cansat-d_2018 / Mbed 2 deprecated cansat_main_new

（多分）全部+フライトピン+新しい加速度

Dependencies:   mbed

main.cpp@29:05b390de92ed, 2018-12-12 (annotated)

Committer:
seangshim
Date:
Wed Dec 12 07:48:58 2018 +0000
Revision:
29:05b390de92ed
Parent:
28:5e21ce413558
Child:
30:3bcf14e8dd63
new

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 6:574d9a6253c7 5 #include "HMC5883L.h"
seangshim 8:d41f5d7d2aa5 6 #include "MPU6050.h"
seangshim 6:574d9a6253c7 7
seangshim 27:b4922048ab11 8
seangshim 27:b4922048ab11 9 PwmOut motorSpeed(p26);
seangshim 27:b4922048ab11 10 DigitalOut motorDir1(p19);
seangshim 27:b4922048ab11 11 DigitalOut motorDir2(p20);
seangshim 27:b4922048ab11 12
seangshim 8:d41f5d7d2aa5 13
seangshim 8:d41f5d7d2aa5 14 Serial pc(USBTX, USBRX); //地磁気センサー,GPS
seangshim 9:fb19a93df88f 15 GPS gps(p28, p27); //GPS
seangshim 9:fb19a93df88f 16 HMC5883L compass(p9, p10); //地磁気センサー
seangshim 9:fb19a93df88f 17
394 10:280a25bcc8bb 18 MPU6050 mpu(p9, p10); //(SDA,SCL)のピンをアサインしてね☆ 加速度センサー
seangshim 9:fb19a93df88f 19
seangshim 23:2ca79873ef44 20 DigitalIn flight(p21); //フライトピン
seangshim 23:2ca79873ef44 21 DigitalOut FET(p22); //FET
seangshim 1:10af8aaa5b40 22
seangshim 1:10af8aaa5b40 23 InterruptIn button1(p15); //フォトインタラプタ
seangshim 2:37d831f82840 24 InterruptIn button2(p18);
seangshim 1:10af8aaa5b40 25 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 26 //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 27 DigitalIn test2(p18);
seangshim 1:10af8aaa5b40 28
seangshim 0:a01fda36fde8 29
seangshim 1:10af8aaa5b40 30 Motor motor1(p22, p16, p17, 1); // pwm, fwd, rev, can brake モーター
seangshim 0:a01fda36fde8 31 Motor motor2(p22, p19, p20, 1); // pwm, fwd, rev, can brake
seangshim 0:a01fda36fde8 32
seangshim 0:a01fda36fde8 33 void dist(int distance)
seangshim 0:a01fda36fde8 34 {
seangshim 0:a01fda36fde8 35 //put code here to happen when the distance is changed
seangshim 0:a01fda36fde8 36 printf("Distance changed to %dmm\r\n", distance);
seangshim 0:a01fda36fde8 37 }
seangshim 0:a01fda36fde8 38
seangshim 1:10af8aaa5b40 39 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 40 //have updates every .1 seconds and a timeout after 1
seangshim 0:a01fda36fde8 41 //second, and call dist when the distance changes
seangshim 27:b4922048ab11 42
seangshim 27:b4922048ab11 43 void motorForward(void);
seangshim 27:b4922048ab11 44 void motorStop(void);
seangshim 27:b4922048ab11 45 void motorReverse(void);
seangshim 0:a01fda36fde8 46
seangshim 0:a01fda36fde8 47
seangshim 0:a01fda36fde8 48
seangshim 1:10af8aaa5b40 49 LocalFileSystem local("local"); // Create the local filesystem under the name "local"　　 データ保存
seangshim 0:a01fda36fde8 50
seangshim 27:b4922048ab11 51 float culculate_distance_3(float a,float b);
seangshim 27:b4922048ab11 52
seangshim 0:a01fda36fde8 53 int main() {
seangshim 0:a01fda36fde8 54
seangshim 27:b4922048ab11 55 printf("cansat start\r\n");
seangshim 27:b4922048ab11 56
seangshim 27:b4922048ab11 57 // FET = 0;
seangshim 27:b4922048ab11 58 /* while(1) {
seangshim 17:9bc130ebb5ed 59 if(flight==1) {
seangshim 17:9bc130ebb5ed 60 wait(10);
seangshim 17:9bc130ebb5ed 61 }
seangshim 17:9bc130ebb5ed 62
seangshim 17:9bc130ebb5ed 63 else{
394 20:e78bffff80ee 64 FET = 0; //FET、ニクロム線切断
seangshim 17:9bc130ebb5ed 65 wait(20);
seangshim 1:10af8aaa5b40 66 FET = 1;
seangshim 17:9bc130ebb5ed 67 wait(12);
seangshim 17:9bc130ebb5ed 68 FET = 0;
seangshim 17:9bc130ebb5ed 69 wait(10);
seangshim 17:9bc130ebb5ed 70 FET = 1;
seangshim 17:9bc130ebb5ed 71 wait(12);
seangshim 17:9bc130ebb5ed 72 FET = 0;
seangshim 17:9bc130ebb5ed 73 break;
seangshim 17:9bc130ebb5ed 74 }
seangshim 27:b4922048ab11 75 } */
seangshim 1:10af8aaa5b40 76
seangshim 0:a01fda36fde8 77 motor1.stop(0);
seangshim 0:a01fda36fde8 78 motor2.stop(0);
seangshim 0:a01fda36fde8 79
seangshim 27:b4922048ab11 80 wait(20); //確認用
seangshim 19:8ad7dcfef11f 81
seangshim 16:44c763c32b0d 82 printf("GPS start\r\n");
seangshim 27:b4922048ab11 83 FILE *fp = fopen("/local/gps,foto.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 1:10af8aaa5b40 84 fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 85 int n;
seangshim 1:10af8aaa5b40 86 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 87 {
seangshim 9:fb19a93df88f 88 printf("gps for\r\n");
seangshim 0:a01fda36fde8 89 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 90 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 91
seangshim 0:a01fda36fde8 92 else
seangshim 0:a01fda36fde8 93 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 94
seangshim 0:a01fda36fde8 95 wait(1);
seangshim 1:10af8aaa5b40 96
seangshim 1:10af8aaa5b40 97 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 98
seangshim 0:a01fda36fde8 99 }
seangshim 27:b4922048ab11 100 fprintf(fp,"GPS finish\r\n");
seangshim 19:8ad7dcfef11f 101 // fclose(fp); // GPSの測定終了
seangshim 28:5e21ce413558 102
seangshim 28:5e21ce413558 103 motorSpeed.period_ms(2); //モーター調節
seangshim 28:5e21ce413558 104 motorSpeed = 0.9;
seangshim 28:5e21ce413558 105
seangshim 9:fb19a93df88f 106
394 10:280a25bcc8bb 107 compass.init(); //地磁気センサー動作
seangshim 16:44c763c32b0d 108
394 10:280a25bcc8bb 109 int i;
394 10:280a25bcc8bb 110 for(i=0;i<20;i++) //地磁気測定
394 10:280a25bcc8bb 111 {
394 10:280a25bcc8bb 112 pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); //度数法で表記
seangshim 29:05b390de92ed 113 fprintf(fp,"raw=\r\n");
seangshim 29:05b390de92ed 114 fprintf(fp,"%lf\r\n",compass.getHeadingXYDeg());
394 10:280a25bcc8bb 115 wait(0.5);
seangshim 16:44c763c32b0d 116 }
394 10:280a25bcc8bb 117 float mc1,mc2;
394 20:e78bffff80ee 118 mc1=1.0;
394 20:e78bffff80ee 119 mc2=1.0;
394 10:280a25bcc8bb 120 //地磁気センサのキャリブレーション
394 10:280a25bcc8bb 121 motor1.speed(mc1); //車体を時計回りに３秒回転
seangshim 28:5e21ce413558 122 motorReverse();
394 20:e78bffff80ee 123 wait(3);
394 10:280a25bcc8bb 124
394 10:280a25bcc8bb 125 motor1.stop(0);
394 10:280a25bcc8bb 126 motor2.stop(0);
394 10:280a25bcc8bb 127 wait(1);
394 10:280a25bcc8bb 128
seangshim 28:5e21ce413558 129 motor1.speed(-mc1); //車体を反時計回りに３秒回
seangshim 28:5e21ce413558 130 motorForward();
394 20:e78bffff80ee 131 wait(3);
394 10:280a25bcc8bb 132
394 10:280a25bcc8bb 133 motor1.stop(0);
394 10:280a25bcc8bb 134 motor2.stop(0);
394 10:280a25bcc8bb 135 wait(1);
394 10:280a25bcc8bb 136 printf("compass carriblation\r\n"); //キャリブレーション終了
394 10:280a25bcc8bb 137
394 20:e78bffff80ee 138 float mcn1,mcn2;
394 10:280a25bcc8bb 139 double heading;
394 20:e78bffff80ee 140 mcn1=1.0;
394 20:e78bffff80ee 141 mcn2=1.0;
394 10:280a25bcc8bb 142 compass.init();
394 20:e78bffff80ee 143 heading=compass.getHeadingXYDeg();
394 10:280a25bcc8bb 144 if(2.5<heading<=M_PI){
394 20:e78bffff80ee 145 motor1.speed(mcn1);
seangshim 28:5e21ce413558 146 motorReverse();
394 20:e78bffff80ee 147 wait(heading*0.01); //角度のずれ*1度回転するのにかかる時間
394 20:e78bffff80ee 148 motor1.stop(0);
394 20:e78bffff80ee 149 motor2.stop(0);
394 10:280a25bcc8bb 150 wait(1);
394 10:280a25bcc8bb 151 }else if(M_PI<heading<357.5){
394 20:e78bffff80ee 152 motor1.speed(-mcn1);
seangshim 28:5e21ce413558 153 motorForward();
394 20:e78bffff80ee 154 wait((PI2-heading)*0.01);
394 20:e78bffff80ee 155 motor1.stop(0);
394 20:e78bffff80ee 156 motor2.stop(0);
394 10:280a25bcc8bb 157 wait(1);
394 10:280a25bcc8bb 158 }else{
394 20:e78bffff80ee 159 wait(5);
394 10:280a25bcc8bb 160 }
394 10:280a25bcc8bb 161 printf("searchN\r\n"); //機体が北を向く
seangshim 0:a01fda36fde8 162
seangshim 0:a01fda36fde8 163 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 164 int distance;
seangshim 0:a01fda36fde8 165
seangshim 13:b884f5960fbf 166 int flag=0,flag2=0; //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 167 //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 168 //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 169 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 170 float leftrun2;
seangshim 4:8b52fd631b32 171 rightrun=0.0;
seangshim 4:8b52fd631b32 172 leftrun2=0.0;
seangshim 9:fb19a93df88f 173
seangshim 17:9bc130ebb5ed 174 float filterCoefficient = 0.9; // ローパスフィルターの係数(これは環境によって要調整。1に近づけるほど平滑化の度合いが大きくなる。
seangshim 15:75f014c4c8b8 175 float lowpassValue = 0;
seangshim 15:75f014c4c8b8 176 float highpassValue = 0;
seangshim 15:75f014c4c8b8 177 float speed = 0;//加速度時から算出した速度
seangshim 15:75f014c4c8b8 178 float oldSpeed = 0;//ひとつ前の速度
seangshim 15:75f014c4c8b8 179 float oldAccel = 0;//ひとつ前の加速度
seangshim 15:75f014c4c8b8 180 float difference=0;//変位
seangshim 17:9bc130ebb5ed 181 float timespan=0.01;//時間差
seangshim 27:b4922048ab11 182 int accel[3];//accelを3つの配列で定義。*/
seangshim 27:b4922048ab11 183
seangshim 27:b4922048ab11 184 int tt=0;
seangshim 27:b4922048ab11 185 float run=0;
seangshim 1:10af8aaa5b40 186
seangshim 3:c1e0db4832b7 187 while(1)
seangshim 3:c1e0db4832b7 188 {
seangshim 3:c1e0db4832b7 189 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 190 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 191
seangshim 8:d41f5d7d2aa5 192 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 193 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 194 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 195 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 196 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 197 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 198 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 199 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 18:2a47ed430cfe 200 if (a>0){
seangshim 18:2a47ed430cfe 201 a = sqrt(a);
seangshim 18:2a47ed430cfe 202 }
seangshim 18:2a47ed430cfe 203 if (a<0) {
seangshim 18:2a47ed430cfe 204 a = abs(a);
seangshim 18:2a47ed430cfe 205 a = -sqrt(a);
seangshim 18:2a47ed430cfe 206 }
seangshim 19:8ad7dcfef11f 207 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 15:75f014c4c8b8 208 // ローパスフィルター(現在の値 = 係数 * ひとつ前の値 ＋ (1 - 係数) * センサの値)
seangshim 19:8ad7dcfef11f 209 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 210 // ハイパスフィルター(センサの値 - ローパスフィルターの値)//
seangshim 19:8ad7dcfef11f 211 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 212
seangshim 15:75f014c4c8b8 213 // 速度計算(加速度を台形積分する)
seangshim 15:75f014c4c8b8 214 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 15:75f014c4c8b8 215 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 216
seangshim 15:75f014c4c8b8 217 // 変位計算(速度を台形積分する)
seangshim 15:75f014c4c8b8 218 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 15:75f014c4c8b8 219 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 220
seangshim 17:9bc130ebb5ed 221 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 222 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 3:c1e0db4832b7 223
seangshim 8:d41f5d7d2aa5 224 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 225 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 226 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 227 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 228 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 229 }
seangshim 1:10af8aaa5b40 230 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 231 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 232 //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 15:75f014c4c8b8 233 rightrun += 54.95; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 234 printf("test.read else\r\n");
seangshim 2:37d831f82840 235 }
seangshim 2:37d831f82840 236 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 237 flag2 = 1;
seangshim 3:c1e0db4832b7 238 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 239 }
seangshim 2:37d831f82840 240 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 241 flag2 = 0;
seangshim 15:75f014c4c8b8 242 leftrun2 += 54.95;
seangshim 3:c1e0db4832b7 243 printf("test2.read else\r\n");
seangshim 2:37d831f82840 244 }
seangshim 2:37d831f82840 245 printf("%f", rightrun);
seangshim 2:37d831f82840 246 printf("\t%f\r\n", leftrun2);
seangshim 27:b4922048ab11 247 run=culculate_distance_3(rightrun,leftrun2);
seangshim 27:b4922048ab11 248 if (run >= 4396){ //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 249 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 250 }
seangshim 0:a01fda36fde8 251
seangshim 27:b4922048ab11 252 /* if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 253 {
seangshim 19:8ad7dcfef11f 254 break;
seangshim 27:b4922048ab11 255 } */
seangshim 19:8ad7dcfef11f 256
seangshim 1:10af8aaa5b40 257 motor1.speed(0.5); //通常走行
seangshim 27:b4922048ab11 258 motorForward();
seangshim 1:10af8aaa5b40 259 //Do something else here
seangshim 1:10af8aaa5b40 260 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 261 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 262
seangshim 9:fb19a93df88f 263 wait(0.01);
seangshim 0:a01fda36fde8 264
seangshim 27:b4922048ab11 265 tt++;
seangshim 29:05b390de92ed 266 if(tt == 10)
seangshim 27:b4922048ab11 267 {
seangshim 27:b4922048ab11 268 fprintf(fp, "accel.rightrun.leftrun2\r\n");
seangshim 27:b4922048ab11 269
seangshim 27:b4922048ab11 270 fprintf(fp,"(%lf, %lf,%lf)\r\n", difference, rightrun, leftrun2);//加速度とフォトインタラプタによる距離を出力
seangshim 27:b4922048ab11 271 tt=0;
seangshim 27:b4922048ab11 272 }
seangshim 27:b4922048ab11 273
seangshim 3:c1e0db4832b7 274 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 275 {
seangshim 0:a01fda36fde8 276
seangshim 0:a01fda36fde8 277 printf("if success!\r\n");
seangshim 0:a01fda36fde8 278
seangshim 0:a01fda36fde8 279 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 280 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 281 ms2=1.0;
seangshim 0:a01fda36fde8 282
seangshim 12:2f0c841e6078 283 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 284 msj2=1.0;
seangshim 0:a01fda36fde8 285
seangshim 0:a01fda36fde8 286 motor1.stop(0);
seangshim 0:a01fda36fde8 287 motor2.stop(0);
seangshim 1:10af8aaa5b40 288 wait(2);
seangshim 0:a01fda36fde8 289 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 290
seangshim 0:a01fda36fde8 291 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 292 motorReverse();
seangshim 29:05b390de92ed 293 wait(0.57);
seangshim 0:a01fda36fde8 294 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 295
seangshim 3:c1e0db4832b7 296 motor1.stop(0);
seangshim 3:c1e0db4832b7 297 motor2.stop(0);
seangshim 3:c1e0db4832b7 298 wait(2);
seangshim 3:c1e0db4832b7 299 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 300
seangshim 0:a01fda36fde8 301 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 302 motorForward();
seangshim 1:10af8aaa5b40 303 wait(2);
seangshim 0:a01fda36fde8 304 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 305
seangshim 3:c1e0db4832b7 306 motor1.stop(0);
seangshim 3:c1e0db4832b7 307 motor2.stop(0);
seangshim 3:c1e0db4832b7 308 wait(2);
seangshim 3:c1e0db4832b7 309 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 310
seangshim 0:a01fda36fde8 311 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 312 motorForward();
seangshim 29:05b390de92ed 313 wait(0.57);
seangshim 0:a01fda36fde8 314 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 315
seangshim 3:c1e0db4832b7 316 motor1.stop(0);
seangshim 3:c1e0db4832b7 317 motor2.stop(0);
seangshim 3:c1e0db4832b7 318 wait(2);
seangshim 3:c1e0db4832b7 319 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 320
seangshim 0:a01fda36fde8 321 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 322 motorForward();
seangshim 16:44c763c32b0d 323
seangshim 16:44c763c32b0d 324
seangshim 12:2f0c841e6078 325 int t=0;
seangshim 27:b4922048ab11 326 for(t=0;t<50;t++)
seangshim 12:2f0c841e6078 327 {
seangshim 12:2f0c841e6078 328 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 329 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 330 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 331 {
seangshim 1:10af8aaa5b40 332 flag = 1;
seangshim 1:10af8aaa5b40 333 }
seangshim 1:10af8aaa5b40 334 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 335 {
seangshim 1:10af8aaa5b40 336 flag=0;
seangshim 2:37d831f82840 337 rightrun += 52.5;
seangshim 1:10af8aaa5b40 338 }
seangshim 2:37d831f82840 339 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 340 flag2 = 1;
seangshim 2:37d831f82840 341 }
seangshim 2:37d831f82840 342 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 343 flag2 = 0;
seangshim 2:37d831f82840 344 leftrun2 += 52.5;
seangshim 2:37d831f82840 345 }
seangshim 2:37d831f82840 346 printf("%f", rightrun);
seangshim 12:2f0c841e6078 347 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 348
seangshim 16:44c763c32b0d 349
seangshim 16:44c763c32b0d 350
seangshim 16:44c763c32b0d 351 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 352 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 353 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 354 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 355 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 356 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 357 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 358 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 19:8ad7dcfef11f 359 if (a>0){
seangshim 19:8ad7dcfef11f 360 a = sqrt(a);
seangshim 19:8ad7dcfef11f 361 }
seangshim 19:8ad7dcfef11f 362 if (a<0) {
seangshim 19:8ad7dcfef11f 363 a = abs(a);
seangshim 19:8ad7dcfef11f 364 a = -sqrt(a);
seangshim 19:8ad7dcfef11f 365 }
seangshim 19:8ad7dcfef11f 366 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 16:44c763c32b0d 367 // ローパスフィルター(現在の値 = 係数 * ひとつ前の値 ＋ (1 - 係数) * センサの値)
seangshim 19:8ad7dcfef11f 368 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 369 // ハイパスフィルター(センサの値 - ローパスフィルターの値)//
seangshim 19:8ad7dcfef11f 370 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 371
seangshim 16:44c763c32b0d 372 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 373 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 374 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 375
seangshim 16:44c763c32b0d 376 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 377 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 378 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 379
seangshim 17:9bc130ebb5ed 380 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 381 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 27:b4922048ab11 382
seangshim 27:b4922048ab11 383 if (run >= 4396){ //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 27:b4922048ab11 384 break; //つまりゴールについたらこのループからぬける
seangshim 27:b4922048ab11 385 }
seangshim 16:44c763c32b0d 386
seangshim 17:9bc130ebb5ed 387 wait(0.01);
seangshim 27:b4922048ab11 388
seangshim 16:44c763c32b0d 389 }
seangshim 16:44c763c32b0d 390
seangshim 16:44c763c32b0d 391
seangshim 16:44c763c32b0d 392
seangshim 3:c1e0db4832b7 393 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 394
seangshim 3:c1e0db4832b7 395 motor1.stop(0);
seangshim 3:c1e0db4832b7 396 motor2.stop(0);
seangshim 3:c1e0db4832b7 397 wait(2);
seangshim 3:c1e0db4832b7 398 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 399
seangshim 0:a01fda36fde8 400 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 401 motorForward();
seangshim 29:05b390de92ed 402 wait(0.57);
seangshim 0:a01fda36fde8 403 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 404
seangshim 3:c1e0db4832b7 405 motor1.stop(0);
seangshim 3:c1e0db4832b7 406 motor2.stop(0);
seangshim 3:c1e0db4832b7 407 wait(2);
seangshim 3:c1e0db4832b7 408 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 409
seangshim 0:a01fda36fde8 410 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 411 motorForward();
seangshim 1:10af8aaa5b40 412 wait(2);
seangshim 0:a01fda36fde8 413 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 414
seangshim 3:c1e0db4832b7 415 motor1.stop(0);
seangshim 3:c1e0db4832b7 416 motor2.stop(0);
seangshim 3:c1e0db4832b7 417 wait(2);
seangshim 3:c1e0db4832b7 418 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 419
seangshim 0:a01fda36fde8 420 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 421 motorReverse();
seangshim 29:05b390de92ed 422 wait(0.57);
seangshim 0:a01fda36fde8 423 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 424
seangshim 3:c1e0db4832b7 425 motor1.stop(0);
seangshim 3:c1e0db4832b7 426 motor2.stop(0);
seangshim 3:c1e0db4832b7 427 wait(2);
seangshim 3:c1e0db4832b7 428 printf("mortor stop\r\n");
394 10:280a25bcc8bb 429
394 10:280a25bcc8bb 430
seangshim 0:a01fda36fde8 431 }
seangshim 0:a01fda36fde8 432 }
seangshim 4:8b52fd631b32 433 motor1.stop(0);
seangshim 4:8b52fd631b32 434 motor2.stop(0);
seangshim 19:8ad7dcfef11f 435
seangshim 19:8ad7dcfef11f 436
seangshim 19:8ad7dcfef11f 437 fprintf(fp, "last accel.photo\r\n");
seangshim 27:b4922048ab11 438 fprintf(fp,"(%lf, %lf)\r\n", difference, run);//最後の加速度とフォトインタラプタによる距離を出力
seangshim 27:b4922048ab11 439 fprintf(fp, "last right.left\r\n");
seangshim 27:b4922048ab11 440 fprintf(fp,"(%lf, %lf)\r\n", rightrun, leftrun2);
seangshim 19:8ad7dcfef11f 441 fclose(fp);
seangshim 19:8ad7dcfef11f 442
seangshim 0:a01fda36fde8 443 }
seangshim 1:10af8aaa5b40 444
seangshim 1:10af8aaa5b40 445
seangshim 1:10af8aaa5b40 446
seangshim 1:10af8aaa5b40 447 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 448 {
seangshim 1:10af8aaa5b40 449 float c;
seangshim 1:10af8aaa5b40 450 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 451 return c;
seangshim 1:10af8aaa5b40 452 }
seangshim 27:b4922048ab11 453 void motorForward() {
seangshim 27:b4922048ab11 454 motorStop();
seangshim 27:b4922048ab11 455 motorDir1 = 1;
seangshim 27:b4922048ab11 456 motorDir2 = 0;
seangshim 27:b4922048ab11 457 }
seangshim 27:b4922048ab11 458
seangshim 27:b4922048ab11 459 void motorReverse() {
seangshim 27:b4922048ab11 460 motorStop();
seangshim 27:b4922048ab11 461 motorDir1 = 0;
seangshim 27:b4922048ab11 462 motorDir2 = 1;
seangshim 27:b4922048ab11 463 }
seangshim 27:b4922048ab11 464
seangshim 27:b4922048ab11 465 void motorStop() {
seangshim 27:b4922048ab11 466 motorDir1 = 0;
seangshim 27:b4922048ab11 467 motorDir2 = 0;
seangshim 27:b4922048ab11 468 }
seangshim 1:10af8aaa5b40 469
seangshim 1:10af8aaa5b40 470
seangshim 1:10af8aaa5b40 471
seangshim 1:10af8aaa5b40 472