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@37:26374d6066cb, 2015-05-30 (annotated)

Committer:
kityann
Date:
Sat May 30 14:46:59 2015 +0000
Revision:
37:26374d6066cb
Parent:
36:a11060f5199e
Child:
38:01505448b500
2015/05/30

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