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@18:c86872baed44, 2015-08-12 (annotated)

Committer:
s1200058
Date:
Wed Aug 12 23:32:49 2015 +0000
Revision:
18:c86872baed44
Parent:
16:a3a0e5654835
Child:
19:cb3a4b4c3526
08/13 08:35

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 18:c86872baed44 69
s1200058 12:5724d4a57a4c 70 Timer compass_Timer;
s1200058 12:5724d4a57a4c 71 const int compass_Time = 500;
s1200058 18:c86872baed44 72 Timer running_Timer;
s1200058 18:c86872baed44 73 const int running_Time = 500;
s1200058 18:c86872baed44 74 Timer parachute_Timer;
s1200058 18:c86872baed44 75 const int parachute_Time = 30000;
kityann 0:1fcc61be1dcf 76 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 77 //
s1210160 10:ce253d8a5f2c 78 //For Compass data
s1210160 10:ce253d8a5f2c 79 //
s1210160 10:ce253d8a5f2c 80 /////////////////////////////////////////
s1210160 10:ce253d8a5f2c 81 Ticker compass_interrupt;
s1210160 10:ce253d8a5f2c 82 double heading0 = 0.0;
s1210160 10:ce253d8a5f2c 83 double heading1 = 0.0;
s1210160 10:ce253d8a5f2c 84 double heading2 = 0.0;
s1210160 10:ce253d8a5f2c 85 double heading3 = 0.0;
s1210160 10:ce253d8a5f2c 86 double headingLPF = 0.0;
s1210160 10:ce253d8a5f2c 87 double initHeading;
s1210160 10:ce253d8a5f2c 88 double tgtHeading;
s1210160 10:ce253d8a5f2c 89 double preHeading = 0.0;
s1210160 10:ce253d8a5f2c 90
s1210160 10:ce253d8a5f2c 91 int maxX, minX, maxY, minY;
s1200058 13:4f3fd6c4ddc2 92 const int ofsX = 46; //calibration x
s1200058 13:4f3fd6c4ddc2 93 const int ofsY = -950; //calibration y
s1210160 10:ce253d8a5f2c 94
s1210160 10:ce253d8a5f2c 95 int16_t raw[3];
s1210160 10:ce253d8a5f2c 96
s1210160 10:ce253d8a5f2c 97 /////////////////////////////////////////
s1210160 10:ce253d8a5f2c 98 //
kityann 0:1fcc61be1dcf 99 //For Kalman data
kityann 0:1fcc61be1dcf 100 //
kityann 0:1fcc61be1dcf 101 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 102 #define FIRST_S2_1 1.0e-8
kityann 0:1fcc61be1dcf 103 #define FIRST_S2_2 1.0e-6
kityann 0:1fcc61be1dcf 104 #define COUNTER_MAX 10000
kityann 0:1fcc61be1dcf 105 #define ERROR_RANGE 0.001
kityann 0:1fcc61be1dcf 106
kityann 0:1fcc61be1dcf 107 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 108 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 109 double s2_R=FIRST_S2_2;//GPSセンサの分散
kityann 0:1fcc61be1dcf 110 double s2_Q=FIRST_S2_2;
kityann 0:1fcc61be1dcf 111 double Kx=0,Ky=0;//カルマンゲイン
kityann 0:1fcc61be1dcf 112 double zx,zy;//観測値
kityann 0:1fcc61be1dcf 113 void Kalman(double Latitude,double Longitude);
kityann 0:1fcc61be1dcf 114 int change = 0;
kityann 0:1fcc61be1dcf 115
s1200058 18:c86872baed44 116 int mode = -1; //ロボットのモード
s1200058 15:dd7c2ab65a09 117 double target_x = 40.085592,target_y = 139.592383;
s1200058 18:c86872baed44 118 double goal_Pressure = 1003.5, goal_Temperature,goal_Humidity; //地表地点の気圧、気温、湿度
kityann 0:1fcc61be1dcf 119
s1200058 7:db6b436c0baa 120 Timer sep_Timer;
s1200058 18:c86872baed44 121 const int sep_Time = 3000; //seperate time in ms
s1200058 7:db6b436c0baa 122 int fall_flag = 0;
s1200058 7:db6b436c0baa 123
s1200058 14:4dfeeca65308 124 int log_number = 0;
s1200058 14:4dfeeca65308 125
kityann 0:1fcc61be1dcf 126
kityann 0:1fcc61be1dcf 127 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 128 //
kityann 0:1fcc61be1dcf 129 //Kalman Processing
kityann 0:1fcc61be1dcf 130 //
kityann 0:1fcc61be1dcf 131 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 132 void calc_Kalman(){
kityann 0:1fcc61be1dcf 133 //calc Kalman gain
kityann 0:1fcc61be1dcf 134 Kx = (s2x_prev+s2_Q)/(s2x_prev+s2_R+s2_Q);
kityann 0:1fcc61be1dcf 135 Ky = (s2y_prev+s2_Q)/(s2y_prev+s2_R+s2_Q);
kityann 0:1fcc61be1dcf 136 //estimate
kityann 0:1fcc61be1dcf 137 x_cur = x_prev + Kx*(zx-x_prev);
kityann 0:1fcc61be1dcf 138 y_cur = y_prev + Ky*(zy-y_prev);
kityann 0:1fcc61be1dcf 139 //calc sigma
kityann 0:1fcc61be1dcf 140 s2x_cur = (1-Kx)*(s2x_prev+s2_Q);
kityann 0:1fcc61be1dcf 141 s2y_cur = (1-Ky)*(s2y_prev+s2_Q);
kityann 0:1fcc61be1dcf 142
kityann 0:1fcc61be1dcf 143 }
kityann 0:1fcc61be1dcf 144
kityann 0:1fcc61be1dcf 145 void Kalman(double Latitude,double Longitude){
kityann 0:1fcc61be1dcf 146
kityann 0:1fcc61be1dcf 147 zx = Latitude;
kityann 0:1fcc61be1dcf 148 zy = Longitude;
kityann 0:1fcc61be1dcf 149
kityann 0:1fcc61be1dcf 150 calc_Kalman();
kityann 0:1fcc61be1dcf 151
kityann 0:1fcc61be1dcf 152 //更新
kityann 0:1fcc61be1dcf 153 x_prev = x_cur;
kityann 0:1fcc61be1dcf 154 y_prev = y_cur;
kityann 0:1fcc61be1dcf 155 s2x_prev = s2x_cur;
kityann 0:1fcc61be1dcf 156 s2y_prev = s2y_cur;
kityann 0:1fcc61be1dcf 157
kityann 3:0bd9ad37f319 158 //robotK\x,robotK_yに格納する
kityann 3:0bd9ad37f319 159 cansat.set_robotKalman_x(x_cur);
kityann 3:0bd9ad37f319 160 cansat.set_robotKalman_y(y_cur);
kityann 0:1fcc61be1dcf 161 }
kityann 0:1fcc61be1dcf 162
kityann 0:1fcc61be1dcf 163 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 164 //
kityann 0:1fcc61be1dcf 165 //Get GPS function
kityann 0:1fcc61be1dcf 166 //
kityann 0:1fcc61be1dcf 167 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 168
kityann 0:1fcc61be1dcf 169 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:1fcc61be1dcf 170 static int flag = 0;
kityann 0:1fcc61be1dcf 171
kityann 0:1fcc61be1dcf 172 if (myGPS->fix) {
kityann 0:1fcc61be1dcf 173
kityann 3:0bd9ad37f319 174 cansat.nowStatus = GPS_AVAIL;
s1200058 18:c86872baed44 175 cansat.set_robot_x((double)myGPS->latitudeH + (double)(myGPS->latitudeL / 1000000.0 / 60.0));
s1200058 18:c86872baed44 176 cansat.set_robot_y((double)myGPS->longitudeH +(double)(myGPS->longitudeL / 1000000.0 / 60.0));
kityann 3:0bd9ad37f319 177
kityann 0:1fcc61be1dcf 178
kityann 0:1fcc61be1dcf 179 if(flag < COUNTER_MAX){
kityann 0:1fcc61be1dcf 180 flag++;
kityann 0:1fcc61be1dcf 181 }
kityann 0:1fcc61be1dcf 182 if(flag == 5){
kityann 3:0bd9ad37f319 183 x_prev = cansat.get_robot_x();
kityann 3:0bd9ad37f319 184 y_prev = cansat.get_robot_y();
kityann 0:1fcc61be1dcf 185 }
kityann 0:1fcc61be1dcf 186
kityann 0:1fcc61be1dcf 187 if(flag >= 6){
kityann 3:0bd9ad37f319 188 if(abs(x_prev - cansat.get_robot_x()) < ERROR_RANGE && abs(y_prev - cansat.get_robot_y()) < ERROR_RANGE){
kityann 3:0bd9ad37f319 189 Kalman(cansat.get_robot_x(), cansat.get_robot_y());
kityann 0:1fcc61be1dcf 190 change = 1;
kityann 0:1fcc61be1dcf 191 }
kityann 0:1fcc61be1dcf 192 else{
kityann 0:1fcc61be1dcf 193 change = 0;
kityann 0:1fcc61be1dcf 194 }
kityann 1:f1f7413ae6bd 195 //printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
kityann 1:f1f7413ae6bd 196 //agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 1:f1f7413ae6bd 197 //agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 1:f1f7413ae6bd 198 //agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 1:f1f7413ae6bd 199 }
kityann 0:1fcc61be1dcf 200 }
kityann 3:0bd9ad37f319 201 else cansat.nowStatus = GPS_UNAVAIL;
kityann 0:1fcc61be1dcf 202
kityann 0:1fcc61be1dcf 203 }
kityann 0:1fcc61be1dcf 204
aoki0731 4:0fc7221e2f79 205 //ロボットの動き方
s1200058 11:19091694455e 206 char robot_Action(int robot_angle, int target_angle) {
aoki0731 4:0fc7221e2f79 207
s1200058 11:19091694455e 208 int n, t, r;
aoki0731 4:0fc7221e2f79 209 t = target_angle;
aoki0731 4:0fc7221e2f79 210 r = robot_angle;
aoki0731 4:0fc7221e2f79 211 n = r - t;
aoki0731 4:0fc7221e2f79 212 if(n<0) n *= -1;
aoki0731 4:0fc7221e2f79 213
aoki0731 4:0fc7221e2f79 214
aoki0731 4:0fc7221e2f79 215 if(t==r) {
aoki0731 4:0fc7221e2f79 216 //前進
aoki0731 4:0fc7221e2f79 217 return 'f';
aoki0731 4:0fc7221e2f79 218 } else if(n < 4) {
aoki0731 4:0fc7221e2f79 219 if(t > r)
aoki0731 4:0fc7221e2f79 220 t -= 8;
aoki0731 4:0fc7221e2f79 221 else
aoki0731 4:0fc7221e2f79 222 r -= 8;
aoki0731 4:0fc7221e2f79 223
aoki0731 4:0fc7221e2f79 224 if(r-t > 0)
aoki0731 4:0fc7221e2f79 225 return 'l';
aoki0731 4:0fc7221e2f79 226 else
aoki0731 4:0fc7221e2f79 227 return 'r';
aoki0731 4:0fc7221e2f79 228 } else if(n >= 4) {
aoki0731 4:0fc7221e2f79 229 if(t > r)
aoki0731 4:0fc7221e2f79 230 t -= 8;
aoki0731 4:0fc7221e2f79 231 else
aoki0731 4:0fc7221e2f79 232 r -= 8;
aoki0731 4:0fc7221e2f79 233
aoki0731 4:0fc7221e2f79 234 if(r-t > 0)
aoki0731 4:0fc7221e2f79 235 return 'r';
aoki0731 4:0fc7221e2f79 236 else
aoki0731 4:0fc7221e2f79 237 return 'l';
aoki0731 4:0fc7221e2f79 238 }
aoki0731 4:0fc7221e2f79 239
aoki0731 4:0fc7221e2f79 240 return 'b';
aoki0731 4:0fc7221e2f79 241 }
aoki0731 4:0fc7221e2f79 242
s1200058 5:ba883a4bddc3 243 //対象とロボットの角度
s1200058 5:ba883a4bddc3 244 double robot_compass(double robot_x, double robot_y) {
s1200058 5:ba883a4bddc3 245 double angle = 0;
s1200058 5:ba883a4bddc3 246
s1200058 5:ba883a4bddc3 247 if(robot_x==0&&robot_y>0)
s1200058 5:ba883a4bddc3 248 return 0;
s1200058 5:ba883a4bddc3 249 else if(robot_x>0&&robot_y==0) //東
s1200058 5:ba883a4bddc3 250 return 90;
s1200058 5:ba883a4bddc3 251 else if(robot_x==0&&robot_y<0) //南
s1200058 5:ba883a4bddc3 252 return 180;
s1200058 5:ba883a4bddc3 253 else if(robot_x<0&&robot_y==0) //西
s1200058 5:ba883a4bddc3 254 return 270;
s1200058 5:ba883a4bddc3 255 else if(robot_x>=0&&robot_y>=0) { //北東
s1200058 5:ba883a4bddc3 256 if(robot_x<=robot_y)
s1200058 5:ba883a4bddc3 257 angle = atan2(robot_x, robot_y);
s1200058 5:ba883a4bddc3 258 else
s1200058 5:ba883a4bddc3 259 angle = (M_PI/2) - atan2(robot_y, robot_x);
s1200058 5:ba883a4bddc3 260 return angle * 180.0 / M_PI;
s1200058 5:ba883a4bddc3 261 } else if(robot_x>=0&&robot_y<0) { //南東
s1200058 5:ba883a4bddc3 262 if(robot_x>abs(robot_y)){
s1200058 5:ba883a4bddc3 263 angle = (M_PI/2) - atan2(abs(robot_y), robot_x);
s1200058 5:ba883a4bddc3 264 }
s1200058 5:ba883a4bddc3 265 else{
s1200058 5:ba883a4bddc3 266 angle = atan2(abs(robot_y), robot_x);
s1200058 5:ba883a4bddc3 267 }
s1200058 5:ba883a4bddc3 268 return angle * 180.0 / M_PI + 90;
s1200058 5:ba883a4bddc3 269 } else if(robot_x<0&&robot_y<0) { //南西
s1200058 5:ba883a4bddc3 270 if(abs(robot_x)<abs(robot_y)){
s1200058 5:ba883a4bddc3 271 angle = atan2(abs(robot_x), abs(robot_y));
s1200058 5:ba883a4bddc3 272 }
s1200058 5:ba883a4bddc3 273 else{
s1200058 5:ba883a4bddc3 274 angle = (M_PI/2) - atan2(abs(robot_y), abs(robot_x));
s1200058 5:ba883a4bddc3 275 }
s1200058 5:ba883a4bddc3 276 return angle * 180.0 / M_PI + 180;
s1200058 5:ba883a4bddc3 277 } else if(robot_x<0&&robot_y>=0) { //北西
s1200058 5:ba883a4bddc3 278 if(abs(robot_x)>robot_y){
s1200058 5:ba883a4bddc3 279 angle = (M_PI/2) - atan2(robot_y, abs(robot_x));
s1200058 5:ba883a4bddc3 280 }
s1200058 5:ba883a4bddc3 281 else{
s1200058 5:ba883a4bddc3 282 angle = atan2(abs(robot_x), robot_y);
s1200058 5:ba883a4bddc3 283 }
kityann 9:2741e17438d6 284 return 360 - angle * 180.0 / M_PI;
s1200058 5:ba883a4bddc3 285 }
s1200058 5:ba883a4bddc3 286
s1200058 5:ba883a4bddc3 287 return -1;
s1200058 5:ba883a4bddc3 288 }
s1200058 5:ba883a4bddc3 289
s1210160 10:ce253d8a5f2c 290 int calc_angle(double c){
s1200058 11:19091694455e 291 if(c > 337.5 ||(c >=0 && c < 22.5)) return 0;
s1210160 10:ce253d8a5f2c 292 else if(c >= 22.5 && c < 67.5) return 1;
s1210160 10:ce253d8a5f2c 293 else if(c >= 67.5 && c < 112.5) return 2;
s1210160 10:ce253d8a5f2c 294 else if(c >= 112.5 && c < 157.5) return 3;
s1210160 10:ce253d8a5f2c 295 else if(c >= 157.5 && c < 202.5) return 4;
s1210160 10:ce253d8a5f2c 296 else if(c >= 202.5 && c < 247.5) return 5;
s1210160 10:ce253d8a5f2c 297 else if(c >= 247.5 && c < 292.5) return 6;
s1210160 10:ce253d8a5f2c 298 else if(c >= 292.5 && c < 337.5) return 7;
s1210160 10:ce253d8a5f2c 299 else return 8;
s1210160 10:ce253d8a5f2c 300 }
s1200058 5:ba883a4bddc3 301
s1210160 10:ce253d8a5f2c 302 void Compass_intrpt(){
s1210160 10:ce253d8a5f2c 303
s1210160 10:ce253d8a5f2c 304 compass.getXYZ(raw);
s1210160 10:ce253d8a5f2c 305 double heading = atan2(static_cast<double>(raw[2]-ofsY), static_cast<double>(raw[0]-ofsX)); //y=raw[2]
s1210160 10:ce253d8a5f2c 306 if(heading < 0)heading += 2*M_PI;
s1210160 10:ce253d8a5f2c 307 if(heading > 2*M_PI)heading -= 2*M_PI;
s1210160 10:ce253d8a5f2c 308 heading3 = heading2;
s1210160 10:ce253d8a5f2c 309 heading2 = heading1;
s1210160 10:ce253d8a5f2c 310 heading1 = heading0;
s1210160 10:ce253d8a5f2c 311 heading0 = heading;
s1210160 10:ce253d8a5f2c 312 headingLPF = (heading0 + heading1 + heading2 + heading3)/4; //low pass filter
s1210160 10:ce253d8a5f2c 313
s1210160 10:ce253d8a5f2c 314 headingLPF = headingLPF * 180.0 / M_PI;
s1210160 10:ce253d8a5f2c 315 // pc.printf("heading=%f\r\n",headingLPF);
s1210160 10:ce253d8a5f2c 316
s1210160 10:ce253d8a5f2c 317 cansat.set_compass(raw[0], raw[2], raw[1], headingLPF);
s1200058 18:c86872baed44 318 cansat.set_robot_angle(calc_angle(cansat.get_compass_angle()));
s1210160 10:ce253d8a5f2c 319 }
s1210160 10:ce253d8a5f2c 320
s1210160 10:ce253d8a5f2c 321
kityann 0:1fcc61be1dcf 322 /******************************
kityann 0:1fcc61be1dcf 323 スタンバイモード
kityann 0:1fcc61be1dcf 324 ******************************/
kityann 0:1fcc61be1dcf 325 void standby(){
s1200058 5:ba883a4bddc3 326
s1200058 6:23bb3b018f44 327 cansat.control_Motor(1, cansat.get_speed());
s1200058 18:c86872baed44 328 if(!short_in){
s1200058 18:c86872baed44 329 xbee.printf("change mode: falling\n");
s1200058 18:c86872baed44 330 short_flag++;
s1200058 18:c86872baed44 331 }
s1200058 18:c86872baed44 332 else{
s1200058 18:c86872baed44 333 if(running_Timer.read_ms() >= running_Time){
s1200058 18:c86872baed44 334 running_Timer.reset();
s1200058 18:c86872baed44 335 xbee.printf("stand by\n");
s1200058 18:c86872baed44 336 }
s1200058 18:c86872baed44 337 }
s1200058 18:c86872baed44 338 if(short_flag >= 5){
s1200058 5:ba883a4bddc3 339 mode = 1;
s1200058 5:ba883a4bddc3 340 }
s1200058 5:ba883a4bddc3 341
kityann 0:1fcc61be1dcf 342 }
kityann 0:1fcc61be1dcf 343
kityann 0:1fcc61be1dcf 344 /******************************
kityann 0:1fcc61be1dcf 345 落下モード
kityann 0:1fcc61be1dcf 346 ******************************/
s1200058 15:dd7c2ab65a09 347 void falling_print(){
s1200058 15:dd7c2ab65a09 348
s1200058 18:c86872baed44 349 xbee.printf("%d times, pressure:%04.2f hPa\n", log_number, cansat.get_pressure());
s1200058 15:dd7c2ab65a09 350
s1200058 15:dd7c2ab65a09 351 log_number++;
s1200058 15:dd7c2ab65a09 352
s1200058 15:dd7c2ab65a09 353 }
s1200058 15:dd7c2ab65a09 354
kityann 0:1fcc61be1dcf 355 void falling(){
s1200058 7:db6b436c0baa 356
s1200058 7:db6b436c0baa 357 cansat.set_temperature(sensor.getTemperature());
s1200058 7:db6b436c0baa 358 cansat.set_pressure(sensor.getPressure());
s1200058 7:db6b436c0baa 359 cansat.set_humidity(sensor.getHumidity());
s1200058 7:db6b436c0baa 360
s1200058 18:c86872baed44 361 falling_print();
s1200058 18:c86872baed44 362
s1200058 5:ba883a4bddc3 363 if(cansat.get_pressure() >= goal_Pressure){
s1200058 7:db6b436c0baa 364 if(fall_flag == 0){
s1200058 7:db6b436c0baa 365 nic = 1;
s1200058 7:db6b436c0baa 366 fall_flag = 1;
s1200058 7:db6b436c0baa 367 sep_Timer.reset();
s1200058 7:db6b436c0baa 368 mode = 2;
s1200058 18:c86872baed44 369 xbee.printf("my pressure is high!\n");
s1200058 18:c86872baed44 370 xbee.printf("remove the parachute\n");
s1200058 14:4dfeeca65308 371 xbee.printf("change mode: running\n");
s1200058 7:db6b436c0baa 372 }
s1200058 18:c86872baed44 373 }
s1200058 18:c86872baed44 374 if(fall_flag == 0 && parachute_Timer.read_ms() >= parachute_Time){
s1200058 18:c86872baed44 375 mode = 2;
s1200058 18:c86872baed44 376 nic = 1;
s1200058 18:c86872baed44 377 xbee.printf("Time out!\n");
s1200058 18:c86872baed44 378 xbee.printf("remove the parachute\n");
s1200058 18:c86872baed44 379 wait_ms(3000);
s1200058 18:c86872baed44 380 nic = 0;
s1200058 18:c86872baed44 381 xbee.printf("change mode: running\n");
s1200058 7:db6b436c0baa 382
s1200058 5:ba883a4bddc3 383 }
s1200058 15:dd7c2ab65a09 384
s1200058 15:dd7c2ab65a09 385
kityann 0:1fcc61be1dcf 386 }
kityann 0:1fcc61be1dcf 387
kityann 0:1fcc61be1dcf 388 /******************************
kityann 0:1fcc61be1dcf 389 走行モード
kityann 0:1fcc61be1dcf 390 ******************************/
s1200058 14:4dfeeca65308 391
s1200058 14:4dfeeca65308 392 void running_print(){
s1200058 14:4dfeeca65308 393
s1200058 14:4dfeeca65308 394 xbee.printf("%d times, x:%f, y:%f, speed:%d\n", log_number, cansat.get_robot_x(), cansat.get_robot_y(), cansat.get_speed());
s1200058 18:c86872baed44 395 // xbee.printf("moter command: %c\n", cansat.motor_command);
s1200058 18:c86872baed44 396 // xbee.printf("robot_angle:%d, target_angle:%d, compass_angle:%f\n",cansat.get_robot_angle(), cansat.get_target_angle(),cansat.get_compass_angle());
s1200058 18:c86872baed44 397 xbee.printf("robot_x:%f, robot_y:%f, target_x:%f, target_y:%f", cansat.get_robot_x(), cansat.get_robot_y(), cansat.get_target_x(), cansat.get_target_y());
s1200058 18:c86872baed44 398 double y1 = cansat.get_target_y();
s1200058 18:c86872baed44 399 double y2 = cansat.get_robot_y();
s1200058 18:c86872baed44 400 double x1 = cansat.get_target_x();
s1200058 18:c86872baed44 401 double x2 = cansat.get_robot_x();
s1200058 18:c86872baed44 402 xbee.printf("taret_angle:%f",robot_compass(x1-x2, y1-y2));
s1200058 14:4dfeeca65308 403
s1200058 14:4dfeeca65308 404 log_number++;
s1200058 14:4dfeeca65308 405
s1200058 14:4dfeeca65308 406 }
s1200058 14:4dfeeca65308 407
kityann 0:1fcc61be1dcf 408 void running(){
s1200058 14:4dfeeca65308 409
s1200058 18:c86872baed44 410 // double r = 6378.137;
s1200058 5:ba883a4bddc3 411 double y1 = cansat.get_target_y();
s1200058 5:ba883a4bddc3 412 double y2 = cansat.get_robot_y();
s1200058 5:ba883a4bddc3 413 double x1 = cansat.get_target_x();
s1200058 5:ba883a4bddc3 414 double x2 = cansat.get_robot_x();
s1200058 5:ba883a4bddc3 415 double dx = x2 - x1;
s1200058 18:c86872baed44 416 double dy = y2 - y1;
s1200058 18:c86872baed44 417 double y_sub = dy*111135;
s1200058 18:c86872baed44 418 double x_sub = dx*91191;
s1200058 14:4dfeeca65308 419
s1200058 18:c86872baed44 420 cansat.set_target_distance(sqrt(y_sub*y_sub + x_sub*x_sub));
s1200058 13:4f3fd6c4ddc2 421 cansat.set_target_angle(calc_angle(robot_compass(x1-x2, y1-y2)));
s1200058 5:ba883a4bddc3 422
s1200058 5:ba883a4bddc3 423 if(cansat.get_target_distance() < 10) cansat.set_speed(32);
s1200058 5:ba883a4bddc3 424 else if(cansat.get_target_distance() < 20 && cansat.get_target_distance() > 10) cansat.set_speed(64);
s1200058 5:ba883a4bddc3 425 else cansat.set_speed(128);
s1200058 5:ba883a4bddc3 426
s1200058 18:c86872baed44 427 if(fall_flag == 1 && sep_Timer.read_ms() >= sep_Time){
s1200058 18:c86872baed44 428 nic = 0;
s1200058 18:c86872baed44 429 }
s1200058 12:5724d4a57a4c 430 if(compass_Timer.read_ms() >= compass_Time){
s1200058 12:5724d4a57a4c 431 compass_Timer.reset();
s1200058 12:5724d4a57a4c 432 if(cansat.get_compass_z() < 0) {
s1200058 12:5724d4a57a4c 433 //ひっくり返っている
s1200058 12:5724d4a57a4c 434 cansat.control_Motor(0, cansat.get_speed());
s1200058 12:5724d4a57a4c 435 } else {
s1200058 14:4dfeeca65308 436 cansat.motor_command = robot_Action(cansat.get_robot_angle(), cansat.get_target_angle());
s1200058 14:4dfeeca65308 437 switch(cansat.motor_command) {
s1200058 12:5724d4a57a4c 438 case 'f': //前進
s1200058 12:5724d4a57a4c 439 cansat.control_Motor(0, cansat.get_speed());
s1200058 12:5724d4a57a4c 440 break;
s1200058 12:5724d4a57a4c 441 case 'l':
s1200058 12:5724d4a57a4c 442 cansat.control_Motor(2, cansat.get_speed());
s1200058 12:5724d4a57a4c 443 break;
s1200058 12:5724d4a57a4c 444 case 'r':
s1200058 12:5724d4a57a4c 445 cansat.control_Motor(3, cansat.get_speed());
s1200058 12:5724d4a57a4c 446 break;
s1200058 13:4f3fd6c4ddc2 447 case 'b':
s1200058 13:4f3fd6c4ddc2 448 cansat.control_Motor(4, cansat.get_speed());
s1200058 13:4f3fd6c4ddc2 449 break;
s1200058 12:5724d4a57a4c 450 }
s1200058 5:ba883a4bddc3 451 }
s1200058 5:ba883a4bddc3 452 }
s1200058 18:c86872baed44 453
s1200058 18:c86872baed44 454 running_print();
s1200058 18:c86872baed44 455
s1200058 7:db6b436c0baa 456 if(cansat.get_target_distance() <= 1){
s1200058 6:23bb3b018f44 457 mode = 100;
s1200058 14:4dfeeca65308 458 xbee.printf("change mode: stopping\n");
s1200058 14:4dfeeca65308 459 xbee.printf("it is goal point.\n");
s1200058 6:23bb3b018f44 460 }
kityann 0:1fcc61be1dcf 461 }
kityann 0:1fcc61be1dcf 462
kityann 0:1fcc61be1dcf 463 /******************************
kityann 0:1fcc61be1dcf 464 停止モード
kityann 0:1fcc61be1dcf 465 ******************************/
kityann 0:1fcc61be1dcf 466 void stopping(){
kityann 0:1fcc61be1dcf 467
s1200058 13:4f3fd6c4ddc2 468 cansat.control_Motor(1, cansat.get_speed());
kityann 0:1fcc61be1dcf 469
kityann 0:1fcc61be1dcf 470 }
kityann 0:1fcc61be1dcf 471
kityann 0:1fcc61be1dcf 472 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 473 //
kityann 0:1fcc61be1dcf 474 //Main Processing
kityann 0:1fcc61be1dcf 475 //
kityann 0:1fcc61be1dcf 476 /////////////////////////////////////////
kityann 0:1fcc61be1dcf 477 int main() {
kityann 0:1fcc61be1dcf 478 //start up time
kityann 0:1fcc61be1dcf 479 wait(3);
kityann 0:1fcc61be1dcf 480 //set pc frequency to 57600bps
kityann 0:1fcc61be1dcf 481 pc.baud(PC_BAUD_RATE);
kityann 0:1fcc61be1dcf 482 //set xbee frequency to 57600bps
s1200058 12:5724d4a57a4c 483 //xbee.begin(XBEE_BAUD_RATE);
s1200058 12:5724d4a57a4c 484 xbee.baud(9600);
s1210160 10:ce253d8a5f2c 485 //Compass setting
s1210160 10:ce253d8a5f2c 486 compass.init();
kityann 0:1fcc61be1dcf 487
kityann 0:1fcc61be1dcf 488 //GPS setting
kityann 0:1fcc61be1dcf 489 gps_Serial = new Serial(p28,p27);
kityann 0:1fcc61be1dcf 490 Adafruit_GPS myGPS(gps_Serial);
kityann 0:1fcc61be1dcf 491 Timer refresh_Timer;
kityann 0:1fcc61be1dcf 492 const int refresh_Time = 1000; //refresh time in ms
kityann 0:1fcc61be1dcf 493 int count = 0;
kityann 0:1fcc61be1dcf 494
kityann 0:1fcc61be1dcf 495 myGPS.begin(GPS_BAUD_RATE);
kityann 0:1fcc61be1dcf 496
kityann 0:1fcc61be1dcf 497 //GPS Send Command
kityann 0:1fcc61be1dcf 498 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:1fcc61be1dcf 499 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:1fcc61be1dcf 500 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:1fcc61be1dcf 501
kityann 0:1fcc61be1dcf 502 wait_ms(2000);
kityann 0:1fcc61be1dcf 503
kityann 0:1fcc61be1dcf 504 //interrupt start
kityann 0:1fcc61be1dcf 505 refresh_Timer.start();
s1200058 13:4f3fd6c4ddc2 506 compass_Timer.start();
s1200058 14:4dfeeca65308 507 running_Timer.start();
s1200058 18:c86872baed44 508 sep_Timer.start();
s1200058 18:c86872baed44 509 parachute_Timer.start();
s1200058 11:19091694455e 510 cansat.set_target(target_x, target_y);
s1200058 12:5724d4a57a4c 511 // wait_ms(10000);
s1200058 11:19091694455e 512
s1200058 11:19091694455e 513 compass_interrupt.attach(&Compass_intrpt, 0.5);
kityann 0:1fcc61be1dcf 514
kityann 0:1fcc61be1dcf 515 printf("start\n");
s1200058 12:5724d4a57a4c 516 //int mode = -1;
s1200058 5:ba883a4bddc3 517 nic.output();
s1200058 5:ba883a4bddc3 518 nic = 0;
kityann 0:1fcc61be1dcf 519
s1200058 18:c86872baed44 520 short_out = 1;
s1200058 18:c86872baed44 521 wait_ms(1000);
s1200058 18:c86872baed44 522 if(short_out){
s1200058 18:c86872baed44 523 xbee.printf("HIGH\n");
s1200058 18:c86872baed44 524 }
s1200058 18:c86872baed44 525
kityann 0:1fcc61be1dcf 526 while (true) {
s1200058 14:4dfeeca65308 527
kityann 0:1fcc61be1dcf 528 switch(mode){
kityann 0:1fcc61be1dcf 529 //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 530 case -1:
kityann 0:1fcc61be1dcf 531 standby();
kityann 0:1fcc61be1dcf 532 break;
kityann 0:1fcc61be1dcf 533 //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 534 case 1:
kityann 0:1fcc61be1dcf 535 falling();
kityann 0:1fcc61be1dcf 536 break;
kityann 0:1fcc61be1dcf 537 //走行モード：ターゲットにむかって走行を行う
kityann 0:1fcc61be1dcf 538 case 2:
s1200058 14:4dfeeca65308 539 if (running_Timer.read_ms() >= running_Time) {
s1200058 14:4dfeeca65308 540 running_Timer.reset();
s1200058 14:4dfeeca65308 541 running();
s1200058 14:4dfeeca65308 542 }
kityann 0:1fcc61be1dcf 543 break;
kityann 0:1fcc61be1dcf 544 //停止モード：ターゲット
kityann 0:1fcc61be1dcf 545 case 100:
kityann 0:1fcc61be1dcf 546 stopping();
kityann 0:1fcc61be1dcf 547 break;
kityann 0:1fcc61be1dcf 548 }
s1210160 10:ce253d8a5f2c 549
s1200058 11:19091694455e 550 /* while(1){
s1210160 10:ce253d8a5f2c 551
s1210160 10:ce253d8a5f2c 552 printf("compass x : %i, compass y : %i, compass z : %i\n", raw[0], raw[1], raw[2]);
s1210160 10:ce253d8a5f2c 553 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 554 printf("compass angle : %f\n", headingLPF);
s1210160 10:ce253d8a5f2c 555 printf("set compass angle : %f\n", cansat.get_compass_angle());
s1210160 10:ce253d8a5f2c 556 printf("robot angle : %d\n", calc_angle(headingLPF));
s1210160 10:ce253d8a5f2c 557 printf("set robot angle : %d\n", cansat.get_robot_angle());
s1210160 10:ce253d8a5f2c 558 }
s1200058 11:19091694455e 559 */
kityann 0:1fcc61be1dcf 560 myGPS.read();
kityann 0:1fcc61be1dcf 561 //recive gps module
kityann 0:1fcc61be1dcf 562 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:1fcc61be1dcf 563 if ( myGPS.newNMEAreceived() ) {
kityann 0:1fcc61be1dcf 564 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
kityann 0:1fcc61be1dcf 565 continue;
kityann 0:1fcc61be1dcf 566 }
kityann 0:1fcc61be1dcf 567 else{
kityann 0:1fcc61be1dcf 568 count++;
kityann 0:1fcc61be1dcf 569 }
kityann 0:1fcc61be1dcf 570 }
kityann 0:1fcc61be1dcf 571 //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
kityann 0:1fcc61be1dcf 572 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:1fcc61be1dcf 573 refresh_Timer.reset();
kityann 0:1fcc61be1dcf 574 //print_gps(count);
kityann 0:1fcc61be1dcf 575 Get_GPS(&myGPS);
s1200058 14:4dfeeca65308 576 //log++;
s1200058 14:4dfeeca65308 577 /* xbee.printf("%d times, x:%f, y:%f, speed:%d\n", log, cansat.get_robot_x(), cansat.get_robot_y(), cansat.get_speed());
s1200058 12:5724d4a57a4c 578 xbee.printf("moter command: %c\n", cansat.motor_command);
s1200058 12:5724d4a57a4c 579 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 14:4dfeeca65308 580 */
kityann 0:1fcc61be1dcf 581 }
kityann 0:1fcc61be1dcf 582 }
kityann 0:1fcc61be1dcf 583
kityann 0:1fcc61be1dcf 584 }