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final without sd card

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This commit is contained in:
shinya 2025-06-22 17:32:17 +02:00
parent 9e25b917f6
commit f7da4b9885
1 changed files with 76 additions and 157 deletions
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203
sender/sender_module_final.ino
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@ -1,7 +1,9 @@
#include <SPI.h> #include <SPI.h>
#include <SD.h> #include <SD.h>
#include <Servo.h> #include <Servo.h>
#include "Arduino_BMI270_BMM150.h" #include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
const int BUZZER_PIN = 2; const int BUZZER_PIN = 2;
const int SERVO_A_PIN = 7; const int SERVO_A_PIN = 7;
@ -10,10 +12,10 @@ const int CHIP_SELECT = 4;
// Create objects for modules // Create objects for modules
File dataFile; File dataFile;
Servo A; Servo A;
Adafruit_MPU6050 mpu;
// Flight stages // Flight stages
enum FlightStage enum FlightStage {
{
READY, READY,
ARM, ARM,
ASCENT, ASCENT,
@ -23,14 +25,8 @@ enum FlightStage
FlightStage current_stage = READY; FlightStage current_stage = READY;
void setup() void setup() {
{
// Initialize Serial
Serial.begin(115200); Serial.begin(115200);
//while (!Serial)
// ;
//Serial.println("# Welcome to CobraV2");
delay(1000); delay(1000);
pinMode(BUZZER_PIN, OUTPUT); pinMode(BUZZER_PIN, OUTPUT);
@ -38,16 +34,23 @@ void setup()
A.attach(SERVO_A_PIN); A.attach(SERVO_A_PIN);
A.write(80); A.write(80);
// Start with preflight stage
current_stage = READY; current_stage = READY;
// Initialize MPU6050
if (!mpu.begin()) {
Serial.println("Failed to find MPU6050 chip");
while (1) delay(10);
}
mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
mpu.setGyroRange(MPU6050_RANGE_250_DEG);
mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
delay(1000); delay(1000);
} }
void loop() void loop() {
{ switch (current_stage) {
switch (current_stage)
{
case READY: case READY:
ready_stage(); ready_stage();
break; break;
@ -66,170 +69,88 @@ void loop()
} }
} }
void beep() void beep() {
{
digitalWrite(BUZZER_PIN, HIGH); digitalWrite(BUZZER_PIN, HIGH);
delay(1000); delay(1000);
digitalWrite(BUZZER_PIN, LOW); digitalWrite(BUZZER_PIN, LOW);
} }
void ready_stage() void ready_stage() {
{
Serial.println("# READY stage"); Serial.println("# READY stage");
analogWrite(LED_BUILTIN, HIGH); analogWrite(LED_BUILTIN, HIGH);
beep(); beep();
if (!IMU.begin()) Serial.println("# MPU6050 initialized");
{
Serial.println("Failed to initialize IMU!");
while (1)
;
}
// SD card
//if (!SD.begin(CHIP_SELECT))
//{
// Serial.println("# Fail SD module init");
//}
//else
//{
// Serial.println("# Success SD module init");
//}
//
//if (SD.exists("data.txt"))
//{
// Serial.println("# File exists");
//}
//else
//{
// Serial.println("# File does not exist");
// dataFile = SD.open("data.txt", FILE_WRITE);
//}
//
//if (dataFile)
//{
// Serial.println("# File opened");
// dataFile.println("# CobraV2 flight data");
//}
//else
//{
// Serial.println("# Error opening file");
//}
Serial.print("# Accelerometer sample rate = ");
Serial.print(IMU.accelerationSampleRate());
Serial.println(" Hz");
//dataFile.print("# Accelerometer sample rate = ");
//dataFile.println(IMU.accelerationSampleRate());
//dataFile.close();
current_stage = ARM; current_stage = ARM;
} }
void arm_stage() void arm_stage() {
{
// System check
// Block parachute ejection
// Wait for launch pin removed
// Start sending data
Serial.println("# ARM stage"); Serial.println("# ARM stage");
beep(); beep();
beep(); beep();
// Accelerometer Gyroscope
int counter = 0; int counter = 0;
float x, y, z;
bool toggle = false; bool toggle = false;
//dataFile = SD.open("data.txt", FILE_WRITE); sensors_event_t a, g, temp;
//dataFile.println("# ARM stage");
while (true) while (true) {
{ mpu.getEvent(&a, &g, &temp);
if (IMU.accelerationAvailable())
{ float x = a.acceleration.x;
IMU.readAcceleration(x, y, z); float y = a.acceleration.y;
Serial.print(x); float z = a.acceleration.z;
Serial.print(", ");
Serial.print(y); Serial.print(x); Serial.print(", ");
Serial.print(", "); Serial.print(y); Serial.print(", ");
Serial.println(z); Serial.println(z);
if (x > 1.0) {
//dataFile.print(x);
//dataFile.print(" ");
//dataFile.print(y);
//dataFile.print(" ");
//dataFile.println(z);
if (x > 1)
{
Serial.println("# Launch Detect"); Serial.println("# Launch Detect");
counter++; counter++;
} } else {
else
{
counter = 0; counter = 0;
} }
}
if (counter < 15) if (counter >= 15) {
{
Serial.println("# Launching"); Serial.println("# Launching");
//dataFile.println("# Launching");
break; break;
} }
if (toggle) digitalWrite(LED_BUILTIN, toggle ? HIGH : LOW);
{
digitalWrite(LED_BUILTIN, HIGH);
}
else
{
digitalWrite(LED_BUILTIN, LOW);
}
toggle = !toggle; toggle = !toggle;
delay(10);
} }
current_stage = ASCENT; current_stage = ASCENT;
//dataFile.close();
} }
void ascent_stage() void ascent_stage() {
{ Serial.println("# ASCENT stage");
Serial.println("# ASCENT Stage");
unsigned long StartTime = millis(); unsigned long StartTime = millis();
int FailOrientationCounter = 0;
//File dataFile = SD.open("data.txt", FILE_WRITE); while (true) {
//dataFile.println("# ASCENT stage");
while (true)
{
unsigned long CurrentTime = millis(); unsigned long CurrentTime = millis();
unsigned long ElapsedTime = CurrentTime - StartTime; unsigned long ElapsedTime = CurrentTime - StartTime;
Serial.println(ElapsedTime); Serial.println(ElapsedTime);
if (IMU.gyroscopeAvailable()) sensors_event_t a, g, temp;
{ mpu.getEvent(&a, &g, &temp);
float x, y, z;
IMU.readGyroscope(x, y, z);
}
if ((ElapsedTime > 9000)) // Add orientation failure logic here if needed
{
dataFile.println("# Apogee detected by time"); if (ElapsedTime > 9000) {
Serial.println("# Apogee detected by time");
break; break;
} }
delay(10);
} }
current_stage = DESCENT; current_stage = DESCENT;
//dataFile.close();
} }
void descent_stage() void descent_stage() {
{
Serial.println("# DESCENT stage"); Serial.println("# DESCENT stage");
//File dataFile = SD.open("data.txt", FILE_WRITE);
//dataFile.println("# DESCENT stage");
A.write(80); A.write(80);
delay(1000); delay(1000);
A.write(180); A.write(180);
@ -237,25 +158,23 @@ void descent_stage()
Serial.println("# Parachute deployed"); Serial.println("# Parachute deployed");
unsigned long StartTime = millis(); unsigned long StartTime = millis();
while (true) while (true) {
{
unsigned long CurrentTime = millis(); unsigned long CurrentTime = millis();
unsigned long ElapsedTime = CurrentTime - StartTime; unsigned long ElapsedTime = CurrentTime - StartTime;
if (ElapsedTime > 300000) if (ElapsedTime > 300000) {
{ Serial.println("# Landing detected");
//dataFile.println("# Landing detected");
break; break;
} }
}
current_stage = LANDED; delay(1000);
//dataFile.close();
} }
void landed_stage() current_stage = LANDED;
{ }
while (true)
{ void landed_stage() {
while (true) {
Serial.println("# LANDED stage"); Serial.println("# LANDED stage");
beep(); beep();
delay(200); delay(200);