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

main.cpp@0:dbc31c76716d, 2021-12-06 (annotated)

Committer:
miyajitakenari
Date:
Mon Dec 06 09:53:05 2021 +0000
Revision:
0:dbc31c76716d
Child:
1:7e0593a7b534
speak warikomi; avoid no ato hasittekara direction rotate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
miyajitakenari 0:dbc31c76716d 1 /*ライブラリ*/
miyajitakenari 0:dbc31c76716d 2 #include "mbed.h"
miyajitakenari 0:dbc31c76716d 3
miyajitakenari 0:dbc31c76716d 4 // 自作関数
miyajitakenari 0:dbc31c76716d 5 #include "Function.h"
miyajitakenari 0:dbc31c76716d 6
miyajitakenari 0:dbc31c76716d 7 // フライトピン・ニクロム線関係
miyajitakenari 0:dbc31c76716d 8 DigitalIn flight_pin(A0);
miyajitakenari 0:dbc31c76716d 9 DigitalOut nichrome(D13);
miyajitakenari 0:dbc31c76716d 10
miyajitakenari 0:dbc31c76716d 11 #define cp_max 3 //CPの数を入力する
miyajitakenari 0:dbc31c76716d 12
miyajitakenari 0:dbc31c76716d 13 //音声割り込み
miyajitakenari 0:dbc31c76716d 14 Ticker onsei_tick;
miyajitakenari 0:dbc31c76716d 15 void onsei(){
miyajitakenari 0:dbc31c76716d 16 speak();
miyajitakenari 0:dbc31c76716d 17 }
miyajitakenari 0:dbc31c76716d 18
miyajitakenari 0:dbc31c76716d 19 int main() {
miyajitakenari 0:dbc31c76716d 20 // 変数宣言
miyajitakenari 0:dbc31c76716d 21 double GPS_x, GPS_y; // 現在地の座標
miyajitakenari 0:dbc31c76716d 22 double direction; // 次CPへの向き
miyajitakenari 0:dbc31c76716d 23 double CPs_x[3]={34.54608391847546, 34.545845666047306, 34.545666059919796}; //CPリスト(x座標)
miyajitakenari 0:dbc31c76716d 24 double CPs_y[3]={135.50338843400897, 135.50368659080985, 135.50347298593758}; // CPリスト(y座標)
miyajitakenari 0:dbc31c76716d 25 double next_CP_x, next_CP_y;
miyajitakenari 0:dbc31c76716d 26
miyajitakenari 0:dbc31c76716d 27 // 落下検知
miyajitakenari 0:dbc31c76716d 28 // パラシュート分離
miyajitakenari 0:dbc31c76716d 29
miyajitakenari 0:dbc31c76716d 30 /*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:dbc31c76716d 31 while(flight_pin){}
miyajitakenari 0:dbc31c76716d 32 xbee.printf("flight_pin nuketa");
miyajitakenari 0:dbc31c76716d 33 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:dbc31c76716d 34 nichrome=1;
miyajitakenari 0:dbc31c76716d 35 xbee.printf("nichrome in");
miyajitakenari 0:dbc31c76716d 36 wait(30);
miyajitakenari 0:dbc31c76716d 37 nichrome=0;*/
miyajitakenari 0:dbc31c76716d 38 // 落下終了
miyajitakenari 0:dbc31c76716d 39
miyajitakenari 0:dbc31c76716d 40
miyajitakenari 0:dbc31c76716d 41 // 行動フロー開始
miyajitakenari 0:dbc31c76716d 42 Calibration();
miyajitakenari 0:dbc31c76716d 43 xbee.printf("XBee Connected\r\n");
miyajitakenari 0:dbc31c76716d 44 xbee.printf("Fall point(lati,long)=(%lf , %lf)\r\n", gps.latitude, gps.longitude);
miyajitakenari 0:dbc31c76716d 45 for (int i = 0; i<=cp_max-1 ; i++) {//最後のcp=goalまで移動
miyajitakenari 0:dbc31c76716d 46 next_CP_x = CPs_x[i];
miyajitakenari 0:dbc31c76716d 47 next_CP_y = CPs_y[i];
miyajitakenari 0:dbc31c76716d 48
miyajitakenari 0:dbc31c76716d 49 xbee.printf("next_i=%d\r\n", i);
miyajitakenari 0:dbc31c76716d 50 onsei_tick.attach(&onsei, 10.0);//10秒ごとにavoid割り込み
miyajitakenari 0:dbc31c76716d 51
miyajitakenari 0:dbc31c76716d 52 while (1) {
miyajitakenari 0:dbc31c76716d 53 while(FrontGet()){
miyajitakenari 0:dbc31c76716d 54 xbee.printf("frontget\n\r");
miyajitakenari 0:dbc31c76716d 55 Move('1', 0); //停止
miyajitakenari 0:dbc31c76716d 56 Move('4', 0.5); //時計回り回転
miyajitakenari 0:dbc31c76716d 57 wait(1);
miyajitakenari 0:dbc31c76716d 58 Move('1', 0); //回転停止
miyajitakenari 0:dbc31c76716d 59 xbee.printf("front_avoid_rotate\n\r");
miyajitakenari 0:dbc31c76716d 60 }
miyajitakenari 0:dbc31c76716d 61 //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:dbc31c76716d 62 Move('2', 0.1);
miyajitakenari 0:dbc31c76716d 63 wait(1);
miyajitakenari 0:dbc31c76716d 64 Move('2', 0.5);
miyajitakenari 0:dbc31c76716d 65 wait(2);
miyajitakenari 0:dbc31c76716d 66 Move('1', 0);
miyajitakenari 0:dbc31c76716d 67 //ちょっと走るのおわり
miyajitakenari 0:dbc31c76716d 68
miyajitakenari 0:dbc31c76716d 69 //方向測定
miyajitakenari 0:dbc31c76716d 70 direction = AngleGet();
miyajitakenari 0:dbc31c76716d 71 xbee.printf("direction=%f\n\rrotation_start", direction);
miyajitakenari 0:dbc31c76716d 72 //角度調節
miyajitakenari 0:dbc31c76716d 73 while(1) {
miyajitakenari 0:dbc31c76716d 74 if(direction < 20 || direction > 340) {
miyajitakenari 0:dbc31c76716d 75 xbee.printf("direction finish\n\r");
miyajitakenari 0:dbc31c76716d 76 Move('1', 0); //停止
miyajitakenari 0:dbc31c76716d 77 wait(5);
miyajitakenari 0:dbc31c76716d 78 xbee.printf("now_angle=%f\r\n", direction);
miyajitakenari 0:dbc31c76716d 79 break;
miyajitakenari 0:dbc31c76716d 80 }
miyajitakenari 0:dbc31c76716d 81 else {
miyajitakenari 0:dbc31c76716d 82 Move('4', 0.15);//時計回りに回転
miyajitakenari 0:dbc31c76716d 83 xbee.printf("now_angle=%lf\r\n", direction);
miyajitakenari 0:dbc31c76716d 84 }
miyajitakenari 0:dbc31c76716d 85 }
miyajitakenari 0:dbc31c76716d 86
miyajitakenari 0:dbc31c76716d 87 xbee.printf("speed flag=");
miyajitakenari 0:dbc31c76716d 88 wait(3);
miyajitakenari 0:dbc31c76716d 89 float as[2];//advance speed
miyajitakenari 0:dbc31c76716d 90 if(xbee.readable()){
miyajitakenari 0:dbc31c76716d 91 xbee.printf("advance speed=");
miyajitakenari 0:dbc31c76716d 92 xbee.scanf("%f",&as[1]);
miyajitakenari 0:dbc31c76716d 93 }else{
miyajitakenari 0:dbc31c76716d 94 as[1]=0.5;
miyajitakenari 0:dbc31c76716d 95 }
miyajitakenari 0:dbc31c76716d 96 Move('2', as[1]);
miyajitakenari 0:dbc31c76716d 97 xbee.printf("mortor mode:2 speed:%f",as[1]);
miyajitakenari 0:dbc31c76716d 98 catchGPS();
miyajitakenari 0:dbc31c76716d 99 xbee.printf("now point(lati, long)=%lf , %lf\r\n", gps.latitude, gps.longitude);
miyajitakenari 0:dbc31c76716d 100
miyajitakenari 0:dbc31c76716d 101 double lati = 111132.8715; //1度あたりの緯度の距離(m)
miyajitakenari 0:dbc31c76716d 102 double longi = 91535.79099; //1度あたりの経度の距離(m)
miyajitakenari 0:dbc31c76716d 103 GPS_x = gps.latitude;
miyajitakenari 0:dbc31c76716d 104 GPS_y = gps.longitude;
miyajitakenari 0:dbc31c76716d 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:dbc31c76716d 106 xbee.printf("now leach cp[%d]=x_%f,y_%f",i,next_CP_x ,next_CP_y);
miyajitakenari 0:dbc31c76716d 107 break;
miyajitakenari 0:dbc31c76716d 108 }
miyajitakenari 0:dbc31c76716d 109
miyajitakenari 0:dbc31c76716d 110 }//while(1){}
miyajitakenari 0:dbc31c76716d 111 }//for(){}
miyajitakenari 0:dbc31c76716d 112 // 行動フロー終了
miyajitakenari 0:dbc31c76716d 113 xbee.printf("End\r\n");
miyajitakenari 0:dbc31c76716d 114 Move('1', 0); //停止
miyajitakenari 0:dbc31c76716d 115 xbee.printf("mortor mode:1 speed:0");
miyajitakenari 0:dbc31c76716d 116 return 0;
miyajitakenari 0:dbc31c76716d 117 }