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change kalman
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver4 by
main.cpp@35:3094c84a024b, 2015-05-27 (annotated)
- Committer:
- s1200058
- Date:
- Wed May 27 12:10:20 2015 +0000
- Revision:
- 35:3094c84a024b
- Parent:
- 34:9c3192c00e41
define the range of error
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" |
s1200058 | 34:9c3192c00e41 | 53 | #include "math.h" |
kityann | 0:daab5accfd83 | 54 | |
kityann | 4:f36986ceb73d | 55 | #define SIGMA_MIN 0.0001 |
kityann | 4:f36986ceb73d | 56 | |
kityann | 0:daab5accfd83 | 57 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 58 | //Robot ID: 'A' ~ 'Z' |
kityann | 0:daab5accfd83 | 59 | //Base ID: 'a' ~ 'a' |
kityann | 0:daab5accfd83 | 60 | //manager ID: '0'(数字のゼロ) |
kityann | 0:daab5accfd83 | 61 | // |
s1200058 | 29:524684a1198f | 62 | const char MyID = 'D'; |
kityann | 0:daab5accfd83 | 63 | //************ID Number***************** |
kityann | 0:daab5accfd83 | 64 | |
kityann | 0:daab5accfd83 | 65 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 66 | // |
kityann | 0:daab5accfd83 | 67 | //Pin Setting |
kityann | 0:daab5accfd83 | 68 | // |
kityann | 0:daab5accfd83 | 69 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 70 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:daab5accfd83 | 71 | |
kityann | 0:daab5accfd83 | 72 | |
kityann | 0:daab5accfd83 | 73 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 74 | // |
kityann | 0:daab5accfd83 | 75 | //Connection Setting |
kityann | 0:daab5accfd83 | 76 | // |
kityann | 0:daab5accfd83 | 77 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 78 | |
kityann | 0:daab5accfd83 | 79 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:daab5accfd83 | 80 | Serial pc(USBTX, USBRX); |
kityann | 0:daab5accfd83 | 81 | |
kityann | 0:daab5accfd83 | 82 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:daab5accfd83 | 83 | Serial * gps_Serial; |
kityann | 0:daab5accfd83 | 84 | |
kityann | 0:daab5accfd83 | 85 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:daab5accfd83 | 86 | XBee xbee(p13,p14); |
kityann | 0:daab5accfd83 | 87 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:daab5accfd83 | 88 | |
kityann | 0:daab5accfd83 | 89 | //set up GPS module |
kityann | 0:daab5accfd83 | 90 | |
kityann | 0:daab5accfd83 | 91 | //set up AigamozuControlPackets library |
kityann | 0:daab5accfd83 | 92 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:daab5accfd83 | 93 | |
kityann | 0:daab5accfd83 | 94 | |
kityann | 0:daab5accfd83 | 95 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 96 | // |
kityann | 0:daab5accfd83 | 97 | //For Kalman data |
kityann | 0:daab5accfd83 | 98 | // |
kityann | 0:daab5accfd83 | 99 | ///////////////////////////////////////// |
s1200058 | 32:6ba2e5402f00 | 100 | #define FIRST_S2 0.000001 |
s1200058 | 32:6ba2e5402f00 | 101 | #define COUNTER_MAX 10000 |
s1200058 | 35:3094c84a024b | 102 | #define ERROR_RANGE 0.001 |
s1200058 | 35:3094c84a024b | 103 | |
s1200058 | 32:6ba2e5402f00 | 104 | 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 | 105 | 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 | 106 | double s2_R=FIRST_S2;//GPSセンサの分散 |
s1200058 | 32:6ba2e5402f00 | 107 | double Kx=0,Ky=0;//カルマンゲイン |
s1200058 | 32:6ba2e5402f00 | 108 | double zx,zy;//観測値 |
s1200058 | 32:6ba2e5402f00 | 109 | void Kalman(double Latitude,double Longitude); |
s1200058 | 34:9c3192c00e41 | 110 | int change = 0; |
s1200058 | 34:9c3192c00e41 | 111 | |
s1200058 | 34:9c3192c00e41 | 112 | |
s1200058 | 34:9c3192c00e41 | 113 | LocalFileSystem local("local"); // マウントポイントを定義(ディレクトリパスになる) |
kityann | 0:daab5accfd83 | 114 | |
s1200058 | 2:886fac7f4399 | 115 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 116 | // |
s1200058 | 2:886fac7f4399 | 117 | //Plus Speed |
s1200058 | 2:886fac7f4399 | 118 | // |
s1200058 | 2:886fac7f4399 | 119 | //MNUAL_MODEの時にスピードを変える |
s1200058 | 2:886fac7f4399 | 120 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 121 | void Plus_Speed(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 122 | |
s1200058 | 2:886fac7f4399 | 123 | if(agz.nowMode == MANUAL_MODE){ |
s1200058 | 2:886fac7f4399 | 124 | agz.changeSpeed(packetdata); |
s1200058 | 2:886fac7f4399 | 125 | } |
s1200058 | 2:886fac7f4399 | 126 | |
s1200058 | 2:886fac7f4399 | 127 | } |
kityann | 0:daab5accfd83 | 128 | |
kityann | 0:daab5accfd83 | 129 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 130 | // |
s1200058 | 2:886fac7f4399 | 131 | //Send Status |
kityann | 0:daab5accfd83 | 132 | // |
kityann | 0:daab5accfd83 | 133 | //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 | 134 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 135 | void Send_Status(char SenderIDc){ |
kityann | 0:daab5accfd83 | 136 | XBeeAddress64 send_Address; |
s1200058 | 22:af860680417b | 137 | if(SenderIDc == '0'){ |
kityann | 0:daab5accfd83 | 138 | send_Address = manager_Address; |
kityann | 23:c5071bf93db1 | 139 | agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode, |
kityann | 23:c5071bf93db1 | 140 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 23:c5071bf93db1 | 141 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 23:c5071bf93db1 | 142 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 143 | } |
s1200058 | 25:ae5fab0946f2 | 144 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 0:daab5accfd83 | 145 | send_Address = robot_Address[SenderIDc - 'A']; |
s1200058 | 25:ae5fab0946f2 | 146 | //Create GPS Infomation Packet |
kityann | 24:698d4e920d33 | 147 | agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode, |
kityann | 23:c5071bf93db1 | 148 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 23:c5071bf93db1 | 149 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 23:c5071bf93db1 | 150 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 151 | } |
kityann | 0:daab5accfd83 | 152 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 0:daab5accfd83 | 153 | send_Address = base_Address[SenderIDc - 'a']; |
kityann | 24:698d4e920d33 | 154 | |
kityann | 24:698d4e920d33 | 155 | agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(), |
kityann | 23:c5071bf93db1 | 156 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 23:c5071bf93db1 | 157 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 24:698d4e920d33 | 158 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 159 | } |
kityann | 0:daab5accfd83 | 160 | //send normal data |
kityann | 23:c5071bf93db1 | 161 | |
s1200058 | 32:6ba2e5402f00 | 162 | /* |
kityann | 0:daab5accfd83 | 163 | //debug*************************************************** |
kityann | 0:daab5accfd83 | 164 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", |
kityann | 0:daab5accfd83 | 165 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 0:daab5accfd83 | 166 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 0:daab5accfd83 | 167 | agz.get_agzCov_lati(),agz.get_agzCov_longi() |
kityann | 0:daab5accfd83 | 168 | ); |
kityann | 0:daab5accfd83 | 169 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); |
kityann | 0:daab5accfd83 | 170 | printf("\n"); |
kityann | 0:daab5accfd83 | 171 | //debug end*************************************************** |
s1200058 | 32:6ba2e5402f00 | 172 | */ |
kityann | 0:daab5accfd83 | 173 | //Select Destination |
kityann | 0:daab5accfd83 | 174 | ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); |
kityann | 0:daab5accfd83 | 175 | //Send -> Base |
kityann | 0:daab5accfd83 | 176 | xbee.send(tx64request); |
s1200058 | 20:eee8ac8d1788 | 177 | |
kityann | 0:daab5accfd83 | 178 | } |
kityann | 0:daab5accfd83 | 179 | |
kityann | 0:daab5accfd83 | 180 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 181 | // |
kityann | 0:daab5accfd83 | 182 | //Get GPS function |
kityann | 0:daab5accfd83 | 183 | // |
kityann | 0:daab5accfd83 | 184 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 185 | |
kityann | 0:daab5accfd83 | 186 | void Get_GPS(Adafruit_GPS *myGPS){ |
s1200058 | 32:6ba2e5402f00 | 187 | static int flag = 0; |
kityann | 0:daab5accfd83 | 188 | |
kityann | 0:daab5accfd83 | 189 | if (myGPS->fix) { |
s1200058 | 32:6ba2e5402f00 | 190 | |
kityann | 0:daab5accfd83 | 191 | agz.nowStatus = GPS_AVAIL; |
s1200058 | 32:6ba2e5402f00 | 192 | agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL); |
kityann | 0:daab5accfd83 | 193 | |
s1200058 | 32:6ba2e5402f00 | 194 | if(flag < COUNTER_MAX){ |
s1200058 | 32:6ba2e5402f00 | 195 | flag++; |
s1200058 | 32:6ba2e5402f00 | 196 | } |
s1200058 | 33:3025b16bccd2 | 197 | if(flag == 5){ |
s1200058 | 32:6ba2e5402f00 | 198 | x_prev = agz.get_agzPoint_lati(); |
s1200058 | 32:6ba2e5402f00 | 199 | y_prev = agz.get_agzPoint_longi(); |
kityann | 0:daab5accfd83 | 200 | } |
s1200058 | 32:6ba2e5402f00 | 201 | |
s1200058 | 32:6ba2e5402f00 | 202 | if(flag >= 6){ |
s1200058 | 35:3094c84a024b | 203 | if(abs(x_prev - agz.get_agzPoint_lati()) < ERROR_RANGE && abs(y_prev - agz.get_agzPoint_longi()) < ERROR_RANGE){ |
s1200058 | 34:9c3192c00e41 | 204 | Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi()); |
s1200058 | 34:9c3192c00e41 | 205 | change = 1; |
s1200058 | 34:9c3192c00e41 | 206 | } |
s1200058 | 34:9c3192c00e41 | 207 | else{ |
s1200058 | 34:9c3192c00e41 | 208 | change = 0; |
s1200058 | 34:9c3192c00e41 | 209 | } |
s1200058 | 34:9c3192c00e41 | 210 | /* fp = fopen(filename, "w"); |
s1200058 | 34:9c3192c00e41 | 211 | fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n", |
s1200058 | 34:9c3192c00e41 | 212 | change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
s1200058 | 34:9c3192c00e41 | 213 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
s1200058 | 34:9c3192c00e41 | 214 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
s1200058 | 34:9c3192c00e41 | 215 | */ |
s1200058 | 34:9c3192c00e41 | 216 | |
s1200058 | 32:6ba2e5402f00 | 217 | } |
s1200058 | 33:3025b16bccd2 | 218 | |
s1200058 | 33:3025b16bccd2 | 219 | printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n", |
s1200058 | 33:3025b16bccd2 | 220 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
s1200058 | 33:3025b16bccd2 | 221 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
s1200058 | 33:3025b16bccd2 | 222 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:daab5accfd83 | 223 | } |
kityann | 0:daab5accfd83 | 224 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 0:daab5accfd83 | 225 | |
kityann | 0:daab5accfd83 | 226 | } |
s1200058 | 2:886fac7f4399 | 227 | |
s1200058 | 2:886fac7f4399 | 228 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 229 | // |
s1200058 | 2:886fac7f4399 | 230 | //New Mode |
s1200058 | 2:886fac7f4399 | 231 | // |
s1200058 | 2:886fac7f4399 | 232 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 233 | |
s1200058 | 2:886fac7f4399 | 234 | void New_Mode(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 235 | |
s1200058 | 19:a806105ba365 | 236 | //bool result; |
s1200058 | 20:eee8ac8d1788 | 237 | agz.changeMode(packetdata); |
s1200058 | 2:886fac7f4399 | 238 | |
s1200058 | 2:886fac7f4399 | 239 | } |
kityann | 1:b2b950b916ce | 240 | |
kityann | 1:b2b950b916ce | 241 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 242 | // |
kityann | 1:b2b950b916ce | 243 | //Get Status |
kityann | 1:b2b950b916ce | 244 | // |
kityann | 1:b2b950b916ce | 245 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 246 | void Get_Status(char SenderIDc,uint8_t *packetdata){ |
kityann | 1:b2b950b916ce | 247 | |
kityann | 1:b2b950b916ce | 248 | //マネージャからデータが来たとき |
kityann | 1:b2b950b916ce | 249 | if(SenderIDc == '0'){ |
kityann | 1:b2b950b916ce | 250 | printf("get manager Status\n"); |
kityann | 1:b2b950b916ce | 251 | } |
kityann | 1:b2b950b916ce | 252 | //他のロボットからデータが来たとき |
kityann | 1:b2b950b916ce | 253 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 1:b2b950b916ce | 254 | printf("get other robots Status\n"); |
kityann | 1:b2b950b916ce | 255 | } |
kityann | 1:b2b950b916ce | 256 | //基地局からデータが来たとき |
kityann | 1:b2b950b916ce | 257 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 1:b2b950b916ce | 258 | printf("Get Base data\n"); |
kityann | 1:b2b950b916ce | 259 | int id = SenderIDc - 'a'; |
kityann | 1:b2b950b916ce | 260 | agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]); |
kityann | 1:b2b950b916ce | 261 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
kityann | 1:b2b950b916ce | 262 | |
kityann | 1:b2b950b916ce | 263 | //debug |
kityann | 1:b2b950b916ce | 264 | for(int i = 0;i < 4;i++){ |
kityann | 1:b2b950b916ce | 265 | printf("BASE:%d\n",i); |
kityann | 1:b2b950b916ce | 266 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n", |
kityann | 1:b2b950b916ce | 267 | agz.get_basePoint_lati(i),agz.get_basePoint_longi(i), |
kityann | 1:b2b950b916ce | 268 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i) |
kityann | 1:b2b950b916ce | 269 | ); |
kityann | 1:b2b950b916ce | 270 | } |
kityann | 1:b2b950b916ce | 271 | } |
kityann | 1:b2b950b916ce | 272 | } |
kityann | 1:b2b950b916ce | 273 | |
s1200058 | 2:886fac7f4399 | 274 | void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 275 | |
s1200058 | 2:886fac7f4399 | 276 | //マネージャからデータが来たとき |
s1200058 | 2:886fac7f4399 | 277 | if(SenderIDc == '0'){ |
s1200058 | 2:886fac7f4399 | 278 | printf("get manager Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 279 | } |
s1200058 | 2:886fac7f4399 | 280 | //他のロボットからデータが来たとき |
s1200058 | 2:886fac7f4399 | 281 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
s1200058 | 2:886fac7f4399 | 282 | printf("get other robots Status Kalman\n"); |
s1200058 | 2:886fac7f4399 | 283 | } |
s1200058 | 2:886fac7f4399 | 284 | //基地局からデータが来たとき |
s1200058 | 2:886fac7f4399 | 285 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
s1200058 | 2:886fac7f4399 | 286 | printf("Get Base data Kalman\n"); |
s1200058 | 2:886fac7f4399 | 287 | int id = SenderIDc - 'a'; |
s1200058 | 2:886fac7f4399 | 288 | agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); |
s1200058 | 2:886fac7f4399 | 289 | |
s1200058 | 2:886fac7f4399 | 290 | //debug |
s1200058 | 2:886fac7f4399 | 291 | for(int i = 0;i < 4;i++){ |
s1200058 | 2:886fac7f4399 | 292 | printf("BASE:%d\n",i); |
s1200058 | 2:886fac7f4399 | 293 | printf("latitudeK:%f,longitudeK:%f\n", |
s1200058 | 2:886fac7f4399 | 294 | agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)); |
s1200058 | 2:886fac7f4399 | 295 | } |
s1200058 | 2:886fac7f4399 | 296 | } |
s1200058 | 2:886fac7f4399 | 297 | } |
s1200058 | 2:886fac7f4399 | 298 | |
kityann | 1:b2b950b916ce | 299 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 300 | // |
kityann | 1:b2b950b916ce | 301 | //Send_Request_to_base |
kityann | 1:b2b950b916ce | 302 | // |
kityann | 1:b2b950b916ce | 303 | ///////////////////////////////////////// |
kityann | 1:b2b950b916ce | 304 | void Send_Request_Base(int basenumber){ |
kityann | 1:b2b950b916ce | 305 | printf("send\n"); |
kityann | 1:b2b950b916ce | 306 | agz.createRequestCommand(MyID, basenumber); |
kityann | 1:b2b950b916ce | 307 | //Select Destination |
kityann | 1:b2b950b916ce | 308 | ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength()); |
kityann | 1:b2b950b916ce | 309 | //Send -> Base |
kityann | 1:b2b950b916ce | 310 | xbee.send(tx64request); |
kityann | 1:b2b950b916ce | 311 | } |
kityann | 0:daab5accfd83 | 312 | |
s1200058 | 3:1ac506a96fd6 | 313 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 314 | // |
s1200058 | 3:1ac506a96fd6 | 315 | //auto_Move |
s1200058 | 3:1ac506a96fd6 | 316 | // |
s1200058 | 3:1ac506a96fd6 | 317 | //InAreaかOutAreaの判定 |
s1200058 | 3:1ac506a96fd6 | 318 | //Kalmanを通した値を出力(Baseと自分) |
s1200058 | 3:1ac506a96fd6 | 319 | ///////////////////////////////////////// |
s1200058 | 3:1ac506a96fd6 | 320 | |
s1200058 | 3:1ac506a96fd6 | 321 | void auto_Move(){ |
s1200058 | 3:1ac506a96fd6 | 322 | |
s1200058 | 3:1ac506a96fd6 | 323 | bool result; |
s1200058 | 3:1ac506a96fd6 | 324 | int i; |
s1200058 | 3:1ac506a96fd6 | 325 | |
s1200058 | 3:1ac506a96fd6 | 326 | result = agz.gpsAuto(); |
s1200058 | 20:eee8ac8d1788 | 327 | //agz.set_agzAutoGPS(); |
s1200058 | 20:eee8ac8d1788 | 328 | //agz.set_agzKalmanGPS(); |
s1200058 | 3:1ac506a96fd6 | 329 | |
s1200058 | 3:1ac506a96fd6 | 330 | if(result == true){ |
s1200058 | 3:1ac506a96fd6 | 331 | printf("Out Area\n"); |
s1200058 | 3:1ac506a96fd6 | 332 | } |
s1200058 | 3:1ac506a96fd6 | 333 | else if(result == false){ |
s1200058 | 3:1ac506a96fd6 | 334 | printf("In Area\n"); |
s1200058 | 3:1ac506a96fd6 | 335 | } |
s1200058 | 3:1ac506a96fd6 | 336 | for(i = 0; i < 4; i++){ |
s1200058 | 3:1ac506a96fd6 | 337 | printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i)); |
s1200058 | 3:1ac506a96fd6 | 338 | } |
s1200058 | 3:1ac506a96fd6 | 339 | printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 3:1ac506a96fd6 | 340 | |
s1200058 | 3:1ac506a96fd6 | 341 | } |
s1200058 | 3:1ac506a96fd6 | 342 | |
s1200058 | 5:522c47c78401 | 343 | void print_gps(int count){ |
s1200058 | 5:522c47c78401 | 344 | |
s1200058 | 5:522c47c78401 | 345 | printf("%d times:\n", count); |
s1200058 | 5:522c47c78401 | 346 | printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi()); |
s1200058 | 5:522c47c78401 | 347 | |
s1200058 | 5:522c47c78401 | 348 | } |
kityann | 0:daab5accfd83 | 349 | |
s1200058 | 32:6ba2e5402f00 | 350 | |
kityann | 0:daab5accfd83 | 351 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 352 | // |
kityann | 0:daab5accfd83 | 353 | //Kalman Processing |
kityann | 0:daab5accfd83 | 354 | // |
kityann | 0:daab5accfd83 | 355 | ///////////////////////////////////////// |
s1200058 | 32:6ba2e5402f00 | 356 | void calc_Kalman(){ |
s1200058 | 32:6ba2e5402f00 | 357 | //calc Kalman gain |
s1200058 | 32:6ba2e5402f00 | 358 | Kx = s2x_prev/(s2x_prev+s2_R); |
s1200058 | 32:6ba2e5402f00 | 359 | Ky = s2y_prev/(s2y_prev+s2_R); |
s1200058 | 32:6ba2e5402f00 | 360 | //estimate |
s1200058 | 32:6ba2e5402f00 | 361 | x_cur = x_prev + Kx*(zx-x_prev); |
s1200058 | 32:6ba2e5402f00 | 362 | y_cur = y_prev + Ky*(zy-y_prev); |
s1200058 | 32:6ba2e5402f00 | 363 | //calc sigma |
s1200058 | 32:6ba2e5402f00 | 364 | s2x_cur = s2x_prev-Kx*s2x_prev; |
s1200058 | 32:6ba2e5402f00 | 365 | s2y_cur = s2y_prev-Ky*s2y_prev; |
kityann | 0:daab5accfd83 | 366 | |
kityann | 0:daab5accfd83 | 367 | } |
kityann | 0:daab5accfd83 | 368 | |
s1200058 | 32:6ba2e5402f00 | 369 | void Kalman(double Latitude,double Longitude){ |
s1200058 | 32:6ba2e5402f00 | 370 | |
s1200058 | 32:6ba2e5402f00 | 371 | zx = Latitude; |
s1200058 | 32:6ba2e5402f00 | 372 | zy = Longitude; |
s1200058 | 32:6ba2e5402f00 | 373 | |
s1200058 | 32:6ba2e5402f00 | 374 | calc_Kalman(); |
kityann | 0:daab5accfd83 | 375 | |
s1200058 | 32:6ba2e5402f00 | 376 | //更新 |
s1200058 | 32:6ba2e5402f00 | 377 | x_prev = x_cur; |
s1200058 | 32:6ba2e5402f00 | 378 | y_prev = y_cur; |
s1200058 | 32:6ba2e5402f00 | 379 | s2x_prev = s2x_cur; |
s1200058 | 32:6ba2e5402f00 | 380 | s2y_prev = s2y_cur; |
s1200058 | 25:ae5fab0946f2 | 381 | |
s1200058 | 32:6ba2e5402f00 | 382 | //agzPontKalmanとagzCovに格納する |
s1200058 | 32:6ba2e5402f00 | 383 | agz.set_agzPointKalman_lati(x_cur); |
s1200058 | 32:6ba2e5402f00 | 384 | agz.set_agzPointKalman_longi(y_cur); |
s1200058 | 32:6ba2e5402f00 | 385 | agz.set_agzCov(s2x_cur,s2y_cur); |
kityann | 0:daab5accfd83 | 386 | |
kityann | 0:daab5accfd83 | 387 | } |
kityann | 0:daab5accfd83 | 388 | |
kityann | 0:daab5accfd83 | 389 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 390 | // |
kityann | 0:daab5accfd83 | 391 | //Main Processing |
kityann | 0:daab5accfd83 | 392 | // |
kityann | 0:daab5accfd83 | 393 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 394 | int main() { |
kityann | 0:daab5accfd83 | 395 | //start up time |
kityann | 0:daab5accfd83 | 396 | wait(3); |
kityann | 0:daab5accfd83 | 397 | //set pc frequency to 57600bps |
kityann | 0:daab5accfd83 | 398 | pc.baud(PC_BAUD_RATE); |
kityann | 0:daab5accfd83 | 399 | //set xbee frequency to 57600bps |
kityann | 0:daab5accfd83 | 400 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:daab5accfd83 | 401 | |
kityann | 0:daab5accfd83 | 402 | |
kityann | 0:daab5accfd83 | 403 | //GPS setting |
kityann | 0:daab5accfd83 | 404 | gps_Serial = new Serial(p28,p27); |
kityann | 0:daab5accfd83 | 405 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:daab5accfd83 | 406 | Timer refresh_Timer; |
s1200058 | 7:a9a1acc7673b | 407 | const int refresh_Time = 1000; //refresh time in ms |
s1200058 | 3:1ac506a96fd6 | 408 | Timer auto_Timer; |
s1200058 | 3:1ac506a96fd6 | 409 | const int auto_Time = 2000; //refresh time in ms |
s1200058 | 5:522c47c78401 | 410 | int count = 0; |
s1200058 | 29:524684a1198f | 411 | |
s1200058 | 29:524684a1198f | 412 | const int straight = 30000, turning = 34000, wait = 31000; |
s1200058 | 29:524684a1198f | 413 | |
kityann | 0:daab5accfd83 | 414 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:daab5accfd83 | 415 | |
s1200058 | 14:5deb7a4f1cd4 | 416 | Timer collect_Timer; |
s1200058 | 14:5deb7a4f1cd4 | 417 | const int collect_Time = 2000; //when we collect 4 GPS point, we use |
s1200058 | 14:5deb7a4f1cd4 | 418 | int collect_flag = 0; |
s1200058 | 14:5deb7a4f1cd4 | 419 | |
kityann | 0:daab5accfd83 | 420 | char SenderIDc; |
kityann | 0:daab5accfd83 | 421 | //GPS Send Command |
kityann | 0:daab5accfd83 | 422 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:daab5accfd83 | 423 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:daab5accfd83 | 424 | myGPS.sendCommand(PGCMD_ANTENNA); |
kityann | 0:daab5accfd83 | 425 | |
s1200058 | 29:524684a1198f | 426 | wait_ms(2000); |
kityann | 0:daab5accfd83 | 427 | |
kityann | 0:daab5accfd83 | 428 | //interrupt start |
kityann | 0:daab5accfd83 | 429 | refresh_Timer.start(); |
s1200058 | 3:1ac506a96fd6 | 430 | auto_Timer.start(); |
s1200058 | 30:7f6ebe2121d9 | 431 | agz.Move_Timer.start(); |
s1200058 | 16:a07350b3eb64 | 432 | collect_Timer.start(); |
s1200058 | 29:524684a1198f | 433 | printf("start\n"); |
kityann | 1:b2b950b916ce | 434 | |
kityann | 0:daab5accfd83 | 435 | |
kityann | 0:daab5accfd83 | 436 | while (true) { |
kityann | 0:daab5accfd83 | 437 | |
kityann | 0:daab5accfd83 | 438 | //Check Xbee Buffer Available |
kityann | 0:daab5accfd83 | 439 | xbee.readPacket(); |
kityann | 0:daab5accfd83 | 440 | |
kityann | 0:daab5accfd83 | 441 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:daab5accfd83 | 442 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 443 | uint8_t *buf = zbRx.getFrameData(); |
kityann | 0:daab5accfd83 | 444 | |
kityann | 0:daab5accfd83 | 445 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:daab5accfd83 | 446 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 447 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
kityann | 0:daab5accfd83 | 448 | uint8_t *buf1 = &buf[11];//データの部分のみを格納する |
kityann | 0:daab5accfd83 | 449 | SenderIDc = buf1[5];//送信元のIDを取得する |
s1200058 | 21:76e7f36df4a9 | 450 | char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:daab5accfd83 | 451 | |
kityann | 0:daab5accfd83 | 452 | //Check Command Type |
kityann | 0:daab5accfd83 | 453 | switch(Command_type){ |
kityann | 0:daab5accfd83 | 454 | //Get Request command |
s1200058 | 2:886fac7f4399 | 455 | case MANUAL:{ |
s1200058 | 12:48ef69b4f0e4 | 456 | Plus_Speed(buf); |
s1200058 | 2:886fac7f4399 | 457 | break; |
s1200058 | 2:886fac7f4399 | 458 | } |
kityann | 0:daab5accfd83 | 459 | case STATUS_REQUEST:{ |
s1200058 | 21:76e7f36df4a9 | 460 | Send_Status(SenderIDc); |
s1200058 | 21:76e7f36df4a9 | 461 | printf("%c\n", SenderIDc); |
kityann | 0:daab5accfd83 | 462 | break; |
kityann | 0:daab5accfd83 | 463 | } |
s1200058 | 2:886fac7f4399 | 464 | case CHANGE_MODE:{ |
s1200058 | 12:48ef69b4f0e4 | 465 | New_Mode(buf); |
s1200058 | 2:886fac7f4399 | 466 | break; |
s1200058 | 2:886fac7f4399 | 467 | } |
kityann | 1:b2b950b916ce | 468 | case RECEIVE_STATUS:{ |
kityann | 1:b2b950b916ce | 469 | Get_Status(SenderIDc,buf1); |
kityann | 1:b2b950b916ce | 470 | break; |
kityann | 1:b2b950b916ce | 471 | } |
kityann | 0:daab5accfd83 | 472 | default:{ |
kityann | 0:daab5accfd83 | 473 | break; |
kityann | 0:daab5accfd83 | 474 | } |
kityann | 0:daab5accfd83 | 475 | }//endswitch |
kityann | 0:daab5accfd83 | 476 | }//endifZB_RX_RESPONSE |
kityann | 0:daab5accfd83 | 477 | }//endifisAvailable |
kityann | 0:daab5accfd83 | 478 | |
kityann | 0:daab5accfd83 | 479 | myGPS.read(); |
kityann | 0:daab5accfd83 | 480 | //recive gps module |
kityann | 0:daab5accfd83 | 481 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:daab5accfd83 | 482 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:daab5accfd83 | 483 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
s1200058 | 8:994c73f6fad9 | 484 | continue; |
s1200058 | 8:994c73f6fad9 | 485 | } |
s1200058 | 8:994c73f6fad9 | 486 | else{ |
s1200058 | 5:522c47c78401 | 487 | count++; |
s1200058 | 8:994c73f6fad9 | 488 | } |
kityann | 0:daab5accfd83 | 489 | } |
kityann | 1:b2b950b916ce | 490 | //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 | 491 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:daab5accfd83 | 492 | refresh_Timer.reset(); |
s1200058 | 12:48ef69b4f0e4 | 493 | //print_gps(count); |
kityann | 0:daab5accfd83 | 494 | Get_GPS(&myGPS); |
kityann | 0:daab5accfd83 | 495 | |
kityann | 0:daab5accfd83 | 496 | } |
s1200058 | 20:eee8ac8d1788 | 497 | |
s1200058 | 20:eee8ac8d1788 | 498 | //get base GPS |
s1200058 | 14:5deb7a4f1cd4 | 499 | if( collect_Timer.read_ms() >= collect_Time){ |
s1200058 | 15:f3d01f37f00d | 500 | collect_Timer.reset(); |
s1200058 | 15:f3d01f37f00d | 501 | |
s1200058 | 15:f3d01f37f00d | 502 | Send_Request_Base(collect_flag); |
s1200058 | 14:5deb7a4f1cd4 | 503 | |
s1200058 | 14:5deb7a4f1cd4 | 504 | collect_flag++; |
s1200058 | 14:5deb7a4f1cd4 | 505 | |
s1200058 | 14:5deb7a4f1cd4 | 506 | if(collect_flag == 4){ |
s1200058 | 14:5deb7a4f1cd4 | 507 | collect_flag = 0; |
s1200058 | 14:5deb7a4f1cd4 | 508 | } |
s1200058 | 14:5deb7a4f1cd4 | 509 | } |
s1200058 | 20:eee8ac8d1788 | 510 | |
s1200058 | 14:5deb7a4f1cd4 | 511 | if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){ |
s1200058 | 29:524684a1198f | 512 | auto_Timer.reset(); |
s1200058 | 29:524684a1198f | 513 | auto_Move(); |
s1200058 | 29:524684a1198f | 514 | } |
s1200058 | 29:524684a1198f | 515 | |
s1200058 | 29:524684a1198f | 516 | if(agz.nowMode == AUTO_GPS_MODE){ |
s1200058 | 30:7f6ebe2121d9 | 517 | if(agz.Move_Timer.read_ms() < straight){ |
s1200058 | 29:524684a1198f | 518 | agz.test_Auto(0); //straight |
s1200058 | 29:524684a1198f | 519 | } |
s1200058 | 30:7f6ebe2121d9 | 520 | if(agz.Move_Timer.read_ms() > straight && agz.Move_Timer.read_ms() < wait){ |
s1200058 | 29:524684a1198f | 521 | agz.test_Auto(1); |
s1200058 | 29:524684a1198f | 522 | } |
s1200058 | 30:7f6ebe2121d9 | 523 | if(agz.Move_Timer.read_ms() > wait && agz.Move_Timer.read_ms() < turning){ |
s1200058 | 29:524684a1198f | 524 | agz.test_Auto(2); //Turn Right |
s1200058 | 29:524684a1198f | 525 | } |
s1200058 | 30:7f6ebe2121d9 | 526 | if(agz.Move_Timer.read_ms() > turning){ |
s1200058 | 29:524684a1198f | 527 | agz.test_Auto(3); |
s1200058 | 29:524684a1198f | 528 | wait_ms(200); |
s1200058 | 30:7f6ebe2121d9 | 529 | agz.Move_Timer.reset(); |
kityann | 1:b2b950b916ce | 530 | } |
kityann | 0:daab5accfd83 | 531 | } |
s1200058 | 29:524684a1198f | 532 | } |
s1200058 | 34:9c3192c00e41 | 533 | |
kityann | 0:daab5accfd83 | 534 | } |