2015/05/17
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver3_2 by
main.cpp@4:f36986ceb73d, 2015-05-13 (annotated)
- Committer:
- kityann
- Date:
- Wed May 13 08:43:55 2015 +0000
- Revision:
- 4:f36986ceb73d
- Parent:
- 3:1ac506a96fd6
- Child:
- 5:522c47c78401
2015/05/13
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kityann | 0:daab5accfd83 | 1 | /**********************************************/ |
kityann | 0:daab5accfd83 | 2 | // |
kityann | 0:daab5accfd83 | 3 | // |
kityann | 0:daab5accfd83 | 4 | // |
kityann | 0:daab5accfd83 | 5 | // Program name: Aigamozu ROBOT |
kityann | 0:daab5accfd83 | 6 | // Author: Mineta Kizuku |
kityann | 0:daab5accfd83 | 7 | // |
kityann | 0:daab5accfd83 | 8 | // |
kityann | 0:daab5accfd83 | 9 | /**********************************************/ |
kityann | 0:daab5accfd83 | 10 | |
kityann | 0:daab5accfd83 | 11 | /**********************************************/ |
kityann | 0:daab5accfd83 | 12 | //更新情報 |
kityann | 0:daab5accfd83 | 13 | //2015/05/11 |
kityann | 0:daab5accfd83 | 14 | //ロボットプログラムの作成 |
kityann | 0:daab5accfd83 | 15 | // |
kityann | 4:f36986ceb73d | 16 | //2015/05/13 |
kityann | 4:f36986ceb73d | 17 | //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 |
kityann | 4:f36986ceb73d | 18 | //共分散の値を10進数に変換するようにした |
kityann | 0:daab5accfd83 | 19 | // |
kityann | 0:daab5accfd83 | 20 | /**********************************************/ |
kityann | 0:daab5accfd83 | 21 | |
kityann | 0:daab5accfd83 | 22 | #include "mbed.h" |
kityann | 0:daab5accfd83 | 23 | #include "XBee.h" |
kityann | 0:daab5accfd83 | 24 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:daab5accfd83 | 25 | #include "AigamozuControlPackets.h" |
kityann | 0:daab5accfd83 | 26 | #include "agzIDLIST.h" |
kityann | 0:daab5accfd83 | 27 | #include "aigamozuSetting.h" |
kityann | 0:daab5accfd83 | 28 | #include "Kalman.h" |
kityann | 0:daab5accfd83 | 29 | |
kityann | 4:f36986ceb73d | 30 | #define SIGMA_MIN 0.0001 |
kityann | 4:f36986ceb73d | 31 | |
kityann | 0:daab5accfd83 | 32 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 33 | //Robot ID: 'A' ~ 'Z' |
kityann | 0:daab5accfd83 | 34 | //Base ID: 'a' ~ 'a' |
kityann | 0:daab5accfd83 | 35 | //manager ID: '0'(数字のゼロ) |
kityann | 0:daab5accfd83 | 36 | // |
kityann | 1:b2b950b916ce | 37 | const char MyID = 'd'; |
kityann | 0:daab5accfd83 | 38 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 39 | |
kityann | 0:daab5accfd83 | 40 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 41 | // |
kityann | 0:daab5accfd83 | 42 | //Pin Setting |
kityann | 0:daab5accfd83 | 43 | // |
kityann | 0:daab5accfd83 | 44 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 45 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:daab5accfd83 | 46 | |
kityann | 0:daab5accfd83 | 47 | |
kityann | 0:daab5accfd83 | 48 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 49 | // |
kityann | 0:daab5accfd83 | 50 | //Connection Setting |
kityann | 0:daab5accfd83 | 51 | // |
kityann | 0:daab5accfd83 | 52 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 53 | |
kityann | 0:daab5accfd83 | 54 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:daab5accfd83 | 55 | Serial pc(USBTX, USBRX); |
kityann | 0:daab5accfd83 | 56 | |
kityann | 0:daab5accfd83 | 57 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:daab5accfd83 | 58 | Serial * gps_Serial; |
kityann | 0:daab5accfd83 | 59 | |
kityann | 0:daab5accfd83 | 60 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:daab5accfd83 | 61 | XBee xbee(p13,p14); |
kityann | 0:daab5accfd83 | 62 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:daab5accfd83 | 63 | |
kityann | 0:daab5accfd83 | 64 | //set up GPS module |
kityann | 0:daab5accfd83 | 65 | |
kityann | 0:daab5accfd83 | 66 | //set up AigamozuControlPackets library |
kityann | 0:daab5accfd83 | 67 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:daab5accfd83 | 68 | |
kityann | 0:daab5accfd83 | 69 | |
kityann | 0:daab5accfd83 | 70 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 71 | // |
kityann | 0:daab5accfd83 | 72 | //For Kalman data |
kityann | 0:daab5accfd83 | 73 | // |
kityann | 0:daab5accfd83 | 74 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 75 | double sigmaGPS[2][2] = {{250,0},{0,250}}; |
kityann | 0:daab5accfd83 | 76 | double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}}; |
kityann | 0:daab5accfd83 | 77 | double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}}; |
kityann | 0:daab5accfd83 | 78 | double y[2],x[2][2]={0}; |
kityann | 0:daab5accfd83 | 79 | void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS); |
kityann | 0:daab5accfd83 | 80 | |
kityann | 0:daab5accfd83 | 81 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 82 | // |
kityann | 0:daab5accfd83 | 83 | //Address List |
kityann | 0:daab5accfd83 | 84 | // |
kityann | 0:daab5accfd83 | 85 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 86 | XBeeAddress64 base_Address[BaseNumber] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L), |
kityann | 0:daab5accfd83 | 87 | XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L), |
kityann | 0:daab5accfd83 | 88 | XBeeAddress64(BASE5_32H,BASE5_32L)}; |
kityann | 0:daab5accfd83 | 89 | XBeeAddress64 robot_Address[RobotNumber] = {XBeeAddress64(ROBOT1_32H,ROBOT1_32L), XBeeAddress64(ROBOT1_32H,ROBOT1_32L)}; |
kityann | 0:daab5accfd83 | 90 | XBeeAddress64 manager_Address = XBeeAddress64(BASE1_32H,BASE1_32L); |
kityann | 0:daab5accfd83 | 91 | |
s1200058 | 2:886fac7f4399 | 92 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 93 | // |
s1200058 | 2:886fac7f4399 | 94 | //Plus Speed |
s1200058 | 2:886fac7f4399 | 95 | // |
s1200058 | 2:886fac7f4399 | 96 | //MNUAL_MODEの時にスピードを変える |
s1200058 | 2:886fac7f4399 | 97 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 98 | void Plus_Speed(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 99 | |
s1200058 | 2:886fac7f4399 | 100 | if(agz.nowMode == MANUAL_MODE){ |
s1200058 | 2:886fac7f4399 | 101 | agz.changeSpeed(packetdata); |
s1200058 | 2:886fac7f4399 | 102 | } |
s1200058 | 2:886fac7f4399 | 103 | |
s1200058 | 2:886fac7f4399 | 104 | } |
kityann | 0:daab5accfd83 | 105 | |
kityann | 0:daab5accfd83 | 106 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 107 | // |
s1200058 | 2:886fac7f4399 | 108 | //Send Status |
kityann | 0:daab5accfd83 | 109 | // |
kityann | 0:daab5accfd83 | 110 | //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:daab5accfd83 | 111 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 112 | void Send_Status(char SenderIDc){ |
kityann | 0:daab5accfd83 | 113 | XBeeAddress64 send_Address; |
kityann | 0:daab5accfd83 | 114 | if(SenderIDc == '0'){ |
kityann | 0:daab5accfd83 | 115 | send_Address = manager_Address; |
kityann | 0:daab5accfd83 | 116 | } |
kityann | 0:daab5accfd83 | 117 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 0:daab5accfd83 | 118 | send_Address = robot_Address[SenderIDc - 'A']; |
kityann | 0:daab5accfd83 | 119 | } |
kityann | 0:daab5accfd83 | 120 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 0:daab5accfd83 | 121 | send_Address = base_Address[SenderIDc - 'a']; |
kityann | 0:daab5accfd83 | 122 | } |
kityann | 0:daab5accfd83 | 123 | //send normal data |
kityann | 0:daab5accfd83 | 124 | //Create GPS Infomation Packet |
kityann | 0:daab5accfd83 | 125 | agz.createReceiveStatusCommand(MyID,SenderIDc, |
kityann | 0:daab5accfd83 | 126 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 0:daab5accfd83 | 127 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 0:daab5accfd83 | 128 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 129 | |
kityann | 0:daab5accfd83 | 130 | //debug*************************************************** |
kityann | 0:daab5accfd83 | 131 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", |
kityann | 0:daab5accfd83 | 132 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 0:daab5accfd83 | 133 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 0:daab5accfd83 | 134 | agz.get_agzCov_lati(),agz.get_agzCov_longi() |
kityann | 0:daab5accfd83 | 135 | ); |
kityann | 0:daab5accfd83 | 136 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); |
kityann | 0:daab5accfd83 | 137 | printf("\n"); |
kityann | 0:daab5accfd83 | 138 | //debug end*************************************************** |
kityann | 0:daab5accfd83 | 139 | |
kityann | 0:daab5accfd83 | 140 | //Select Destination |
kityann | 0:daab5accfd83 | 141 | ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); |
kityann | 0:daab5accfd83 | 142 | //Send -> Base |
kityann | 0:daab5accfd83 | 143 | xbee.send(tx64request); |
kityann | 0:daab5accfd83 | 144 | } |
kityann | 0:daab5accfd83 | 145 | |
kityann | 0:daab5accfd83 | 146 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 147 | // |
kityann | 0:daab5accfd83 | 148 | //Get GPS function |
kityann | 0:daab5accfd83 | 149 | // |
kityann | 0:daab5accfd83 | 150 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 151 | |
kityann | 0:daab5accfd83 | 152 | void Get_GPS(Adafruit_GPS *myGPS){ |
kityann | 0:daab5accfd83 | 153 | static bool flag = true; |
kityann | 0:daab5accfd83 | 154 | |
kityann | 0:daab5accfd83 | 155 | if (myGPS->fix) { |
kityann | 0:daab5accfd83 | 156 | agz.nowStatus = GPS_AVAIL; |
kityann | 0:daab5accfd83 | 157 | |
kityann | 0:daab5accfd83 | 158 | if(flag){//初期値設定 |
kityann | 0:daab5accfd83 | 159 | if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){ |
kityann | 0:daab5accfd83 | 160 | flag = false; |
kityann | 0:daab5accfd83 | 161 | x[0][0]=(double)myGPS->latitudeL; |
kityann | 0:daab5accfd83 | 162 | x[0][1]=(double)myGPS->longitudeL; |
kityann | 0:daab5accfd83 | 163 | } |
kityann | 0:daab5accfd83 | 164 | } |
kityann | 0:daab5accfd83 | 165 | |
kityann | 0:daab5accfd83 | 166 | if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){ |
kityann | 0:daab5accfd83 | 167 | return; |
kityann | 0:daab5accfd83 | 168 | } |
kityann | 0:daab5accfd83 | 169 | //Kalman Filter |
kityann | 0:daab5accfd83 | 170 | Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS); |
kityann | 0:daab5accfd83 | 171 | |
kityann | 0:daab5accfd83 | 172 | agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL); |
kityann | 0:daab5accfd83 | 173 | agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL); |
kityann | 0:daab5accfd83 | 174 | } |
kityann | 0:daab5accfd83 | 175 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 0:daab5accfd83 | 176 | |
kityann | 0:daab5accfd83 | 177 | } |
s1200058 | 2:886fac7f4399 | 178 | |
s1200058 | 2:886fac7f4399 | 179 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 180 | // |
s1200058 | 2:886fac7f4399 | 181 | //New Mode |
s1200058 | 2:886fac7f4399 | 182 | // |
s1200058 | 2:886fac7f4399 | 183 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 184 | |
s1200058 | 2:886fac7f4399 | 185 | void New_Mode(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 186 | |
s1200058 | 2:886fac7f4399 | 187 | agz.changeMode(packetdata); |
s1200058 | 2:886fac7f4399 | 188 | |
s1200058 | 2:886fac7f4399 | 189 | } |
kityann | 1:b2b950b916ce | 190 | |
kityann | 1:b2b950b916ce | 191 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 192 | // |
kityann | 1:b2b950b916ce | 193 | //Get Status |
kityann | 1:b2b950b916ce | 194 | // |
kityann | 1:b2b950b916ce | 195 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 196 | void Get_Status(char SenderIDc,uint8_t *packetdata){ |
kityann | 1:b2b950b916ce | 197 | |
kityann | 1:b2b950b916ce | 198 | //マネージャからデータが来たとき |
kityann | 1:b2b950b916ce | 199 | if(SenderIDc == '0'){ |
kityann | 1:b2b950b916ce | 200 | printf("get manager Status\n"); |
kityann | 1:b2b950b916ce | 201 | } |
kityann | 1:b2b950b916ce | 202 | //他のロボットからデータが来たとき |
kityann | 1:b2b950b916ce | 203 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 1:b2b950b916ce | 204 | printf("get other robots Status\n"); |
kityann | 1:b2b950b916ce | 205 | } |
kityann | 1:b2b950b916ce | 206 | //基地局からデータが来たとき |
kityann | 1:b2b950b916ce | 207 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 1:b2b950b916ce | 208 | printf("Get Base data\n"); |
kityann | 1:b2b950b916ce | 209 | int id = SenderIDc - 'a'; |
kityann | 1:b2b950b916ce | 210 | agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]); |
kityann | 1:b2b950b916ce | 211 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
kityann | 1:b2b950b916ce | 212 | |
kityann | 1:b2b950b916ce | 213 | //debug |
kityann | 1:b2b950b916ce | 214 | for(int i = 0;i < 4;i++){ |
kityann | 1:b2b950b916ce | 215 | printf("BASE:%d\n",i); |
kityann | 1:b2b950b916ce | 216 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n", |
kityann | 1:b2b950b916ce | 217 | agz.get_basePoint_lati(i),agz.get_basePoint_longi(i), |
kityann | 1:b2b950b916ce | 218 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i) |
kityann | 1:b2b950b916ce | 219 | ); |
kityann | 1:b2b950b916ce | 220 | } |
kityann | 1:b2b950b916ce | 221 | } |
kityann | 1:b2b950b916ce | 222 | } |
kityann | 1:b2b950b916ce | 223 | |
s1200058 | 2:886fac7f4399 | 224 | void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 225 | |
s1200058 | 2:886fac7f4399 | 226 | //マネージャからデータが来たとき |
s1200058 | 2:886fac7f4399 | 227 | if(SenderIDc == '0'){ |
s1200058 | 2:886fac7f4399 | 228 | printf("get manager Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 229 | } |
s1200058 | 2:886fac7f4399 | 230 | //他のロボットからデータが来たとき |
s1200058 | 2:886fac7f4399 | 231 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
s1200058 | 2:886fac7f4399 | 232 | printf("get other robots Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 233 | } |
s1200058 | 2:886fac7f4399 | 234 | //基地局からデータが来たとき |
s1200058 | 2:886fac7f4399 | 235 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
s1200058 | 2:886fac7f4399 | 236 | printf("Get Base data Kalman\n"); |
s1200058 | 2:886fac7f4399 | 237 | int id = SenderIDc - 'a'; |
s1200058 | 2:886fac7f4399 | 238 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
s1200058 | 2:886fac7f4399 | 239 | |
s1200058 | 2:886fac7f4399 | 240 | //debug |
s1200058 | 2:886fac7f4399 | 241 | for(int i = 0;i < 4;i++){ |
s1200058 | 2:886fac7f4399 | 242 | printf("BASE:%d\n",i); |
s1200058 | 2:886fac7f4399 | 243 | printf("latitudeK:%f,longitudeK:%f\n", |
s1200058 | 2:886fac7f4399 | 244 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)); |
s1200058 | 2:886fac7f4399 | 245 | } |
s1200058 | 2:886fac7f4399 | 246 | } |
s1200058 | 2:886fac7f4399 | 247 | } |
s1200058 | 2:886fac7f4399 | 248 | |
kityann | 1:b2b950b916ce | 249 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 250 | // |
kityann | 1:b2b950b916ce | 251 | //Send_Request_to_base |
kityann | 1:b2b950b916ce | 252 | // |
kityann | 1:b2b950b916ce | 253 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 254 | void Send_Request_Base(int basenumber){ |
kityann | 1:b2b950b916ce | 255 | printf("send\n"); |
kityann | 1:b2b950b916ce | 256 | agz.createRequestCommand(MyID, basenumber); |
kityann | 1:b2b950b916ce | 257 | //Select Destination |
kityann | 1:b2b950b916ce | 258 | ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength()); |
kityann | 1:b2b950b916ce | 259 | //Send -> Base |
kityann | 1:b2b950b916ce | 260 | xbee.send(tx64request); |
kityann | 1:b2b950b916ce | 261 | } |
kityann | 0:daab5accfd83 | 262 | |
s1200058 | 3:1ac506a96fd6 | 263 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 264 | // |
s1200058 | 3:1ac506a96fd6 | 265 | //auto_Move |
s1200058 | 3:1ac506a96fd6 | 266 | // |
s1200058 | 3:1ac506a96fd6 | 267 | //InAreaかOutAreaの判定 |
s1200058 | 3:1ac506a96fd6 | 268 | //Kalmanを通した値を出力(Baseと自分) |
s1200058 | 3:1ac506a96fd6 | 269 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 270 | |
s1200058 | 3:1ac506a96fd6 | 271 | void auto_Move(){ |
s1200058 | 3:1ac506a96fd6 | 272 | |
s1200058 | 3:1ac506a96fd6 | 273 | bool result; |
s1200058 | 3:1ac506a96fd6 | 274 | int i; |
s1200058 | 3:1ac506a96fd6 | 275 | |
s1200058 | 3:1ac506a96fd6 | 276 | result = agz.gpsAuto(); |
s1200058 | 3:1ac506a96fd6 | 277 | agz.set_agzAutoGPS(); |
s1200058 | 3:1ac506a96fd6 | 278 | agz.set_agzKalmanGPS(); |
s1200058 | 3:1ac506a96fd6 | 279 | |
s1200058 | 3:1ac506a96fd6 | 280 | if(result == true){ |
s1200058 | 3:1ac506a96fd6 | 281 | printf("Out Area\n"); |
s1200058 | 3:1ac506a96fd6 | 282 | } |
s1200058 | 3:1ac506a96fd6 | 283 | else if(result == false){ |
s1200058 | 3:1ac506a96fd6 | 284 | printf("In Area\n"); |
s1200058 | 3:1ac506a96fd6 | 285 | } |
s1200058 | 3:1ac506a96fd6 | 286 | for(i = 0; i < 4; i++){ |
s1200058 | 3:1ac506a96fd6 | 287 | printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i)); |
s1200058 | 3:1ac506a96fd6 | 288 | } |
s1200058 | 3:1ac506a96fd6 | 289 | printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 3:1ac506a96fd6 | 290 | |
s1200058 | 3:1ac506a96fd6 | 291 | } |
s1200058 | 3:1ac506a96fd6 | 292 | |
kityann | 0:daab5accfd83 | 293 | |
kityann | 0:daab5accfd83 | 294 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 295 | // |
kityann | 0:daab5accfd83 | 296 | //Kalman Processing |
kityann | 0:daab5accfd83 | 297 | // |
kityann | 0:daab5accfd83 | 298 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 299 | |
kityann | 0:daab5accfd83 | 300 | void get_K(){ |
kityann | 0:daab5accfd83 | 301 | double temp[2][2]={ |
kityann | 0:daab5accfd83 | 302 | {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]}, |
kityann | 0:daab5accfd83 | 303 | {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]} |
kityann | 0:daab5accfd83 | 304 | }; |
kityann | 0:daab5accfd83 | 305 | double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1]; |
kityann | 0:daab5accfd83 | 306 | K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]); |
kityann | 0:daab5accfd83 | 307 | K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]); |
kityann | 0:daab5accfd83 | 308 | } |
kityann | 0:daab5accfd83 | 309 | |
kityann | 0:daab5accfd83 | 310 | |
kityann | 0:daab5accfd83 | 311 | void get_x(){ |
kityann | 0:daab5accfd83 | 312 | x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]); |
kityann | 0:daab5accfd83 | 313 | x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]); |
kityann | 0:daab5accfd83 | 314 | } |
kityann | 0:daab5accfd83 | 315 | |
kityann | 0:daab5accfd83 | 316 | |
kityann | 0:daab5accfd83 | 317 | void get_sigma(){ |
kityann | 0:daab5accfd83 | 318 | double temp[2][2]; |
kityann | 0:daab5accfd83 | 319 | for(int i=0;i<2;i++) { |
kityann | 0:daab5accfd83 | 320 | for(int j=0;j<2;j++) { |
kityann | 0:daab5accfd83 | 321 | for(int k=0;k<2;k++) { |
kityann | 0:daab5accfd83 | 322 | temp[i][j]+=K[1][i][k]*sigma[0][k][j]; |
kityann | 0:daab5accfd83 | 323 | } |
kityann | 0:daab5accfd83 | 324 | } |
kityann | 0:daab5accfd83 | 325 | } |
kityann | 0:daab5accfd83 | 326 | for(int i = 0;i < 2;i++){ |
kityann | 0:daab5accfd83 | 327 | for(int j = 0;j < 2;j++){ |
kityann | 0:daab5accfd83 | 328 | sigma[1][i][j] = sigma[0][i][j]-temp[i][j]; |
kityann | 0:daab5accfd83 | 329 | } |
kityann | 0:daab5accfd83 | 330 | } |
kityann | 0:daab5accfd83 | 331 | } |
kityann | 0:daab5accfd83 | 332 | |
kityann | 0:daab5accfd83 | 333 | void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){ |
kityann | 0:daab5accfd83 | 334 | y[0] = Latitude; |
kityann | 0:daab5accfd83 | 335 | y[1] = Longitude; |
kityann | 0:daab5accfd83 | 336 | //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS]; |
kityann | 0:daab5accfd83 | 337 | get_K(); |
kityann | 0:daab5accfd83 | 338 | //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]); |
kityann | 0:daab5accfd83 | 339 | get_x(); |
kityann | 0:daab5accfd83 | 340 | //sigma[t+1] = sigma[t]-K[t+1]*sigma[t]; |
kityann | 0:daab5accfd83 | 341 | get_sigma(); |
kityann | 0:daab5accfd83 | 342 | |
kityann | 0:daab5accfd83 | 343 | |
kityann | 0:daab5accfd83 | 344 | //kousinn |
kityann | 0:daab5accfd83 | 345 | for(int i = 0;i < 2;i++){ |
kityann | 0:daab5accfd83 | 346 | for(int j = 0;j < 2;j++){ |
kityann | 0:daab5accfd83 | 347 | K[0][i][j]=K[1][i][j]; |
kityann | 0:daab5accfd83 | 348 | x[0][i]=x[1][i]; |
kityann | 0:daab5accfd83 | 349 | sigma[0][i][j]=sigma[1][i][j]; |
kityann | 0:daab5accfd83 | 350 | } |
kityann | 0:daab5accfd83 | 351 | } |
kityann | 0:daab5accfd83 | 352 | |
kityann | 4:f36986ceb73d | 353 | if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN; |
kityann | 4:f36986ceb73d | 354 | if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN; |
kityann | 4:f36986ceb73d | 355 | |
kityann | 0:daab5accfd83 | 356 | myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering |
kityann | 0:daab5accfd83 | 357 | myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering |
kityann | 0:daab5accfd83 | 358 | myGPS->latitudeKL=(long)x[1][0];//latitude after filtering |
kityann | 0:daab5accfd83 | 359 | myGPS->longitudeKL=(long)x[1][1];//longitude after filtering |
kityann | 0:daab5accfd83 | 360 | |
kityann | 0:daab5accfd83 | 361 | agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]); |
kityann | 0:daab5accfd83 | 362 | } |
kityann | 0:daab5accfd83 | 363 | |
kityann | 0:daab5accfd83 | 364 | |
kityann | 0:daab5accfd83 | 365 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 366 | // |
kityann | 0:daab5accfd83 | 367 | //Main Processing |
kityann | 0:daab5accfd83 | 368 | // |
kityann | 0:daab5accfd83 | 369 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 370 | int main() { |
kityann | 0:daab5accfd83 | 371 | //start up time |
kityann | 0:daab5accfd83 | 372 | wait(3); |
kityann | 0:daab5accfd83 | 373 | //set pc frequency to 57600bps |
kityann | 0:daab5accfd83 | 374 | pc.baud(PC_BAUD_RATE); |
kityann | 0:daab5accfd83 | 375 | //set xbee frequency to 57600bps |
kityann | 0:daab5accfd83 | 376 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:daab5accfd83 | 377 | |
kityann | 0:daab5accfd83 | 378 | |
kityann | 0:daab5accfd83 | 379 | //GPS setting |
kityann | 0:daab5accfd83 | 380 | gps_Serial = new Serial(p28,p27); |
kityann | 0:daab5accfd83 | 381 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:daab5accfd83 | 382 | Timer refresh_Timer; |
kityann | 0:daab5accfd83 | 383 | const int refresh_Time = 2000; //refresh time in ms |
s1200058 | 3:1ac506a96fd6 | 384 | Timer auto_Timer; |
s1200058 | 3:1ac506a96fd6 | 385 | const int auto_Time = 2000; //refresh time in ms |
kityann | 0:daab5accfd83 | 386 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:daab5accfd83 | 387 | |
kityann | 0:daab5accfd83 | 388 | char SenderIDc; |
kityann | 0:daab5accfd83 | 389 | //GPS Send Command |
kityann | 0:daab5accfd83 | 390 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:daab5accfd83 | 391 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:daab5accfd83 | 392 | myGPS.sendCommand(PGCMD_ANTENNA); |
kityann | 0:daab5accfd83 | 393 | |
kityann | 0:daab5accfd83 | 394 | wait(2); |
kityann | 0:daab5accfd83 | 395 | |
kityann | 0:daab5accfd83 | 396 | //interrupt start |
kityann | 0:daab5accfd83 | 397 | refresh_Timer.start(); |
s1200058 | 3:1ac506a96fd6 | 398 | auto_Timer.start(); |
kityann | 1:b2b950b916ce | 399 | |
kityann | 0:daab5accfd83 | 400 | printf("start\n"); |
kityann | 0:daab5accfd83 | 401 | |
kityann | 0:daab5accfd83 | 402 | while (true) { |
kityann | 0:daab5accfd83 | 403 | |
kityann | 0:daab5accfd83 | 404 | //Check Xbee Buffer Available |
kityann | 0:daab5accfd83 | 405 | xbee.readPacket(); |
kityann | 0:daab5accfd83 | 406 | |
kityann | 0:daab5accfd83 | 407 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:daab5accfd83 | 408 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 409 | uint8_t *buf = zbRx.getFrameData(); |
kityann | 0:daab5accfd83 | 410 | |
kityann | 0:daab5accfd83 | 411 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:daab5accfd83 | 412 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 413 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
kityann | 0:daab5accfd83 | 414 | uint8_t *buf1 = &buf[11];//データの部分のみを格納する |
kityann | 0:daab5accfd83 | 415 | SenderIDc = buf1[5];//送信元のIDを取得する |
kityann | 0:daab5accfd83 | 416 | char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:daab5accfd83 | 417 | |
kityann | 0:daab5accfd83 | 418 | //Check Command Type |
kityann | 0:daab5accfd83 | 419 | switch(Command_type){ |
kityann | 0:daab5accfd83 | 420 | //Get Request command |
s1200058 | 2:886fac7f4399 | 421 | case MANUAL:{ |
s1200058 | 2:886fac7f4399 | 422 | Plus_Speed(buf1); |
s1200058 | 2:886fac7f4399 | 423 | break; |
s1200058 | 2:886fac7f4399 | 424 | } |
kityann | 0:daab5accfd83 | 425 | case STATUS_REQUEST:{ |
kityann | 0:daab5accfd83 | 426 | Send_Status(SenderIDc); |
kityann | 0:daab5accfd83 | 427 | break; |
kityann | 0:daab5accfd83 | 428 | } |
s1200058 | 2:886fac7f4399 | 429 | case CHANGE_MODE:{ |
s1200058 | 2:886fac7f4399 | 430 | New_Mode(buf1); |
s1200058 | 2:886fac7f4399 | 431 | break; |
s1200058 | 2:886fac7f4399 | 432 | } |
kityann | 1:b2b950b916ce | 433 | case RECEIVE_STATUS:{ |
kityann | 1:b2b950b916ce | 434 | Get_Status(SenderIDc,buf1); |
kityann | 1:b2b950b916ce | 435 | break; |
kityann | 1:b2b950b916ce | 436 | } |
s1200058 | 2:886fac7f4399 | 437 | case RECEIVE_KALMAN:{ |
s1200058 | 2:886fac7f4399 | 438 | Get_Status_Kalman(SenderIDc, buf1); |
s1200058 | 2:886fac7f4399 | 439 | break; |
s1200058 | 2:886fac7f4399 | 440 | } |
kityann | 0:daab5accfd83 | 441 | default:{ |
kityann | 0:daab5accfd83 | 442 | break; |
kityann | 0:daab5accfd83 | 443 | } |
kityann | 0:daab5accfd83 | 444 | }//endswitch |
kityann | 0:daab5accfd83 | 445 | }//endifZB_RX_RESPONSE |
kityann | 0:daab5accfd83 | 446 | }//endifisAvailable |
kityann | 0:daab5accfd83 | 447 | |
kityann | 0:daab5accfd83 | 448 | myGPS.read(); |
kityann | 0:daab5accfd83 | 449 | //recive gps module |
kityann | 0:daab5accfd83 | 450 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:daab5accfd83 | 451 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:daab5accfd83 | 452 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
kityann | 0:daab5accfd83 | 453 | continue; |
kityann | 0:daab5accfd83 | 454 | } |
kityann | 0:daab5accfd83 | 455 | } |
kityann | 1:b2b950b916ce | 456 | //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:daab5accfd83 | 457 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:daab5accfd83 | 458 | refresh_Timer.reset(); |
kityann | 0:daab5accfd83 | 459 | Get_GPS(&myGPS); |
kityann | 0:daab5accfd83 | 460 | |
kityann | 0:daab5accfd83 | 461 | } |
s1200058 | 3:1ac506a96fd6 | 462 | |
s1200058 | 3:1ac506a96fd6 | 463 | if(agz.nowMode == AUTO_MODE && auto_Timer.read_ms() >= auto_Time){ |
s1200058 | 3:1ac506a96fd6 | 464 | auto_Timer.reset(); |
s1200058 | 3:1ac506a96fd6 | 465 | auto_Move(); |
kityann | 1:b2b950b916ce | 466 | } |
kityann | 0:daab5accfd83 | 467 | } |
kityann | 0:daab5accfd83 | 468 | } |