放假这两天自学了arduino单片机编程，自己有其他编程语言的基础，现在给我们小组的二级火箭写了个控制程序，用了大概8小时吧。这是我第一个写的arduino程序，有什么错误的地方请大家帮忙指出。

单片机使用arduino NANO 3.0 ，体积小，重量轻

说明：通过Arduino单片机控制固体燃料二级火箭的分离和开伞动作，以及航拍模块控制
1~4针脚分别为继电器1~4
继电器1控制航拍模块供电
继电器2控制航拍模块拍照按钮
继电器3控制二级点火及爆破切割分离
继电器4控制降落伞打开
5针脚为三轴加速度传感器Z轴的数据接入

整个程序基本就是通过判断Z轴加速度大小来进行操作
程序思路


由于航拍采用成品化的D82密拍，自带的电池质量不好，所以直接拆掉，节省体积。USB接口5V供电，通过继电器1控制航拍模块电源，上电后自动开启声控录像，由于此模式不稳定。所以在继电器1上电10秒后自动接通继电器2，虚拟按下拍照键，终止声控录像模式。再通过持续接通继电器2，一秒，进入录像模式。
void setup()
{
pinMode( 3 , OUTPUT);
XXXXXXXXXgin(9600);
pinMode( 4 , OUTPUT);
pinMode( 2 , OUTPUT);
pinMode( 1 , OUTPUT);
}
void loop()
{
delay( 1500 );
XXXXXXXXXint( "System Start Success!!" );
XXXXXXXXXintln("");
digitalWrite( 1 , LOW );
XXXXXXXXXint( "Samera Turn On ......" );
XXXXXXXXXintln("");
delay( 10000 );
XXXXXXXXXint( "Camera Turn On Success!" );
XXXXXXXXXintln("");
digitalWrite( 2 , LOW );
delay( 100 );
digitalWrite( 2 , HIGH );
XXXXXXXXXint( "Camera Start ....." );
XXXXXXXXXintln("");
digitalWrite( 2 , LOW );
delay( 1000 );
digitalWrite( 2 , HIGH );
XXXXXXXXXint( "Camera Start Success!!" );
XXXXXXXXXintln("");
while ( ( ( analogRead(A5) ) <= ( 1 ) ) )
{
XXXXXXXXXint( "Wait Start....." );
XXXXXXXXXintln("");
delayMicroseconds( 1000 );
}
XXXXXXXXXint( "Start !!!" );
XXXXXXXXXintln("");
while ( ( ( analogRead(A5) ) >= ( 1 ) ) )
{
XXXXXXXXXint( "a=" );
XXXXXXXXXint( analogRead(A5) );
XXXXXXXXXintln("");
}
XXXXXXXXXint( "First Rocket Power Over!" );
XXXXXXXXXintln("");
XXXXXXXXXint( "Start Leave Program......" );
XXXXXXXXXintln("");
while ( ( ( analogRead(A5) ) < ( 1 ) ) )
{
digitalWrite( 3 , LOW );
delay( 2000 );
digitalWrite( 3 , HIGH );
delay( 1000 );
XXXXXXXXXint( "Second Fire....." );
XXXXXXXXXintln("");
}
delayMicroseconds( 1000 );
while ( ( ( analogRead(A5) ) < ( 1 ) ) )
{
XXXXXXXXXint( "Wait satrt....." );
XXXXXXXXXintln("");
delayMicroseconds( 1000 );
}
XXXXXXXXXint( "Second Frie Success!!" );
XXXXXXXXXintln("");
while ( ( ( analogRead(A5) ) >= ( 0 ) ) )
{
delayMicroseconds( 1000 );
XXXXXXXXXint( "a=" );
XXXXXXXXXint( analogRead(A5) );
XXXXXXXXXintln("");
}
delayMicroseconds( 1000 );
if (( ( analogRead(A5) ) <= ( 0 ) ))
{
XXXXXXXXXint( "[s:9]arachute Open....." );
XXXXXXXXXintln("");
digitalWrite( 4 , LOW );
delay( 2000 );
digitalWrite( 4 , HIGH );
while ( ( ( analogRead(A5) ) < ( 0 ) ) )
{
XXXXXXXXXint( "a=" );
XXXXXXXXXint( analogRead(A5) );
XXXXXXXXXintln("");
}
}
XXXXXXXXXint( "A Successful Landing" );
XXXXXXXXXintln("");
delay( 20000 );
XXXXXXXXXint( "Close Cream...." );
XXXXXXXXXintln("");
digitalWrite( 1 , HIGH );
XXXXXXXXXint( "Game00over" );
XXXXXXXXXintln("");
XXXXXXXXXint( "GPS" );
XXXXXXXXXintln("");
}


H3C小组二次会议将于近日召开。届时，将进行程序测试，以及数传模块测试。

最终感谢科创论坛对于H3C小组假期火箭项目的基金支持！