Revision 6:e9004c78b394, committed 2018-03-06

Comitter:

sashida_h

Date:

Tue Mar 06 07:05:23 2018 +0000

Parent:

5:bb9c685fc1fe

Child:

7:852922a4058a

Commit message:

??????

Changed in this revision

--- a/main.cpp	Tue Mar 06 06:56:28 2018 +0000
+++ b/main.cpp	Tue Mar 06 07:05:23 2018 +0000
@@ -152,27 +152,27 @@
     mpu.getGyro(d);
     Alt_buff2[i] = get_Alt(pressure, temperature);
     i++;
-    if(i == 10){
+    if(i == 10){        //10回ごとに中央値計算
         Alt_now = median(Alt_buff2, 10);
         Alt_now = Alt_now - Alt_gnd;
         t = timer1.read();
         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); 
         if(Alt_now > Max_Alt) Max_Alt = Alt_now;
         i = 0;
-        if(tf_para == true){
+        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]) Cnt_para++; //直前の値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){
-                kaihou.detach();
-                fprintf(fp,"OPEN!\r\n");
+            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);        
                 _para(UNLOCK);
                 tf_para = false;
                 timer1.stop();
-                twe.printf("PARA_OPEN\r\n");
-                ochiru.attach(_recovery,0.1);
+                twe.printf("PARA_OPEN\r\n");    
+                ochiru.attach(_recovery,0.1);   //パラメータ保存のためのやつ
                 
             }
         }