CanSat-C 2021 / Mbed 2 deprecated cansatC_test2_warikomi

speak割り込み 障害物の後、走ってから、目的地の方を向く

Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

Function.h@4:bd33b15ecac4, 2021-12-13 (annotated)

Committer:
miyajitakenari
Date:
Mon Dec 13 10:07:09 2021 +0000
Revision:
4:bd33b15ecac4
Parent:
3:e137a2979ff1 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
miyajitakenari 0:dbc31c76716d 1 #include "mbed.h"
miyajitakenari 0:dbc31c76716d 2 #include "getGPS.h"
miyajitakenari 0:dbc31c76716d 3 #include "us015.h"
miyajitakenari 0:dbc31c76716d 4 #include "HMC6352.h"
miyajitakenari 0:dbc31c76716d 5 #include "TB6612.h"
miyajitakenari 0:dbc31c76716d 6 #include "ATP3011.h"
miyajitakenari 0:dbc31c76716d 7
miyajitakenari 0:dbc31c76716d 8 US015 hs(D2, D3);
miyajitakenari 0:dbc31c76716d 9 DigitalOut Ultra(D2);
miyajitakenari 0:dbc31c76716d 10 GPS gps(D1, D0);
miyajitakenari 0:dbc31c76716d 11 HMC6352 compass(D4, D5);
miyajitakenari 0:dbc31c76716d 12 ATP3011 talk(D4,D5); // I2C sda scl
miyajitakenari 0:dbc31c76716d 13 TB6612 motor_a(D10,D6,D7); //モータA制御用(pwma,ain1,ain2)
miyajitakenari 0:dbc31c76716d 14 TB6612 motor_b(D11,D8,D9); //モータB制御用(pwmb,bin1,bin2)
miyajitakenari 0:dbc31c76716d 15 Serial xbee(A7, A2);
miyajitakenari 0:dbc31c76716d 16
miyajitakenari 0:dbc31c76716d 17 double GPS_x, GPS_y; // 現在地の座標
miyajitakenari 0:dbc31c76716d 18 double next_CP_x, next_CP_y;
miyajitakenari 0:dbc31c76716d 19 double CPs_x[100]; // = []; //CPリスト(x座標)
miyajitakenari 0:dbc31c76716d 20 double CPs_y[100]; // = []; // CPリスト(y座標)
miyajitakenari 0:dbc31c76716d 21 double theta;
miyajitakenari 0:dbc31c76716d 22 double delta;
miyajitakenari 0:dbc31c76716d 23
miyajitakenari 0:dbc31c76716d 24 int FrontGet()
miyajitakenari 0:dbc31c76716d 25 {
miyajitakenari 0:dbc31c76716d 26 Ultra = 1; //超音波on
miyajitakenari 0:dbc31c76716d 27 hs.TrigerOut();
miyajitakenari 0:dbc31c76716d 28 wait(1);
miyajitakenari 0:dbc31c76716d 29 int distance;
miyajitakenari 0:dbc31c76716d 30 distance = hs.GetDistance();
miyajitakenari 0:dbc31c76716d 31 xbee.printf("distance=%d\r\n", distance); //距離出力
miyajitakenari 0:dbc31c76716d 32 Ultra=0;//超音波off
miyajitakenari 0:dbc31c76716d 33
miyajitakenari 2:72e09781a13d 34 if(distance < 1500) {
miyajitakenari 0:dbc31c76716d 35 return 1;
miyajitakenari 0:dbc31c76716d 36 }
miyajitakenari 0:dbc31c76716d 37 else {
miyajitakenari 0:dbc31c76716d 38 return 0;
miyajitakenari 0:dbc31c76716d 39 }
miyajitakenari 0:dbc31c76716d 40 }
miyajitakenari 0:dbc31c76716d 41
miyajitakenari 0:dbc31c76716d 42
miyajitakenari 0:dbc31c76716d 43 void catchGPS()
miyajitakenari 0:dbc31c76716d 44 {
miyajitakenari 0:dbc31c76716d 45 xbee.printf("GPS Start\r\n");
miyajitakenari 0:dbc31c76716d 46 /* 1秒ごとに現在地を取得してターミナル出力 */
miyajitakenari 0:dbc31c76716d 47 while(1) {
miyajitakenari 0:dbc31c76716d 48 if(gps.getgps()) { //現在地取得
miyajitakenari 0:dbc31c76716d 49 xbee.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
miyajitakenari 0:dbc31c76716d 50 GPS_x = gps.latitude;
miyajitakenari 0:dbc31c76716d 51 GPS_y = gps.longitude;
miyajitakenari 0:dbc31c76716d 52 break;
miyajitakenari 0:dbc31c76716d 53 }
miyajitakenari 0:dbc31c76716d 54 else {
miyajitakenari 0:dbc31c76716d 55 xbee.printf("No data\r\n");//データ取得に失敗した場合
miyajitakenari 0:dbc31c76716d 56 wait(1);
miyajitakenari 0:dbc31c76716d 57 }
miyajitakenari 0:dbc31c76716d 58 }
miyajitakenari 0:dbc31c76716d 59 return;
miyajitakenari 0:dbc31c76716d 60 }
miyajitakenari 0:dbc31c76716d 61
miyajitakenari 0:dbc31c76716d 62
miyajitakenari 0:dbc31c76716d 63 void Move(char input_data, float motor_speed) {
miyajitakenari 0:dbc31c76716d 64 switch (input_data) {
miyajitakenari 0:dbc31c76716d 65 case '1': // 停止
miyajitakenari 0:dbc31c76716d 66 motor_a = 0;
miyajitakenari 0:dbc31c76716d 67 motor_b = 0;
miyajitakenari 0:dbc31c76716d 68 break;
miyajitakenari 0:dbc31c76716d 69 case '2': // 前進
miyajitakenari 0:dbc31c76716d 70 motor_a = motor_speed;
miyajitakenari 0:dbc31c76716d 71 motor_b = motor_speed;
miyajitakenari 0:dbc31c76716d 72 break;
miyajitakenari 0:dbc31c76716d 73 case '3': // 後退
miyajitakenari 0:dbc31c76716d 74 motor_a = -motor_speed;
miyajitakenari 0:dbc31c76716d 75 motor_b = -motor_speed;
miyajitakenari 0:dbc31c76716d 76 break;
miyajitakenari 0:dbc31c76716d 77 case '4': // 時計回りに回転
miyajitakenari 0:dbc31c76716d 78 motor_a = motor_speed;
miyajitakenari 0:dbc31c76716d 79 motor_b = -motor_speed;
miyajitakenari 0:dbc31c76716d 80 break;
miyajitakenari 0:dbc31c76716d 81 case '5': // 反時計回りに回転
miyajitakenari 0:dbc31c76716d 82 motor_a = -motor_speed;
miyajitakenari 0:dbc31c76716d 83 motor_b = motor_speed;
miyajitakenari 0:dbc31c76716d 84 break;
miyajitakenari 0:dbc31c76716d 85 case '6': // Aのみ正転
miyajitakenari 0:dbc31c76716d 86 motor_a = motor_speed;
miyajitakenari 0:dbc31c76716d 87 break;
miyajitakenari 0:dbc31c76716d 88 case '7': // Bのみ正転
miyajitakenari 0:dbc31c76716d 89 motor_b = motor_speed;
miyajitakenari 0:dbc31c76716d 90 break;
miyajitakenari 0:dbc31c76716d 91 case '8': // Aのみ逆転
miyajitakenari 0:dbc31c76716d 92 motor_a = -motor_speed;
miyajitakenari 0:dbc31c76716d 93 break;
miyajitakenari 0:dbc31c76716d 94 case '9': // Bのみ逆転
miyajitakenari 0:dbc31c76716d 95 motor_b = -motor_speed;
miyajitakenari 0:dbc31c76716d 96 break;
miyajitakenari 0:dbc31c76716d 97 }
miyajitakenari 0:dbc31c76716d 98 }
miyajitakenari 0:dbc31c76716d 99
miyajitakenari 0:dbc31c76716d 100 double AngleGet()
miyajitakenari 0:dbc31c76716d 101 {
miyajitakenari 0:dbc31c76716d 102 double angle = 0;
miyajitakenari 0:dbc31c76716d 103 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
miyajitakenari 0:dbc31c76716d 104 angle = compass.sample() / 10;
miyajitakenari 0:dbc31c76716d 105
miyajitakenari 0:dbc31c76716d 106 double theta;
miyajitakenari 0:dbc31c76716d 107 double delta;
miyajitakenari 0:dbc31c76716d 108
miyajitakenari 0:dbc31c76716d 109 xbee.printf("gps.latitude=%f, gps.longitude=%f\r\n", gps.latitude, gps.longitude);
miyajitakenari 0:dbc31c76716d 110 theta = atan2(next_CP_y - gps.longitude , next_CP_x - gps.latitude) * 180 / 3.14159265359;
miyajitakenari 0:dbc31c76716d 111 printf("theta=%f\r\n", theta);
miyajitakenari 0:dbc31c76716d 112 if(theta >= 0) {
miyajitakenari 0:dbc31c76716d 113 delta = angle - theta;
miyajitakenari 0:dbc31c76716d 114 }
miyajitakenari 0:dbc31c76716d 115 else {
miyajitakenari 0:dbc31c76716d 116 theta = theta + 360;
miyajitakenari 0:dbc31c76716d 117 delta = angle - theta;
miyajitakenari 0:dbc31c76716d 118 }
miyajitakenari 3:e137a2979ff1 119 if(delta<0){
miyajitakenari 3:e137a2979ff1 120 delta+=360;
miyajitakenari 3:e137a2979ff1 121 }
miyajitakenari 0:dbc31c76716d 122 printf("%f-%f=%f\r\n", angle, theta, delta);
miyajitakenari 0:dbc31c76716d 123 wait(2);
miyajitakenari 0:dbc31c76716d 124 return delta;
miyajitakenari 0:dbc31c76716d 125 }
miyajitakenari 0:dbc31c76716d 126
miyajitakenari 0:dbc31c76716d 127 void Calibration()
miyajitakenari 0:dbc31c76716d 128 {
miyajitakenari 0:dbc31c76716d 129 xbee.printf("calibration start\r\n");
miyajitakenari 0:dbc31c76716d 130 compass.setCalibrationMode(0x43);
miyajitakenari 1:7e0593a7b534 131 Move('4', 0.15);
miyajitakenari 2:72e09781a13d 132 xbee.printf("mortor mode:4 speed:0.15\n\r");
miyajitakenari 0:dbc31c76716d 133 wait(60);
miyajitakenari 0:dbc31c76716d 134 Move('1', 0);
miyajitakenari 0:dbc31c76716d 135 xbee.printf("mortor mode:1 speed:0\n\r");
miyajitakenari 0:dbc31c76716d 136 compass.setCalibrationMode(0x45);
miyajitakenari 0:dbc31c76716d 137 xbee.printf("calibration end\r\n");
miyajitakenari 0:dbc31c76716d 138 while(1) {
miyajitakenari 0:dbc31c76716d 139 if(gps.getgps()) { //現在地取得
miyajitakenari 0:dbc31c76716d 140 xbee.printf("lati=%lf\nlong=%lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
miyajitakenari 0:dbc31c76716d 141 GPS_x = gps.latitude;
miyajitakenari 0:dbc31c76716d 142 GPS_y = gps.longitude;
miyajitakenari 0:dbc31c76716d 143 break;
miyajitakenari 0:dbc31c76716d 144 }
miyajitakenari 0:dbc31c76716d 145 else {
miyajitakenari 0:dbc31c76716d 146 xbee.printf("No data\r\n");//データ取得に失敗した場合
miyajitakenari 0:dbc31c76716d 147 wait(1);
miyajitakenari 0:dbc31c76716d 148 }
miyajitakenari 0:dbc31c76716d 149 }
miyajitakenari 0:dbc31c76716d 150
miyajitakenari 0:dbc31c76716d 151 return;
miyajitakenari 0:dbc31c76716d 152 }
miyajitakenari 0:dbc31c76716d 153
miyajitakenari 0:dbc31c76716d 154 /*地上局から新情報を送るときはflag=がでてきたらスペースか.を入力
miyajitakenari 0:dbc31c76716d 155 3秒後ぐらいにmessage=が出てくるので、そしたら新情報を入力*/
miyajitakenari 0:dbc31c76716d 156 void speak()
miyajitakenari 0:dbc31c76716d 157 {
miyajitakenari 0:dbc31c76716d 158 int timeout_ms=500;
miyajitakenari 0:dbc31c76716d 159 char mess[100];
miyajitakenari 0:dbc31c76716d 160 if(talk.IsActive(timeout_ms)==true){
miyajitakenari 0:dbc31c76716d 161 xbee.printf("Active\n\rflag=");
miyajitakenari 0:dbc31c76716d 162 wait(3);
miyajitakenari 0:dbc31c76716d 163 if(xbee.readable()){
miyajitakenari 0:dbc31c76716d 164 xbee.printf("\n\rmessage=");
miyajitakenari 0:dbc31c76716d 165 int i=0;
miyajitakenari 0:dbc31c76716d 166 do{
miyajitakenari 0:dbc31c76716d 167 mess[i++]= xbee.getc();
miyajitakenari 0:dbc31c76716d 168 }
miyajitakenari 0:dbc31c76716d 169 while(mess[i-1]!= 0x0d && i<99);
miyajitakenari 0:dbc31c76716d 170 talk.Synthe(mess);
miyajitakenari 0:dbc31c76716d 171 }
miyajitakenari 0:dbc31c76716d 172 else{
miyajitakenari 0:dbc31c76716d 173 xbee.printf("preset_message speak\r\n");
miyajitakenari 0:dbc31c76716d 174 talk.Synthe("purissetommese-ji,,konnichiwa.");
miyajitakenari 0:dbc31c76716d 175 }
miyajitakenari 0:dbc31c76716d 176 }
miyajitakenari 0:dbc31c76716d 177 else{
miyajitakenari 0:dbc31c76716d 178 xbee.printf("\r\nNot Active\n");
miyajitakenari 0:dbc31c76716d 179 }
miyajitakenari 0:dbc31c76716d 180 }