aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver4_4

2015/06/05

Dependencies:   ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed

Fork of Aigamozu_Robot_ver4_3 by aigamozu

main.cpp@36:a11060f5199e, 2015-05-29 (annotated)

Committer:
s1210160
Date:
Fri May 29 13:07:46 2015 +0000
Revision:
36:a11060f5199e
Parent:
35:3094c84a024b
Child:
37:26374d6066cb
2015/05/29

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 //
s1210160 36:a11060f5199e 44 //2015/05/29
s1210160 36:a11060f5199e 45 //auto_Move関数の実装とAigamozuControlPackets内にcontrol_Mortor関数の実装
kityann 0:daab5accfd83 46 /**********************************************/
kityann 0:daab5accfd83 47
kityann 0:daab5accfd83 48 #include "mbed.h"
kityann 0:daab5accfd83 49 #include "XBee.h"
kityann 0:daab5accfd83 50 #include "MBed_Adafruit_GPS.h"
kityann 0:daab5accfd83 51 #include "AigamozuControlPackets.h"
kityann 0:daab5accfd83 52 #include "agzIDLIST.h"
kityann 0:daab5accfd83 53 #include "aigamozuSetting.h"
kityann 0:daab5accfd83 54 #include "Kalman.h"
s1200058 34:9c3192c00e41 55 #include "math.h"
kityann 0:daab5accfd83 56
kityann 4:f36986ceb73d 57 #define SIGMA_MIN 0.0001
kityann 4:f36986ceb73d 58
kityann 0:daab5accfd83 59 //************ID Number*****************
kityann 0:daab5accfd83 60 //Robot ID: 'A' ~ 'Z'
kityann 0:daab5accfd83 61 //Base ID: 'a' ~ 'a'
kityann 0:daab5accfd83 62 //manager ID: '0'(数字のゼロ)
kityann 0:daab5accfd83 63 //
s1210160 36:a11060f5199e 64 const char MyID = 'A';
kityann 0:daab5accfd83 65 //************ID Number*****************
kityann 0:daab5accfd83 66
kityann 0:daab5accfd83 67 /////////////////////////////////////////
kityann 0:daab5accfd83 68 //
kityann 0:daab5accfd83 69 //Pin Setting
kityann 0:daab5accfd83 70 //
kityann 0:daab5accfd83 71 /////////////////////////////////////////
kityann 0:daab5accfd83 72 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:daab5accfd83 73
kityann 0:daab5accfd83 74
kityann 0:daab5accfd83 75 /////////////////////////////////////////
kityann 0:daab5accfd83 76 //
kityann 0:daab5accfd83 77 //Connection Setting
kityann 0:daab5accfd83 78 //
kityann 0:daab5accfd83 79 /////////////////////////////////////////
kityann 0:daab5accfd83 80
kityann 0:daab5accfd83 81 //Serial Connect Setting: PC <--> mbed
kityann 0:daab5accfd83 82 Serial pc(USBTX, USBRX);
kityann 0:daab5accfd83 83
kityann 0:daab5accfd83 84 //Serial Connect Setting: GPS <--> mbed
kityann 0:daab5accfd83 85 Serial * gps_Serial;
kityann 0:daab5accfd83 86
kityann 0:daab5accfd83 87 //Serial Connect Setting: XBEE <--> mbed
kityann 0:daab5accfd83 88 XBee xbee(p13,p14);
kityann 0:daab5accfd83 89 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:daab5accfd83 90
kityann 0:daab5accfd83 91 //set up GPS module
kityann 0:daab5accfd83 92
kityann 0:daab5accfd83 93 //set up AigamozuControlPackets library
kityann 0:daab5accfd83 94 AigamozuControlPackets agz(agz_motorShield);
kityann 0:daab5accfd83 95
kityann 0:daab5accfd83 96
kityann 0:daab5accfd83 97 /////////////////////////////////////////
kityann 0:daab5accfd83 98 //
kityann 0:daab5accfd83 99 //For Kalman data
kityann 0:daab5accfd83 100 //
kityann 0:daab5accfd83 101 /////////////////////////////////////////
s1200058 32:6ba2e5402f00 102 #define FIRST_S2 0.000001
s1200058 32:6ba2e5402f00 103 #define COUNTER_MAX 10000
s1200058 35:3094c84a024b 104 #define ERROR_RANGE 0.001
s1200058 35:3094c84a024b 105
s1200058 32:6ba2e5402f00 106 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 107 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 108 double s2_R=FIRST_S2;//GPSセンサの分散
s1200058 32:6ba2e5402f00 109 double Kx=0,Ky=0;//カルマンゲイン
s1200058 32:6ba2e5402f00 110 double zx,zy;//観測値
s1200058 32:6ba2e5402f00 111 void Kalman(double Latitude,double Longitude);
s1200058 34:9c3192c00e41 112 int change = 0;
s1200058 34:9c3192c00e41 113
s1200058 34:9c3192c00e41 114
s1200058 34:9c3192c00e41 115 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 116
s1200058 2:886fac7f4399 117 /////////////////////////////////////////
s1200058 2:886fac7f4399 118 //
s1200058 2:886fac7f4399 119 //Plus Speed
s1200058 2:886fac7f4399 120 //
s1200058 2:886fac7f4399 121 //MNUAL_MODEの時にスピードを変える
s1200058 2:886fac7f4399 122 /////////////////////////////////////////
s1200058 2:886fac7f4399 123 void Plus_Speed(uint8_t *packetdata){
s1200058 2:886fac7f4399 124
s1200058 2:886fac7f4399 125 if(agz.nowMode == MANUAL_MODE){
s1200058 2:886fac7f4399 126 agz.changeSpeed(packetdata);
s1200058 2:886fac7f4399 127 }
s1200058 2:886fac7f4399 128
s1200058 2:886fac7f4399 129 }
kityann 0:daab5accfd83 130
kityann 0:daab5accfd83 131 /////////////////////////////////////////
kityann 0:daab5accfd83 132 //
s1200058 2:886fac7f4399 133 //Send Status
kityann 0:daab5accfd83 134 //
kityann 0:daab5accfd83 135 //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 136 /////////////////////////////////////////
kityann 0:daab5accfd83 137 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 138 XBeeAddress64 send_Address;
s1200058 22:af860680417b 139 if(SenderIDc == '0'){
kityann 0:daab5accfd83 140 send_Address = manager_Address;
kityann 23:c5071bf93db1 141 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 142 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 143 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 144 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 145 }
s1200058 25:ae5fab0946f2 146 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:daab5accfd83 147 send_Address = robot_Address[SenderIDc - 'A'];
s1200058 25:ae5fab0946f2 148 //Create GPS Infomation Packet
kityann 24:698d4e920d33 149 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 150 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 151 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 152 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 153 }
kityann 0:daab5accfd83 154 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 155 send_Address = base_Address[SenderIDc - 'a'];
kityann 24:698d4e920d33 156
kityann 24:698d4e920d33 157 agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(),
kityann 23:c5071bf93db1 158 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 159 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 24:698d4e920d33 160 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 161 }
kityann 0:daab5accfd83 162 //send normal data
kityann 23:c5071bf93db1 163
s1200058 32:6ba2e5402f00 164 /*
kityann 0:daab5accfd83 165 //debug***************************************************
kityann 0:daab5accfd83 166 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 167 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 168 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 169 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 170 );
kityann 0:daab5accfd83 171 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 172 printf("\n");
kityann 0:daab5accfd83 173 //debug end***************************************************
s1200058 32:6ba2e5402f00 174 */
kityann 0:daab5accfd83 175 //Select Destination
kityann 0:daab5accfd83 176 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 177 //Send -> Base
kityann 0:daab5accfd83 178 xbee.send(tx64request);
s1200058 20:eee8ac8d1788 179
kityann 0:daab5accfd83 180 }
kityann 0:daab5accfd83 181
kityann 0:daab5accfd83 182 /////////////////////////////////////////
kityann 0:daab5accfd83 183 //
kityann 0:daab5accfd83 184 //Get GPS function
kityann 0:daab5accfd83 185 //
kityann 0:daab5accfd83 186 /////////////////////////////////////////
kityann 0:daab5accfd83 187
kityann 0:daab5accfd83 188 void Get_GPS(Adafruit_GPS *myGPS){
s1200058 32:6ba2e5402f00 189 static int flag = 0;
kityann 0:daab5accfd83 190
kityann 0:daab5accfd83 191 if (myGPS->fix) {
s1200058 32:6ba2e5402f00 192
kityann 0:daab5accfd83 193 agz.nowStatus = GPS_AVAIL;
s1200058 32:6ba2e5402f00 194 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 195
s1200058 32:6ba2e5402f00 196 if(flag < COUNTER_MAX){
s1200058 32:6ba2e5402f00 197 flag++;
s1200058 32:6ba2e5402f00 198 }
s1200058 33:3025b16bccd2 199 if(flag == 5){
s1200058 32:6ba2e5402f00 200 x_prev = agz.get_agzPoint_lati();
s1200058 32:6ba2e5402f00 201 y_prev = agz.get_agzPoint_longi();
kityann 0:daab5accfd83 202 }
s1200058 32:6ba2e5402f00 203
s1200058 32:6ba2e5402f00 204 if(flag >= 6){
s1200058 35:3094c84a024b 205 if(abs(x_prev - agz.get_agzPoint_lati()) < ERROR_RANGE && abs(y_prev - agz.get_agzPoint_longi()) < ERROR_RANGE){
s1200058 34:9c3192c00e41 206 Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
s1200058 34:9c3192c00e41 207 change = 1;
s1200058 34:9c3192c00e41 208 }
s1200058 34:9c3192c00e41 209 else{
s1200058 34:9c3192c00e41 210 change = 0;
s1200058 34:9c3192c00e41 211 }
s1200058 34:9c3192c00e41 212 /* fp = fopen(filename, "w");
s1200058 34:9c3192c00e41 213 fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 34:9c3192c00e41 214 change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 34:9c3192c00e41 215 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 34:9c3192c00e41 216 agz.get_agzCov_lati(),agz.get_agzCov_longi());
s1200058 34:9c3192c00e41 217 */
s1200058 34:9c3192c00e41 218
s1200058 32:6ba2e5402f00 219 }
s1200058 33:3025b16bccd2 220
s1200058 33:3025b16bccd2 221 printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 33:3025b16bccd2 222 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 33:3025b16bccd2 223 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 33:3025b16bccd2 224 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 225 }
kityann 0:daab5accfd83 226 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 227
kityann 0:daab5accfd83 228 }
s1200058 2:886fac7f4399 229
s1200058 2:886fac7f4399 230 /////////////////////////////////////////
s1200058 2:886fac7f4399 231 //
s1200058 2:886fac7f4399 232 //New Mode
s1200058 2:886fac7f4399 233 //
s1200058 2:886fac7f4399 234 /////////////////////////////////////////
s1200058 2:886fac7f4399 235
s1200058 2:886fac7f4399 236 void New_Mode(uint8_t *packetdata){
s1200058 2:886fac7f4399 237
s1200058 19:a806105ba365 238 //bool result;
s1200058 20:eee8ac8d1788 239 agz.changeMode(packetdata);
s1200058 2:886fac7f4399 240
s1200058 2:886fac7f4399 241 }
kityann 1:b2b950b916ce 242
kityann 1:b2b950b916ce 243 /////////////////////////////////////////
kityann 1:b2b950b916ce 244 //
kityann 1:b2b950b916ce 245 //Get Status
kityann 1:b2b950b916ce 246 //
kityann 1:b2b950b916ce 247 /////////////////////////////////////////
kityann 1:b2b950b916ce 248 void Get_Status(char SenderIDc,uint8_t *packetdata){
kityann 1:b2b950b916ce 249
kityann 1:b2b950b916ce 250 //マネージャからデータが来たとき
kityann 1:b2b950b916ce 251 if(SenderIDc == '0'){
kityann 1:b2b950b916ce 252 printf("get manager Status\n");
kityann 1:b2b950b916ce 253 }
kityann 1:b2b950b916ce 254 //他のロボット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 other robots Status\n");
kityann 1:b2b950b916ce 257 }
kityann 1:b2b950b916ce 258 //基地局からデータが来たとき
kityann 1:b2b950b916ce 259 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 1:b2b950b916ce 260 printf("Get Base data\n");
kityann 1:b2b950b916ce 261 int id = SenderIDc - 'a';
kityann 1:b2b950b916ce 262 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]);
kityann 1:b2b950b916ce 263 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
kityann 1:b2b950b916ce 264
kityann 1:b2b950b916ce 265 //debug
kityann 1:b2b950b916ce 266 for(int i = 0;i < 4;i++){
kityann 1:b2b950b916ce 267 printf("BASE:%d\n",i);
kityann 1:b2b950b916ce 268 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n",
kityann 1:b2b950b916ce 269 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i),
kityann 1:b2b950b916ce 270 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)
kityann 1:b2b950b916ce 271 );
kityann 1:b2b950b916ce 272 }
kityann 1:b2b950b916ce 273 }
kityann 1:b2b950b916ce 274 }
kityann 1:b2b950b916ce 275
s1200058 2:886fac7f4399 276 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){
s1200058 2:886fac7f4399 277
s1200058 2:886fac7f4399 278 //マネージャからデータが来たとき
s1200058 2:886fac7f4399 279 if(SenderIDc == '0'){
s1200058 2:886fac7f4399 280 printf("get manager Status Kalman\n");
s1200058 2:886fac7f4399 281 }
s1200058 2:886fac7f4399 282 //他のロボット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 other robots Status Kalman\n");
s1200058 2:886fac7f4399 285 }
s1200058 2:886fac7f4399 286 //基地局からデータが来たとき
s1200058 2:886fac7f4399 287 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
s1200058 2:886fac7f4399 288 printf("Get Base data Kalman\n");
s1200058 2:886fac7f4399 289 int id = SenderIDc - 'a';
s1200058 2:886fac7f4399 290 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
s1200058 2:886fac7f4399 291
s1200058 2:886fac7f4399 292 //debug
s1200058 2:886fac7f4399 293 for(int i = 0;i < 4;i++){
s1200058 2:886fac7f4399 294 printf("BASE:%d\n",i);
s1200058 2:886fac7f4399 295 printf("latitudeK:%f,longitudeK:%f\n",
s1200058 2:886fac7f4399 296 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i));
s1200058 2:886fac7f4399 297 }
s1200058 2:886fac7f4399 298 }
s1200058 2:886fac7f4399 299 }
s1200058 2:886fac7f4399 300
kityann 1:b2b950b916ce 301 /////////////////////////////////////////
kityann 1:b2b950b916ce 302 //
kityann 1:b2b950b916ce 303 //Send_Request_to_base
kityann 1:b2b950b916ce 304 //
kityann 1:b2b950b916ce 305 /////////////////////////////////////////
kityann 1:b2b950b916ce 306 void Send_Request_Base(int basenumber){
kityann 1:b2b950b916ce 307 printf("send\n");
kityann 1:b2b950b916ce 308 agz.createRequestCommand(MyID, basenumber);
kityann 1:b2b950b916ce 309 //Select Destination
kityann 1:b2b950b916ce 310 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength());
kityann 1:b2b950b916ce 311 //Send -> Base
kityann 1:b2b950b916ce 312 xbee.send(tx64request);
kityann 1:b2b950b916ce 313 }
kityann 0:daab5accfd83 314
s1200058 3:1ac506a96fd6 315 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 316 //
s1200058 3:1ac506a96fd6 317 //auto_Move
s1200058 3:1ac506a96fd6 318 //
s1200058 3:1ac506a96fd6 319 //InAreaかOutAreaの判定
s1200058 3:1ac506a96fd6 320 //Kalmanを通した値を出力(Baseと自分)
s1210160 36:a11060f5199e 321 //2015/05/29
s1210160 36:a11060f5199e 322 //外側判定と処理の実装
s1210160 36:a11060f5199e 323 //内側判定：シーケンス動作
s1210160 36:a11060f5199e 324 //外側判定：10秒間バック、3秒間旋回を行い、その後シーケンス動作へ
s1200058 3:1ac506a96fd6 325 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 326
s1200058 3:1ac506a96fd6 327 void auto_Move(){
s1200058 3:1ac506a96fd6 328
s1210160 36:a11060f5199e 329 bool result; // 毎回の内外判定の結果を格納
s1210160 36:a11060f5199e 330 bool out_flag = false; // 外側処理の実行フラグ
s1210160 36:a11060f5199e 331 const int sequenceTime[4] = {30000, 31000, 34000, 34200};
s1210160 36:a11060f5199e 332 const int outSequenceTime[4] = {10000, 11000, 14000, 14200};
s1200058 3:1ac506a96fd6 333
s1200058 3:1ac506a96fd6 334 result = agz.gpsAuto();
s1200058 20:eee8ac8d1788 335 //agz.set_agzAutoGPS();
s1200058 20:eee8ac8d1788 336 //agz.set_agzKalmanGPS();
s1200058 3:1ac506a96fd6 337
s1210160 36:a11060f5199e 338 if(out_flag == false && result == true){
s1210160 36:a11060f5199e 339 out_flag = true;
s1210160 36:a11060f5199e 340 agz.Out_Timer.reset();
s1210160 36:a11060f5199e 341 }
s1200058 3:1ac506a96fd6 342
s1210160 36:a11060f5199e 343 if(out_flag == false){
s1210160 36:a11060f5199e 344 if(agz.Move_Timer.read_ms() < sequenceTime[0]){
s1210160 36:a11060f5199e 345 agz.control_Motor(0); //straight
s1210160 36:a11060f5199e 346 }
s1210160 36:a11060f5199e 347 if(agz.Move_Timer.read_ms() > sequenceTime[0] && agz.Move_Timer.read_ms() < sequenceTime[1]){
s1210160 36:a11060f5199e 348 agz.control_Motor(1);
s1210160 36:a11060f5199e 349 }
s1210160 36:a11060f5199e 350 if(agz.Move_Timer.read_ms() > sequenceTime[1] && agz.Move_Timer.read_ms() < sequenceTime[2]){
s1210160 36:a11060f5199e 351 agz.control_Motor(2); //Turn Right
s1210160 36:a11060f5199e 352 }
s1210160 36:a11060f5199e 353 if(agz.Move_Timer.read_ms() > sequenceTime[2] && agz.Move_Timer.read_ms() < sequenceTime[3]){
s1210160 36:a11060f5199e 354 agz.control_Motor(1);
s1210160 36:a11060f5199e 355 }
s1210160 36:a11060f5199e 356 if(agz.Move_Timer.read_ms() > sequenceTime[3]){
s1210160 36:a11060f5199e 357 agz.Move_Timer.reset();
s1210160 36:a11060f5199e 358 }
s1210160 36:a11060f5199e 359 }
s1210160 36:a11060f5199e 360 if(out_flag == true){
s1210160 36:a11060f5199e 361 if(agz.Out_Timer.read_ms() < outSequenceTime[0]){
s1210160 36:a11060f5199e 362 agz.control_Motor(3); //back
s1210160 36:a11060f5199e 363 }
s1210160 36:a11060f5199e 364 if(agz.Out_Timer.read_ms() > outSequenceTime[0] && agz.Out_Timer.read_ms() < outSequenceTime[1]){
s1210160 36:a11060f5199e 365 agz.control_Motor(1);
s1210160 36:a11060f5199e 366 }
s1210160 36:a11060f5199e 367 if(agz.Out_Timer.read_ms() > outSequenceTime[1] && agz.Out_Timer.read_ms() < outSequenceTime[2]){
s1210160 36:a11060f5199e 368 agz.control_Motor(2); //Turn Right
s1210160 36:a11060f5199e 369 }
s1210160 36:a11060f5199e 370 if(agz.Out_Timer.read_ms() > outSequenceTime[2] && agz.Out_Timer.read_ms() < outSequenceTime[3]){
s1210160 36:a11060f5199e 371 agz.control_Motor(1);
s1210160 36:a11060f5199e 372 }
s1210160 36:a11060f5199e 373 if(agz.Out_Timer.read_ms() > outSequenceTime[3]){
s1210160 36:a11060f5199e 374 agz.Out_Timer.reset();
s1210160 36:a11060f5199e 375 agz.Move_Timer.reset();
s1210160 36:a11060f5199e 376 out_flag = false;
s1210160 36:a11060f5199e 377 }
s1210160 36:a11060f5199e 378 }
s1200058 3:1ac506a96fd6 379 }
s1200058 3:1ac506a96fd6 380
s1200058 5:522c47c78401 381 void print_gps(int count){
s1200058 5:522c47c78401 382
s1200058 5:522c47c78401 383 printf("%d times:\n", count);
s1200058 5:522c47c78401 384 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 5:522c47c78401 385
s1200058 5:522c47c78401 386 }
kityann 0:daab5accfd83 387
s1200058 32:6ba2e5402f00 388
kityann 0:daab5accfd83 389 /////////////////////////////////////////
kityann 0:daab5accfd83 390 //
kityann 0:daab5accfd83 391 //Kalman Processing
kityann 0:daab5accfd83 392 //
kityann 0:daab5accfd83 393 /////////////////////////////////////////
s1200058 32:6ba2e5402f00 394 void calc_Kalman(){
s1200058 32:6ba2e5402f00 395 //calc Kalman gain
s1200058 32:6ba2e5402f00 396 Kx = s2x_prev/(s2x_prev+s2_R);
s1200058 32:6ba2e5402f00 397 Ky = s2y_prev/(s2y_prev+s2_R);
s1200058 32:6ba2e5402f00 398 //estimate
s1200058 32:6ba2e5402f00 399 x_cur = x_prev + Kx*(zx-x_prev);
s1200058 32:6ba2e5402f00 400 y_cur = y_prev + Ky*(zy-y_prev);
s1200058 32:6ba2e5402f00 401 //calc sigma
s1200058 32:6ba2e5402f00 402 s2x_cur = s2x_prev-Kx*s2x_prev;
s1200058 32:6ba2e5402f00 403 s2y_cur = s2y_prev-Ky*s2y_prev;
kityann 0:daab5accfd83 404
kityann 0:daab5accfd83 405 }
kityann 0:daab5accfd83 406
s1200058 32:6ba2e5402f00 407 void Kalman(double Latitude,double Longitude){
s1200058 32:6ba2e5402f00 408
s1200058 32:6ba2e5402f00 409 zx = Latitude;
s1200058 32:6ba2e5402f00 410 zy = Longitude;
s1200058 32:6ba2e5402f00 411
s1200058 32:6ba2e5402f00 412 calc_Kalman();
kityann 0:daab5accfd83 413
s1200058 32:6ba2e5402f00 414 //更新
s1200058 32:6ba2e5402f00 415 x_prev = x_cur;
s1200058 32:6ba2e5402f00 416 y_prev = y_cur;
s1200058 32:6ba2e5402f00 417 s2x_prev = s2x_cur;
s1200058 32:6ba2e5402f00 418 s2y_prev = s2y_cur;
s1200058 25:ae5fab0946f2 419
s1200058 32:6ba2e5402f00 420 //agzPontKalmanとagzCovに格納する
s1200058 32:6ba2e5402f00 421 agz.set_agzPointKalman_lati(x_cur);
s1200058 32:6ba2e5402f00 422 agz.set_agzPointKalman_longi(y_cur);
s1200058 32:6ba2e5402f00 423 agz.set_agzCov(s2x_cur,s2y_cur);
kityann 0:daab5accfd83 424
kityann 0:daab5accfd83 425 }
kityann 0:daab5accfd83 426
kityann 0:daab5accfd83 427 /////////////////////////////////////////
kityann 0:daab5accfd83 428 //
kityann 0:daab5accfd83 429 //Main Processing
kityann 0:daab5accfd83 430 //
kityann 0:daab5accfd83 431 /////////////////////////////////////////
kityann 0:daab5accfd83 432 int main() {
kityann 0:daab5accfd83 433 //start up time
kityann 0:daab5accfd83 434 wait(3);
kityann 0:daab5accfd83 435 //set pc frequency to 57600bps
kityann 0:daab5accfd83 436 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 437 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 438 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 439
kityann 0:daab5accfd83 440
kityann 0:daab5accfd83 441 //GPS setting
kityann 0:daab5accfd83 442 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 443 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 444 Timer refresh_Timer;
s1200058 7:a9a1acc7673b 445 const int refresh_Time = 1000; //refresh time in ms
s1200058 3:1ac506a96fd6 446 Timer auto_Timer;
s1210160 36:a11060f5199e 447 const int auto_Time = 100; //refresh time in ms
s1200058 5:522c47c78401 448 int count = 0;
s1200058 29:524684a1198f 449
s1210160 36:a11060f5199e 450
s1200058 29:524684a1198f 451
kityann 0:daab5accfd83 452 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 453
s1200058 14:5deb7a4f1cd4 454 Timer collect_Timer;
s1200058 14:5deb7a4f1cd4 455 const int collect_Time = 2000; //when we collect 4 GPS point, we use
s1200058 14:5deb7a4f1cd4 456 int collect_flag = 0;
s1200058 14:5deb7a4f1cd4 457
kityann 0:daab5accfd83 458 char SenderIDc;
kityann 0:daab5accfd83 459 //GPS Send Command
kityann 0:daab5accfd83 460 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 461 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 462 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 463
s1200058 29:524684a1198f 464 wait_ms(2000);
kityann 0:daab5accfd83 465
kityann 0:daab5accfd83 466 //interrupt start
kityann 0:daab5accfd83 467 refresh_Timer.start();
s1200058 3:1ac506a96fd6 468 auto_Timer.start();
s1200058 30:7f6ebe2121d9 469 agz.Move_Timer.start();
s1210160 36:a11060f5199e 470 agz.Out_Timer.start();
s1200058 16:a07350b3eb64 471 collect_Timer.start();
s1200058 29:524684a1198f 472 printf("start\n");
kityann 1:b2b950b916ce 473
kityann 0:daab5accfd83 474
kityann 0:daab5accfd83 475 while (true) {
kityann 0:daab5accfd83 476
kityann 0:daab5accfd83 477 //Check Xbee Buffer Available
kityann 0:daab5accfd83 478 xbee.readPacket();
kityann 0:daab5accfd83 479
kityann 0:daab5accfd83 480 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 481 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 482 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 483
kityann 0:daab5accfd83 484 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 485 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 486 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 487 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 488 SenderIDc = buf1[5];//送信元のIDを取得する
s1200058 21:76e7f36df4a9 489 char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 490
kityann 0:daab5accfd83 491 //Check Command Type
kityann 0:daab5accfd83 492 switch(Command_type){
kityann 0:daab5accfd83 493 //Get Request command
s1200058 2:886fac7f4399 494 case MANUAL:{
s1200058 12:48ef69b4f0e4 495 Plus_Speed(buf);
s1200058 2:886fac7f4399 496 break;
s1200058 2:886fac7f4399 497 }
kityann 0:daab5accfd83 498 case STATUS_REQUEST:{
s1200058 21:76e7f36df4a9 499 Send_Status(SenderIDc);
s1200058 21:76e7f36df4a9 500 printf("%c\n", SenderIDc);
kityann 0:daab5accfd83 501 break;
kityann 0:daab5accfd83 502 }
s1200058 2:886fac7f4399 503 case CHANGE_MODE:{
s1200058 12:48ef69b4f0e4 504 New_Mode(buf);
s1200058 2:886fac7f4399 505 break;
s1200058 2:886fac7f4399 506 }
kityann 1:b2b950b916ce 507 case RECEIVE_STATUS:{
kityann 1:b2b950b916ce 508 Get_Status(SenderIDc,buf1);
kityann 1:b2b950b916ce 509 break;
kityann 1:b2b950b916ce 510 }
kityann 0:daab5accfd83 511 default:{
kityann 0:daab5accfd83 512 break;
kityann 0:daab5accfd83 513 }
kityann 0:daab5accfd83 514 }//endswitch
kityann 0:daab5accfd83 515 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 516 }//endifisAvailable
kityann 0:daab5accfd83 517
kityann 0:daab5accfd83 518 myGPS.read();
kityann 0:daab5accfd83 519 //recive gps module
kityann 0:daab5accfd83 520 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 521 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 522 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 8:994c73f6fad9 523 continue;
s1200058 8:994c73f6fad9 524 }
s1200058 8:994c73f6fad9 525 else{
s1200058 5:522c47c78401 526 count++;
s1200058 8:994c73f6fad9 527 }
kityann 0:daab5accfd83 528 }
kityann 1:b2b950b916ce 529 //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 530 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 531 refresh_Timer.reset();
s1200058 12:48ef69b4f0e4 532 //print_gps(count);
kityann 0:daab5accfd83 533 Get_GPS(&myGPS);
kityann 0:daab5accfd83 534
kityann 0:daab5accfd83 535 }
s1200058 20:eee8ac8d1788 536
s1200058 20:eee8ac8d1788 537 //get base GPS
s1200058 14:5deb7a4f1cd4 538 if( collect_Timer.read_ms() >= collect_Time){
s1200058 15:f3d01f37f00d 539 collect_Timer.reset();
s1200058 15:f3d01f37f00d 540
s1200058 15:f3d01f37f00d 541 Send_Request_Base(collect_flag);
s1200058 14:5deb7a4f1cd4 542
s1200058 14:5deb7a4f1cd4 543 collect_flag++;
s1200058 14:5deb7a4f1cd4 544
s1200058 14:5deb7a4f1cd4 545 if(collect_flag == 4){
s1200058 14:5deb7a4f1cd4 546 collect_flag = 0;
s1200058 14:5deb7a4f1cd4 547 }
s1200058 14:5deb7a4f1cd4 548 }
s1200058 20:eee8ac8d1788 549
s1200058 14:5deb7a4f1cd4 550 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 29:524684a1198f 551 auto_Timer.reset();
s1200058 29:524684a1198f 552 auto_Move();
s1200058 29:524684a1198f 553 }
s1200058 29:524684a1198f 554
s1200058 29:524684a1198f 555 }
s1200058 34:9c3192c00e41 556
kityann 0:daab5accfd83 557 }