2015/05/16
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver3 by
main.cpp
00001 /**********************************************/ 00002 // 00003 // 00004 // 00005 // Program name: Aigamozu ROBOT 00006 // Author: Mineta Kizuku 00007 // 00008 // 00009 /**********************************************/ 00010 00011 /**********************************************/ 00012 //更新情報 00013 //2015/05/11 00014 //ロボットプログラムの作成 00015 // 00016 //2015/05/13 00017 //カルマンフィルタの共分散の値を0.0001以下にならないようにした 00018 //共分散の値を10進数に変換するようにした 00019 // 00020 //2015/05/13 00021 //何回目のGPSでとられたGPSか確認するようにしました。 00022 // 00023 //2015/05/15 00024 //プログラムcreateReceiveStatusCommand()にて 00025 //Aigamozu_collect_dataにinかoutかを送るためにstate関連をいじったので必要に応じて直してください。 00026 // 00027 /**********************************************/ 00028 00029 #include "mbed.h" 00030 #include "XBee.h" 00031 #include "MBed_Adafruit_GPS.h" 00032 #include "AigamozuControlPackets.h" 00033 #include "agzIDLIST.h" 00034 #include "aigamozuSetting.h" 00035 #include "Kalman.h" 00036 00037 #define SIGMA_MIN 0.0001 00038 00039 //************ID Number***************** 00040 //Robot ID: 'A' ~ 'Z' 00041 //Base ID: 'a' ~ 'a' 00042 //manager ID: '0'(数字のゼロ) 00043 // 00044 const char MyID = 'C'; 00045 //************ID Number***************** 00046 00047 ///////////////////////////////////////// 00048 // 00049 //Pin Setting 00050 // 00051 ///////////////////////////////////////// 00052 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); 00053 00054 00055 ///////////////////////////////////////// 00056 // 00057 //Connection Setting 00058 // 00059 ///////////////////////////////////////// 00060 00061 //Serial Connect Setting: PC <--> mbed 00062 Serial pc(USBTX, USBRX); 00063 00064 //Serial Connect Setting: GPS <--> mbed 00065 Serial * gps_Serial; 00066 00067 //Serial Connect Setting: XBEE <--> mbed 00068 XBee xbee(p13,p14); 00069 ZBRxResponse zbRx = ZBRxResponse(); 00070 00071 //set up GPS module 00072 00073 //set up AigamozuControlPackets library 00074 AigamozuControlPackets agz(agz_motorShield); 00075 00076 00077 ///////////////////////////////////////// 00078 // 00079 //For Kalman data 00080 // 00081 ///////////////////////////////////////// 00082 double sigmaGPS[2][2] = {{250,0},{0,250}}; 00083 double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}}; 00084 double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}}; 00085 double y[2],x[2][2]={0}; 00086 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS); 00087 00088 00089 ///////////////////////////////////////// 00090 // 00091 //Plus Speed 00092 // 00093 //MNUAL_MODEの時にスピードを変える 00094 ///////////////////////////////////////// 00095 void Plus_Speed(uint8_t *packetdata){ 00096 00097 if(agz.nowMode == MANUAL_MODE){ 00098 agz.changeSpeed(packetdata); 00099 } 00100 00101 } 00102 00103 ///////////////////////////////////////// 00104 // 00105 //Send Status 00106 // 00107 //リクエストがきたとき、自分の位置情報などを返信する 00108 ///////////////////////////////////////// 00109 void Send_Status(char SenderIDc){ 00110 XBeeAddress64 send_Address; 00111 if(SenderIDc == '0'){ 00112 send_Address = manager_Address; 00113 } 00114 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ 00115 send_Address = robot_Address[SenderIDc - 'A']; 00116 } 00117 if(SenderIDc >= 'a' && SenderIDc <= 'z'){ 00118 send_Address = base_Address[SenderIDc - 'a']; 00119 } 00120 //send normal data 00121 //Create GPS Infomation Packet 00122 agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(), 00123 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), 00124 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), 00125 agz.get_agzCov_lati(),agz.get_agzCov_longi()); 00126 00127 //debug*************************************************** 00128 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", 00129 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), 00130 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), 00131 agz.get_agzCov_lati(),agz.get_agzCov_longi() 00132 ); 00133 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); 00134 printf("\n"); 00135 //debug end*************************************************** 00136 00137 //Select Destination 00138 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); 00139 //Send -> Base 00140 xbee.send(tx64request); 00141 } 00142 00143 ///////////////////////////////////////// 00144 // 00145 //Get GPS function 00146 // 00147 ///////////////////////////////////////// 00148 00149 void Get_GPS(Adafruit_GPS *myGPS){ 00150 static bool flag = true; 00151 00152 if (myGPS->fix) { 00153 agz.nowStatus = GPS_AVAIL; 00154 00155 if(flag){//初期値設定 00156 if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){ 00157 flag = false; 00158 x[0][0]=(double)myGPS->latitudeL; 00159 x[0][1]=(double)myGPS->longitudeL; 00160 } 00161 } 00162 00163 if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){ 00164 return; 00165 } 00166 //Kalman Filter 00167 Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS); 00168 00169 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL); 00170 agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL); 00171 } 00172 else agz.nowStatus = GPS_UNAVAIL; 00173 00174 } 00175 00176 ///////////////////////////////////////// 00177 // 00178 //New Mode 00179 // 00180 ///////////////////////////////////////// 00181 00182 void New_Mode(uint8_t *packetdata){ 00183 00184 //bool result; 00185 agz.changeMode(&packetdata); 00186 00187 } 00188 00189 ///////////////////////////////////////// 00190 // 00191 //Get Status 00192 // 00193 ///////////////////////////////////////// 00194 void Get_Status(char SenderIDc,uint8_t *packetdata){ 00195 00196 //マネージャからデータが来たとき 00197 if(SenderIDc == '0'){ 00198 printf("get manager Status\n"); 00199 } 00200 //他のロボットからデータが来たとき 00201 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ 00202 printf("get other robots Status\n"); 00203 } 00204 //基地局からデータが来たとき 00205 if(SenderIDc >= 'a' && SenderIDc <= 'z'){ 00206 printf("Get Base data\n"); 00207 int id = SenderIDc - 'a'; 00208 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]); 00209 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); 00210 00211 //debug 00212 for(int i = 0;i < 4;i++){ 00213 printf("BASE:%d\n",i); 00214 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n", 00215 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i), 00216 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i) 00217 ); 00218 } 00219 } 00220 } 00221 00222 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){ 00223 00224 //マネージャからデータが来たとき 00225 if(SenderIDc == '0'){ 00226 printf("get manager Status Kalman\n"); 00227 } 00228 //他のロボットからデータが来たとき 00229 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ 00230 printf("get other robots Status Kalman\n"); 00231 } 00232 //基地局からデータが来たとき 00233 if(SenderIDc >= 'a' && SenderIDc <= 'z'){ 00234 printf("Get Base data Kalman\n"); 00235 int id = SenderIDc - 'a'; 00236 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); 00237 00238 //debug 00239 for(int i = 0;i < 4;i++){ 00240 printf("BASE:%d\n",i); 00241 printf("latitudeK:%f,longitudeK:%f\n", 00242 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)); 00243 } 00244 } 00245 } 00246 00247 ///////////////////////////////////////// 00248 // 00249 //Send_Request_to_base 00250 // 00251 ///////////////////////////////////////// 00252 void Send_Request_Base(int basenumber){ 00253 printf("send\n"); 00254 agz.createRequestCommand(MyID, basenumber); 00255 //Select Destination 00256 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength()); 00257 //Send -> Base 00258 xbee.send(tx64request); 00259 } 00260 00261 ///////////////////////////////////////// 00262 // 00263 //auto_Move 00264 // 00265 //InAreaかOutAreaの判定 00266 //Kalmanを通した値を出力(Baseと自分) 00267 ///////////////////////////////////////// 00268 00269 void auto_Move(){ 00270 00271 bool result; 00272 int i; 00273 00274 result = agz.gpsAuto(); 00275 agz.set_agzAutoGPS(); 00276 agz.set_agzKalmanGPS(); 00277 00278 if(result == true){ 00279 printf("Out Area\n"); 00280 } 00281 else if(result == false){ 00282 printf("In Area\n"); 00283 } 00284 for(i = 0; i < 4; i++){ 00285 printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i)); 00286 } 00287 printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); 00288 00289 } 00290 00291 void print_gps(int count){ 00292 00293 printf("%d times:\n", count); 00294 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); 00295 00296 } 00297 00298 ///////////////////////////////////////// 00299 // 00300 //Kalman Processing 00301 // 00302 ///////////////////////////////////////// 00303 00304 void get_K(){ 00305 double temp[2][2]={ 00306 {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]}, 00307 {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]} 00308 }; 00309 double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1]; 00310 K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]); 00311 K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]); 00312 } 00313 00314 00315 void get_x(){ 00316 x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]); 00317 x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]); 00318 } 00319 00320 00321 void get_sigma(){ 00322 double temp[2][2]; 00323 for(int i=0;i<2;i++) { 00324 for(int j=0;j<2;j++) { 00325 for(int k=0;k<2;k++) { 00326 temp[i][j]+=K[1][i][k]*sigma[0][k][j]; 00327 } 00328 } 00329 } 00330 for(int i = 0;i < 2;i++){ 00331 for(int j = 0;j < 2;j++){ 00332 sigma[1][i][j] = sigma[0][i][j]-temp[i][j]; 00333 } 00334 } 00335 } 00336 00337 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){ 00338 y[0] = Latitude; 00339 y[1] = Longitude; 00340 //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS]; 00341 get_K(); 00342 //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]); 00343 get_x(); 00344 //sigma[t+1] = sigma[t]-K[t+1]*sigma[t]; 00345 get_sigma(); 00346 00347 00348 //kousinn 00349 for(int i = 0;i < 2;i++){ 00350 for(int j = 0;j < 2;j++){ 00351 K[0][i][j]=K[1][i][j]; 00352 x[0][i]=x[1][i]; 00353 sigma[0][i][j]=sigma[1][i][j]; 00354 } 00355 } 00356 00357 if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN; 00358 if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN; 00359 00360 myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering 00361 myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering 00362 myGPS->latitudeKL=(long)x[1][0];//latitude after filtering 00363 myGPS->longitudeKL=(long)x[1][1];//longitude after filtering 00364 00365 agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]); 00366 } 00367 00368 00369 ///////////////////////////////////////// 00370 // 00371 //Main Processing 00372 // 00373 ///////////////////////////////////////// 00374 int main() { 00375 //start up time 00376 wait(3); 00377 //set pc frequency to 57600bps 00378 pc.baud(PC_BAUD_RATE); 00379 //set xbee frequency to 57600bps 00380 xbee.begin(XBEE_BAUD_RATE); 00381 00382 00383 //GPS setting 00384 gps_Serial = new Serial(p28,p27); 00385 Adafruit_GPS myGPS(gps_Serial); 00386 Timer refresh_Timer; 00387 const int refresh_Time = 1000; //refresh time in ms 00388 Timer auto_Timer; 00389 const int auto_Time = 2000; //refresh time in ms 00390 int count = 0; 00391 myGPS.begin(GPS_BAUD_RATE); 00392 00393 Timer collect_Timer; 00394 const int collect_Time = 2000; //when we collect 4 GPS point, we use 00395 int collect_flag = 0; 00396 char collect_state = 'a'; 00397 00398 char SenderIDc; 00399 //GPS Send Command 00400 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); 00401 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); 00402 myGPS.sendCommand(PGCMD_ANTENNA); 00403 00404 wait(2); 00405 00406 //interrupt start 00407 refresh_Timer.start(); 00408 auto_Timer.start(); 00409 collect_Timer.start(); 00410 00411 printf("start\n"); 00412 00413 while (true) { 00414 00415 //Check Xbee Buffer Available 00416 xbee.readPacket(); 00417 00418 if (xbee.getResponse().isAvailable()) { 00419 xbee.getResponse().getZBRxResponse(zbRx); 00420 uint8_t *buf = zbRx.getFrameData(); 00421 00422 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { 00423 xbee.getResponse().getZBRxResponse(zbRx); 00424 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する 00425 uint8_t *buf1 = &buf[11];//データの部分のみを格納する 00426 SenderIDc = buf1[5];//送信元のIDを取得する 00427 char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する 00428 00429 //Check Command Type 00430 switch(Command_type){ 00431 //Get Request command 00432 case MANUAL:{ 00433 Plus_Speed(buf); 00434 break; 00435 } 00436 case STATUS_REQUEST:{ 00437 Send_Status(SenderIDc); 00438 break; 00439 } 00440 case CHANGE_MODE:{ 00441 New_Mode(buf); 00442 break; 00443 } 00444 case RECEIVE_STATUS:{ 00445 Get_Status(SenderIDc,buf1); 00446 break; 00447 } 00448 case RECEIVE_KALMAN:{ 00449 Get_Status_Kalman(SenderIDc, buf1); 00450 break; 00451 } 00452 default:{ 00453 break; 00454 } 00455 }//endswitch 00456 }//endifZB_RX_RESPONSE 00457 }//endifisAvailable 00458 00459 myGPS.read(); 00460 //recive gps module 00461 //check if we recieved a new message from GPS, if so, attempt to parse it, 00462 if ( myGPS.newNMEAreceived() ) { 00463 if ( !myGPS.parse(myGPS.lastNMEA()) ) { 00464 continue; 00465 } 00466 else{ 00467 count++; 00468 } 00469 } 00470 //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 00471 if (refresh_Timer.read_ms() >= refresh_Time) { 00472 refresh_Timer.reset(); 00473 //print_gps(count); 00474 Get_GPS(&myGPS); 00475 00476 } 00477 00478 //get base GPS 00479 if( collect_Timer.read_ms() >= collect_Time){ 00480 collect_Timer.reset(); 00481 00482 Send_Request_Base(collect_flag); 00483 00484 collect_flag++; 00485 collect_state++; 00486 00487 if(collect_flag == 4){ 00488 collect_state = 'a'; 00489 collect_flag = 0; 00490 } 00491 } 00492 00493 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){ 00494 auto_Timer.reset(); 00495 auto_Move(); 00496 } 00497 } 00498 }
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