Revision 13:3e6411bfd581, committed 2019-03-11

Comitter:

sashida_h

Date:

Mon Mar 11 09:30:01 2019 +0000

Parent:

12:6a3c0e9075eb

Child:

14:f932a8a297ff

Commit message:

add CNT_LAUNCH; add 'g'_jumpGPSmode; 2019_0311

Changed in this revision

--- a/main.cpp	Sun Mar 10 11:47:23 2019 +0000
+++ b/main.cpp	Mon Mar 11 09:30:01 2019 +0000
@@ -3,6 +3,7 @@
 #include "BMP180.h"
 
 /*しきい値など*/
+#define CNT_LAUNCH          10  //発射判定するときのしきい値
 #define ACC_JUDGE_LAUNCH    3.0 //発射判定の合成加速度のしきい値
 #define TIME_BURNING        6   //開放判定しない時間（燃焼時間）
 #define ALT_JUDGE_OPEN      1   //落下判定のカウントを１増やす高度差
@@ -39,8 +40,9 @@
 //地上高度
 float alt_gnd;
 float alt_max;
-char c[3];
+char c[516];
 int i = 0;
+int cnt_gps=0;
 void main(){
     ES920_RST = 0;
     myled =0;
@@ -70,8 +72,8 @@
     timer_data.start();
     servo1_signal = 1;
     servo2_signal = 1;
-    servo1.pulsewidth(0.0024);
-    servo1.pulsewidth(0.0024);
+    servo1.pulsewidth(0.0015);//close
+    servo2.pulsewidth(0.0006);//close
     while(1){
         switch(Phase){
             case STANDBY:
@@ -80,16 +82,16 @@
                 c[0]=pc.getc();
                 if(c[0] == 'o'){
                     myled = 1;
-                    servo1.pulsewidth(0.0006);
-                    servo2.pulsewidth(0.0006);
+                    servo1.pulsewidth(0.0006);//open
+                    servo2.pulsewidth(0.0015);//open
                     mpu.getAccelero(acc);
                     //pc.printf("OPEN:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)));
                     pc.printf("0,%f,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),(acc[1]/9.81),timer_data.read());
                 }
                 if(c[0] == 'l'){
                     myled = 0;
-                    servo1.pulsewidth(0.0024);
-                    servo2.pulsewidth(0.0024);
+                    servo1.pulsewidth(0.0015);
+                    servo2.pulsewidth(0.0006);
                     mpu.getAccelero(acc);
                     //pc.printf("LOCK:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)));
                     pc.printf("0,%f,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),(acc[1]/9.81),timer_data.read());
@@ -100,6 +102,12 @@
                 servo1_signal = 0;
                 servo2_signal = 0;
                 }
+                if(c[0] == 'g'){
+                    pc.printf("9,0,0,0,0\r\n");
+                    wait(0.5);
+                    tic_gps.attach(&_SendGPS, 1.0/RATE_GPS);
+                    Phase = RECOVERY;
+                }
                 break;
                 
             case LAUNCH:
@@ -111,14 +119,14 @@
                 if(timer_data.read() - t > TIME_SEND){
                     //pc.printf("LAUNCH,acc:%f,time:%3f,cnt:%d\r\n",acc_abs,timer_data.read(),cnt_judge);
                     pc.printf("1,%f,%f,0,%3f\r\n",acc_abs,acc_abs,timer_data.read());
-                    
+                    cnt_judge = 0;
                     t = timer_data.read();
                 }
                 /*加速度判定*/
                 if(acc_abs>ACC_JUDGE_LAUNCH){
                     cnt_judge++;
                 }
-                if(cnt_judge==CNT_JUDGE){
+                if(cnt_judge==CNT_LAUNCH){
                     servo1_signal = 1;
                     servo1_signal = 1;
                     cnt_judge=0;
@@ -172,6 +180,11 @@
                 //if((timer_open.read()-time_judge) - TIME_JUDGE_CNT > 0) cnt_judge=0;
                 if(cnt_judge == CNT_JUDGE || timer_open.read() > TIME_OPEN){
                     Phase = RECOVERY;
+                    servo1_signal = 1;
+                    servo2_signal = 1;
+                    wait(0.1);
+                    servo1.pulsewidth(0.0006);//open
+                    servo2.pulsewidth(0.0015);//open
                     pc.printf("9,0,0,0,0\r\n");
                     wait(0.5);
                     tic_gps.attach(&_SendGPS, 1.0/RATE_GPS); 
@@ -222,7 +235,6 @@
 
 void _SendGPS(){
     char gps_data[256];
-    int cnt_gps=0;
     while(1){
         if(gps.readable()){
             gps_data[cnt_gps] = gps.getc();
@@ -240,7 +252,7 @@
                         //pc.printf("%s\r\n",gps_data);
                         //pc.printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num);
                         int japan_time = int(world_time) - 9;
-                        pc.printf("Lat,%f,Lon,%f,MAX_ALT,%f\r\n",lat_north,lon_east,alt_max);
+                        pc.printf("Lat:%f,Lon:%f,MAX_ALT:%f\r\n",lat_north,lon_east,alt_max);
                         for(i=0;i<2;i++){
                             c[i]=pc.getc();
                         }
@@ -262,7 +274,7 @@
                         break;
                     }
                 }else{
-                    //ffpc.printf("No_Satellite_signal\r\n");
+                    //pc.printf("No_Satellite_signal\r\n");
                 }
             }else{
                 cnt_gps++;