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@22:af860680417b, 2015-05-16 (annotated)

Committer:
s1200058
Date:
Sat May 16 18:09:08 2015 +0000
Revision:
22:af860680417b
Parent:
21:76e7f36df4a9
Child:
23:c5071bf93db1
2015/05/16

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 0:daab5accfd83 28 /**********************************************/
kityann 0:daab5accfd83 29
kityann 0:daab5accfd83 30 #include "mbed.h"
kityann 0:daab5accfd83 31 #include "XBee.h"
kityann 0:daab5accfd83 32 #include "MBed_Adafruit_GPS.h"
kityann 0:daab5accfd83 33 #include "AigamozuControlPackets.h"
kityann 0:daab5accfd83 34 #include "agzIDLIST.h"
kityann 0:daab5accfd83 35 #include "aigamozuSetting.h"
kityann 0:daab5accfd83 36 #include "Kalman.h"
kityann 0:daab5accfd83 37
kityann 4:f36986ceb73d 38 #define SIGMA_MIN 0.0001
kityann 4:f36986ceb73d 39
kityann 0:daab5accfd83 40 //************ID Number*****************
kityann 0:daab5accfd83 41 //Robot ID: 'A' ~ 'Z'
kityann 0:daab5accfd83 42 //Base ID: 'a' ~ 'a'
kityann 0:daab5accfd83 43 //manager ID: '0'(数字のゼロ)
kityann 0:daab5accfd83 44 //
s1200058 21:76e7f36df4a9 45 const char MyID = 'D';
kityann 0:daab5accfd83 46 //************ID Number*****************
kityann 0:daab5accfd83 47
kityann 0:daab5accfd83 48 /////////////////////////////////////////
kityann 0:daab5accfd83 49 //
kityann 0:daab5accfd83 50 //Pin Setting
kityann 0:daab5accfd83 51 //
kityann 0:daab5accfd83 52 /////////////////////////////////////////
kityann 0:daab5accfd83 53 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:daab5accfd83 54
kityann 0:daab5accfd83 55
kityann 0:daab5accfd83 56 /////////////////////////////////////////
kityann 0:daab5accfd83 57 //
kityann 0:daab5accfd83 58 //Connection Setting
kityann 0:daab5accfd83 59 //
kityann 0:daab5accfd83 60 /////////////////////////////////////////
kityann 0:daab5accfd83 61
kityann 0:daab5accfd83 62 //Serial Connect Setting: PC <--> mbed
kityann 0:daab5accfd83 63 Serial pc(USBTX, USBRX);
kityann 0:daab5accfd83 64
kityann 0:daab5accfd83 65 //Serial Connect Setting: GPS <--> mbed
kityann 0:daab5accfd83 66 Serial * gps_Serial;
kityann 0:daab5accfd83 67
kityann 0:daab5accfd83 68 //Serial Connect Setting: XBEE <--> mbed
kityann 0:daab5accfd83 69 XBee xbee(p13,p14);
kityann 0:daab5accfd83 70 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:daab5accfd83 71
kityann 0:daab5accfd83 72 //set up GPS module
kityann 0:daab5accfd83 73
kityann 0:daab5accfd83 74 //set up AigamozuControlPackets library
kityann 0:daab5accfd83 75 AigamozuControlPackets agz(agz_motorShield);
kityann 0:daab5accfd83 76
kityann 0:daab5accfd83 77
kityann 0:daab5accfd83 78 /////////////////////////////////////////
kityann 0:daab5accfd83 79 //
kityann 0:daab5accfd83 80 //For Kalman data
kityann 0:daab5accfd83 81 //
kityann 0:daab5accfd83 82 /////////////////////////////////////////
kityann 0:daab5accfd83 83 double sigmaGPS[2][2] = {{250,0},{0,250}};
kityann 0:daab5accfd83 84 double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}};
kityann 0:daab5accfd83 85 double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}};
kityann 0:daab5accfd83 86 double y[2],x[2][2]={0};
kityann 0:daab5accfd83 87 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS);
kityann 0:daab5accfd83 88
kityann 0:daab5accfd83 89
s1200058 2:886fac7f4399 90 /////////////////////////////////////////
s1200058 2:886fac7f4399 91 //
s1200058 2:886fac7f4399 92 //Plus Speed
s1200058 2:886fac7f4399 93 //
s1200058 2:886fac7f4399 94 //MNUAL_MODEの時にスピードを変える
s1200058 2:886fac7f4399 95 /////////////////////////////////////////
s1200058 2:886fac7f4399 96 void Plus_Speed(uint8_t *packetdata){
s1200058 2:886fac7f4399 97
s1200058 2:886fac7f4399 98 if(agz.nowMode == MANUAL_MODE){
s1200058 2:886fac7f4399 99 agz.changeSpeed(packetdata);
s1200058 2:886fac7f4399 100 }
s1200058 2:886fac7f4399 101
s1200058 2:886fac7f4399 102 }
kityann 0:daab5accfd83 103
kityann 0:daab5accfd83 104 /////////////////////////////////////////
kityann 0:daab5accfd83 105 //
s1200058 2:886fac7f4399 106 //Send Status
kityann 0:daab5accfd83 107 //
kityann 0:daab5accfd83 108 //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 109 /////////////////////////////////////////
kityann 0:daab5accfd83 110 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 111 XBeeAddress64 send_Address;
s1200058 22:af860680417b 112 if(SenderIDc == '0'){
kityann 0:daab5accfd83 113 send_Address = manager_Address;
kityann 0:daab5accfd83 114 }
s1200058 21:76e7f36df4a9 115 if(SenderIDc >= 'A' && SenderIDc < 'Z'){
kityann 0:daab5accfd83 116 send_Address = robot_Address[SenderIDc - 'A'];
kityann 0:daab5accfd83 117 }
kityann 0:daab5accfd83 118 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 119 send_Address = base_Address[SenderIDc - 'a'];
kityann 0:daab5accfd83 120 }
kityann 0:daab5accfd83 121 //send normal data
kityann 0:daab5accfd83 122 //Create GPS Infomation Packet
s1200058 18:a817972b89cd 123 agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(),
kityann 0:daab5accfd83 124 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 125 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 126 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 127
kityann 0:daab5accfd83 128 //debug***************************************************
kityann 0:daab5accfd83 129 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 130 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 131 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 132 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 133 );
kityann 0:daab5accfd83 134 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 135 printf("\n");
kityann 0:daab5accfd83 136 //debug end***************************************************
kityann 0:daab5accfd83 137
kityann 0:daab5accfd83 138 //Select Destination
kityann 0:daab5accfd83 139 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 140 //Send -> Base
kityann 0:daab5accfd83 141 xbee.send(tx64request);
s1200058 20:eee8ac8d1788 142
kityann 0:daab5accfd83 143 }
kityann 0:daab5accfd83 144
kityann 0:daab5accfd83 145 /////////////////////////////////////////
kityann 0:daab5accfd83 146 //
kityann 0:daab5accfd83 147 //Get GPS function
kityann 0:daab5accfd83 148 //
kityann 0:daab5accfd83 149 /////////////////////////////////////////
kityann 0:daab5accfd83 150
kityann 0:daab5accfd83 151 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 152 static bool flag = true;
kityann 0:daab5accfd83 153
kityann 0:daab5accfd83 154 if (myGPS->fix) {
kityann 0:daab5accfd83 155 agz.nowStatus = GPS_AVAIL;
kityann 0:daab5accfd83 156
kityann 0:daab5accfd83 157 if(flag){//初期値設定
kityann 0:daab5accfd83 158 if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){
kityann 0:daab5accfd83 159 flag = false;
kityann 0:daab5accfd83 160 x[0][0]=(double)myGPS->latitudeL;
kityann 0:daab5accfd83 161 x[0][1]=(double)myGPS->longitudeL;
kityann 0:daab5accfd83 162 }
kityann 0:daab5accfd83 163 }
kityann 0:daab5accfd83 164
kityann 0:daab5accfd83 165 if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){
kityann 0:daab5accfd83 166 return;
kityann 0:daab5accfd83 167 }
kityann 0:daab5accfd83 168 //Kalman Filter
kityann 0:daab5accfd83 169 Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS);
kityann 0:daab5accfd83 170
kityann 0:daab5accfd83 171 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 172 agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
kityann 0:daab5accfd83 173 }
kityann 0:daab5accfd83 174 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 175
kityann 0:daab5accfd83 176 }
s1200058 2:886fac7f4399 177
s1200058 2:886fac7f4399 178 /////////////////////////////////////////
s1200058 2:886fac7f4399 179 //
s1200058 2:886fac7f4399 180 //New Mode
s1200058 2:886fac7f4399 181 //
s1200058 2:886fac7f4399 182 /////////////////////////////////////////
s1200058 2:886fac7f4399 183
s1200058 2:886fac7f4399 184 void New_Mode(uint8_t *packetdata){
s1200058 2:886fac7f4399 185
s1200058 19:a806105ba365 186 //bool result;
s1200058 20:eee8ac8d1788 187 agz.changeMode(packetdata);
s1200058 2:886fac7f4399 188
s1200058 2:886fac7f4399 189 }
kityann 1:b2b950b916ce 190
kityann 1:b2b950b916ce 191 /////////////////////////////////////////
kityann 1:b2b950b916ce 192 //
kityann 1:b2b950b916ce 193 //Get Status
kityann 1:b2b950b916ce 194 //
kityann 1:b2b950b916ce 195 /////////////////////////////////////////
kityann 1:b2b950b916ce 196 void Get_Status(char SenderIDc,uint8_t *packetdata){
kityann 1:b2b950b916ce 197
kityann 1:b2b950b916ce 198 //マネージャからデータが来たとき
kityann 1:b2b950b916ce 199 if(SenderIDc == '0'){
kityann 1:b2b950b916ce 200 printf("get manager Status\n");
kityann 1:b2b950b916ce 201 }
kityann 1:b2b950b916ce 202 //他のロボット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 other robots Status\n");
kityann 1:b2b950b916ce 205 }
kityann 1:b2b950b916ce 206 //基地局からデータが来たとき
kityann 1:b2b950b916ce 207 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 1:b2b950b916ce 208 printf("Get Base data\n");
kityann 1:b2b950b916ce 209 int id = SenderIDc - 'a';
kityann 1:b2b950b916ce 210 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]);
kityann 1:b2b950b916ce 211 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
kityann 1:b2b950b916ce 212
kityann 1:b2b950b916ce 213 //debug
kityann 1:b2b950b916ce 214 for(int i = 0;i < 4;i++){
kityann 1:b2b950b916ce 215 printf("BASE:%d\n",i);
kityann 1:b2b950b916ce 216 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n",
kityann 1:b2b950b916ce 217 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i),
kityann 1:b2b950b916ce 218 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)
kityann 1:b2b950b916ce 219 );
kityann 1:b2b950b916ce 220 }
kityann 1:b2b950b916ce 221 }
kityann 1:b2b950b916ce 222 }
kityann 1:b2b950b916ce 223
s1200058 2:886fac7f4399 224 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){
s1200058 2:886fac7f4399 225
s1200058 2:886fac7f4399 226 //マネージャからデータが来たとき
s1200058 2:886fac7f4399 227 if(SenderIDc == '0'){
s1200058 2:886fac7f4399 228 printf("get manager Status Kalman\n");
s1200058 2:886fac7f4399 229 }
s1200058 2:886fac7f4399 230 //他のロボット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 other robots Status Kalman\n");
s1200058 2:886fac7f4399 233 }
s1200058 2:886fac7f4399 234 //基地局からデータが来たとき
s1200058 2:886fac7f4399 235 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
s1200058 2:886fac7f4399 236 printf("Get Base data Kalman\n");
s1200058 2:886fac7f4399 237 int id = SenderIDc - 'a';
s1200058 2:886fac7f4399 238 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
s1200058 2:886fac7f4399 239
s1200058 2:886fac7f4399 240 //debug
s1200058 2:886fac7f4399 241 for(int i = 0;i < 4;i++){
s1200058 2:886fac7f4399 242 printf("BASE:%d\n",i);
s1200058 2:886fac7f4399 243 printf("latitudeK:%f,longitudeK:%f\n",
s1200058 2:886fac7f4399 244 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i));
s1200058 2:886fac7f4399 245 }
s1200058 2:886fac7f4399 246 }
s1200058 2:886fac7f4399 247 }
s1200058 2:886fac7f4399 248
kityann 1:b2b950b916ce 249 /////////////////////////////////////////
kityann 1:b2b950b916ce 250 //
kityann 1:b2b950b916ce 251 //Send_Request_to_base
kityann 1:b2b950b916ce 252 //
kityann 1:b2b950b916ce 253 /////////////////////////////////////////
kityann 1:b2b950b916ce 254 void Send_Request_Base(int basenumber){
kityann 1:b2b950b916ce 255 printf("send\n");
kityann 1:b2b950b916ce 256 agz.createRequestCommand(MyID, basenumber);
kityann 1:b2b950b916ce 257 //Select Destination
kityann 1:b2b950b916ce 258 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength());
kityann 1:b2b950b916ce 259 //Send -> Base
kityann 1:b2b950b916ce 260 xbee.send(tx64request);
kityann 1:b2b950b916ce 261 }
kityann 0:daab5accfd83 262
s1200058 3:1ac506a96fd6 263 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 264 //
s1200058 3:1ac506a96fd6 265 //auto_Move
s1200058 3:1ac506a96fd6 266 //
s1200058 3:1ac506a96fd6 267 //InAreaかOutAreaの判定
s1200058 3:1ac506a96fd6 268 //Kalmanを通した値を出力(Baseと自分)
s1200058 3:1ac506a96fd6 269 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 270
s1200058 3:1ac506a96fd6 271 void auto_Move(){
s1200058 3:1ac506a96fd6 272
s1200058 3:1ac506a96fd6 273 bool result;
s1200058 3:1ac506a96fd6 274 int i;
s1200058 3:1ac506a96fd6 275
s1200058 3:1ac506a96fd6 276 result = agz.gpsAuto();
s1200058 20:eee8ac8d1788 277 //agz.set_agzAutoGPS();
s1200058 20:eee8ac8d1788 278 //agz.set_agzKalmanGPS();
s1200058 3:1ac506a96fd6 279
s1200058 3:1ac506a96fd6 280 if(result == true){
s1200058 3:1ac506a96fd6 281 printf("Out Area\n");
s1200058 3:1ac506a96fd6 282 }
s1200058 3:1ac506a96fd6 283 else if(result == false){
s1200058 3:1ac506a96fd6 284 printf("In Area\n");
s1200058 3:1ac506a96fd6 285 }
s1200058 3:1ac506a96fd6 286 for(i = 0; i < 4; i++){
s1200058 3:1ac506a96fd6 287 printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i));
s1200058 3:1ac506a96fd6 288 }
s1200058 3:1ac506a96fd6 289 printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 3:1ac506a96fd6 290
s1200058 3:1ac506a96fd6 291 }
s1200058 3:1ac506a96fd6 292
s1200058 5:522c47c78401 293 void print_gps(int count){
s1200058 5:522c47c78401 294
s1200058 5:522c47c78401 295 printf("%d times:\n", count);
s1200058 5:522c47c78401 296 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 5:522c47c78401 297
s1200058 5:522c47c78401 298 }
kityann 0:daab5accfd83 299
kityann 0:daab5accfd83 300 /////////////////////////////////////////
kityann 0:daab5accfd83 301 //
kityann 0:daab5accfd83 302 //Kalman Processing
kityann 0:daab5accfd83 303 //
kityann 0:daab5accfd83 304 /////////////////////////////////////////
kityann 0:daab5accfd83 305
kityann 0:daab5accfd83 306 void get_K(){
kityann 0:daab5accfd83 307 double temp[2][2]={
kityann 0:daab5accfd83 308 {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]},
kityann 0:daab5accfd83 309 {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]}
kityann 0:daab5accfd83 310 };
kityann 0:daab5accfd83 311 double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1];
kityann 0:daab5accfd83 312 K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]);
kityann 0:daab5accfd83 313 K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]);
kityann 0:daab5accfd83 314 }
kityann 0:daab5accfd83 315
kityann 0:daab5accfd83 316
kityann 0:daab5accfd83 317 void get_x(){
kityann 0:daab5accfd83 318 x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]);
kityann 0:daab5accfd83 319 x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]);
kityann 0:daab5accfd83 320 }
kityann 0:daab5accfd83 321
kityann 0:daab5accfd83 322
kityann 0:daab5accfd83 323 void get_sigma(){
kityann 0:daab5accfd83 324 double temp[2][2];
kityann 0:daab5accfd83 325 for(int i=0;i<2;i++) {
kityann 0:daab5accfd83 326 for(int j=0;j<2;j++) {
kityann 0:daab5accfd83 327 for(int k=0;k<2;k++) {
kityann 0:daab5accfd83 328 temp[i][j]+=K[1][i][k]*sigma[0][k][j];
kityann 0:daab5accfd83 329 }
kityann 0:daab5accfd83 330 }
kityann 0:daab5accfd83 331 }
kityann 0:daab5accfd83 332 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 333 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 334 sigma[1][i][j] = sigma[0][i][j]-temp[i][j];
kityann 0:daab5accfd83 335 }
kityann 0:daab5accfd83 336 }
kityann 0:daab5accfd83 337 }
kityann 0:daab5accfd83 338
kityann 0:daab5accfd83 339 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 340 y[0] = Latitude;
kityann 0:daab5accfd83 341 y[1] = Longitude;
kityann 0:daab5accfd83 342 //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS];
kityann 0:daab5accfd83 343 get_K();
kityann 0:daab5accfd83 344 //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]);
kityann 0:daab5accfd83 345 get_x();
kityann 0:daab5accfd83 346 //sigma[t+1] = sigma[t]-K[t+1]*sigma[t];
kityann 0:daab5accfd83 347 get_sigma();
kityann 0:daab5accfd83 348
kityann 0:daab5accfd83 349
kityann 0:daab5accfd83 350 //kousinn
kityann 0:daab5accfd83 351 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 352 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 353 K[0][i][j]=K[1][i][j];
kityann 0:daab5accfd83 354 x[0][i]=x[1][i];
kityann 0:daab5accfd83 355 sigma[0][i][j]=sigma[1][i][j];
kityann 0:daab5accfd83 356 }
kityann 0:daab5accfd83 357 }
kityann 0:daab5accfd83 358
kityann 4:f36986ceb73d 359 if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN;
kityann 4:f36986ceb73d 360 if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN;
kityann 4:f36986ceb73d 361
kityann 0:daab5accfd83 362 myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
kityann 0:daab5accfd83 363 myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering
kityann 0:daab5accfd83 364 myGPS->latitudeKL=(long)x[1][0];//latitude after filtering
kityann 0:daab5accfd83 365 myGPS->longitudeKL=(long)x[1][1];//longitude after filtering
kityann 0:daab5accfd83 366
kityann 0:daab5accfd83 367 agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]);
kityann 0:daab5accfd83 368 }
kityann 0:daab5accfd83 369
kityann 0:daab5accfd83 370
kityann 0:daab5accfd83 371 /////////////////////////////////////////
kityann 0:daab5accfd83 372 //
kityann 0:daab5accfd83 373 //Main Processing
kityann 0:daab5accfd83 374 //
kityann 0:daab5accfd83 375 /////////////////////////////////////////
kityann 0:daab5accfd83 376 int main() {
kityann 0:daab5accfd83 377 //start up time
kityann 0:daab5accfd83 378 wait(3);
kityann 0:daab5accfd83 379 //set pc frequency to 57600bps
kityann 0:daab5accfd83 380 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 381 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 382 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 383
kityann 0:daab5accfd83 384
kityann 0:daab5accfd83 385 //GPS setting
kityann 0:daab5accfd83 386 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 387 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 388 Timer refresh_Timer;
s1200058 7:a9a1acc7673b 389 const int refresh_Time = 1000; //refresh time in ms
s1200058 3:1ac506a96fd6 390 Timer auto_Timer;
s1200058 3:1ac506a96fd6 391 const int auto_Time = 2000; //refresh time in ms
s1200058 5:522c47c78401 392 int count = 0;
kityann 0:daab5accfd83 393 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 394
s1200058 14:5deb7a4f1cd4 395 Timer collect_Timer;
s1200058 14:5deb7a4f1cd4 396 const int collect_Time = 2000; //when we collect 4 GPS point, we use
s1200058 14:5deb7a4f1cd4 397 int collect_flag = 0;
s1200058 14:5deb7a4f1cd4 398 char collect_state = 'a';
s1200058 14:5deb7a4f1cd4 399
kityann 0:daab5accfd83 400 char SenderIDc;
kityann 0:daab5accfd83 401 //GPS Send Command
kityann 0:daab5accfd83 402 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 403 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 404 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 405
kityann 0:daab5accfd83 406 wait(2);
kityann 0:daab5accfd83 407
kityann 0:daab5accfd83 408 //interrupt start
kityann 0:daab5accfd83 409 refresh_Timer.start();
s1200058 3:1ac506a96fd6 410 auto_Timer.start();
s1200058 16:a07350b3eb64 411 collect_Timer.start();
kityann 1:b2b950b916ce 412
kityann 0:daab5accfd83 413 printf("start\n");
kityann 0:daab5accfd83 414
kityann 0:daab5accfd83 415 while (true) {
kityann 0:daab5accfd83 416
kityann 0:daab5accfd83 417 //Check Xbee Buffer Available
kityann 0:daab5accfd83 418 xbee.readPacket();
kityann 0:daab5accfd83 419
kityann 0:daab5accfd83 420 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 421 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 422 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 423
kityann 0:daab5accfd83 424 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 425 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 426 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 427 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 428 SenderIDc = buf1[5];//送信元のIDを取得する
s1200058 21:76e7f36df4a9 429 char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 430
kityann 0:daab5accfd83 431 //Check Command Type
kityann 0:daab5accfd83 432 switch(Command_type){
kityann 0:daab5accfd83 433 //Get Request command
s1200058 2:886fac7f4399 434 case MANUAL:{
s1200058 12:48ef69b4f0e4 435 Plus_Speed(buf);
s1200058 2:886fac7f4399 436 break;
s1200058 2:886fac7f4399 437 }
kityann 0:daab5accfd83 438 case STATUS_REQUEST:{
s1200058 21:76e7f36df4a9 439 Send_Status(SenderIDc);
s1200058 21:76e7f36df4a9 440 printf("%c\n", SenderIDc);
kityann 0:daab5accfd83 441 break;
kityann 0:daab5accfd83 442 }
s1200058 2:886fac7f4399 443 case CHANGE_MODE:{
s1200058 12:48ef69b4f0e4 444 New_Mode(buf);
s1200058 2:886fac7f4399 445 break;
s1200058 2:886fac7f4399 446 }
kityann 1:b2b950b916ce 447 case RECEIVE_STATUS:{
kityann 1:b2b950b916ce 448 Get_Status(SenderIDc,buf1);
kityann 1:b2b950b916ce 449 break;
kityann 1:b2b950b916ce 450 }
s1200058 2:886fac7f4399 451 case RECEIVE_KALMAN:{
s1200058 2:886fac7f4399 452 Get_Status_Kalman(SenderIDc, buf1);
s1200058 2:886fac7f4399 453 break;
s1200058 2:886fac7f4399 454 }
kityann 0:daab5accfd83 455 default:{
kityann 0:daab5accfd83 456 break;
kityann 0:daab5accfd83 457 }
kityann 0:daab5accfd83 458 }//endswitch
kityann 0:daab5accfd83 459 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 460 }//endifisAvailable
kityann 0:daab5accfd83 461
kityann 0:daab5accfd83 462 myGPS.read();
kityann 0:daab5accfd83 463 //recive gps module
kityann 0:daab5accfd83 464 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 465 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 466 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 8:994c73f6fad9 467 continue;
s1200058 8:994c73f6fad9 468 }
s1200058 8:994c73f6fad9 469 else{
s1200058 5:522c47c78401 470 count++;
s1200058 8:994c73f6fad9 471 }
kityann 0:daab5accfd83 472 }
kityann 1:b2b950b916ce 473 //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 474 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 475 refresh_Timer.reset();
s1200058 12:48ef69b4f0e4 476 //print_gps(count);
kityann 0:daab5accfd83 477 Get_GPS(&myGPS);
kityann 0:daab5accfd83 478
kityann 0:daab5accfd83 479 }
s1200058 20:eee8ac8d1788 480
s1200058 20:eee8ac8d1788 481 //get base GPS
s1200058 14:5deb7a4f1cd4 482 if( collect_Timer.read_ms() >= collect_Time){
s1200058 15:f3d01f37f00d 483 collect_Timer.reset();
s1200058 15:f3d01f37f00d 484
s1200058 15:f3d01f37f00d 485 Send_Request_Base(collect_flag);
s1200058 14:5deb7a4f1cd4 486
s1200058 14:5deb7a4f1cd4 487 collect_flag++;
s1200058 14:5deb7a4f1cd4 488 collect_state++;
s1200058 14:5deb7a4f1cd4 489
s1200058 14:5deb7a4f1cd4 490 if(collect_flag == 4){
s1200058 14:5deb7a4f1cd4 491 collect_state = 'a';
s1200058 14:5deb7a4f1cd4 492 collect_flag = 0;
s1200058 14:5deb7a4f1cd4 493 }
s1200058 14:5deb7a4f1cd4 494 }
s1200058 20:eee8ac8d1788 495
s1200058 14:5deb7a4f1cd4 496 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 3:1ac506a96fd6 497 auto_Timer.reset();
s1200058 3:1ac506a96fd6 498 auto_Move();
kityann 1:b2b950b916ce 499 }
kityann 0:daab5accfd83 500 }
kityann 0:daab5accfd83 501 }