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@34:9c3192c00e41, 2015-05-25 (annotated)

Committer:
s1200058
Date:
Mon May 25 11:06:34 2015 +0000
Revision:
34:9c3192c00e41
Parent:
33:3025b16bccd2
Child:
35:3094c84a024b
change kalman

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