cansat-d_2018 / Mbed 2 deprecated cansat_main

ニクロム線切断、GPS取得、モーター、障害物回避、フォトインタラプタ、（距離推定）、加速度と地磁気のデータ取得

Dependencies:   mbed

Fork of cansat_main by cansat-d_2018

main.cpp@4:8b52fd631b32, 2018-10-19 (annotated)

Committer:
seangshim
Date:
Fri Oct 19 05:22:35 2018 +0000
Revision:
4:8b52fd631b32
Parent:
3:c1e0db4832b7
Child:
6:574d9a6253c7
Child:
7:1c1b782263cf
kanpeki

Who changed what in which revision?

UserRevisionLine numberNew contents of line
seangshim 0:a01fda36fde8 1 #include "mbed.h"
seangshim 0:a01fda36fde8 2 #include "gps.h"
seangshim 0:a01fda36fde8 3 #include "ultrasonic.h"
seangshim 0:a01fda36fde8 4 #include "motordriver.h"
seangshim 0:a01fda36fde8 5
seangshim 1:10af8aaa5b40 6 DigitalOut FET(p21); //FET
seangshim 1:10af8aaa5b40 7
seangshim 1:10af8aaa5b40 8 InterruptIn button1(p15); //フォトインタラプタ
seangshim 2:37d831f82840 9 InterruptIn button2(p18);
seangshim 1:10af8aaa5b40 10 DigitalIn test(p15); //ここでピン15からの電圧の値、つまりフォトインタラプタが何か遮るものを検知すればハイの1を返して、
seangshim 1:10af8aaa5b40 11 //何もないつまりスリットの部分ではローの0を返す。それを変数testに代入している
seangshim 2:37d831f82840 12 DigitalIn test2(p18);
seangshim 1:10af8aaa5b40 13
seangshim 1:10af8aaa5b40 14 Serial pc(USBTX, USBRX); //GPS
seangshim 0:a01fda36fde8 15 GPS gps(p28, p27);
seangshim 0:a01fda36fde8 16
seangshim 1:10af8aaa5b40 17 Motor motor1(p22, p16, p17, 1); // pwm, fwd, rev, can brake モーター
seangshim 0:a01fda36fde8 18 Motor motor2(p22, p19, p20, 1); // pwm, fwd, rev, can brake
seangshim 0:a01fda36fde8 19
seangshim 0:a01fda36fde8 20 void dist(int distance)
seangshim 0:a01fda36fde8 21 {
seangshim 0:a01fda36fde8 22 //put code here to happen when the distance is changed
seangshim 0:a01fda36fde8 23 printf("Distance changed to %dmm\r\n", distance);
seangshim 0:a01fda36fde8 24 }
seangshim 0:a01fda36fde8 25
seangshim 1:10af8aaa5b40 26 ultrasonic mu(p11, p12, .1, 1, &dist); //Set the trigger pin to D8 and the echo pin to D9 超音波センサー
seangshim 0:a01fda36fde8 27 //have updates every .1 seconds and a timeout after 1
seangshim 0:a01fda36fde8 28 //second, and call dist when the distance changes
seangshim 0:a01fda36fde8 29
seangshim 0:a01fda36fde8 30
seangshim 0:a01fda36fde8 31
seangshim 1:10af8aaa5b40 32 LocalFileSystem local("local"); // Create the local filesystem under the name "local"　　 データ保存
seangshim 0:a01fda36fde8 33
seangshim 0:a01fda36fde8 34 int main() {
seangshim 0:a01fda36fde8 35
seangshim 1:10af8aaa5b40 36
seangshim 3:c1e0db4832b7 37 /* FET = 0; //FET、ニクロム線切断
seangshim 1:10af8aaa5b40 38 wait(60);
seangshim 1:10af8aaa5b40 39 FET = 1;
seangshim 1:10af8aaa5b40 40 wait(30);
seangshim 3:c1e0db4832b7 41 FET = 0; */
seangshim 1:10af8aaa5b40 42
seangshim 0:a01fda36fde8 43 motor1.stop(0);
seangshim 0:a01fda36fde8 44 motor2.stop(0);
seangshim 0:a01fda36fde8 45
seangshim 0:a01fda36fde8 46
seangshim 3:c1e0db4832b7 47 FILE *fp = fopen("/local/gps.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 1:10af8aaa5b40 48 fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 49 int n;
seangshim 1:10af8aaa5b40 50 for(n=0;n<45;n++) //GPSの取得を45回行う(これで大体1分半)
seangshim 0:a01fda36fde8 51 {
seangshim 0:a01fda36fde8 52
seangshim 0:a01fda36fde8 53 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 54 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 55
seangshim 0:a01fda36fde8 56 else
seangshim 0:a01fda36fde8 57 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 58
seangshim 0:a01fda36fde8 59 wait(1);
seangshim 1:10af8aaa5b40 60
seangshim 1:10af8aaa5b40 61 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 62
seangshim 0:a01fda36fde8 63 }
seangshim 0:a01fda36fde8 64 fprintf(fp,"GPS finish\r\n");
seangshim 1:10af8aaa5b40 65 fclose(fp); //GPSの測定終了
seangshim 0:a01fda36fde8 66
seangshim 0:a01fda36fde8 67 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 68 int distance;
seangshim 0:a01fda36fde8 69
seangshim 2:37d831f82840 70 int flag,flag2; //変数flagを整数で型づけする。これがスイッチで、1の間は瞬間は何もしないけど、
seangshim 1:10af8aaa5b40 71 //スリットの間隔であるπ/4とタイヤの半径70mmつまり一つのスリットを通過するごとに52.5mm加算していく必要があるから
seangshim 1:10af8aaa5b40 72 //0になった瞬間はこれを総距離に加えるというスイッチの役割をする。
seangshim 2:37d831f82840 73 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 74 float leftrun2;
seangshim 4:8b52fd631b32 75 rightrun=0.0;
seangshim 4:8b52fd631b32 76 leftrun2=0.0;
seangshim 1:10af8aaa5b40 77
seangshim 3:c1e0db4832b7 78 while(1)
seangshim 3:c1e0db4832b7 79 {
seangshim 3:c1e0db4832b7 80 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 81 printf("%d\r\n",distance);
seangshim 3:c1e0db4832b7 82
seangshim 3:c1e0db4832b7 83
seangshim 1:10af8aaa5b40 84 printf("%d\r\n", test.read());
seangshim 3:c1e0db4832b7 85 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 86 if (test.read() == 1 and flag == 0){ //もしtestが1つまり何か障害物があって、かつflagが0つまりスイッチが切れているときは
seangshim 1:10af8aaa5b40 87 flag = 1; //この時はスイッチを1に切る。ただ障害物があるかつスイッチが1で切れているときはそのまま
seangshim 3:c1e0db4832b7 88 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 89 }
seangshim 1:10af8aaa5b40 90 else if (test.read() == 0 and flag == 1){ //そうじゃなくて今度はとうとうtestが0でスリットの部分になった瞬間なのにスイッチが1で切れているときは
seangshim 1:10af8aaa5b40 91 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 92 //こうすることで同じスリットの中でtestが複数回0を返した時に何回も52.5mmを加算しつづけるということがなくなる
seangshim 2:37d831f82840 93 rightrun += 52.5; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 94 printf("test.read else\r\n");
seangshim 2:37d831f82840 95 }
seangshim 2:37d831f82840 96 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 97 flag2 = 1;
seangshim 3:c1e0db4832b7 98 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 99 }
seangshim 2:37d831f82840 100 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 101 flag2 = 0;
seangshim 2:37d831f82840 102 leftrun2 += 52.5;
seangshim 3:c1e0db4832b7 103 printf("test2.read else\r\n");
seangshim 2:37d831f82840 104 }
seangshim 2:37d831f82840 105 printf("%f", rightrun);
seangshim 2:37d831f82840 106 printf("\t%f\r\n", leftrun2);
seangshim 3:c1e0db4832b7 107 if (rightrun > 250){ //もし総距離が250以上ならば、というのもここの値は暫定値。とりあえずゴール地点が決まればまたその値に修正する
seangshim 1:10af8aaa5b40 108 break; //つまりゴールについたらこのループからぬける
seangshim 3:c1e0db4832b7 109 }
seangshim 0:a01fda36fde8 110
seangshim 1:10af8aaa5b40 111 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 112 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 113 //Do something else here
seangshim 1:10af8aaa5b40 114 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 115 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 116
seangshim 3:c1e0db4832b7 117 wait(0.2);
seangshim 0:a01fda36fde8 118
seangshim 3:c1e0db4832b7 119 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 120 {
seangshim 0:a01fda36fde8 121
seangshim 0:a01fda36fde8 122 printf("if success!\r\n");
seangshim 0:a01fda36fde8 123
seangshim 0:a01fda36fde8 124 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 125 ms1=1.0; //直進の時モーターをどれだけ回せばいいかわからないのでとりあえず1.0にしておく⇒waitの秒数を変えた方が良い感じ
seangshim 1:10af8aaa5b40 126 ms2=1.0;
seangshim 0:a01fda36fde8 127
seangshim 1:10af8aaa5b40 128 msj1=1.0; //回転の時
seangshim 1:10af8aaa5b40 129 msj2=1.0;
seangshim 0:a01fda36fde8 130
seangshim 0:a01fda36fde8 131 motor1.stop(0);
seangshim 0:a01fda36fde8 132 motor2.stop(0);
seangshim 1:10af8aaa5b40 133 wait(2);
seangshim 0:a01fda36fde8 134 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 135
seangshim 0:a01fda36fde8 136 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 137 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 138 wait(2);
seangshim 0:a01fda36fde8 139 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 140
seangshim 3:c1e0db4832b7 141 motor1.stop(0);
seangshim 3:c1e0db4832b7 142 motor2.stop(0);
seangshim 3:c1e0db4832b7 143 wait(2);
seangshim 3:c1e0db4832b7 144 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 145
seangshim 0:a01fda36fde8 146 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 147 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 148 wait(2);
seangshim 0:a01fda36fde8 149 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 150
seangshim 3:c1e0db4832b7 151 motor1.stop(0);
seangshim 3:c1e0db4832b7 152 motor2.stop(0);
seangshim 3:c1e0db4832b7 153 wait(2);
seangshim 3:c1e0db4832b7 154 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 155
seangshim 0:a01fda36fde8 156 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 157 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 158 wait(2);
seangshim 0:a01fda36fde8 159 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 160
seangshim 3:c1e0db4832b7 161 motor1.stop(0);
seangshim 3:c1e0db4832b7 162 motor2.stop(0);
seangshim 3:c1e0db4832b7 163 wait(2);
seangshim 3:c1e0db4832b7 164 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 165
seangshim 0:a01fda36fde8 166 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 167 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 168
seangshim 2:37d831f82840 169 /* printf("%d\r\n", test.read()); ここの部分は単純に５mを足すことにした方がいいかな？
seangshim 1:10af8aaa5b40 170 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 171 {
seangshim 1:10af8aaa5b40 172 flag = 1;
seangshim 1:10af8aaa5b40 173 }
seangshim 1:10af8aaa5b40 174 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 175 {
seangshim 1:10af8aaa5b40 176 flag=0;
seangshim 2:37d831f82840 177 rightrun += 52.5;
seangshim 1:10af8aaa5b40 178 }
seangshim 2:37d831f82840 179 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 180 flag2 = 1;
seangshim 2:37d831f82840 181 }
seangshim 2:37d831f82840 182 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 183 flag2 = 0;
seangshim 2:37d831f82840 184 leftrun2 += 52.5;
seangshim 2:37d831f82840 185 }
seangshim 2:37d831f82840 186 printf("%f", rightrun);
seangshim 2:37d831f82840 187 printf("\t%f\r\n", leftrun2);*/
seangshim 1:10af8aaa5b40 188 wait(2);
seangshim 3:c1e0db4832b7 189 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 190
seangshim 3:c1e0db4832b7 191 motor1.stop(0);
seangshim 3:c1e0db4832b7 192 motor2.stop(0);
seangshim 3:c1e0db4832b7 193 wait(2);
seangshim 3:c1e0db4832b7 194 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 195
seangshim 0:a01fda36fde8 196 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 197 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 198 wait(2);
seangshim 0:a01fda36fde8 199 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 200
seangshim 3:c1e0db4832b7 201 motor1.stop(0);
seangshim 3:c1e0db4832b7 202 motor2.stop(0);
seangshim 3:c1e0db4832b7 203 wait(2);
seangshim 3:c1e0db4832b7 204 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 205
seangshim 0:a01fda36fde8 206 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 207 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 208 wait(2);
seangshim 0:a01fda36fde8 209 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 210
seangshim 3:c1e0db4832b7 211 motor1.stop(0);
seangshim 3:c1e0db4832b7 212 motor2.stop(0);
seangshim 3:c1e0db4832b7 213 wait(2);
seangshim 3:c1e0db4832b7 214 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 215
seangshim 0:a01fda36fde8 216 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 217 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 218 wait(2);
seangshim 0:a01fda36fde8 219 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 220
seangshim 3:c1e0db4832b7 221 motor1.stop(0);
seangshim 3:c1e0db4832b7 222 motor2.stop(0);
seangshim 3:c1e0db4832b7 223 wait(2);
seangshim 3:c1e0db4832b7 224 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 225 }
seangshim 0:a01fda36fde8 226 }
seangshim 4:8b52fd631b32 227
seangshim 4:8b52fd631b32 228 motor1.stop(0);
seangshim 4:8b52fd631b32 229 motor2.stop(0);
seangshim 4:8b52fd631b32 230
seangshim 0:a01fda36fde8 231 }
seangshim 1:10af8aaa5b40 232
seangshim 1:10af8aaa5b40 233
seangshim 1:10af8aaa5b40 234
seangshim 1:10af8aaa5b40 235 float culculate_distance_3(float a,float b) //距離推定プログラム、加速度の計算が送られてきたら,mainの中に入れる
seangshim 1:10af8aaa5b40 236 {
seangshim 1:10af8aaa5b40 237 float c;
seangshim 1:10af8aaa5b40 238 c=0.5*a+0.5*b;//今は平均。計測をもとに修正を加える
seangshim 1:10af8aaa5b40 239 return c;
seangshim 1:10af8aaa5b40 240 }
seangshim 1:10af8aaa5b40 241
seangshim 1:10af8aaa5b40 242
seangshim 1:10af8aaa5b40 243
seangshim 1:10af8aaa5b40 244
seangshim 1:10af8aaa5b40 245