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@2:37d831f82840, 2018-10-18 (annotated)

Committer:
seangshim
Date:
Thu Oct 18 02:22:16 2018 +0000
Revision:
2:37d831f82840
Parent:
1:10af8aaa5b40
Child:
3:c1e0db4832b7
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 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 1:10af8aaa5b40 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 1:10af8aaa5b40 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 0:a01fda36fde8 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 0:a01fda36fde8 68 int distance;
seangshim 0:a01fda36fde8 69
seangshim 0:a01fda36fde8 70 while(1)
seangshim 0:a01fda36fde8 71 {
seangshim 2:37d831f82840 72 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 73 //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 74 //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 75 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 76 float leftrun2;
seangshim 1:10af8aaa5b40 77
seangshim 1:10af8aaa5b40 78 printf("%d\r\n", test.read());
seangshim 1:10af8aaa5b40 79 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 80 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 1:10af8aaa5b40 81 }
seangshim 1:10af8aaa5b40 82 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 83 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 84 //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 85 rightrun += 52.5; //総距離runに52.5を加算する
seangshim 2:37d831f82840 86 }
seangshim 2:37d831f82840 87 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 88 flag2 = 1;
seangshim 1:10af8aaa5b40 89 }
seangshim 2:37d831f82840 90 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 91 flag2 = 0;
seangshim 2:37d831f82840 92 leftrun2 += 52.5;
seangshim 2:37d831f82840 93 }
seangshim 2:37d831f82840 94 printf("%f", rightrun);
seangshim 2:37d831f82840 95 printf("\t%f\r\n", leftrun2);
seangshim 2:37d831f82840 96 /* 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 97 break; //つまりゴールについたらこのループからぬける
seangshim 1:10af8aaa5b40 98 }*/
seangshim 0:a01fda36fde8 99
seangshim 1:10af8aaa5b40 100 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 101 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 102 //Do something else here
seangshim 1:10af8aaa5b40 103 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 104 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 105
seangshim 0:a01fda36fde8 106 distance=mu.getCurrentDistance();
seangshim 1:10af8aaa5b40 107 wait(0.1);
seangshim 0:a01fda36fde8 108
seangshim 0:a01fda36fde8 109 printf("%d\r\n",distance);
seangshim 0:a01fda36fde8 110
seangshim 1:10af8aaa5b40 111 if(100<distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 112 {
seangshim 0:a01fda36fde8 113
seangshim 0:a01fda36fde8 114 printf("if success!\r\n");
seangshim 0:a01fda36fde8 115
seangshim 0:a01fda36fde8 116 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 117 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 118 ms2=1.0;
seangshim 0:a01fda36fde8 119
seangshim 1:10af8aaa5b40 120 msj1=1.0; //回転の時
seangshim 1:10af8aaa5b40 121 msj2=1.0;
seangshim 0:a01fda36fde8 122
seangshim 0:a01fda36fde8 123 motor1.stop(0);
seangshim 0:a01fda36fde8 124 motor2.stop(0);
seangshim 1:10af8aaa5b40 125 wait(2);
seangshim 0:a01fda36fde8 126 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 127
seangshim 0:a01fda36fde8 128 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 129 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 130 wait(2);
seangshim 0:a01fda36fde8 131 printf("mortor rotation\r\n");
seangshim 0:a01fda36fde8 132
seangshim 0:a01fda36fde8 133 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 134 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 135 wait(2);
seangshim 0:a01fda36fde8 136 printf("mortor straight\r\n");
seangshim 0:a01fda36fde8 137
seangshim 0:a01fda36fde8 138 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 139 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 140 wait(2);
seangshim 0:a01fda36fde8 141 printf("mortor rotation\r\n");
seangshim 0:a01fda36fde8 142
seangshim 0:a01fda36fde8 143 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 144 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 145
seangshim 2:37d831f82840 146 /* 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 147 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 148 {
seangshim 1:10af8aaa5b40 149 flag = 1;
seangshim 1:10af8aaa5b40 150 }
seangshim 1:10af8aaa5b40 151 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 152 {
seangshim 1:10af8aaa5b40 153 flag=0;
seangshim 2:37d831f82840 154 rightrun += 52.5;
seangshim 1:10af8aaa5b40 155 }
seangshim 2:37d831f82840 156 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 157 flag2 = 1;
seangshim 2:37d831f82840 158 }
seangshim 2:37d831f82840 159 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 160 flag2 = 0;
seangshim 2:37d831f82840 161 leftrun2 += 52.5;
seangshim 2:37d831f82840 162 }
seangshim 2:37d831f82840 163 printf("%f", rightrun);
seangshim 2:37d831f82840 164 printf("\t%f\r\n", leftrun2);*/
seangshim 1:10af8aaa5b40 165 wait(2);
seangshim 0:a01fda36fde8 166 printf("mortor straight\r\n");
seangshim 0:a01fda36fde8 167
seangshim 0:a01fda36fde8 168 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 169 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 170 wait(2);
seangshim 0:a01fda36fde8 171 printf("mortor rotation\r\n");
seangshim 0:a01fda36fde8 172
seangshim 0:a01fda36fde8 173 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 174 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 175 wait(2);
seangshim 0:a01fda36fde8 176 printf("mortor straight\r\n");
seangshim 0:a01fda36fde8 177
seangshim 0:a01fda36fde8 178 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 179 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 180 wait(2);
seangshim 0:a01fda36fde8 181 printf("mortor rotation\r\n");
seangshim 0:a01fda36fde8 182 }
seangshim 0:a01fda36fde8 183 }
seangshim 0:a01fda36fde8 184 }
seangshim 1:10af8aaa5b40 185
seangshim 1:10af8aaa5b40 186
seangshim 1:10af8aaa5b40 187
seangshim 1:10af8aaa5b40 188 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 189 {
seangshim 1:10af8aaa5b40 190 float c;
seangshim 1:10af8aaa5b40 191 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 192 return c;
seangshim 1:10af8aaa5b40 193 }
seangshim 1:10af8aaa5b40 194
seangshim 1:10af8aaa5b40 195
seangshim 1:10af8aaa5b40 196
seangshim 1:10af8aaa5b40 197
seangshim 1:10af8aaa5b40 198