テスト用 gps手入力
Dependencies: ATP3012 mbed a HMC US015_2 getGPS
main.cpp@1:41dfafb10c80, 2021-11-11 (annotated)
- Committer:
- miyajitakenari
- Date:
- Thu Nov 11 10:00:58 2021 +0000
- Revision:
- 1:41dfafb10c80
- Parent:
- 0:f7517c11d468
- Child:
- 2:023018a67341
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
miyajitakenari | 0:f7517c11d468 | 1 | /*ライブラリ*/ |
miyajitakenari | 0:f7517c11d468 | 2 | #include "mbed.h" |
miyajitakenari | 0:f7517c11d468 | 3 | |
miyajitakenari | 0:f7517c11d468 | 4 | // 自作関数 |
miyajitakenari | 0:f7517c11d468 | 5 | #include "Function.h" |
miyajitakenari | 0:f7517c11d468 | 6 | |
miyajitakenari | 0:f7517c11d468 | 7 | // フライトピン・ニクロム線関係 |
miyajitakenari | 0:f7517c11d468 | 8 | DigitalIn flight_pin(A0); |
miyajitakenari | 0:f7517c11d468 | 9 | DigitalOut nichrome(D13); |
miyajitakenari | 0:f7517c11d468 | 10 | // |
miyajitakenari | 0:f7517c11d468 | 11 | #define cp_max 3 //CPの数を入力する |
miyajitakenari | 0:f7517c11d468 | 12 | |
miyajitakenari | 0:f7517c11d468 | 13 | int main() { |
miyajitakenari | 0:f7517c11d468 | 14 | // 変数宣言 |
miyajitakenari | 0:f7517c11d468 | 15 | double GPS_x, GPS_y; // 現在地の座標 |
miyajitakenari | 0:f7517c11d468 | 16 | double direction; // 次CPへの向き |
miyajitakenari | 0:f7517c11d468 | 17 | double CPs_x[3]={1,2,3}; //CPリスト(x座標) |
miyajitakenari | 0:f7517c11d468 | 18 | double CPs_y[3]={1,2,3}; // CPリスト(y座標) |
miyajitakenari | 0:f7517c11d468 | 19 | double next_CP_x, next_CP_y; |
miyajitakenari | 0:f7517c11d468 | 20 | |
miyajitakenari | 0:f7517c11d468 | 21 | // 落下検知 |
miyajitakenari | 0:f7517c11d468 | 22 | // パラシュート分離 |
miyajitakenari | 0:f7517c11d468 | 23 | |
miyajitakenari | 0:f7517c11d468 | 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 | 0:f7517c11d468 | 25 | while(flight_pin){} |
miyajitakenari | 1:41dfafb10c80 | 26 | xbee.printf("flight_pin nuketa\n\r"); |
miyajitakenari | 0:f7517c11d468 | 27 | 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:f7517c11d468 | 28 | nichrome=1; |
miyajitakenari | 1:41dfafb10c80 | 29 | xbee.printf("nichrome in\n\r"); |
miyajitakenari | 0:f7517c11d468 | 30 | wait(30); |
miyajitakenari | 0:f7517c11d468 | 31 | nichrome=0; |
miyajitakenari | 0:f7517c11d468 | 32 | // 落下終了 |
miyajitakenari | 0:f7517c11d468 | 33 | |
miyajitakenari | 0:f7517c11d468 | 34 | |
miyajitakenari | 0:f7517c11d468 | 35 | // 行動フロー開始 |
miyajitakenari | 0:f7517c11d468 | 36 | Calibration(); |
miyajitakenari | 0:f7517c11d468 | 37 | xbee.printf("XBee Connected\r\n"); |
miyajitakenari | 0:f7517c11d468 | 38 | xbee.printf("Fall point(lati,long)=(%lf , %lf)\r\n", gps.latitude, gps.longitude); |
miyajitakenari | 0:f7517c11d468 | 39 | for (int i = 0; i<=cp_max-1 ; i++) {//最後のcp=goalまで移動 |
miyajitakenari | 0:f7517c11d468 | 40 | next_CP_x = CPs_x[i]; |
miyajitakenari | 0:f7517c11d468 | 41 | next_CP_y = CPs_y[i]; |
miyajitakenari | 0:f7517c11d468 | 42 | xbee.printf("next_i=%d\r\n", i); |
miyajitakenari | 0:f7517c11d468 | 43 | |
miyajitakenari | 0:f7517c11d468 | 44 | while (1) { |
miyajitakenari | 0:f7517c11d468 | 45 | speak(); |
miyajitakenari | 0:f7517c11d468 | 46 | direction = AngleGet(); |
miyajitakenari | 0:f7517c11d468 | 47 | xbee.printf("direction=%f\n\rdirection start", direction); |
miyajitakenari | 0:f7517c11d468 | 48 | int df=1; |
miyajitakenari | 0:f7517c11d468 | 49 | //角度調節 |
miyajitakenari | 0:f7517c11d468 | 50 | while(1) { |
miyajitakenari | 0:f7517c11d468 | 51 | if(direction < 5 || direction > 355) { //角度判定 |
miyajitakenari | 0:f7517c11d468 | 52 | xbee.printf("direction finish\n\r"); |
miyajitakenari | 0:f7517c11d468 | 53 | break; |
miyajitakenari | 0:f7517c11d468 | 54 | } |
miyajitakenari | 0:f7517c11d468 | 55 | else { |
miyajitakenari | 0:f7517c11d468 | 56 | Move('1', 0);//停止 |
miyajitakenari | 0:f7517c11d468 | 57 | if(df==1){ |
miyajitakenari | 0:f7517c11d468 | 58 | xbee.printf("mortor mode:1 speed:0\n\r"); |
miyajitakenari | 0:f7517c11d468 | 59 | } |
miyajitakenari | 0:f7517c11d468 | 60 | Move('4', 0.5);//時計回りに回転 |
miyajitakenari | 0:f7517c11d468 | 61 | if(df==1){ |
miyajitakenari | 0:f7517c11d468 | 62 | xbee.printf("mortor mode:4 speed:0.5\n\r"); |
miyajitakenari | 0:f7517c11d468 | 63 | df++; |
miyajitakenari | 0:f7517c11d468 | 64 | direction = AngleGet(); |
miyajitakenari | 0:f7517c11d468 | 65 | break; |
miyajitakenari | 0:f7517c11d468 | 66 | } |
miyajitakenari | 0:f7517c11d468 | 67 | } |
miyajitakenari | 0:f7517c11d468 | 68 | } |
miyajitakenari | 0:f7517c11d468 | 69 | while(FrontGet()) { |
miyajitakenari | 0:f7517c11d468 | 70 | xbee.printf("front get\n\r"); |
miyajitakenari | 0:f7517c11d468 | 71 | Move('1', 0); //停止 |
miyajitakenari | 0:f7517c11d468 | 72 | xbee.printf("mortor mode:1 speed:0\n\r"); |
miyajitakenari | 0:f7517c11d468 | 73 | Move('4', 0.5); //時計回り回転 |
miyajitakenari | 0:f7517c11d468 | 74 | xbee.printf("mortor mode:4 speed:0.5\n\r"); |
miyajitakenari | 0:f7517c11d468 | 75 | wait(1); |
miyajitakenari | 0:f7517c11d468 | 76 | Move('1', 0); //回転停止 |
miyajitakenari | 0:f7517c11d468 | 77 | xbee.printf("mortor mode:1 speed:0\n\r"); |
miyajitakenari | 0:f7517c11d468 | 78 | } |
miyajitakenari | 0:f7517c11d468 | 79 | xbee.printf("speed flag="); |
miyajitakenari | 0:f7517c11d468 | 80 | wait(5); |
miyajitakenari | 0:f7517c11d468 | 81 | float as[2];//advance speed |
miyajitakenari | 0:f7517c11d468 | 82 | if(xbee.readable()){ |
miyajitakenari | 0:f7517c11d468 | 83 | xbee.printf("advance speed="); |
miyajitakenari | 0:f7517c11d468 | 84 | xbee.scanf("%f",&as[1]); |
miyajitakenari | 0:f7517c11d468 | 85 | }else{ |
miyajitakenari | 0:f7517c11d468 | 86 | as[1]=0.5; |
miyajitakenari | 0:f7517c11d468 | 87 | } |
miyajitakenari | 0:f7517c11d468 | 88 | Move('2', as[1]); |
miyajitakenari | 0:f7517c11d468 | 89 | xbee.printf("mortor mode:2 speed:%f",as[1]); |
miyajitakenari | 0:f7517c11d468 | 90 | catchGPS(); |
miyajitakenari | 0:f7517c11d468 | 91 | xbee.printf("GPS_x=xbee input"); |
miyajitakenari | 0:f7517c11d468 | 92 | xbee.scanf("%lf",&GPS_x); |
miyajitakenari | 0:f7517c11d468 | 93 | xbee.printf("GPS_y=xbee input"); |
miyajitakenari | 0:f7517c11d468 | 94 | xbee.scanf("%lf",&GPS_y); |
miyajitakenari | 0:f7517c11d468 | 95 | xbee.printf("now point(lati, long)=%lf , %lf\r\n", gps.latitude, gps.longitude); |
miyajitakenari | 0:f7517c11d468 | 96 | |
miyajitakenari | 0:f7517c11d468 | 97 | double lati = 111132.8715; //1度あたりの緯度の距離(m) |
miyajitakenari | 0:f7517c11d468 | 98 | double longi = 91535.79099; //1度あたりの経度の距離(m) |
miyajitakenari | 0:f7517c11d468 | 99 | //GPS_x = gps.latitude; |
miyajitakenari | 0:f7517c11d468 | 100 | //GPS_y = gps.longitude; |
miyajitakenari | 0:f7517c11d468 | 101 | 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:f7517c11d468 | 102 | xbee.printf("now leach cp[%d]=x_%f,y_%f",i,next_CP_x ,next_CP_y); |
miyajitakenari | 0:f7517c11d468 | 103 | break; |
miyajitakenari | 0:f7517c11d468 | 104 | } |
miyajitakenari | 0:f7517c11d468 | 105 | |
miyajitakenari | 0:f7517c11d468 | 106 | }//while(1){} |
miyajitakenari | 0:f7517c11d468 | 107 | }//for(){} |
miyajitakenari | 0:f7517c11d468 | 108 | // 行動フロー終了 |
miyajitakenari | 0:f7517c11d468 | 109 | xbee.printf("End\r\n"); |
miyajitakenari | 0:f7517c11d468 | 110 | Move('1', 0); //停止 |
miyajitakenari | 0:f7517c11d468 | 111 | xbee.printf("mortor mode:1 speed:0"); |
miyajitakenari | 0:f7517c11d468 | 112 | return 0; |
miyajitakenari | 0:f7517c11d468 | 113 | } |