走行試験用のプログラムです。
Dependencies: mbed TB6612FNG HMC6352 US015 getGPS
Function.h@0:0454d5b5905b, 2021-11-06 (annotated)
- Committer:
- ushiroji
- Date:
- Sat Nov 06 01:27:45 2021 +0000
- Revision:
- 0:0454d5b5905b
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ushiroji | 0:0454d5b5905b | 1 | #include "mbed.h" |
ushiroji | 0:0454d5b5905b | 2 | #include "getGPS.h" |
ushiroji | 0:0454d5b5905b | 3 | #include "us015.h" |
ushiroji | 0:0454d5b5905b | 4 | #include "HMC6352.h" |
ushiroji | 0:0454d5b5905b | 5 | #include "Math.h" |
ushiroji | 0:0454d5b5905b | 6 | #include "TB6612.h" |
ushiroji | 0:0454d5b5905b | 7 | |
ushiroji | 0:0454d5b5905b | 8 | US015 hs(D2, D3); |
ushiroji | 0:0454d5b5905b | 9 | DigitalOut Ultra(D2); |
ushiroji | 0:0454d5b5905b | 10 | GPS gps(D1, D0); |
ushiroji | 0:0454d5b5905b | 11 | HMC6352 compass(D4, D5); |
ushiroji | 0:0454d5b5905b | 12 | TB6612 motor_a(D10,D6,D7); //モータA制御用(pwma,ain1,ain2) |
ushiroji | 0:0454d5b5905b | 13 | TB6612 motor_b(D11,D8,D9); //モータB制御用(pwmb,bin1,bin2) |
ushiroji | 0:0454d5b5905b | 14 | Serial pc(USBTX, USBRX); |
ushiroji | 0:0454d5b5905b | 15 | |
ushiroji | 0:0454d5b5905b | 16 | double GPS_x, GPS_y; // 現在地の座標 |
ushiroji | 0:0454d5b5905b | 17 | double next_CP_x, next_CP_y; |
ushiroji | 0:0454d5b5905b | 18 | double CPs_x[100]; // = []; //CPリスト(x座標) |
ushiroji | 0:0454d5b5905b | 19 | double CPs_y[100]; // = []; // CPリスト(y座標) |
ushiroji | 0:0454d5b5905b | 20 | double *pGPS_x = &GPS_x, *pGPS_y = &GPS_y; |
ushiroji | 0:0454d5b5905b | 21 | double theta; |
ushiroji | 0:0454d5b5905b | 22 | double delta; |
ushiroji | 0:0454d5b5905b | 23 | |
ushiroji | 0:0454d5b5905b | 24 | int FrontGet() |
ushiroji | 0:0454d5b5905b | 25 | { |
ushiroji | 0:0454d5b5905b | 26 | Ultra = 1; //超音波on |
ushiroji | 0:0454d5b5905b | 27 | hs.TrigerOut(); |
ushiroji | 0:0454d5b5905b | 28 | wait(1); |
ushiroji | 0:0454d5b5905b | 29 | int distance; |
ushiroji | 0:0454d5b5905b | 30 | distance = hs.GetDistance(); |
ushiroji | 0:0454d5b5905b | 31 | pc.printf("distance=%d\r\n", distance); //距離出力 |
ushiroji | 0:0454d5b5905b | 32 | Ultra=0;//超音波off |
ushiroji | 0:0454d5b5905b | 33 | |
ushiroji | 0:0454d5b5905b | 34 | if(distance < 200) { |
ushiroji | 0:0454d5b5905b | 35 | return 1; |
ushiroji | 0:0454d5b5905b | 36 | } |
ushiroji | 0:0454d5b5905b | 37 | else { |
ushiroji | 0:0454d5b5905b | 38 | return 0; |
ushiroji | 0:0454d5b5905b | 39 | } |
ushiroji | 0:0454d5b5905b | 40 | } |
ushiroji | 0:0454d5b5905b | 41 | |
ushiroji | 0:0454d5b5905b | 42 | |
ushiroji | 0:0454d5b5905b | 43 | int catchGPS() |
ushiroji | 0:0454d5b5905b | 44 | { |
ushiroji | 0:0454d5b5905b | 45 | pc.printf("GPS Start\r\n"); |
ushiroji | 0:0454d5b5905b | 46 | /* 1秒ごとに現在地を取得してターミナル出力 */ |
ushiroji | 0:0454d5b5905b | 47 | while(1) { |
ushiroji | 0:0454d5b5905b | 48 | if(gps.getgps()) { //現在地取得 |
ushiroji | 0:0454d5b5905b | 49 | pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力 |
ushiroji | 0:0454d5b5905b | 50 | *pGPS_x = gps.latitude; |
ushiroji | 0:0454d5b5905b | 51 | *pGPS_y = gps.longitude; |
ushiroji | 0:0454d5b5905b | 52 | break; |
ushiroji | 0:0454d5b5905b | 53 | } |
ushiroji | 0:0454d5b5905b | 54 | else { |
ushiroji | 0:0454d5b5905b | 55 | pc.printf("No data\r\n");//データ取得に失敗した場合 |
ushiroji | 0:0454d5b5905b | 56 | wait(1); |
ushiroji | 0:0454d5b5905b | 57 | } |
ushiroji | 0:0454d5b5905b | 58 | } |
ushiroji | 0:0454d5b5905b | 59 | return 0; |
ushiroji | 0:0454d5b5905b | 60 | } |
ushiroji | 0:0454d5b5905b | 61 | |
ushiroji | 0:0454d5b5905b | 62 | |
ushiroji | 0:0454d5b5905b | 63 | void Move(char input_data, float motor_speed) { |
ushiroji | 0:0454d5b5905b | 64 | switch (input_data) { |
ushiroji | 0:0454d5b5905b | 65 | case '1': // 停止 |
ushiroji | 0:0454d5b5905b | 66 | motor_a = 0; |
ushiroji | 0:0454d5b5905b | 67 | motor_b = 0; |
ushiroji | 0:0454d5b5905b | 68 | break; |
ushiroji | 0:0454d5b5905b | 69 | case '2': // 前進 |
ushiroji | 0:0454d5b5905b | 70 | motor_a = motor_speed; |
ushiroji | 0:0454d5b5905b | 71 | motor_b = motor_speed; |
ushiroji | 0:0454d5b5905b | 72 | break; |
ushiroji | 0:0454d5b5905b | 73 | case '3': // 後退 |
ushiroji | 0:0454d5b5905b | 74 | motor_a = -motor_speed; |
ushiroji | 0:0454d5b5905b | 75 | motor_b = -motor_speed; |
ushiroji | 0:0454d5b5905b | 76 | break; |
ushiroji | 0:0454d5b5905b | 77 | case '4': // 時計回りに回転 |
ushiroji | 0:0454d5b5905b | 78 | motor_a = motor_speed; |
ushiroji | 0:0454d5b5905b | 79 | motor_b = -motor_speed; |
ushiroji | 0:0454d5b5905b | 80 | break; |
ushiroji | 0:0454d5b5905b | 81 | case '5': // 反時計回りに回転 |
ushiroji | 0:0454d5b5905b | 82 | motor_a = -motor_speed; |
ushiroji | 0:0454d5b5905b | 83 | motor_b = motor_speed; |
ushiroji | 0:0454d5b5905b | 84 | break; |
ushiroji | 0:0454d5b5905b | 85 | case '6': // Aのみ正転 |
ushiroji | 0:0454d5b5905b | 86 | motor_a = motor_speed; |
ushiroji | 0:0454d5b5905b | 87 | break; |
ushiroji | 0:0454d5b5905b | 88 | case '7': // Bのみ正転 |
ushiroji | 0:0454d5b5905b | 89 | motor_b = motor_speed; |
ushiroji | 0:0454d5b5905b | 90 | break; |
ushiroji | 0:0454d5b5905b | 91 | case '8': // Aのみ逆転 |
ushiroji | 0:0454d5b5905b | 92 | motor_a = -motor_speed; |
ushiroji | 0:0454d5b5905b | 93 | break; |
ushiroji | 0:0454d5b5905b | 94 | case '9': // Bのみ逆転 |
ushiroji | 0:0454d5b5905b | 95 | motor_b = -motor_speed; |
ushiroji | 0:0454d5b5905b | 96 | break; |
ushiroji | 0:0454d5b5905b | 97 | } |
ushiroji | 0:0454d5b5905b | 98 | pc.printf("input_data=%d\r\n", input_data); |
ushiroji | 0:0454d5b5905b | 99 | } |
ushiroji | 0:0454d5b5905b | 100 | |
ushiroji | 0:0454d5b5905b | 101 | |
ushiroji | 0:0454d5b5905b | 102 | void Rotate(double rot){ |
ushiroji | 0:0454d5b5905b | 103 | // double time = angle; // 試験で調整 |
ushiroji | 0:0454d5b5905b | 104 | int time = 3; // 試験用 |
ushiroji | 0:0454d5b5905b | 105 | if(rot > 0) { |
ushiroji | 0:0454d5b5905b | 106 | Move('5', 1); |
ushiroji | 0:0454d5b5905b | 107 | wait(time); |
ushiroji | 0:0454d5b5905b | 108 | Move('1', 0); |
ushiroji | 0:0454d5b5905b | 109 | } |
ushiroji | 0:0454d5b5905b | 110 | else { |
ushiroji | 0:0454d5b5905b | 111 | Move('6', 1); |
ushiroji | 0:0454d5b5905b | 112 | wait(time); |
ushiroji | 0:0454d5b5905b | 113 | Move('1', 0); |
ushiroji | 0:0454d5b5905b | 114 | } |
ushiroji | 0:0454d5b5905b | 115 | } |
ushiroji | 0:0454d5b5905b | 116 | |
ushiroji | 0:0454d5b5905b | 117 | double AngleGet() |
ushiroji | 0:0454d5b5905b | 118 | { |
ushiroji | 0:0454d5b5905b | 119 | double angle = 0; |
ushiroji | 0:0454d5b5905b | 120 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
ushiroji | 0:0454d5b5905b | 121 | angle = compass.sample() / 10; |
ushiroji | 0:0454d5b5905b | 122 | |
ushiroji | 0:0454d5b5905b | 123 | double theta; |
ushiroji | 0:0454d5b5905b | 124 | double delta; |
ushiroji | 0:0454d5b5905b | 125 | |
ushiroji | 0:0454d5b5905b | 126 | pc.printf("gps.latitude=%f, gps.longitude=%f\r\n", gps.latitude, gps.longitude); |
ushiroji | 0:0454d5b5905b | 127 | theta = atan2(next_CP_x - gps.latitude , next_CP_y - gps.longitude) * 180 / M_PI; |
ushiroji | 0:0454d5b5905b | 128 | printf("theta=%f\r\n", theta); |
ushiroji | 0:0454d5b5905b | 129 | if(theta >= 0) { |
ushiroji | 0:0454d5b5905b | 130 | delta = angle - theta; |
ushiroji | 0:0454d5b5905b | 131 | } |
ushiroji | 0:0454d5b5905b | 132 | else { |
ushiroji | 0:0454d5b5905b | 133 | theta = theta + 360; |
ushiroji | 0:0454d5b5905b | 134 | delta = angle - theta; |
ushiroji | 0:0454d5b5905b | 135 | } |
ushiroji | 0:0454d5b5905b | 136 | printf("%f-%f=%f\r\n", angle, theta, delta); |
ushiroji | 0:0454d5b5905b | 137 | wait(2); |
ushiroji | 0:0454d5b5905b | 138 | return delta; |
ushiroji | 0:0454d5b5905b | 139 | } |
ushiroji | 0:0454d5b5905b | 140 | |
ushiroji | 0:0454d5b5905b | 141 | int Calibration() |
ushiroji | 0:0454d5b5905b | 142 | { |
ushiroji | 0:0454d5b5905b | 143 | pc.printf("calibration start\r\n"); |
ushiroji | 0:0454d5b5905b | 144 | compass.setCalibrationMode(0x43); |
ushiroji | 0:0454d5b5905b | 145 | wait(60); |
ushiroji | 0:0454d5b5905b | 146 | compass.setCalibrationMode(0x45); |
ushiroji | 0:0454d5b5905b | 147 | pc.printf("calibration end\r\n"); |
ushiroji | 0:0454d5b5905b | 148 | while(1) { |
ushiroji | 0:0454d5b5905b | 149 | if(gps.getgps()) { //現在地取得 |
ushiroji | 0:0454d5b5905b | 150 | pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力 |
ushiroji | 0:0454d5b5905b | 151 | *pGPS_x = gps.latitude; |
ushiroji | 0:0454d5b5905b | 152 | *pGPS_y = gps.longitude; |
ushiroji | 0:0454d5b5905b | 153 | break; |
ushiroji | 0:0454d5b5905b | 154 | } |
ushiroji | 0:0454d5b5905b | 155 | else { |
ushiroji | 0:0454d5b5905b | 156 | pc.printf("No data\r\n");//データ取得に失敗した場合 |
ushiroji | 0:0454d5b5905b | 157 | wait(1); |
ushiroji | 0:0454d5b5905b | 158 | } |
ushiroji | 0:0454d5b5905b | 159 | } |
ushiroji | 0:0454d5b5905b | 160 | |
ushiroji | 0:0454d5b5905b | 161 | return 0; |
ushiroji | 0:0454d5b5905b | 162 | } |