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@17:e563cf8e6bcf, 2015-05-15 (annotated)

Committer:
s1200058
Date:
Fri May 15 08:21:21 2015 +0000
Revision:
17:e563cf8e6bcf
Parent:
16:a07350b3eb64
Child:
18:a817972b89cd
2015/05/15;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 0:daab5accfd83 1 /**********************************************/
kityann 0:daab5accfd83 2 //
kityann 0:daab5accfd83 3 //
kityann 0:daab5accfd83 4 //
kityann 0:daab5accfd83 5 // Program name: Aigamozu ROBOT
kityann 0:daab5accfd83 6 // Author: Mineta Kizuku
kityann 0:daab5accfd83 7 //
kityann 0:daab5accfd83 8 //
kityann 0:daab5accfd83 9 /**********************************************/
kityann 0:daab5accfd83 10
kityann 0:daab5accfd83 11 /**********************************************/
kityann 0:daab5accfd83 12 //更新情報
kityann 0:daab5accfd83 13 //2015/05/11
kityann 0:daab5accfd83 14 //ロボットプログラムの作成
kityann 0:daab5accfd83 15 //
kityann 4:f36986ceb73d 16 //2015/05/13
kityann 4:f36986ceb73d 17 //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 18 //共分散の値を10進数に変換するようにした
kityann 0:daab5accfd83 19 //
s1200058 6:13f212b75e71 20 //2015/05/13
s1200058 6:13f212b75e71 21 //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 22 //
s1200058 17:e563cf8e6bcf 23 //2015/05/15
s1200058 17:e563cf8e6bcf 24 //プログラムcreateReceiveStatusCommand()にて
s1200058 17:e563cf8e6bcf 25 //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 26 //
kityann 0:daab5accfd83 27 /**********************************************/
kityann 0:daab5accfd83 28
kityann 0:daab5accfd83 29 #include "mbed.h"
kityann 0:daab5accfd83 30 #include "XBee.h"
kityann 0:daab5accfd83 31 #include "MBed_Adafruit_GPS.h"
kityann 0:daab5accfd83 32 #include "AigamozuControlPackets.h"
kityann 0:daab5accfd83 33 #include "agzIDLIST.h"
kityann 0:daab5accfd83 34 #include "aigamozuSetting.h"
kityann 0:daab5accfd83 35 #include "Kalman.h"
kityann 0:daab5accfd83 36
kityann 4:f36986ceb73d 37 #define SIGMA_MIN 0.0001
kityann 4:f36986ceb73d 38
kityann 0:daab5accfd83 39 //************ID Number*****************
kityann 0:daab5accfd83 40 //Robot ID: 'A' ~ 'Z'
kityann 0:daab5accfd83 41 //Base ID: 'a' ~ 'a'
kityann 0:daab5accfd83 42 //manager ID: '0'(数字のゼロ)
kityann 0:daab5accfd83 43 //
s1200058 12:48ef69b4f0e4 44 const char MyID = 'C';
kityann 0:daab5accfd83 45 //************ID Number*****************
kityann 0:daab5accfd83 46
kityann 0:daab5accfd83 47 /////////////////////////////////////////
kityann 0:daab5accfd83 48 //
kityann 0:daab5accfd83 49 //Pin Setting
kityann 0:daab5accfd83 50 //
kityann 0:daab5accfd83 51 /////////////////////////////////////////
kityann 0:daab5accfd83 52 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:daab5accfd83 53
kityann 0:daab5accfd83 54
kityann 0:daab5accfd83 55 /////////////////////////////////////////
kityann 0:daab5accfd83 56 //
kityann 0:daab5accfd83 57 //Connection Setting
kityann 0:daab5accfd83 58 //
kityann 0:daab5accfd83 59 /////////////////////////////////////////
kityann 0:daab5accfd83 60
kityann 0:daab5accfd83 61 //Serial Connect Setting: PC <--> mbed
kityann 0:daab5accfd83 62 Serial pc(USBTX, USBRX);
kityann 0:daab5accfd83 63
kityann 0:daab5accfd83 64 //Serial Connect Setting: GPS <--> mbed
kityann 0:daab5accfd83 65 Serial * gps_Serial;
kityann 0:daab5accfd83 66
kityann 0:daab5accfd83 67 //Serial Connect Setting: XBEE <--> mbed
kityann 0:daab5accfd83 68 XBee xbee(p13,p14);
kityann 0:daab5accfd83 69 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:daab5accfd83 70
kityann 0:daab5accfd83 71 //set up GPS module
kityann 0:daab5accfd83 72
kityann 0:daab5accfd83 73 //set up AigamozuControlPackets library
kityann 0:daab5accfd83 74 AigamozuControlPackets agz(agz_motorShield);
kityann 0:daab5accfd83 75
kityann 0:daab5accfd83 76
kityann 0:daab5accfd83 77 /////////////////////////////////////////
kityann 0:daab5accfd83 78 //
kityann 0:daab5accfd83 79 //For Kalman data
kityann 0:daab5accfd83 80 //
kityann 0:daab5accfd83 81 /////////////////////////////////////////
kityann 0:daab5accfd83 82 double sigmaGPS[2][2] = {{250,0},{0,250}};
kityann 0:daab5accfd83 83 double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}};
kityann 0:daab5accfd83 84 double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}};
kityann 0:daab5accfd83 85 double y[2],x[2][2]={0};
kityann 0:daab5accfd83 86 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS);
kityann 0:daab5accfd83 87
kityann 0:daab5accfd83 88
s1200058 2:886fac7f4399 89 /////////////////////////////////////////
s1200058 2:886fac7f4399 90 //
s1200058 2:886fac7f4399 91 //Plus Speed
s1200058 2:886fac7f4399 92 //
s1200058 2:886fac7f4399 93 //MNUAL_MODEの時にスピードを変える
s1200058 2:886fac7f4399 94 /////////////////////////////////////////
s1200058 2:886fac7f4399 95 void Plus_Speed(uint8_t *packetdata){
s1200058 2:886fac7f4399 96
s1200058 2:886fac7f4399 97 if(agz.nowMode == MANUAL_MODE){
s1200058 2:886fac7f4399 98 agz.changeSpeed(packetdata);
s1200058 2:886fac7f4399 99 }
s1200058 2:886fac7f4399 100
s1200058 2:886fac7f4399 101 }
kityann 0:daab5accfd83 102
kityann 0:daab5accfd83 103 /////////////////////////////////////////
kityann 0:daab5accfd83 104 //
s1200058 2:886fac7f4399 105 //Send Status
kityann 0:daab5accfd83 106 //
kityann 0:daab5accfd83 107 //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 108 /////////////////////////////////////////
kityann 0:daab5accfd83 109 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 110 XBeeAddress64 send_Address;
kityann 0:daab5accfd83 111 if(SenderIDc == '0'){
kityann 0:daab5accfd83 112 send_Address = manager_Address;
kityann 0:daab5accfd83 113 }
kityann 0:daab5accfd83 114 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:daab5accfd83 115 send_Address = robot_Address[SenderIDc - 'A'];
kityann 0:daab5accfd83 116 }
kityann 0:daab5accfd83 117 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 118 send_Address = base_Address[SenderIDc - 'a'];
kityann 0:daab5accfd83 119 }
kityann 0:daab5accfd83 120 //send normal data
kityann 0:daab5accfd83 121 //Create GPS Infomation Packet
s1200058 17:e563cf8e6bcf 122 agz.createReceiveStatusCommand(MyID,SenderIDc, (char)agz.gpsAuto(),
kityann 0:daab5accfd83 123 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 124 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 125 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 126
kityann 0:daab5accfd83 127 //debug***************************************************
kityann 0:daab5accfd83 128 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 129 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 130 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 131 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 132 );
kityann 0:daab5accfd83 133 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 134 printf("\n");
kityann 0:daab5accfd83 135 //debug end***************************************************
kityann 0:daab5accfd83 136
kityann 0:daab5accfd83 137 //Select Destination
kityann 0:daab5accfd83 138 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 139 //Send -> Base
kityann 0:daab5accfd83 140 xbee.send(tx64request);
kityann 0:daab5accfd83 141 }
kityann 0:daab5accfd83 142
kityann 0:daab5accfd83 143 /////////////////////////////////////////
kityann 0:daab5accfd83 144 //
kityann 0:daab5accfd83 145 //Get GPS function
kityann 0:daab5accfd83 146 //
kityann 0:daab5accfd83 147 /////////////////////////////////////////
kityann 0:daab5accfd83 148
kityann 0:daab5accfd83 149 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 150 static bool flag = true;
kityann 0:daab5accfd83 151
kityann 0:daab5accfd83 152 if (myGPS->fix) {
kityann 0:daab5accfd83 153 agz.nowStatus = GPS_AVAIL;
kityann 0:daab5accfd83 154
kityann 0:daab5accfd83 155 if(flag){//初期値設定
kityann 0:daab5accfd83 156 if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){
kityann 0:daab5accfd83 157 flag = false;
kityann 0:daab5accfd83 158 x[0][0]=(double)myGPS->latitudeL;
kityann 0:daab5accfd83 159 x[0][1]=(double)myGPS->longitudeL;
kityann 0:daab5accfd83 160 }
kityann 0:daab5accfd83 161 }
kityann 0:daab5accfd83 162
kityann 0:daab5accfd83 163 if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){
kityann 0:daab5accfd83 164 return;
kityann 0:daab5accfd83 165 }
kityann 0:daab5accfd83 166 //Kalman Filter
kityann 0:daab5accfd83 167 Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS);
kityann 0:daab5accfd83 168
kityann 0:daab5accfd83 169 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 170 agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
kityann 0:daab5accfd83 171 }
kityann 0:daab5accfd83 172 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 173
kityann 0:daab5accfd83 174 }
s1200058 2:886fac7f4399 175
s1200058 2:886fac7f4399 176 /////////////////////////////////////////
s1200058 2:886fac7f4399 177 //
s1200058 2:886fac7f4399 178 //New Mode
s1200058 2:886fac7f4399 179 //
s1200058 2:886fac7f4399 180 /////////////////////////////////////////
s1200058 2:886fac7f4399 181
s1200058 2:886fac7f4399 182 void New_Mode(uint8_t *packetdata){
s1200058 2:886fac7f4399 183
s1200058 2:886fac7f4399 184 agz.changeMode(packetdata);
s1200058 2:886fac7f4399 185
s1200058 2:886fac7f4399 186 }
kityann 1:b2b950b916ce 187
kityann 1:b2b950b916ce 188 /////////////////////////////////////////
kityann 1:b2b950b916ce 189 //
kityann 1:b2b950b916ce 190 //Get Status
kityann 1:b2b950b916ce 191 //
kityann 1:b2b950b916ce 192 /////////////////////////////////////////
kityann 1:b2b950b916ce 193 void Get_Status(char SenderIDc,uint8_t *packetdata){
kityann 1:b2b950b916ce 194
kityann 1:b2b950b916ce 195 //マネージャからデータが来たとき
kityann 1:b2b950b916ce 196 if(SenderIDc == '0'){
kityann 1:b2b950b916ce 197 printf("get manager Status\n");
kityann 1:b2b950b916ce 198 }
kityann 1:b2b950b916ce 199 //他のロボットからデータが来たとき
kityann 1:b2b950b916ce 200 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 1:b2b950b916ce 201 printf("get other robots Status\n");
kityann 1:b2b950b916ce 202 }
kityann 1:b2b950b916ce 203 //基地局からデータが来たとき
kityann 1:b2b950b916ce 204 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 1:b2b950b916ce 205 printf("Get Base data\n");
kityann 1:b2b950b916ce 206 int id = SenderIDc - 'a';
kityann 1:b2b950b916ce 207 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]);
kityann 1:b2b950b916ce 208 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
kityann 1:b2b950b916ce 209
kityann 1:b2b950b916ce 210 //debug
kityann 1:b2b950b916ce 211 for(int i = 0;i < 4;i++){
kityann 1:b2b950b916ce 212 printf("BASE:%d\n",i);
kityann 1:b2b950b916ce 213 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n",
kityann 1:b2b950b916ce 214 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i),
kityann 1:b2b950b916ce 215 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)
kityann 1:b2b950b916ce 216 );
kityann 1:b2b950b916ce 217 }
kityann 1:b2b950b916ce 218 }
kityann 1:b2b950b916ce 219 }
kityann 1:b2b950b916ce 220
s1200058 2:886fac7f4399 221 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){
s1200058 2:886fac7f4399 222
s1200058 2:886fac7f4399 223 //マネージャからデータが来たとき
s1200058 2:886fac7f4399 224 if(SenderIDc == '0'){
s1200058 2:886fac7f4399 225 printf("get manager Status Kalman\n");
s1200058 2:886fac7f4399 226 }
s1200058 2:886fac7f4399 227 //他のロボットからデータが来たとき
s1200058 2:886fac7f4399 228 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
s1200058 2:886fac7f4399 229 printf("get other robots Status Kalman\n");
s1200058 2:886fac7f4399 230 }
s1200058 2:886fac7f4399 231 //基地局からデータが来たとき
s1200058 2:886fac7f4399 232 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
s1200058 2:886fac7f4399 233 printf("Get Base data Kalman\n");
s1200058 2:886fac7f4399 234 int id = SenderIDc - 'a';
s1200058 2:886fac7f4399 235 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
s1200058 2:886fac7f4399 236
s1200058 2:886fac7f4399 237 //debug
s1200058 2:886fac7f4399 238 for(int i = 0;i < 4;i++){
s1200058 2:886fac7f4399 239 printf("BASE:%d\n",i);
s1200058 2:886fac7f4399 240 printf("latitudeK:%f,longitudeK:%f\n",
s1200058 2:886fac7f4399 241 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i));
s1200058 2:886fac7f4399 242 }
s1200058 2:886fac7f4399 243 }
s1200058 2:886fac7f4399 244 }
s1200058 2:886fac7f4399 245
kityann 1:b2b950b916ce 246 /////////////////////////////////////////
kityann 1:b2b950b916ce 247 //
kityann 1:b2b950b916ce 248 //Send_Request_to_base
kityann 1:b2b950b916ce 249 //
kityann 1:b2b950b916ce 250 /////////////////////////////////////////
kityann 1:b2b950b916ce 251 void Send_Request_Base(int basenumber){
kityann 1:b2b950b916ce 252 printf("send\n");
kityann 1:b2b950b916ce 253 agz.createRequestCommand(MyID, basenumber);
kityann 1:b2b950b916ce 254 //Select Destination
kityann 1:b2b950b916ce 255 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength());
kityann 1:b2b950b916ce 256 //Send -> Base
kityann 1:b2b950b916ce 257 xbee.send(tx64request);
kityann 1:b2b950b916ce 258 }
kityann 0:daab5accfd83 259
s1200058 3:1ac506a96fd6 260 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 261 //
s1200058 3:1ac506a96fd6 262 //auto_Move
s1200058 3:1ac506a96fd6 263 //
s1200058 3:1ac506a96fd6 264 //InAreaかOutAreaの判定
s1200058 3:1ac506a96fd6 265 //Kalmanを通した値を出力(Baseと自分)
s1200058 3:1ac506a96fd6 266 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 267
s1200058 3:1ac506a96fd6 268 void auto_Move(){
s1200058 3:1ac506a96fd6 269
s1200058 3:1ac506a96fd6 270 bool result;
s1200058 3:1ac506a96fd6 271 int i;
s1200058 3:1ac506a96fd6 272
s1200058 3:1ac506a96fd6 273 result = agz.gpsAuto();
s1200058 3:1ac506a96fd6 274 agz.set_agzAutoGPS();
s1200058 3:1ac506a96fd6 275 agz.set_agzKalmanGPS();
s1200058 3:1ac506a96fd6 276
s1200058 3:1ac506a96fd6 277 if(result == true){
s1200058 3:1ac506a96fd6 278 printf("Out Area\n");
s1200058 3:1ac506a96fd6 279 }
s1200058 3:1ac506a96fd6 280 else if(result == false){
s1200058 3:1ac506a96fd6 281 printf("In Area\n");
s1200058 3:1ac506a96fd6 282 }
s1200058 3:1ac506a96fd6 283 for(i = 0; i < 4; i++){
s1200058 3:1ac506a96fd6 284 printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i));
s1200058 3:1ac506a96fd6 285 }
s1200058 3:1ac506a96fd6 286 printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 3:1ac506a96fd6 287
s1200058 3:1ac506a96fd6 288 }
s1200058 3:1ac506a96fd6 289
s1200058 5:522c47c78401 290 void print_gps(int count){
s1200058 5:522c47c78401 291
s1200058 5:522c47c78401 292 printf("%d times:\n", count);
s1200058 5:522c47c78401 293 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 5:522c47c78401 294
s1200058 5:522c47c78401 295 }
kityann 0:daab5accfd83 296
kityann 0:daab5accfd83 297 /////////////////////////////////////////
kityann 0:daab5accfd83 298 //
kityann 0:daab5accfd83 299 //Kalman Processing
kityann 0:daab5accfd83 300 //
kityann 0:daab5accfd83 301 /////////////////////////////////////////
kityann 0:daab5accfd83 302
kityann 0:daab5accfd83 303 void get_K(){
kityann 0:daab5accfd83 304 double temp[2][2]={
kityann 0:daab5accfd83 305 {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]},
kityann 0:daab5accfd83 306 {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]}
kityann 0:daab5accfd83 307 };
kityann 0:daab5accfd83 308 double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1];
kityann 0:daab5accfd83 309 K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]);
kityann 0:daab5accfd83 310 K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]);
kityann 0:daab5accfd83 311 }
kityann 0:daab5accfd83 312
kityann 0:daab5accfd83 313
kityann 0:daab5accfd83 314 void get_x(){
kityann 0:daab5accfd83 315 x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]);
kityann 0:daab5accfd83 316 x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]);
kityann 0:daab5accfd83 317 }
kityann 0:daab5accfd83 318
kityann 0:daab5accfd83 319
kityann 0:daab5accfd83 320 void get_sigma(){
kityann 0:daab5accfd83 321 double temp[2][2];
kityann 0:daab5accfd83 322 for(int i=0;i<2;i++) {
kityann 0:daab5accfd83 323 for(int j=0;j<2;j++) {
kityann 0:daab5accfd83 324 for(int k=0;k<2;k++) {
kityann 0:daab5accfd83 325 temp[i][j]+=K[1][i][k]*sigma[0][k][j];
kityann 0:daab5accfd83 326 }
kityann 0:daab5accfd83 327 }
kityann 0:daab5accfd83 328 }
kityann 0:daab5accfd83 329 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 330 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 331 sigma[1][i][j] = sigma[0][i][j]-temp[i][j];
kityann 0:daab5accfd83 332 }
kityann 0:daab5accfd83 333 }
kityann 0:daab5accfd83 334 }
kityann 0:daab5accfd83 335
kityann 0:daab5accfd83 336 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 337 y[0] = Latitude;
kityann 0:daab5accfd83 338 y[1] = Longitude;
kityann 0:daab5accfd83 339 //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS];
kityann 0:daab5accfd83 340 get_K();
kityann 0:daab5accfd83 341 //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]);
kityann 0:daab5accfd83 342 get_x();
kityann 0:daab5accfd83 343 //sigma[t+1] = sigma[t]-K[t+1]*sigma[t];
kityann 0:daab5accfd83 344 get_sigma();
kityann 0:daab5accfd83 345
kityann 0:daab5accfd83 346
kityann 0:daab5accfd83 347 //kousinn
kityann 0:daab5accfd83 348 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 349 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 350 K[0][i][j]=K[1][i][j];
kityann 0:daab5accfd83 351 x[0][i]=x[1][i];
kityann 0:daab5accfd83 352 sigma[0][i][j]=sigma[1][i][j];
kityann 0:daab5accfd83 353 }
kityann 0:daab5accfd83 354 }
kityann 0:daab5accfd83 355
kityann 4:f36986ceb73d 356 if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN;
kityann 4:f36986ceb73d 357 if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN;
kityann 4:f36986ceb73d 358
kityann 0:daab5accfd83 359 myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
kityann 0:daab5accfd83 360 myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering
kityann 0:daab5accfd83 361 myGPS->latitudeKL=(long)x[1][0];//latitude after filtering
kityann 0:daab5accfd83 362 myGPS->longitudeKL=(long)x[1][1];//longitude after filtering
kityann 0:daab5accfd83 363
kityann 0:daab5accfd83 364 agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]);
kityann 0:daab5accfd83 365 }
kityann 0:daab5accfd83 366
kityann 0:daab5accfd83 367
kityann 0:daab5accfd83 368 /////////////////////////////////////////
kityann 0:daab5accfd83 369 //
kityann 0:daab5accfd83 370 //Main Processing
kityann 0:daab5accfd83 371 //
kityann 0:daab5accfd83 372 /////////////////////////////////////////
kityann 0:daab5accfd83 373 int main() {
kityann 0:daab5accfd83 374 //start up time
kityann 0:daab5accfd83 375 wait(3);
kityann 0:daab5accfd83 376 //set pc frequency to 57600bps
kityann 0:daab5accfd83 377 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 378 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 379 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 380
kityann 0:daab5accfd83 381
kityann 0:daab5accfd83 382 //GPS setting
kityann 0:daab5accfd83 383 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 384 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 385 Timer refresh_Timer;
s1200058 7:a9a1acc7673b 386 const int refresh_Time = 1000; //refresh time in ms
s1200058 3:1ac506a96fd6 387 Timer auto_Timer;
s1200058 3:1ac506a96fd6 388 const int auto_Time = 2000; //refresh time in ms
s1200058 5:522c47c78401 389 int count = 0;
kityann 0:daab5accfd83 390 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 391
s1200058 14:5deb7a4f1cd4 392 Timer collect_Timer;
s1200058 14:5deb7a4f1cd4 393 const int collect_Time = 2000; //when we collect 4 GPS point, we use
s1200058 14:5deb7a4f1cd4 394 int collect_flag = 0;
s1200058 14:5deb7a4f1cd4 395 char collect_state = 'a';
s1200058 14:5deb7a4f1cd4 396
kityann 0:daab5accfd83 397 char SenderIDc;
kityann 0:daab5accfd83 398 //GPS Send Command
kityann 0:daab5accfd83 399 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 400 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 401 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 402
kityann 0:daab5accfd83 403 wait(2);
kityann 0:daab5accfd83 404
kityann 0:daab5accfd83 405 //interrupt start
kityann 0:daab5accfd83 406 refresh_Timer.start();
s1200058 3:1ac506a96fd6 407 auto_Timer.start();
s1200058 16:a07350b3eb64 408 collect_Timer.start();
kityann 1:b2b950b916ce 409
kityann 0:daab5accfd83 410 printf("start\n");
kityann 0:daab5accfd83 411
kityann 0:daab5accfd83 412 while (true) {
kityann 0:daab5accfd83 413
kityann 0:daab5accfd83 414 //Check Xbee Buffer Available
kityann 0:daab5accfd83 415 xbee.readPacket();
kityann 0:daab5accfd83 416
kityann 0:daab5accfd83 417 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 418 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 419 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 420
kityann 0:daab5accfd83 421 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 422 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 423 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 424 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 425 SenderIDc = buf1[5];//送信元のIDを取得する
kityann 0:daab5accfd83 426 char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 427
kityann 0:daab5accfd83 428 //Check Command Type
kityann 0:daab5accfd83 429 switch(Command_type){
kityann 0:daab5accfd83 430 //Get Request command
s1200058 2:886fac7f4399 431 case MANUAL:{
s1200058 12:48ef69b4f0e4 432 Plus_Speed(buf);
s1200058 2:886fac7f4399 433 break;
s1200058 2:886fac7f4399 434 }
kityann 0:daab5accfd83 435 case STATUS_REQUEST:{
kityann 0:daab5accfd83 436 Send_Status(SenderIDc);
kityann 0:daab5accfd83 437 break;
kityann 0:daab5accfd83 438 }
s1200058 2:886fac7f4399 439 case CHANGE_MODE:{
s1200058 12:48ef69b4f0e4 440 New_Mode(buf);
s1200058 2:886fac7f4399 441 break;
s1200058 2:886fac7f4399 442 }
kityann 1:b2b950b916ce 443 case RECEIVE_STATUS:{
kityann 1:b2b950b916ce 444 Get_Status(SenderIDc,buf1);
kityann 1:b2b950b916ce 445 break;
kityann 1:b2b950b916ce 446 }
s1200058 2:886fac7f4399 447 case RECEIVE_KALMAN:{
s1200058 2:886fac7f4399 448 Get_Status_Kalman(SenderIDc, buf1);
s1200058 2:886fac7f4399 449 break;
s1200058 2:886fac7f4399 450 }
kityann 0:daab5accfd83 451 default:{
kityann 0:daab5accfd83 452 break;
kityann 0:daab5accfd83 453 }
kityann 0:daab5accfd83 454 }//endswitch
kityann 0:daab5accfd83 455 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 456 }//endifisAvailable
kityann 0:daab5accfd83 457
kityann 0:daab5accfd83 458 myGPS.read();
kityann 0:daab5accfd83 459 //recive gps module
kityann 0:daab5accfd83 460 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 461 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 462 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 8:994c73f6fad9 463 continue;
s1200058 8:994c73f6fad9 464 }
s1200058 8:994c73f6fad9 465 else{
s1200058 5:522c47c78401 466 count++;
s1200058 8:994c73f6fad9 467 }
kityann 0:daab5accfd83 468 }
kityann 1:b2b950b916ce 469 //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 470 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 471 refresh_Timer.reset();
s1200058 12:48ef69b4f0e4 472 //print_gps(count);
kityann 0:daab5accfd83 473 Get_GPS(&myGPS);
kityann 0:daab5accfd83 474
kityann 0:daab5accfd83 475 }
s1200058 14:5deb7a4f1cd4 476
s1200058 14:5deb7a4f1cd4 477 //get base GPS
s1200058 14:5deb7a4f1cd4 478 if( collect_Timer.read_ms() >= collect_Time){
s1200058 15:f3d01f37f00d 479 collect_Timer.reset();
s1200058 15:f3d01f37f00d 480
s1200058 15:f3d01f37f00d 481 Send_Request_Base(collect_flag);
s1200058 14:5deb7a4f1cd4 482
s1200058 14:5deb7a4f1cd4 483 collect_flag++;
s1200058 14:5deb7a4f1cd4 484 collect_state++;
s1200058 14:5deb7a4f1cd4 485
s1200058 14:5deb7a4f1cd4 486 if(collect_flag == 4){
s1200058 14:5deb7a4f1cd4 487 collect_state = 'a';
s1200058 14:5deb7a4f1cd4 488 collect_flag = 0;
s1200058 14:5deb7a4f1cd4 489 }
s1200058 14:5deb7a4f1cd4 490 }
s1200058 3:1ac506a96fd6 491
s1200058 14:5deb7a4f1cd4 492 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 3:1ac506a96fd6 493 auto_Timer.reset();
s1200058 3:1ac506a96fd6 494 auto_Move();
kityann 1:b2b950b916ce 495 }
kityann 0:daab5accfd83 496 }
kityann 0:daab5accfd83 497 }