aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver4_5

2015/06/09

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

Fork of Aigamozu_Robot_ver4_4 by aigamozu

main.cpp@38:01505448b500, 2015-06-05 (annotated)

Committer:
kityann
Date:
Fri Jun 05 03:47:37 2015 +0000
Revision:
38:01505448b500
Parent:
37:26374d6066cb
Child:
39:f6c7b746f0c4
2015/06/05

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 37:26374d6066cb 46 //
kityann 37:26374d6066cb 47 //2015/05/30
kityann 37:26374d6066cb 48 //新カルマンフィルタの実装
kityann 0:daab5accfd83 49 /**********************************************/
kityann 0:daab5accfd83 50
kityann 0:daab5accfd83 51 #include "mbed.h"
kityann 0:daab5accfd83 52 #include "XBee.h"
kityann 0:daab5accfd83 53 #include "MBed_Adafruit_GPS.h"
kityann 0:daab5accfd83 54 #include "AigamozuControlPackets.h"
kityann 0:daab5accfd83 55 #include "agzIDLIST.h"
kityann 0:daab5accfd83 56 #include "aigamozuSetting.h"
kityann 0:daab5accfd83 57 #include "Kalman.h"
s1200058 34:9c3192c00e41 58 #include "math.h"
kityann 0:daab5accfd83 59
kityann 4:f36986ceb73d 60 #define SIGMA_MIN 0.0001
kityann 4:f36986ceb73d 61
kityann 0:daab5accfd83 62 //************ID Number*****************
kityann 0:daab5accfd83 63 //Robot ID: 'A' ~ 'Z'
kityann 0:daab5accfd83 64 //Base ID: 'a' ~ 'a'
kityann 0:daab5accfd83 65 //manager ID: '0'(数字のゼロ)
kityann 0:daab5accfd83 66 //
kityann 38:01505448b500 67 const char MyID = 'C';
kityann 38:01505448b500 68
kityann 38:01505448b500 69 const int collect_base_address[4]={0,1,2,3};//{4,5,6,7}
kityann 0:daab5accfd83 70 //************ID Number*****************
kityann 0:daab5accfd83 71
kityann 0:daab5accfd83 72 /////////////////////////////////////////
kityann 0:daab5accfd83 73 //
kityann 0:daab5accfd83 74 //Pin Setting
kityann 0:daab5accfd83 75 //
kityann 0:daab5accfd83 76 /////////////////////////////////////////
kityann 0:daab5accfd83 77 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:daab5accfd83 78
kityann 0:daab5accfd83 79
kityann 0:daab5accfd83 80 /////////////////////////////////////////
kityann 0:daab5accfd83 81 //
kityann 0:daab5accfd83 82 //Connection Setting
kityann 0:daab5accfd83 83 //
kityann 0:daab5accfd83 84 /////////////////////////////////////////
kityann 0:daab5accfd83 85
kityann 0:daab5accfd83 86 //Serial Connect Setting: PC <--> mbed
kityann 0:daab5accfd83 87 Serial pc(USBTX, USBRX);
kityann 0:daab5accfd83 88
kityann 0:daab5accfd83 89 //Serial Connect Setting: GPS <--> mbed
kityann 0:daab5accfd83 90 Serial * gps_Serial;
kityann 0:daab5accfd83 91
kityann 0:daab5accfd83 92 //Serial Connect Setting: XBEE <--> mbed
kityann 0:daab5accfd83 93 XBee xbee(p13,p14);
kityann 0:daab5accfd83 94 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:daab5accfd83 95
kityann 0:daab5accfd83 96 //set up GPS module
kityann 0:daab5accfd83 97
kityann 0:daab5accfd83 98 //set up AigamozuControlPackets library
kityann 0:daab5accfd83 99 AigamozuControlPackets agz(agz_motorShield);
kityann 0:daab5accfd83 100
kityann 0:daab5accfd83 101
kityann 0:daab5accfd83 102 /////////////////////////////////////////
kityann 0:daab5accfd83 103 //
kityann 0:daab5accfd83 104 //For Kalman data
kityann 0:daab5accfd83 105 //
kityann 0:daab5accfd83 106 /////////////////////////////////////////
kityann 37:26374d6066cb 107 #define FIRST_S2_1 1.0e-8
kityann 37:26374d6066cb 108 #define FIRST_S2_2 1.0e-6
s1200058 32:6ba2e5402f00 109 #define COUNTER_MAX 10000
s1200058 35:3094c84a024b 110 #define ERROR_RANGE 0.001
s1200058 35:3094c84a024b 111
s1200058 32:6ba2e5402f00 112 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
kityann 37:26374d6066cb 113 double s2x_cur=FIRST_S2_1,s2x_prev=FIRST_S2_1,s2y_cur=FIRST_S2_1,s2y_prev=FIRST_S2_1;//緯度経度のの時刻tと時刻t-1での共分散
kityann 37:26374d6066cb 114 double s2_R=FIRST_S2_2;//GPSセンサの分散
kityann 37:26374d6066cb 115 double s2_Q=FIRST_S2_2;
s1200058 32:6ba2e5402f00 116 double Kx=0,Ky=0;//カルマンゲイン
s1200058 32:6ba2e5402f00 117 double zx,zy;//観測値
s1200058 32:6ba2e5402f00 118 void Kalman(double Latitude,double Longitude);
s1200058 34:9c3192c00e41 119 int change = 0;
s1200058 34:9c3192c00e41 120
s1200058 34:9c3192c00e41 121
s1200058 34:9c3192c00e41 122 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 123
s1200058 2:886fac7f4399 124 /////////////////////////////////////////
s1200058 2:886fac7f4399 125 //
s1200058 2:886fac7f4399 126 //Plus Speed
s1200058 2:886fac7f4399 127 //
s1200058 2:886fac7f4399 128 //MNUAL_MODEの時にスピードを変える
s1200058 2:886fac7f4399 129 /////////////////////////////////////////
s1200058 2:886fac7f4399 130 void Plus_Speed(uint8_t *packetdata){
s1200058 2:886fac7f4399 131
s1200058 2:886fac7f4399 132 if(agz.nowMode == MANUAL_MODE){
s1200058 2:886fac7f4399 133 agz.changeSpeed(packetdata);
s1200058 2:886fac7f4399 134 }
s1200058 2:886fac7f4399 135
s1200058 2:886fac7f4399 136 }
kityann 0:daab5accfd83 137
kityann 0:daab5accfd83 138 /////////////////////////////////////////
kityann 0:daab5accfd83 139 //
s1200058 2:886fac7f4399 140 //Send Status
kityann 0:daab5accfd83 141 //
kityann 0:daab5accfd83 142 //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 143 /////////////////////////////////////////
kityann 0:daab5accfd83 144 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 145 XBeeAddress64 send_Address;
s1200058 22:af860680417b 146 if(SenderIDc == '0'){
kityann 0:daab5accfd83 147 send_Address = manager_Address;
kityann 23:c5071bf93db1 148 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 149 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 150 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 151 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 152 }
s1200058 25:ae5fab0946f2 153 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:daab5accfd83 154 send_Address = robot_Address[SenderIDc - 'A'];
s1200058 25:ae5fab0946f2 155 //Create GPS Infomation Packet
kityann 24:698d4e920d33 156 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 157 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 158 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 159 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 160 }
kityann 0:daab5accfd83 161 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 162 send_Address = base_Address[SenderIDc - 'a'];
kityann 24:698d4e920d33 163
kityann 24:698d4e920d33 164 agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(),
kityann 23:c5071bf93db1 165 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 166 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 24:698d4e920d33 167 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 168 }
kityann 0:daab5accfd83 169 //send normal data
kityann 23:c5071bf93db1 170
s1200058 32:6ba2e5402f00 171 /*
kityann 0:daab5accfd83 172 //debug***************************************************
kityann 0:daab5accfd83 173 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 174 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 175 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 176 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 177 );
kityann 0:daab5accfd83 178 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 179 printf("\n");
kityann 0:daab5accfd83 180 //debug end***************************************************
s1200058 32:6ba2e5402f00 181 */
kityann 0:daab5accfd83 182 //Select Destination
kityann 0:daab5accfd83 183 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 184 //Send -> Base
kityann 0:daab5accfd83 185 xbee.send(tx64request);
s1200058 20:eee8ac8d1788 186
kityann 0:daab5accfd83 187 }
kityann 0:daab5accfd83 188
kityann 0:daab5accfd83 189 /////////////////////////////////////////
kityann 0:daab5accfd83 190 //
kityann 0:daab5accfd83 191 //Get GPS function
kityann 0:daab5accfd83 192 //
kityann 0:daab5accfd83 193 /////////////////////////////////////////
kityann 0:daab5accfd83 194
kityann 0:daab5accfd83 195 void Get_GPS(Adafruit_GPS *myGPS){
s1200058 32:6ba2e5402f00 196 static int flag = 0;
kityann 0:daab5accfd83 197
kityann 0:daab5accfd83 198 if (myGPS->fix) {
s1200058 32:6ba2e5402f00 199
kityann 0:daab5accfd83 200 agz.nowStatus = GPS_AVAIL;
s1200058 32:6ba2e5402f00 201 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 202
s1200058 32:6ba2e5402f00 203 if(flag < COUNTER_MAX){
s1200058 32:6ba2e5402f00 204 flag++;
s1200058 32:6ba2e5402f00 205 }
s1200058 33:3025b16bccd2 206 if(flag == 5){
s1200058 32:6ba2e5402f00 207 x_prev = agz.get_agzPoint_lati();
s1200058 32:6ba2e5402f00 208 y_prev = agz.get_agzPoint_longi();
kityann 0:daab5accfd83 209 }
s1200058 32:6ba2e5402f00 210
s1200058 32:6ba2e5402f00 211 if(flag >= 6){
s1200058 35:3094c84a024b 212 if(abs(x_prev - agz.get_agzPoint_lati()) < ERROR_RANGE && abs(y_prev - agz.get_agzPoint_longi()) < ERROR_RANGE){
s1200058 34:9c3192c00e41 213 Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
s1200058 34:9c3192c00e41 214 change = 1;
s1200058 34:9c3192c00e41 215 }
s1200058 34:9c3192c00e41 216 else{
s1200058 34:9c3192c00e41 217 change = 0;
s1200058 34:9c3192c00e41 218 }
s1200058 34:9c3192c00e41 219 /* fp = fopen(filename, "w");
s1200058 34:9c3192c00e41 220 fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 34:9c3192c00e41 221 change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 34:9c3192c00e41 222 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 34:9c3192c00e41 223 agz.get_agzCov_lati(),agz.get_agzCov_longi());
s1200058 34:9c3192c00e41 224 */
s1200058 34:9c3192c00e41 225
s1200058 32:6ba2e5402f00 226 }
s1200058 33:3025b16bccd2 227
s1200058 33:3025b16bccd2 228 printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 33:3025b16bccd2 229 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 33:3025b16bccd2 230 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 33:3025b16bccd2 231 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 232 }
kityann 0:daab5accfd83 233 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 234
kityann 0:daab5accfd83 235 }
s1200058 2:886fac7f4399 236
s1200058 2:886fac7f4399 237 /////////////////////////////////////////
s1200058 2:886fac7f4399 238 //
s1200058 2:886fac7f4399 239 //New Mode
s1200058 2:886fac7f4399 240 //
s1200058 2:886fac7f4399 241 /////////////////////////////////////////
s1200058 2:886fac7f4399 242
s1200058 2:886fac7f4399 243 void New_Mode(uint8_t *packetdata){
s1200058 2:886fac7f4399 244
s1200058 19:a806105ba365 245 //bool result;
s1200058 20:eee8ac8d1788 246 agz.changeMode(packetdata);
s1200058 2:886fac7f4399 247
s1200058 2:886fac7f4399 248 }
kityann 1:b2b950b916ce 249
kityann 1:b2b950b916ce 250 /////////////////////////////////////////
kityann 1:b2b950b916ce 251 //
kityann 1:b2b950b916ce 252 //Get Status
kityann 1:b2b950b916ce 253 //
kityann 1:b2b950b916ce 254 /////////////////////////////////////////
kityann 1:b2b950b916ce 255 void Get_Status(char SenderIDc,uint8_t *packetdata){
kityann 1:b2b950b916ce 256
kityann 1:b2b950b916ce 257 //マネージャからデータが来たとき
kityann 1:b2b950b916ce 258 if(SenderIDc == '0'){
kityann 1:b2b950b916ce 259 printf("get manager Status\n");
kityann 1:b2b950b916ce 260 }
kityann 1:b2b950b916ce 261 //他のロボットからデータが来たとき
kityann 1:b2b950b916ce 262 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 1:b2b950b916ce 263 printf("get other robots Status\n");
kityann 1:b2b950b916ce 264 }
kityann 1:b2b950b916ce 265 //基地局からデータが来たとき
kityann 1:b2b950b916ce 266 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 1:b2b950b916ce 267 printf("Get Base data\n");
kityann 1:b2b950b916ce 268 int id = SenderIDc - 'a';
kityann 1:b2b950b916ce 269 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]);
kityann 1:b2b950b916ce 270 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
kityann 1:b2b950b916ce 271
kityann 1:b2b950b916ce 272 //debug
kityann 1:b2b950b916ce 273 for(int i = 0;i < 4;i++){
kityann 1:b2b950b916ce 274 printf("BASE:%d\n",i);
kityann 1:b2b950b916ce 275 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n",
kityann 1:b2b950b916ce 276 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i),
kityann 1:b2b950b916ce 277 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)
kityann 1:b2b950b916ce 278 );
kityann 1:b2b950b916ce 279 }
kityann 1:b2b950b916ce 280 }
kityann 1:b2b950b916ce 281 }
kityann 1:b2b950b916ce 282
s1200058 2:886fac7f4399 283 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){
s1200058 2:886fac7f4399 284
s1200058 2:886fac7f4399 285 //マネージャからデータが来たとき
s1200058 2:886fac7f4399 286 if(SenderIDc == '0'){
s1200058 2:886fac7f4399 287 printf("get manager Status Kalman\n");
s1200058 2:886fac7f4399 288 }
s1200058 2:886fac7f4399 289 //他のロボットからデータが来たとき
s1200058 2:886fac7f4399 290 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
s1200058 2:886fac7f4399 291 printf("get other robots Status Kalman\n");
s1200058 2:886fac7f4399 292 }
s1200058 2:886fac7f4399 293 //基地局からデータが来たとき
s1200058 2:886fac7f4399 294 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
s1200058 2:886fac7f4399 295 printf("Get Base data Kalman\n");
s1200058 2:886fac7f4399 296 int id = SenderIDc - 'a';
s1200058 2:886fac7f4399 297 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
s1200058 2:886fac7f4399 298
s1200058 2:886fac7f4399 299 //debug
s1200058 2:886fac7f4399 300 for(int i = 0;i < 4;i++){
s1200058 2:886fac7f4399 301 printf("BASE:%d\n",i);
s1200058 2:886fac7f4399 302 printf("latitudeK:%f,longitudeK:%f\n",
s1200058 2:886fac7f4399 303 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i));
s1200058 2:886fac7f4399 304 }
s1200058 2:886fac7f4399 305 }
s1200058 2:886fac7f4399 306 }
s1200058 2:886fac7f4399 307
kityann 1:b2b950b916ce 308 /////////////////////////////////////////
kityann 1:b2b950b916ce 309 //
kityann 1:b2b950b916ce 310 //Send_Request_to_base
kityann 1:b2b950b916ce 311 //
kityann 1:b2b950b916ce 312 /////////////////////////////////////////
kityann 1:b2b950b916ce 313 void Send_Request_Base(int basenumber){
kityann 1:b2b950b916ce 314 printf("send\n");
kityann 1:b2b950b916ce 315 agz.createRequestCommand(MyID, basenumber);
kityann 1:b2b950b916ce 316 //Select Destination
kityann 1:b2b950b916ce 317 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength());
kityann 1:b2b950b916ce 318 //Send -> Base
kityann 1:b2b950b916ce 319 xbee.send(tx64request);
kityann 1:b2b950b916ce 320 }
kityann 0:daab5accfd83 321
s1200058 3:1ac506a96fd6 322 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 323 //
s1200058 3:1ac506a96fd6 324 //auto_Move
s1200058 3:1ac506a96fd6 325 //
s1200058 3:1ac506a96fd6 326 //InAreaかOutAreaの判定
s1200058 3:1ac506a96fd6 327 //Kalmanを通した値を出力(Baseと自分)
s1210160 36:a11060f5199e 328 //2015/05/29
s1210160 36:a11060f5199e 329 //外側判定と処理の実装
s1210160 36:a11060f5199e 330 //内側判定：シーケンス動作
s1210160 36:a11060f5199e 331 //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 332 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 333
s1200058 3:1ac506a96fd6 334 void auto_Move(){
s1200058 3:1ac506a96fd6 335
kityann 38:01505448b500 336 bool result=false; // 毎回の内外判定の結果を格納
kityann 38:01505448b500 337 static bool out_flag = false; // 外側処理の実行フラグ
s1210160 36:a11060f5199e 338 const int sequenceTime[4] = {30000, 31000, 34000, 34200};
s1210160 36:a11060f5199e 339 const int outSequenceTime[4] = {10000, 11000, 14000, 14200};
s1200058 3:1ac506a96fd6 340
s1200058 3:1ac506a96fd6 341 result = agz.gpsAuto();
s1200058 20:eee8ac8d1788 342 //agz.set_agzAutoGPS();
s1200058 20:eee8ac8d1788 343 //agz.set_agzKalmanGPS();
s1200058 3:1ac506a96fd6 344
s1210160 36:a11060f5199e 345 if(out_flag == false && result == true){
s1210160 36:a11060f5199e 346 out_flag = true;
s1210160 36:a11060f5199e 347 agz.Out_Timer.reset();
s1210160 36:a11060f5199e 348 }
s1200058 3:1ac506a96fd6 349
s1210160 36:a11060f5199e 350 if(out_flag == false){
s1210160 36:a11060f5199e 351 if(agz.Move_Timer.read_ms() < sequenceTime[0]){
s1210160 36:a11060f5199e 352 agz.control_Motor(0); //straight
s1210160 36:a11060f5199e 353 }
s1210160 36:a11060f5199e 354 if(agz.Move_Timer.read_ms() > sequenceTime[0] && agz.Move_Timer.read_ms() < sequenceTime[1]){
s1210160 36:a11060f5199e 355 agz.control_Motor(1);
s1210160 36:a11060f5199e 356 }
s1210160 36:a11060f5199e 357 if(agz.Move_Timer.read_ms() > sequenceTime[1] && agz.Move_Timer.read_ms() < sequenceTime[2]){
s1210160 36:a11060f5199e 358 agz.control_Motor(2); //Turn Right
s1210160 36:a11060f5199e 359 }
s1210160 36:a11060f5199e 360 if(agz.Move_Timer.read_ms() > sequenceTime[2] && agz.Move_Timer.read_ms() < sequenceTime[3]){
s1210160 36:a11060f5199e 361 agz.control_Motor(1);
s1210160 36:a11060f5199e 362 }
s1210160 36:a11060f5199e 363 if(agz.Move_Timer.read_ms() > sequenceTime[3]){
s1210160 36:a11060f5199e 364 agz.Move_Timer.reset();
s1210160 36:a11060f5199e 365 }
s1210160 36:a11060f5199e 366 }
s1210160 36:a11060f5199e 367 if(out_flag == true){
s1210160 36:a11060f5199e 368 if(agz.Out_Timer.read_ms() < outSequenceTime[0]){
s1210160 36:a11060f5199e 369 agz.control_Motor(3); //back
s1210160 36:a11060f5199e 370 }
s1210160 36:a11060f5199e 371 if(agz.Out_Timer.read_ms() > outSequenceTime[0] && agz.Out_Timer.read_ms() < outSequenceTime[1]){
s1210160 36:a11060f5199e 372 agz.control_Motor(1);
s1210160 36:a11060f5199e 373 }
s1210160 36:a11060f5199e 374 if(agz.Out_Timer.read_ms() > outSequenceTime[1] && agz.Out_Timer.read_ms() < outSequenceTime[2]){
s1210160 36:a11060f5199e 375 agz.control_Motor(2); //Turn Right
s1210160 36:a11060f5199e 376 }
s1210160 36:a11060f5199e 377 if(agz.Out_Timer.read_ms() > outSequenceTime[2] && agz.Out_Timer.read_ms() < outSequenceTime[3]){
s1210160 36:a11060f5199e 378 agz.control_Motor(1);
s1210160 36:a11060f5199e 379 }
s1210160 36:a11060f5199e 380 if(agz.Out_Timer.read_ms() > outSequenceTime[3]){
s1210160 36:a11060f5199e 381 agz.Out_Timer.reset();
s1210160 36:a11060f5199e 382 agz.Move_Timer.reset();
s1210160 36:a11060f5199e 383 out_flag = false;
s1210160 36:a11060f5199e 384 }
s1210160 36:a11060f5199e 385 }
s1200058 3:1ac506a96fd6 386 }
s1200058 3:1ac506a96fd6 387
s1200058 5:522c47c78401 388 void print_gps(int count){
s1200058 5:522c47c78401 389
s1200058 5:522c47c78401 390 printf("%d times:\n", count);
s1200058 5:522c47c78401 391 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 5:522c47c78401 392
s1200058 5:522c47c78401 393 }
kityann 0:daab5accfd83 394
s1200058 32:6ba2e5402f00 395
kityann 0:daab5accfd83 396 /////////////////////////////////////////
kityann 0:daab5accfd83 397 //
kityann 0:daab5accfd83 398 //Kalman Processing
kityann 0:daab5accfd83 399 //
kityann 0:daab5accfd83 400 /////////////////////////////////////////
s1200058 32:6ba2e5402f00 401 void calc_Kalman(){
s1200058 32:6ba2e5402f00 402 //calc Kalman gain
kityann 37:26374d6066cb 403 Kx = (s2x_prev+s2_Q)/(s2x_prev+s2_R+s2_Q);
kityann 37:26374d6066cb 404 Ky = (s2y_prev+s2_Q)/(s2y_prev+s2_R+s2_Q);
s1200058 32:6ba2e5402f00 405 //estimate
s1200058 32:6ba2e5402f00 406 x_cur = x_prev + Kx*(zx-x_prev);
s1200058 32:6ba2e5402f00 407 y_cur = y_prev + Ky*(zy-y_prev);
s1200058 32:6ba2e5402f00 408 //calc sigma
kityann 37:26374d6066cb 409 s2x_cur = (1-Kx)*(s2x_prev+s2_Q);
kityann 37:26374d6066cb 410 s2y_cur = (1-Ky)*(s2y_prev+s2_Q);
kityann 0:daab5accfd83 411
kityann 0:daab5accfd83 412 }
kityann 0:daab5accfd83 413
s1200058 32:6ba2e5402f00 414 void Kalman(double Latitude,double Longitude){
s1200058 32:6ba2e5402f00 415
s1200058 32:6ba2e5402f00 416 zx = Latitude;
s1200058 32:6ba2e5402f00 417 zy = Longitude;
s1200058 32:6ba2e5402f00 418
s1200058 32:6ba2e5402f00 419 calc_Kalman();
kityann 0:daab5accfd83 420
s1200058 32:6ba2e5402f00 421 //更新
s1200058 32:6ba2e5402f00 422 x_prev = x_cur;
s1200058 32:6ba2e5402f00 423 y_prev = y_cur;
s1200058 32:6ba2e5402f00 424 s2x_prev = s2x_cur;
s1200058 32:6ba2e5402f00 425 s2y_prev = s2y_cur;
s1200058 25:ae5fab0946f2 426
s1200058 32:6ba2e5402f00 427 //agzPontKalmanとagzCovに格納する
s1200058 32:6ba2e5402f00 428 agz.set_agzPointKalman_lati(x_cur);
s1200058 32:6ba2e5402f00 429 agz.set_agzPointKalman_longi(y_cur);
s1200058 32:6ba2e5402f00 430 agz.set_agzCov(s2x_cur,s2y_cur);
kityann 0:daab5accfd83 431
kityann 0:daab5accfd83 432 }
kityann 0:daab5accfd83 433
kityann 0:daab5accfd83 434 /////////////////////////////////////////
kityann 0:daab5accfd83 435 //
kityann 0:daab5accfd83 436 //Main Processing
kityann 0:daab5accfd83 437 //
kityann 0:daab5accfd83 438 /////////////////////////////////////////
kityann 0:daab5accfd83 439 int main() {
kityann 0:daab5accfd83 440 //start up time
kityann 0:daab5accfd83 441 wait(3);
kityann 0:daab5accfd83 442 //set pc frequency to 57600bps
kityann 0:daab5accfd83 443 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 444 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 445 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 446
kityann 0:daab5accfd83 447
kityann 0:daab5accfd83 448 //GPS setting
kityann 0:daab5accfd83 449 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 450 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 451 Timer refresh_Timer;
s1200058 7:a9a1acc7673b 452 const int refresh_Time = 1000; //refresh time in ms
s1200058 3:1ac506a96fd6 453 Timer auto_Timer;
s1210160 36:a11060f5199e 454 const int auto_Time = 100; //refresh time in ms
s1200058 5:522c47c78401 455 int count = 0;
s1200058 29:524684a1198f 456
s1210160 36:a11060f5199e 457
s1200058 29:524684a1198f 458
kityann 0:daab5accfd83 459 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 460
s1200058 14:5deb7a4f1cd4 461 Timer collect_Timer;
s1200058 14:5deb7a4f1cd4 462 const int collect_Time = 2000; //when we collect 4 GPS point, we use
s1200058 14:5deb7a4f1cd4 463 int collect_flag = 0;
s1200058 14:5deb7a4f1cd4 464
kityann 0:daab5accfd83 465 char SenderIDc;
kityann 0:daab5accfd83 466 //GPS Send Command
kityann 0:daab5accfd83 467 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 468 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 469 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 470
s1200058 29:524684a1198f 471 wait_ms(2000);
kityann 0:daab5accfd83 472
kityann 0:daab5accfd83 473 //interrupt start
kityann 0:daab5accfd83 474 refresh_Timer.start();
s1200058 3:1ac506a96fd6 475 auto_Timer.start();
s1200058 30:7f6ebe2121d9 476 agz.Move_Timer.start();
s1210160 36:a11060f5199e 477 agz.Out_Timer.start();
s1200058 16:a07350b3eb64 478 collect_Timer.start();
s1200058 29:524684a1198f 479 printf("start\n");
kityann 1:b2b950b916ce 480
kityann 0:daab5accfd83 481
kityann 0:daab5accfd83 482 while (true) {
kityann 0:daab5accfd83 483
kityann 0:daab5accfd83 484 //Check Xbee Buffer Available
kityann 0:daab5accfd83 485 xbee.readPacket();
kityann 0:daab5accfd83 486
kityann 0:daab5accfd83 487 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 488 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 489 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 490
kityann 0:daab5accfd83 491 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 492 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 493 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 494 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 495 SenderIDc = buf1[5];//送信元のIDを取得する
s1200058 21:76e7f36df4a9 496 char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 497
kityann 0:daab5accfd83 498 //Check Command Type
kityann 0:daab5accfd83 499 switch(Command_type){
kityann 0:daab5accfd83 500 //Get Request command
s1200058 2:886fac7f4399 501 case MANUAL:{
s1200058 12:48ef69b4f0e4 502 Plus_Speed(buf);
s1200058 2:886fac7f4399 503 break;
s1200058 2:886fac7f4399 504 }
kityann 0:daab5accfd83 505 case STATUS_REQUEST:{
s1200058 21:76e7f36df4a9 506 Send_Status(SenderIDc);
s1200058 21:76e7f36df4a9 507 printf("%c\n", SenderIDc);
kityann 0:daab5accfd83 508 break;
kityann 0:daab5accfd83 509 }
s1200058 2:886fac7f4399 510 case CHANGE_MODE:{
s1200058 12:48ef69b4f0e4 511 New_Mode(buf);
s1200058 2:886fac7f4399 512 break;
s1200058 2:886fac7f4399 513 }
kityann 1:b2b950b916ce 514 case RECEIVE_STATUS:{
kityann 1:b2b950b916ce 515 Get_Status(SenderIDc,buf1);
kityann 1:b2b950b916ce 516 break;
kityann 1:b2b950b916ce 517 }
kityann 0:daab5accfd83 518 default:{
kityann 0:daab5accfd83 519 break;
kityann 0:daab5accfd83 520 }
kityann 0:daab5accfd83 521 }//endswitch
kityann 0:daab5accfd83 522 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 523 }//endifisAvailable
kityann 0:daab5accfd83 524
kityann 0:daab5accfd83 525 myGPS.read();
kityann 0:daab5accfd83 526 //recive gps module
kityann 0:daab5accfd83 527 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 528 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 529 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 8:994c73f6fad9 530 continue;
s1200058 8:994c73f6fad9 531 }
s1200058 8:994c73f6fad9 532 else{
s1200058 5:522c47c78401 533 count++;
s1200058 8:994c73f6fad9 534 }
kityann 0:daab5accfd83 535 }
kityann 1:b2b950b916ce 536 //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 537 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 538 refresh_Timer.reset();
s1200058 12:48ef69b4f0e4 539 //print_gps(count);
kityann 0:daab5accfd83 540 Get_GPS(&myGPS);
kityann 0:daab5accfd83 541
kityann 0:daab5accfd83 542 }
s1200058 20:eee8ac8d1788 543
s1200058 20:eee8ac8d1788 544 //get base GPS
s1200058 14:5deb7a4f1cd4 545 if( collect_Timer.read_ms() >= collect_Time){
s1200058 15:f3d01f37f00d 546 collect_Timer.reset();
s1200058 15:f3d01f37f00d 547
kityann 38:01505448b500 548 Send_Request_Base(collect_base_address[collect_flag]);
s1200058 14:5deb7a4f1cd4 549
s1200058 14:5deb7a4f1cd4 550 collect_flag++;
s1200058 14:5deb7a4f1cd4 551
s1200058 14:5deb7a4f1cd4 552 if(collect_flag == 4){
s1200058 14:5deb7a4f1cd4 553 collect_flag = 0;
s1200058 14:5deb7a4f1cd4 554 }
s1200058 14:5deb7a4f1cd4 555 }
s1200058 20:eee8ac8d1788 556
s1200058 14:5deb7a4f1cd4 557 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 29:524684a1198f 558 auto_Timer.reset();
s1200058 29:524684a1198f 559 auto_Move();
s1200058 29:524684a1198f 560 }
s1200058 29:524684a1198f 561
s1200058 29:524684a1198f 562 }
s1200058 34:9c3192c00e41 563
kityann 0:daab5accfd83 564 }