aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver4_1

change kalman

Dependencies:   ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed

Fork of Aigamozu_Robot_ver4 by aigamozu

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?

UserRevisionLine numberNew 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 }