foglar/CobraV2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

final without sd card

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

199
sender/sender_module_final.ino
View File

@ -1,7 +1,9 @@
#include <SPI.h>
#include <SD.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 SERVO_A_PIN = 7;
@ -10,10 +12,10 @@ const int CHIP_SELECT = 4;
// Create objects for modules
File dataFile;
Servo A;
Adafruit_MPU6050 mpu;
// Flight stages
enum FlightStage
{
enum FlightStage {
READY,
ARM,
ASCENT,
@ -23,14 +25,8 @@ enum FlightStage
FlightStage current_stage = READY;
void setup()
{
// Initialize Serial
void setup() {
Serial.begin(115200);
//while (!Serial)
// ;
//Serial.println("# Welcome to CobraV2");
delay(1000);
pinMode(BUZZER_PIN, OUTPUT);
@ -38,16 +34,23 @@ void setup()
A.attach(SERVO_A_PIN);
A.write(80);
// Start with preflight stage
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);
}
void loop()
{
switch (current_stage)
{
void loop() {
switch (current_stage) {
case READY:
ready_stage();
break;
@ -66,170 +69,88 @@ void loop()
}
}
void beep()
{
void beep() {
digitalWrite(BUZZER_PIN, HIGH);
delay(1000);
digitalWrite(BUZZER_PIN, LOW);
}
void ready_stage()
{
void ready_stage() {
Serial.println("# READY stage");
analogWrite(LED_BUILTIN, HIGH);
beep();
if (!IMU.begin())
{
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();
Serial.println("# MPU6050 initialized");
current_stage = ARM;
}
void arm_stage()
{
// System check
// Block parachute ejection
// Wait for launch pin removed
// Start sending data
void arm_stage() {
Serial.println("# ARM stage");
beep();
beep();
// Accelerometer Gyroscope
int counter = 0;
float x, y, z;
bool toggle = false;
//dataFile = SD.open("data.txt", FILE_WRITE);
//dataFile.println("# ARM stage");
while (true)
{
if (IMU.accelerationAvailable())
{
IMU.readAcceleration(x, y, z);
Serial.print(x);
Serial.print(", ");
Serial.print(y);
Serial.print(", ");
sensors_event_t a, g, temp;
while (true) {
mpu.getEvent(&a, &g, &temp);
float x = a.acceleration.x;
float y = a.acceleration.y;
float z = a.acceleration.z;
Serial.print(x); Serial.print(", ");
Serial.print(y); Serial.print(", ");
Serial.println(z);
//dataFile.print(x);
//dataFile.print(" ");
//dataFile.print(y);
//dataFile.print(" ");
//dataFile.println(z);
if (x > 1)
{
if (x > 1.0) {
Serial.println("# Launch Detect");
counter++;
}
else
{
} else {
counter = 0;
}
}
if (counter < 15)
{
if (counter >= 15) {
Serial.println("# Launching");
//dataFile.println("# Launching");
break;
}
if (toggle)
{
digitalWrite(LED_BUILTIN, HIGH);
}
else
{
digitalWrite(LED_BUILTIN, LOW);
}
digitalWrite(LED_BUILTIN, toggle ? HIGH : LOW);
toggle = !toggle;
delay(10);
}
current_stage = ASCENT;
//dataFile.close();
}
void ascent_stage()
{
Serial.println("# ASCENT Stage");
void ascent_stage() {
Serial.println("# ASCENT stage");
unsigned long StartTime = millis();
int FailOrientationCounter = 0;
//File dataFile = SD.open("data.txt", FILE_WRITE);
//dataFile.println("# ASCENT stage");
while (true)
{
while (true) {
unsigned long CurrentTime = millis();
unsigned long ElapsedTime = CurrentTime - StartTime;
Serial.println(ElapsedTime);
if (IMU.gyroscopeAvailable())
{
float x, y, z;
IMU.readGyroscope(x, y, z);
}
sensors_event_t a, g, temp;
mpu.getEvent(&a, &g, &temp);
if ((ElapsedTime > 9000))
{
dataFile.println("# Apogee detected by time");
// Add orientation failure logic here if needed
if (ElapsedTime > 9000) {
Serial.println("# Apogee detected by time");
break;
}
delay(10);
}
current_stage = DESCENT;
//dataFile.close();
}
void descent_stage()
{
void descent_stage() {
Serial.println("# DESCENT stage");
//File dataFile = SD.open("data.txt", FILE_WRITE);
//dataFile.println("# DESCENT stage");
A.write(80);
delay(1000);
A.write(180);
@ -237,25 +158,23 @@ void descent_stage()
Serial.println("# Parachute deployed");
unsigned long StartTime = millis();
while (true)
{
while (true) {
unsigned long CurrentTime = millis();
unsigned long ElapsedTime = CurrentTime - StartTime;
if (ElapsedTime > 300000)
{
//dataFile.println("# Landing detected");
if (ElapsedTime > 300000) {
Serial.println("# Landing detected");
break;
}
delay(1000);
}
current_stage = LANDED;
//dataFile.close();
}
void landed_stage()
{
while (true)
{
void landed_stage() {
while (true) {
Serial.println("# LANDED stage");
beep();
delay(200);