20150511, Nakazawa
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of aigamozu_auto_ver3_3_2 by
main.cpp@7:209c07cc2b80, 2015-05-11 (annotated)
- Committer:
- s1210160
- Date:
- Mon May 11 13:23:52 2015 +0000
- Revision:
- 7:209c07cc2b80
- Parent:
- 4:480f4eb9bcbc
20150511, Nakazawa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kityann | 0:68d27eee9a6c | 1 | /**********************************************/ |
kityann | 0:68d27eee9a6c | 2 | // |
kityann | 0:68d27eee9a6c | 3 | // |
kityann | 0:68d27eee9a6c | 4 | // |
kityann | 0:68d27eee9a6c | 5 | // Program name: Aigamozu Robot Control |
kityann | 0:68d27eee9a6c | 6 | // Author: Atsunori Maruyama |
kityann | 0:68d27eee9a6c | 7 | // Ver -> 1.3 |
kityann | 0:68d27eee9a6c | 8 | // Day -> 2014/06/09 |
kityann | 0:68d27eee9a6c | 9 | // |
kityann | 0:68d27eee9a6c | 10 | // |
kityann | 0:68d27eee9a6c | 11 | /**********************************************/ |
s1210160 | 7:209c07cc2b80 | 12 | // |
s1210160 | 7:209c07cc2b80 | 13 | // 中澤遥菜 |
s1210160 | 7:209c07cc2b80 | 14 | // 変更点:メイン関数の中の処理を関数化しました。 |
s1210160 | 7:209c07cc2b80 | 15 | // setting(), interrupt_start(VNH5019 motorShield), |
s1210160 | 7:209c07cc2b80 | 16 | // GPS_Setting(int refresh_Time, int collect_Time), |
s1210160 | 7:209c07cc2b80 | 17 | // GPS_SendCommand(), check_CommandType(utf8_t command_type), |
s1210160 | 7:209c07cc2b80 | 18 | // LatLong_afterFiltering(double longitude, double latitude, double x0, double x1), |
s1210160 | 7:209c07cc2b80 | 19 | // send_GPSdata(), get_GPSdata(), getKalman() |
s1210160 | 7:209c07cc2b80 | 20 | // |
s1210160 | 7:209c07cc2b80 | 21 | /**********************************************/ |
kityann | 0:68d27eee9a6c | 22 | |
kityann | 0:68d27eee9a6c | 23 | #include "mbed.h" |
kityann | 0:68d27eee9a6c | 24 | #include "XBee.h" |
kityann | 0:68d27eee9a6c | 25 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:68d27eee9a6c | 26 | #include "AigamozuControlPackets.h" |
kityann | 0:68d27eee9a6c | 27 | #include "agzIDLIST.h" |
kityann | 0:68d27eee9a6c | 28 | #include "aigamozuSetting.h" |
kityann | 0:68d27eee9a6c | 29 | #include "agz_common.h" |
kityann | 0:68d27eee9a6c | 30 | #include "Kalman.h" |
kityann | 0:68d27eee9a6c | 31 | |
kityann | 0:68d27eee9a6c | 32 | ///////////////////////////////////////// |
kityann | 0:68d27eee9a6c | 33 | // |
kityann | 0:68d27eee9a6c | 34 | //Connection Setting |
kityann | 0:68d27eee9a6c | 35 | // |
kityann | 0:68d27eee9a6c | 36 | ///////////////////////////////////////// |
kityann | 0:68d27eee9a6c | 37 | |
kityann | 0:68d27eee9a6c | 38 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:68d27eee9a6c | 39 | Serial pc(USBTX, USBRX); |
kityann | 0:68d27eee9a6c | 40 | |
kityann | 0:68d27eee9a6c | 41 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:68d27eee9a6c | 42 | Serial * gps_Serial; |
kityann | 0:68d27eee9a6c | 43 | |
kityann | 0:68d27eee9a6c | 44 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:68d27eee9a6c | 45 | XBee xbee(p13,p14); |
kityann | 0:68d27eee9a6c | 46 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:68d27eee9a6c | 47 | XBeeAddress64 remoteAddress = XBeeAddress64(BASE1_32H,BASE1_32L); |
kityann | 0:68d27eee9a6c | 48 | |
s1200058 | 4:480f4eb9bcbc | 49 | AGZ_ROBOT robot[5]; |
s1200058 | 4:480f4eb9bcbc | 50 | |
s1200058 | 4:480f4eb9bcbc | 51 | char Base_ID = 'A'; |
kityann | 0:68d27eee9a6c | 52 | |
kityann | 0:68d27eee9a6c | 53 | ///////////////////////////////////////// |
kityann | 0:68d27eee9a6c | 54 | // |
kityann | 0:68d27eee9a6c | 55 | //Pin Setting |
kityann | 0:68d27eee9a6c | 56 | // |
kityann | 0:68d27eee9a6c | 57 | ///////////////////////////////////////// |
kityann | 0:68d27eee9a6c | 58 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:68d27eee9a6c | 59 | |
kityann | 0:68d27eee9a6c | 60 | |
kityann | 0:68d27eee9a6c | 61 | |
kityann | 0:68d27eee9a6c | 62 | ///////////////////////////////////////// |
kityann | 0:68d27eee9a6c | 63 | // |
kityann | 0:68d27eee9a6c | 64 | //Kalman Processing |
kityann | 0:68d27eee9a6c | 65 | // |
kityann | 0:68d27eee9a6c | 66 | ///////////////////////////////////////// |
kityann | 0:68d27eee9a6c | 67 | |
kityann | 0:68d27eee9a6c | 68 | |
kityann | 0:68d27eee9a6c | 69 | double sigmaGPS[2][2] = {{250,0},{0,250}}; |
kityann | 0:68d27eee9a6c | 70 | double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}}; |
kityann | 0:68d27eee9a6c | 71 | double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}}; |
kityann | 0:68d27eee9a6c | 72 | double y[2],x[2][2]={0}; |
kityann | 0:68d27eee9a6c | 73 | |
kityann | 0:68d27eee9a6c | 74 | |
kityann | 0:68d27eee9a6c | 75 | void get_K(){ |
kityann | 0:68d27eee9a6c | 76 | double temp[2][2]={ |
kityann | 0:68d27eee9a6c | 77 | {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]}, |
kityann | 0:68d27eee9a6c | 78 | {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]} |
kityann | 0:68d27eee9a6c | 79 | }; |
kityann | 0:68d27eee9a6c | 80 | double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1]; |
kityann | 0:68d27eee9a6c | 81 | K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]); |
kityann | 0:68d27eee9a6c | 82 | K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]); |
kityann | 0:68d27eee9a6c | 83 | } |
kityann | 0:68d27eee9a6c | 84 | |
kityann | 0:68d27eee9a6c | 85 | |
kityann | 0:68d27eee9a6c | 86 | void get_x(){ |
kityann | 0:68d27eee9a6c | 87 | x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]); |
kityann | 0:68d27eee9a6c | 88 | x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]); |
kityann | 0:68d27eee9a6c | 89 | } |
kityann | 0:68d27eee9a6c | 90 | |
kityann | 0:68d27eee9a6c | 91 | |
kityann | 0:68d27eee9a6c | 92 | void get_sigma(){ |
kityann | 0:68d27eee9a6c | 93 | double temp[2][2]; |
kityann | 0:68d27eee9a6c | 94 | for(int i=0;i<2;i++) { |
kityann | 0:68d27eee9a6c | 95 | for(int j=0;j<2;j++) { |
kityann | 0:68d27eee9a6c | 96 | for(int k=0;k<2;k++) { |
kityann | 0:68d27eee9a6c | 97 | temp[i][j]+=K[1][i][k]*sigma[0][k][j]; |
kityann | 0:68d27eee9a6c | 98 | } |
kityann | 0:68d27eee9a6c | 99 | } |
kityann | 0:68d27eee9a6c | 100 | } |
kityann | 0:68d27eee9a6c | 101 | for(int i = 0;i < 2;i++){ |
kityann | 0:68d27eee9a6c | 102 | for(int j = 0;j < 2;j++){ |
kityann | 0:68d27eee9a6c | 103 | sigma[1][i][j] = sigma[0][i][j]-temp[i][j]; |
kityann | 0:68d27eee9a6c | 104 | } |
kityann | 0:68d27eee9a6c | 105 | } |
kityann | 0:68d27eee9a6c | 106 | } |
kityann | 0:68d27eee9a6c | 107 | |
kityann | 0:68d27eee9a6c | 108 | void Kalman(double Latitude,double Longitude){ |
kityann | 0:68d27eee9a6c | 109 | y[0] = Latitude; |
kityann | 0:68d27eee9a6c | 110 | y[1] = Longitude; |
kityann | 0:68d27eee9a6c | 111 | //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS]; |
kityann | 0:68d27eee9a6c | 112 | get_K(); |
kityann | 0:68d27eee9a6c | 113 | //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]); |
kityann | 0:68d27eee9a6c | 114 | get_x(); |
kityann | 0:68d27eee9a6c | 115 | //sigma[t+1] = sigma[t]-K[t+1]*sigma[t]; |
kityann | 0:68d27eee9a6c | 116 | get_sigma(); |
kityann | 0:68d27eee9a6c | 117 | } |
kityann | 0:68d27eee9a6c | 118 | |
kityann | 0:68d27eee9a6c | 119 | ///////////////////////////////////////// |
kityann | 0:68d27eee9a6c | 120 | // |
s1210160 | 7:209c07cc2b80 | 121 | //setting |
kityann | 0:68d27eee9a6c | 122 | // |
kityann | 0:68d27eee9a6c | 123 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 124 | void setting(){ |
s1210160 | 7:209c07cc2b80 | 125 | //start up time |
kityann | 0:68d27eee9a6c | 126 | wait(3); |
kityann | 0:68d27eee9a6c | 127 | //set pc frequency to 57600bps |
kityann | 0:68d27eee9a6c | 128 | pc.baud(PC_BAUD_RATE); |
kityann | 0:68d27eee9a6c | 129 | //set xbee frequency to 57600bps |
kityann | 0:68d27eee9a6c | 130 | xbee.begin(XBEE_BAUD_RATE); |
s1210160 | 7:209c07cc2b80 | 131 | } |
s1210160 | 7:209c07cc2b80 | 132 | |
s1210160 | 7:209c07cc2b80 | 133 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 134 | // |
s1210160 | 7:209c07cc2b80 | 135 | //interrupt start |
s1210160 | 7:209c07cc2b80 | 136 | // |
s1210160 | 7:209c07cc2b80 | 137 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 138 | void interrupt_start(VNH5019 motorShield, Timer refresh){ |
s1210160 | 7:209c07cc2b80 | 139 | AigamozuControlPackets agz(motorShield); |
s1210160 | 7:209c07cc2b80 | 140 | refresh.start(); |
kityann | 0:68d27eee9a6c | 141 | |
s1210160 | 7:209c07cc2b80 | 142 | printf("start\n"); |
s1210160 | 7:209c07cc2b80 | 143 | } |
s1210160 | 7:209c07cc2b80 | 144 | |
s1210160 | 7:209c07cc2b80 | 145 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 146 | // |
s1210160 | 7:209c07cc2b80 | 147 | //GPS Setting |
s1210160 | 7:209c07cc2b80 | 148 | // |
s1210160 | 7:209c07cc2b80 | 149 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 150 | XBeeAddress64 collect_Address[5]; |
s1210160 | 7:209c07cc2b80 | 151 | XBeeAddress64 robot_Address |
s1210160 | 7:209c07cc2b80 | 152 | |
s1210160 | 7:209c07cc2b80 | 153 | void GPS_Setting(Timer refresh_Timer, Timer collect_Timer){ |
kityann | 0:68d27eee9a6c | 154 | gps_Serial = new Serial(p28,p27); |
kityann | 0:68d27eee9a6c | 155 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:68d27eee9a6c | 156 | Timer refresh_Timer; |
s1210160 | 7:209c07cc2b80 | 157 | const int refresh_Time = refresh_Timer; //refresh time in ms |
kityann | 0:68d27eee9a6c | 158 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:68d27eee9a6c | 159 | |
kityann | 0:68d27eee9a6c | 160 | Timer collect_Timer; |
s1210160 | 7:209c07cc2b80 | 161 | const int collect_Time = collect_Timer; //when we collect 4 GPS point, we use |
s1210160 | 7:209c07cc2b80 | 162 | collect_Address[5] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L), |
s1200058 | 1:d351cf39a6e3 | 163 | XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L), XBeeAddress64(BASE5_32H,BASE5_32L)}; |
s1210160 | 7:209c07cc2b80 | 164 | robot_Address = XBeeAddress64(ROBOT1_32H, ROBOT1_32L); |
s1210160 | 7:209c07cc2b80 | 165 | } |
s1210160 | 7:209c07cc2b80 | 166 | |
s1210160 | 7:209c07cc2b80 | 167 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 168 | // |
s1210160 | 7:209c07cc2b80 | 169 | //GPS Send Command |
s1210160 | 7:209c07cc2b80 | 170 | // |
s1210160 | 7:209c07cc2b80 | 171 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 172 | void GPS_SendCommand(){ |
kityann | 0:68d27eee9a6c | 173 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:68d27eee9a6c | 174 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:68d27eee9a6c | 175 | myGPS.sendCommand(PGCMD_ANTENNA); |
s1210160 | 7:209c07cc2b80 | 176 | } |
kityann | 0:68d27eee9a6c | 177 | |
s1210160 | 7:209c07cc2b80 | 178 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 179 | // |
s1210160 | 7:209c07cc2b80 | 180 | //Check Command Type |
s1210160 | 7:209c07cc2b80 | 181 | // |
s1210160 | 7:209c07cc2b80 | 182 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 183 | void check_CommandType(utf8_t command_type, AigamozuControlPackets ai(motorShield), ){ |
s1210160 | 7:209c07cc2b80 | 184 | switch(command_type){ |
kityann | 0:68d27eee9a6c | 185 | |
kityann | 0:68d27eee9a6c | 186 | //CommandType -> ChanegeMode |
kityann | 0:68d27eee9a6c | 187 | case CHANGE_MODE :{ |
kityann | 0:68d27eee9a6c | 188 | agz.changeMode(buf); |
kityann | 0:68d27eee9a6c | 189 | break; |
kityann | 0:68d27eee9a6c | 190 | } |
kityann | 0:68d27eee9a6c | 191 | |
kityann | 0:68d27eee9a6c | 192 | //CommandType -> Manual |
kityann | 0:68d27eee9a6c | 193 | case MANUAL:{ |
kityann | 0:68d27eee9a6c | 194 | //Check now Mode |
kityann | 0:68d27eee9a6c | 195 | if(agz.nowMode == MANUAL_MODE){ |
kityann | 0:68d27eee9a6c | 196 | agz.changeSpeed(buf); |
kityann | 0:68d27eee9a6c | 197 | } |
kityann | 0:68d27eee9a6c | 198 | break; |
kityann | 0:68d27eee9a6c | 199 | } |
kityann | 0:68d27eee9a6c | 200 | |
kityann | 0:68d27eee9a6c | 201 | //CommandType -> Send Status |
kityann | 0:68d27eee9a6c | 202 | case STATUS_REQUEST:{ |
s1210160 | 7:209c07cc2b80 | 203 | |
kityann | 0:68d27eee9a6c | 204 | //send normal data |
kityann | 0:68d27eee9a6c | 205 | //Create GPS Infomation Packet |
s1200058 | 4:480f4eb9bcbc | 206 | agz.createReceiveStatusCommand(Base_ID,'a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); |
kityann | 0:68d27eee9a6c | 207 | //Select Destination |
s1210160 | 7:209c07cc2b80 | 208 | ZBTxRequest tx64request2(collect_Address[id],ai.packetData,ai.getPacketLength()); |
s1200058 | 4:480f4eb9bcbc | 209 | //Send -> Base |
s1200058 | 4:480f4eb9bcbc | 210 | xbee.send(tx64request); |
s1200058 | 4:480f4eb9bcbc | 211 | |
s1200058 | 4:480f4eb9bcbc | 212 | //send Kalman data |
s1200058 | 4:480f4eb9bcbc | 213 | agz.createReceiveStatusCommandwithKalman(Base_ID,'a',myGPS.longitudeKH,myGPS.longitudeKL,myGPS.latitudeKH,myGPS.latitudeKL); |
s1200058 | 4:480f4eb9bcbc | 214 | //Select Destination |
s1200058 | 4:480f4eb9bcbc | 215 | ZBTxRequest tx64request3(collect_Address[id],agz.packetData,agz.getPacketLength()); |
s1200058 | 4:480f4eb9bcbc | 216 | //Send -> Base |
s1200058 | 4:480f4eb9bcbc | 217 | xbee.send(tx64request); |
kityann | 0:68d27eee9a6c | 218 | break; |
kityann | 0:68d27eee9a6c | 219 | |
kityann | 0:68d27eee9a6c | 220 | } |
s1210160 | 7:209c07cc2b80 | 221 | |
kityann | 0:68d27eee9a6c | 222 | default:{ |
kityann | 0:68d27eee9a6c | 223 | break; |
kityann | 0:68d27eee9a6c | 224 | } |
kityann | 0:68d27eee9a6c | 225 | } |
kityann | 0:68d27eee9a6c | 226 | } |
kityann | 0:68d27eee9a6c | 227 | |
s1210160 | 7:209c07cc2b80 | 228 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 229 | // |
s1210160 | 7:209c07cc2b80 | 230 | //latitude and longitude after filtering |
s1210160 | 7:209c07cc2b80 | 231 | // |
s1210160 | 7:209c07cc2b80 | 232 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 233 | void LatLong_afterFiltering(double longitude, double latitude, double x0, double x1){ |
s1210160 | 7:209c07cc2b80 | 234 | myGPS.longitudeKH=longitude;//longitude after filtering |
s1210160 | 7:209c07cc2b80 | 235 | myGPS.latitudeKH=latitude;//latitude after filtering |
s1210160 | 7:209c07cc2b80 | 236 | myGPS.longitudeKL=(long)x0;//longitude after filtering |
s1210160 | 7:209c07cc2b80 | 237 | myGPS.latitudeKL=(long)x1;//latitude after filtering |
s1210160 | 7:209c07cc2b80 | 238 | } |
s1210160 | 7:209c07cc2b80 | 239 | |
s1210160 | 7:209c07cc2b80 | 240 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 241 | // |
s1210160 | 7:209c07cc2b80 | 242 | //send_GPSdata() |
s1210160 | 7:209c07cc2b80 | 243 | // |
s1210160 | 7:209c07cc2b80 | 244 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 245 | void send_GPSdata(){ |
s1210160 | 7:209c07cc2b80 | 246 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
s1210160 | 7:209c07cc2b80 | 247 | xbee.getResponse().getZBRxResponse(zbRx); |
s1210160 | 7:209c07cc2b80 | 248 | uint8_t *buf = zbRx.getFrameData(); |
s1210160 | 7:209c07cc2b80 | 249 | uint8_t *buf1 = &buf[11]; |
s1210160 | 7:209c07cc2b80 | 250 | id = buf1[5] - 'A';+ |
s1210160 | 7:209c07cc2b80 | 251 | |
s1210160 | 7:209c07cc2b80 | 252 | //Check Command Type |
s1210160 | 7:209c07cc2b80 | 253 | check_CommandType(agz.checkCommnadType(buf)); |
kityann | 0:68d27eee9a6c | 254 | |
s1210160 | 7:209c07cc2b80 | 255 | } |
s1210160 | 7:209c07cc2b80 | 256 | } |
s1210160 | 7:209c07cc2b80 | 257 | |
s1210160 | 7:209c07cc2b80 | 258 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 259 | // |
s1210160 | 7:209c07cc2b80 | 260 | //get_GPSdata |
s1210160 | 7:209c07cc2b80 | 261 | // |
s1210160 | 7:209c07cc2b80 | 262 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 263 | void get_GPSdata(){ |
s1210160 | 7:209c07cc2b80 | 264 | if(flag){ |
s1210160 | 7:209c07cc2b80 | 265 | if(myGPS.longitudeH==139 && myGPS.latitudeH==37){ |
s1210160 | 7:209c07cc2b80 | 266 | flag = false; |
s1210160 | 7:209c07cc2b80 | 267 | x[0][0]=(double)myGPS.longitudeL; |
s1210160 | 7:209c07cc2b80 | 268 | x[0][1]=(double)myGPS.latitudeL; |
s1210160 | 7:209c07cc2b80 | 269 | } |
s1210160 | 7:209c07cc2b80 | 270 | } |
s1210160 | 7:209c07cc2b80 | 271 | if(myGPS.longitudeH!=139 || myGPS.latitudeH!=37) continue; |
s1210160 | 7:209c07cc2b80 | 272 | } |
s1210160 | 7:209c07cc2b80 | 273 | |
s1210160 | 7:209c07cc2b80 | 274 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 275 | // |
s1210160 | 7:209c07cc2b80 | 276 | //get_Kalman |
s1210160 | 7:209c07cc2b80 | 277 | // |
s1210160 | 7:209c07cc2b80 | 278 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 279 | void get_Kalman(){ |
s1210160 | 7:209c07cc2b80 | 280 | //Kalman Filter |
s1210160 | 7:209c07cc2b80 | 281 | Kalman(myGPS.longitudeL,myGPS.latitudeL); |
s1210160 | 7:209c07cc2b80 | 282 | //kousinn |
s1210160 | 7:209c07cc2b80 | 283 | for(int i = 0;i < 2;i++){ |
s1210160 | 7:209c07cc2b80 | 284 | for(int j = 0;j < 2;j++){ |
s1210160 | 7:209c07cc2b80 | 285 | K[0][i][j]=K[1][i][j]; |
s1210160 | 7:209c07cc2b80 | 286 | x[0][i]=x[1][i]; |
s1210160 | 7:209c07cc2b80 | 287 | sigma[0][i][j]=sigma[1][i][j]; |
s1210160 | 7:209c07cc2b80 | 288 | } |
s1210160 | 7:209c07cc2b80 | 289 | } |
s1210160 | 7:209c07cc2b80 | 290 | |
s1210160 | 7:209c07cc2b80 | 291 | LatLong_afterFiltering(myGPS.longitudeH, myGPS.latitudeH, x[1][0], x[1][1]); |
s1210160 | 7:209c07cc2b80 | 292 | } |
s1210160 | 7:209c07cc2b80 | 293 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 294 | // |
s1210160 | 7:209c07cc2b80 | 295 | //Main Processing |
s1210160 | 7:209c07cc2b80 | 296 | // |
s1210160 | 7:209c07cc2b80 | 297 | ///////////////////////////////////////// |
s1210160 | 7:209c07cc2b80 | 298 | int main() { |
s1210160 | 7:209c07cc2b80 | 299 | setting(); |
s1210160 | 7:209c07cc2b80 | 300 | |
s1210160 | 7:209c07cc2b80 | 301 | //GPS setting |
s1210160 | 7:209c07cc2b80 | 302 | GPS_Setting(2000, 200); |
s1210160 | 7:209c07cc2b80 | 303 | int collect_flag = 0; |
s1210160 | 7:209c07cc2b80 | 304 | char collect_state = 'a'; |
s1210160 | 7:209c07cc2b80 | 305 | int id; |
s1210160 | 7:209c07cc2b80 | 306 | bool flag = true; |
s1210160 | 7:209c07cc2b80 | 307 | |
s1210160 | 7:209c07cc2b80 | 308 | //GPS Send Command |
s1210160 | 7:209c07cc2b80 | 309 | GPS_SendCommand(); |
s1210160 | 7:209c07cc2b80 | 310 | |
s1210160 | 7:209c07cc2b80 | 311 | wait(2); |
s1210160 | 7:209c07cc2b80 | 312 | |
s1210160 | 7:209c07cc2b80 | 313 | //interrupt start |
s1210160 | 7:209c07cc2b80 | 314 | interrupt_start(agz_motorShield, refreshTime); |
s1210160 | 7:209c07cc2b80 | 315 | |
s1210160 | 7:209c07cc2b80 | 316 | while (true) { |
s1210160 | 7:209c07cc2b80 | 317 | |
s1210160 | 7:209c07cc2b80 | 318 | //Check Xbee Buffer Available |
s1210160 | 7:209c07cc2b80 | 319 | xbee.readPacket(); |
s1210160 | 7:209c07cc2b80 | 320 | if (xbee.getResponse().isAvailable()) { |
s1210160 | 7:209c07cc2b80 | 321 | send_GPSdata(); |
s1210160 | 7:209c07cc2b80 | 322 | } |
s1210160 | 7:209c07cc2b80 | 323 | |
kityann | 0:68d27eee9a6c | 324 | myGPS.read(); |
kityann | 0:68d27eee9a6c | 325 | //recive gps module |
kityann | 0:68d27eee9a6c | 326 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:68d27eee9a6c | 327 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:68d27eee9a6c | 328 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
kityann | 0:68d27eee9a6c | 329 | continue; |
kityann | 0:68d27eee9a6c | 330 | } |
kityann | 0:68d27eee9a6c | 331 | } |
kityann | 0:68d27eee9a6c | 332 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:68d27eee9a6c | 333 | refresh_Timer.reset(); |
kityann | 0:68d27eee9a6c | 334 | if (myGPS.fix) { |
kityann | 0:68d27eee9a6c | 335 | agz.nowStatus = GPS_AVAIL; |
kityann | 0:68d27eee9a6c | 336 | |
s1210160 | 7:209c07cc2b80 | 337 | get_GPSdata(); |
kityann | 0:68d27eee9a6c | 338 | |
s1210160 | 7:209c07cc2b80 | 339 | get_Kalman(); |
kityann | 0:68d27eee9a6c | 340 | |
kityann | 0:68d27eee9a6c | 341 | agz.reNewRobotPoint(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); |
kityann | 0:68d27eee9a6c | 342 | agz.reNewRobotPointKalman(myGPS.longitudeKH,myGPS.longitudeKL,myGPS.latitudeKH,myGPS.latitudeKL); |
kityann | 0:68d27eee9a6c | 343 | //printf("state = %d\n",agz.nowMode); |
kityann | 0:68d27eee9a6c | 344 | //printf("my %ld, %ld, %ld, %ld\n", myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); |
kityann | 0:68d27eee9a6c | 345 | } |
kityann | 0:68d27eee9a6c | 346 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 0:68d27eee9a6c | 347 | |
kityann | 0:68d27eee9a6c | 348 | } |
kityann | 0:68d27eee9a6c | 349 | |
s1210160 | 7:209c07cc2b80 | 350 | |
kityann | 0:68d27eee9a6c | 351 | } |
kityann | 0:68d27eee9a6c | 352 | } |