![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
change main() longitudeL: from 138 to 140
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver3_4 by
main.cpp@33:3025b16bccd2, 2015-05-24 (annotated)
- Committer:
- s1200058
- Date:
- Sun May 24 08:06:17 2015 +0000
- Revision:
- 33:3025b16bccd2
- Parent:
- 32:6ba2e5402f00
change kalman
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 | // |
s1200058 | 21:76e7f36df4a9 | 8 | // |
kityann | 0:daab5accfd83 | 9 | // |
kityann | 0:daab5accfd83 | 10 | /**********************************************/ |
kityann | 0:daab5accfd83 | 11 | |
kityann | 0:daab5accfd83 | 12 | /**********************************************/ |
kityann | 0:daab5accfd83 | 13 | //更新情報 |
kityann | 0:daab5accfd83 | 14 | //2015/05/11 |
kityann | 0:daab5accfd83 | 15 | //ロボットプログラムの作成 |
kityann | 0:daab5accfd83 | 16 | // |
kityann | 4:f36986ceb73d | 17 | //2015/05/13 |
kityann | 4:f36986ceb73d | 18 | //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 | 19 | //共分散の値を10進数に変換するようにした |
kityann | 0:daab5accfd83 | 20 | // |
s1200058 | 21:76e7f36df4a9 | 21 | //2015/05/13 Yokokawa |
s1200058 | 6:13f212b75e71 | 22 | //何回目のGPSでとられたGPSか確認するようにしました。 |
s1200058 | 6:13f212b75e71 | 23 | // |
s1200058 | 17:e563cf8e6bcf | 24 | //2015/05/15 |
s1200058 | 17:e563cf8e6bcf | 25 | //プログラムcreateReceiveStatusCommand()にて |
s1200058 | 17:e563cf8e6bcf | 26 | //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。 |
s1200058 | 17:e563cf8e6bcf | 27 | // |
kityann | 23:c5071bf93db1 | 28 | //2015/05//17 |
kityann | 23:c5071bf93db1 | 29 | //Send_Status関数内を変更:基地局への送信データのみ現在のモードを入れるパケットの部分に内外判定の結果を入れるようにした |
kityann | 23:c5071bf93db1 | 30 | //基地局以外には現在のモードを送信するようにしてある |
kityann | 23:c5071bf93db1 | 31 | //要確認!!!! |
s1200058 | 28:4ccd7cfc6b1b | 32 | // |
s1200058 | 28:4ccd7cfc6b1b | 33 | //2015/05/17 |
s1200058 | 28:4ccd7cfc6b1b | 34 | //Get_GPS()の中身longitudeの範囲138〜140に変更 |
s1200058 | 28:4ccd7cfc6b1b | 35 | // |
s1200058 | 33:3025b16bccd2 | 36 | //2015/05/19 |
s1200058 | 33:3025b16bccd2 | 37 | //autoモードのとき、三十秒前進・三秒右に転回に変更した。 |
s1200058 | 33:3025b16bccd2 | 38 | // |
s1200058 | 32:6ba2e5402f00 | 39 | //2015/05/24 |
s1200058 | 32:6ba2e5402f00 | 40 | //Kalmanフィルターを十進数で計算するようにした。 |
s1200058 | 32:6ba2e5402f00 | 41 | //Kalmanフィルターの計算式を変更した。 |
s1200058 | 32:6ba2e5402f00 | 42 | //set_kalmanを追加した。 |
s1200058 | 32:6ba2e5402f00 | 43 | // |
kityann | 0:daab5accfd83 | 44 | /**********************************************/ |
kityann | 0:daab5accfd83 | 45 | |
kityann | 0:daab5accfd83 | 46 | #include "mbed.h" |
kityann | 0:daab5accfd83 | 47 | #include "XBee.h" |
kityann | 0:daab5accfd83 | 48 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:daab5accfd83 | 49 | #include "AigamozuControlPackets.h" |
kityann | 0:daab5accfd83 | 50 | #include "agzIDLIST.h" |
kityann | 0:daab5accfd83 | 51 | #include "aigamozuSetting.h" |
kityann | 0:daab5accfd83 | 52 | #include "Kalman.h" |
kityann | 0:daab5accfd83 | 53 | |
kityann | 4:f36986ceb73d | 54 | #define SIGMA_MIN 0.0001 |
kityann | 4:f36986ceb73d | 55 | |
kityann | 0:daab5accfd83 | 56 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 57 | //Robot ID: 'A' ~ 'Z' |
kityann | 0:daab5accfd83 | 58 | //Base ID: 'a' ~ 'a' |
kityann | 0:daab5accfd83 | 59 | //manager ID: '0'(数字のゼロ) |
kityann | 0:daab5accfd83 | 60 | // |
s1200058 | 29:524684a1198f | 61 | const char MyID = 'D'; |
kityann | 0:daab5accfd83 | 62 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 63 | |
kityann | 0:daab5accfd83 | 64 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 65 | // |
kityann | 0:daab5accfd83 | 66 | //Pin Setting |
kityann | 0:daab5accfd83 | 67 | // |
kityann | 0:daab5accfd83 | 68 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 69 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:daab5accfd83 | 70 | |
kityann | 0:daab5accfd83 | 71 | |
kityann | 0:daab5accfd83 | 72 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 73 | // |
kityann | 0:daab5accfd83 | 74 | //Connection Setting |
kityann | 0:daab5accfd83 | 75 | // |
kityann | 0:daab5accfd83 | 76 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 77 | |
kityann | 0:daab5accfd83 | 78 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:daab5accfd83 | 79 | Serial pc(USBTX, USBRX); |
kityann | 0:daab5accfd83 | 80 | |
kityann | 0:daab5accfd83 | 81 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:daab5accfd83 | 82 | Serial * gps_Serial; |
kityann | 0:daab5accfd83 | 83 | |
kityann | 0:daab5accfd83 | 84 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:daab5accfd83 | 85 | XBee xbee(p13,p14); |
kityann | 0:daab5accfd83 | 86 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:daab5accfd83 | 87 | |
kityann | 0:daab5accfd83 | 88 | //set up GPS module |
kityann | 0:daab5accfd83 | 89 | |
kityann | 0:daab5accfd83 | 90 | //set up AigamozuControlPackets library |
kityann | 0:daab5accfd83 | 91 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:daab5accfd83 | 92 | |
kityann | 0:daab5accfd83 | 93 | |
kityann | 0:daab5accfd83 | 94 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 95 | // |
kityann | 0:daab5accfd83 | 96 | //For Kalman data |
kityann | 0:daab5accfd83 | 97 | // |
kityann | 0:daab5accfd83 | 98 | ///////////////////////////////////////// |
s1200058 | 32:6ba2e5402f00 | 99 | #define FIRST_S2 0.000001 |
s1200058 | 32:6ba2e5402f00 | 100 | #define COUNTER_MAX 10000 |
s1200058 | 32:6ba2e5402f00 | 101 | double x_cur,x_prev,y_cur,y_prev;//緯度と経度の時刻tと時刻t-1での推定値 |
s1200058 | 32:6ba2e5402f00 | 102 | double s2x_cur=FIRST_S2,s2x_prev=FIRST_S2,s2y_cur=FIRST_S2,s2y_prev=FIRST_S2;//緯度経度のの時刻tと時刻t-1での共分散 |
s1200058 | 32:6ba2e5402f00 | 103 | double s2_R=FIRST_S2;//GPSセンサの分散 |
s1200058 | 32:6ba2e5402f00 | 104 | double Kx=0,Ky=0;//カルマンゲイン |
s1200058 | 32:6ba2e5402f00 | 105 | double zx,zy;//観測値 |
s1200058 | 32:6ba2e5402f00 | 106 | void Kalman(double Latitude,double Longitude); |
kityann | 0:daab5accfd83 | 107 | |
s1200058 | 2:886fac7f4399 | 108 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 109 | // |
s1200058 | 2:886fac7f4399 | 110 | //Plus Speed |
s1200058 | 2:886fac7f4399 | 111 | // |
s1200058 | 2:886fac7f4399 | 112 | //MNUAL_MODEの時にスピードを変える |
s1200058 | 2:886fac7f4399 | 113 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 114 | void Plus_Speed(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 115 | |
s1200058 | 2:886fac7f4399 | 116 | if(agz.nowMode == MANUAL_MODE){ |
s1200058 | 2:886fac7f4399 | 117 | agz.changeSpeed(packetdata); |
s1200058 | 2:886fac7f4399 | 118 | } |
s1200058 | 2:886fac7f4399 | 119 | |
s1200058 | 2:886fac7f4399 | 120 | } |
kityann | 0:daab5accfd83 | 121 | |
kityann | 0:daab5accfd83 | 122 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 123 | // |
s1200058 | 2:886fac7f4399 | 124 | //Send Status |
kityann | 0:daab5accfd83 | 125 | // |
kityann | 0:daab5accfd83 | 126 | //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 | 127 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 128 | void Send_Status(char SenderIDc){ |
kityann | 0:daab5accfd83 | 129 | XBeeAddress64 send_Address; |
s1200058 | 22:af860680417b | 130 | if(SenderIDc == '0'){ |
kityann | 0:daab5accfd83 | 131 | send_Address = manager_Address; |
kityann | 23:c5071bf93db1 | 132 | agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode, |
kityann | 23:c5071bf93db1 | 133 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 23:c5071bf93db1 | 134 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 23:c5071bf93db1 | 135 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 136 | } |
s1200058 | 25:ae5fab0946f2 | 137 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 0:daab5accfd83 | 138 | send_Address = robot_Address[SenderIDc - 'A']; |
s1200058 | 25:ae5fab0946f2 | 139 | //Create GPS Infomation Packet |
kityann | 24:698d4e920d33 | 140 | agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode, |
kityann | 23:c5071bf93db1 | 141 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 23:c5071bf93db1 | 142 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 23:c5071bf93db1 | 143 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 144 | } |
kityann | 0:daab5accfd83 | 145 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 0:daab5accfd83 | 146 | send_Address = base_Address[SenderIDc - 'a']; |
kityann | 24:698d4e920d33 | 147 | |
kityann | 24:698d4e920d33 | 148 | agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(), |
kityann | 23:c5071bf93db1 | 149 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 23:c5071bf93db1 | 150 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 24:698d4e920d33 | 151 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 152 | } |
kityann | 0:daab5accfd83 | 153 | //send normal data |
kityann | 23:c5071bf93db1 | 154 | |
s1200058 | 32:6ba2e5402f00 | 155 | /* |
kityann | 0:daab5accfd83 | 156 | //debug*************************************************** |
kityann | 0:daab5accfd83 | 157 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", |
kityann | 0:daab5accfd83 | 158 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 0:daab5accfd83 | 159 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 0:daab5accfd83 | 160 | agz.get_agzCov_lati(),agz.get_agzCov_longi() |
kityann | 0:daab5accfd83 | 161 | ); |
kityann | 0:daab5accfd83 | 162 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); |
kityann | 0:daab5accfd83 | 163 | printf("\n"); |
kityann | 0:daab5accfd83 | 164 | //debug end*************************************************** |
s1200058 | 32:6ba2e5402f00 | 165 | */ |
kityann | 0:daab5accfd83 | 166 | //Select Destination |
kityann | 0:daab5accfd83 | 167 | ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); |
kityann | 0:daab5accfd83 | 168 | //Send -> Base |
kityann | 0:daab5accfd83 | 169 | xbee.send(tx64request); |
s1200058 | 20:eee8ac8d1788 | 170 | |
kityann | 0:daab5accfd83 | 171 | } |
kityann | 0:daab5accfd83 | 172 | |
kityann | 0:daab5accfd83 | 173 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 174 | // |
kityann | 0:daab5accfd83 | 175 | //Get GPS function |
kityann | 0:daab5accfd83 | 176 | // |
kityann | 0:daab5accfd83 | 177 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 178 | |
kityann | 0:daab5accfd83 | 179 | void Get_GPS(Adafruit_GPS *myGPS){ |
s1200058 | 32:6ba2e5402f00 | 180 | static int flag = 0; |
kityann | 0:daab5accfd83 | 181 | |
kityann | 0:daab5accfd83 | 182 | if (myGPS->fix) { |
s1200058 | 32:6ba2e5402f00 | 183 | |
kityann | 0:daab5accfd83 | 184 | agz.nowStatus = GPS_AVAIL; |
s1200058 | 32:6ba2e5402f00 | 185 | agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL); |
kityann | 0:daab5accfd83 | 186 | |
s1200058 | 32:6ba2e5402f00 | 187 | if(flag < COUNTER_MAX){ |
s1200058 | 32:6ba2e5402f00 | 188 | flag++; |
s1200058 | 32:6ba2e5402f00 | 189 | } |
s1200058 | 33:3025b16bccd2 | 190 | if(flag == 5){ |
s1200058 | 32:6ba2e5402f00 | 191 | x_prev = agz.get_agzPoint_lati(); |
s1200058 | 32:6ba2e5402f00 | 192 | y_prev = agz.get_agzPoint_longi(); |
kityann | 0:daab5accfd83 | 193 | } |
s1200058 | 32:6ba2e5402f00 | 194 | |
s1200058 | 32:6ba2e5402f00 | 195 | if(flag >= 6){ |
s1200058 | 32:6ba2e5402f00 | 196 | Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi()); |
s1200058 | 32:6ba2e5402f00 | 197 | } |
s1200058 | 33:3025b16bccd2 | 198 | |
s1200058 | 33:3025b16bccd2 | 199 | printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n", |
s1200058 | 33:3025b16bccd2 | 200 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
s1200058 | 33:3025b16bccd2 | 201 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
s1200058 | 33:3025b16bccd2 | 202 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 203 | } |
kityann | 0:daab5accfd83 | 204 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 0:daab5accfd83 | 205 | |
kityann | 0:daab5accfd83 | 206 | } |
s1200058 | 2:886fac7f4399 | 207 | |
s1200058 | 2:886fac7f4399 | 208 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 209 | // |
s1200058 | 2:886fac7f4399 | 210 | //New Mode |
s1200058 | 2:886fac7f4399 | 211 | // |
s1200058 | 2:886fac7f4399 | 212 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 213 | |
s1200058 | 2:886fac7f4399 | 214 | void New_Mode(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 215 | |
s1200058 | 19:a806105ba365 | 216 | //bool result; |
s1200058 | 20:eee8ac8d1788 | 217 | agz.changeMode(packetdata); |
s1200058 | 2:886fac7f4399 | 218 | |
s1200058 | 2:886fac7f4399 | 219 | } |
kityann | 1:b2b950b916ce | 220 | |
kityann | 1:b2b950b916ce | 221 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 222 | // |
kityann | 1:b2b950b916ce | 223 | //Get Status |
kityann | 1:b2b950b916ce | 224 | // |
kityann | 1:b2b950b916ce | 225 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 226 | void Get_Status(char SenderIDc,uint8_t *packetdata){ |
kityann | 1:b2b950b916ce | 227 | |
kityann | 1:b2b950b916ce | 228 | //マネージャからデータが来たとき |
kityann | 1:b2b950b916ce | 229 | if(SenderIDc == '0'){ |
kityann | 1:b2b950b916ce | 230 | printf("get manager Status\n"); |
kityann | 1:b2b950b916ce | 231 | } |
kityann | 1:b2b950b916ce | 232 | //他のロボットからデータが来たとき |
kityann | 1:b2b950b916ce | 233 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 1:b2b950b916ce | 234 | printf("get other robots Status\n"); |
kityann | 1:b2b950b916ce | 235 | } |
kityann | 1:b2b950b916ce | 236 | //基地局からデータが来たとき |
kityann | 1:b2b950b916ce | 237 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 1:b2b950b916ce | 238 | printf("Get Base data\n"); |
kityann | 1:b2b950b916ce | 239 | int id = SenderIDc - 'a'; |
kityann | 1:b2b950b916ce | 240 | agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]); |
kityann | 1:b2b950b916ce | 241 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
kityann | 1:b2b950b916ce | 242 | |
kityann | 1:b2b950b916ce | 243 | //debug |
kityann | 1:b2b950b916ce | 244 | for(int i = 0;i < 4;i++){ |
kityann | 1:b2b950b916ce | 245 | printf("BASE:%d\n",i); |
kityann | 1:b2b950b916ce | 246 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n", |
kityann | 1:b2b950b916ce | 247 | agz.get_basePoint_lati(i),agz.get_basePoint_longi(i), |
kityann | 1:b2b950b916ce | 248 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i) |
kityann | 1:b2b950b916ce | 249 | ); |
kityann | 1:b2b950b916ce | 250 | } |
kityann | 1:b2b950b916ce | 251 | } |
kityann | 1:b2b950b916ce | 252 | } |
kityann | 1:b2b950b916ce | 253 | |
s1200058 | 2:886fac7f4399 | 254 | void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 255 | |
s1200058 | 2:886fac7f4399 | 256 | //マネージャからデータが来たとき |
s1200058 | 2:886fac7f4399 | 257 | if(SenderIDc == '0'){ |
s1200058 | 2:886fac7f4399 | 258 | printf("get manager Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 259 | } |
s1200058 | 2:886fac7f4399 | 260 | //他のロボットからデータが来たとき |
s1200058 | 2:886fac7f4399 | 261 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
s1200058 | 2:886fac7f4399 | 262 | printf("get other robots Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 263 | } |
s1200058 | 2:886fac7f4399 | 264 | //基地局からデータが来たとき |
s1200058 | 2:886fac7f4399 | 265 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
s1200058 | 2:886fac7f4399 | 266 | printf("Get Base data Kalman\n"); |
s1200058 | 2:886fac7f4399 | 267 | int id = SenderIDc - 'a'; |
s1200058 | 2:886fac7f4399 | 268 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
s1200058 | 2:886fac7f4399 | 269 | |
s1200058 | 2:886fac7f4399 | 270 | //debug |
s1200058 | 2:886fac7f4399 | 271 | for(int i = 0;i < 4;i++){ |
s1200058 | 2:886fac7f4399 | 272 | printf("BASE:%d\n",i); |
s1200058 | 2:886fac7f4399 | 273 | printf("latitudeK:%f,longitudeK:%f\n", |
s1200058 | 2:886fac7f4399 | 274 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)); |
s1200058 | 2:886fac7f4399 | 275 | } |
s1200058 | 2:886fac7f4399 | 276 | } |
s1200058 | 2:886fac7f4399 | 277 | } |
s1200058 | 2:886fac7f4399 | 278 | |
kityann | 1:b2b950b916ce | 279 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 280 | // |
kityann | 1:b2b950b916ce | 281 | //Send_Request_to_base |
kityann | 1:b2b950b916ce | 282 | // |
kityann | 1:b2b950b916ce | 283 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 284 | void Send_Request_Base(int basenumber){ |
kityann | 1:b2b950b916ce | 285 | printf("send\n"); |
kityann | 1:b2b950b916ce | 286 | agz.createRequestCommand(MyID, basenumber); |
kityann | 1:b2b950b916ce | 287 | //Select Destination |
kityann | 1:b2b950b916ce | 288 | ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength()); |
kityann | 1:b2b950b916ce | 289 | //Send -> Base |
kityann | 1:b2b950b916ce | 290 | xbee.send(tx64request); |
kityann | 1:b2b950b916ce | 291 | } |
kityann | 0:daab5accfd83 | 292 | |
s1200058 | 3:1ac506a96fd6 | 293 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 294 | // |
s1200058 | 3:1ac506a96fd6 | 295 | //auto_Move |
s1200058 | 3:1ac506a96fd6 | 296 | // |
s1200058 | 3:1ac506a96fd6 | 297 | //InAreaかOutAreaの判定 |
s1200058 | 3:1ac506a96fd6 | 298 | //Kalmanを通した値を出力(Baseと自分) |
s1200058 | 3:1ac506a96fd6 | 299 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 300 | |
s1200058 | 3:1ac506a96fd6 | 301 | void auto_Move(){ |
s1200058 | 3:1ac506a96fd6 | 302 | |
s1200058 | 3:1ac506a96fd6 | 303 | bool result; |
s1200058 | 3:1ac506a96fd6 | 304 | int i; |
s1200058 | 3:1ac506a96fd6 | 305 | |
s1200058 | 3:1ac506a96fd6 | 306 | result = agz.gpsAuto(); |
s1200058 | 20:eee8ac8d1788 | 307 | //agz.set_agzAutoGPS(); |
s1200058 | 20:eee8ac8d1788 | 308 | //agz.set_agzKalmanGPS(); |
s1200058 | 3:1ac506a96fd6 | 309 | |
s1200058 | 3:1ac506a96fd6 | 310 | if(result == true){ |
s1200058 | 3:1ac506a96fd6 | 311 | printf("Out Area\n"); |
s1200058 | 3:1ac506a96fd6 | 312 | } |
s1200058 | 3:1ac506a96fd6 | 313 | else if(result == false){ |
s1200058 | 3:1ac506a96fd6 | 314 | printf("In Area\n"); |
s1200058 | 3:1ac506a96fd6 | 315 | } |
s1200058 | 3:1ac506a96fd6 | 316 | for(i = 0; i < 4; i++){ |
s1200058 | 3:1ac506a96fd6 | 317 | printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i)); |
s1200058 | 3:1ac506a96fd6 | 318 | } |
s1200058 | 3:1ac506a96fd6 | 319 | printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 3:1ac506a96fd6 | 320 | |
s1200058 | 3:1ac506a96fd6 | 321 | } |
s1200058 | 3:1ac506a96fd6 | 322 | |
s1200058 | 5:522c47c78401 | 323 | void print_gps(int count){ |
s1200058 | 5:522c47c78401 | 324 | |
s1200058 | 5:522c47c78401 | 325 | printf("%d times:\n", count); |
s1200058 | 5:522c47c78401 | 326 | printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 5:522c47c78401 | 327 | |
s1200058 | 5:522c47c78401 | 328 | } |
kityann | 0:daab5accfd83 | 329 | |
s1200058 | 32:6ba2e5402f00 | 330 | |
kityann | 0:daab5accfd83 | 331 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 332 | // |
kityann | 0:daab5accfd83 | 333 | //Kalman Processing |
kityann | 0:daab5accfd83 | 334 | // |
kityann | 0:daab5accfd83 | 335 | ///////////////////////////////////////// |
s1200058 | 32:6ba2e5402f00 | 336 | void calc_Kalman(){ |
s1200058 | 32:6ba2e5402f00 | 337 | //calc Kalman gain |
s1200058 | 32:6ba2e5402f00 | 338 | Kx = s2x_prev/(s2x_prev+s2_R); |
s1200058 | 32:6ba2e5402f00 | 339 | Ky = s2y_prev/(s2y_prev+s2_R); |
s1200058 | 32:6ba2e5402f00 | 340 | //estimate |
s1200058 | 32:6ba2e5402f00 | 341 | x_cur = x_prev + Kx*(zx-x_prev); |
s1200058 | 32:6ba2e5402f00 | 342 | y_cur = y_prev + Ky*(zy-y_prev); |
s1200058 | 32:6ba2e5402f00 | 343 | //calc sigma |
s1200058 | 32:6ba2e5402f00 | 344 | s2x_cur = s2x_prev-Kx*s2x_prev; |
s1200058 | 32:6ba2e5402f00 | 345 | s2y_cur = s2y_prev-Ky*s2y_prev; |
kityann | 0:daab5accfd83 | 346 | |
kityann | 0:daab5accfd83 | 347 | } |
kityann | 0:daab5accfd83 | 348 | |
s1200058 | 32:6ba2e5402f00 | 349 | void Kalman(double Latitude,double Longitude){ |
s1200058 | 32:6ba2e5402f00 | 350 | |
s1200058 | 32:6ba2e5402f00 | 351 | zx = Latitude; |
s1200058 | 32:6ba2e5402f00 | 352 | zy = Longitude; |
s1200058 | 32:6ba2e5402f00 | 353 | |
s1200058 | 32:6ba2e5402f00 | 354 | calc_Kalman(); |
kityann | 0:daab5accfd83 | 355 | |
s1200058 | 32:6ba2e5402f00 | 356 | //更新 |
s1200058 | 32:6ba2e5402f00 | 357 | x_prev = x_cur; |
s1200058 | 32:6ba2e5402f00 | 358 | y_prev = y_cur; |
s1200058 | 32:6ba2e5402f00 | 359 | s2x_prev = s2x_cur; |
s1200058 | 32:6ba2e5402f00 | 360 | s2y_prev = s2y_cur; |
s1200058 | 25:ae5fab0946f2 | 361 | |
s1200058 | 32:6ba2e5402f00 | 362 | //agzPontKalmanとagzCovに格納する |
s1200058 | 32:6ba2e5402f00 | 363 | agz.set_agzPointKalman_lati(x_cur); |
s1200058 | 32:6ba2e5402f00 | 364 | agz.set_agzPointKalman_longi(y_cur); |
s1200058 | 32:6ba2e5402f00 | 365 | agz.set_agzCov(s2x_cur,s2y_cur); |
kityann | 0:daab5accfd83 | 366 | |
kityann | 0:daab5accfd83 | 367 | } |
kityann | 0:daab5accfd83 | 368 | |
kityann | 0:daab5accfd83 | 369 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 370 | // |
kityann | 0:daab5accfd83 | 371 | //Main Processing |
kityann | 0:daab5accfd83 | 372 | // |
kityann | 0:daab5accfd83 | 373 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 374 | int main() { |
kityann | 0:daab5accfd83 | 375 | //start up time |
kityann | 0:daab5accfd83 | 376 | wait(3); |
kityann | 0:daab5accfd83 | 377 | //set pc frequency to 57600bps |
kityann | 0:daab5accfd83 | 378 | pc.baud(PC_BAUD_RATE); |
kityann | 0:daab5accfd83 | 379 | //set xbee frequency to 57600bps |
kityann | 0:daab5accfd83 | 380 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:daab5accfd83 | 381 | |
kityann | 0:daab5accfd83 | 382 | |
kityann | 0:daab5accfd83 | 383 | //GPS setting |
kityann | 0:daab5accfd83 | 384 | gps_Serial = new Serial(p28,p27); |
kityann | 0:daab5accfd83 | 385 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:daab5accfd83 | 386 | Timer refresh_Timer; |
s1200058 | 7:a9a1acc7673b | 387 | const int refresh_Time = 1000; //refresh time in ms |
s1200058 | 3:1ac506a96fd6 | 388 | Timer auto_Timer; |
s1200058 | 3:1ac506a96fd6 | 389 | const int auto_Time = 2000; //refresh time in ms |
s1200058 | 5:522c47c78401 | 390 | int count = 0; |
s1200058 | 29:524684a1198f | 391 | |
s1200058 | 29:524684a1198f | 392 | const int straight = 30000, turning = 34000, wait = 31000; |
s1200058 | 29:524684a1198f | 393 | |
kityann | 0:daab5accfd83 | 394 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:daab5accfd83 | 395 | |
s1200058 | 14:5deb7a4f1cd4 | 396 | Timer collect_Timer; |
s1200058 | 14:5deb7a4f1cd4 | 397 | const int collect_Time = 2000; //when we collect 4 GPS point, we use |
s1200058 | 14:5deb7a4f1cd4 | 398 | int collect_flag = 0; |
s1200058 | 14:5deb7a4f1cd4 | 399 | |
kityann | 0:daab5accfd83 | 400 | char SenderIDc; |
kityann | 0:daab5accfd83 | 401 | //GPS Send Command |
kityann | 0:daab5accfd83 | 402 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:daab5accfd83 | 403 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:daab5accfd83 | 404 | myGPS.sendCommand(PGCMD_ANTENNA); |
kityann | 0:daab5accfd83 | 405 | |
s1200058 | 29:524684a1198f | 406 | wait_ms(2000); |
kityann | 0:daab5accfd83 | 407 | |
kityann | 0:daab5accfd83 | 408 | //interrupt start |
kityann | 0:daab5accfd83 | 409 | refresh_Timer.start(); |
s1200058 | 3:1ac506a96fd6 | 410 | auto_Timer.start(); |
s1200058 | 30:7f6ebe2121d9 | 411 | agz.Move_Timer.start(); |
s1200058 | 16:a07350b3eb64 | 412 | collect_Timer.start(); |
s1200058 | 29:524684a1198f | 413 | printf("start\n"); |
kityann | 1:b2b950b916ce | 414 | |
kityann | 0:daab5accfd83 | 415 | |
kityann | 0:daab5accfd83 | 416 | while (true) { |
kityann | 0:daab5accfd83 | 417 | |
kityann | 0:daab5accfd83 | 418 | //Check Xbee Buffer Available |
kityann | 0:daab5accfd83 | 419 | xbee.readPacket(); |
kityann | 0:daab5accfd83 | 420 | |
kityann | 0:daab5accfd83 | 421 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:daab5accfd83 | 422 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 423 | uint8_t *buf = zbRx.getFrameData(); |
kityann | 0:daab5accfd83 | 424 | |
kityann | 0:daab5accfd83 | 425 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:daab5accfd83 | 426 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 427 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
kityann | 0:daab5accfd83 | 428 | uint8_t *buf1 = &buf[11];//データの部分のみを格納する |
kityann | 0:daab5accfd83 | 429 | SenderIDc = buf1[5];//送信元のIDを取得する |
s1200058 | 21:76e7f36df4a9 | 430 | char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:daab5accfd83 | 431 | |
kityann | 0:daab5accfd83 | 432 | //Check Command Type |
kityann | 0:daab5accfd83 | 433 | switch(Command_type){ |
kityann | 0:daab5accfd83 | 434 | //Get Request command |
s1200058 | 2:886fac7f4399 | 435 | case MANUAL:{ |
s1200058 | 12:48ef69b4f0e4 | 436 | Plus_Speed(buf); |
s1200058 | 2:886fac7f4399 | 437 | break; |
s1200058 | 2:886fac7f4399 | 438 | } |
kityann | 0:daab5accfd83 | 439 | case STATUS_REQUEST:{ |
s1200058 | 21:76e7f36df4a9 | 440 | Send_Status(SenderIDc); |
s1200058 | 21:76e7f36df4a9 | 441 | printf("%c\n", SenderIDc); |
kityann | 0:daab5accfd83 | 442 | break; |
kityann | 0:daab5accfd83 | 443 | } |
s1200058 | 2:886fac7f4399 | 444 | case CHANGE_MODE:{ |
s1200058 | 12:48ef69b4f0e4 | 445 | New_Mode(buf); |
s1200058 | 2:886fac7f4399 | 446 | break; |
s1200058 | 2:886fac7f4399 | 447 | } |
kityann | 1:b2b950b916ce | 448 | case RECEIVE_STATUS:{ |
kityann | 1:b2b950b916ce | 449 | Get_Status(SenderIDc,buf1); |
kityann | 1:b2b950b916ce | 450 | break; |
kityann | 1:b2b950b916ce | 451 | } |
kityann | 0:daab5accfd83 | 452 | default:{ |
kityann | 0:daab5accfd83 | 453 | break; |
kityann | 0:daab5accfd83 | 454 | } |
kityann | 0:daab5accfd83 | 455 | }//endswitch |
kityann | 0:daab5accfd83 | 456 | }//endifZB_RX_RESPONSE |
kityann | 0:daab5accfd83 | 457 | }//endifisAvailable |
kityann | 0:daab5accfd83 | 458 | |
kityann | 0:daab5accfd83 | 459 | myGPS.read(); |
kityann | 0:daab5accfd83 | 460 | //recive gps module |
kityann | 0:daab5accfd83 | 461 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:daab5accfd83 | 462 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:daab5accfd83 | 463 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
s1200058 | 8:994c73f6fad9 | 464 | continue; |
s1200058 | 8:994c73f6fad9 | 465 | } |
s1200058 | 8:994c73f6fad9 | 466 | else{ |
s1200058 | 5:522c47c78401 | 467 | count++; |
s1200058 | 8:994c73f6fad9 | 468 | } |
kityann | 0:daab5accfd83 | 469 | } |
kityann | 1:b2b950b916ce | 470 | //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 | 471 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:daab5accfd83 | 472 | refresh_Timer.reset(); |
s1200058 | 12:48ef69b4f0e4 | 473 | //print_gps(count); |
kityann | 0:daab5accfd83 | 474 | Get_GPS(&myGPS); |
kityann | 0:daab5accfd83 | 475 | |
kityann | 0:daab5accfd83 | 476 | } |
s1200058 | 20:eee8ac8d1788 | 477 | |
s1200058 | 20:eee8ac8d1788 | 478 | //get base GPS |
s1200058 | 14:5deb7a4f1cd4 | 479 | if( collect_Timer.read_ms() >= collect_Time){ |
s1200058 | 15:f3d01f37f00d | 480 | collect_Timer.reset(); |
s1200058 | 15:f3d01f37f00d | 481 | |
s1200058 | 15:f3d01f37f00d | 482 | Send_Request_Base(collect_flag); |
s1200058 | 14:5deb7a4f1cd4 | 483 | |
s1200058 | 14:5deb7a4f1cd4 | 484 | collect_flag++; |
s1200058 | 14:5deb7a4f1cd4 | 485 | |
s1200058 | 14:5deb7a4f1cd4 | 486 | if(collect_flag == 4){ |
s1200058 | 14:5deb7a4f1cd4 | 487 | collect_flag = 0; |
s1200058 | 14:5deb7a4f1cd4 | 488 | } |
s1200058 | 14:5deb7a4f1cd4 | 489 | } |
s1200058 | 20:eee8ac8d1788 | 490 | |
s1200058 | 14:5deb7a4f1cd4 | 491 | if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){ |
s1200058 | 29:524684a1198f | 492 | auto_Timer.reset(); |
s1200058 | 29:524684a1198f | 493 | auto_Move(); |
s1200058 | 29:524684a1198f | 494 | } |
s1200058 | 29:524684a1198f | 495 | |
s1200058 | 29:524684a1198f | 496 | if(agz.nowMode == AUTO_GPS_MODE){ |
s1200058 | 30:7f6ebe2121d9 | 497 | if(agz.Move_Timer.read_ms() < straight){ |
s1200058 | 29:524684a1198f | 498 | agz.test_Auto(0); //straight |
s1200058 | 29:524684a1198f | 499 | } |
s1200058 | 30:7f6ebe2121d9 | 500 | if(agz.Move_Timer.read_ms() > straight && agz.Move_Timer.read_ms() < wait){ |
s1200058 | 29:524684a1198f | 501 | agz.test_Auto(1); |
s1200058 | 29:524684a1198f | 502 | } |
s1200058 | 30:7f6ebe2121d9 | 503 | if(agz.Move_Timer.read_ms() > wait && agz.Move_Timer.read_ms() < turning){ |
s1200058 | 29:524684a1198f | 504 | agz.test_Auto(2); //Turn Right |
s1200058 | 29:524684a1198f | 505 | } |
s1200058 | 30:7f6ebe2121d9 | 506 | if(agz.Move_Timer.read_ms() > turning){ |
s1200058 | 29:524684a1198f | 507 | agz.test_Auto(3); |
s1200058 | 29:524684a1198f | 508 | wait_ms(200); |
s1200058 | 30:7f6ebe2121d9 | 509 | agz.Move_Timer.reset(); |
kityann | 1:b2b950b916ce | 510 | } |
kityann | 0:daab5accfd83 | 511 | } |
s1200058 | 29:524684a1198f | 512 | } |
kityann | 0:daab5accfd83 | 513 | } |