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@16:44c763c32b0d, 2018-11-15 (annotated)

Committer:
seangshim
Date:
Thu Nov 15 09:18:24 2018 +0000
Revision:
16:44c763c32b0d
Parent:
15:75f014c4c8b8
Child:
17:9bc130ebb5ed
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 8:d41f5d7d2aa5 8
seangshim 8:d41f5d7d2aa5 9 Serial pc(USBTX, USBRX); //地磁気センサー,GPS
seangshim 9:fb19a93df88f 10 GPS gps(p28, p27); //GPS
seangshim 9:fb19a93df88f 11 HMC5883L compass(p9, p10); //地磁気センサー
seangshim 9:fb19a93df88f 12
394 10:280a25bcc8bb 13 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 14
seangshim 0:a01fda36fde8 15
seangshim 1:10af8aaa5b40 16 DigitalOut FET(p21); //FET
seangshim 1:10af8aaa5b40 17
seangshim 1:10af8aaa5b40 18 InterruptIn button1(p15); //フォトインタラプタ
seangshim 2:37d831f82840 19 InterruptIn button2(p18);
seangshim 1:10af8aaa5b40 20 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 21 //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 22 DigitalIn test2(p18);
seangshim 1:10af8aaa5b40 23
seangshim 0:a01fda36fde8 24
seangshim 1:10af8aaa5b40 25 Motor motor1(p22, p16, p17, 1); // pwm, fwd, rev, can brake モーター
seangshim 0:a01fda36fde8 26 Motor motor2(p22, p19, p20, 1); // pwm, fwd, rev, can brake
seangshim 0:a01fda36fde8 27
seangshim 0:a01fda36fde8 28 void dist(int distance)
seangshim 0:a01fda36fde8 29 {
seangshim 0:a01fda36fde8 30 //put code here to happen when the distance is changed
seangshim 0:a01fda36fde8 31 printf("Distance changed to %dmm\r\n", distance);
seangshim 0:a01fda36fde8 32 }
seangshim 0:a01fda36fde8 33
seangshim 1:10af8aaa5b40 34 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 35 //have updates every .1 seconds and a timeout after 1
seangshim 0:a01fda36fde8 36 //second, and call dist when the distance changes
seangshim 0:a01fda36fde8 37
seangshim 0:a01fda36fde8 38
seangshim 0:a01fda36fde8 39
seangshim 1:10af8aaa5b40 40 LocalFileSystem local("local"); // Create the local filesystem under the name "local"　　 データ保存
seangshim 0:a01fda36fde8 41
seangshim 0:a01fda36fde8 42 int main() {
seangshim 0:a01fda36fde8 43
seangshim 1:10af8aaa5b40 44
seangshim 3:c1e0db4832b7 45 /* FET = 0; //FET、ニクロム線切断
seangshim 1:10af8aaa5b40 46 wait(60);
seangshim 1:10af8aaa5b40 47 FET = 1;
seangshim 1:10af8aaa5b40 48 wait(30);
seangshim 3:c1e0db4832b7 49 FET = 0; */
seangshim 1:10af8aaa5b40 50
seangshim 0:a01fda36fde8 51 motor1.stop(0);
seangshim 0:a01fda36fde8 52 motor2.stop(0);
seangshim 0:a01fda36fde8 53
seangshim 16:44c763c32b0d 54 printf("GPS start\r\n");
seangshim 3:c1e0db4832b7 55 FILE *fp = fopen("/local/gps.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 1:10af8aaa5b40 56 fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 57 int n;
seangshim 1:10af8aaa5b40 58 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 59 {
seangshim 9:fb19a93df88f 60 printf("gps for\r\n");
seangshim 0:a01fda36fde8 61 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 62 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 63
seangshim 0:a01fda36fde8 64 else
seangshim 0:a01fda36fde8 65 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 66
seangshim 0:a01fda36fde8 67 wait(1);
seangshim 1:10af8aaa5b40 68
seangshim 1:10af8aaa5b40 69 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 70
seangshim 0:a01fda36fde8 71 }
seangshim 0:a01fda36fde8 72 fprintf(fp,"GPS finish\r\n");
seangshim 16:44c763c32b0d 73 fclose(fp); // GPSの測定終了
seangshim 9:fb19a93df88f 74
seangshim 9:fb19a93df88f 75
seangshim 6:574d9a6253c7 76
seangshim 9:fb19a93df88f 77
394 10:280a25bcc8bb 78 compass.init(); //地磁気センサー動作
seangshim 16:44c763c32b0d 79
394 10:280a25bcc8bb 80 int i;
394 10:280a25bcc8bb 81 for(i=0;i<20;i++) //地磁気測定
394 10:280a25bcc8bb 82 {
394 10:280a25bcc8bb 83 pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); //度数法で表記
394 10:280a25bcc8bb 84 wait(0.5);
seangshim 16:44c763c32b0d 85 }
394 10:280a25bcc8bb 86 float mc1,mc2;
394 10:280a25bcc8bb 87 mc1=3.0;
394 10:280a25bcc8bb 88 mc2=3.0;
394 10:280a25bcc8bb 89 //地磁気センサのキャリブレーション
394 10:280a25bcc8bb 90 motor1.speed(mc1); //車体を時計回りに３秒回転
394 10:280a25bcc8bb 91 motor2.speed(-mc2);
394 10:280a25bcc8bb 92 wait(2);
394 10:280a25bcc8bb 93
394 10:280a25bcc8bb 94 motor1.stop(0);
394 10:280a25bcc8bb 95 motor2.stop(0);
394 10:280a25bcc8bb 96 wait(1);
394 10:280a25bcc8bb 97
394 10:280a25bcc8bb 98 motor1.speed(-mc1); //車体を反時計回りに３秒回転
394 10:280a25bcc8bb 99 motor2.speed(mc2);
394 10:280a25bcc8bb 100 wait(2);
394 10:280a25bcc8bb 101
394 10:280a25bcc8bb 102 motor1.stop(0);
394 10:280a25bcc8bb 103 motor2.stop(0);
394 10:280a25bcc8bb 104 wait(1);
394 10:280a25bcc8bb 105 printf("compass carriblation\r\n"); //キャリブレーション終了
394 10:280a25bcc8bb 106
394 10:280a25bcc8bb 107 float mcr1,mcr2,mcl1,mcl2;
394 10:280a25bcc8bb 108 double heading;
394 10:280a25bcc8bb 109 mcr1=heading*10*0.00026;
394 10:280a25bcc8bb 110 mcr2=heading*10*0.00026;
394 10:280a25bcc8bb 111 mcl1=(PI2-heading)*10*0.00026;
394 10:280a25bcc8bb 112 mcl2=(PI2-heading)*10*0.00026;
394 10:280a25bcc8bb 113 compass.init();
394 10:280a25bcc8bb 114 if(2.5<heading<=M_PI){
394 10:280a25bcc8bb 115 motor1.speed(mcr1);
394 10:280a25bcc8bb 116 motor2.speed(-mcr2);
394 10:280a25bcc8bb 117 wait(1);
394 10:280a25bcc8bb 118 }else if(M_PI<heading<357.5){
394 10:280a25bcc8bb 119 motor1.speed(-mcl1);
394 10:280a25bcc8bb 120 motor2.speed(mcl2);
394 10:280a25bcc8bb 121 wait(1);
394 10:280a25bcc8bb 122 }else{
394 10:280a25bcc8bb 123 wait(2);
394 10:280a25bcc8bb 124 }
394 10:280a25bcc8bb 125 printf("searchN\r\n"); //機体が北を向く
394 10:280a25bcc8bb 126
394 10:280a25bcc8bb 127
seangshim 0:a01fda36fde8 128
seangshim 0:a01fda36fde8 129 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 130 int distance;
seangshim 0:a01fda36fde8 131
seangshim 13:b884f5960fbf 132 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 133 //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 134 //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 135 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 136 float leftrun2;
seangshim 4:8b52fd631b32 137 rightrun=0.0;
seangshim 4:8b52fd631b32 138 leftrun2=0.0;
seangshim 9:fb19a93df88f 139
seangshim 15:75f014c4c8b8 140 float filterCoefficient = 0.3; // 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 141 float lowpassValue = 0;
seangshim 15:75f014c4c8b8 142 float highpassValue = 0;
seangshim 15:75f014c4c8b8 143 float speed = 0;//加速度時から算出した速度
seangshim 15:75f014c4c8b8 144 float oldSpeed = 0;//ひとつ前の速度
seangshim 15:75f014c4c8b8 145 float oldAccel = 0;//ひとつ前の加速度
seangshim 15:75f014c4c8b8 146 float difference=0;//変位
seangshim 15:75f014c4c8b8 147 float timespan=0.1;//時間差
seangshim 16:44c763c32b0d 148 float accel[3];//accelを3つの配列で定義。 加速度センサー*/
seangshim 1:10af8aaa5b40 149
seangshim 3:c1e0db4832b7 150 while(1)
seangshim 3:c1e0db4832b7 151 {
seangshim 3:c1e0db4832b7 152 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 153 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 154
seangshim 8:d41f5d7d2aa5 155 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 15:75f014c4c8b8 156 float x = accel[0]/16384-0.043;//x軸方向の加速度
seangshim 15:75f014c4c8b8 157 float y = accel[1]/16384-0.012;//y軸方向の加速度
seangshim 8:d41f5d7d2aa5 158 float z = accel[2]/16384;//z軸方向の加速度
seangshim 8:d41f5d7d2aa5 159 printf("accel x:%f y:%f z:%f\r\n",x,y,z);//一応表示しとくやで～～
seangshim 15:75f014c4c8b8 160 // 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 15:75f014c4c8b8 161 lowpassValue = lowpassValue * filterCoefficient + x * (1 - filterCoefficient);
seangshim 15:75f014c4c8b8 162 // 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 15:75f014c4c8b8 163 highpassValue = x - lowpassValue;
seangshim 15:75f014c4c8b8 164
seangshim 15:75f014c4c8b8 165 // 速度計算(加速度を台形積分する)
seangshim 15:75f014c4c8b8 166 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 15:75f014c4c8b8 167 oldAccel = highpassValue;
seangshim 15:75f014c4c8b8 168
seangshim 15:75f014c4c8b8 169 // 変位計算(速度を台形積分する)
seangshim 15:75f014c4c8b8 170 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 15:75f014c4c8b8 171 oldSpeed = speed;
seangshim 15:75f014c4c8b8 172
seangshim 15:75f014c4c8b8 173 printf(" speed %f difference %f\n",speed,difference);
seangshim 3:c1e0db4832b7 174
seangshim 8:d41f5d7d2aa5 175 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 176 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 177 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 178 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 179 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 180 }
seangshim 1:10af8aaa5b40 181 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 182 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 183 //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 184 rightrun += 54.95; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 185 printf("test.read else\r\n");
seangshim 2:37d831f82840 186 }
seangshim 2:37d831f82840 187 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 188 flag2 = 1;
seangshim 3:c1e0db4832b7 189 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 190 }
seangshim 2:37d831f82840 191 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 192 flag2 = 0;
seangshim 15:75f014c4c8b8 193 leftrun2 += 54.95;
seangshim 3:c1e0db4832b7 194 printf("test2.read else\r\n");
seangshim 2:37d831f82840 195 }
seangshim 2:37d831f82840 196 printf("%f", rightrun);
seangshim 2:37d831f82840 197 printf("\t%f\r\n", leftrun2);
seangshim 15:75f014c4c8b8 198 if (rightrun >= 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 199 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 200 }
seangshim 0:a01fda36fde8 201
seangshim 1:10af8aaa5b40 202 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 203 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 204 //Do something else here
seangshim 1:10af8aaa5b40 205 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 206 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 207
seangshim 9:fb19a93df88f 208 wait(0.01);
seangshim 0:a01fda36fde8 209
seangshim 3:c1e0db4832b7 210 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 211 {
seangshim 0:a01fda36fde8 212
seangshim 0:a01fda36fde8 213 printf("if success!\r\n");
seangshim 0:a01fda36fde8 214
seangshim 0:a01fda36fde8 215 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 216 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 217 ms2=1.0;
seangshim 0:a01fda36fde8 218
seangshim 12:2f0c841e6078 219 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 220 msj2=1.0;
seangshim 0:a01fda36fde8 221
seangshim 0:a01fda36fde8 222 motor1.stop(0);
seangshim 0:a01fda36fde8 223 motor2.stop(0);
seangshim 1:10af8aaa5b40 224 wait(2);
seangshim 0:a01fda36fde8 225 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 226
seangshim 0:a01fda36fde8 227 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 228 motor2.speed(-msj2);
seangshim 12:2f0c841e6078 229 wait(0.77);
seangshim 0:a01fda36fde8 230 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 231
seangshim 3:c1e0db4832b7 232 motor1.stop(0);
seangshim 3:c1e0db4832b7 233 motor2.stop(0);
seangshim 3:c1e0db4832b7 234 wait(2);
seangshim 3:c1e0db4832b7 235 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 236
seangshim 0:a01fda36fde8 237 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 238 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 239 wait(2);
seangshim 0:a01fda36fde8 240 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 241
seangshim 3:c1e0db4832b7 242 motor1.stop(0);
seangshim 3:c1e0db4832b7 243 motor2.stop(0);
seangshim 3:c1e0db4832b7 244 wait(2);
seangshim 3:c1e0db4832b7 245 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 246
seangshim 0:a01fda36fde8 247 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 248 motor2.speed(msj2);
seangshim 12:2f0c841e6078 249 wait(0.77);
seangshim 0:a01fda36fde8 250 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 251
seangshim 3:c1e0db4832b7 252 motor1.stop(0);
seangshim 3:c1e0db4832b7 253 motor2.stop(0);
seangshim 3:c1e0db4832b7 254 wait(2);
seangshim 3:c1e0db4832b7 255 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 256
seangshim 0:a01fda36fde8 257 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 258 motor2.speed(ms2);
seangshim 16:44c763c32b0d 259
seangshim 16:44c763c32b0d 260
seangshim 12:2f0c841e6078 261 int t=0;
seangshim 13:b884f5960fbf 262 for(t=0;t<100;t++)
seangshim 12:2f0c841e6078 263 {
seangshim 12:2f0c841e6078 264 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 265 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 266 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 267 {
seangshim 1:10af8aaa5b40 268 flag = 1;
seangshim 1:10af8aaa5b40 269 }
seangshim 1:10af8aaa5b40 270 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 271 {
seangshim 1:10af8aaa5b40 272 flag=0;
seangshim 2:37d831f82840 273 rightrun += 52.5;
seangshim 1:10af8aaa5b40 274 }
seangshim 2:37d831f82840 275 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 276 flag2 = 1;
seangshim 2:37d831f82840 277 }
seangshim 2:37d831f82840 278 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 279 flag2 = 0;
seangshim 2:37d831f82840 280 leftrun2 += 52.5;
seangshim 2:37d831f82840 281 }
seangshim 2:37d831f82840 282 printf("%f", rightrun);
seangshim 12:2f0c841e6078 283 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 284
seangshim 16:44c763c32b0d 285
seangshim 16:44c763c32b0d 286
seangshim 16:44c763c32b0d 287 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 16:44c763c32b0d 288 float x = accel[0]/16384-0.043;//x軸方向の加速度
seangshim 16:44c763c32b0d 289 float y = accel[1]/16384-0.012;//y軸方向の加速度
seangshim 16:44c763c32b0d 290 float z = accel[2]/16384;//z軸方向の加速度
seangshim 16:44c763c32b0d 291 printf("accel x:%f y:%f z:%f\r\n",x,y,z);//一応表示しとくやで～～
seangshim 16:44c763c32b0d 292 // 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 16:44c763c32b0d 293 lowpassValue = lowpassValue * filterCoefficient + x * (1 - filterCoefficient);
seangshim 16:44c763c32b0d 294 // 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 16:44c763c32b0d 295 highpassValue = x - lowpassValue;
seangshim 16:44c763c32b0d 296
seangshim 16:44c763c32b0d 297 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 298 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 299 oldAccel = highpassValue;
seangshim 16:44c763c32b0d 300
seangshim 16:44c763c32b0d 301 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 302 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 303 oldSpeed = speed;
seangshim 16:44c763c32b0d 304
seangshim 16:44c763c32b0d 305 printf(" speed %f difference %f\n",speed,difference);
seangshim 16:44c763c32b0d 306 }
seangshim 16:44c763c32b0d 307
seangshim 16:44c763c32b0d 308
seangshim 16:44c763c32b0d 309
seangshim 3:c1e0db4832b7 310 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 311
seangshim 3:c1e0db4832b7 312 motor1.stop(0);
seangshim 3:c1e0db4832b7 313 motor2.stop(0);
seangshim 3:c1e0db4832b7 314 wait(2);
seangshim 3:c1e0db4832b7 315 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 316
seangshim 0:a01fda36fde8 317 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 318 motor2.speed(msj2);
seangshim 15:75f014c4c8b8 319 wait(1);
seangshim 0:a01fda36fde8 320 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 321
seangshim 3:c1e0db4832b7 322 motor1.stop(0);
seangshim 3:c1e0db4832b7 323 motor2.stop(0);
seangshim 3:c1e0db4832b7 324 wait(2);
seangshim 3:c1e0db4832b7 325 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 326
seangshim 0:a01fda36fde8 327 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 328 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 329 wait(2);
seangshim 0:a01fda36fde8 330 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 331
seangshim 3:c1e0db4832b7 332 motor1.stop(0);
seangshim 3:c1e0db4832b7 333 motor2.stop(0);
seangshim 3:c1e0db4832b7 334 wait(2);
seangshim 3:c1e0db4832b7 335 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 336
seangshim 0:a01fda36fde8 337 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 338 motor2.speed(-msj2);
seangshim 15:75f014c4c8b8 339 wait(1);
seangshim 0:a01fda36fde8 340 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 341
seangshim 3:c1e0db4832b7 342 motor1.stop(0);
seangshim 3:c1e0db4832b7 343 motor2.stop(0);
seangshim 3:c1e0db4832b7 344 wait(2);
seangshim 3:c1e0db4832b7 345 printf("mortor stop\r\n");
394 10:280a25bcc8bb 346
394 10:280a25bcc8bb 347
seangshim 0:a01fda36fde8 348 }
seangshim 0:a01fda36fde8 349 }
seangshim 4:8b52fd631b32 350 motor1.stop(0);
seangshim 4:8b52fd631b32 351 motor2.stop(0);
seangshim 4:8b52fd631b32 352
seangshim 0:a01fda36fde8 353 }
seangshim 1:10af8aaa5b40 354
seangshim 1:10af8aaa5b40 355
seangshim 1:10af8aaa5b40 356
seangshim 1:10af8aaa5b40 357 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 358 {
seangshim 1:10af8aaa5b40 359 float c;
seangshim 1:10af8aaa5b40 360 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 361 return c;
seangshim 1:10af8aaa5b40 362 }
seangshim 1:10af8aaa5b40 363
seangshim 1:10af8aaa5b40 364
seangshim 1:10af8aaa5b40 365
seangshim 1:10af8aaa5b40 366
seangshim 1:10af8aaa5b40 367