CanSat-C 2021 / Mbed 2 deprecated Cansat-C-

本番用

Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

main.cpp@0:00e63cfc4661, 2021-12-13 (annotated)

Committer:
miyajitakenari
Date:
Mon Dec 13 11:35:59 2021 +0000
Revision:
0:00e63cfc4661
honban

Who changed what in which revision?

UserRevisionLine numberNew contents of line
miyajitakenari 0:00e63cfc4661 1 /*ライブラリ*/
miyajitakenari 0:00e63cfc4661 2 #include "mbed.h"
miyajitakenari 0:00e63cfc4661 3
miyajitakenari 0:00e63cfc4661 4 // 自作関数
miyajitakenari 0:00e63cfc4661 5 #include "Function.h"
miyajitakenari 0:00e63cfc4661 6
miyajitakenari 0:00e63cfc4661 7 // フライトピン・ニクロム線関係
miyajitakenari 0:00e63cfc4661 8 DigitalIn flight_pin(A0);
miyajitakenari 0:00e63cfc4661 9 DigitalOut nichrome(D13);
miyajitakenari 0:00e63cfc4661 10 //
miyajitakenari 0:00e63cfc4661 11 #define cp_max 2 //CPの数を入力する
miyajitakenari 0:00e63cfc4661 12
miyajitakenari 0:00e63cfc4661 13 int main() {
miyajitakenari 0:00e63cfc4661 14 // 変数宣言
miyajitakenari 0:00e63cfc4661 15 double GPS_x, GPS_y; // 現在地の座標
miyajitakenari 0:00e63cfc4661 16 double direction; // 次CPへの向き
miyajitakenari 0:00e63cfc4661 17 double CPs_x[2]={34.545588426585454, 34.5454484832847}; //CPリスト(x座標)
miyajitakenari 0:00e63cfc4661 18 double CPs_y[2]={135.50282053551706, 135.50262437335775}; // CPリスト(y座標)
miyajitakenari 0:00e63cfc4661 19 double next_CP_x, next_CP_y;
miyajitakenari 0:00e63cfc4661 20
miyajitakenari 0:00e63cfc4661 21 // 落下検知
miyajitakenari 0:00e63cfc4661 22 // パラシュート分離
miyajitakenari 0:00e63cfc4661 23
miyajitakenari 0:00e63cfc4661 24 wait(3);//電源ついてから3v3が安定するまで、秒数は適当、必要かもわからん
miyajitakenari 0:00e63cfc4661 25 while(flight_pin){}
miyajitakenari 0:00e63cfc4661 26 xbee.printf("flight_pin nuketa\n");
miyajitakenari 0:00e63cfc4661 27 wait(35);//ピン抜けてから地面につくまで70m/2.8(m/s)=25(s)余裕を見て+10s
miyajitakenari 0:00e63cfc4661 28 //nichrome=1;
miyajitakenari 0:00e63cfc4661 29 xbee.printf("nichrome in\n");
miyajitakenari 0:00e63cfc4661 30 wait(10);
miyajitakenari 0:00e63cfc4661 31 nichrome=0;
miyajitakenari 0:00e63cfc4661 32 // 落下終了
miyajitakenari 0:00e63cfc4661 33
miyajitakenari 0:00e63cfc4661 34
miyajitakenari 0:00e63cfc4661 35 // 行動フロー開始
miyajitakenari 0:00e63cfc4661 36 Calibration();
miyajitakenari 0:00e63cfc4661 37 xbee.printf("XBee Connected\r\n");
miyajitakenari 0:00e63cfc4661 38 xbee.printf("Fall point(lati,long)=(%lf , %lf)\r\n", gps.latitude, gps.longitude);
miyajitakenari 0:00e63cfc4661 39 for (int i = 0; i<=cp_max-1 ; i++) {//最後のcp=goalまで移動
miyajitakenari 0:00e63cfc4661 40 next_CP_x = CPs_x[i];
miyajitakenari 0:00e63cfc4661 41 next_CP_y = CPs_y[i];
miyajitakenari 0:00e63cfc4661 42
miyajitakenari 0:00e63cfc4661 43 xbee.printf("next_i=%d\r\n", i);
miyajitakenari 0:00e63cfc4661 44
miyajitakenari 0:00e63cfc4661 45 while (1) {
miyajitakenari 0:00e63cfc4661 46 speak();
miyajitakenari 0:00e63cfc4661 47 while(FrontGet()) {
miyajitakenari 0:00e63cfc4661 48 xbee.printf("frontget\n\r");
miyajitakenari 0:00e63cfc4661 49 Move('1', 0); //停止
miyajitakenari 0:00e63cfc4661 50 Move('4', 0.2); //時計回り回転
miyajitakenari 0:00e63cfc4661 51 wait(0.5);
miyajitakenari 0:00e63cfc4661 52 Move('2', 0.17);
miyajitakenari 0:00e63cfc4661 53 wait(0.2);
miyajitakenari 0:00e63cfc4661 54 Move('1', 0); //回転停止
miyajitakenari 0:00e63cfc4661 55 xbee.printf("front_avoid_rotate\n\r");
miyajitakenari 0:00e63cfc4661 56 }
miyajitakenari 0:00e63cfc4661 57
miyajitakenari 0:00e63cfc4661 58 //障害物よけて走ってから目的地に回頭、走らないと障害物に向くかも
miyajitakenari 0:00e63cfc4661 59 Move('2', 0.1);
miyajitakenari 0:00e63cfc4661 60 wait(1);
miyajitakenari 0:00e63cfc4661 61 Move('2', 0.2);
miyajitakenari 0:00e63cfc4661 62 wait(2);
miyajitakenari 0:00e63cfc4661 63 Move('2', 0.17);
miyajitakenari 0:00e63cfc4661 64 wait(0.2);
miyajitakenari 0:00e63cfc4661 65 Move('1', 0);
miyajitakenari 0:00e63cfc4661 66 //ちょっと走るのおわり
miyajitakenari 0:00e63cfc4661 67 //走りながらanglegetできたら、止まらない
miyajitakenari 0:00e63cfc4661 68
miyajitakenari 0:00e63cfc4661 69 direction = AngleGet();
miyajitakenari 0:00e63cfc4661 70 xbee.printf("direction=%f\n\rrotation_start", direction);
miyajitakenari 0:00e63cfc4661 71 //角度調節
miyajitakenari 0:00e63cfc4661 72 while(1) {
miyajitakenari 0:00e63cfc4661 73 if(direction < 20 || direction > 340) {
miyajitakenari 0:00e63cfc4661 74 xbee.printf("direction finish\n\r");
miyajitakenari 0:00e63cfc4661 75 Move('1', 0); //停止
miyajitakenari 0:00e63cfc4661 76 Move('2', 0.5);
miyajitakenari 0:00e63cfc4661 77 xbee.printf("now_angle=%f\r\n", direction);
miyajitakenari 0:00e63cfc4661 78 break;
miyajitakenari 0:00e63cfc4661 79 }
miyajitakenari 0:00e63cfc4661 80 else {
miyajitakenari 0:00e63cfc4661 81 Move('4', 0.15);//時計回りに回転
miyajitakenari 0:00e63cfc4661 82 xbee.printf("now_angle=%lf\r\n", direction);
miyajitakenari 0:00e63cfc4661 83 direction = AngleGet();
miyajitakenari 0:00e63cfc4661 84 }
miyajitakenari 0:00e63cfc4661 85 }
miyajitakenari 0:00e63cfc4661 86
miyajitakenari 0:00e63cfc4661 87 xbee.printf("speed flag=");
miyajitakenari 0:00e63cfc4661 88 wait(3);
miyajitakenari 0:00e63cfc4661 89 float as[2];//advance speed
miyajitakenari 0:00e63cfc4661 90 if(xbee.readable()){
miyajitakenari 0:00e63cfc4661 91 xbee.printf("advance speed=");
miyajitakenari 0:00e63cfc4661 92 xbee.scanf("%f",&as[1]);
miyajitakenari 0:00e63cfc4661 93 }else{
miyajitakenari 0:00e63cfc4661 94 as[1]=0.5;
miyajitakenari 0:00e63cfc4661 95 }
miyajitakenari 0:00e63cfc4661 96 Move('2', as[1]);
miyajitakenari 0:00e63cfc4661 97 xbee.printf("mortor mode:2 speed:%f",as[1]);
miyajitakenari 0:00e63cfc4661 98 catchGPS();
miyajitakenari 0:00e63cfc4661 99 xbee.printf("now point(lati, long)=%lf , %lf\r\n", gps.latitude, gps.longitude);
miyajitakenari 0:00e63cfc4661 100
miyajitakenari 0:00e63cfc4661 101 double lati = 111132.8715; //1度あたりの緯度の距離(m)
miyajitakenari 0:00e63cfc4661 102 double longi = 91535.79099; //1度あたりの経度の距離(m)
miyajitakenari 0:00e63cfc4661 103 GPS_x = gps.latitude;
miyajitakenari 0:00e63cfc4661 104 GPS_y = gps.longitude;
miyajitakenari 0:00e63cfc4661 105 if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x)*lati*lati + (next_CP_y - GPS_y)*(next_CP_y - GPS_y)*longi*longi < 25) { // CP到着判定 //試験で調整
miyajitakenari 0:00e63cfc4661 106 xbee.printf("now leach cp[%d]=x_%f,y_%f",i,next_CP_x ,next_CP_y);
miyajitakenari 0:00e63cfc4661 107 break;
miyajitakenari 0:00e63cfc4661 108 }
miyajitakenari 0:00e63cfc4661 109
miyajitakenari 0:00e63cfc4661 110 }//while(1){}
miyajitakenari 0:00e63cfc4661 111 }//for(){}
miyajitakenari 0:00e63cfc4661 112 // 行動フロー終了
miyajitakenari 0:00e63cfc4661 113 xbee.printf("End\r\n");
miyajitakenari 0:00e63cfc4661 114 Move('2', 0.17);
miyajitakenari 0:00e63cfc4661 115 wait(0.2);
miyajitakenari 0:00e63cfc4661 116 Move('1', 0); //停止
miyajitakenari 0:00e63cfc4661 117 xbee.printf("mortor mode:1 speed:0");
miyajitakenari 0:00e63cfc4661 118 return 0;
miyajitakenari 0:00e63cfc4661 119 }