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@3:1ac506a96fd6, 2015-05-13 (annotated)

Committer:
s1200058
Date:
Wed May 13 06:29:21 2015 +0000
Revision:
3:1ac506a96fd6
Parent:
2:886fac7f4399
Child:
4:f36986ceb73d
2015/05/13

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