Kouki Takagi / Mbed 2 deprecated 201708kaiho_takagi

2017年能代開放用プログラム

Dependencies:   mbed MPU6050 MS5607

main.cpp@1:68309ba0103d, 2017-08-11 (annotated)

Committer:
kouki728
Date:
Fri Aug 11 13:57:14 2017 +0000
Revision:
1:68309ba0103d
Parent:
0:a4734a842395 
advanced work

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kouki728 0:a4734a842395 1 #include "mbed.h"
kouki728 1:68309ba0103d 2 #include "math.h"
kouki728 1:68309ba0103d 3 #include "MPU6050.h"
kouki728 1:68309ba0103d 4 #include "MS5607I2C.h"
kouki728 1:68309ba0103d 5
kouki728 1:68309ba0103d 6 #define STANBY
kouki728 1:68309ba0103d 7 #define LAUNCH
kouki728 1:68309ba0103d 8 #define RISE
kouki728 1:68309ba0103d 9 #define DROP
kouki728 1:68309ba0103d 10 #define ACC
kouki728 1:68309ba0103d 11 #define SERCH_TIME
kouki728 1:68309ba0103d 12 #define
kouki728 1:68309ba0103d 13 #define
kouki728 1:68309ba0103d 14 #define
kouki728 1:68309ba0103d 15 #define
kouki728 0:a4734a842395 16
kouki728 1:68309ba0103d 17
kouki728 1:68309ba0103d 18 MPU6050 mpu(p9, p10);
kouki728 1:68309ba0103d 19 MS5607I2C ms(p9, p10, false);
kouki728 1:68309ba0103d 20 PwmOut servo1(p26);
kouki728 1:68309ba0103d 21 PwmOut servo2(p25);
kouki728 1:68309ba0103d 22 PwmOut servo3(p24);
kouki728 1:68309ba0103d 23 DegitalOut myled1(LED1);
kouki728 1:68309ba0103d 24 DegitalOut myled2(LED2);
kouki728 1:68309ba0103d 25 DegitalOut myled3(LED3);
kouki728 1:68309ba0103d 26 Timer timer;
kouki728 1:68309ba0103d 27 Ticker ticker;
kouki728 1:68309ba0103d 28
kouki728 1:68309ba0103d 29
kouki728 1:68309ba0103d 30 void _judge();
kouki728 1:68309ba0103d 31 float _median(float[5]);
kouki728 1:68309ba0103d 32
kouki728 0:a4734a842395 33
kouki728 0:a4734a842395 34 int main() {
kouki728 1:68309ba0103d 35 timer.start()
kouki728 0:a4734a842395 36 }
kouki728 1:68309ba0103d 37
kouki728 1:68309ba0103d 38 void _judge(){
kouki728 1:68309ba0103d 39 switch(FHASE){
kouki728 1:68309ba0103d 40 case STANBY:
kouki728 1:68309ba0103d 41 break;
kouki728 1:68309ba0103d 42 case LAUNCH:
kouki728 1:68309ba0103d 43 myled1 = 0;
kouki728 1:68309ba0103d 44 float acc[3], acc_3;
kouki728 1:68309ba0103d 45 int count = 0;
kouki728 1:68309ba0103d 46
kouki728 1:68309ba0103d 47 getAccelero(acc);
kouki728 1:68309ba0103d 48 acc_3 = pow(acc[0], 2) + pow(acc[1], 2) + pow(acc[2], 2);
kouki728 1:68309ba0103d 49 acc_3 = sqrt(acc_3);
kouki728 1:68309ba0103d 50
kouki728 1:68309ba0103d 51 if(acc >= ACC){
kouki728 1:68309ba0103d 52 if(count == 0) SERCH_TIME = timer.read();
kouki728 1:68309ba0103d 53 count++;
kouki728 1:68309ba0103d 54 }
kouki728 1:68309ba0103d 55
kouki728 1:68309ba0103d 56 if(timer.read() > time + SERCH_TIME){
kouki728 1:68309ba0103d 57 count = 0;
kouki728 1:68309ba0103d 58 }
kouki728 1:68309ba0103d 59
kouki728 1:68309ba0103d 60 if(count == COUNT){
kouki728 1:68309ba0103d 61 myled = 1;
kouki728 1:68309ba0103d 62 PHASE = RISE;
kouki728 1:68309ba0103d 63 }
kouki728 1:68309ba0103d 64
kouki728 1:68309ba0103d 65 break;
kouki728 1:68309ba0103d 66 case RISE:
kouki728 1:68309ba0103d 67 myled2 = 0;
kouki728 1:68309ba0103d 68
kouki728 1:68309ba0103d 69 break;
kouki728 1:68309ba0103d 70 case DROP:
kouki728 1:68309ba0103d 71
kouki728 1:68309ba0103d 72 break;
kouki728 1:68309ba0103d 73
kouki728 1:68309ba0103d 74 }
kouki728 1:68309ba0103d 75 }
kouki728 1:68309ba0103d 76
kouki728 1:68309ba0103d 77 float _median(){
kouki728 1:68309ba0103d 78
kouki728 1:68309ba0103d 79 }