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@0:daab5accfd83, 2015-05-12 (annotated)

Committer:
kityann
Date:
Tue May 12 11:49:24 2015 +0000
Revision:
0:daab5accfd83
Child:
1:b2b950b916ce
2015/05/12

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 0:daab5accfd83 16 //
kityann 0:daab5accfd83 17 //
kityann 0:daab5accfd83 18 /**********************************************/
kityann 0:daab5accfd83 19
kityann 0:daab5accfd83 20 #include "mbed.h"
kityann 0:daab5accfd83 21 #include "XBee.h"
kityann 0:daab5accfd83 22 #include "MBed_Adafruit_GPS.h"
kityann 0:daab5accfd83 23 #include "AigamozuControlPackets.h"
kityann 0:daab5accfd83 24 #include "agzIDLIST.h"
kityann 0:daab5accfd83 25 #include "aigamozuSetting.h"
kityann 0:daab5accfd83 26 #include "agz_common.h"
kityann 0:daab5accfd83 27 #include "Kalman.h"
kityann 0:daab5accfd83 28
kityann 0:daab5accfd83 29 //************ID Number*****************
kityann 0:daab5accfd83 30 //Robot ID: 'A' ~ 'Z'
kityann 0:daab5accfd83 31 //Base ID: 'a' ~ 'a'
kityann 0:daab5accfd83 32 //manager ID: '0'(数字のゼロ)
kityann 0:daab5accfd83 33 //
kityann 0:daab5accfd83 34 const char MyID = 'D';
kityann 0:daab5accfd83 35 //************ID Number*****************
kityann 0:daab5accfd83 36
kityann 0:daab5accfd83 37 /////////////////////////////////////////
kityann 0:daab5accfd83 38 //
kityann 0:daab5accfd83 39 //Pin Setting
kityann 0:daab5accfd83 40 //
kityann 0:daab5accfd83 41 /////////////////////////////////////////
kityann 0:daab5accfd83 42 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:daab5accfd83 43
kityann 0:daab5accfd83 44
kityann 0:daab5accfd83 45 /////////////////////////////////////////
kityann 0:daab5accfd83 46 //
kityann 0:daab5accfd83 47 //Connection Setting
kityann 0:daab5accfd83 48 //
kityann 0:daab5accfd83 49 /////////////////////////////////////////
kityann 0:daab5accfd83 50
kityann 0:daab5accfd83 51 //Serial Connect Setting: PC <--> mbed
kityann 0:daab5accfd83 52 Serial pc(USBTX, USBRX);
kityann 0:daab5accfd83 53
kityann 0:daab5accfd83 54 //Serial Connect Setting: GPS <--> mbed
kityann 0:daab5accfd83 55 Serial * gps_Serial;
kityann 0:daab5accfd83 56
kityann 0:daab5accfd83 57 //Serial Connect Setting: XBEE <--> mbed
kityann 0:daab5accfd83 58 XBee xbee(p13,p14);
kityann 0:daab5accfd83 59 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:daab5accfd83 60
kityann 0:daab5accfd83 61 //set up GPS module
kityann 0:daab5accfd83 62
kityann 0:daab5accfd83 63 //set up AigamozuControlPackets library
kityann 0:daab5accfd83 64 AigamozuControlPackets agz(agz_motorShield);
kityann 0:daab5accfd83 65
kityann 0:daab5accfd83 66
kityann 0:daab5accfd83 67 /////////////////////////////////////////
kityann 0:daab5accfd83 68 //
kityann 0:daab5accfd83 69 //For Kalman data
kityann 0:daab5accfd83 70 //
kityann 0:daab5accfd83 71 /////////////////////////////////////////
kityann 0:daab5accfd83 72 double sigmaGPS[2][2] = {{250,0},{0,250}};
kityann 0:daab5accfd83 73 double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}};
kityann 0:daab5accfd83 74 double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}};
kityann 0:daab5accfd83 75 double y[2],x[2][2]={0};
kityann 0:daab5accfd83 76 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS);
kityann 0:daab5accfd83 77
kityann 0:daab5accfd83 78 /////////////////////////////////////////
kityann 0:daab5accfd83 79 //
kityann 0:daab5accfd83 80 //Address List
kityann 0:daab5accfd83 81 //
kityann 0:daab5accfd83 82 /////////////////////////////////////////
kityann 0:daab5accfd83 83 XBeeAddress64 base_Address[BaseNumber] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L),
kityann 0:daab5accfd83 84 XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L),
kityann 0:daab5accfd83 85 XBeeAddress64(BASE5_32H,BASE5_32L)};
kityann 0:daab5accfd83 86 XBeeAddress64 robot_Address[RobotNumber] = {XBeeAddress64(ROBOT1_32H,ROBOT1_32L), XBeeAddress64(ROBOT1_32H,ROBOT1_32L)};
kityann 0:daab5accfd83 87 XBeeAddress64 manager_Address = XBeeAddress64(BASE1_32H,BASE1_32L);
kityann 0:daab5accfd83 88
kityann 0:daab5accfd83 89
kityann 0:daab5accfd83 90 /////////////////////////////////////////
kityann 0:daab5accfd83 91 //
kityann 0:daab5accfd83 92 //Send_Status
kityann 0:daab5accfd83 93 //
kityann 0:daab5accfd83 94 //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 95 /////////////////////////////////////////
kityann 0:daab5accfd83 96 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 97 XBeeAddress64 send_Address;
kityann 0:daab5accfd83 98 if(SenderIDc == '0'){
kityann 0:daab5accfd83 99 send_Address = manager_Address;
kityann 0:daab5accfd83 100 }
kityann 0:daab5accfd83 101 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:daab5accfd83 102 send_Address = robot_Address[SenderIDc - 'A'];
kityann 0:daab5accfd83 103 }
kityann 0:daab5accfd83 104 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 105 send_Address = base_Address[SenderIDc - 'a'];
kityann 0:daab5accfd83 106 }
kityann 0:daab5accfd83 107 //send normal data
kityann 0:daab5accfd83 108 //Create GPS Infomation Packet
kityann 0:daab5accfd83 109 agz.createReceiveStatusCommand(MyID,SenderIDc,
kityann 0:daab5accfd83 110 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 111 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 112 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 113
kityann 0:daab5accfd83 114 //debug***************************************************
kityann 0:daab5accfd83 115 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 116 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 117 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 118 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 119 );
kityann 0:daab5accfd83 120 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 121 printf("\n");
kityann 0:daab5accfd83 122 //debug end***************************************************
kityann 0:daab5accfd83 123
kityann 0:daab5accfd83 124 //Select Destination
kityann 0:daab5accfd83 125 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 126 //Send -> Base
kityann 0:daab5accfd83 127 xbee.send(tx64request);
kityann 0:daab5accfd83 128 }
kityann 0:daab5accfd83 129
kityann 0:daab5accfd83 130 /////////////////////////////////////////
kityann 0:daab5accfd83 131 //
kityann 0:daab5accfd83 132 //Get GPS function
kityann 0:daab5accfd83 133 //
kityann 0:daab5accfd83 134 /////////////////////////////////////////
kityann 0:daab5accfd83 135
kityann 0:daab5accfd83 136 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 137 static bool flag = true;
kityann 0:daab5accfd83 138
kityann 0:daab5accfd83 139 if (myGPS->fix) {
kityann 0:daab5accfd83 140 agz.nowStatus = GPS_AVAIL;
kityann 0:daab5accfd83 141
kityann 0:daab5accfd83 142 if(flag){//初期値設定
kityann 0:daab5accfd83 143 if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){
kityann 0:daab5accfd83 144 flag = false;
kityann 0:daab5accfd83 145 x[0][0]=(double)myGPS->latitudeL;
kityann 0:daab5accfd83 146 x[0][1]=(double)myGPS->longitudeL;
kityann 0:daab5accfd83 147 }
kityann 0:daab5accfd83 148 }
kityann 0:daab5accfd83 149
kityann 0:daab5accfd83 150 if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){
kityann 0:daab5accfd83 151 return;
kityann 0:daab5accfd83 152 }
kityann 0:daab5accfd83 153 //Kalman Filter
kityann 0:daab5accfd83 154 Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS);
kityann 0:daab5accfd83 155
kityann 0:daab5accfd83 156 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 157 agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
kityann 0:daab5accfd83 158 }
kityann 0:daab5accfd83 159 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 160
kityann 0:daab5accfd83 161 }
kityann 0:daab5accfd83 162
kityann 0:daab5accfd83 163
kityann 0:daab5accfd83 164 /////////////////////////////////////////
kityann 0:daab5accfd83 165 //
kityann 0:daab5accfd83 166 //Kalman Processing
kityann 0:daab5accfd83 167 //
kityann 0:daab5accfd83 168 /////////////////////////////////////////
kityann 0:daab5accfd83 169
kityann 0:daab5accfd83 170 void get_K(){
kityann 0:daab5accfd83 171 double temp[2][2]={
kityann 0:daab5accfd83 172 {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]},
kityann 0:daab5accfd83 173 {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]}
kityann 0:daab5accfd83 174 };
kityann 0:daab5accfd83 175 double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1];
kityann 0:daab5accfd83 176 K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]);
kityann 0:daab5accfd83 177 K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]);
kityann 0:daab5accfd83 178 }
kityann 0:daab5accfd83 179
kityann 0:daab5accfd83 180
kityann 0:daab5accfd83 181 void get_x(){
kityann 0:daab5accfd83 182 x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]);
kityann 0:daab5accfd83 183 x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]);
kityann 0:daab5accfd83 184 }
kityann 0:daab5accfd83 185
kityann 0:daab5accfd83 186
kityann 0:daab5accfd83 187 void get_sigma(){
kityann 0:daab5accfd83 188 double temp[2][2];
kityann 0:daab5accfd83 189 for(int i=0;i<2;i++) {
kityann 0:daab5accfd83 190 for(int j=0;j<2;j++) {
kityann 0:daab5accfd83 191 for(int k=0;k<2;k++) {
kityann 0:daab5accfd83 192 temp[i][j]+=K[1][i][k]*sigma[0][k][j];
kityann 0:daab5accfd83 193 }
kityann 0:daab5accfd83 194 }
kityann 0:daab5accfd83 195 }
kityann 0:daab5accfd83 196 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 197 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 198 sigma[1][i][j] = sigma[0][i][j]-temp[i][j];
kityann 0:daab5accfd83 199 }
kityann 0:daab5accfd83 200 }
kityann 0:daab5accfd83 201 }
kityann 0:daab5accfd83 202
kityann 0:daab5accfd83 203 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){
kityann 0:daab5accfd83 204 y[0] = Latitude;
kityann 0:daab5accfd83 205 y[1] = Longitude;
kityann 0:daab5accfd83 206 //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS];
kityann 0:daab5accfd83 207 get_K();
kityann 0:daab5accfd83 208 //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]);
kityann 0:daab5accfd83 209 get_x();
kityann 0:daab5accfd83 210 //sigma[t+1] = sigma[t]-K[t+1]*sigma[t];
kityann 0:daab5accfd83 211 get_sigma();
kityann 0:daab5accfd83 212
kityann 0:daab5accfd83 213
kityann 0:daab5accfd83 214 //kousinn
kityann 0:daab5accfd83 215 for(int i = 0;i < 2;i++){
kityann 0:daab5accfd83 216 for(int j = 0;j < 2;j++){
kityann 0:daab5accfd83 217 K[0][i][j]=K[1][i][j];
kityann 0:daab5accfd83 218 x[0][i]=x[1][i];
kityann 0:daab5accfd83 219 sigma[0][i][j]=sigma[1][i][j];
kityann 0:daab5accfd83 220 }
kityann 0:daab5accfd83 221 }
kityann 0:daab5accfd83 222
kityann 0:daab5accfd83 223 myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
kityann 0:daab5accfd83 224 myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering
kityann 0:daab5accfd83 225 myGPS->latitudeKL=(long)x[1][0];//latitude after filtering
kityann 0:daab5accfd83 226 myGPS->longitudeKL=(long)x[1][1];//longitude after filtering
kityann 0:daab5accfd83 227
kityann 0:daab5accfd83 228 agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]);
kityann 0:daab5accfd83 229 }
kityann 0:daab5accfd83 230
kityann 0:daab5accfd83 231
kityann 0:daab5accfd83 232 /////////////////////////////////////////
kityann 0:daab5accfd83 233 //
kityann 0:daab5accfd83 234 //Main Processing
kityann 0:daab5accfd83 235 //
kityann 0:daab5accfd83 236 /////////////////////////////////////////
kityann 0:daab5accfd83 237 int main() {
kityann 0:daab5accfd83 238 //start up time
kityann 0:daab5accfd83 239 wait(3);
kityann 0:daab5accfd83 240 //set pc frequency to 57600bps
kityann 0:daab5accfd83 241 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 242 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 243 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 244
kityann 0:daab5accfd83 245
kityann 0:daab5accfd83 246 //GPS setting
kityann 0:daab5accfd83 247 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 248 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 249 Timer refresh_Timer;
kityann 0:daab5accfd83 250 const int refresh_Time = 2000; //refresh time in ms
kityann 0:daab5accfd83 251 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 252
kityann 0:daab5accfd83 253 char SenderIDc;
kityann 0:daab5accfd83 254 //GPS Send Command
kityann 0:daab5accfd83 255 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 256 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 257 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 258
kityann 0:daab5accfd83 259 wait(2);
kityann 0:daab5accfd83 260
kityann 0:daab5accfd83 261 //interrupt start
kityann 0:daab5accfd83 262 refresh_Timer.start();
kityann 0:daab5accfd83 263
kityann 0:daab5accfd83 264 printf("start\n");
kityann 0:daab5accfd83 265
kityann 0:daab5accfd83 266 while (true) {
kityann 0:daab5accfd83 267
kityann 0:daab5accfd83 268 //Check Xbee Buffer Available
kityann 0:daab5accfd83 269 xbee.readPacket();
kityann 0:daab5accfd83 270
kityann 0:daab5accfd83 271 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 272 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 273 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 274
kityann 0:daab5accfd83 275 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 276 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 277 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 278 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 279 SenderIDc = buf1[5];//送信元のIDを取得する
kityann 0:daab5accfd83 280 char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 281
kityann 0:daab5accfd83 282 //Check Command Type
kityann 0:daab5accfd83 283 switch(Command_type){
kityann 0:daab5accfd83 284 //Get Request command
kityann 0:daab5accfd83 285 case STATUS_REQUEST:{
kityann 0:daab5accfd83 286 Send_Status(SenderIDc);
kityann 0:daab5accfd83 287 break;
kityann 0:daab5accfd83 288 }
kityann 0:daab5accfd83 289 default:{
kityann 0:daab5accfd83 290 break;
kityann 0:daab5accfd83 291 }
kityann 0:daab5accfd83 292 }//endswitch
kityann 0:daab5accfd83 293 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 294 }//endifisAvailable
kityann 0:daab5accfd83 295
kityann 0:daab5accfd83 296 myGPS.read();
kityann 0:daab5accfd83 297 //recive gps module
kityann 0:daab5accfd83 298 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 299 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 300 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
kityann 0:daab5accfd83 301 continue;
kityann 0:daab5accfd83 302 }
kityann 0:daab5accfd83 303 }
kityann 0:daab5accfd83 304
kityann 0:daab5accfd83 305
kityann 0:daab5accfd83 306 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 307 refresh_Timer.reset();
kityann 0:daab5accfd83 308 Get_GPS(&myGPS);
kityann 0:daab5accfd83 309
kityann 0:daab5accfd83 310 }
kityann 0:daab5accfd83 311 }
kityann 0:daab5accfd83 312 }