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
main.cpp@28:86b31fdbc4a9, 2021-12-18 (annotated)
- Committer:
- miyajitakenari
- Date:
- Sat Dec 18 03:17:37 2021 +0000
- Revision:
- 28:86b31fdbc4a9
- Parent:
- 26:7a92eef404ac
- Child:
- 29:8930f43bdefa
-5~5,
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
miyajitakenari | 2:9bbc22250488 | 1 | /*ライブラリ*/ |
miyajitakenari | 0:79033ee3c961 | 2 | #include "mbed.h" |
miyajitakenari | 0:79033ee3c961 | 3 | |
miyajitakenari | 0:79033ee3c961 | 4 | // 自作関数 |
miyajitakenari | 0:79033ee3c961 | 5 | #include "Function.h" |
miyajitakenari | 0:79033ee3c961 | 6 | |
miyajitakenari | 0:79033ee3c961 | 7 | // フライトピン・ニクロム線関係 |
miyajitakenari | 0:79033ee3c961 | 8 | DigitalIn flight_pin(A0); |
miyajitakenari | 0:79033ee3c961 | 9 | DigitalOut nichrome(D13); |
miyajitakenari | 0:79033ee3c961 | 10 | // |
gakutoagata | 23:6722c5f0c3f3 | 11 | #define cp_max 3 //CPの数を入力する |
miyajitakenari | 0:79033ee3c961 | 12 | |
miyajitakenari | 0:79033ee3c961 | 13 | int main() { |
miyajitakenari | 0:79033ee3c961 | 14 | // 変数宣言 |
miyajitakenari | 0:79033ee3c961 | 15 | double GPS_x, GPS_y; // 現在地の座標 |
miyajitakenari | 0:79033ee3c961 | 16 | double direction; // 次CPへの向き |
miyajitakenari | 28:86b31fdbc4a9 | 17 | double CPs_x[3]={34.54475005065638,34.54501545998881,34.544879982295605 }; //CPリスト(x座標) |
gakutoagata | 23:6722c5f0c3f3 | 18 | double CPs_y[3]={135.50554516096807,135.5058945348109, 135.50572453098422}; // CPリスト(y座標) |
miyajitakenari | 0:79033ee3c961 | 19 | double next_CP_x, next_CP_y; |
miyajitakenari | 0:79033ee3c961 | 20 | |
miyajitakenari | 0:79033ee3c961 | 21 | // 落下検知 |
miyajitakenari | 0:79033ee3c961 | 22 | // パラシュート分離 |
miyajitakenari | 0:79033ee3c961 | 23 | |
miyajitakenari | 10:e25e06011fd2 | 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 | 3:ec2b7587be78 | 25 | while(flight_pin){} |
miyajitakenari | 16:42f2aa7edc2b | 26 | xbee.printf("flight_pin nuketa\n\r"); |
miyajitakenari | 15:7ff8e5bbae88 | 27 | wait(5);//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 | 10:e25e06011fd2 | 28 | //nichrome=1; |
miyajitakenari | 16:42f2aa7edc2b | 29 | xbee.printf("nichrome in\n\r"); |
miyajitakenari | 9:c96ceecb43e1 | 30 | wait(10); |
miyajitakenari | 10:e25e06011fd2 | 31 | nichrome=0; |
miyajitakenari | 0:79033ee3c961 | 32 | // 落下終了 |
miyajitakenari | 0:79033ee3c961 | 33 | |
miyajitakenari | 0:79033ee3c961 | 34 | |
miyajitakenari | 0:79033ee3c961 | 35 | // 行動フロー開始 |
miyajitakenari | 0:79033ee3c961 | 36 | Calibration(); |
miyajitakenari | 0:79033ee3c961 | 37 | xbee.printf("XBee Connected\r\n"); |
miyajitakenari | 0:79033ee3c961 | 38 | xbee.printf("Fall point(lati,long)=(%lf , %lf)\r\n", gps.latitude, gps.longitude); |
miyajitakenari | 0:79033ee3c961 | 39 | for (int i = 0; i<=cp_max-1 ; i++) {//最後のcp=goalまで移動 |
miyajitakenari | 0:79033ee3c961 | 40 | next_CP_x = CPs_x[i]; |
miyajitakenari | 0:79033ee3c961 | 41 | next_CP_y = CPs_y[i]; |
miyajitakenari | 0:79033ee3c961 | 42 | |
miyajitakenari | 0:79033ee3c961 | 43 | xbee.printf("next_i=%d\r\n", i); |
miyajitakenari | 0:79033ee3c961 | 44 | |
miyajitakenari | 0:79033ee3c961 | 45 | while (1) { |
miyajitakenari | 6:326208aabe68 | 46 | while(FrontGet()) { |
miyajitakenari | 6:326208aabe68 | 47 | xbee.printf("frontget\n\r"); |
miyajitakenari | 17:a1e6729a385e | 48 | Move('2', 0.1); |
miyajitakenari | 17:a1e6729a385e | 49 | wait(0.5); |
miyajitakenari | 6:326208aabe68 | 50 | Move('1', 0); //停止 |
miyajitakenari | 11:d00bfdcb7481 | 51 | Move('4', 0.2); //時計回り回転 |
miyajitakenari | 11:d00bfdcb7481 | 52 | wait(0.5); |
miyajitakenari | 16:42f2aa7edc2b | 53 | /*Move('2', 0.17); |
miyajitakenari | 16:42f2aa7edc2b | 54 | wait(0.2);*/ |
miyajitakenari | 6:326208aabe68 | 55 | Move('1', 0); //回転停止 |
miyajitakenari | 6:326208aabe68 | 56 | xbee.printf("front_avoid_rotate\n\r"); |
miyajitakenari | 6:326208aabe68 | 57 | } |
miyajitakenari | 10:e25e06011fd2 | 58 | |
miyajitakenari | 10:e25e06011fd2 | 59 | //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 | 28:86b31fdbc4a9 | 60 | Move('2', 0.2); |
miyajitakenari | 28:86b31fdbc4a9 | 61 | wait(0.8); |
miyajitakenari | 10:e25e06011fd2 | 62 | Move('1', 0); |
miyajitakenari | 10:e25e06011fd2 | 63 | //ちょっと走るのおわり |
miyajitakenari | 12:740d999b1fea | 64 | //走りながらanglegetできたら、止まらない |
miyajitakenari | 10:e25e06011fd2 | 65 | |
miyajitakenari | 19:6c56feca386d | 66 | catchGPS(); |
miyajitakenari | 19:6c56feca386d | 67 | direction = AngleGet(next_CP_x,next_CP_y); |
gakutoagata | 23:6722c5f0c3f3 | 68 | xbee.printf("\n\n\r----direction start-----\r\n"); |
gakutoagata | 23:6722c5f0c3f3 | 69 | xbee.printf("next_cp_x=%lf, next_cp_y=%lf\r\n",next_CP_x,next_CP_y); |
miyajitakenari | 0:79033ee3c961 | 70 | //角度調節 |
miyajitakenari | 0:79033ee3c961 | 71 | while(1) { |
miyajitakenari | 28:86b31fdbc4a9 | 72 | if(direction < 5 || direction > 355) { |
gakutoagata | 23:6722c5f0c3f3 | 73 | xbee.printf("\n-----direction finish-----\r\n"); |
miyajitakenari | 6:326208aabe68 | 74 | Move('1', 0); //停止 |
miyajitakenari | 17:a1e6729a385e | 75 | Move('2', 0.39); |
gakutoagata | 23:6722c5f0c3f3 | 76 | xbee.printf("now_direction=%f\r\n", direction); |
miyajitakenari | 0:79033ee3c961 | 77 | break; |
miyajitakenari | 5:cc7917e8c442 | 78 | } |
miyajitakenari | 6:326208aabe68 | 79 | else { |
miyajitakenari | 18:da59a86eb246 | 80 | Move('4', 0.19);//時計回りに回転 |
gakutoagata | 23:6722c5f0c3f3 | 81 | xbee.printf("now_direction=%lf\r\n", direction); |
miyajitakenari | 19:6c56feca386d | 82 | direction = AngleGet(next_CP_x,next_CP_y); |
miyajitakenari | 6:326208aabe68 | 83 | } |
miyajitakenari | 0:79033ee3c961 | 84 | } |
miyajitakenari | 25:9659d86209cc | 85 | speak(); |
miyajitakenari | 0:79033ee3c961 | 86 | catchGPS(); |
miyajitakenari | 0:79033ee3c961 | 87 | xbee.printf("now point(lati, long)=%lf , %lf\r\n", gps.latitude, gps.longitude); |
miyajitakenari | 0:79033ee3c961 | 88 | |
miyajitakenari | 0:79033ee3c961 | 89 | double lati = 111132.8715; //1度あたりの緯度の距離(m) |
miyajitakenari | 0:79033ee3c961 | 90 | double longi = 91535.79099; //1度あたりの経度の距離(m) |
miyajitakenari | 4:975b0d9bd51b | 91 | GPS_x = gps.latitude; |
miyajitakenari | 4:975b0d9bd51b | 92 | GPS_y = gps.longitude; |
miyajitakenari | 28:86b31fdbc4a9 | 93 | 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 < 4) { // CP到着判定 //試験で調整 |
gakutoagata | 23:6722c5f0c3f3 | 94 | xbee.printf("!!!!!!!!now leach cp[%d]=x_%f,y_%f!!!!!!!!!!!\r\n",i,next_CP_x ,next_CP_y); |
miyajitakenari | 0:79033ee3c961 | 95 | break; |
miyajitakenari | 0:79033ee3c961 | 96 | } |
miyajitakenari | 0:79033ee3c961 | 97 | |
miyajitakenari | 0:79033ee3c961 | 98 | }//while(1){} |
miyajitakenari | 0:79033ee3c961 | 99 | }//for(){} |
miyajitakenari | 0:79033ee3c961 | 100 | // 行動フロー終了 |
miyajitakenari | 0:79033ee3c961 | 101 | xbee.printf("End\r\n"); |
miyajitakenari | 15:7ff8e5bbae88 | 102 | Move('2', 0.17); |
miyajitakenari | 15:7ff8e5bbae88 | 103 | wait(0.2); |
miyajitakenari | 0:79033ee3c961 | 104 | Move('1', 0); //停止 |
miyajitakenari | 0:79033ee3c961 | 105 | return 0; |
miyajitakenari | 0:79033ee3c961 | 106 | } |