CanSat-C 2021 / Mbed 2 deprecated cansatC_test2_xbee2

12/16用テスト

Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

Function.h@5:cc7917e8c442, 2021-11-10 (annotated)

Committer:
miyajitakenari
Date:
Wed Nov 10 12:17:25 2021 +0000
Revision:
5:cc7917e8c442
Parent:
4:975b0d9bd51b
Child:
6:326208aabe68
a

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 0:79033ee3c961 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 pc(USBTX, USBRX);
miyajitakenari 0:79033ee3c961 16 Serial xbee(A7, A2);
miyajitakenari 0:79033ee3c961 17
miyajitakenari 0:79033ee3c961 18 double GPS_x, GPS_y; // 現在地の座標
miyajitakenari 0:79033ee3c961 19 double next_CP_x, next_CP_y;
miyajitakenari 0:79033ee3c961 20 double CPs_x[100]; // = []; //CPリスト(x座標)
miyajitakenari 0:79033ee3c961 21 double CPs_y[100]; // = []; // CPリスト(y座標)
miyajitakenari 0:79033ee3c961 22 double theta;
miyajitakenari 0:79033ee3c961 23 double delta;
miyajitakenari 0:79033ee3c961 24
miyajitakenari 0:79033ee3c961 25 int FrontGet()
miyajitakenari 0:79033ee3c961 26 {
miyajitakenari 0:79033ee3c961 27 Ultra = 1; //超音波on
miyajitakenari 0:79033ee3c961 28 hs.TrigerOut();
miyajitakenari 0:79033ee3c961 29 wait(1);
miyajitakenari 0:79033ee3c961 30 int distance;
miyajitakenari 0:79033ee3c961 31 distance = hs.GetDistance();
miyajitakenari 0:79033ee3c961 32 pc.printf("distance=%d\r\n", distance); //距離出力
miyajitakenari 0:79033ee3c961 33 xbee.printf("distance=%d\r\n", distance);
miyajitakenari 0:79033ee3c961 34 Ultra=0;//超音波off
miyajitakenari 0:79033ee3c961 35
miyajitakenari 0:79033ee3c961 36 if(distance < 200) {
miyajitakenari 0:79033ee3c961 37 return 1;
miyajitakenari 0:79033ee3c961 38 }
miyajitakenari 0:79033ee3c961 39 else {
miyajitakenari 0:79033ee3c961 40 return 0;
miyajitakenari 0:79033ee3c961 41 }
miyajitakenari 0:79033ee3c961 42 }
miyajitakenari 0:79033ee3c961 43
miyajitakenari 0:79033ee3c961 44
miyajitakenari 0:79033ee3c961 45 void catchGPS()
miyajitakenari 0:79033ee3c961 46 {
miyajitakenari 0:79033ee3c961 47 pc.printf("GPS Start\r\n");
miyajitakenari 0:79033ee3c961 48 xbee.printf("GPS Start\r\n");
miyajitakenari 0:79033ee3c961 49 /* 1秒ごとに現在地を取得してターミナル出力 */
miyajitakenari 0:79033ee3c961 50 while(1) {
miyajitakenari 0:79033ee3c961 51 if(gps.getgps()) { //現在地取得
miyajitakenari 0:79033ee3c961 52 pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
miyajitakenari 0:79033ee3c961 53 xbee.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//
miyajitakenari 4:975b0d9bd51b 54 GPS_x = gps.latitude;
miyajitakenari 4:975b0d9bd51b 55 GPS_y = gps.longitude;
miyajitakenari 0:79033ee3c961 56 break;
miyajitakenari 0:79033ee3c961 57 }
miyajitakenari 0:79033ee3c961 58 else {
miyajitakenari 0:79033ee3c961 59 pc.printf("No data\r\n");//データ取得に失敗した場合
miyajitakenari 0:79033ee3c961 60 xbee.printf("No data\r\n");
miyajitakenari 0:79033ee3c961 61 wait(1);
miyajitakenari 0:79033ee3c961 62 }
miyajitakenari 0:79033ee3c961 63 }
miyajitakenari 0:79033ee3c961 64 return;
miyajitakenari 0:79033ee3c961 65 }
miyajitakenari 0:79033ee3c961 66
miyajitakenari 0:79033ee3c961 67
miyajitakenari 0:79033ee3c961 68 void Move(char input_data, float motor_speed) {
miyajitakenari 0:79033ee3c961 69 switch (input_data) {
miyajitakenari 0:79033ee3c961 70 case '1': // 停止
miyajitakenari 0:79033ee3c961 71 motor_a = 0;
miyajitakenari 0:79033ee3c961 72 motor_b = 0;
miyajitakenari 0:79033ee3c961 73 break;
miyajitakenari 0:79033ee3c961 74 case '2': // 前進
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 '3': // 後退
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 '4': // 時計回りに回転
miyajitakenari 0:79033ee3c961 83 motor_a = motor_speed;
miyajitakenari 0:79033ee3c961 84 motor_b = -motor_speed;
miyajitakenari 0:79033ee3c961 85 break;
miyajitakenari 0:79033ee3c961 86 case '5': // 反時計回りに回転
miyajitakenari 0:79033ee3c961 87 motor_a = -motor_speed;
miyajitakenari 0:79033ee3c961 88 motor_b = motor_speed;
miyajitakenari 0:79033ee3c961 89 break;
miyajitakenari 0:79033ee3c961 90 case '6': // Aのみ正転
miyajitakenari 0:79033ee3c961 91 motor_a = motor_speed;
miyajitakenari 0:79033ee3c961 92 break;
miyajitakenari 0:79033ee3c961 93 case '7': // Bのみ正転
miyajitakenari 0:79033ee3c961 94 motor_b = motor_speed;
miyajitakenari 0:79033ee3c961 95 break;
miyajitakenari 0:79033ee3c961 96 case '8': // Aのみ逆転
miyajitakenari 0:79033ee3c961 97 motor_a = -motor_speed;
miyajitakenari 0:79033ee3c961 98 break;
miyajitakenari 0:79033ee3c961 99 case '9': // Bのみ逆転
miyajitakenari 0:79033ee3c961 100 motor_b = -motor_speed;
miyajitakenari 0:79033ee3c961 101 break;
miyajitakenari 0:79033ee3c961 102 }
miyajitakenari 0:79033ee3c961 103 }
miyajitakenari 0:79033ee3c961 104
miyajitakenari 0:79033ee3c961 105 double AngleGet()
miyajitakenari 0:79033ee3c961 106 {
miyajitakenari 0:79033ee3c961 107 double angle = 0;
miyajitakenari 0:79033ee3c961 108 compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
miyajitakenari 0:79033ee3c961 109 angle = compass.sample() / 10;
miyajitakenari 0:79033ee3c961 110
miyajitakenari 0:79033ee3c961 111 double theta;
miyajitakenari 0:79033ee3c961 112 double delta;
miyajitakenari 0:79033ee3c961 113
miyajitakenari 0:79033ee3c961 114 pc.printf("gps.latitude=%f, gps.longitude=%f\r\n", gps.latitude, gps.longitude);
miyajitakenari 0:79033ee3c961 115 xbee.printf("gps.latitude=%f, gps.longitude=%f\r\n", gps.latitude, gps.longitude);
miyajitakenari 3:ec2b7587be78 116 theta = atan2(next_CP_y - gps.longitude , next_CP_x - gps.latitude) * 180 / 3.14159265359;
miyajitakenari 0:79033ee3c961 117 printf("theta=%f\r\n", theta);
miyajitakenari 0:79033ee3c961 118 if(theta >= 0) {
miyajitakenari 0:79033ee3c961 119 delta = angle - theta;
miyajitakenari 0:79033ee3c961 120 }
miyajitakenari 0:79033ee3c961 121 else {
miyajitakenari 0:79033ee3c961 122 theta = theta + 360;
miyajitakenari 0:79033ee3c961 123 delta = angle - theta;
miyajitakenari 0:79033ee3c961 124 }
miyajitakenari 0:79033ee3c961 125 printf("%f-%f=%f\r\n", angle, theta, delta);
miyajitakenari 0:79033ee3c961 126 wait(2);
miyajitakenari 0:79033ee3c961 127 return delta;
miyajitakenari 0:79033ee3c961 128 }
miyajitakenari 0:79033ee3c961 129
miyajitakenari 0:79033ee3c961 130 void Calibration()
miyajitakenari 0:79033ee3c961 131 {
miyajitakenari 0:79033ee3c961 132 pc.printf("calibration start\r\n");
miyajitakenari 0:79033ee3c961 133 xbee.printf("calibration start\r\n");
miyajitakenari 0:79033ee3c961 134 compass.setCalibrationMode(0x43);
miyajitakenari 3:ec2b7587be78 135 Move('4', 0.1);
miyajitakenari 5:cc7917e8c442 136 pc.printf("mortor mode:4 speed:1\n\r");
miyajitakenari 5:cc7917e8c442 137 xbee.printf("mortor mode:4 speed:1\n\r");
miyajitakenari 3:ec2b7587be78 138 wait(60);
miyajitakenari 3:ec2b7587be78 139 Move('1', 0);
miyajitakenari 5:cc7917e8c442 140 pc.printf("mortor mode:1 speed:0\n\r");
miyajitakenari 5:cc7917e8c442 141 xbee.printf("mortor mode:1 speed:0\n\r");
miyajitakenari 0:79033ee3c961 142 compass.setCalibrationMode(0x45);
miyajitakenari 0:79033ee3c961 143 pc.printf("calibration end\r\n");
miyajitakenari 0:79033ee3c961 144 xbee.printf("calibration end\r\n");
miyajitakenari 0:79033ee3c961 145 while(1) {
miyajitakenari 0:79033ee3c961 146 if(gps.getgps()) { //現在地取得
miyajitakenari 0:79033ee3c961 147 pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
miyajitakenari 4:975b0d9bd51b 148 GPS_x = gps.latitude;
miyajitakenari 4:975b0d9bd51b 149 GPS_y = gps.longitude;
miyajitakenari 0:79033ee3c961 150 break;
miyajitakenari 0:79033ee3c961 151 }
miyajitakenari 0:79033ee3c961 152 else {
miyajitakenari 0:79033ee3c961 153 pc.printf("No data\r\n");//データ取得に失敗した場合
miyajitakenari 0:79033ee3c961 154 xbee.printf("No data\r\n");
miyajitakenari 0:79033ee3c961 155 wait(1);
miyajitakenari 0:79033ee3c961 156 }
miyajitakenari 0:79033ee3c961 157 }
miyajitakenari 0:79033ee3c961 158
miyajitakenari 0:79033ee3c961 159 return;
miyajitakenari 0:79033ee3c961 160 }
miyajitakenari 0:79033ee3c961 161
miyajitakenari 0:79033ee3c961 162 /*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 163 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 164 void speak()
miyajitakenari 0:79033ee3c961 165 {
miyajitakenari 0:79033ee3c961 166 int timeout_ms=500;
miyajitakenari 0:79033ee3c961 167 char mess[100];
miyajitakenari 0:79033ee3c961 168 if(talk.IsActive(timeout_ms)==true){
miyajitakenari 0:79033ee3c961 169 pc.printf("Active\n\rflag=xbee ni Input");
miyajitakenari 0:79033ee3c961 170 xbee.printf("Active\n\rflag=");
miyajitakenari 0:79033ee3c961 171 wait(3);
miyajitakenari 0:79033ee3c961 172 if(xbee.readable()){
miyajitakenari 0:79033ee3c961 173 pc.printf("\n\rmessage=xbee ni Input");
miyajitakenari 0:79033ee3c961 174 xbee.printf("\n\rmessage=");
miyajitakenari 0:79033ee3c961 175 int i=0;
miyajitakenari 0:79033ee3c961 176 do{
miyajitakenari 0:79033ee3c961 177 mess[i++]= xbee.getc();
miyajitakenari 0:79033ee3c961 178 }
miyajitakenari 0:79033ee3c961 179 while(mess[i-1]!= 0x0d && i<99);
miyajitakenari 0:79033ee3c961 180 talk.Synthe(mess);
miyajitakenari 0:79033ee3c961 181 }
miyajitakenari 0:79033ee3c961 182 else{
miyajitakenari 0:79033ee3c961 183 pc.printf("preset_message speak\r\n");
miyajitakenari 0:79033ee3c961 184 xbee.printf("preset_message speak\r\n");
miyajitakenari 0:79033ee3c961 185 talk.Synthe("purissetommese-ji,,konnichiwa.");
miyajitakenari 0:79033ee3c961 186 }
miyajitakenari 0:79033ee3c961 187 }
miyajitakenari 0:79033ee3c961 188 else{
miyajitakenari 0:79033ee3c961 189 pc.printf("\r\nNot Active\n");
miyajitakenari 0:79033ee3c961 190 xbee.printf("\r\nNot Active\n");
miyajitakenari 0:79033ee3c961 191 }
miyajitakenari 0:79033ee3c961 192 }