Revision 7:0e3fac3c6a6a, committed 2017-03-05

Comitter:

ojityan

Date:

Sun Mar 05 18:48:04 2017 +0000

Parent:

5:473edb6558fa

Child:

8:9059f95fc498

Commit message:

??????;

Changed in this revision

--- a/main.cpp	Thu Feb 09 07:10:47 2017 +0000
+++ b/main.cpp	Sun Mar 05 18:48:04 2017 +0000
@@ -57,7 +57,7 @@
     double v;
     double F_output;
 
-    myled1 = 1;
+    myled1 = 1; //起動の確認
     ADXL_config();
     myled2 = 1;
 //    makefile();
@@ -71,14 +71,14 @@
     myled4 = 0;
 
 
-//---ammeter setting end---
+//---PWNの周期を設定---
     duty_output = 0.6;
     duty.period(0.00005);
 //    NVIC_SetPriority(0, 1);
 
 
 /////////////////////
-//---main routen---
+//---制御開始---
 /////////////////////
     while(1) {
         t.reset();
@@ -86,34 +86,32 @@
         loop_break = 0;
         debug.printf("writing OK!\n");
 
-        weight_init();
+        weight_init(); //慣性力発生用おもりを初期位置に移動させる
 
-//---sensing start---
+//---加速度を感知したら移動開始---
         flipB_ = 0;
         dir = 1;
 
         while (1) {
             accelerometer.getOutput(readings);
-            if( abs((int16_t)readings[0]) > 10) {
+            if( abs((int16_t)readings[0]) > 25) {
                 myled3 = 1;
                 break;
             }
-            wait(0.01);
         }
-        save.attach(&savedata, 0.01 );
+        save.attach(&savedata, 0.01 );　//割り込み開始
         t.start();
+        
+        duty.write(duty_output);
 
 
-        while(t.read() <= 0.51) {
-//            debug.printf("loop sensorB\n");
+        while(t.read() <= 0.80) {　//内部タイマーが0.80秒に達するまで制御
             if(flag) {
                 flag = 0;
                 controller( &v, &duty_output, &acce_device, &acce_output, &F_output);
-//                duty.write(duty_output);
                 read_current( &C);
-//                debug.printf("duty = %f\n",duty_output);
                 if(1) {
-                    sprintf(buffer[i],"%f10,%f10,%f10,%f10,%f10,%f10",t.read(),C,acce_device,C,duty_output,F_output);
+                    sprintf(buffer[i],"%f10,%f10,%f10,%f10,%f10,%f10",t.read(),C,acce_device,C,duty_output,F_output);　//バッファにデータを溜めこみ終了時に吐き出す．
                     if( i > 299) {
                         loop_break = 1;
                         break;
@@ -127,23 +125,19 @@
             }
 
         }
-        myled2 = 1;
+        
+        myled2 = 1;　//0.80秒経過したらLED2を光らせる
         t.stop();
         save.detach();
 
 
         duty = 0.0f;
 
-
-//        makefile();
         myled1 = 1;
         for( j = 0; j < i; j++) {
-//             fprintf(fp,buffer[j]);
-            debug.printf("%s\n",buffer[j]);
+            debug.printf("%s\n",buffer[j]);//シリアル通信でバッファにあるデータを相手に送信する
         }
-
-//        fclose(fp);
-
+        
         while(1) {
             myled1 = 1;
             wait(0.2);
@@ -156,14 +150,14 @@
 
 
 
-void savedata(void)
+void savedata(void)//割り込み時の処理
 {
     flag = 1;
     intrrupt_cnt++;
 
 }
 
-void flipB(void)
+void flipB(void)//フォトリフレクタの反応によって止める関数
 {
     flipB_ = 1;
     duty = 0.0f;
@@ -255,9 +249,10 @@
 //---position reset---
     dir = 0;
     duty = 0.50f;
-    while(!sensorD);
+    while(!sensorB);
     duty = 0.0f;
     wait(2.0);
+    myled1 = 1;
 }
 
 void controller(double *v,float *duty_output,double *acce_device, double *acce_output, double *F)
@@ -271,7 +266,7 @@
     static double F_1;
     static double F_2;
     static double F_3;
-    static int intrrupt_checker = 5;
+    static int intrrupt_checker = 1;
 
 
 //---reading acceleration and control---
@@ -284,15 +279,15 @@
             F_1 = -1 * ( ka * *acce_device) + (kv * *v);
             *F = 0.35 * F_1 + 0.4 * F_2 + 0.25 * F_3;
             *acce_output = *F / 8.5;
-            *duty_output = *acce_output / 118 + *duty_output;
+            //*duty_output = *acce_output / 118 + *duty_output;
             if(*duty_output > 1.0) {
                 *duty_output = 1.0;
                 myled4 = 1;
             }
             
-            if(intrrupt_checker == intrrupt_cnt){
-                *duty_output = *duty_output + 0.03;
-                intrrupt_checker = intrrupt_checker + 2;
+            if(intrrupt_checker <= intrrupt_cnt){
+                *duty_output = *duty_output + 0.04;
+                intrrupt_checker = intrrupt_cnt + 1;
             }