201803_oshima_jodam_test
Dependencies: BMP180 MPU6050 SDFileSystem mbed
Fork of SDFileSystem_HelloWorld by
main.cpp@13:4c1633775de7, 2018-03-18 (annotated)
- Committer:
- sashida_h
- Date:
- Sun Mar 18 01:20:54 2018 +0000
- Revision:
- 13:4c1633775de7
- Parent:
- 12:c32b14ca0196
- Child:
- 14:0f267807ce7c
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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 | 2:0deade364b73 | 24 | |
sashida_h | 2:0deade364b73 | 25 | LocalFileSystem local("local"); |
sashida_h | 2:0deade364b73 | 26 | FILE *fp; |
sashida_h | 2:0deade364b73 | 27 | FILE *lfp; |
sashida_h | 2:0deade364b73 | 28 | |
sashida_h | 2:0deade364b73 | 29 | Ticker kaihou; |
sashida_h | 5:bb9c685fc1fe | 30 | Ticker ochiru; |
sashida_h | 2:0deade364b73 | 31 | Timer timer1; |
sashida_h | 5:bb9c685fc1fe | 32 | |
sashida_h | 3:a7b39e55d100 | 33 | /*とりあえず全てグローバル変数化してます。*/ |
sashida_h | 2:0deade364b73 | 34 | //カウント変数 |
sashida_h | 2:0deade364b73 | 35 | int Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 36 | int Cnt_para = 0; |
sashida_h | 2:0deade364b73 | 37 | int Cnt_open = 0; |
sashida_h | 8:eb1ebae5f051 | 38 | int i, j, t; |
sashida_h | 2:0deade364b73 | 39 | //高度取得 |
sashida_h | 5:bb9c685fc1fe | 40 | float Alt_buff[256],Alt_buff2[10],Alt_gnd,Alt_now, Max_Alt; |
sashida_h | 2:0deade364b73 | 41 | float p0 = 1013.25; //海面気圧 |
sashida_h | 2:0deade364b73 | 42 | float pressure,temperature, Alt; |
sashida_h | 2:0deade364b73 | 43 | //位置情報取得 |
sashida_h | 2:0deade364b73 | 44 | char gps_data[256]; |
sashida_h | 2:0deade364b73 | 45 | int cnt_gps =0; |
sashida_h | 8:eb1ebae5f051 | 46 | //加速度,ジャイロ取得 |
sashida_h | 2:0deade364b73 | 47 | float a_abs; |
sashida_h | 2:0deade364b73 | 48 | float a[3]; |
sashida_h | 2:0deade364b73 | 49 | float d[3]; |
sashida_h | 2:0deade364b73 | 50 | |
sashida_h | 2:0deade364b73 | 51 | bool tf_para = true; |
sashida_h | 5:bb9c685fc1fe | 52 | |
sashida_h | 2:0deade364b73 | 53 | float median(float data[], int num); //中央値求める |
sashida_h | 2:0deade364b73 | 54 | float get_Alt(float press, float temp); |
sashida_h | 2:0deade364b73 | 55 | void _open(void); //kaihou |
sashida_h | 2:0deade364b73 | 56 | float _DMS2DEG(float raw_data); //GPSデータ60進数→10進数 |
sashida_h | 2:0deade364b73 | 57 | void _para(int motion); |
sashida_h | 5:bb9c685fc1fe | 58 | void _recovery(); |
sashida_h | 10:273500c77873 | 59 | int _input(char c); |
sashida_h | 5:bb9c685fc1fe | 60 | |
sashida_h | 2:0deade364b73 | 61 | int main() { |
sashida_h | 5:bb9c685fc1fe | 62 | twe.baud(115200); |
sashida_h | 5:bb9c685fc1fe | 63 | twe.printf("Hello World!\r\n"); |
sashida_h | 2:0deade364b73 | 64 | |
sashida_h | 11:0f8d26600248 | 65 | int ret; |
sashida_h | 11:0f8d26600248 | 66 | lfp = fopen("/local/Alt.txt","r"); |
sashida_h | 11:0f8d26600248 | 67 | if(lfp == NULL){ |
sashida_h | 11:0f8d26600248 | 68 | goto normal; |
sashida_h | 11:0f8d26600248 | 69 | } |
sashida_h | 11:0f8d26600248 | 70 | ret = fscanf(lfp,"GND:%f",&Alt_gnd); |
sashida_h | 11:0f8d26600248 | 71 | fclose(lfp); |
sashida_h | 11:0f8d26600248 | 72 | if(ret == -1){ |
sashida_h | 11:0f8d26600248 | 73 | goto normal; |
sashida_h | 11:0f8d26600248 | 74 | }else{ |
sashida_h | 12:c32b14ca0196 | 75 | twe.printf("reboot now\r\n"); |
sashida_h | 11:0f8d26600248 | 76 | goto yabai; |
sashida_h | 11:0f8d26600248 | 77 | } |
sashida_h | 11:0f8d26600248 | 78 | |
sashida_h | 11:0f8d26600248 | 79 | normal: |
sashida_h | 11:0f8d26600248 | 80 | |
sashida_h | 10:273500c77873 | 81 | while(1){ |
sashida_h | 10:273500c77873 | 82 | char c = twe.getc(); |
sashida_h | 10:273500c77873 | 83 | if(_input(c) == 1){ |
sashida_h | 10:273500c77873 | 84 | _para(UNLOCK); |
sashida_h | 10:273500c77873 | 85 | twe.printf("servo_open\r\n"); |
sashida_h | 10:273500c77873 | 86 | } |
sashida_h | 10:273500c77873 | 87 | else if(_input(c) == 2){ |
sashida_h | 10:273500c77873 | 88 | _para(LOCK); |
sashida_h | 10:273500c77873 | 89 | twe.printf("servo_lock\r\n"); |
sashida_h | 10:273500c77873 | 90 | } |
sashida_h | 10:273500c77873 | 91 | else if(_input(c) == 3){ |
sashida_h | 10:273500c77873 | 92 | break; |
sashida_h | 10:273500c77873 | 93 | } |
sashida_h | 10:273500c77873 | 94 | |
sashida_h | 10:273500c77873 | 95 | } |
sashida_h | 2:0deade364b73 | 96 | |
sashida_h | 2:0deade364b73 | 97 | mpu.setAcceleroRange(0); |
sashida_h | 2:0deade364b73 | 98 | mpu.setGyroRange(0); |
sashida_h | 5:bb9c685fc1fe | 99 | bmp.Initialize(60,BMP180_OSS_ULTRA_LOW_POWER); |
sashida_h | 2:0deade364b73 | 100 | twe.printf("I2C_initialize_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 101 | |
sashida_h | 3:a7b39e55d100 | 102 | |
sashida_h | 5:bb9c685fc1fe | 103 | //地上高度取得 |
sashida_h | 5:bb9c685fc1fe | 104 | Cnt_buff = 0; |
sashida_h | 2:0deade364b73 | 105 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 106 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 2:0deade364b73 | 107 | Alt_buff[i]=get_Alt(pressure, temperature); |
sashida_h | 2:0deade364b73 | 108 | } |
sashida_h | 2:0deade364b73 | 109 | Alt_gnd = median(Alt_buff, 10); |
sashida_h | 2:0deade364b73 | 110 | |
sashida_h | 5:bb9c685fc1fe | 111 | twe.printf("Alt_gnd:%f\r\n", Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 112 | |
sashida_h | 5:bb9c685fc1fe | 113 | lfp = fopen("/local/Alt.txt","a"); |
sashida_h | 5:bb9c685fc1fe | 114 | fprintf(lfp, "GND:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 115 | fclose(lfp); |
sashida_h | 5:bb9c685fc1fe | 116 | twe.printf("lacal_ok\r\n"); |
sashida_h | 5:bb9c685fc1fe | 117 | |
sashida_h | 5:bb9c685fc1fe | 118 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 119 | if(fp == NULL) { |
sashida_h | 2:0deade364b73 | 120 | error("Could not open file for write\n"); |
sashida_h | 2:0deade364b73 | 121 | } |
sashida_h | 2:0deade364b73 | 122 | for(i=0; i<10; i++){ |
sashida_h | 2:0deade364b73 | 123 | fprintf(fp, "%d:%f\r\n",i+1,Alt_buff[i]); |
sashida_h | 2:0deade364b73 | 124 | } |
sashida_h | 2:0deade364b73 | 125 | |
sashida_h | 2:0deade364b73 | 126 | fprintf(fp, "Alt_gnd:%f\r\n",Alt_gnd); |
sashida_h | 5:bb9c685fc1fe | 127 | fclose(fp); |
sashida_h | 2:0deade364b73 | 128 | |
sashida_h | 5:bb9c685fc1fe | 129 | twe.printf("SD_write_OK!!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 130 | |
sashida_h | 5:bb9c685fc1fe | 131 | twe.printf("ALL_READY\r\n"); |
sashida_h | 2:0deade364b73 | 132 | |
sashida_h | 2:0deade364b73 | 133 | while(fly == 1); //フライトピン抜けるまで待機 |
sashida_h | 2:0deade364b73 | 134 | |
sashida_h | 11:0f8d26600248 | 135 | yabai: |
sashida_h | 9:b10aaf72d100 | 136 | twe.printf("SEPARATE!!!!!!!\r\n"); |
sashida_h | 5:bb9c685fc1fe | 137 | i = 0; |
sashida_h | 5:bb9c685fc1fe | 138 | Alt_buff[0] = 0; |
sashida_h | 5:bb9c685fc1fe | 139 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 5:bb9c685fc1fe | 140 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 141 | timer1.start(); |
sashida_h | 10:273500c77873 | 142 | // kaihou.attach(_open,1/RATE); |
sashida_h | 8:eb1ebae5f051 | 143 | kaihou.attach(_open,0.02); |
sashida_h | 5:bb9c685fc1fe | 144 | |
sashida_h | 2:0deade364b73 | 145 | |
sashida_h | 2:0deade364b73 | 146 | while(1){ |
sashida_h | 2:0deade364b73 | 147 | |
sashida_h | 5:bb9c685fc1fe | 148 | /* twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt, Cnt_para); |
sashida_h | 5:bb9c685fc1fe | 149 | wait(1.0); |
sashida_h | 5:bb9c685fc1fe | 150 | */ |
sashida_h | 2:0deade364b73 | 151 | /* GPS取得&送信 */ |
sashida_h | 5:bb9c685fc1fe | 152 | gps_data[cnt_gps] = gps.getc(); |
sashida_h | 2:0deade364b73 | 153 | if(gps_data[cnt_gps] == '$' || cnt_gps ==256){ |
sashida_h | 2:0deade364b73 | 154 | cnt_gps = 0; |
sashida_h | 2:0deade364b73 | 155 | memset(gps_data,'\0',256); |
sashida_h | 2:0deade364b73 | 156 | }else if(gps_data[cnt_gps] == '\r'){ |
sashida_h | 2:0deade364b73 | 157 | float world_time, lon_east, lat_north; |
sashida_h | 2:0deade364b73 | 158 | int rlock, sat_num; |
sashida_h | 2:0deade364b73 | 159 | char lat,lon; |
sashida_h | 2:0deade364b73 | 160 | 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 | 161 | if(rlock==1){ |
sashida_h | 2:0deade364b73 | 162 | lat_north = _DMS2DEG(lat_north); |
sashida_h | 2:0deade364b73 | 163 | lon_east = _DMS2DEG(lon_east); |
sashida_h | 2:0deade364b73 | 164 | // pc.printf("phase:%d,max altitude:%f\r\n",Phase,Max_Alt); |
sashida_h | 2:0deade364b73 | 165 | // twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 166 | 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 | 167 | }else{ |
sashida_h | 2:0deade364b73 | 168 | // pc.printf("max altitude:%f\r\n",Max_Alt); |
sashida_h | 2:0deade364b73 | 169 | twe.printf("%s\r\n",gps_data); |
sashida_h | 2:0deade364b73 | 170 | } |
sashida_h | 5:bb9c685fc1fe | 171 | twe.printf("MAX:%f,Cnt:%d\r\n",Max_Alt,Cnt_para); |
sashida_h | 2:0deade364b73 | 172 | } |
sashida_h | 2:0deade364b73 | 173 | }else{ |
sashida_h | 2:0deade364b73 | 174 | cnt_gps++; |
sashida_h | 2:0deade364b73 | 175 | } |
sashida_h | 2:0deade364b73 | 176 | |
sashida_h | 5:bb9c685fc1fe | 177 | }//while_gps |
sashida_h | 5:bb9c685fc1fe | 178 | }//main |
sashida_h | 5:bb9c685fc1fe | 179 | |
sashida_h | 5:bb9c685fc1fe | 180 | void _open(){ |
sashida_h | 5:bb9c685fc1fe | 181 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 182 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 183 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 184 | Alt_buff2[i] = get_Alt(pressure, temperature); |
sashida_h | 5:bb9c685fc1fe | 185 | i++; |
sashida_h | 6:e9004c78b394 | 186 | if(i == 10){ //10回ごとに中央値計算 |
sashida_h | 5:bb9c685fc1fe | 187 | Alt_now = median(Alt_buff2, 10); |
sashida_h | 5:bb9c685fc1fe | 188 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 5:bb9c685fc1fe | 189 | t = timer1.read(); |
sashida_h | 5:bb9c685fc1fe | 190 | 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 | 191 | if(Alt_now > Max_Alt) Max_Alt = Alt_now; |
sashida_h | 5:bb9c685fc1fe | 192 | i = 0; |
sashida_h | 6:e9004c78b394 | 193 | if(tf_para == true){ //パラ開くまでは頂点判定 |
sashida_h | 5:bb9c685fc1fe | 194 | Alt_buff[Cnt_buff+1] = Alt_now; |
sashida_h | 10:273500c77873 | 195 | 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 | 196 | // twe.printf("Cnt_para:%d\r\n", Cnt_para); |
sashida_h | 5:bb9c685fc1fe | 197 | Cnt_buff++; |
sashida_h | 6:e9004c78b394 | 198 | if(Cnt_para == 10 || t > TIMER){ //頂点!!! |
sashida_h | 6:e9004c78b394 | 199 | kaihou.detach(); //SD閉じる前にサーボ動かす前にTicker止める |
sashida_h | 6:e9004c78b394 | 200 | fprintf(fp,"OPEN!\r\n"); |
sashida_h | 10:273500c77873 | 201 | fclose(fp); |
sashida_h | 10:273500c77873 | 202 | lfp = fopen("/local/Alt.txt","a"); |
sashida_h | 10:273500c77873 | 203 | fprintf(lfp, "MAX:%f\r\n",Max_Alt); |
sashida_h | 10:273500c77873 | 204 | fclose(lfp); |
sashida_h | 5:bb9c685fc1fe | 205 | _para(UNLOCK); |
sashida_h | 5:bb9c685fc1fe | 206 | tf_para = false; |
sashida_h | 5:bb9c685fc1fe | 207 | timer1.stop(); |
sashida_h | 7:852922a4058a | 208 | twe.printf("PARA_OPEN\r\n"); |
sashida_h | 9:b10aaf72d100 | 209 | twe.printf("GPS_MODE_ON!!!!\r\n"); |
sashida_h | 9:b10aaf72d100 | 210 | |
sashida_h | 9:b10aaf72d100 | 211 | ochiru.attach(_recovery,0.2); //パラメータ保存のためのやつ |
sashida_h | 5:bb9c685fc1fe | 212 | |
sashida_h | 5:bb9c685fc1fe | 213 | } |
sashida_h | 5:bb9c685fc1fe | 214 | } |
sashida_h | 2:0deade364b73 | 215 | } |
sashida_h | 7:852922a4058a | 216 | |
sashida_h | 7:852922a4058a | 217 | if(Cnt_buff == 250) Cnt_buff = 0; |
sashida_h | 5:bb9c685fc1fe | 218 | |
mbed_official | 0:bdbd3d6fc5d5 | 219 | } |
sashida_h | 2:0deade364b73 | 220 | |
sashida_h | 5:bb9c685fc1fe | 221 | void _recovery(){ |
sashida_h | 2:0deade364b73 | 222 | |
sashida_h | 7:852922a4058a | 223 | if(i == 0){ |
sashida_h | 2:0deade364b73 | 224 | fp = fopen("/sd/mydir/sdtest.txt", "a"); |
sashida_h | 2:0deade364b73 | 225 | if(fp == NULL)twe.printf("ERROR\r\n"); |
sashida_h | 2:0deade364b73 | 226 | } |
sashida_h | 2:0deade364b73 | 227 | |
sashida_h | 5:bb9c685fc1fe | 228 | bmp.ReadData(&temperature,&pressure); |
sashida_h | 5:bb9c685fc1fe | 229 | mpu.getAccelero(a); |
sashida_h | 5:bb9c685fc1fe | 230 | mpu.getGyro(d); |
sashida_h | 5:bb9c685fc1fe | 231 | Alt_now = get_Alt(pressure, temperature); |
sashida_h | 5:bb9c685fc1fe | 232 | Alt_now = Alt_now - Alt_gnd; |
sashida_h | 5:bb9c685fc1fe | 233 | 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 | 234 | i++; |
sashida_h | 2:0deade364b73 | 235 | |
sashida_h | 7:852922a4058a | 236 | if(i == 50){ |
sashida_h | 5:bb9c685fc1fe | 237 | fclose(fp); |
sashida_h | 9:b10aaf72d100 | 238 | i = 0; |
sashida_h | 2:0deade364b73 | 239 | } |
sashida_h | 2:0deade364b73 | 240 | } |
sashida_h | 2:0deade364b73 | 241 | float get_Alt(float press, float temp){ |
sashida_h | 2:0deade364b73 | 242 | return (pow((p0/press), (1.0f/5.257f))-1.0f)*(temp+273.15f)/0.0065f; |
sashida_h | 2:0deade364b73 | 243 | } |
sashida_h | 2:0deade364b73 | 244 | |
sashida_h | 2:0deade364b73 | 245 | float median(float data[], int num){//todo:処理時間計測 |
sashida_h | 2:0deade364b73 | 246 | float *data_cpy, ans; |
sashida_h | 2:0deade364b73 | 247 | data_cpy = new float[num]; |
sashida_h | 2:0deade364b73 | 248 | memcpy(data_cpy,data,sizeof(float)*num); |
sashida_h | 2:0deade364b73 | 249 | |
sashida_h | 2:0deade364b73 | 250 | for(int i=0; i<num; i++){ |
sashida_h | 2:0deade364b73 | 251 | for(int j=0; j<num-i-1; j++){ |
sashida_h | 2:0deade364b73 | 252 | if(data_cpy[j]>data_cpy[j+1]){ |
sashida_h | 2:0deade364b73 | 253 | float buff = data_cpy[j+1]; |
sashida_h | 2:0deade364b73 | 254 | data_cpy[j+1] = data_cpy[j]; |
sashida_h | 2:0deade364b73 | 255 | data_cpy[j] = buff; |
sashida_h | 2:0deade364b73 | 256 | } |
sashida_h | 2:0deade364b73 | 257 | } |
sashida_h | 2:0deade364b73 | 258 | } |
sashida_h | 2:0deade364b73 | 259 | |
sashida_h | 2:0deade364b73 | 260 | if(num%2!=0) ans = data_cpy[num/2]; |
sashida_h | 2:0deade364b73 | 261 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
sashida_h | 2:0deade364b73 | 262 | delete[] data_cpy; |
sashida_h | 2:0deade364b73 | 263 | return ans; |
sashida_h | 2:0deade364b73 | 264 | } |
sashida_h | 2:0deade364b73 | 265 | |
sashida_h | 2:0deade364b73 | 266 | |
sashida_h | 2:0deade364b73 | 267 | float _DMS2DEG(float raw_data){ |
sashida_h | 2:0deade364b73 | 268 | int d = (int)(raw_data/100); |
sashida_h | 2:0deade364b73 | 269 | float m = (raw_data - (float)d*100); |
sashida_h | 2:0deade364b73 | 270 | return (float)d + m/60; |
sashida_h | 2:0deade364b73 | 271 | } |
sashida_h | 2:0deade364b73 | 272 | |
sashida_h | 2:0deade364b73 | 273 | void _para(int motion){ |
sashida_h | 2:0deade364b73 | 274 | if(motion==UNLOCK){ |
sashida_h | 9:b10aaf72d100 | 275 | servo_para.pulsewidth(0.001); // pulse servo out sita |
sashida_h | 2:0deade364b73 | 276 | }else if(motion==LOCK){ |
sashida_h | 9:b10aaf72d100 | 277 | servo_para.pulsewidth(0.002); // pulse servo outu sita |
sashida_h | 2:0deade364b73 | 278 | } |
sashida_h | 10:273500c77873 | 279 | } |
sashida_h | 10:273500c77873 | 280 | |
sashida_h | 10:273500c77873 | 281 | int _input(char c){ |
sashida_h | 10:273500c77873 | 282 | |
sashida_h | 10:273500c77873 | 283 | if(c=='f'){ |
sashida_h | 10:273500c77873 | 284 | return 3; |
sashida_h | 10:273500c77873 | 285 | }else if(c=='l'){ |
sashida_h | 10:273500c77873 | 286 | return 2; |
sashida_h | 10:273500c77873 | 287 | }else if(c=='u'){ |
sashida_h | 10:273500c77873 | 288 | return 1; |
sashida_h | 10:273500c77873 | 289 | } |
sashida_h | 10:273500c77873 | 290 | return 0; |
sashida_h | 2:0deade364b73 | 291 | } |