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@24:698d4e920d33, 2015-05-17 (annotated)

Committer:
kityann
Date:
Sun May 17 01:11:52 2015 +0000
Revision:
24:698d4e920d33
Parent:
23:c5071bf93db1
Child:
25:ae5fab0946f2
2015/05/17

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 //
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！！！！
kityann 0:daab5accfd83 32 /**********************************************/
kityann 0:daab5accfd83 33
kityann 0:daab5accfd83 34 #include "mbed.h"
kityann 0:daab5accfd83 35 #include "XBee.h"
kityann 0:daab5accfd83 36 #include "MBed_Adafruit_GPS.h"
kityann 0:daab5accfd83 37 #include "AigamozuControlPackets.h"
kityann 0:daab5accfd83 38 #include "agzIDLIST.h"
kityann 0:daab5accfd83 39 #include "aigamozuSetting.h"
kityann 0:daab5accfd83 40 #include "Kalman.h"
kityann 0:daab5accfd83 41
kityann 4:f36986ceb73d 42 #define SIGMA_MIN 0.0001
kityann 4:f36986ceb73d 43
kityann 0:daab5accfd83 44 //************ID Number*****************
kityann 0:daab5accfd83 45 //Robot ID: 'A' ~ 'Z'
kityann 0:daab5accfd83 46 //Base ID: 'a' ~ 'a'
kityann 0:daab5accfd83 47 //manager ID: '0'(数字のゼロ)
kityann 0:daab5accfd83 48 //
s1200058 21:76e7f36df4a9 49 const char MyID = 'D';
kityann 0:daab5accfd83 50 //************ID Number*****************
kityann 0:daab5accfd83 51
kityann 0:daab5accfd83 52 /////////////////////////////////////////
kityann 0:daab5accfd83 53 //
kityann 0:daab5accfd83 54 //Pin Setting
kityann 0:daab5accfd83 55 //
kityann 0:daab5accfd83 56 /////////////////////////////////////////
kityann 0:daab5accfd83 57 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:daab5accfd83 58
kityann 0:daab5accfd83 59
kityann 0:daab5accfd83 60 /////////////////////////////////////////
kityann 0:daab5accfd83 61 //
kityann 0:daab5accfd83 62 //Connection Setting
kityann 0:daab5accfd83 63 //
kityann 0:daab5accfd83 64 /////////////////////////////////////////
kityann 0:daab5accfd83 65
kityann 0:daab5accfd83 66 //Serial Connect Setting: PC <--> mbed
kityann 0:daab5accfd83 67 Serial pc(USBTX, USBRX);
kityann 0:daab5accfd83 68
kityann 0:daab5accfd83 69 //Serial Connect Setting: GPS <--> mbed
kityann 0:daab5accfd83 70 Serial * gps_Serial;
kityann 0:daab5accfd83 71
kityann 0:daab5accfd83 72 //Serial Connect Setting: XBEE <--> mbed
kityann 0:daab5accfd83 73 XBee xbee(p13,p14);
kityann 0:daab5accfd83 74 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:daab5accfd83 75
kityann 0:daab5accfd83 76 //set up GPS module
kityann 0:daab5accfd83 77
kityann 0:daab5accfd83 78 //set up AigamozuControlPackets library
kityann 0:daab5accfd83 79 AigamozuControlPackets agz(agz_motorShield);
kityann 0:daab5accfd83 80
kityann 0:daab5accfd83 81
kityann 0:daab5accfd83 82 /////////////////////////////////////////
kityann 0:daab5accfd83 83 //
kityann 0:daab5accfd83 84 //For Kalman data
kityann 0:daab5accfd83 85 //
kityann 0:daab5accfd83 86 /////////////////////////////////////////
kityann 0:daab5accfd83 87 double sigmaGPS[2][2] = {{250,0},{0,250}};
kityann 0:daab5accfd83 88 double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}};
kityann 0:daab5accfd83 89 double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}};
kityann 0:daab5accfd83 90 double y[2],x[2][2]={0};
kityann 0:daab5accfd83 91 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS);
kityann 0:daab5accfd83 92
kityann 0:daab5accfd83 93
s1200058 2:886fac7f4399 94 /////////////////////////////////////////
s1200058 2:886fac7f4399 95 //
s1200058 2:886fac7f4399 96 //Plus Speed
s1200058 2:886fac7f4399 97 //
s1200058 2:886fac7f4399 98 //MNUAL_MODEの時にスピードを変える
s1200058 2:886fac7f4399 99 /////////////////////////////////////////
s1200058 2:886fac7f4399 100 void Plus_Speed(uint8_t *packetdata){
s1200058 2:886fac7f4399 101
s1200058 2:886fac7f4399 102 if(agz.nowMode == MANUAL_MODE){
s1200058 2:886fac7f4399 103 agz.changeSpeed(packetdata);
s1200058 2:886fac7f4399 104 }
s1200058 2:886fac7f4399 105
s1200058 2:886fac7f4399 106 }
kityann 0:daab5accfd83 107
kityann 0:daab5accfd83 108 /////////////////////////////////////////
kityann 0:daab5accfd83 109 //
s1200058 2:886fac7f4399 110 //Send Status
kityann 0:daab5accfd83 111 //
kityann 0:daab5accfd83 112 //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 113 /////////////////////////////////////////
kityann 0:daab5accfd83 114 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 115 XBeeAddress64 send_Address;
s1200058 22:af860680417b 116 if(SenderIDc == '0'){
kityann 0:daab5accfd83 117 send_Address = manager_Address;
kityann 23:c5071bf93db1 118 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 119 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 120 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 121 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 122 }
s1200058 21:76e7f36df4a9 123 if(SenderIDc >= 'A' && SenderIDc < 'Z'){
kityann 0:daab5accfd83 124 send_Address = robot_Address[SenderIDc - 'A'];
kityann 23:c5071bf93db1 125 //Create GPS Infomation Packet
kityann 24:698d4e920d33 126 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 127 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 128 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 129 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 130 }
kityann 0:daab5accfd83 131 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 132 send_Address = base_Address[SenderIDc - 'a'];
kityann 24:698d4e920d33 133
kityann 24:698d4e920d33 134 agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(),
kityann 23:c5071bf93db1 135 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 136 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 24:698d4e920d33 137 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 138 }
kityann 0:daab5accfd83 139 //send normal data
kityann 23:c5071bf93db1 140
kityann 0:daab5accfd83 141
kityann 0:daab5accfd83 142 //debug***************************************************
kityann 0:daab5accfd83 143 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 144 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 145 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 146 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 147 );
kityann 0:daab5accfd83 148 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 149 printf("\n");
kityann 0:daab5accfd83 150 //debug end***************************************************
kityann 0:daab5accfd83 151
kityann 0:daab5accfd83 152 //Select Destination
kityann 0:daab5accfd83 153 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 154 //Send -> Base
kityann 0:daab5accfd83 155 xbee.send(tx64request);
s1200058 20:eee8ac8d1788 156
kityann 0:daab5accfd83 157 }
kityann 0:daab5accfd83 158
kityann 0:daab5accfd83 159 /////////////////////////////////////////
kityann 0:daab5accfd83 160 //
kityann 0:daab5accfd83 161 //Get GPS function
kityann 0:daab5accfd83 162 //
kityann 0:daab5accfd83 163 /////////////////////////////////////////
kityann 0:daab5accfd83 164
kityann 0:daab5accfd83 165 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 166 static bool flag = true;
kityann 0:daab5accfd83 167
kityann 0:daab5accfd83 168 if (myGPS->fix) {
kityann 0:daab5accfd83 169 agz.nowStatus = GPS_AVAIL;
kityann 0:daab5accfd83 170
kityann 0:daab5accfd83 171 if(flag){//初期値設定
kityann 0:daab5accfd83 172 if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){
kityann 0:daab5accfd83 173 flag = false;
kityann 0:daab5accfd83 174 x[0][0]=(double)myGPS->latitudeL;
kityann 0:daab5accfd83 175 x[0][1]=(double)myGPS->longitudeL;
kityann 0:daab5accfd83 176 }
kityann 0:daab5accfd83 177 }
kityann 0:daab5accfd83 178
kityann 0:daab5accfd83 179 if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){
kityann 0:daab5accfd83 180 return;
kityann 0:daab5accfd83 181 }
kityann 0:daab5accfd83 182 //Kalman Filter
kityann 0:daab5accfd83 183 Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS);
kityann 0:daab5accfd83 184
kityann 0:daab5accfd83 185 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 186 agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
kityann 0:daab5accfd83 187 }
kityann 0:daab5accfd83 188 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 189
kityann 0:daab5accfd83 190 }
s1200058 2:886fac7f4399 191
s1200058 2:886fac7f4399 192 /////////////////////////////////////////
s1200058 2:886fac7f4399 193 //
s1200058 2:886fac7f4399 194 //New Mode
s1200058 2:886fac7f4399 195 //
s1200058 2:886fac7f4399 196 /////////////////////////////////////////
s1200058 2:886fac7f4399 197
s1200058 2:886fac7f4399 198 void New_Mode(uint8_t *packetdata){
s1200058 2:886fac7f4399 199
s1200058 19:a806105ba365 200 //bool result;
s1200058 20:eee8ac8d1788 201 agz.changeMode(packetdata);
s1200058 2:886fac7f4399 202
s1200058 2:886fac7f4399 203 }
kityann 1:b2b950b916ce 204
kityann 1:b2b950b916ce 205 /////////////////////////////////////////
kityann 1:b2b950b916ce 206 //
kityann 1:b2b950b916ce 207 //Get Status
kityann 1:b2b950b916ce 208 //
kityann 1:b2b950b916ce 209 /////////////////////////////////////////
kityann 1:b2b950b916ce 210 void Get_Status(char SenderIDc,uint8_t *packetdata){
kityann 1:b2b950b916ce 211
kityann 1:b2b950b916ce 212 //マネージャからデータが来たとき
kityann 1:b2b950b916ce 213 if(SenderIDc == '0'){
kityann 1:b2b950b916ce 214 printf("get manager Status\n");
kityann 1:b2b950b916ce 215 }
kityann 1:b2b950b916ce 216 //他のロボットからデータが来たとき
kityann 1:b2b950b916ce 217 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 1:b2b950b916ce 218 printf("get other robots Status\n");
kityann 1:b2b950b916ce 219 }
kityann 1:b2b950b916ce 220 //基地局からデータが来たとき
kityann 1:b2b950b916ce 221 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 1:b2b950b916ce 222 printf("Get Base data\n");
kityann 1:b2b950b916ce 223 int id = SenderIDc - 'a';
kityann 1:b2b950b916ce 224 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]);
kityann 1:b2b950b916ce 225 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
kityann 1:b2b950b916ce 226
kityann 1:b2b950b916ce 227 //debug
kityann 1:b2b950b916ce 228 for(int i = 0;i < 4;i++){
kityann 1:b2b950b916ce 229 printf("BASE:%d\n",i);
kityann 1:b2b950b916ce 230 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n",
kityann 1:b2b950b916ce 231 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i),
kityann 1:b2b950b916ce 232 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)
kityann 1:b2b950b916ce 233 );
kityann 1:b2b950b916ce 234 }
kityann 1:b2b950b916ce 235 }
kityann 1:b2b950b916ce 236 }
kityann 1:b2b950b916ce 237
s1200058 2:886fac7f4399 238 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){
s1200058 2:886fac7f4399 239
s1200058 2:886fac7f4399 240 //マネージャからデータが来たとき
s1200058 2:886fac7f4399 241 if(SenderIDc == '0'){
s1200058 2:886fac7f4399 242 printf("get manager Status Kalman\n");
s1200058 2:886fac7f4399 243 }
s1200058 2:886fac7f4399 244 //他のロボットからデータが来たとき
s1200058 2:886fac7f4399 245 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
s1200058 2:886fac7f4399 246 printf("get other robots Status Kalman\n");
s1200058 2:886fac7f4399 247 }
s1200058 2:886fac7f4399 248 //基地局からデータが来たとき
s1200058 2:886fac7f4399 249 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
s1200058 2:886fac7f4399 250 printf("Get Base data Kalman\n");
s1200058 2:886fac7f4399 251 int id = SenderIDc - 'a';
s1200058 2:886fac7f4399 252 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
s1200058 2:886fac7f4399 253
s1200058 2:886fac7f4399 254 //debug
s1200058 2:886fac7f4399 255 for(int i = 0;i < 4;i++){
s1200058 2:886fac7f4399 256 printf("BASE:%d\n",i);
s1200058 2:886fac7f4399 257 printf("latitudeK:%f,longitudeK:%f\n",
s1200058 2:886fac7f4399 258 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i));
s1200058 2:886fac7f4399 259 }
s1200058 2:886fac7f4399 260 }
s1200058 2:886fac7f4399 261 }
s1200058 2:886fac7f4399 262
kityann 1:b2b950b916ce 263 /////////////////////////////////////////
kityann 1:b2b950b916ce 264 //
kityann 1:b2b950b916ce 265 //Send_Request_to_base
kityann 1:b2b950b916ce 266 //
kityann 1:b2b950b916ce 267 /////////////////////////////////////////
kityann 1:b2b950b916ce 268 void Send_Request_Base(int basenumber){
kityann 1:b2b950b916ce 269 printf("send\n");
kityann 1:b2b950b916ce 270 agz.createRequestCommand(MyID, basenumber);
kityann 1:b2b950b916ce 271 //Select Destination
kityann 1:b2b950b916ce 272 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength());
kityann 1:b2b950b916ce 273 //Send -> Base
kityann 1:b2b950b916ce 274 xbee.send(tx64request);
kityann 1:b2b950b916ce 275 }
kityann 0:daab5accfd83 276
s1200058 3:1ac506a96fd6 277 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 278 //
s1200058 3:1ac506a96fd6 279 //auto_Move
s1200058 3:1ac506a96fd6 280 //
s1200058 3:1ac506a96fd6 281 //InAreaかOutAreaの判定
s1200058 3:1ac506a96fd6 282 //Kalmanを通した値を出力(Baseと自分)
s1200058 3:1ac506a96fd6 283 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 284
s1200058 3:1ac506a96fd6 285 void auto_Move(){
s1200058 3:1ac506a96fd6 286
s1200058 3:1ac506a96fd6 287 bool result;
s1200058 3:1ac506a96fd6 288 int i;
s1200058 3:1ac506a96fd6 289
s1200058 3:1ac506a96fd6 290 result = agz.gpsAuto();
s1200058 20:eee8ac8d1788 291 //agz.set_agzAutoGPS();
s1200058 20:eee8ac8d1788 292 //agz.set_agzKalmanGPS();
s1200058 3:1ac506a96fd6 293
s1200058 3:1ac506a96fd6 294 if(result == true){
s1200058 3:1ac506a96fd6 295 printf("Out Area\n");
s1200058 3:1ac506a96fd6 296 }
s1200058 3:1ac506a96fd6 297 else if(result == false){
s1200058 3:1ac506a96fd6 298 printf("In Area\n");
s1200058 3:1ac506a96fd6 299 }
s1200058 3:1ac506a96fd6 300 for(i = 0; i < 4; i++){
s1200058 3:1ac506a96fd6 301 printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i));
s1200058 3:1ac506a96fd6 302 }
s1200058 3:1ac506a96fd6 303 printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 3:1ac506a96fd6 304
s1200058 3:1ac506a96fd6 305 }
s1200058 3:1ac506a96fd6 306
s1200058 5:522c47c78401 307 void print_gps(int count){
s1200058 5:522c47c78401 308
s1200058 5:522c47c78401 309 printf("%d times:\n", count);
s1200058 5:522c47c78401 310 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 5:522c47c78401 311
s1200058 5:522c47c78401 312 }
kityann 0:daab5accfd83 313
kityann 0:daab5accfd83 314 /////////////////////////////////////////
kityann 0:daab5accfd83 315 //
kityann 0:daab5accfd83 316 //Kalman Processing
kityann 0:daab5accfd83 317 //
kityann 0:daab5accfd83 318 /////////////////////////////////////////
kityann 0:daab5accfd83 319
kityann 0:daab5accfd83 320 void get_K(){
kityann 0:daab5accfd83 321 double temp[2][2]={
kityann 0:daab5accfd83 322 {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]},
kityann 0:daab5accfd83 323 {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]}
kityann 0:daab5accfd83 324 };
kityann 0:daab5accfd83 325 double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1];
kityann 0:daab5accfd83 326 K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]);
kityann 0:daab5accfd83 327 K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]);
kityann 0:daab5accfd83 328 }
kityann 0:daab5accfd83 329
kityann 0:daab5accfd83 330
kityann 0:daab5accfd83 331 void get_x(){
kityann 0:daab5accfd83 332 x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]);
kityann 0:daab5accfd83 333 x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]);
kityann 0:daab5accfd83 334 }
kityann 0:daab5accfd83 335
kityann 0:daab5accfd83 336
kityann 0:daab5accfd83 337 void get_sigma(){
kityann 0:daab5accfd83 338 double temp[2][2];
kityann 0:daab5accfd83 339 for(int i=0;i<2;i++) {
kityann 0:daab5accfd83 340 for(int j=0;j<2;j++) {
kityann 0:daab5accfd83 341 for(int k=0;k<2;k++) {
kityann 0:daab5accfd83 342 temp[i][j]+=K[1][i][k]*sigma[0][k][j];
kityann 0:daab5accfd83 343 }
kityann 0:daab5accfd83 344 }
kityann 0:daab5accfd83 345 }
kityann 0:daab5accfd83 346 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 347 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 348 sigma[1][i][j] = sigma[0][i][j]-temp[i][j];
kityann 0:daab5accfd83 349 }
kityann 0:daab5accfd83 350 }
kityann 0:daab5accfd83 351 }
kityann 0:daab5accfd83 352
kityann 0:daab5accfd83 353 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 354 y[0] = Latitude;
kityann 0:daab5accfd83 355 y[1] = Longitude;
kityann 0:daab5accfd83 356 //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS];
kityann 0:daab5accfd83 357 get_K();
kityann 0:daab5accfd83 358 //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]);
kityann 0:daab5accfd83 359 get_x();
kityann 0:daab5accfd83 360 //sigma[t+1] = sigma[t]-K[t+1]*sigma[t];
kityann 0:daab5accfd83 361 get_sigma();
kityann 0:daab5accfd83 362
kityann 0:daab5accfd83 363
kityann 0:daab5accfd83 364 //kousinn
kityann 0:daab5accfd83 365 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 366 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 367 K[0][i][j]=K[1][i][j];
kityann 0:daab5accfd83 368 x[0][i]=x[1][i];
kityann 0:daab5accfd83 369 sigma[0][i][j]=sigma[1][i][j];
kityann 0:daab5accfd83 370 }
kityann 0:daab5accfd83 371 }
kityann 0:daab5accfd83 372
kityann 4:f36986ceb73d 373 if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN;
kityann 4:f36986ceb73d 374 if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN;
kityann 4:f36986ceb73d 375
kityann 0:daab5accfd83 376 myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
kityann 0:daab5accfd83 377 myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering
kityann 0:daab5accfd83 378 myGPS->latitudeKL=(long)x[1][0];//latitude after filtering
kityann 0:daab5accfd83 379 myGPS->longitudeKL=(long)x[1][1];//longitude after filtering
kityann 0:daab5accfd83 380
kityann 0:daab5accfd83 381 agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]);
kityann 0:daab5accfd83 382 }
kityann 0:daab5accfd83 383
kityann 0:daab5accfd83 384
kityann 0:daab5accfd83 385 /////////////////////////////////////////
kityann 0:daab5accfd83 386 //
kityann 0:daab5accfd83 387 //Main Processing
kityann 0:daab5accfd83 388 //
kityann 0:daab5accfd83 389 /////////////////////////////////////////
kityann 0:daab5accfd83 390 int main() {
kityann 0:daab5accfd83 391 //start up time
kityann 0:daab5accfd83 392 wait(3);
kityann 0:daab5accfd83 393 //set pc frequency to 57600bps
kityann 0:daab5accfd83 394 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 395 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 396 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 397
kityann 0:daab5accfd83 398
kityann 0:daab5accfd83 399 //GPS setting
kityann 0:daab5accfd83 400 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 401 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 402 Timer refresh_Timer;
s1200058 7:a9a1acc7673b 403 const int refresh_Time = 1000; //refresh time in ms
s1200058 3:1ac506a96fd6 404 Timer auto_Timer;
s1200058 3:1ac506a96fd6 405 const int auto_Time = 2000; //refresh time in ms
s1200058 5:522c47c78401 406 int count = 0;
kityann 0:daab5accfd83 407 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 408
s1200058 14:5deb7a4f1cd4 409 Timer collect_Timer;
s1200058 14:5deb7a4f1cd4 410 const int collect_Time = 2000; //when we collect 4 GPS point, we use
s1200058 14:5deb7a4f1cd4 411 int collect_flag = 0;
s1200058 14:5deb7a4f1cd4 412 char collect_state = 'a';
s1200058 14:5deb7a4f1cd4 413
kityann 0:daab5accfd83 414 char SenderIDc;
kityann 0:daab5accfd83 415 //GPS Send Command
kityann 0:daab5accfd83 416 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 417 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 418 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 419
kityann 0:daab5accfd83 420 wait(2);
kityann 0:daab5accfd83 421
kityann 0:daab5accfd83 422 //interrupt start
kityann 0:daab5accfd83 423 refresh_Timer.start();
s1200058 3:1ac506a96fd6 424 auto_Timer.start();
s1200058 16:a07350b3eb64 425 collect_Timer.start();
kityann 1:b2b950b916ce 426
kityann 0:daab5accfd83 427 printf("start\n");
kityann 0:daab5accfd83 428
kityann 0:daab5accfd83 429 while (true) {
kityann 0:daab5accfd83 430
kityann 0:daab5accfd83 431 //Check Xbee Buffer Available
kityann 0:daab5accfd83 432 xbee.readPacket();
kityann 0:daab5accfd83 433
kityann 0:daab5accfd83 434 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 435 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 436 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 437
kityann 0:daab5accfd83 438 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 439 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 440 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 441 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 442 SenderIDc = buf1[5];//送信元のIDを取得する
s1200058 21:76e7f36df4a9 443 char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 444
kityann 0:daab5accfd83 445 //Check Command Type
kityann 0:daab5accfd83 446 switch(Command_type){
kityann 0:daab5accfd83 447 //Get Request command
s1200058 2:886fac7f4399 448 case MANUAL:{
s1200058 12:48ef69b4f0e4 449 Plus_Speed(buf);
s1200058 2:886fac7f4399 450 break;
s1200058 2:886fac7f4399 451 }
kityann 0:daab5accfd83 452 case STATUS_REQUEST:{
s1200058 21:76e7f36df4a9 453 Send_Status(SenderIDc);
s1200058 21:76e7f36df4a9 454 printf("%c\n", SenderIDc);
kityann 0:daab5accfd83 455 break;
kityann 0:daab5accfd83 456 }
s1200058 2:886fac7f4399 457 case CHANGE_MODE:{
s1200058 12:48ef69b4f0e4 458 New_Mode(buf);
s1200058 2:886fac7f4399 459 break;
s1200058 2:886fac7f4399 460 }
kityann 1:b2b950b916ce 461 case RECEIVE_STATUS:{
kityann 1:b2b950b916ce 462 Get_Status(SenderIDc,buf1);
kityann 1:b2b950b916ce 463 break;
kityann 1:b2b950b916ce 464 }
s1200058 2:886fac7f4399 465 case RECEIVE_KALMAN:{
s1200058 2:886fac7f4399 466 Get_Status_Kalman(SenderIDc, buf1);
s1200058 2:886fac7f4399 467 break;
s1200058 2:886fac7f4399 468 }
kityann 0:daab5accfd83 469 default:{
kityann 0:daab5accfd83 470 break;
kityann 0:daab5accfd83 471 }
kityann 0:daab5accfd83 472 }//endswitch
kityann 0:daab5accfd83 473 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 474 }//endifisAvailable
kityann 0:daab5accfd83 475
kityann 0:daab5accfd83 476 myGPS.read();
kityann 0:daab5accfd83 477 //recive gps module
kityann 0:daab5accfd83 478 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 479 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 480 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 8:994c73f6fad9 481 continue;
s1200058 8:994c73f6fad9 482 }
s1200058 8:994c73f6fad9 483 else{
s1200058 5:522c47c78401 484 count++;
s1200058 8:994c73f6fad9 485 }
kityann 0:daab5accfd83 486 }
kityann 1:b2b950b916ce 487 //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 488 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 489 refresh_Timer.reset();
s1200058 12:48ef69b4f0e4 490 //print_gps(count);
kityann 0:daab5accfd83 491 Get_GPS(&myGPS);
kityann 0:daab5accfd83 492
kityann 0:daab5accfd83 493 }
s1200058 20:eee8ac8d1788 494
s1200058 20:eee8ac8d1788 495 //get base GPS
s1200058 14:5deb7a4f1cd4 496 if( collect_Timer.read_ms() >= collect_Time){
s1200058 15:f3d01f37f00d 497 collect_Timer.reset();
s1200058 15:f3d01f37f00d 498
s1200058 15:f3d01f37f00d 499 Send_Request_Base(collect_flag);
s1200058 14:5deb7a4f1cd4 500
s1200058 14:5deb7a4f1cd4 501 collect_flag++;
s1200058 14:5deb7a4f1cd4 502 collect_state++;
s1200058 14:5deb7a4f1cd4 503
s1200058 14:5deb7a4f1cd4 504 if(collect_flag == 4){
s1200058 14:5deb7a4f1cd4 505 collect_state = 'a';
s1200058 14:5deb7a4f1cd4 506 collect_flag = 0;
s1200058 14:5deb7a4f1cd4 507 }
s1200058 14:5deb7a4f1cd4 508 }
s1200058 20:eee8ac8d1788 509
s1200058 14:5deb7a4f1cd4 510 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 3:1ac506a96fd6 511 auto_Timer.reset();
s1200058 3:1ac506a96fd6 512 auto_Move();
kityann 1:b2b950b916ce 513 }
kityann 0:daab5accfd83 514 }
kityann 0:daab5accfd83 515 }