b73 | 167 | // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt); |
sashida_h | 2:0deade364b73 | 168 | // twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 169 | 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 | 170 | }else{ |
sashida_h | 2:0deade364b73 | 171 | // pc.printf("max altitude:%f\r\n",Max_Alt); |
sashida_h | 2:0deade364b73 | 172 | twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 173 | } |
sashida_h | 5:bb9c685fc1fe | 174 | twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt,Cnt_para); |
sashida_h | 2:0deade364b73 | 175 | } |
sashida_h | 2:0deade364b73 | 176 | }else{ |
sashida_h | 2:0deade364b73 | 177 | cnt_gps++; |
sashida_h | 2:0deade364b73 | 178 | } |
sashida_h | 2:0deade364b73 | 179 | |
sashida_h | 5:bb9c685fc1fe | 180 | }//while_gps |
sashida_h | 5:bb9c685fc1fe | 181 | }//main |
sashida_h | 5:bb9c685fc1fe | 182 | |
sashida_h | 5:bb9c685fc1fe | 183 | void _open(){ |
sashida_h | 5:bb9c685fc1fe | 184 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 185 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 186 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 187 | Alt_buff2[i] = get_Alt(pressure, temperature); |
sashida_h | 5:bb9c685fc1fe | 188 | i++; |
sashida_h | 6:e9004c78b394 | 189 | if(i == 10){ //10回ごとに中央値計算 |
sashida_h | 5:bb9c685fc1fe | 190 | Alt_now = median(Alt_buff2, 10); |
sashida_h | 5:bb9c685fc1fe | 191 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 5:bb9c685fc1fe | 192 | t = timer1.read(); |
sashida_h | 5:bb9c685fc1fe | 193 | 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 | 5:bb9c685fc1fe | 194 | if(Alt_now > Max_Alt) Max_Alt = Alt_now; |
sashida_h | 5:bb9c685fc1fe | 195 | i = 0; |
sashida_h | 6:e9004c78b394 | 196 | if(tf_para == true){ //パラ開くまでは頂点判定 |
sashida_h | 5:bb9c685fc1fe | 197 | Alt_buff[Cnt_buff+1] = Alt_now; |
sashida_h | 10:273500c77873 | 198 | 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 | 5:bb9c685fc1fe | 199 | // twe.printf("Cnt_para:%d\r\n", Cnt_para); |
sashida_h | 5:bb9c685fc1fe | 200 | Cnt_buff++; |
sashida_h | 6:e9004c78b394 | 201 | if(Cnt_para == 10 || t > TIMER){ //頂点!!! |
sashida_h | 6:e9004c78b394 | 202 | kaihou.detach(); //SD閉じる前にサーボ動かす前にTicker止める |
sashida_h | 6:e9004c78b394 | 203 | fprintf(fp,"OPEN!\r\n"); |
sashida_h | 10:273500c77873 | 204 | fclose(fp); |
sashida_h | 10:273500c77873 | 205 | lfp = fopen("/local/Alt.txt","a"); |
sashida_h | 10:273500c77873 | 206 | fprintf(lfp, "MAX:%f\r\n",Max_Alt); |
sashida_h | 10:273500c77873 | 207 | fclose(lfp); |
sashida_h | 5:bb9c685fc1fe | 208 | _para(UNLOCK); |
sashida_h | 5:bb9c685fc1fe | 209 | tf_para = false; |
sashida_h | 5:bb9c685fc1fe | 210 | timer1.stop(); |
sashida_h | 7:852922a4058a | 211 | twe.printf("PARA_OPEN\r\n"); |
sashida_h | 9:b10aaf72d100 | 212 | twe.printf("GPS_MODE_ON!!!!\r\n"); |
sashida_h | 9:b10aaf72d100 | 213 | |
sashida_h | 9:b10aaf72d100 | 214 | ochiru.attach(_recovery,0.2); //パラメータ保存のためのやつ |
sashida_h | 5:bb9c685fc1fe | 215 | |
sashida_h | 5:bb9c685fc1fe | 216 | } |
sashida_h | 5:bb9c685fc1fe | 217 | } |
sashida_h | 2:0deade364b73 | 218 | } |
sashida_h | 7:852922a4058a | 219 | |
sashida_h | 7:852922a4058a | 220 | if(Cnt_buff == 250) Cnt_buff = 0; |
sashida_h | 5:bb9c685fc1fe | 221 | |
mbed_official | 0:bdbd3d6fc5d5 | 222 | } |
sashida_h | 2:0deade364b73 | 223 | |
sashida_h | 5:bb9c685fc1fe | 224 | void _recovery(){ |
sashida_h | 2:0deade364b73 | 225 | |
sashida_h | 7:852922a4058a | 226 | if(i == 0){ |
sashida_h | 2:0deade364b73 | 227 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 228 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 229 | } |
sashida_h | 2:0deade364b73 | 230 | |
sashida_h | 5:bb9c685fc1fe | 231 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 232 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 233 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 234 | Alt_now = get_Alt(pressure, temperature); |
sashida_h | 5:bb9c685fc1fe | 235 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 5:bb9c685fc1fe | 236 | 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 | 237 | i++; |
sashida_h | 2:0deade364b73 | 238 | |
sashida_h | 7:852922a4058a | 239 | if(i == 50){ |
sashida_h | 5:bb9c685fc1fe | 240 | fclose(fp); |
sashida_h | 9:b10aaf72d100 | 241 | i = 0; |
sashida_h | 2:0deade364b73 | 242 | } |
sashida_h | 2:0deade364b73 | 243 | } |
sashida_h | 2:0deade364b73 | 244 | float get_Alt(float press, float temp){ |
sashida_h | 2:0deade364b73 | 245 | return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; |
sashida_h | 2:0deade364b73 | 246 | } |
sashida_h | 2:0deade364b73 | 247 | |
sashida_h | 2:0deade364b73 | 248 | float median(float data[], int num){//todo:処理時間計測 |
sashida_h | 2:0deade364b73 | 249 | float *data_cpy, ans; |
sashida_h | 2:0deade364b73 | 250 | data_cpy = new float[num]; |
sashida_h | 2:0deade364b73 | 251 | memcpy(data_cpy,data,sizeof(float)*num); |
sashida_h | 2:0deade364b73 | 252 | |
sashida_h | 2:0deade364b73 | 253 | for(int i=0; i<num; i++){ |
sashida_h | 2:0deade364b73 | 254 | for(int j=0; j<num-i-1; j++){ |
sashida_h | 2:0deade364b73 | 255 | if(data_cpy[j]>data_cpy[j+1]){ |
sashida_h | 2:0deade364b73 | 256 | float buff = data_cpy[j+1]; |
sashida_h | 2:0deade364b73 | 257 | data_cpy[j+1] = data_cpy[j]; |
sashida_h | 2:0deade364b73 | 258 | data_cpy[j] = buff; |
sashida_h | 2:0deade364b73 | 259 | } |
sashida_h | 2:0deade364b73 | 260 | } |
sashida_h | 2:0deade364b73 | 261 | } |
sashida_h | 2:0deade364b73 | 262 | |
sashida_h | 2:0deade364b73 | 263 | if(num%2!=0) ans = data_cpy[num/2]; |
sashida_h | 2:0deade364b73 | 264 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
sashida_h | 2:0deade364b73 | 265 | delete[] data_cpy; |
sashida_h | 2:0deade364b73 | 266 | return ans; |
sashida_h | 2:0deade364b73 | 267 | } |
sashida_h | 2:0deade364b73 | 268 | |
sashida_h | 2:0deade364b73 | 269 | |
sashida_h | 2:0deade364b73 | 270 | float _DMS2DEG(float raw_data){ |
sashida_h | 2:0deade364b73 | 271 | int d = (int)(raw_data/100); |
sashida_h | 2:0deade364b73 | 272 | float m = (raw_data - (float)d*100); |
sashida_h | 2:0deade364b73 | 273 | return (float)d + m/60; |
sashida_h | 2:0deade364b73 | 274 | } |
sashida_h | 2:0deade364b73 | 275 | |
sashida_h | 2:0deade364b73 | 276 | void _para(int motion){ |
sashida_h | 2:0deade364b73 | 277 | if(motion==UNLOCK){ |
sashida_h | 9:b10aaf72d100 | 278 | servo_para.pulsewidth(0.001); // pulse servo out sita |
sashida_h | 2:0deade364b73 | 279 | }else if(motion==LOCK){ |
sashida_h | 9:b10aaf72d100 | 280 | servo_para.pulsewidth(0.002); // pulse servo outu sita |
sashida_h | 2:0deade364b73 | 281 | } |
sashida_h | 10:273500c77873 | 282 | } |
sashida_h | 10:273500c77873 | 283 | |
sashida_h | 10:273500c77873 | 284 | int _input(char c){ |
sashida_h | 10:273500c77873 | 285 | |
sashida_h | 10:273500c77873 | 286 | if(c=='f'){ |
sashida_h | 10:273500c77873 | 287 | return 3; |
sashida_h | 10:273500c77873 | 288 | }else if(c=='l'){ |
sashida_h | 10:273500c77873 | 289 | return 2; |
sashida_h | 10:273500c77873 | 290 | }else if(c=='u'){ |
sashida_h | 10:273500c77873 | 291 | return 1; |
sashida_h | 10:273500c77873 | 292 | } |
sashida_h | 10:273500c77873 | 293 | return 0; |
sashida_h | 2:0deade364b73 | 294 | } |