change kalman
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver4 by
main.cpp@6:13f212b75e71, 2015-05-13 (annotated)
- Committer:
- s1200058
- Date:
- Wed May 13 09:00:53 2015 +0000
- Revision:
- 6:13f212b75e71
- Parent:
- 5:522c47c78401
- Child:
- 7:a9a1acc7673b
yokokawa
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 | // |
s1200058 | 6:13f212b75e71 | 20 | //2015/05/13 |
s1200058 | 6:13f212b75e71 | 21 | //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 | 22 | // |
kityann | 0:daab5accfd83 | 23 | /**********************************************/ |
kityann | 0:daab5accfd83 | 24 | |
kityann | 0:daab5accfd83 | 25 | #include "mbed.h" |
kityann | 0:daab5accfd83 | 26 | #include "XBee.h" |
kityann | 0:daab5accfd83 | 27 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:daab5accfd83 | 28 | #include "AigamozuControlPackets.h" |
kityann | 0:daab5accfd83 | 29 | #include "agzIDLIST.h" |
kityann | 0:daab5accfd83 | 30 | #include "aigamozuSetting.h" |
kityann | 0:daab5accfd83 | 31 | #include "Kalman.h" |
kityann | 0:daab5accfd83 | 32 | |
kityann | 4:f36986ceb73d | 33 | #define SIGMA_MIN 0.0001 |
kityann | 4:f36986ceb73d | 34 | |
kityann | 0:daab5accfd83 | 35 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 36 | //Robot ID: 'A' ~ 'Z' |
kityann | 0:daab5accfd83 | 37 | //Base ID: 'a' ~ 'a' |
kityann | 0:daab5accfd83 | 38 | //manager ID: '0'(数字のゼロ) |
kityann | 0:daab5accfd83 | 39 | // |
kityann | 1:b2b950b916ce | 40 | const char MyID = 'd'; |
kityann | 0:daab5accfd83 | 41 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 42 | |
kityann | 0:daab5accfd83 | 43 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 44 | // |
kityann | 0:daab5accfd83 | 45 | //Pin Setting |
kityann | 0:daab5accfd83 | 46 | // |
kityann | 0:daab5accfd83 | 47 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 48 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:daab5accfd83 | 49 | |
kityann | 0:daab5accfd83 | 50 | |
kityann | 0:daab5accfd83 | 51 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 52 | // |
kityann | 0:daab5accfd83 | 53 | //Connection Setting |
kityann | 0:daab5accfd83 | 54 | // |
kityann | 0:daab5accfd83 | 55 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 56 | |
kityann | 0:daab5accfd83 | 57 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:daab5accfd83 | 58 | Serial pc(USBTX, USBRX); |
kityann | 0:daab5accfd83 | 59 | |
kityann | 0:daab5accfd83 | 60 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:daab5accfd83 | 61 | Serial * gps_Serial; |
kityann | 0:daab5accfd83 | 62 | |
kityann | 0:daab5accfd83 | 63 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:daab5accfd83 | 64 | XBee xbee(p13,p14); |
kityann | 0:daab5accfd83 | 65 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:daab5accfd83 | 66 | |
kityann | 0:daab5accfd83 | 67 | //set up GPS module |
kityann | 0:daab5accfd83 | 68 | |
kityann | 0:daab5accfd83 | 69 | //set up AigamozuControlPackets library |
kityann | 0:daab5accfd83 | 70 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:daab5accfd83 | 71 | |
kityann | 0:daab5accfd83 | 72 | |
kityann | 0:daab5accfd83 | 73 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 74 | // |
kityann | 0:daab5accfd83 | 75 | //For Kalman data |
kityann | 0:daab5accfd83 | 76 | // |
kityann | 0:daab5accfd83 | 77 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 78 | double sigmaGPS[2][2] = {{250,0},{0,250}}; |
kityann | 0:daab5accfd83 | 79 | double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}}; |
kityann | 0:daab5accfd83 | 80 | double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}}; |
kityann | 0:daab5accfd83 | 81 | double y[2],x[2][2]={0}; |
kityann | 0:daab5accfd83 | 82 | void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS); |
kityann | 0:daab5accfd83 | 83 | |
kityann | 0:daab5accfd83 | 84 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 85 | // |
kityann | 0:daab5accfd83 | 86 | //Address List |
kityann | 0:daab5accfd83 | 87 | // |
kityann | 0:daab5accfd83 | 88 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 89 | XBeeAddress64 base_Address[BaseNumber] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L), |
kityann | 0:daab5accfd83 | 90 | XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L), |
kityann | 0:daab5accfd83 | 91 | XBeeAddress64(BASE5_32H,BASE5_32L)}; |
kityann | 0:daab5accfd83 | 92 | XBeeAddress64 robot_Address[RobotNumber] = {XBeeAddress64(ROBOT1_32H,ROBOT1_32L), XBeeAddress64(ROBOT1_32H,ROBOT1_32L)}; |
kityann | 0:daab5accfd83 | 93 | XBeeAddress64 manager_Address = XBeeAddress64(BASE1_32H,BASE1_32L); |
kityann | 0:daab5accfd83 | 94 | |
s1200058 | 2:886fac7f4399 | 95 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 96 | // |
s1200058 | 2:886fac7f4399 | 97 | //Plus Speed |
s1200058 | 2:886fac7f4399 | 98 | // |
s1200058 | 2:886fac7f4399 | 99 | //MNUAL_MODEの時にスピードを変える |
s1200058 | 2:886fac7f4399 | 100 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 101 | void Plus_Speed(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 102 | |
s1200058 | 2:886fac7f4399 | 103 | if(agz.nowMode == MANUAL_MODE){ |
s1200058 | 2:886fac7f4399 | 104 | agz.changeSpeed(packetdata); |
s1200058 | 2:886fac7f4399 | 105 | } |
s1200058 | 2:886fac7f4399 | 106 | |
s1200058 | 2:886fac7f4399 | 107 | } |
kityann | 0:daab5accfd83 | 108 | |
kityann | 0:daab5accfd83 | 109 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 110 | // |
s1200058 | 2:886fac7f4399 | 111 | //Send Status |
kityann | 0:daab5accfd83 | 112 | // |
kityann | 0:daab5accfd83 | 113 | //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 | 114 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 115 | void Send_Status(char SenderIDc){ |
kityann | 0:daab5accfd83 | 116 | XBeeAddress64 send_Address; |
kityann | 0:daab5accfd83 | 117 | if(SenderIDc == '0'){ |
kityann | 0:daab5accfd83 | 118 | send_Address = manager_Address; |
kityann | 0:daab5accfd83 | 119 | } |
kityann | 0:daab5accfd83 | 120 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 0:daab5accfd83 | 121 | send_Address = robot_Address[SenderIDc - 'A']; |
kityann | 0:daab5accfd83 | 122 | } |
kityann | 0:daab5accfd83 | 123 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 0:daab5accfd83 | 124 | send_Address = base_Address[SenderIDc - 'a']; |
kityann | 0:daab5accfd83 | 125 | } |
kityann | 0:daab5accfd83 | 126 | //send normal data |
kityann | 0:daab5accfd83 | 127 | //Create GPS Infomation Packet |
kityann | 0:daab5accfd83 | 128 | agz.createReceiveStatusCommand(MyID,SenderIDc, |
kityann | 0:daab5accfd83 | 129 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 0:daab5accfd83 | 130 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 0:daab5accfd83 | 131 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 132 | |
kityann | 0:daab5accfd83 | 133 | //debug*************************************************** |
kityann | 0:daab5accfd83 | 134 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", |
kityann | 0:daab5accfd83 | 135 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 0:daab5accfd83 | 136 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 0:daab5accfd83 | 137 | agz.get_agzCov_lati(),agz.get_agzCov_longi() |
kityann | 0:daab5accfd83 | 138 | ); |
kityann | 0:daab5accfd83 | 139 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); |
kityann | 0:daab5accfd83 | 140 | printf("\n"); |
kityann | 0:daab5accfd83 | 141 | //debug end*************************************************** |
kityann | 0:daab5accfd83 | 142 | |
kityann | 0:daab5accfd83 | 143 | //Select Destination |
kityann | 0:daab5accfd83 | 144 | ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); |
kityann | 0:daab5accfd83 | 145 | //Send -> Base |
kityann | 0:daab5accfd83 | 146 | xbee.send(tx64request); |
kityann | 0:daab5accfd83 | 147 | } |
kityann | 0:daab5accfd83 | 148 | |
kityann | 0:daab5accfd83 | 149 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 150 | // |
kityann | 0:daab5accfd83 | 151 | //Get GPS function |
kityann | 0:daab5accfd83 | 152 | // |
kityann | 0:daab5accfd83 | 153 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 154 | |
kityann | 0:daab5accfd83 | 155 | void Get_GPS(Adafruit_GPS *myGPS){ |
kityann | 0:daab5accfd83 | 156 | static bool flag = true; |
kityann | 0:daab5accfd83 | 157 | |
kityann | 0:daab5accfd83 | 158 | if (myGPS->fix) { |
kityann | 0:daab5accfd83 | 159 | agz.nowStatus = GPS_AVAIL; |
kityann | 0:daab5accfd83 | 160 | |
kityann | 0:daab5accfd83 | 161 | if(flag){//初期値設定 |
kityann | 0:daab5accfd83 | 162 | if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){ |
kityann | 0:daab5accfd83 | 163 | flag = false; |
kityann | 0:daab5accfd83 | 164 | x[0][0]=(double)myGPS->latitudeL; |
kityann | 0:daab5accfd83 | 165 | x[0][1]=(double)myGPS->longitudeL; |
kityann | 0:daab5accfd83 | 166 | } |
kityann | 0:daab5accfd83 | 167 | } |
kityann | 0:daab5accfd83 | 168 | |
kityann | 0:daab5accfd83 | 169 | if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){ |
kityann | 0:daab5accfd83 | 170 | return; |
kityann | 0:daab5accfd83 | 171 | } |
kityann | 0:daab5accfd83 | 172 | //Kalman Filter |
kityann | 0:daab5accfd83 | 173 | Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS); |
kityann | 0:daab5accfd83 | 174 | |
kityann | 0:daab5accfd83 | 175 | agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL); |
kityann | 0:daab5accfd83 | 176 | agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL); |
kityann | 0:daab5accfd83 | 177 | } |
kityann | 0:daab5accfd83 | 178 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 0:daab5accfd83 | 179 | |
kityann | 0:daab5accfd83 | 180 | } |
s1200058 | 2:886fac7f4399 | 181 | |
s1200058 | 2:886fac7f4399 | 182 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 183 | // |
s1200058 | 2:886fac7f4399 | 184 | //New Mode |
s1200058 | 2:886fac7f4399 | 185 | // |
s1200058 | 2:886fac7f4399 | 186 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 187 | |
s1200058 | 2:886fac7f4399 | 188 | void New_Mode(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 189 | |
s1200058 | 2:886fac7f4399 | 190 | agz.changeMode(packetdata); |
s1200058 | 2:886fac7f4399 | 191 | |
s1200058 | 2:886fac7f4399 | 192 | } |
kityann | 1:b2b950b916ce | 193 | |
kityann | 1:b2b950b916ce | 194 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 195 | // |
kityann | 1:b2b950b916ce | 196 | //Get Status |
kityann | 1:b2b950b916ce | 197 | // |
kityann | 1:b2b950b916ce | 198 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 199 | void Get_Status(char SenderIDc,uint8_t *packetdata){ |
kityann | 1:b2b950b916ce | 200 | |
kityann | 1:b2b950b916ce | 201 | //マネージャからデータが来たとき |
kityann | 1:b2b950b916ce | 202 | if(SenderIDc == '0'){ |
kityann | 1:b2b950b916ce | 203 | printf("get manager Status\n"); |
kityann | 1:b2b950b916ce | 204 | } |
kityann | 1:b2b950b916ce | 205 | //他のロボットからデータが来たとき |
kityann | 1:b2b950b916ce | 206 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 1:b2b950b916ce | 207 | printf("get other robots Status\n"); |
kityann | 1:b2b950b916ce | 208 | } |
kityann | 1:b2b950b916ce | 209 | //基地局からデータが来たとき |
kityann | 1:b2b950b916ce | 210 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 1:b2b950b916ce | 211 | printf("Get Base data\n"); |
kityann | 1:b2b950b916ce | 212 | int id = SenderIDc - 'a'; |
kityann | 1:b2b950b916ce | 213 | agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]); |
kityann | 1:b2b950b916ce | 214 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
kityann | 1:b2b950b916ce | 215 | |
kityann | 1:b2b950b916ce | 216 | //debug |
kityann | 1:b2b950b916ce | 217 | for(int i = 0;i < 4;i++){ |
kityann | 1:b2b950b916ce | 218 | printf("BASE:%d\n",i); |
kityann | 1:b2b950b916ce | 219 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n", |
kityann | 1:b2b950b916ce | 220 | agz.get_basePoint_lati(i),agz.get_basePoint_longi(i), |
kityann | 1:b2b950b916ce | 221 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i) |
kityann | 1:b2b950b916ce | 222 | ); |
kityann | 1:b2b950b916ce | 223 | } |
kityann | 1:b2b950b916ce | 224 | } |
kityann | 1:b2b950b916ce | 225 | } |
kityann | 1:b2b950b916ce | 226 | |
s1200058 | 2:886fac7f4399 | 227 | void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 228 | |
s1200058 | 2:886fac7f4399 | 229 | //マネージャからデータが来たとき |
s1200058 | 2:886fac7f4399 | 230 | if(SenderIDc == '0'){ |
s1200058 | 2:886fac7f4399 | 231 | printf("get manager Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 232 | } |
s1200058 | 2:886fac7f4399 | 233 | //他のロボットからデータが来たとき |
s1200058 | 2:886fac7f4399 | 234 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
s1200058 | 2:886fac7f4399 | 235 | printf("get other robots Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 236 | } |
s1200058 | 2:886fac7f4399 | 237 | //基地局からデータが来たとき |
s1200058 | 2:886fac7f4399 | 238 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
s1200058 | 2:886fac7f4399 | 239 | printf("Get Base data Kalman\n"); |
s1200058 | 2:886fac7f4399 | 240 | int id = SenderIDc - 'a'; |
s1200058 | 2:886fac7f4399 | 241 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
s1200058 | 2:886fac7f4399 | 242 | |
s1200058 | 2:886fac7f4399 | 243 | //debug |
s1200058 | 2:886fac7f4399 | 244 | for(int i = 0;i < 4;i++){ |
s1200058 | 2:886fac7f4399 | 245 | printf("BASE:%d\n",i); |
s1200058 | 2:886fac7f4399 | 246 | printf("latitudeK:%f,longitudeK:%f\n", |
s1200058 | 2:886fac7f4399 | 247 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)); |
s1200058 | 2:886fac7f4399 | 248 | } |
s1200058 | 2:886fac7f4399 | 249 | } |
s1200058 | 2:886fac7f4399 | 250 | } |
s1200058 | 2:886fac7f4399 | 251 | |
kityann | 1:b2b950b916ce | 252 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 253 | // |
kityann | 1:b2b950b916ce | 254 | //Send_Request_to_base |
kityann | 1:b2b950b916ce | 255 | // |
kityann | 1:b2b950b916ce | 256 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 257 | void Send_Request_Base(int basenumber){ |
kityann | 1:b2b950b916ce | 258 | printf("send\n"); |
kityann | 1:b2b950b916ce | 259 | agz.createRequestCommand(MyID, basenumber); |
kityann | 1:b2b950b916ce | 260 | //Select Destination |
kityann | 1:b2b950b916ce | 261 | ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength()); |
kityann | 1:b2b950b916ce | 262 | //Send -> Base |
kityann | 1:b2b950b916ce | 263 | xbee.send(tx64request); |
kityann | 1:b2b950b916ce | 264 | } |
kityann | 0:daab5accfd83 | 265 | |
s1200058 | 3:1ac506a96fd6 | 266 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 267 | // |
s1200058 | 3:1ac506a96fd6 | 268 | //auto_Move |
s1200058 | 3:1ac506a96fd6 | 269 | // |
s1200058 | 3:1ac506a96fd6 | 270 | //InAreaかOutAreaの判定 |
s1200058 | 3:1ac506a96fd6 | 271 | //Kalmanを通した値を出力(Baseと自分) |
s1200058 | 3:1ac506a96fd6 | 272 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 273 | |
s1200058 | 3:1ac506a96fd6 | 274 | void auto_Move(){ |
s1200058 | 3:1ac506a96fd6 | 275 | |
s1200058 | 3:1ac506a96fd6 | 276 | bool result; |
s1200058 | 3:1ac506a96fd6 | 277 | int i; |
s1200058 | 3:1ac506a96fd6 | 278 | |
s1200058 | 3:1ac506a96fd6 | 279 | result = agz.gpsAuto(); |
s1200058 | 3:1ac506a96fd6 | 280 | agz.set_agzAutoGPS(); |
s1200058 | 3:1ac506a96fd6 | 281 | agz.set_agzKalmanGPS(); |
s1200058 | 3:1ac506a96fd6 | 282 | |
s1200058 | 3:1ac506a96fd6 | 283 | if(result == true){ |
s1200058 | 3:1ac506a96fd6 | 284 | printf("Out Area\n"); |
s1200058 | 3:1ac506a96fd6 | 285 | } |
s1200058 | 3:1ac506a96fd6 | 286 | else if(result == false){ |
s1200058 | 3:1ac506a96fd6 | 287 | printf("In Area\n"); |
s1200058 | 3:1ac506a96fd6 | 288 | } |
s1200058 | 3:1ac506a96fd6 | 289 | for(i = 0; i < 4; i++){ |
s1200058 | 3:1ac506a96fd6 | 290 | printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i)); |
s1200058 | 3:1ac506a96fd6 | 291 | } |
s1200058 | 3:1ac506a96fd6 | 292 | printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 3:1ac506a96fd6 | 293 | |
s1200058 | 3:1ac506a96fd6 | 294 | } |
s1200058 | 3:1ac506a96fd6 | 295 | |
s1200058 | 5:522c47c78401 | 296 | void print_gps(int count){ |
s1200058 | 5:522c47c78401 | 297 | |
s1200058 | 5:522c47c78401 | 298 | printf("%d times:\n", count); |
s1200058 | 5:522c47c78401 | 299 | printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 5:522c47c78401 | 300 | |
s1200058 | 5:522c47c78401 | 301 | } |
kityann | 0:daab5accfd83 | 302 | |
kityann | 0:daab5accfd83 | 303 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 304 | // |
kityann | 0:daab5accfd83 | 305 | //Kalman Processing |
kityann | 0:daab5accfd83 | 306 | // |
kityann | 0:daab5accfd83 | 307 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 308 | |
kityann | 0:daab5accfd83 | 309 | void get_K(){ |
kityann | 0:daab5accfd83 | 310 | double temp[2][2]={ |
kityann | 0:daab5accfd83 | 311 | {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]}, |
kityann | 0:daab5accfd83 | 312 | {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]} |
kityann | 0:daab5accfd83 | 313 | }; |
kityann | 0:daab5accfd83 | 314 | double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1]; |
kityann | 0:daab5accfd83 | 315 | K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]); |
kityann | 0:daab5accfd83 | 316 | K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]); |
kityann | 0:daab5accfd83 | 317 | } |
kityann | 0:daab5accfd83 | 318 | |
kityann | 0:daab5accfd83 | 319 | |
kityann | 0:daab5accfd83 | 320 | void get_x(){ |
kityann | 0:daab5accfd83 | 321 | x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]); |
kityann | 0:daab5accfd83 | 322 | x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]); |
kityann | 0:daab5accfd83 | 323 | } |
kityann | 0:daab5accfd83 | 324 | |
kityann | 0:daab5accfd83 | 325 | |
kityann | 0:daab5accfd83 | 326 | void get_sigma(){ |
kityann | 0:daab5accfd83 | 327 | double temp[2][2]; |
kityann | 0:daab5accfd83 | 328 | for(int i=0;i<2;i++) { |
kityann | 0:daab5accfd83 | 329 | for(int j=0;j<2;j++) { |
kityann | 0:daab5accfd83 | 330 | for(int k=0;k<2;k++) { |
kityann | 0:daab5accfd83 | 331 | temp[i][j]+=K[1][i][k]*sigma[0][k][j]; |
kityann | 0:daab5accfd83 | 332 | } |
kityann | 0:daab5accfd83 | 333 | } |
kityann | 0:daab5accfd83 | 334 | } |
kityann | 0:daab5accfd83 | 335 | for(int i = 0;i < 2;i++){ |
kityann | 0:daab5accfd83 | 336 | for(int j = 0;j < 2;j++){ |
kityann | 0:daab5accfd83 | 337 | sigma[1][i][j] = sigma[0][i][j]-temp[i][j]; |
kityann | 0:daab5accfd83 | 338 | } |
kityann | 0:daab5accfd83 | 339 | } |
kityann | 0:daab5accfd83 | 340 | } |
kityann | 0:daab5accfd83 | 341 | |
kityann | 0:daab5accfd83 | 342 | void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){ |
kityann | 0:daab5accfd83 | 343 | y[0] = Latitude; |
kityann | 0:daab5accfd83 | 344 | y[1] = Longitude; |
kityann | 0:daab5accfd83 | 345 | //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS]; |
kityann | 0:daab5accfd83 | 346 | get_K(); |
kityann | 0:daab5accfd83 | 347 | //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]); |
kityann | 0:daab5accfd83 | 348 | get_x(); |
kityann | 0:daab5accfd83 | 349 | //sigma[t+1] = sigma[t]-K[t+1]*sigma[t]; |
kityann | 0:daab5accfd83 | 350 | get_sigma(); |
kityann | 0:daab5accfd83 | 351 | |
kityann | 0:daab5accfd83 | 352 | |
kityann | 0:daab5accfd83 | 353 | //kousinn |
kityann | 0:daab5accfd83 | 354 | for(int i = 0;i < 2;i++){ |
kityann | 0:daab5accfd83 | 355 | for(int j = 0;j < 2;j++){ |
kityann | 0:daab5accfd83 | 356 | K[0][i][j]=K[1][i][j]; |
kityann | 0:daab5accfd83 | 357 | x[0][i]=x[1][i]; |
kityann | 0:daab5accfd83 | 358 | sigma[0][i][j]=sigma[1][i][j]; |
kityann | 0:daab5accfd83 | 359 | } |
kityann | 0:daab5accfd83 | 360 | } |
kityann | 0:daab5accfd83 | 361 | |
kityann | 4:f36986ceb73d | 362 | if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN; |
kityann | 4:f36986ceb73d | 363 | if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN; |
kityann | 4:f36986ceb73d | 364 | |
kityann | 0:daab5accfd83 | 365 | myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering |
kityann | 0:daab5accfd83 | 366 | myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering |
kityann | 0:daab5accfd83 | 367 | myGPS->latitudeKL=(long)x[1][0];//latitude after filtering |
kityann | 0:daab5accfd83 | 368 | myGPS->longitudeKL=(long)x[1][1];//longitude after filtering |
kityann | 0:daab5accfd83 | 369 | |
kityann | 0:daab5accfd83 | 370 | agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]); |
kityann | 0:daab5accfd83 | 371 | } |
kityann | 0:daab5accfd83 | 372 | |
kityann | 0:daab5accfd83 | 373 | |
kityann | 0:daab5accfd83 | 374 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 375 | // |
kityann | 0:daab5accfd83 | 376 | //Main Processing |
kityann | 0:daab5accfd83 | 377 | // |
kityann | 0:daab5accfd83 | 378 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 379 | int main() { |
kityann | 0:daab5accfd83 | 380 | //start up time |
kityann | 0:daab5accfd83 | 381 | wait(3); |
kityann | 0:daab5accfd83 | 382 | //set pc frequency to 57600bps |
kityann | 0:daab5accfd83 | 383 | pc.baud(PC_BAUD_RATE); |
kityann | 0:daab5accfd83 | 384 | //set xbee frequency to 57600bps |
kityann | 0:daab5accfd83 | 385 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:daab5accfd83 | 386 | |
kityann | 0:daab5accfd83 | 387 | |
kityann | 0:daab5accfd83 | 388 | //GPS setting |
kityann | 0:daab5accfd83 | 389 | gps_Serial = new Serial(p28,p27); |
kityann | 0:daab5accfd83 | 390 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:daab5accfd83 | 391 | Timer refresh_Timer; |
kityann | 0:daab5accfd83 | 392 | const int refresh_Time = 2000; //refresh time in ms |
s1200058 | 3:1ac506a96fd6 | 393 | Timer auto_Timer; |
s1200058 | 3:1ac506a96fd6 | 394 | const int auto_Time = 2000; //refresh time in ms |
s1200058 | 5:522c47c78401 | 395 | int count = 0; |
kityann | 0:daab5accfd83 | 396 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:daab5accfd83 | 397 | |
kityann | 0:daab5accfd83 | 398 | char SenderIDc; |
kityann | 0:daab5accfd83 | 399 | //GPS Send Command |
kityann | 0:daab5accfd83 | 400 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:daab5accfd83 | 401 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:daab5accfd83 | 402 | myGPS.sendCommand(PGCMD_ANTENNA); |
kityann | 0:daab5accfd83 | 403 | |
kityann | 0:daab5accfd83 | 404 | wait(2); |
kityann | 0:daab5accfd83 | 405 | |
kityann | 0:daab5accfd83 | 406 | //interrupt start |
kityann | 0:daab5accfd83 | 407 | refresh_Timer.start(); |
s1200058 | 3:1ac506a96fd6 | 408 | auto_Timer.start(); |
kityann | 1:b2b950b916ce | 409 | |
kityann | 0:daab5accfd83 | 410 | printf("start\n"); |
kityann | 0:daab5accfd83 | 411 | |
kityann | 0:daab5accfd83 | 412 | while (true) { |
kityann | 0:daab5accfd83 | 413 | |
kityann | 0:daab5accfd83 | 414 | //Check Xbee Buffer Available |
kityann | 0:daab5accfd83 | 415 | xbee.readPacket(); |
kityann | 0:daab5accfd83 | 416 | |
kityann | 0:daab5accfd83 | 417 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:daab5accfd83 | 418 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 419 | uint8_t *buf = zbRx.getFrameData(); |
kityann | 0:daab5accfd83 | 420 | |
kityann | 0:daab5accfd83 | 421 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:daab5accfd83 | 422 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 423 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
kityann | 0:daab5accfd83 | 424 | uint8_t *buf1 = &buf[11];//データの部分のみを格納する |
kityann | 0:daab5accfd83 | 425 | SenderIDc = buf1[5];//送信元のIDを取得する |
kityann | 0:daab5accfd83 | 426 | char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:daab5accfd83 | 427 | |
kityann | 0:daab5accfd83 | 428 | //Check Command Type |
kityann | 0:daab5accfd83 | 429 | switch(Command_type){ |
kityann | 0:daab5accfd83 | 430 | //Get Request command |
s1200058 | 2:886fac7f4399 | 431 | case MANUAL:{ |
s1200058 | 2:886fac7f4399 | 432 | Plus_Speed(buf1); |
s1200058 | 2:886fac7f4399 | 433 | break; |
s1200058 | 2:886fac7f4399 | 434 | } |
kityann | 0:daab5accfd83 | 435 | case STATUS_REQUEST:{ |
kityann | 0:daab5accfd83 | 436 | Send_Status(SenderIDc); |
kityann | 0:daab5accfd83 | 437 | break; |
kityann | 0:daab5accfd83 | 438 | } |
s1200058 | 2:886fac7f4399 | 439 | case CHANGE_MODE:{ |
s1200058 | 2:886fac7f4399 | 440 | New_Mode(buf1); |
s1200058 | 2:886fac7f4399 | 441 | break; |
s1200058 | 2:886fac7f4399 | 442 | } |
kityann | 1:b2b950b916ce | 443 | case RECEIVE_STATUS:{ |
kityann | 1:b2b950b916ce | 444 | Get_Status(SenderIDc,buf1); |
kityann | 1:b2b950b916ce | 445 | break; |
kityann | 1:b2b950b916ce | 446 | } |
s1200058 | 2:886fac7f4399 | 447 | case RECEIVE_KALMAN:{ |
s1200058 | 2:886fac7f4399 | 448 | Get_Status_Kalman(SenderIDc, buf1); |
s1200058 | 2:886fac7f4399 | 449 | break; |
s1200058 | 2:886fac7f4399 | 450 | } |
kityann | 0:daab5accfd83 | 451 | default:{ |
kityann | 0:daab5accfd83 | 452 | break; |
kityann | 0:daab5accfd83 | 453 | } |
kityann | 0:daab5accfd83 | 454 | }//endswitch |
kityann | 0:daab5accfd83 | 455 | }//endifZB_RX_RESPONSE |
kityann | 0:daab5accfd83 | 456 | }//endifisAvailable |
kityann | 0:daab5accfd83 | 457 | |
kityann | 0:daab5accfd83 | 458 | myGPS.read(); |
kityann | 0:daab5accfd83 | 459 | //recive gps module |
kityann | 0:daab5accfd83 | 460 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:daab5accfd83 | 461 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:daab5accfd83 | 462 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
s1200058 | 5:522c47c78401 | 463 | count++; |
kityann | 0:daab5accfd83 | 464 | continue; |
kityann | 0:daab5accfd83 | 465 | } |
kityann | 0:daab5accfd83 | 466 | } |
kityann | 1:b2b950b916ce | 467 | //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 | 468 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:daab5accfd83 | 469 | refresh_Timer.reset(); |
s1200058 | 5:522c47c78401 | 470 | print_gps(count); |
kityann | 0:daab5accfd83 | 471 | Get_GPS(&myGPS); |
kityann | 0:daab5accfd83 | 472 | |
kityann | 0:daab5accfd83 | 473 | } |
s1200058 | 3:1ac506a96fd6 | 474 | |
s1200058 | 3:1ac506a96fd6 | 475 | if(agz.nowMode == AUTO_MODE && auto_Timer.read_ms() >= auto_Time){ |
s1200058 | 3:1ac506a96fd6 | 476 | auto_Timer.reset(); |
s1200058 | 3:1ac506a96fd6 | 477 | auto_Move(); |
kityann | 1:b2b950b916ce | 478 | } |
kityann | 0:daab5accfd83 | 479 | } |
kityann | 0:daab5accfd83 | 480 | } |