20.09.29_main program test
Dependencies: mbed mpu9250_i2c QQQCAM PQLPS22HB GPS_interrupt
main.cpp@1:d208f4e139a9, 2020-09-29 (annotated)
- Committer:
- imadaemi
- Date:
- Tue Sep 29 11:02:15 2020 +0000
- Revision:
- 1:d208f4e139a9
- Parent:
- 0:f3a52599183f
- Child:
- 2:7bf845f17396
20.09.29_main program test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
imadaemi | 0:f3a52599183f | 1 | #include "mbed.h" |
imadaemi | 0:f3a52599183f | 2 | #include "math.h" |
imadaemi | 0:f3a52599183f | 3 | |
imadaemi | 0:f3a52599183f | 4 | #include "PQLPS22HB.h" |
imadaemi | 0:f3a52599183f | 5 | #include "mpu9250_i2c.h" |
imadaemi | 0:f3a52599183f | 6 | #include "GPS_interrupt.h" |
imadaemi | 1:d208f4e139a9 | 7 | #include "QQQCAM.h" |
imadaemi | 0:f3a52599183f | 8 | |
imadaemi | 0:f3a52599183f | 9 | #define ACC_RANGE _16G |
imadaemi | 0:f3a52599183f | 10 | #define GYRO_RANGE _2000DPS |
imadaemi | 0:f3a52599183f | 11 | #define SEA_LEVEL_PRESS 1029.3//投下前に設定 |
imadaemi | 0:f3a52599183f | 12 | #define CURRENT_LOCATION_PRESS 1023.8//投下前に設定 |
imadaemi | 0:f3a52599183f | 13 | #define CURRENT_LOCATION_TEMP 16.6//投下前に設定 |
imadaemi | 1:d208f4e139a9 | 14 | #define LAT_GOAL 33.594801//投下前に計測 |
imadaemi | 1:d208f4e139a9 | 15 | #define LON_GOAL 130.218002//投下前に計測 |
imadaemi | 0:f3a52599183f | 16 | #define PI 3.14159265358979323846 |
imadaemi | 0:f3a52599183f | 17 | #define R 6378137 |
imadaemi | 0:f3a52599183f | 18 | |
imadaemi | 0:f3a52599183f | 19 | Serial pc(USBTX,USBRX, 115200); |
imadaemi | 0:f3a52599183f | 20 | Serial xbee(p28, p27, 115200); |
imadaemi | 0:f3a52599183f | 21 | Serial openlog(p13, p14, 115200); |
imadaemi | 0:f3a52599183f | 22 | Serial gps_serial(p13, p14, 115200); |
imadaemi | 0:f3a52599183f | 23 | Serial xbee_raspi(p28, p27, 115200); |
imadaemi | 0:f3a52599183f | 24 | I2C i2c(p9, p10); |
imadaemi | 0:f3a52599183f | 25 | DigitalIn flightpin(p20); |
imadaemi | 0:f3a52599183f | 26 | DigitalOut pin(p22); |
imadaemi | 0:f3a52599183f | 27 | |
imadaemi | 0:f3a52599183f | 28 | PwmOut motor_left26(p26);//左IN2 |
imadaemi | 0:f3a52599183f | 29 | PwmOut motor_left25(p25);//左IN1 |
imadaemi | 0:f3a52599183f | 30 | PwmOut motor_right24(p24);//右IN1 |
imadaemi | 0:f3a52599183f | 31 | PwmOut motor_right23(p23);//右IN2 |
imadaemi | 0:f3a52599183f | 32 | |
imadaemi | 0:f3a52599183f | 33 | LPS22HB lps22hb(i2c, LPS22HB::SA0_LOW); |
imadaemi | 0:f3a52599183f | 34 | mpu9250 mpu9250(i2c,AD0_HIGH); |
imadaemi | 0:f3a52599183f | 35 | GPS_interrupt gps(&gps_serial); |
imadaemi | 0:f3a52599183f | 36 | |
imadaemi | 1:d208f4e139a9 | 37 | QQQCAM cam(xbee_raspi); |
imadaemi | 1:d208f4e139a9 | 38 | |
imadaemi | 0:f3a52599183f | 39 | Timer timer; |
imadaemi | 0:f3a52599183f | 40 | Timeout nich_timeout; |
imadaemi | 0:f3a52599183f | 41 | Timeout nich_wait_timeout; |
imadaemi | 0:f3a52599183f | 42 | Timeout motor_timeout; |
imadaemi | 0:f3a52599183f | 43 | Ticker tick_mpu9250; |
imadaemi | 0:f3a52599183f | 44 | Ticker tick_lps22hb; |
imadaemi | 0:f3a52599183f | 45 | Ticker tick_gps; |
imadaemi | 0:f3a52599183f | 46 | Ticker tick_time; |
imadaemi | 0:f3a52599183f | 47 | Ticker tick_data; |
imadaemi | 1:d208f4e139a9 | 48 | Ticker tick_data_status; |
imadaemi | 0:f3a52599183f | 49 | |
imadaemi | 0:f3a52599183f | 50 | void Phase1(); |
imadaemi | 0:f3a52599183f | 51 | void Phase2(); |
imadaemi | 0:f3a52599183f | 52 | void Phase3(); |
imadaemi | 0:f3a52599183f | 53 | void Phase4(); |
imadaemi | 1:d208f4e139a9 | 54 | void Phase5(); |
imadaemi | 1:d208f4e139a9 | 55 | void rasp_data_received(); |
imadaemi | 0:f3a52599183f | 56 | void on_data_received(); |
imadaemi | 0:f3a52599183f | 57 | void GetData(); |
imadaemi | 1:d208f4e139a9 | 58 | void GetStatus(); |
imadaemi | 0:f3a52599183f | 59 | void SetSensor(); |
imadaemi | 0:f3a52599183f | 60 | void SetMpu9250(); |
imadaemi | 0:f3a52599183f | 61 | void GetMpu9250(); |
imadaemi | 0:f3a52599183f | 62 | void SetLps22hb(); |
imadaemi | 0:f3a52599183f | 63 | void GetLps22hb(); |
imadaemi | 0:f3a52599183f | 64 | void SetGPS(); |
imadaemi | 0:f3a52599183f | 65 | void GetGPS(); |
imadaemi | 0:f3a52599183f | 66 | void CalculateAltitude(); |
imadaemi | 0:f3a52599183f | 67 | void FlightPin(); |
imadaemi | 0:f3a52599183f | 68 | void CutNichrome(float nich_wait); |
imadaemi | 0:f3a52599183f | 69 | void NichromeOn(); |
imadaemi | 0:f3a52599183f | 70 | void NichromeOff(); |
imadaemi | 0:f3a52599183f | 71 | void CalcDirection(float lat, float lon, float lat_f, float lon_f); |
imadaemi | 0:f3a52599183f | 72 | void CalcDistance(float lat, float lon); |
imadaemi | 0:f3a52599183f | 73 | void MotorFront(float f_left,float f_right,float f_wait); |
imadaemi | 0:f3a52599183f | 74 | void MotorBack(float f_left,float f_right,float f_wait); |
imadaemi | 0:f3a52599183f | 75 | void MotorStop(); |
imadaemi | 0:f3a52599183f | 76 | |
imadaemi | 0:f3a52599183f | 77 | int cansat_phase = 1; |
imadaemi | 1:d208f4e139a9 | 78 | int driving_mode = 0;//1:running, 2:stack |
imadaemi | 1:d208f4e139a9 | 79 | int direction_mode = 0;//-1:right, 1:left, 2:straight |
imadaemi | 1:d208f4e139a9 | 80 | int color_mode = 0;//0:>0.001, 1:>0.1, 2:0.1> |
imadaemi | 0:f3a52599183f | 81 | bool mpu9250_test; |
imadaemi | 0:f3a52599183f | 82 | bool mag_mpu9250_test; |
imadaemi | 0:f3a52599183f | 83 | float imu[6], mag[3]; |
imadaemi | 0:f3a52599183f | 84 | float press, temp; |
imadaemi | 0:f3a52599183f | 85 | float altitude_ground, altitude; |
imadaemi | 0:f3a52599183f | 86 | float lat, lon, height; |
imadaemi | 0:f3a52599183f | 87 | bool nich_status = false; |
imadaemi | 0:f3a52599183f | 88 | float cansat_direction; |
imadaemi | 0:f3a52599183f | 89 | float cansat_distance; |
imadaemi | 0:f3a52599183f | 90 | float lat_0, lon_0; |
imadaemi | 0:f3a52599183f | 91 | int count_loop = 1; |
imadaemi | 1:d208f4e139a9 | 92 | float percent; |
imadaemi | 0:f3a52599183f | 93 | |
imadaemi | 1:d208f4e139a9 | 94 | int main() |
imadaemi | 1:d208f4e139a9 | 95 | { |
imadaemi | 1:d208f4e139a9 | 96 | Phase1(); |
imadaemi | 1:d208f4e139a9 | 97 | //Phase2(); |
imadaemi | 1:d208f4e139a9 | 98 | //Phase3(); |
imadaemi | 1:d208f4e139a9 | 99 | cansat_phase = 5; |
imadaemi | 1:d208f4e139a9 | 100 | //Phase4(); |
imadaemi | 1:d208f4e139a9 | 101 | rasp_data_received(); |
imadaemi | 0:f3a52599183f | 102 | } |
imadaemi | 0:f3a52599183f | 103 | |
imadaemi | 1:d208f4e139a9 | 104 | void Phase1() |
imadaemi | 1:d208f4e139a9 | 105 | { |
imadaemi | 1:d208f4e139a9 | 106 | //xbee_raspi.attach(on_data_received, Serial::RxIrq); |
imadaemi | 0:f3a52599183f | 107 | pc.printf("Phase_%d\r\n", cansat_phase); |
imadaemi | 1:d208f4e139a9 | 108 | //xbee.printf("Phase_%d\r\n", cansat_phase); |
imadaemi | 0:f3a52599183f | 109 | SetSensor(); |
imadaemi | 0:f3a52599183f | 110 | tick_data.attach(&GetData, 1.0); |
imadaemi | 1:d208f4e139a9 | 111 | tick_data_status.attach(&GetStatus, 1.0); |
imadaemi | 0:f3a52599183f | 112 | cansat_phase = 2; |
imadaemi | 0:f3a52599183f | 113 | pc.printf("SetSensor finished!\r\n"); |
imadaemi | 1:d208f4e139a9 | 114 | //xbee.printf("SetSensor finished!\r\n"); |
imadaemi | 0:f3a52599183f | 115 | } |
imadaemi | 0:f3a52599183f | 116 | |
imadaemi | 1:d208f4e139a9 | 117 | void Phase2() //フライトピンの検知 |
imadaemi | 1:d208f4e139a9 | 118 | { |
imadaemi | 0:f3a52599183f | 119 | pc.printf("Phese_%d\r\n", cansat_phase); |
imadaemi | 1:d208f4e139a9 | 120 | //xbee.printf("Phese_%d\r\n", cansat_phase); |
imadaemi | 0:f3a52599183f | 121 | timer.start(); |
imadaemi | 1:d208f4e139a9 | 122 | while(cansat_phase == 2) { |
imadaemi | 1:d208f4e139a9 | 123 | if(flightpin == 1) { |
imadaemi | 1:d208f4e139a9 | 124 | break; |
imadaemi | 0:f3a52599183f | 125 | } |
imadaemi | 0:f3a52599183f | 126 | } |
imadaemi | 0:f3a52599183f | 127 | cansat_phase = 3; |
imadaemi | 0:f3a52599183f | 128 | pc.printf("FlightPin finished!\r\n"); |
imadaemi | 1:d208f4e139a9 | 129 | //xbee.printf("FlightPin finished!\r\n"); |
imadaemi | 0:f3a52599183f | 130 | } |
imadaemi | 0:f3a52599183f | 131 | |
imadaemi | 1:d208f4e139a9 | 132 | void Phase3() //ニクロム線による分離 |
imadaemi | 1:d208f4e139a9 | 133 | { |
imadaemi | 0:f3a52599183f | 134 | pc.printf("Phase_%d\r\n", cansat_phase); |
imadaemi | 1:d208f4e139a9 | 135 | //xbee.printf("Phase_%d\r\n", cansat_phase); |
imadaemi | 1:d208f4e139a9 | 136 | while(cansat_phase == 3) { |
imadaemi | 0:f3a52599183f | 137 | CutNichrome(2.0f); |
imadaemi | 0:f3a52599183f | 138 | break; |
imadaemi | 0:f3a52599183f | 139 | } |
imadaemi | 0:f3a52599183f | 140 | //MotorFront(0.95, 1.0, 5.0);//パラシュートから離れる |
imadaemi | 0:f3a52599183f | 141 | //MotorStop(); |
imadaemi | 0:f3a52599183f | 142 | cansat_phase = 4; |
imadaemi | 0:f3a52599183f | 143 | pc.printf("CutNichrome finished!\r\n"); |
imadaemi | 1:d208f4e139a9 | 144 | //xbee.printf("CutNichrome finished!\r\n"); |
imadaemi | 0:f3a52599183f | 145 | } |
imadaemi | 0:f3a52599183f | 146 | |
imadaemi | 1:d208f4e139a9 | 147 | void Phase4(){ //走行中 |
imadaemi | 1:d208f4e139a9 | 148 | pc.printf("Phase_%d\r\n", cansat_phase); |
imadaemi | 1:d208f4e139a9 | 149 | //xbee.printf("Phase_%d\r\n", cansat_phase); |
imadaemi | 0:f3a52599183f | 150 | wait(3.0f); |
imadaemi | 1:d208f4e139a9 | 151 | while(1) { |
imadaemi | 0:f3a52599183f | 152 | GetGPS(); |
imadaemi | 1:d208f4e139a9 | 153 | if(lat == 0) { |
imadaemi | 0:f3a52599183f | 154 | pc.printf("GPS Data NG...\r\n"); |
imadaemi | 1:d208f4e139a9 | 155 | //xbee.printf("GPS Data NG...\r\n"); |
imadaemi | 1:d208f4e139a9 | 156 | } else { |
imadaemi | 0:f3a52599183f | 157 | break; |
imadaemi | 0:f3a52599183f | 158 | } |
imadaemi | 0:f3a52599183f | 159 | } |
imadaemi | 0:f3a52599183f | 160 | |
imadaemi | 0:f3a52599183f | 161 | GetGPS(); |
imadaemi | 0:f3a52599183f | 162 | lat_0 = lat; |
imadaemi | 0:f3a52599183f | 163 | lon_0 = lon; |
imadaemi | 0:f3a52599183f | 164 | |
imadaemi | 0:f3a52599183f | 165 | MotorFront(1.0, 1.0, 3.0); |
imadaemi | 1:d208f4e139a9 | 166 | while(cansat_phase == 4) { |
imadaemi | 1:d208f4e139a9 | 167 | GetGPS(); |
imadaemi | 0:f3a52599183f | 168 | |
imadaemi | 1:d208f4e139a9 | 169 | //xbee.printf("lat : %f\tlon : %f\tlat_0 : %f\tlon_0 : %f\t\r\n", lat, lon, lat_0, lon_0); |
imadaemi | 0:f3a52599183f | 170 | |
imadaemi | 1:d208f4e139a9 | 171 | CalcDirection(lat, lon, lat_0, lon_0); |
imadaemi | 1:d208f4e139a9 | 172 | float direc_n = cansat_direction; |
imadaemi | 1:d208f4e139a9 | 173 | |
imadaemi | 1:d208f4e139a9 | 174 | if(lat == lat_0){ |
imadaemi | 1:d208f4e139a9 | 175 | driving_mode = 2; |
imadaemi | 1:d208f4e139a9 | 176 | //xbee.printf("Stack!!\n"); |
imadaemi | 1:d208f4e139a9 | 177 | MotorBack(1.0, 1.0, 1.0); |
imadaemi | 1:d208f4e139a9 | 178 | MotorBack(1.0, 0, 1.0); |
imadaemi | 1:d208f4e139a9 | 179 | MotorBack(0, 1.0, 1.0); |
imadaemi | 1:d208f4e139a9 | 180 | }else{ |
imadaemi | 1:d208f4e139a9 | 181 | driving_mode = 1; |
imadaemi | 1:d208f4e139a9 | 182 | //xbee.printf("%f\t\r\n", direc_n); |
imadaemi | 1:d208f4e139a9 | 183 | |
imadaemi | 1:d208f4e139a9 | 184 | if(-90 < direc_n && direc_n <= 0) { //右へ |
imadaemi | 1:d208f4e139a9 | 185 | direction_mode = -1; |
imadaemi | 1:d208f4e139a9 | 186 | pc.printf("Go to the Right\r\n"); |
imadaemi | 1:d208f4e139a9 | 187 | //xbee.printf("Go to the Right-90\r\n"); |
imadaemi | 1:d208f4e139a9 | 188 | MotorFront(1.0, 0, 0.25); |
imadaemi | 1:d208f4e139a9 | 189 | |
imadaemi | 1:d208f4e139a9 | 190 | } else if(-180 < direc_n && direc_n<= -90) { //右へ |
imadaemi | 1:d208f4e139a9 | 191 | direction_mode = -1; |
imadaemi | 1:d208f4e139a9 | 192 | pc.printf("Go to the Right\r\n"); |
imadaemi | 1:d208f4e139a9 | 193 | //xbee.printf("Go to the Right-180\r\n"); |
imadaemi | 1:d208f4e139a9 | 194 | MotorFront(1.0, 0, 0.5); |
imadaemi | 1:d208f4e139a9 | 195 | |
imadaemi | 1:d208f4e139a9 | 196 | } else if(-270 < direc_n && direc_n <= -180) { //左へ |
imadaemi | 1:d208f4e139a9 | 197 | direction_mode = 1; |
imadaemi | 1:d208f4e139a9 | 198 | pc.printf("Go to the Left\r\n"); |
imadaemi | 1:d208f4e139a9 | 199 | //xbee.printf("Go to the Left-270\r\n"); |
imadaemi | 1:d208f4e139a9 | 200 | MotorFront(0, 1.0, 0.5); |
imadaemi | 1:d208f4e139a9 | 201 | |
imadaemi | 1:d208f4e139a9 | 202 | } else if(-360 <= direc_n && direc_n <= -270) { //左へ |
imadaemi | 1:d208f4e139a9 | 203 | direction_mode = 1; |
imadaemi | 1:d208f4e139a9 | 204 | pc.printf("Go to the Left\r\n"); |
imadaemi | 1:d208f4e139a9 | 205 | //xbee.printf("Go to the Left-360\r\n"); |
imadaemi | 1:d208f4e139a9 | 206 | MotorFront(0, 1.0, 0.25); |
imadaemi | 1:d208f4e139a9 | 207 | |
imadaemi | 1:d208f4e139a9 | 208 | } else if(0 < direc_n && direc_n<= 90) { //左へ |
imadaemi | 1:d208f4e139a9 | 209 | direction_mode = 1; |
imadaemi | 1:d208f4e139a9 | 210 | pc.printf("Go to the Left\r\n"); |
imadaemi | 1:d208f4e139a9 | 211 | //xbee.printf("Go to the Left90\r\n"); |
imadaemi | 1:d208f4e139a9 | 212 | MotorFront(0, 1.0, 0.25); |
imadaemi | 1:d208f4e139a9 | 213 | |
imadaemi | 1:d208f4e139a9 | 214 | } else if(90 < direc_n && direc_n <= 180) { //左へ |
imadaemi | 1:d208f4e139a9 | 215 | direction_mode = 1; |
imadaemi | 1:d208f4e139a9 | 216 | pc.printf("Go to the Left\r\n"); |
imadaemi | 1:d208f4e139a9 | 217 | //xbee.printf("Go to the Left180\r\n"); |
imadaemi | 1:d208f4e139a9 | 218 | MotorFront(0, 1.0, 0.5); |
imadaemi | 1:d208f4e139a9 | 219 | |
imadaemi | 1:d208f4e139a9 | 220 | } else if(180 < direc_n && direc_n<= 270) { //右へ |
imadaemi | 1:d208f4e139a9 | 221 | direction_mode = -1; |
imadaemi | 1:d208f4e139a9 | 222 | pc.printf("Go to the Right\r\n"); |
imadaemi | 1:d208f4e139a9 | 223 | //xbee.printf("Go to the Right270\r\n"); |
imadaemi | 1:d208f4e139a9 | 224 | MotorFront(1.0, 0, 0.5); |
imadaemi | 1:d208f4e139a9 | 225 | |
imadaemi | 1:d208f4e139a9 | 226 | } else if(270 < direc_n && direc_n <=360) { //右へ |
imadaemi | 1:d208f4e139a9 | 227 | direction_mode = -1; |
imadaemi | 1:d208f4e139a9 | 228 | pc.printf("Go to the Right\r\n"); |
imadaemi | 1:d208f4e139a9 | 229 | //xbee.printf("Go to the Right360\r\n"); |
imadaemi | 1:d208f4e139a9 | 230 | MotorFront(1.0, 0, 0.25); |
imadaemi | 1:d208f4e139a9 | 231 | } |
imadaemi | 1:d208f4e139a9 | 232 | } |
imadaemi | 1:d208f4e139a9 | 233 | lat_0 = lat; |
imadaemi | 1:d208f4e139a9 | 234 | lon_0 = lon; |
imadaemi | 0:f3a52599183f | 235 | |
imadaemi | 1:d208f4e139a9 | 236 | CalcDistance(lat, lon); |
imadaemi | 0:f3a52599183f | 237 | |
imadaemi | 1:d208f4e139a9 | 238 | if(cansat_distance <= 3) { |
imadaemi | 1:d208f4e139a9 | 239 | driving_mode = 0; |
imadaemi | 1:d208f4e139a9 | 240 | //xbee.printf("CanSat Goal!"); |
imadaemi | 1:d208f4e139a9 | 241 | MotorStop(); |
imadaemi | 1:d208f4e139a9 | 242 | cansat_phase = 5; |
imadaemi | 1:d208f4e139a9 | 243 | break; |
imadaemi | 1:d208f4e139a9 | 244 | } else { |
imadaemi | 1:d208f4e139a9 | 245 | MotorFront(1.0, 1.0, 3.0); |
imadaemi | 1:d208f4e139a9 | 246 | MotorStop(); |
imadaemi | 1:d208f4e139a9 | 247 | |
imadaemi | 1:d208f4e139a9 | 248 | count_loop = count_loop + 1; |
imadaemi | 1:d208f4e139a9 | 249 | //xbee.printf("lat : %f\tlon : %f\tlat_0 : %f\tlon_0 : %f\t\r\n", lat, lon, lat_0, lon_0); |
imadaemi | 1:d208f4e139a9 | 250 | } |
imadaemi | 0:f3a52599183f | 251 | } |
imadaemi | 0:f3a52599183f | 252 | } |
imadaemi | 1:d208f4e139a9 | 253 | |
imadaemi | 1:d208f4e139a9 | 254 | void Phase5(){ |
imadaemi | 1:d208f4e139a9 | 255 | while(cansat_phase == 5){ |
imadaemi | 1:d208f4e139a9 | 256 | |
imadaemi | 1:d208f4e139a9 | 257 | } |
imadaemi | 1:d208f4e139a9 | 258 | } |
imadaemi | 1:d208f4e139a9 | 259 | |
imadaemi | 1:d208f4e139a9 | 260 | void rasp_data_received(){ |
imadaemi | 1:d208f4e139a9 | 261 | int Goal = 0; |
imadaemi | 1:d208f4e139a9 | 262 | |
imadaemi | 1:d208f4e139a9 | 263 | int flag = 0; |
imadaemi | 1:d208f4e139a9 | 264 | |
imadaemi | 1:d208f4e139a9 | 265 | while(flag == 0){ |
imadaemi | 1:d208f4e139a9 | 266 | if(cam.get_rate() == 0){ |
imadaemi | 1:d208f4e139a9 | 267 | //xbee.printf("Rasp Waiting\n"); |
imadaemi | 1:d208f4e139a9 | 268 | |
imadaemi | 1:d208f4e139a9 | 269 | }else{ |
imadaemi | 1:d208f4e139a9 | 270 | flag = 1; |
imadaemi | 1:d208f4e139a9 | 271 | } |
imadaemi | 1:d208f4e139a9 | 272 | } |
imadaemi | 1:d208f4e139a9 | 273 | |
imadaemi | 1:d208f4e139a9 | 274 | while(Goal == 0){ |
imadaemi | 1:d208f4e139a9 | 275 | pc.printf("rate:%.3f\r\n", cam.get_rate()); |
imadaemi | 1:d208f4e139a9 | 276 | //xbee.printf("rate:%.3f\r\n", cam.get_rate()); |
imadaemi | 1:d208f4e139a9 | 277 | |
imadaemi | 1:d208f4e139a9 | 278 | percent = cam.get_rate(); |
imadaemi | 1:d208f4e139a9 | 279 | |
imadaemi | 1:d208f4e139a9 | 280 | if(percent >= 0.1){ |
imadaemi | 1:d208f4e139a9 | 281 | color_mode = 2; |
imadaemi | 1:d208f4e139a9 | 282 | //pc.printf("Goal!!!"); |
imadaemi | 1:d208f4e139a9 | 283 | //xbee.printf("Goal!!!"); |
imadaemi | 1:d208f4e139a9 | 284 | tick_data_status.detach(); |
imadaemi | 1:d208f4e139a9 | 285 | tick_data.detach(); |
imadaemi | 1:d208f4e139a9 | 286 | |
imadaemi | 1:d208f4e139a9 | 287 | Goal = 1; |
imadaemi | 1:d208f4e139a9 | 288 | }else if(percent >=0.001){ |
imadaemi | 1:d208f4e139a9 | 289 | color_mode = 1; |
imadaemi | 1:d208f4e139a9 | 290 | direction_mode = 2; |
imadaemi | 1:d208f4e139a9 | 291 | //pc.printf("Red!!!"); |
imadaemi | 1:d208f4e139a9 | 292 | //xbee.printf("Red!!!"); |
imadaemi | 1:d208f4e139a9 | 293 | |
imadaemi | 1:d208f4e139a9 | 294 | MotorFront(1.0, 1.0, 1.0); |
imadaemi | 1:d208f4e139a9 | 295 | //MotorStop(); |
imadaemi | 1:d208f4e139a9 | 296 | }else{ |
imadaemi | 1:d208f4e139a9 | 297 | color_mode = 0; |
imadaemi | 1:d208f4e139a9 | 298 | direction_mode = -1; |
imadaemi | 1:d208f4e139a9 | 299 | |
imadaemi | 1:d208f4e139a9 | 300 | //pc.printf("No Red!!!"); |
imadaemi | 1:d208f4e139a9 | 301 | //xbee.printf("No Red!!!"); |
imadaemi | 1:d208f4e139a9 | 302 | MotorFront(1.0, 0.5, 1.0); |
imadaemi | 1:d208f4e139a9 | 303 | //MotorStop(); |
imadaemi | 1:d208f4e139a9 | 304 | } |
imadaemi | 1:d208f4e139a9 | 305 | MotorFront(0.45, 0.45, 2.0); |
imadaemi | 1:d208f4e139a9 | 306 | } |
imadaemi | 1:d208f4e139a9 | 307 | pc.printf("Bye!!!\n"); |
imadaemi | 1:d208f4e139a9 | 308 | cansat_phase = 6; |
imadaemi | 1:d208f4e139a9 | 309 | |
imadaemi | 1:d208f4e139a9 | 310 | } |
imadaemi | 1:d208f4e139a9 | 311 | /* |
imadaemi | 1:d208f4e139a9 | 312 | void on_data_received() |
imadaemi | 1:d208f4e139a9 | 313 | { |
imadaemi | 0:f3a52599183f | 314 | char data = xbee_raspi.getc(); |
imadaemi | 0:f3a52599183f | 315 | xbee_raspi.printf("%c", data); |
imadaemi | 0:f3a52599183f | 316 | switch(data) { |
imadaemi | 0:f3a52599183f | 317 | case 0x81://ゴール判定 |
imadaemi | 1:d208f4e139a9 | 318 | //xbee_raspi.printf("red rate > 0.1\r\n"); |
imadaemi | 0:f3a52599183f | 319 | break; |
imadaemi | 0:f3a52599183f | 320 | case 0x82://ゴール発見 |
imadaemi | 1:d208f4e139a9 | 321 | //xbee_raspi.printf("red rate > 0.01\r\n"); |
imadaemi | 1:d208f4e139a9 | 322 | //xbee.printf("Go Straight\r\n"); |
imadaemi | 1:d208f4e139a9 | 323 | MotorFront(1.0, 1.0, 1.0); |
imadaemi | 1:d208f4e139a9 | 324 | MotorStop(); |
imadaemi | 0:f3a52599183f | 325 | break; |
imadaemi | 0:f3a52599183f | 326 | case 0x83://ゴールが見えない |
imadaemi | 1:d208f4e139a9 | 327 | //xbee_raspi.printf("cannot find red\r\n"); |
imadaemi | 1:d208f4e139a9 | 328 | //xbee.printf("Go to the Right360\r\n"); |
imadaemi | 1:d208f4e139a9 | 329 | MotorFront(1.0, 0, 1.0); |
imadaemi | 1:d208f4e139a9 | 330 | MotorStop(); |
imadaemi | 0:f3a52599183f | 331 | break; |
imadaemi | 0:f3a52599183f | 332 | } |
imadaemi | 0:f3a52599183f | 333 | } |
imadaemi | 1:d208f4e139a9 | 334 | */ |
imadaemi | 0:f3a52599183f | 335 | /*************************************************** |
imadaemi | 0:f3a52599183f | 336 | センサのセットアップ |
imadaemi | 0:f3a52599183f | 337 | ***************************************************/ |
imadaemi | 1:d208f4e139a9 | 338 | void SetSensor() |
imadaemi | 1:d208f4e139a9 | 339 | { |
imadaemi | 0:f3a52599183f | 340 | SetMpu9250(); |
imadaemi | 0:f3a52599183f | 341 | SetLps22hb(); |
imadaemi | 0:f3a52599183f | 342 | SetGPS(); |
imadaemi | 0:f3a52599183f | 343 | } |
imadaemi | 1:d208f4e139a9 | 344 | |
imadaemi | 1:d208f4e139a9 | 345 | void SetMpu9250() //MPU9250のセットアップ |
imadaemi | 1:d208f4e139a9 | 346 | { |
imadaemi | 0:f3a52599183f | 347 | mpu9250_test = mpu9250.sensorTest(); |
imadaemi | 0:f3a52599183f | 348 | mag_mpu9250_test = mpu9250.mag_sensorTest(); |
imadaemi | 1:d208f4e139a9 | 349 | if(mpu9250_test == true) { |
imadaemi | 0:f3a52599183f | 350 | pc.printf("MPU9250 OK!\r\n"); |
imadaemi | 1:d208f4e139a9 | 351 | //xbee.printf("MPU9250 OK!\r\n"); |
imadaemi | 1:d208f4e139a9 | 352 | } else { |
imadaemi | 0:f3a52599183f | 353 | pc.printf("MPU9250 NG...\r\n"); |
imadaemi | 1:d208f4e139a9 | 354 | //xbee.printf("MPU9250 NG...\r\n"); |
imadaemi | 0:f3a52599183f | 355 | } |
imadaemi | 1:d208f4e139a9 | 356 | if(mag_mpu9250_test == true) { |
imadaemi | 0:f3a52599183f | 357 | pc.printf("MPU9250 MAG OK!\r\n"); |
imadaemi | 1:d208f4e139a9 | 358 | //xbee.printf("MPU9250 MAG OK!\r\n"); |
imadaemi | 1:d208f4e139a9 | 359 | } else { |
imadaemi | 0:f3a52599183f | 360 | pc.printf("MPU9250 MAG NG...\r\n"); |
imadaemi | 1:d208f4e139a9 | 361 | //xbee.printf("MPU9250 MAG NG...\r\n"); |
imadaemi | 0:f3a52599183f | 362 | } |
imadaemi | 0:f3a52599183f | 363 | mpu9250.setAcc(ACC_RANGE); |
imadaemi | 0:f3a52599183f | 364 | mpu9250.setGyro(GYRO_RANGE); |
imadaemi | 0:f3a52599183f | 365 | mpu9250.setOffset(0.528892327, -0.660206211, 0.757105891, -0.011691362, 0.025688783, 1.087885322, -159.750004, 121.425005, -392.700012); |
imadaemi | 0:f3a52599183f | 366 | } |
imadaemi | 0:f3a52599183f | 367 | |
imadaemi | 1:d208f4e139a9 | 368 | void SetLps22hb() //LPS22HBのセットアップ |
imadaemi | 1:d208f4e139a9 | 369 | { |
imadaemi | 0:f3a52599183f | 370 | lps22hb.begin(); |
imadaemi | 1:d208f4e139a9 | 371 | if(lps22hb.test() == true) { |
imadaemi | 0:f3a52599183f | 372 | pc.printf("LPS22HB OK!\r\n"); |
imadaemi | 1:d208f4e139a9 | 373 | //xbee.printf("LPS22HB OK!\r\n"); |
imadaemi | 1:d208f4e139a9 | 374 | } else { |
imadaemi | 0:f3a52599183f | 375 | pc.printf("LPS22HB NG...\r\n"); |
imadaemi | 1:d208f4e139a9 | 376 | //xbee.printf("LPS22HB NG...\r\n"); |
imadaemi | 0:f3a52599183f | 377 | } |
imadaemi | 0:f3a52599183f | 378 | } |
imadaemi | 0:f3a52599183f | 379 | |
imadaemi | 1:d208f4e139a9 | 380 | void SetGPS() //GPSのセットアップ |
imadaemi | 1:d208f4e139a9 | 381 | { |
imadaemi | 0:f3a52599183f | 382 | // gps.changeGPSFreq(10); 入れるとエラーが出る |
imadaemi | 0:f3a52599183f | 383 | pc.printf("GPS OK!\r\n"); |
imadaemi | 1:d208f4e139a9 | 384 | //xbee.printf("GPS OK!\r\n"); |
imadaemi | 0:f3a52599183f | 385 | } |
imadaemi | 0:f3a52599183f | 386 | |
imadaemi | 0:f3a52599183f | 387 | /*************************************************** |
imadaemi | 0:f3a52599183f | 388 | データの取得 |
imadaemi | 0:f3a52599183f | 389 | ***************************************************/ |
imadaemi | 1:d208f4e139a9 | 390 | void GetData() |
imadaemi | 1:d208f4e139a9 | 391 | { |
imadaemi | 0:f3a52599183f | 392 | GetMpu9250(); |
imadaemi | 0:f3a52599183f | 393 | GetLps22hb(); |
imadaemi | 0:f3a52599183f | 394 | GetGPS(); |
imadaemi | 1:d208f4e139a9 | 395 | pc.printf("%7.2f,%d,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%7.2f,%4.1f,%f,%11.7f,%12.7f,%6.2f,%8.2f,%6.2f\r\n", timer.read(), cansat_phase, imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2], press, temp, altitude, lat, lon, height, cansat_direction, cansat_distance); |
imadaemi | 1:d208f4e139a9 | 396 | openlog.printf("%7.2f,%d,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%9.3f,%7.2f,%4.1f,%f,%11.7f,%12.7f,%6.2f,%8.2f,%6.2f\r\n", timer.read(), cansat_phase, imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2], press, temp, altitude, lat, lon, height, cansat_direction, cansat_distance); |
imadaemi | 0:f3a52599183f | 397 | } |
imadaemi | 0:f3a52599183f | 398 | |
imadaemi | 1:d208f4e139a9 | 399 | void GetStatus() |
imadaemi | 1:d208f4e139a9 | 400 | { |
imadaemi | 1:d208f4e139a9 | 401 | xbee.printf("**************************************\n"); |
imadaemi | 1:d208f4e139a9 | 402 | xbee.printf("Phase : %d\n", cansat_phase); |
imadaemi | 1:d208f4e139a9 | 403 | xbee.printf("Driving Mode : %d\n", driving_mode); |
imadaemi | 1:d208f4e139a9 | 404 | xbee.printf("Direction : %d\n", direction_mode); |
imadaemi | 1:d208f4e139a9 | 405 | xbee.printf("Distance : %.2f\n", cansat_distance); |
imadaemi | 1:d208f4e139a9 | 406 | xbee.printf("Color Percent: %f\n", percent); |
imadaemi | 1:d208f4e139a9 | 407 | xbee.printf("Color : %d\n", color_mode); |
imadaemi | 1:d208f4e139a9 | 408 | xbee.printf("**************************************\n"); |
imadaemi | 1:d208f4e139a9 | 409 | } |
imadaemi | 1:d208f4e139a9 | 410 | |
imadaemi | 1:d208f4e139a9 | 411 | void GetMpu9250() |
imadaemi | 1:d208f4e139a9 | 412 | { |
imadaemi | 0:f3a52599183f | 413 | mpu9250.getAll(imu, mag); |
imadaemi | 0:f3a52599183f | 414 | //pc.printf("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t\r\n",imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2]); |
imadaemi | 0:f3a52599183f | 415 | //xbee.printf("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t\r\n",imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2]); |
imadaemi | 0:f3a52599183f | 416 | //openlog.printf("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t\r\n",imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], mag[0], mag[1], mag[2]); |
imadaemi | 0:f3a52599183f | 417 | } |
imadaemi | 0:f3a52599183f | 418 | |
imadaemi | 1:d208f4e139a9 | 419 | void GetLps22hb() |
imadaemi | 1:d208f4e139a9 | 420 | { |
imadaemi | 0:f3a52599183f | 421 | lps22hb.read_press(&press); |
imadaemi | 0:f3a52599183f | 422 | lps22hb.read_temp(&temp); |
imadaemi | 0:f3a52599183f | 423 | //pc.printf("%f\t%f\t",press, temp); |
imadaemi | 0:f3a52599183f | 424 | } |
imadaemi | 0:f3a52599183f | 425 | |
imadaemi | 1:d208f4e139a9 | 426 | void GetGPS() |
imadaemi | 1:d208f4e139a9 | 427 | { |
imadaemi | 0:f3a52599183f | 428 | lat = gps.Latitude(); |
imadaemi | 0:f3a52599183f | 429 | lon = gps.Longitude(); |
imadaemi | 0:f3a52599183f | 430 | height = gps.Height(); |
imadaemi | 0:f3a52599183f | 431 | //pc.printf("%f\t%f\t%f\t", lat, lon, height); |
imadaemi | 0:f3a52599183f | 432 | //xbee.printf("%f\t%f\t%f\t", lat, lon, height); |
imadaemi | 0:f3a52599183f | 433 | //openlog.printf("%f\t%f\t%f\t", lat, lon, height); |
imadaemi | 0:f3a52599183f | 434 | } |
imadaemi | 0:f3a52599183f | 435 | |
imadaemi | 0:f3a52599183f | 436 | /*************************************************** |
imadaemi | 0:f3a52599183f | 437 | 制御計算 |
imadaemi | 0:f3a52599183f | 438 | ***************************************************/ |
imadaemi | 1:d208f4e139a9 | 439 | void CalculateAltitude() |
imadaemi | 1:d208f4e139a9 | 440 | { |
imadaemi | 0:f3a52599183f | 441 | lps22hb.read_press(&press); |
imadaemi | 1:d208f4e139a9 | 442 | lps22hb.read_temp(&temp); |
imadaemi | 0:f3a52599183f | 443 | altitude_ground = (powf(SEA_LEVEL_PRESS / CURRENT_LOCATION_PRESS, 1/5.257) - 1) * (CURRENT_LOCATION_TEMP + 273.15) / 0.0065; |
imadaemi | 0:f3a52599183f | 444 | altitude = (powf(SEA_LEVEL_PRESS / press, 1/5.257) - 1) * (temp + 273.15) / 0.0065 - altitude_ground; |
imadaemi | 0:f3a52599183f | 445 | pc.printf("%f\t\r\n",altitude); |
imadaemi | 0:f3a52599183f | 446 | } |
imadaemi | 0:f3a52599183f | 447 | |
imadaemi | 1:d208f4e139a9 | 448 | void FlightPin() |
imadaemi | 1:d208f4e139a9 | 449 | { |
imadaemi | 0:f3a52599183f | 450 | //pc.printf("Hello FlightPin!\r\n"); |
imadaemi | 1:d208f4e139a9 | 451 | while(cansat_phase == 2) { |
imadaemi | 1:d208f4e139a9 | 452 | if(flightpin == 1) { |
imadaemi | 1:d208f4e139a9 | 453 | break; |
imadaemi | 0:f3a52599183f | 454 | } |
imadaemi | 0:f3a52599183f | 455 | } |
imadaemi | 1:d208f4e139a9 | 456 | //pc.printf("Goodbye FlightPin!\r\n"); |
imadaemi | 0:f3a52599183f | 457 | } |
imadaemi | 0:f3a52599183f | 458 | |
imadaemi | 1:d208f4e139a9 | 459 | void CutNichrome(float nich_wait) |
imadaemi | 1:d208f4e139a9 | 460 | { |
imadaemi | 0:f3a52599183f | 461 | NichromeOn(); |
imadaemi | 0:f3a52599183f | 462 | wait(nich_wait); |
imadaemi | 0:f3a52599183f | 463 | NichromeOff(); |
imadaemi | 0:f3a52599183f | 464 | } |
imadaemi | 0:f3a52599183f | 465 | |
imadaemi | 1:d208f4e139a9 | 466 | void NichromeOn() |
imadaemi | 1:d208f4e139a9 | 467 | { |
imadaemi | 0:f3a52599183f | 468 | pin = 1; |
imadaemi | 0:f3a52599183f | 469 | nich_status = true; |
imadaemi | 0:f3a52599183f | 470 | } |
imadaemi | 0:f3a52599183f | 471 | |
imadaemi | 1:d208f4e139a9 | 472 | void NichromeOff() |
imadaemi | 1:d208f4e139a9 | 473 | { |
imadaemi | 0:f3a52599183f | 474 | pin = 0; |
imadaemi | 0:f3a52599183f | 475 | nich_status = false; |
imadaemi | 1:d208f4e139a9 | 476 | } |
imadaemi | 0:f3a52599183f | 477 | |
imadaemi | 1:d208f4e139a9 | 478 | void CalcDirection(float lat, float lon, float lat_f, float lon_f) //ヒュベニの公式を使いたい |
imadaemi | 1:d208f4e139a9 | 479 | { |
imadaemi | 0:f3a52599183f | 480 | float dlat_g = (LAT_GOAL - lat) * (PI / 180); |
imadaemi | 0:f3a52599183f | 481 | float dlon_g = (LON_GOAL - lon) * (PI / 180); |
imadaemi | 0:f3a52599183f | 482 | float direc_g = atan2(dlat_g, dlon_g) * (180 / PI); |
imadaemi | 0:f3a52599183f | 483 | |
imadaemi | 0:f3a52599183f | 484 | float dlat = (lat - lat_f) * (PI / 180); |
imadaemi | 0:f3a52599183f | 485 | float dlon = (lon - lon_f) * (PI / 180); |
imadaemi | 0:f3a52599183f | 486 | float direc = atan2(dlat, dlon) * (180 / PI); |
imadaemi | 0:f3a52599183f | 487 | |
imadaemi | 0:f3a52599183f | 488 | cansat_direction = direc_g - direc; |
imadaemi | 0:f3a52599183f | 489 | } |
imadaemi | 0:f3a52599183f | 490 | |
imadaemi | 1:d208f4e139a9 | 491 | void CalcDistance(float lat, float lon) |
imadaemi | 1:d208f4e139a9 | 492 | { |
imadaemi | 0:f3a52599183f | 493 | float dlat_distance = R * (LAT_GOAL - lat) * (PI / 180); |
imadaemi | 0:f3a52599183f | 494 | float dlon_distance = R * (LON_GOAL - lon) * (PI / 180) * cos(lat * (PI / 180)); |
imadaemi | 0:f3a52599183f | 495 | float distance_squared = dlat_distance * dlat_distance + dlon_distance * dlon_distance; |
imadaemi | 0:f3a52599183f | 496 | cansat_distance = sqrt(distance_squared); |
imadaemi | 0:f3a52599183f | 497 | } |
imadaemi | 0:f3a52599183f | 498 | |
imadaemi | 0:f3a52599183f | 499 | /*************************************************** |
imadaemi | 0:f3a52599183f | 500 | モーター制御 |
imadaemi | 0:f3a52599183f | 501 | ***************************************************/ |
imadaemi | 1:d208f4e139a9 | 502 | void MotorFront(float f_left,float f_right,float f_wait) |
imadaemi | 1:d208f4e139a9 | 503 | { |
imadaemi | 0:f3a52599183f | 504 | motor_left26 = 0;//正転 |
imadaemi | 0:f3a52599183f | 505 | motor_left25 = f_left; |
imadaemi | 0:f3a52599183f | 506 | motor_right24 = f_right; |
imadaemi | 0:f3a52599183f | 507 | motor_right23 = 0; |
imadaemi | 0:f3a52599183f | 508 | wait(f_wait); |
imadaemi | 0:f3a52599183f | 509 | } |
imadaemi | 0:f3a52599183f | 510 | |
imadaemi | 1:d208f4e139a9 | 511 | void MotorBack(float b_left,float b_right,float b_wait) |
imadaemi | 1:d208f4e139a9 | 512 | { |
imadaemi | 0:f3a52599183f | 513 | motor_left26 = b_left;//逆転 |
imadaemi | 0:f3a52599183f | 514 | motor_left25 = 0; |
imadaemi | 0:f3a52599183f | 515 | motor_right24 = 0; |
imadaemi | 0:f3a52599183f | 516 | motor_right23 = b_right; |
imadaemi | 0:f3a52599183f | 517 | wait(b_wait); |
imadaemi | 0:f3a52599183f | 518 | } |
imadaemi | 0:f3a52599183f | 519 | |
imadaemi | 1:d208f4e139a9 | 520 | void MotorStop() |
imadaemi | 1:d208f4e139a9 | 521 | { |
imadaemi | 0:f3a52599183f | 522 | motor_left26 = 0;//ストップ |
imadaemi | 0:f3a52599183f | 523 | motor_left25 = 0; |
imadaemi | 0:f3a52599183f | 524 | motor_right24 = 0; |
imadaemi | 0:f3a52599183f | 525 | motor_right23 = 0; |
imadaemi | 0:f3a52599183f | 526 | } |