CanSat2015aizu / Mbed 2 deprecated Cansat_program4_1

08/13

Dependencies:   ADXL345 BME280 HMC5883L ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST cansat2 mbed

Fork of Cansat_program4 by CanSat2015aizu

main.cpp@21:18a196d3021c, 2015-08-15 (annotated)

Committer:
s1210160
Date:
Sat Aug 15 01:57:35 2015 +0000
Revision:
21:18a196d3021c
Parent:
20:f92bdcda5a60
Child:
22:92408c551605
2015/08/14;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 0:1fcc61be1dcf 1 /**********************************************/
kityann 0:1fcc61be1dcf 2 //更新情報
kityann 0:1fcc61be1dcf 3
kityann 0:1fcc61be1dcf 4 /**********************************************/
kityann 0:1fcc61be1dcf 5
kityann 0:1fcc61be1dcf 6 #include "mbed.h"
kityann 0:1fcc61be1dcf 7 #include "XBee.h"
kityann 0:1fcc61be1dcf 8 #include "MBed_Adafruit_GPS.h"
kityann 1:f1f7413ae6bd 9 //#include "AigamozuControlPackets.h"
kityann 0:1fcc61be1dcf 10 #include "agzIDLIST.h"
kityann 0:1fcc61be1dcf 11 #include "aigamozuSetting.h"
kityann 1:f1f7413ae6bd 12 #include "HMC5883L.h"
kityann 1:f1f7413ae6bd 13 #include "VNH5019.h"
kityann 3:0bd9ad37f319 14 #include "cansat.h"
kityann 0:1fcc61be1dcf 15 #include "math.h"
s1200058 5:ba883a4bddc3 16 #include "BME280.h"
kityann 0:1fcc61be1dcf 17
kityann 0:1fcc61be1dcf 18 #define SIGMA_MIN 0.0001
kityann 0:1fcc61be1dcf 19
s1210160 10:ce253d8a5f2c 20 #define STOP 0 //compass initial
s1210160 10:ce253d8a5f2c 21 #define CAL 1 //compass calibration
s1210160 10:ce253d8a5f2c 22 #define RUN 2 //compass run
s1210160 10:ce253d8a5f2c 23
kityann 0:1fcc61be1dcf 24 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 25 //
kityann 0:1fcc61be1dcf 26 //Pin Setting
kityann 0:1fcc61be1dcf 27 //
kityann 0:1fcc61be1dcf 28 /////////////////////////////////////////
s1200058 12:5724d4a57a4c 29 VNH5019 agz_motorShield(p23,p22,p25,p21,p24,p26);
s1200058 12:5724d4a57a4c 30 //VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:1fcc61be1dcf 31
kityann 0:1fcc61be1dcf 32 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 33 //
kityann 0:1fcc61be1dcf 34 //Connection Setting
kityann 0:1fcc61be1dcf 35 //
kityann 0:1fcc61be1dcf 36 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 37
kityann 0:1fcc61be1dcf 38 //Serial Connect Setting: PC <--> mbed
kityann 0:1fcc61be1dcf 39 Serial pc(USBTX, USBRX);
kityann 0:1fcc61be1dcf 40
kityann 0:1fcc61be1dcf 41 //Serial Connect Setting: GPS <--> mbed
kityann 0:1fcc61be1dcf 42 Serial * gps_Serial;
kityann 0:1fcc61be1dcf 43
kityann 0:1fcc61be1dcf 44 //Serial Connect Setting: XBEE <--> mbed
s1200058 12:5724d4a57a4c 45 Serial xbee(p13,p14);
kityann 0:1fcc61be1dcf 46 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:1fcc61be1dcf 47
s1210160 10:ce253d8a5f2c 48 // compass
s1210160 10:ce253d8a5f2c 49 HMC5883L compass(p9, p10);
s1210160 10:ce253d8a5f2c 50
kityann 0:1fcc61be1dcf 51 //set up GPS module
kityann 0:1fcc61be1dcf 52
kityann 0:1fcc61be1dcf 53 //set up AigamozuControlPackets library
kityann 1:f1f7413ae6bd 54 //AigamozuControlPackets agz(agz_motorShield);
kityann 3:0bd9ad37f319 55 CanSat cansat(agz_motorShield);
kityann 0:1fcc61be1dcf 56
s1200058 5:ba883a4bddc3 57 //set up for tempratures...
s1200058 5:ba883a4bddc3 58 #if defined(TARGET_LPC1768)
s1200058 5:ba883a4bddc3 59 BME280 sensor(p9, p10);
s1200058 5:ba883a4bddc3 60 #else
s1200058 5:ba883a4bddc3 61 BME280 sensor(I2C_SDA, I2C_SCL);
s1200058 5:ba883a4bddc3 62 #endif
s1200058 5:ba883a4bddc3 63
s1200058 5:ba883a4bddc3 64 DigitalIn short_in(p29);
s1200058 5:ba883a4bddc3 65 DigitalOut short_out(p30);
s1200058 5:ba883a4bddc3 66 DigitalInOut nic(p5);
kityann 0:1fcc61be1dcf 67
s1200058 18:c86872baed44 68 int short_flag = 0;
s1200058 19:cb3a4b4c3526 69 int running_flag = 0;
s1200058 18:c86872baed44 70
s1210160 21:18a196d3021c 71 Timer pressure_Timer;
s1210160 21:18a196d3021c 72 const int pressure_Time = 10000;
s1200058 12:5724d4a57a4c 73 Timer compass_Timer;
s1200058 20:f92bdcda5a60 74 const int compass_Time = 50;
s1200058 18:c86872baed44 75 Timer running_Timer;
s1200058 20:f92bdcda5a60 76 const int running_Time = 50;
s1200058 18:c86872baed44 77 Timer parachute_Timer;
s1200058 18:c86872baed44 78 const int parachute_Time = 30000;
kityann 0:1fcc61be1dcf 79 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 80 //
s1210160 10:ce253d8a5f2c 81 //For Compass data
s1210160 10:ce253d8a5f2c 82 //
s1210160 10:ce253d8a5f2c 83 /////////////////////////////////////////
s1210160 10:ce253d8a5f2c 84 Ticker compass_interrupt;
s1210160 10:ce253d8a5f2c 85 double heading0 = 0.0;
s1210160 10:ce253d8a5f2c 86 double heading1 = 0.0;
s1210160 10:ce253d8a5f2c 87 double heading2 = 0.0;
s1210160 10:ce253d8a5f2c 88 double heading3 = 0.0;
s1210160 10:ce253d8a5f2c 89 double headingLPF = 0.0;
s1210160 10:ce253d8a5f2c 90 double initHeading;
s1210160 10:ce253d8a5f2c 91 double tgtHeading;
s1210160 10:ce253d8a5f2c 92 double preHeading = 0.0;
s1210160 10:ce253d8a5f2c 93
s1210160 10:ce253d8a5f2c 94 int maxX, minX, maxY, minY;
s1200058 20:f92bdcda5a60 95 const int ofsX = -102; //calibration x
s1200058 20:f92bdcda5a60 96 const int ofsY = -381; //calibration y
s1210160 10:ce253d8a5f2c 97
s1210160 21:18a196d3021c 98 int16_t raw[3];
s1210160 10:ce253d8a5f2c 99
s1210160 10:ce253d8a5f2c 100 /////////////////////////////////////////
s1210160 10:ce253d8a5f2c 101 //
kityann 0:1fcc61be1dcf 102 //For Kalman data
kityann 0:1fcc61be1dcf 103 //
kityann 0:1fcc61be1dcf 104 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 105 #define FIRST_S2_1 1.0e-8
kityann 0:1fcc61be1dcf 106 #define FIRST_S2_2 1.0e-6
kityann 0:1fcc61be1dcf 107 #define COUNTER_MAX 10000
kityann 0:1fcc61be1dcf 108 #define ERROR_RANGE 0.001
kityann 0:1fcc61be1dcf 109
kityann 0:1fcc61be1dcf 110 double x_cur,x_prev,y_cur,y_prev;//緯度と経度の時刻tと時刻t-1での推定値
kityann 0:1fcc61be1dcf 111 double s2x_cur=FIRST_S2_1,s2x_prev=FIRST_S2_1,s2y_cur=FIRST_S2_1,s2y_prev=FIRST_S2_1;//緯度経度のの時刻tと時刻t-1での共分散
kityann 0:1fcc61be1dcf 112 double s2_R=FIRST_S2_2;//GPSセンサの分散
kityann 0:1fcc61be1dcf 113 double s2_Q=FIRST_S2_2;
kityann 0:1fcc61be1dcf 114 double Kx=0,Ky=0;//カルマンゲイン
kityann 0:1fcc61be1dcf 115 double zx,zy;//観測値
kityann 0:1fcc61be1dcf 116 void Kalman(double Latitude,double Longitude);
kityann 0:1fcc61be1dcf 117 int change = 0;
kityann 0:1fcc61be1dcf 118
s1200058 18:c86872baed44 119 int mode = -1; //ロボットのモード
s1200058 19:cb3a4b4c3526 120 double target_x = 139.987305,target_y = 40.142655;
s1210160 21:18a196d3021c 121 double goal_Pressure = 0.0, goal_Temperature,goal_Humidity; //地表地点の気圧、気温、湿度
kityann 0:1fcc61be1dcf 122
s1200058 7:db6b436c0baa 123 Timer sep_Timer;
s1200058 18:c86872baed44 124 const int sep_Time = 3000; //seperate time in ms
s1200058 7:db6b436c0baa 125 int fall_flag = 0;
s1200058 7:db6b436c0baa 126
s1200058 14:4dfeeca65308 127 int log_number = 0;
s1200058 14:4dfeeca65308 128
kityann 0:1fcc61be1dcf 129
kityann 0:1fcc61be1dcf 130 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 131 //
kityann 0:1fcc61be1dcf 132 //Kalman Processing
kityann 0:1fcc61be1dcf 133 //
kityann 0:1fcc61be1dcf 134 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 135 void calc_Kalman(){
kityann 0:1fcc61be1dcf 136 //calc Kalman gain
kityann 0:1fcc61be1dcf 137 Kx = (s2x_prev+s2_Q)/(s2x_prev+s2_R+s2_Q);
kityann 0:1fcc61be1dcf 138 Ky = (s2y_prev+s2_Q)/(s2y_prev+s2_R+s2_Q);
kityann 0:1fcc61be1dcf 139 //estimate
kityann 0:1fcc61be1dcf 140 x_cur = x_prev + Kx*(zx-x_prev);
kityann 0:1fcc61be1dcf 141 y_cur = y_prev + Ky*(zy-y_prev);
kityann 0:1fcc61be1dcf 142 //calc sigma
kityann 0:1fcc61be1dcf 143 s2x_cur = (1-Kx)*(s2x_prev+s2_Q);
kityann 0:1fcc61be1dcf 144 s2y_cur = (1-Ky)*(s2y_prev+s2_Q);
kityann 0:1fcc61be1dcf 145
kityann 0:1fcc61be1dcf 146 }
kityann 0:1fcc61be1dcf 147
kityann 0:1fcc61be1dcf 148 void Kalman(double Latitude,double Longitude){
kityann 0:1fcc61be1dcf 149
kityann 0:1fcc61be1dcf 150 zx = Latitude;
kityann 0:1fcc61be1dcf 151 zy = Longitude;
kityann 0:1fcc61be1dcf 152
kityann 0:1fcc61be1dcf 153 calc_Kalman();
kityann 0:1fcc61be1dcf 154
kityann 0:1fcc61be1dcf 155 //更新
kityann 0:1fcc61be1dcf 156 x_prev = x_cur;
kityann 0:1fcc61be1dcf 157 y_prev = y_cur;
kityann 0:1fcc61be1dcf 158 s2x_prev = s2x_cur;
kityann 0:1fcc61be1dcf 159 s2y_prev = s2y_cur;
kityann 0:1fcc61be1dcf 160
kityann 3:0bd9ad37f319 161 //robotK\x,robotK_yに格納する
kityann 3:0bd9ad37f319 162 cansat.set_robotKalman_x(x_cur);
kityann 3:0bd9ad37f319 163 cansat.set_robotKalman_y(y_cur);
kityann 0:1fcc61be1dcf 164 }
kityann 0:1fcc61be1dcf 165
kityann 0:1fcc61be1dcf 166 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 167 //
kityann 0:1fcc61be1dcf 168 //Get GPS function
kityann 0:1fcc61be1dcf 169 //
kityann 0:1fcc61be1dcf 170 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 171
kityann 0:1fcc61be1dcf 172 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:1fcc61be1dcf 173 static int flag = 0;
kityann 0:1fcc61be1dcf 174
kityann 0:1fcc61be1dcf 175 if (myGPS->fix) {
kityann 0:1fcc61be1dcf 176
kityann 3:0bd9ad37f319 177 cansat.nowStatus = GPS_AVAIL;
s1200058 19:cb3a4b4c3526 178 cansat.set_robot_y((double)myGPS->latitudeH + (double)(myGPS->latitudeL / 10000.0 / 60.0));
s1200058 19:cb3a4b4c3526 179 cansat.set_robot_x((double)myGPS->longitudeH +(double)(myGPS->longitudeL / 10000.0 / 60.0));
kityann 3:0bd9ad37f319 180
kityann 0:1fcc61be1dcf 181
kityann 0:1fcc61be1dcf 182 if(flag < COUNTER_MAX){
kityann 0:1fcc61be1dcf 183 flag++;
kityann 0:1fcc61be1dcf 184 }
kityann 0:1fcc61be1dcf 185 if(flag == 5){
kityann 3:0bd9ad37f319 186 x_prev = cansat.get_robot_x();
kityann 3:0bd9ad37f319 187 y_prev = cansat.get_robot_y();
kityann 0:1fcc61be1dcf 188 }
kityann 0:1fcc61be1dcf 189
kityann 0:1fcc61be1dcf 190 if(flag >= 6){
kityann 3:0bd9ad37f319 191 if(abs(x_prev - cansat.get_robot_x()) < ERROR_RANGE && abs(y_prev - cansat.get_robot_y()) < ERROR_RANGE){
kityann 3:0bd9ad37f319 192 Kalman(cansat.get_robot_x(), cansat.get_robot_y());
kityann 0:1fcc61be1dcf 193 change = 1;
kityann 0:1fcc61be1dcf 194 }
kityann 0:1fcc61be1dcf 195 else{
kityann 0:1fcc61be1dcf 196 change = 0;
kityann 0:1fcc61be1dcf 197 }
kityann 1:f1f7413ae6bd 198 //printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
kityann 1:f1f7413ae6bd 199 //agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 1:f1f7413ae6bd 200 //agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 1:f1f7413ae6bd 201 //agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 1:f1f7413ae6bd 202 }
kityann 0:1fcc61be1dcf 203 }
kityann 3:0bd9ad37f319 204 else cansat.nowStatus = GPS_UNAVAIL;
kityann 0:1fcc61be1dcf 205
kityann 0:1fcc61be1dcf 206 }
kityann 0:1fcc61be1dcf 207
aoki0731 4:0fc7221e2f79 208 //ロボットの動き方
s1200058 11:19091694455e 209 char robot_Action(int robot_angle, int target_angle) {
aoki0731 4:0fc7221e2f79 210
s1200058 11:19091694455e 211 int n, t, r;
aoki0731 4:0fc7221e2f79 212 t = target_angle;
aoki0731 4:0fc7221e2f79 213 r = robot_angle;
aoki0731 4:0fc7221e2f79 214 n = r - t;
aoki0731 4:0fc7221e2f79 215 if(n<0) n *= -1;
aoki0731 4:0fc7221e2f79 216
aoki0731 4:0fc7221e2f79 217
aoki0731 4:0fc7221e2f79 218 if(t==r) {
aoki0731 4:0fc7221e2f79 219 //前進
aoki0731 4:0fc7221e2f79 220 return 'f';
s1200058 20:f92bdcda5a60 221 } else if(n == 4) {
s1200058 20:f92bdcda5a60 222 return 'r';
s1200058 20:f92bdcda5a60 223 } else if(n > 0 && n < 4) {
aoki0731 4:0fc7221e2f79 224 if(t > r)
s1200058 20:f92bdcda5a60 225 return 'r';
aoki0731 4:0fc7221e2f79 226 else
s1200058 20:f92bdcda5a60 227 return 'l';
s1200058 20:f92bdcda5a60 228 } else if(n > 4 && n < 8){
s1200058 20:f92bdcda5a60 229 if(t > r)
aoki0731 4:0fc7221e2f79 230 return 'l';
aoki0731 4:0fc7221e2f79 231 else
aoki0731 4:0fc7221e2f79 232 return 'r';
s1200058 20:f92bdcda5a60 233 } else
s1200058 20:f92bdcda5a60 234 return 'b';
aoki0731 4:0fc7221e2f79 235
aoki0731 4:0fc7221e2f79 236 }
aoki0731 4:0fc7221e2f79 237
s1200058 5:ba883a4bddc3 238 //対象とロボットの角度
s1200058 5:ba883a4bddc3 239 double robot_compass(double robot_x, double robot_y) {
s1200058 5:ba883a4bddc3 240 double angle = 0;
s1200058 5:ba883a4bddc3 241
s1200058 5:ba883a4bddc3 242 if(robot_x==0&&robot_y>0)
s1200058 5:ba883a4bddc3 243 return 0;
s1200058 5:ba883a4bddc3 244 else if(robot_x>0&&robot_y==0) //東
s1200058 5:ba883a4bddc3 245 return 90;
s1200058 5:ba883a4bddc3 246 else if(robot_x==0&&robot_y<0) //南
s1200058 5:ba883a4bddc3 247 return 180;
s1200058 5:ba883a4bddc3 248 else if(robot_x<0&&robot_y==0) //西
s1200058 5:ba883a4bddc3 249 return 270;
s1200058 5:ba883a4bddc3 250 else if(robot_x>=0&&robot_y>=0) { //北東
s1200058 5:ba883a4bddc3 251 if(robot_x<=robot_y)
s1200058 5:ba883a4bddc3 252 angle = atan2(robot_x, robot_y);
s1200058 5:ba883a4bddc3 253 else
s1200058 5:ba883a4bddc3 254 angle = (M_PI/2) - atan2(robot_y, robot_x);
s1200058 5:ba883a4bddc3 255 return angle * 180.0 / M_PI;
s1200058 5:ba883a4bddc3 256 } else if(robot_x>=0&&robot_y<0) { //南東
s1200058 5:ba883a4bddc3 257 if(robot_x>abs(robot_y)){
s1200058 5:ba883a4bddc3 258 angle = (M_PI/2) - atan2(abs(robot_y), robot_x);
s1200058 5:ba883a4bddc3 259 }
s1200058 5:ba883a4bddc3 260 else{
s1200058 5:ba883a4bddc3 261 angle = atan2(abs(robot_y), robot_x);
s1200058 5:ba883a4bddc3 262 }
s1200058 5:ba883a4bddc3 263 return angle * 180.0 / M_PI + 90;
s1200058 5:ba883a4bddc3 264 } else if(robot_x<0&&robot_y<0) { //南西
s1200058 5:ba883a4bddc3 265 if(abs(robot_x)<abs(robot_y)){
s1200058 5:ba883a4bddc3 266 angle = atan2(abs(robot_x), abs(robot_y));
s1200058 5:ba883a4bddc3 267 }
s1200058 5:ba883a4bddc3 268 else{
s1200058 5:ba883a4bddc3 269 angle = (M_PI/2) - atan2(abs(robot_y), abs(robot_x));
s1200058 5:ba883a4bddc3 270 }
s1200058 5:ba883a4bddc3 271 return angle * 180.0 / M_PI + 180;
s1200058 5:ba883a4bddc3 272 } else if(robot_x<0&&robot_y>=0) { //北西
s1200058 5:ba883a4bddc3 273 if(abs(robot_x)>robot_y){
s1200058 5:ba883a4bddc3 274 angle = (M_PI/2) - atan2(robot_y, abs(robot_x));
s1200058 5:ba883a4bddc3 275 }
s1200058 5:ba883a4bddc3 276 else{
s1200058 5:ba883a4bddc3 277 angle = atan2(abs(robot_x), robot_y);
s1200058 5:ba883a4bddc3 278 }
kityann 9:2741e17438d6 279 return 360 - angle * 180.0 / M_PI;
s1200058 5:ba883a4bddc3 280 }
s1200058 5:ba883a4bddc3 281
s1200058 5:ba883a4bddc3 282 return -1;
s1200058 5:ba883a4bddc3 283 }
s1200058 5:ba883a4bddc3 284
s1210160 10:ce253d8a5f2c 285 int calc_angle(double c){
s1200058 11:19091694455e 286 if(c > 337.5 ||(c >=0 && c < 22.5)) return 0;
s1210160 10:ce253d8a5f2c 287 else if(c >= 22.5 && c < 67.5) return 1;
s1210160 10:ce253d8a5f2c 288 else if(c >= 67.5 && c < 112.5) return 2;
s1210160 10:ce253d8a5f2c 289 else if(c >= 112.5 && c < 157.5) return 3;
s1210160 10:ce253d8a5f2c 290 else if(c >= 157.5 && c < 202.5) return 4;
s1210160 10:ce253d8a5f2c 291 else if(c >= 202.5 && c < 247.5) return 5;
s1210160 10:ce253d8a5f2c 292 else if(c >= 247.5 && c < 292.5) return 6;
s1210160 10:ce253d8a5f2c 293 else if(c >= 292.5 && c < 337.5) return 7;
s1210160 10:ce253d8a5f2c 294 else return 8;
s1210160 10:ce253d8a5f2c 295 }
s1200058 5:ba883a4bddc3 296
s1210160 10:ce253d8a5f2c 297 void Compass_intrpt(){
s1210160 10:ce253d8a5f2c 298
s1210160 10:ce253d8a5f2c 299 compass.getXYZ(raw);
s1210160 10:ce253d8a5f2c 300 double heading = atan2(static_cast<double>(raw[2]-ofsY), static_cast<double>(raw[0]-ofsX)); //y=raw[2]
s1210160 10:ce253d8a5f2c 301 if(heading < 0)heading += 2*M_PI;
s1210160 10:ce253d8a5f2c 302 if(heading > 2*M_PI)heading -= 2*M_PI;
s1210160 10:ce253d8a5f2c 303 heading3 = heading2;
s1210160 10:ce253d8a5f2c 304 heading2 = heading1;
s1210160 10:ce253d8a5f2c 305 heading1 = heading0;
s1210160 10:ce253d8a5f2c 306 heading0 = heading;
s1200058 19:cb3a4b4c3526 307 headingLPF = (heading0 + heading1 + heading2 + heading3)/4.0; //low pass filter
s1210160 10:ce253d8a5f2c 308
s1210160 10:ce253d8a5f2c 309 headingLPF = headingLPF * 180.0 / M_PI;
s1210160 10:ce253d8a5f2c 310 // pc.printf("heading=%f\r\n",headingLPF);
s1210160 10:ce253d8a5f2c 311
s1210160 10:ce253d8a5f2c 312 cansat.set_compass(raw[0], raw[2], raw[1], headingLPF);
s1200058 18:c86872baed44 313 cansat.set_robot_angle(calc_angle(cansat.get_compass_angle()));
s1210160 10:ce253d8a5f2c 314 }
s1210160 10:ce253d8a5f2c 315
s1210160 10:ce253d8a5f2c 316
kityann 0:1fcc61be1dcf 317 /******************************
kityann 0:1fcc61be1dcf 318 スタンバイモード
kityann 0:1fcc61be1dcf 319 ******************************/
kityann 0:1fcc61be1dcf 320 void standby(){
s1200058 5:ba883a4bddc3 321
s1200058 6:23bb3b018f44 322 cansat.control_Motor(1, cansat.get_speed());
s1210160 21:18a196d3021c 323 cansat.set_temperature(sensor.getTemperature());
s1210160 21:18a196d3021c 324 cansat.set_pressure(sensor.getPressure());
s1210160 21:18a196d3021c 325 cansat.set_humidity(sensor.getHumidity());
s1210160 21:18a196d3021c 326
s1210160 21:18a196d3021c 327 if(cansat.get_pressure() > goal_Pressure){
s1210160 21:18a196d3021c 328 goal_Pressure = cansat.get_pressure();
s1210160 21:18a196d3021c 329 }
s1210160 21:18a196d3021c 330
s1200058 18:c86872baed44 331 if(!short_in){
s1200058 18:c86872baed44 332 xbee.printf("change mode: falling\n");
s1200058 18:c86872baed44 333 short_flag++;
s1200058 18:c86872baed44 334 }
s1200058 18:c86872baed44 335 else{
s1200058 18:c86872baed44 336 if(running_Timer.read_ms() >= running_Time){
s1200058 18:c86872baed44 337 running_Timer.reset();
s1210160 21:18a196d3021c 338 xbee.printf("stand by, %f, %f\n", goal_Pressure, cansat.get_pressure());
s1200058 18:c86872baed44 339 }
s1200058 18:c86872baed44 340 }
s1200058 18:c86872baed44 341 if(short_flag >= 5){
s1200058 5:ba883a4bddc3 342 mode = 1;
s1210160 21:18a196d3021c 343 goal_Pressure = goal_Pressure + 0.5;
s1210160 21:18a196d3021c 344 pressure_Timer.start();
s1200058 19:cb3a4b4c3526 345 parachute_Timer.start();
s1200058 5:ba883a4bddc3 346 }
s1200058 5:ba883a4bddc3 347
kityann 0:1fcc61be1dcf 348 }
kityann 0:1fcc61be1dcf 349
kityann 0:1fcc61be1dcf 350 /******************************
kityann 0:1fcc61be1dcf 351 落下モード
kityann 0:1fcc61be1dcf 352 ******************************/
s1200058 15:dd7c2ab65a09 353 void falling_print(){
s1200058 15:dd7c2ab65a09 354
s1200058 19:cb3a4b4c3526 355 xbee.printf("%d: %04.2f hPa\n", log_number, cansat.get_pressure());
s1200058 15:dd7c2ab65a09 356
s1200058 15:dd7c2ab65a09 357 log_number++;
s1200058 15:dd7c2ab65a09 358
s1200058 15:dd7c2ab65a09 359 }
s1200058 15:dd7c2ab65a09 360
kityann 0:1fcc61be1dcf 361 void falling(){
s1200058 7:db6b436c0baa 362
s1200058 7:db6b436c0baa 363 cansat.set_temperature(sensor.getTemperature());
s1200058 7:db6b436c0baa 364 cansat.set_pressure(sensor.getPressure());
s1200058 7:db6b436c0baa 365 cansat.set_humidity(sensor.getHumidity());
s1200058 7:db6b436c0baa 366
s1200058 18:c86872baed44 367 falling_print();
s1200058 18:c86872baed44 368
s1200058 5:ba883a4bddc3 369 if(cansat.get_pressure() >= goal_Pressure){
s1200058 7:db6b436c0baa 370 if(fall_flag == 0){
s1200058 7:db6b436c0baa 371 nic = 1;
s1200058 7:db6b436c0baa 372 fall_flag = 1;
s1200058 7:db6b436c0baa 373 sep_Timer.reset();
s1210160 21:18a196d3021c 374 //mode = 2;
s1210160 21:18a196d3021c 375 //xbee.printf("my pressure is high!\n");
s1210160 21:18a196d3021c 376 //xbee.printf("remove the parachute\n");
s1210160 21:18a196d3021c 377 //xbee.printf("change mode: running\n");
s1200058 7:db6b436c0baa 378 }
s1200058 18:c86872baed44 379 }
s1210160 21:18a196d3021c 380
s1210160 21:18a196d3021c 381 if(fall_flag == 1 && pressure_Timer.read_ms() >= pressure_Time){
s1210160 21:18a196d3021c 382 mode = 2;
s1210160 21:18a196d3021c 383 xbee.printf("my pressure is high!\n");
s1210160 21:18a196d3021c 384 xbee.printf("remove the parachute\n");
s1210160 21:18a196d3021c 385 xbee.printf("change mode: running\n");
s1210160 21:18a196d3021c 386 }
s1210160 21:18a196d3021c 387
s1200058 18:c86872baed44 388 if(fall_flag == 0 && parachute_Timer.read_ms() >= parachute_Time){
s1200058 18:c86872baed44 389 mode = 2;
s1200058 18:c86872baed44 390 nic = 1;
s1200058 18:c86872baed44 391 xbee.printf("Time out!\n");
s1200058 18:c86872baed44 392 xbee.printf("remove the parachute\n");
s1200058 18:c86872baed44 393 wait_ms(3000);
s1200058 18:c86872baed44 394 nic = 0;
s1200058 18:c86872baed44 395 xbee.printf("change mode: running\n");
s1200058 7:db6b436c0baa 396
s1200058 5:ba883a4bddc3 397 }
s1200058 15:dd7c2ab65a09 398
s1200058 15:dd7c2ab65a09 399
kityann 0:1fcc61be1dcf 400 }
kityann 0:1fcc61be1dcf 401
kityann 0:1fcc61be1dcf 402 /******************************
kityann 0:1fcc61be1dcf 403 走行モード
kityann 0:1fcc61be1dcf 404 ******************************/
s1200058 14:4dfeeca65308 405
s1200058 14:4dfeeca65308 406 void running_print(){
s1200058 14:4dfeeca65308 407
s1200058 19:cb3a4b4c3526 408 if(running_flag <= 20){
s1200058 19:cb3a4b4c3526 409 xbee.printf("%d: %f, %f, %d\n", log_number, cansat.get_robot_x(), cansat.get_robot_y(), cansat.get_speed());
s1200058 19:cb3a4b4c3526 410 }
s1200058 19:cb3a4b4c3526 411 else{
s1200058 19:cb3a4b4c3526 412 xbee.printf("%d: %f, %f, %d\n", log_number, cansat.get_robotKalman_x(), cansat.get_robotKalman_y(), cansat.get_speed());
s1200058 19:cb3a4b4c3526 413 }
s1200058 19:cb3a4b4c3526 414 xbee.printf("%c, %f\n", cansat.motor_command, cansat.get_compass_angle());
s1200058 19:cb3a4b4c3526 415 xbee.printf("%d, %d\n",cansat.get_robot_angle(), cansat.get_target_angle());
s1200058 19:cb3a4b4c3526 416 // double y1 = cansat.get_target_y();
s1200058 19:cb3a4b4c3526 417 // double y2 = cansat.get_robot_y();
s1200058 19:cb3a4b4c3526 418 // double x1 = cansat.get_target_x();
s1200058 19:cb3a4b4c3526 419 // double x2 = cansat.get_robot_x();
s1200058 19:cb3a4b4c3526 420 // xbee.printf("taret_angle:%f",robot_compass(x1-x2, y1-y2));
s1200058 14:4dfeeca65308 421
s1200058 14:4dfeeca65308 422 log_number++;
s1200058 14:4dfeeca65308 423
s1200058 14:4dfeeca65308 424 }
s1200058 14:4dfeeca65308 425
kityann 0:1fcc61be1dcf 426 void running(){
s1200058 14:4dfeeca65308 427
s1200058 18:c86872baed44 428 // double r = 6378.137;
s1200058 5:ba883a4bddc3 429 double y1 = cansat.get_target_y();
s1200058 5:ba883a4bddc3 430 double y2 = cansat.get_robot_y();
s1200058 5:ba883a4bddc3 431 double x1 = cansat.get_target_x();
s1200058 5:ba883a4bddc3 432 double x2 = cansat.get_robot_x();
s1200058 19:cb3a4b4c3526 433 double x_k2 = cansat.get_robotKalman_x();
s1200058 19:cb3a4b4c3526 434 double y_k2 = cansat.get_robotKalman_y();
s1200058 5:ba883a4bddc3 435 double dx = x2 - x1;
s1200058 18:c86872baed44 436 double dy = y2 - y1;
s1200058 19:cb3a4b4c3526 437 double dx_k = x_k2 - x1;
s1200058 19:cb3a4b4c3526 438 double dy_k = y_k2 - y1;
s1200058 19:cb3a4b4c3526 439 double y_sub;
s1200058 19:cb3a4b4c3526 440 double x_sub;
s1200058 19:cb3a4b4c3526 441
s1200058 19:cb3a4b4c3526 442 if(running_flag < 20){
s1200058 19:cb3a4b4c3526 443 y_sub = dy*111135.0;
s1200058 19:cb3a4b4c3526 444 x_sub = dx*91191.0;
s1200058 19:cb3a4b4c3526 445 cansat.set_target_distance(sqrt(y_sub*y_sub + x_sub*x_sub));
s1200058 19:cb3a4b4c3526 446 cansat.set_target_angle(calc_angle(robot_compass(x1-x2, y1-y2)));
s1200058 19:cb3a4b4c3526 447 running_flag++;
s1200058 19:cb3a4b4c3526 448 }
s1200058 19:cb3a4b4c3526 449 else{
s1200058 19:cb3a4b4c3526 450 y_sub = dy_k*111135.0;
s1200058 19:cb3a4b4c3526 451 x_sub = dx_k*91191.0;
s1200058 19:cb3a4b4c3526 452 cansat.set_target_distance(sqrt(y_sub*y_sub + x_sub*x_sub));
s1200058 19:cb3a4b4c3526 453 cansat.set_target_angle(calc_angle(robot_compass(x1-x_k2, y1-y_k2)));
s1200058 19:cb3a4b4c3526 454 }
s1200058 14:4dfeeca65308 455
s1200058 19:cb3a4b4c3526 456 if(cansat.get_target_distance() < 10) cansat.set_speed(64);
s1200058 19:cb3a4b4c3526 457 else if(cansat.get_target_distance() < 20 && cansat.get_target_distance() > 10) cansat.set_speed(128);
s1200058 19:cb3a4b4c3526 458 else cansat.set_speed(255);
s1200058 5:ba883a4bddc3 459
s1200058 18:c86872baed44 460 if(fall_flag == 1 && sep_Timer.read_ms() >= sep_Time){
s1200058 18:c86872baed44 461 nic = 0;
s1200058 18:c86872baed44 462 }
s1200058 12:5724d4a57a4c 463 if(compass_Timer.read_ms() >= compass_Time){
s1200058 12:5724d4a57a4c 464 compass_Timer.reset();
s1200058 12:5724d4a57a4c 465 if(cansat.get_compass_z() < 0) {
s1200058 12:5724d4a57a4c 466 //ひっくり返っている
s1200058 12:5724d4a57a4c 467 cansat.control_Motor(0, cansat.get_speed());
s1200058 12:5724d4a57a4c 468 } else {
s1200058 14:4dfeeca65308 469 cansat.motor_command = robot_Action(cansat.get_robot_angle(), cansat.get_target_angle());
s1200058 14:4dfeeca65308 470 switch(cansat.motor_command) {
s1200058 12:5724d4a57a4c 471 case 'f': //前進
s1200058 12:5724d4a57a4c 472 cansat.control_Motor(0, cansat.get_speed());
s1200058 12:5724d4a57a4c 473 break;
s1200058 12:5724d4a57a4c 474 case 'l':
s1200058 12:5724d4a57a4c 475 cansat.control_Motor(2, cansat.get_speed());
s1200058 12:5724d4a57a4c 476 break;
s1200058 12:5724d4a57a4c 477 case 'r':
s1200058 12:5724d4a57a4c 478 cansat.control_Motor(3, cansat.get_speed());
s1200058 12:5724d4a57a4c 479 break;
s1200058 13:4f3fd6c4ddc2 480 case 'b':
s1200058 13:4f3fd6c4ddc2 481 cansat.control_Motor(4, cansat.get_speed());
s1200058 13:4f3fd6c4ddc2 482 break;
s1200058 12:5724d4a57a4c 483 }
s1200058 5:ba883a4bddc3 484 }
s1200058 5:ba883a4bddc3 485 }
s1200058 18:c86872baed44 486
s1200058 18:c86872baed44 487 running_print();
s1200058 18:c86872baed44 488
s1200058 7:db6b436c0baa 489 if(cansat.get_target_distance() <= 1){
s1200058 6:23bb3b018f44 490 mode = 100;
s1200058 14:4dfeeca65308 491 xbee.printf("change mode: stopping\n");
s1200058 14:4dfeeca65308 492 xbee.printf("it is goal point.\n");
s1200058 6:23bb3b018f44 493 }
kityann 0:1fcc61be1dcf 494 }
kityann 0:1fcc61be1dcf 495
kityann 0:1fcc61be1dcf 496 /******************************
kityann 0:1fcc61be1dcf 497 停止モード
kityann 0:1fcc61be1dcf 498 ******************************/
kityann 0:1fcc61be1dcf 499 void stopping(){
kityann 0:1fcc61be1dcf 500
s1200058 13:4f3fd6c4ddc2 501 cansat.control_Motor(1, cansat.get_speed());
kityann 0:1fcc61be1dcf 502
kityann 0:1fcc61be1dcf 503 }
kityann 0:1fcc61be1dcf 504
kityann 0:1fcc61be1dcf 505 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 506 //
kityann 0:1fcc61be1dcf 507 //Main Processing
kityann 0:1fcc61be1dcf 508 //
kityann 0:1fcc61be1dcf 509 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 510 int main() {
kityann 0:1fcc61be1dcf 511 //start up time
kityann 0:1fcc61be1dcf 512 wait(3);
kityann 0:1fcc61be1dcf 513 //set pc frequency to 57600bps
kityann 0:1fcc61be1dcf 514 pc.baud(PC_BAUD_RATE);
kityann 0:1fcc61be1dcf 515 //set xbee frequency to 57600bps
s1200058 12:5724d4a57a4c 516 //xbee.begin(XBEE_BAUD_RATE);
s1200058 19:cb3a4b4c3526 517 xbee.baud(57600);
s1210160 10:ce253d8a5f2c 518 //Compass setting
s1210160 10:ce253d8a5f2c 519 compass.init();
kityann 0:1fcc61be1dcf 520
kityann 0:1fcc61be1dcf 521 //GPS setting
kityann 0:1fcc61be1dcf 522 gps_Serial = new Serial(p28,p27);
kityann 0:1fcc61be1dcf 523 Adafruit_GPS myGPS(gps_Serial);
kityann 0:1fcc61be1dcf 524 Timer refresh_Timer;
kityann 0:1fcc61be1dcf 525 const int refresh_Time = 1000; //refresh time in ms
kityann 0:1fcc61be1dcf 526 int count = 0;
s1200058 19:cb3a4b4c3526 527 Timer compass_refresh_Timer;
s1200058 19:cb3a4b4c3526 528 const int compass_refresh_Time = 500;
kityann 0:1fcc61be1dcf 529
kityann 0:1fcc61be1dcf 530 myGPS.begin(GPS_BAUD_RATE);
kityann 0:1fcc61be1dcf 531
kityann 0:1fcc61be1dcf 532 //GPS Send Command
kityann 0:1fcc61be1dcf 533 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:1fcc61be1dcf 534 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:1fcc61be1dcf 535 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:1fcc61be1dcf 536
kityann 0:1fcc61be1dcf 537 wait_ms(2000);
kityann 0:1fcc61be1dcf 538
kityann 0:1fcc61be1dcf 539 //interrupt start
kityann 0:1fcc61be1dcf 540 refresh_Timer.start();
s1200058 13:4f3fd6c4ddc2 541 compass_Timer.start();
s1200058 14:4dfeeca65308 542 running_Timer.start();
s1200058 18:c86872baed44 543 sep_Timer.start();
s1200058 19:cb3a4b4c3526 544 compass_refresh_Timer.start();
s1200058 11:19091694455e 545 cansat.set_target(target_x, target_y);
s1200058 12:5724d4a57a4c 546 // wait_ms(10000);
s1200058 11:19091694455e 547
s1200058 19:cb3a4b4c3526 548 //compass_interrupt.attach(&Compass_intrpt, 0.5);
s1200058 19:cb3a4b4c3526 549
kityann 0:1fcc61be1dcf 550
kityann 0:1fcc61be1dcf 551 printf("start\n");
s1200058 19:cb3a4b4c3526 552 xbee.printf("target: %f, %f\n",cansat.get_target_x(), cansat.get_target_y());
s1200058 12:5724d4a57a4c 553 //int mode = -1;
s1200058 5:ba883a4bddc3 554 nic.output();
s1200058 5:ba883a4bddc3 555 nic = 0;
kityann 0:1fcc61be1dcf 556
s1200058 18:c86872baed44 557 short_out = 1;
s1200058 18:c86872baed44 558 wait_ms(1000);
s1200058 19:cb3a4b4c3526 559 // if(short_out){
s1200058 19:cb3a4b4c3526 560 // xbee.printf("HIGH\n");
s1200058 19:cb3a4b4c3526 561 // }
s1200058 18:c86872baed44 562
kityann 0:1fcc61be1dcf 563 while (true) {
s1200058 19:cb3a4b4c3526 564
s1200058 19:cb3a4b4c3526 565 myGPS.read();
s1200058 19:cb3a4b4c3526 566 //recive gps module
s1200058 19:cb3a4b4c3526 567 //check if we recieved a new message from GPS, if so, attempt to parse it,
s1200058 19:cb3a4b4c3526 568 if ( myGPS.newNMEAreceived() ) {
s1200058 19:cb3a4b4c3526 569 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 19:cb3a4b4c3526 570 continue;
s1200058 19:cb3a4b4c3526 571 }
s1200058 19:cb3a4b4c3526 572 else{
s1200058 19:cb3a4b4c3526 573 count++;
s1200058 19:cb3a4b4c3526 574 }
s1200058 19:cb3a4b4c3526 575 }
s1200058 19:cb3a4b4c3526 576 //一定時間ごとに自分のGPSデータを取得し、AigamozuControlPacketsないのagzPointとagzPointKalmanに格納する
s1200058 19:cb3a4b4c3526 577 if (refresh_Timer.read_ms() >= refresh_Time) {
s1200058 19:cb3a4b4c3526 578 refresh_Timer.reset();
s1200058 19:cb3a4b4c3526 579 //print_gps(count);
s1200058 19:cb3a4b4c3526 580 Get_GPS(&myGPS);
s1200058 19:cb3a4b4c3526 581 //log++;
s1200058 19:cb3a4b4c3526 582 /* xbee.printf("%d times, x:%f, y:%f, speed:%d\n", log, cansat.get_robot_x(), cansat.get_robot_y(), cansat.get_speed());
s1200058 19:cb3a4b4c3526 583 xbee.printf("moter command: %c\n", cansat.motor_command);
s1200058 19:cb3a4b4c3526 584 xbee.printf("robot_angle:%d, target_angle:%d, robot_compass:%f, %04.2f hPa\n",cansat.get_robot_angle(), cansat.get_target_angle(), cansat.get_compass_angle(), cansat.get_pressure());
s1200058 19:cb3a4b4c3526 585 */
s1200058 19:cb3a4b4c3526 586 }
s1200058 19:cb3a4b4c3526 587 if(compass_refresh_Timer.read_ms() >= compass_refresh_Time){
s1200058 19:cb3a4b4c3526 588 Compass_intrpt();
s1200058 19:cb3a4b4c3526 589 compass_refresh_Timer.reset();
s1200058 19:cb3a4b4c3526 590 }
s1200058 14:4dfeeca65308 591
kityann 0:1fcc61be1dcf 592 switch(mode){
kityann 0:1fcc61be1dcf 593 //スタートモード：パラシュートが開くまではこのモードを実行
kityann 0:1fcc61be1dcf 594 case -1:
kityann 0:1fcc61be1dcf 595 standby();
kityann 0:1fcc61be1dcf 596 break;
kityann 0:1fcc61be1dcf 597 //落下モード：落下時はこのモード。気圧計または、時間でロボットとパラシュートを分離する
kityann 0:1fcc61be1dcf 598 case 1:
kityann 0:1fcc61be1dcf 599 falling();
kityann 0:1fcc61be1dcf 600 break;
kityann 0:1fcc61be1dcf 601 //走行モード：ターゲットにむかって走行を行う
kityann 0:1fcc61be1dcf 602 case 2:
s1200058 14:4dfeeca65308 603 if (running_Timer.read_ms() >= running_Time) {
s1200058 14:4dfeeca65308 604 running_Timer.reset();
s1200058 14:4dfeeca65308 605 running();
s1200058 14:4dfeeca65308 606 }
kityann 0:1fcc61be1dcf 607 break;
kityann 0:1fcc61be1dcf 608 //停止モード：ターゲット
kityann 0:1fcc61be1dcf 609 case 100:
kityann 0:1fcc61be1dcf 610 stopping();
kityann 0:1fcc61be1dcf 611 break;
kityann 0:1fcc61be1dcf 612 }
s1210160 10:ce253d8a5f2c 613
s1200058 11:19091694455e 614 /* while(1){
s1210160 10:ce253d8a5f2c 615
s1210160 10:ce253d8a5f2c 616 printf("compass x : %i, compass y : %i, compass z : %i\n", raw[0], raw[1], raw[2]);
s1210160 10:ce253d8a5f2c 617 printf("set compass x : %i, set compass y : %i, set compass z : %i\n", cansat.get_compass_x(), cansat.get_compass_y(), cansat.get_compass_z());
s1210160 10:ce253d8a5f2c 618 printf("compass angle : %f\n", headingLPF);
s1210160 10:ce253d8a5f2c 619 printf("set compass angle : %f\n", cansat.get_compass_angle());
s1210160 10:ce253d8a5f2c 620 printf("robot angle : %d\n", calc_angle(headingLPF));
s1210160 10:ce253d8a5f2c 621 printf("set robot angle : %d\n", cansat.get_robot_angle());
s1210160 10:ce253d8a5f2c 622 }
s1200058 11:19091694455e 623 */
s1200058 19:cb3a4b4c3526 624
kityann 0:1fcc61be1dcf 625 }
kityann 0:1fcc61be1dcf 626
kityann 0:1fcc61be1dcf 627 }