2015/05/12
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of Aigamozu_Robot_ver1_1 by
main.cpp@7:06f165c3787c, 2015-05-12 (annotated)
- Committer:
- s1200058
- Date:
- Tue May 12 12:28:39 2015 +0000
- Revision:
- 7:06f165c3787c
- Parent:
- 6:4abf031b5ccc
2015/05/12
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kityann | 0:eee5e3d906ce | 1 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 2 | // |
kityann | 0:eee5e3d906ce | 3 | // |
kityann | 0:eee5e3d906ce | 4 | // |
kityann | 0:eee5e3d906ce | 5 | // Program name: Aigamozu BASE |
kityann | 0:eee5e3d906ce | 6 | // Author: Mineta Kizuku |
kityann | 0:eee5e3d906ce | 7 | // |
kityann | 0:eee5e3d906ce | 8 | // |
kityann | 0:eee5e3d906ce | 9 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 10 | |
kityann | 0:eee5e3d906ce | 11 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 12 | //更新情報 |
kityann | 0:eee5e3d906ce | 13 | //2015/05/11 |
kityann | 0:eee5e3d906ce | 14 | //ベースプログラムの作成 |
kityann | 0:eee5e3d906ce | 15 | // |
s1200058 | 1:d10d72b1d29b | 16 | //void Get_GPS()内でLongitudeL, LatitudeL それぞれに+10する処理。 |
s1200058 | 1:d10d72b1d29b | 17 | //main()内でAutoModeのときでかつ2000ms立った時にGPSを取得する。 |
kityann | 0:eee5e3d906ce | 18 | // |
kityann | 0:eee5e3d906ce | 19 | // |
kityann | 0:eee5e3d906ce | 20 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 21 | |
kityann | 0:eee5e3d906ce | 22 | #include "mbed.h" |
kityann | 0:eee5e3d906ce | 23 | #include "XBee.h" |
kityann | 0:eee5e3d906ce | 24 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:eee5e3d906ce | 25 | #include "AigamozuControlPackets.h" |
kityann | 0:eee5e3d906ce | 26 | #include "agzIDLIST.h" |
kityann | 0:eee5e3d906ce | 27 | #include "aigamozuSetting.h" |
kityann | 0:eee5e3d906ce | 28 | #include "agz_common.h" |
kityann | 0:eee5e3d906ce | 29 | #include "Kalman.h" |
kityann | 0:eee5e3d906ce | 30 | |
kityann | 0:eee5e3d906ce | 31 | //************ID Number***************** |
kityann | 0:eee5e3d906ce | 32 | const char MyID = 'D'; |
kityann | 0:eee5e3d906ce | 33 | //************ID Number***************** |
kityann | 0:eee5e3d906ce | 34 | |
kityann | 0:eee5e3d906ce | 35 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 36 | // |
kityann | 0:eee5e3d906ce | 37 | //Pin Setting |
kityann | 0:eee5e3d906ce | 38 | // |
kityann | 0:eee5e3d906ce | 39 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 40 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:eee5e3d906ce | 41 | |
kityann | 0:eee5e3d906ce | 42 | |
kityann | 0:eee5e3d906ce | 43 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 44 | // |
kityann | 0:eee5e3d906ce | 45 | //Connection Setting |
kityann | 0:eee5e3d906ce | 46 | // |
kityann | 0:eee5e3d906ce | 47 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 48 | |
kityann | 0:eee5e3d906ce | 49 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:eee5e3d906ce | 50 | Serial pc(USBTX, USBRX); |
kityann | 0:eee5e3d906ce | 51 | |
kityann | 0:eee5e3d906ce | 52 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:eee5e3d906ce | 53 | Serial * gps_Serial; |
kityann | 0:eee5e3d906ce | 54 | |
kityann | 0:eee5e3d906ce | 55 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:eee5e3d906ce | 56 | XBee xbee(p13,p14); |
kityann | 0:eee5e3d906ce | 57 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:eee5e3d906ce | 58 | |
kityann | 0:eee5e3d906ce | 59 | //set up GPS module |
kityann | 0:eee5e3d906ce | 60 | |
kityann | 0:eee5e3d906ce | 61 | //set up AigamozuControlPackets library |
kityann | 0:eee5e3d906ce | 62 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:eee5e3d906ce | 63 | |
kityann | 0:eee5e3d906ce | 64 | |
kityann | 0:eee5e3d906ce | 65 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 66 | // |
kityann | 0:eee5e3d906ce | 67 | //For Kalman data |
kityann | 0:eee5e3d906ce | 68 | // |
kityann | 0:eee5e3d906ce | 69 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 70 | double sigmaGPS[2][2] = {{250,0},{0,250}}; |
kityann | 0:eee5e3d906ce | 71 | double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}}; |
kityann | 0:eee5e3d906ce | 72 | double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}}; |
kityann | 0:eee5e3d906ce | 73 | double y[2],x[2][2]={0}; |
kityann | 0:eee5e3d906ce | 74 | void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS); |
kityann | 0:eee5e3d906ce | 75 | |
kityann | 0:eee5e3d906ce | 76 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 77 | // |
kityann | 0:eee5e3d906ce | 78 | //Address List |
kityann | 0:eee5e3d906ce | 79 | // |
kityann | 0:eee5e3d906ce | 80 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 81 | XBeeAddress64 base_Address[BaseNumber] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L), |
kityann | 0:eee5e3d906ce | 82 | XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L), |
kityann | 0:eee5e3d906ce | 83 | XBeeAddress64(BASE5_32H,BASE5_32L)}; |
kityann | 0:eee5e3d906ce | 84 | XBeeAddress64 robot_Address[RobotNumber] = {XBeeAddress64(ROBOT1_32H,ROBOT1_32L), XBeeAddress64(ROBOT1_32H,ROBOT1_32L)}; |
kityann | 0:eee5e3d906ce | 85 | XBeeAddress64 manager_Address = XBeeAddress64(BASE1_32H,BASE1_32L); |
kityann | 0:eee5e3d906ce | 86 | |
kityann | 0:eee5e3d906ce | 87 | |
s1200058 | 1:d10d72b1d29b | 88 | |
kityann | 0:eee5e3d906ce | 89 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 90 | // |
kityann | 0:eee5e3d906ce | 91 | //Send_Status |
kityann | 0:eee5e3d906ce | 92 | // |
kityann | 0:eee5e3d906ce | 93 | //リクエストがきたとき、自分の位置情報などを返信する |
kityann | 0:eee5e3d906ce | 94 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 95 | void Send_Status(char SenderIDc){ |
kityann | 0:eee5e3d906ce | 96 | XBeeAddress64 send_Address; |
kityann | 0:eee5e3d906ce | 97 | if(SenderIDc == '0'){ |
kityann | 0:eee5e3d906ce | 98 | send_Address = manager_Address; |
kityann | 0:eee5e3d906ce | 99 | } |
kityann | 0:eee5e3d906ce | 100 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 0:eee5e3d906ce | 101 | send_Address = robot_Address[SenderIDc - 'A']; |
kityann | 0:eee5e3d906ce | 102 | } |
kityann | 0:eee5e3d906ce | 103 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 0:eee5e3d906ce | 104 | send_Address = base_Address[SenderIDc - 'a']; |
kityann | 0:eee5e3d906ce | 105 | } |
kityann | 0:eee5e3d906ce | 106 | //send normal data |
kityann | 0:eee5e3d906ce | 107 | //Create GPS Infomation Packet |
s1200058 | 1:d10d72b1d29b | 108 | // agz.createReceiveStatusCommand(MyID,SenderIDc,agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
s1200058 | 1:d10d72b1d29b | 109 | // agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
s1200058 | 1:d10d72b1d29b | 110 | // agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:eee5e3d906ce | 111 | //Select Destination |
s1200058 | 1:d10d72b1d29b | 112 | // ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); |
kityann | 0:eee5e3d906ce | 113 | //Send -> Base |
s1200058 | 1:d10d72b1d29b | 114 | // xbee.send(tx64request); |
kityann | 0:eee5e3d906ce | 115 | } |
kityann | 0:eee5e3d906ce | 116 | |
kityann | 0:eee5e3d906ce | 117 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 118 | // |
kityann | 0:eee5e3d906ce | 119 | //Get GPS function |
kityann | 0:eee5e3d906ce | 120 | // |
kityann | 0:eee5e3d906ce | 121 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 122 | |
kityann | 0:eee5e3d906ce | 123 | void Get_GPS(Adafruit_GPS *myGPS){ |
kityann | 0:eee5e3d906ce | 124 | static bool flag = true; |
kityann | 0:eee5e3d906ce | 125 | |
kityann | 0:eee5e3d906ce | 126 | if (myGPS->fix) { |
kityann | 0:eee5e3d906ce | 127 | agz.nowStatus = GPS_AVAIL; |
kityann | 0:eee5e3d906ce | 128 | |
kityann | 0:eee5e3d906ce | 129 | if(flag){//初期値設定 |
kityann | 0:eee5e3d906ce | 130 | if(myGPS->longitudeH>=138 && myGPS->longitudeH<=141 && myGPS->latitudeH>=36 && myGPS->latitudeH<=38){ |
kityann | 0:eee5e3d906ce | 131 | flag = false; |
kityann | 0:eee5e3d906ce | 132 | x[0][0]=(double)myGPS->latitudeL; |
kityann | 0:eee5e3d906ce | 133 | x[0][1]=(double)myGPS->longitudeL; |
kityann | 0:eee5e3d906ce | 134 | } |
kityann | 0:eee5e3d906ce | 135 | } |
kityann | 0:eee5e3d906ce | 136 | |
kityann | 0:eee5e3d906ce | 137 | if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){ |
kityann | 0:eee5e3d906ce | 138 | return; |
kityann | 0:eee5e3d906ce | 139 | } |
s1200058 | 1:d10d72b1d29b | 140 | |
kityann | 0:eee5e3d906ce | 141 | //Kalman Filter |
kityann | 0:eee5e3d906ce | 142 | Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS); |
kityann | 0:eee5e3d906ce | 143 | |
kityann | 0:eee5e3d906ce | 144 | agz.reNewRobotPoint(myGPS->longitudeH,myGPS->longitudeL,myGPS->latitudeH,myGPS->latitudeL); |
kityann | 0:eee5e3d906ce | 145 | agz.reNewRobotPointKalman(myGPS->longitudeKH,myGPS->longitudeKL,myGPS->latitudeKH,myGPS->latitudeKL); |
kityann | 0:eee5e3d906ce | 146 | } |
kityann | 0:eee5e3d906ce | 147 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 0:eee5e3d906ce | 148 | |
kityann | 0:eee5e3d906ce | 149 | } |
kityann | 0:eee5e3d906ce | 150 | |
kityann | 0:eee5e3d906ce | 151 | |
kityann | 0:eee5e3d906ce | 152 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 153 | // |
kityann | 0:eee5e3d906ce | 154 | //Kalman Processing |
kityann | 0:eee5e3d906ce | 155 | // |
kityann | 0:eee5e3d906ce | 156 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 157 | |
kityann | 0:eee5e3d906ce | 158 | void get_K(){ |
kityann | 0:eee5e3d906ce | 159 | double temp[2][2]={ |
kityann | 0:eee5e3d906ce | 160 | {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]}, |
kityann | 0:eee5e3d906ce | 161 | {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]} |
kityann | 0:eee5e3d906ce | 162 | }; |
kityann | 0:eee5e3d906ce | 163 | double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1]; |
kityann | 0:eee5e3d906ce | 164 | K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]); |
kityann | 0:eee5e3d906ce | 165 | K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]); |
kityann | 0:eee5e3d906ce | 166 | } |
kityann | 0:eee5e3d906ce | 167 | |
kityann | 0:eee5e3d906ce | 168 | |
kityann | 0:eee5e3d906ce | 169 | void get_x(){ |
kityann | 0:eee5e3d906ce | 170 | x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]); |
kityann | 0:eee5e3d906ce | 171 | x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]); |
kityann | 0:eee5e3d906ce | 172 | } |
kityann | 0:eee5e3d906ce | 173 | |
kityann | 0:eee5e3d906ce | 174 | |
kityann | 0:eee5e3d906ce | 175 | void get_sigma(){ |
kityann | 0:eee5e3d906ce | 176 | double temp[2][2]; |
kityann | 0:eee5e3d906ce | 177 | for(int i=0;i<2;i++) { |
kityann | 0:eee5e3d906ce | 178 | for(int j=0;j<2;j++) { |
kityann | 0:eee5e3d906ce | 179 | for(int k=0;k<2;k++) { |
kityann | 0:eee5e3d906ce | 180 | temp[i][j]+=K[1][i][k]*sigma[0][k][j]; |
kityann | 0:eee5e3d906ce | 181 | } |
kityann | 0:eee5e3d906ce | 182 | } |
kityann | 0:eee5e3d906ce | 183 | } |
kityann | 0:eee5e3d906ce | 184 | for(int i = 0;i < 2;i++){ |
kityann | 0:eee5e3d906ce | 185 | for(int j = 0;j < 2;j++){ |
kityann | 0:eee5e3d906ce | 186 | sigma[1][i][j] = sigma[0][i][j]-temp[i][j]; |
kityann | 0:eee5e3d906ce | 187 | } |
kityann | 0:eee5e3d906ce | 188 | } |
kityann | 0:eee5e3d906ce | 189 | } |
kityann | 0:eee5e3d906ce | 190 | |
kityann | 0:eee5e3d906ce | 191 | void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){ |
kityann | 0:eee5e3d906ce | 192 | y[0] = Latitude; |
kityann | 0:eee5e3d906ce | 193 | y[1] = Longitude; |
kityann | 0:eee5e3d906ce | 194 | //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS]; |
kityann | 0:eee5e3d906ce | 195 | get_K(); |
kityann | 0:eee5e3d906ce | 196 | //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]); |
kityann | 0:eee5e3d906ce | 197 | get_x(); |
kityann | 0:eee5e3d906ce | 198 | //sigma[t+1] = sigma[t]-K[t+1]*sigma[t]; |
kityann | 0:eee5e3d906ce | 199 | get_sigma(); |
kityann | 0:eee5e3d906ce | 200 | |
kityann | 0:eee5e3d906ce | 201 | |
kityann | 0:eee5e3d906ce | 202 | //kousinn |
kityann | 0:eee5e3d906ce | 203 | for(int i = 0;i < 2;i++){ |
kityann | 0:eee5e3d906ce | 204 | for(int j = 0;j < 2;j++){ |
kityann | 0:eee5e3d906ce | 205 | K[0][i][j]=K[1][i][j]; |
kityann | 0:eee5e3d906ce | 206 | x[0][i]=x[1][i]; |
kityann | 0:eee5e3d906ce | 207 | sigma[0][i][j]=sigma[1][i][j]; |
kityann | 0:eee5e3d906ce | 208 | } |
kityann | 0:eee5e3d906ce | 209 | } |
kityann | 0:eee5e3d906ce | 210 | |
kityann | 0:eee5e3d906ce | 211 | myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering |
kityann | 0:eee5e3d906ce | 212 | myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering |
kityann | 0:eee5e3d906ce | 213 | myGPS->latitudeKL=(long)x[1][0];//latitude after filtering |
kityann | 0:eee5e3d906ce | 214 | myGPS->longitudeKL=(long)x[1][1];//longitude after filtering |
kityann | 0:eee5e3d906ce | 215 | |
kityann | 0:eee5e3d906ce | 216 | agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]); |
kityann | 0:eee5e3d906ce | 217 | } |
kityann | 0:eee5e3d906ce | 218 | |
s1200058 | 1:d10d72b1d29b | 219 | void auto_Move(){ |
s1200058 | 1:d10d72b1d29b | 220 | |
s1200058 | 1:d10d72b1d29b | 221 | bool result; |
s1200058 | 1:d10d72b1d29b | 222 | int i; |
s1200058 | 1:d10d72b1d29b | 223 | |
s1200058 | 1:d10d72b1d29b | 224 | result = agz.gpsAuto(); |
s1200058 | 1:d10d72b1d29b | 225 | agz.set_agzAutoGPS(); |
s1200058 | 1:d10d72b1d29b | 226 | agz.set_agzKalmanGPS(); |
s1200058 | 1:d10d72b1d29b | 227 | |
s1200058 | 1:d10d72b1d29b | 228 | if(result == true){ |
s1200058 | 1:d10d72b1d29b | 229 | printf("Out Area\n"); |
s1200058 | 1:d10d72b1d29b | 230 | } |
s1200058 | 1:d10d72b1d29b | 231 | else if(result == false){ |
s1200058 | 1:d10d72b1d29b | 232 | printf("In Area\n"); |
s1200058 | 1:d10d72b1d29b | 233 | } |
s1200058 | 1:d10d72b1d29b | 234 | for(i = 0; i < 4; i++){ |
s1200058 | 1:d10d72b1d29b | 235 | printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i)); |
s1200058 | 1:d10d72b1d29b | 236 | } |
s1200058 | 1:d10d72b1d29b | 237 | printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 1:d10d72b1d29b | 238 | |
s1200058 | 1:d10d72b1d29b | 239 | } |
kityann | 0:eee5e3d906ce | 240 | |
kityann | 0:eee5e3d906ce | 241 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 242 | // |
kityann | 0:eee5e3d906ce | 243 | //Main Processing |
kityann | 0:eee5e3d906ce | 244 | // |
kityann | 0:eee5e3d906ce | 245 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 246 | int main() { |
kityann | 0:eee5e3d906ce | 247 | //start up time |
kityann | 0:eee5e3d906ce | 248 | wait(3); |
kityann | 0:eee5e3d906ce | 249 | //set pc frequency to 57600bps |
kityann | 0:eee5e3d906ce | 250 | pc.baud(PC_BAUD_RATE); |
kityann | 0:eee5e3d906ce | 251 | //set xbee frequency to 57600bps |
kityann | 0:eee5e3d906ce | 252 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:eee5e3d906ce | 253 | |
kityann | 0:eee5e3d906ce | 254 | |
kityann | 0:eee5e3d906ce | 255 | //GPS setting |
kityann | 0:eee5e3d906ce | 256 | gps_Serial = new Serial(p28,p27); |
kityann | 0:eee5e3d906ce | 257 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:eee5e3d906ce | 258 | Timer refresh_Timer; |
kityann | 0:eee5e3d906ce | 259 | const int refresh_Time = 2000; //refresh time in ms |
kityann | 0:eee5e3d906ce | 260 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:eee5e3d906ce | 261 | |
kityann | 0:eee5e3d906ce | 262 | char SenderIDc; |
s1200058 | 1:d10d72b1d29b | 263 | |
s1200058 | 1:d10d72b1d29b | 264 | Timer auto_Timer; |
s1200058 | 1:d10d72b1d29b | 265 | const int auto_Time = 2000; |
s1200058 | 6:4abf031b5ccc | 266 | agz.nowMode = AUTO_MODE; |
s1200058 | 1:d10d72b1d29b | 267 | |
kityann | 0:eee5e3d906ce | 268 | //GPS Send Command |
kityann | 0:eee5e3d906ce | 269 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:eee5e3d906ce | 270 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:eee5e3d906ce | 271 | myGPS.sendCommand(PGCMD_ANTENNA); |
kityann | 0:eee5e3d906ce | 272 | |
kityann | 0:eee5e3d906ce | 273 | wait(2); |
kityann | 0:eee5e3d906ce | 274 | |
kityann | 0:eee5e3d906ce | 275 | //interrupt start |
kityann | 0:eee5e3d906ce | 276 | refresh_Timer.start(); |
s1200058 | 1:d10d72b1d29b | 277 | auto_Timer.start(); |
kityann | 0:eee5e3d906ce | 278 | |
kityann | 0:eee5e3d906ce | 279 | while (true) { |
kityann | 0:eee5e3d906ce | 280 | |
kityann | 0:eee5e3d906ce | 281 | //Check Xbee Buffer Available |
kityann | 0:eee5e3d906ce | 282 | xbee.readPacket(); |
kityann | 0:eee5e3d906ce | 283 | |
kityann | 0:eee5e3d906ce | 284 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:eee5e3d906ce | 285 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:eee5e3d906ce | 286 | uint8_t *buf = zbRx.getFrameData(); |
kityann | 0:eee5e3d906ce | 287 | |
kityann | 0:eee5e3d906ce | 288 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:eee5e3d906ce | 289 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:eee5e3d906ce | 290 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
kityann | 0:eee5e3d906ce | 291 | uint8_t *buf1 = &buf[11];//データの部分のみを格納する |
kityann | 0:eee5e3d906ce | 292 | SenderIDc = buf1[5];//送信元のIDを取得する |
kityann | 0:eee5e3d906ce | 293 | char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:eee5e3d906ce | 294 | |
kityann | 0:eee5e3d906ce | 295 | //Check Command Type |
kityann | 0:eee5e3d906ce | 296 | switch(Command_type){ |
kityann | 0:eee5e3d906ce | 297 | //Get Request command |
kityann | 0:eee5e3d906ce | 298 | case STATUS_REQUEST:{ |
kityann | 0:eee5e3d906ce | 299 | Send_Status(SenderIDc); |
kityann | 0:eee5e3d906ce | 300 | break; |
kityann | 0:eee5e3d906ce | 301 | } |
kityann | 0:eee5e3d906ce | 302 | default:{ |
kityann | 0:eee5e3d906ce | 303 | break; |
kityann | 0:eee5e3d906ce | 304 | } |
kityann | 0:eee5e3d906ce | 305 | }//endswitch |
kityann | 0:eee5e3d906ce | 306 | }//endifZB_RX_RESPONSE |
kityann | 0:eee5e3d906ce | 307 | }//endifisAvailable |
s1200058 | 1:d10d72b1d29b | 308 | |
s1200058 | 1:d10d72b1d29b | 309 | |
kityann | 0:eee5e3d906ce | 310 | |
kityann | 0:eee5e3d906ce | 311 | myGPS.read(); |
kityann | 0:eee5e3d906ce | 312 | //recive gps module |
kityann | 0:eee5e3d906ce | 313 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:eee5e3d906ce | 314 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:eee5e3d906ce | 315 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
kityann | 0:eee5e3d906ce | 316 | continue; |
kityann | 0:eee5e3d906ce | 317 | } |
kityann | 0:eee5e3d906ce | 318 | } |
kityann | 0:eee5e3d906ce | 319 | |
kityann | 0:eee5e3d906ce | 320 | |
kityann | 0:eee5e3d906ce | 321 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:eee5e3d906ce | 322 | refresh_Timer.reset(); |
kityann | 0:eee5e3d906ce | 323 | Get_GPS(&myGPS); |
kityann | 0:eee5e3d906ce | 324 | |
kityann | 0:eee5e3d906ce | 325 | } |
s1200058 | 1:d10d72b1d29b | 326 | |
s1200058 | 1:d10d72b1d29b | 327 | if(agz.nowMode == AUTO_MODE && auto_Timer.read_ms() >= auto_Time){ |
s1200058 | 1:d10d72b1d29b | 328 | auto_Timer.reset(); |
s1200058 | 1:d10d72b1d29b | 329 | auto_Move(); |
s1200058 | 1:d10d72b1d29b | 330 | } |
s1200058 | 1:d10d72b1d29b | 331 | |
kityann | 0:eee5e3d906ce | 332 | } |
kityann | 0:eee5e3d906ce | 333 | } |