CanSat-C 2021 / Mbed 2 deprecated cansatC_test2_xbee2

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Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

main.cpp@14:3e7d563538e5, 2021-12-13 (annotated)

Committer:
ushiroji
Date:
Mon Dec 13 10:07:34 2021 +0000
Revision:
14:3e7d563538e5
Parent:
13:65ae2ea75c44
Child:
18:bd0b2394fa48
fix comment and rotation

Who changed what in which revision?

UserRevisionLine numberNew 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 //
miyajitakenari 10:e25e06011fd2 11 #define cp_max 2 //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 10:e25e06011fd2 17 double CPs_x[2]={34.545588426585454, 34.5454484832847}; //CPリスト(x座標)
miyajitakenari 10:e25e06011fd2 18 double CPs_y[2]={135.50282053551706, 135.50262437335775}; // 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
ushiroji 14:3e7d563538e5 22 //落下開始
miyajitakenari 3:ec2b7587be78 23 while(flight_pin){}
ushiroji 14:3e7d563538e5 24 xbee.printf("flight_pin nuketa\n"); // 落下検知
ushiroji 14:3e7d563538e5 25 wait(5);//!ホントは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
ushiroji 14:3e7d563538e5 26 //nichrome=1; // パラシュート分離
miyajitakenari 13:65ae2ea75c44 27 xbee.printf("nichrome in\n");
miyajitakenari 9:c96ceecb43e1 28 wait(10);
miyajitakenari 10:e25e06011fd2 29 nichrome=0;
ushiroji 14:3e7d563538e5 30 //着地完了
miyajitakenari 0:79033ee3c961 31
miyajitakenari 0:79033ee3c961 32
miyajitakenari 0:79033ee3c961 33 // 行動フロー開始
miyajitakenari 0:79033ee3c961 34 Calibration();
miyajitakenari 0:79033ee3c961 35 xbee.printf("XBee Connected\r\n");
miyajitakenari 0:79033ee3c961 36 xbee.printf("Fall point(lati,long)=(%lf , %lf)\r\n", gps.latitude, gps.longitude);
ushiroji 14:3e7d563538e5 37 for (int i = 0; i<=cp_max-1 ; i++) { //最後のcp=goalまで移動
miyajitakenari 0:79033ee3c961 38 next_CP_x = CPs_x[i];
miyajitakenari 0:79033ee3c961 39 next_CP_y = CPs_y[i];
miyajitakenari 0:79033ee3c961 40
miyajitakenari 0:79033ee3c961 41 xbee.printf("next_i=%d\r\n", i);
miyajitakenari 0:79033ee3c961 42
miyajitakenari 0:79033ee3c961 43 while (1) {
ushiroji 14:3e7d563538e5 44 speak();
miyajitakenari 10:e25e06011fd2 45
ushiroji 14:3e7d563538e5 46 //回避開始
ushiroji 14:3e7d563538e5 47 while(FrontGet()) {
ushiroji 14:3e7d563538e5 48 xbee.printf("frontget\r\n");
ushiroji 14:3e7d563538e5 49 Move('1', 0); //停止
ushiroji 14:3e7d563538e5 50 Move('4', 0.2); //時計回り回転
ushiroji 14:3e7d563538e5 51 wait(0.5);
ushiroji 14:3e7d563538e5 52 Move('1', 0); //回転停止
ushiroji 14:3e7d563538e5 53 xbee.printf("front_avoid_rotate\r\n");
ushiroji 14:3e7d563538e5 54 }
miyajitakenari 10:e25e06011fd2 55 //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 10:e25e06011fd2 56 Move('2', 0.1);
miyajitakenari 10:e25e06011fd2 57 wait(1);
miyajitakenari 10:e25e06011fd2 58 Move('2', 0.5);
miyajitakenari 10:e25e06011fd2 59 wait(2);
ushiroji 14:3e7d563538e5 60 Move('1', 0); //走りながらanglegetできたら、止まらない
miyajitakenari 10:e25e06011fd2 61 //ちょっと走るのおわり
ushiroji 14:3e7d563538e5 62 //回避終了
miyajitakenari 10:e25e06011fd2 63
ushiroji 14:3e7d563538e5 64 //角度調節開始
miyajitakenari 0:79033ee3c961 65 direction = AngleGet();
ushiroji 14:3e7d563538e5 66 xbee.printf("direction=%f\r\nrotation_start", direction);
miyajitakenari 0:79033ee3c961 67 while(1) {
miyajitakenari 6:326208aabe68 68 if(direction < 20 || direction > 340) {
ushiroji 14:3e7d563538e5 69 xbee.printf("rotation finish\r\n");
miyajitakenari 6:326208aabe68 70 Move('1', 0); //停止
miyajitakenari 11:d00bfdcb7481 71 Move('2', 0.5);
miyajitakenari 6:326208aabe68 72 xbee.printf("now_angle=%f\r\n", direction);
miyajitakenari 0:79033ee3c961 73 break;
miyajitakenari 5:cc7917e8c442 74 }
miyajitakenari 6:326208aabe68 75 else {
miyajitakenari 6:326208aabe68 76 Move('4', 0.15);//時計回りに回転
miyajitakenari 8:0f7e6ba9a434 77 xbee.printf("now_angle=%lf\r\n", direction);
ushiroji 14:3e7d563538e5 78 direction = AngleGet();
miyajitakenari 6:326208aabe68 79 }
ushiroji 14:3e7d563538e5 80 }
ushiroji 14:3e7d563538e5 81 //角度調節終了
ushiroji 14:3e7d563538e5 82
ushiroji 14:3e7d563538e5 83 //速度変更開始
ushiroji 14:3e7d563538e5 84 xbee.printf("speed flag=");
ushiroji 14:3e7d563538e5 85 wait(3);
ushiroji 14:3e7d563538e5 86 float as[2];//advance speed
miyajitakenari 0:79033ee3c961 87 if(xbee.readable()){
miyajitakenari 0:79033ee3c961 88 xbee.printf("advance speed=");
miyajitakenari 6:326208aabe68 89 xbee.scanf("%f",&as[1]);
ushiroji 14:3e7d563538e5 90 }
ushiroji 14:3e7d563538e5 91 else{
ushiroji 14:3e7d563538e5 92 as[1]=0.5;
ushiroji 14:3e7d563538e5 93 }
ushiroji 14:3e7d563538e5 94 Move('2', as[1]);
ushiroji 14:3e7d563538e5 95 xbee.printf("mortor mode:2 speed:%f",as[1]);
ushiroji 14:3e7d563538e5 96 catchGPS();
ushiroji 14:3e7d563538e5 97 xbee.printf("now point(lati, long)=%lf , %lf\r\n", gps.latitude, gps.longitude);
ushiroji 14:3e7d563538e5 98 //速度変更終了
miyajitakenari 0:79033ee3c961 99
ushiroji 14:3e7d563538e5 100 //座標判定
ushiroji 14:3e7d563538e5 101 double lati = 111132.8715; //1度あたりの緯度の距離(m)
ushiroji 14:3e7d563538e5 102 double longi = 91535.79099; //1度あたりの経度の距離(m)
ushiroji 14:3e7d563538e5 103 GPS_x = gps.latitude;
ushiroji 14:3e7d563538e5 104 GPS_y = gps.longitude;
miyajitakenari 4:975b0d9bd51b 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 0:79033ee3c961 106 xbee.printf("now leach cp[%d]=x_%f,y_%f",i,next_CP_x ,next_CP_y);
miyajitakenari 0:79033ee3c961 107 break;
miyajitakenari 0:79033ee3c961 108 }
ushiroji 14:3e7d563538e5 109 }//while(1){}
ushiroji 14:3e7d563538e5 110 }//for(){}
miyajitakenari 0:79033ee3c961 111 // 行動フロー終了
miyajitakenari 0:79033ee3c961 112 xbee.printf("End\r\n");
ushiroji 14:3e7d563538e5 113 Move('1', 0);
miyajitakenari 0:79033ee3c961 114 return 0;
miyajitakenari 0:79033ee3c961 115 }