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@3:c1e0db4832b7, 2018-10-19 (annotated)

Committer:
seangshim
Date:
Fri Oct 19 04:48:30 2018 +0000
Revision:
3:c1e0db4832b7
Parent:
2:37d831f82840
Child:
4:8b52fd631b32
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 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 1:10af8aaa5b40 75
seangshim 3:c1e0db4832b7 76 while(1)
seangshim 3:c1e0db4832b7 77 {
seangshim 3:c1e0db4832b7 78 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 79 printf("%d\r\n",distance);
seangshim 3:c1e0db4832b7 80
seangshim 3:c1e0db4832b7 81
seangshim 1:10af8aaa5b40 82 printf("%d\r\n", test.read());
seangshim 3:c1e0db4832b7 83 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 84 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 85 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 86 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 87 }
seangshim 1:10af8aaa5b40 88 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 89 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 90 //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 91 rightrun += 52.5; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 92 printf("test.read else\r\n");
seangshim 2:37d831f82840 93 }
seangshim 2:37d831f82840 94 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 95 flag2 = 1;
seangshim 3:c1e0db4832b7 96 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 97 }
seangshim 2:37d831f82840 98 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 99 flag2 = 0;
seangshim 2:37d831f82840 100 leftrun2 += 52.5;
seangshim 3:c1e0db4832b7 101 printf("test2.read else\r\n");
seangshim 2:37d831f82840 102 }
seangshim 2:37d831f82840 103 printf("%f", rightrun);
seangshim 2:37d831f82840 104 printf("\t%f\r\n", leftrun2);
seangshim 3:c1e0db4832b7 105 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 106 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 107 }
seangshim 0:a01fda36fde8 108
seangshim 1:10af8aaa5b40 109 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 110 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 111 //Do something else here
seangshim 1:10af8aaa5b40 112 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 113 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 114
seangshim 3:c1e0db4832b7 115 wait(0.2);
seangshim 0:a01fda36fde8 116
seangshim 3:c1e0db4832b7 117 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 118 {
seangshim 0:a01fda36fde8 119
seangshim 0:a01fda36fde8 120 printf("if success!\r\n");
seangshim 0:a01fda36fde8 121
seangshim 0:a01fda36fde8 122 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 123 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 124 ms2=1.0;
seangshim 0:a01fda36fde8 125
seangshim 1:10af8aaa5b40 126 msj1=1.0; //回転の時
seangshim 1:10af8aaa5b40 127 msj2=1.0;
seangshim 0:a01fda36fde8 128
seangshim 0:a01fda36fde8 129 motor1.stop(0);
seangshim 0:a01fda36fde8 130 motor2.stop(0);
seangshim 1:10af8aaa5b40 131 wait(2);
seangshim 0:a01fda36fde8 132 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 133
seangshim 0:a01fda36fde8 134 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 135 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 136 wait(2);
seangshim 0:a01fda36fde8 137 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 138
seangshim 3:c1e0db4832b7 139 motor1.stop(0);
seangshim 3:c1e0db4832b7 140 motor2.stop(0);
seangshim 3:c1e0db4832b7 141 wait(2);
seangshim 3:c1e0db4832b7 142 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 143
seangshim 0:a01fda36fde8 144 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 145 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 146 wait(2);
seangshim 0:a01fda36fde8 147 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 148
seangshim 3:c1e0db4832b7 149 motor1.stop(0);
seangshim 3:c1e0db4832b7 150 motor2.stop(0);
seangshim 3:c1e0db4832b7 151 wait(2);
seangshim 3:c1e0db4832b7 152 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 153
seangshim 0:a01fda36fde8 154 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 155 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 156 wait(2);
seangshim 0:a01fda36fde8 157 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 158
seangshim 3:c1e0db4832b7 159 motor1.stop(0);
seangshim 3:c1e0db4832b7 160 motor2.stop(0);
seangshim 3:c1e0db4832b7 161 wait(2);
seangshim 3:c1e0db4832b7 162 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 163
seangshim 0:a01fda36fde8 164 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 165 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 166
seangshim 2:37d831f82840 167 /* 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 168 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 169 {
seangshim 1:10af8aaa5b40 170 flag = 1;
seangshim 1:10af8aaa5b40 171 }
seangshim 1:10af8aaa5b40 172 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 173 {
seangshim 1:10af8aaa5b40 174 flag=0;
seangshim 2:37d831f82840 175 rightrun += 52.5;
seangshim 1:10af8aaa5b40 176 }
seangshim 2:37d831f82840 177 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 178 flag2 = 1;
seangshim 2:37d831f82840 179 }
seangshim 2:37d831f82840 180 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 181 flag2 = 0;
seangshim 2:37d831f82840 182 leftrun2 += 52.5;
seangshim 2:37d831f82840 183 }
seangshim 2:37d831f82840 184 printf("%f", rightrun);
seangshim 2:37d831f82840 185 printf("\t%f\r\n", leftrun2);*/
seangshim 1:10af8aaa5b40 186 wait(2);
seangshim 3:c1e0db4832b7 187 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 188
seangshim 3:c1e0db4832b7 189 motor1.stop(0);
seangshim 3:c1e0db4832b7 190 motor2.stop(0);
seangshim 3:c1e0db4832b7 191 wait(2);
seangshim 3:c1e0db4832b7 192 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 193
seangshim 0:a01fda36fde8 194 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 195 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 196 wait(2);
seangshim 0:a01fda36fde8 197 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 198
seangshim 3:c1e0db4832b7 199 motor1.stop(0);
seangshim 3:c1e0db4832b7 200 motor2.stop(0);
seangshim 3:c1e0db4832b7 201 wait(2);
seangshim 3:c1e0db4832b7 202 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 203
seangshim 0:a01fda36fde8 204 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 205 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 206 wait(2);
seangshim 0:a01fda36fde8 207 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 208
seangshim 3:c1e0db4832b7 209 motor1.stop(0);
seangshim 3:c1e0db4832b7 210 motor2.stop(0);
seangshim 3:c1e0db4832b7 211 wait(2);
seangshim 3:c1e0db4832b7 212 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 213
seangshim 0:a01fda36fde8 214 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 215 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 216 wait(2);
seangshim 0:a01fda36fde8 217 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 218
seangshim 3:c1e0db4832b7 219 motor1.stop(0);
seangshim 3:c1e0db4832b7 220 motor2.stop(0);
seangshim 3:c1e0db4832b7 221 wait(2);
seangshim 3:c1e0db4832b7 222 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 223 }
seangshim 0:a01fda36fde8 224 }
seangshim 0:a01fda36fde8 225 }
seangshim 1:10af8aaa5b40 226
seangshim 1:10af8aaa5b40 227
seangshim 1:10af8aaa5b40 228
seangshim 1:10af8aaa5b40 229 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 230 {
seangshim 1:10af8aaa5b40 231 float c;
seangshim 1:10af8aaa5b40 232 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 233 return c;
seangshim 1:10af8aaa5b40 234 }
seangshim 1:10af8aaa5b40 235
seangshim 1:10af8aaa5b40 236
seangshim 1:10af8aaa5b40 237
seangshim 1:10af8aaa5b40 238
seangshim 1:10af8aaa5b40 239