CanSat-C 2021 / Mbed 2 deprecated cansatC_test2_xbee

Xbeeを実装、speakをfunctionに、rotate消した、calibrationで回るように、ゴール判定を消した

Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

Function.h@33:81cce6df4f14, 2021-12-19 (annotated)

Committer:
miyajitakenari
Date:
Sun Dec 19 09:30:30 2021 +0000
Revision:
33:81cce6df4f14
Parent:
32:38c29f2f405c 
3kaime

Who changed what in which revision?

UserRevisionLine numberNew contents of line
miyajitakenari 0:79033ee3c961 1 #include "mbed.h"
miyajitakenari 0:79033ee3c961 2 #include "getGPS.h"
miyajitakenari 0:79033ee3c961 3 #include "us015.h"
miyajitakenari 0:79033ee3c961 4 #include "HMC6352.h"
miyajitakenari 0:79033ee3c961 5 #include "TB6612.h"
miyajitakenari 0:79033ee3c961 6 #include "ATP3011.h"
miyajitakenari 0:79033ee3c961 7
miyajitakenari 32:38c29f2f405c 8 US015 hs(D2,D3);
miyajitakenari 0:79033ee3c961 9 DigitalOut Ultra(D2);
miyajitakenari 0:79033ee3c961 10 GPS gps(D1, D0);
miyajitakenari 0:79033ee3c961 11 HMC6352 compass(D4, D5);
miyajitakenari 0:79033ee3c961 12 ATP3011 talk(D4,D5); // I2C sda scl
miyajitakenari 0:79033ee3c961 13 TB6612 motor_a(D10,D6,D7); //モータA制御用(pwma,ain1,ain2)
miyajitakenari 0:79033ee3c961 14 TB6612 motor_b(D11,D8,D9); //モータB制御用(pwmb,bin1,bin2)
miyajitakenari 0:79033ee3c961 15 Serial xbee(A7, A2);
miyajitakenari 0:79033ee3c961 16
miyajitakenari 0:79033ee3c961 17 double GPS_x, GPS_y; // 現在地の座標
miyajitakenari 0:79033ee3c961 18 double theta;
miyajitakenari 0:79033ee3c961 19 double delta;
miyajitakenari 0:79033ee3c961 20
miyajitakenari 0:79033ee3c961 21 int FrontGet()
miyajitakenari 0:79033ee3c961 22 {
miyajitakenari 0:79033ee3c961 23 Ultra = 1; //超音波on
miyajitakenari 0:79033ee3c961 24 hs.TrigerOut();
miyajitakenari 0:79033ee3c961 25 wait(1);
miyajitakenari 0:79033ee3c961 26 int distance;
miyajitakenari 6:326208aabe68 27 distance = hs.GetDistance();
miyajitakenari 6:326208aabe68 28 xbee.printf("distance=%d\r\n", distance); //距離出力
miyajitakenari 0:79033ee3c961 29 Ultra=0;//超音波off
miyajitakenari 0:79033ee3c961 30
miyajitakenari 11:d00bfdcb7481 31 if(distance < 1500) {
miyajitakenari 0:79033ee3c961 32 return 1;
miyajitakenari 0:79033ee3c961 33 }
miyajitakenari 0:79033ee3c961 34 else {
miyajitakenari 0:79033ee3c961 35 return 0;
miyajitakenari 0:79033ee3c961 36 }
miyajitakenari 0:79033ee3c961 37 }
miyajitakenari 0:79033ee3c961 38
miyajitakenari 0:79033ee3c961 39
miyajitakenari 0:79033ee3c961 40 void catchGPS()
miyajitakenari 0:79033ee3c961 41 {
miyajitakenari 0:79033ee3c961 42 xbee.printf("GPS Start\r\n");
miyajitakenari 0:79033ee3c961 43 /* 1秒ごとに現在地を取得してターミナル出力 */
miyajitakenari 0:79033ee3c961 44 while(1) {
miyajitakenari 0:79033ee3c961 45 if(gps.getgps()) { //現在地取得
miyajitakenari 6:326208aabe68 46 xbee.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
miyajitakenari 4:975b0d9bd51b 47 GPS_x = gps.latitude;
miyajitakenari 4:975b0d9bd51b 48 GPS_y = gps.longitude;
miyajitakenari 0:79033ee3c961 49 break;
miyajitakenari 0:79033ee3c961 50 }
miyajitakenari 0:79033ee3c961 51 else {
miyajitakenari 6:326208aabe68 52 xbee.printf("No data\r\n");//データ取得に失敗した場合
miyajitakenari 0:79033ee3c961 53 wait(1);
miyajitakenari 0:79033ee3c961 54 }
miyajitakenari 0:79033ee3c961 55 }
miyajitakenari 0:79033ee3c961 56 return;
miyajitakenari 0:79033ee3c961 57 }
miyajitakenari 0:79033ee3c961 58
miyajitakenari 0:79033ee3c961 59
miyajitakenari 0:79033ee3c961 60 void Move(char input_data, float motor_speed) {
miyajitakenari 0:79033ee3c961 61 switch (input_data) {
miyajitakenari 0:79033ee3c961 62 case '1': // 停止
miyajitakenari 0:79033ee3c961 63 motor_a = 0;
miyajitakenari 0:79033ee3c961 64 motor_b = 0;
miyajitakenari 0:79033ee3c961 65 break;
miyajitakenari 0:79033ee3c961 66 case '2': // 前進
miyajitakenari 0:79033ee3c961 67 motor_a = motor_speed;
miyajitakenari 0:79033ee3c961 68 motor_b = motor_speed;
miyajitakenari 0:79033ee3c961 69 break;
miyajitakenari 0:79033ee3c961 70 case '3': // 後退
miyajitakenari 0:79033ee3c961 71 motor_a = -motor_speed;
miyajitakenari 0:79033ee3c961 72 motor_b = -motor_speed;
miyajitakenari 0:79033ee3c961 73 break;
miyajitakenari 0:79033ee3c961 74 case '4': // 時計回りに回転
miyajitakenari 0:79033ee3c961 75 motor_a = motor_speed;
miyajitakenari 0:79033ee3c961 76 motor_b = -motor_speed;
miyajitakenari 0:79033ee3c961 77 break;
miyajitakenari 0:79033ee3c961 78 case '5': // 反時計回りに回転
miyajitakenari 0:79033ee3c961 79 motor_a = -motor_speed;
miyajitakenari 0:79033ee3c961 80 motor_b = motor_speed;
miyajitakenari 0:79033ee3c961 81 break;
miyajitakenari 0:79033ee3c961 82 case '6': // Aのみ正転
miyajitakenari 0:79033ee3c961 83 motor_a = motor_speed;
miyajitakenari 0:79033ee3c961 84 break;
miyajitakenari 0:79033ee3c961 85 case '7': // Bのみ正転
miyajitakenari 0:79033ee3c961 86 motor_b = motor_speed;
miyajitakenari 0:79033ee3c961 87 break;
miyajitakenari 0:79033ee3c961 88 case '8': // Aのみ逆転
miyajitakenari 0:79033ee3c961 89 motor_a = -motor_speed;
miyajitakenari 0:79033ee3c961 90 break;
miyajitakenari 0:79033ee3c961 91 case '9': // Bのみ逆転
miyajitakenari 0:79033ee3c961 92 motor_b = -motor_speed;
miyajitakenari 0:79033ee3c961 93 break;
miyajitakenari 0:79033ee3c961 94 }
miyajitakenari 0:79033ee3c961 95 }
miyajitakenari 0:79033ee3c961 96
miyajitakenari 19:6c56feca386d 97 double AngleGet(double next_x, double next_y)
miyajitakenari 0:79033ee3c961 98 {
miyajitakenari 0:79033ee3c961 99 double angle = 0;
miyajitakenari 0:79033ee3c961 100 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
miyajitakenari 0:79033ee3c961 101 angle = compass.sample() / 10;
miyajitakenari 19:6c56feca386d 102
miyajitakenari 0:79033ee3c961 103 double theta;
miyajitakenari 0:79033ee3c961 104 double delta;
miyajitakenari 0:79033ee3c961 105
miyajitakenari 0:79033ee3c961 106 xbee.printf("gps.latitude=%f, gps.longitude=%f\r\n", gps.latitude, gps.longitude);
miyajitakenari 19:6c56feca386d 107 theta = atan2(next_y - gps.longitude , next_x - gps.latitude) * 180 / 3.14159265359;
miyajitakenari 0:79033ee3c961 108 if(theta >= 0) {
miyajitakenari 0:79033ee3c961 109 delta = angle - theta;
miyajitakenari 0:79033ee3c961 110 }
miyajitakenari 0:79033ee3c961 111 else {
miyajitakenari 19:6c56feca386d 112
miyajitakenari 0:79033ee3c961 113 theta = theta + 360;
miyajitakenari 0:79033ee3c961 114 delta = angle - theta;
miyajitakenari 12:740d999b1fea 115 }
miyajitakenari 12:740d999b1fea 116 if(delta<0){
miyajitakenari 12:740d999b1fea 117 delta+=360;
miyajitakenari 12:740d999b1fea 118 }
miyajitakenari 20:72fbb99ad55a 119 xbee.printf("%f-%f=%f\r\n", angle, theta, delta);
miyajitakenari 0:79033ee3c961 120 return delta;
miyajitakenari 0:79033ee3c961 121 }
miyajitakenari 0:79033ee3c961 122
miyajitakenari 0:79033ee3c961 123 void Calibration()
miyajitakenari 0:79033ee3c961 124 {
miyajitakenari 0:79033ee3c961 125 xbee.printf("calibration start\r\n");
miyajitakenari 0:79033ee3c961 126 compass.setCalibrationMode(0x43);
miyajitakenari 17:a1e6729a385e 127 Move('4', 0.19);
miyajitakenari 3:ec2b7587be78 128 wait(60);
miyajitakenari 3:ec2b7587be78 129 Move('1', 0);
miyajitakenari 0:79033ee3c961 130 compass.setCalibrationMode(0x45);
miyajitakenari 0:79033ee3c961 131 xbee.printf("calibration end\r\n");
miyajitakenari 0:79033ee3c961 132 while(1) {
miyajitakenari 0:79033ee3c961 133 if(gps.getgps()) { //現在地取得
miyajitakenari 6:326208aabe68 134 xbee.printf("lati=%lf\nlong=%lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
miyajitakenari 4:975b0d9bd51b 135 GPS_x = gps.latitude;
miyajitakenari 4:975b0d9bd51b 136 GPS_y = gps.longitude;
miyajitakenari 0:79033ee3c961 137 break;
miyajitakenari 0:79033ee3c961 138 }
miyajitakenari 0:79033ee3c961 139 else {
miyajitakenari 6:326208aabe68 140 xbee.printf("No data\r\n");//データ取得に失敗した場合
miyajitakenari 0:79033ee3c961 141 wait(1);
miyajitakenari 0:79033ee3c961 142 }
miyajitakenari 0:79033ee3c961 143 }
miyajitakenari 0:79033ee3c961 144
miyajitakenari 0:79033ee3c961 145 return;
miyajitakenari 0:79033ee3c961 146 }
miyajitakenari 0:79033ee3c961 147
miyajitakenari 0:79033ee3c961 148 /*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 0:79033ee3c961 149 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 0:79033ee3c961 150 void speak()
miyajitakenari 0:79033ee3c961 151 {
miyajitakenari 0:79033ee3c961 152 int timeout_ms=500;
miyajitakenari 24:b9b252fbee8e 153 char mess[100];
miyajitakenari 24:b9b252fbee8e 154 float as;
miyajitakenari 0:79033ee3c961 155 if(talk.IsActive(timeout_ms)==true){
miyajitakenari 33:81cce6df4f14 156 /*xbee.printf("Active\n\rflag=");
miyajitakenari 0:79033ee3c961 157 wait(3);
miyajitakenari 0:79033ee3c961 158 if(xbee.readable()){
miyajitakenari 0:79033ee3c961 159 xbee.printf("\n\rmessage=");
miyajitakenari 0:79033ee3c961 160 int i=0;
miyajitakenari 24:b9b252fbee8e 161 do{
miyajitakenari 24:b9b252fbee8e 162 mess[i++]= xbee.getc();
miyajitakenari 0:79033ee3c961 163 }
miyajitakenari 0:79033ee3c961 164 while(mess[i-1]!= 0x0d && i<99);
miyajitakenari 0:79033ee3c961 165 talk.Synthe(mess);
miyajitakenari 24:b9b252fbee8e 166 xbee.printf("advance speed=");
miyajitakenari 24:b9b252fbee8e 167 xbee.scanf("%f",&as);
miyajitakenari 0:79033ee3c961 168 }
miyajitakenari 33:81cce6df4f14 169 else{*/
miyajitakenari 0:79033ee3c961 170 xbee.printf("preset_message speak\r\n");
miyajitakenari 15:7ff8e5bbae88 171 talk.Synthe("hinannyuudoudesu,,tuitekitekudasai.");
miyajitakenari 24:b9b252fbee8e 172 as=0.39;
miyajitakenari 33:81cce6df4f14 173 //}
miyajitakenari 0:79033ee3c961 174 }
miyajitakenari 0:79033ee3c961 175 else{
miyajitakenari 0:79033ee3c961 176 xbee.printf("\r\nNot Active\n");
miyajitakenari 24:b9b252fbee8e 177 as=0.39;
miyajitakenari 0:79033ee3c961 178 }
miyajitakenari 24:b9b252fbee8e 179 Move('2', as);
miyajitakenari 24:b9b252fbee8e 180 xbee.printf("mortor mode:2 speed:%f",as);
miyajitakenari 0:79033ee3c961 181 }