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@32:c522d463c4fa, 2018-12-12 (annotated)

Committer:
seangshim
Date:
Wed Dec 12 10:22:22 2018 +0000
Revision:
32:c522d463c4fa
Parent:
31:1ee80995740a
Child:
33:8d3757a0cd93
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 32:c522d463c4fa 82 FILE *fp = fopen("/local/gps,foto.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 32:c522d463c4fa 83
seangshim 32:c522d463c4fa 84 /* printf("GPS start\r\n");
seangshim 27:b4922048ab11 85 FILE *fp = fopen("/local/gps,foto.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 1:10af8aaa5b40 86 fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 87 int n;
seangshim 1:10af8aaa5b40 88 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 89 {
seangshim 9:fb19a93df88f 90 printf("gps for\r\n");
seangshim 0:a01fda36fde8 91 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 92 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 93
seangshim 0:a01fda36fde8 94 else
seangshim 0:a01fda36fde8 95 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 96
seangshim 0:a01fda36fde8 97 wait(1);
seangshim 1:10af8aaa5b40 98
seangshim 1:10af8aaa5b40 99 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 100
seangshim 0:a01fda36fde8 101 }
seangshim 27:b4922048ab11 102 fprintf(fp,"GPS finish\r\n");
seangshim 32:c522d463c4fa 103 // fclose(fp); // GPSの測定終了 */
seangshim 28:5e21ce413558 104
seangshim 32:c522d463c4fa 105 motorSpeed.period_ms(4); //モーター調節
seangshim 32:c522d463c4fa 106 motorSpeed = 0.955;
seangshim 28:5e21ce413558 107
seangshim 9:fb19a93df88f 108
394 10:280a25bcc8bb 109 compass.init(); //地磁気センサー動作
seangshim 16:44c763c32b0d 110
394 10:280a25bcc8bb 111 int i;
394 10:280a25bcc8bb 112 for(i=0;i<20;i++) //地磁気測定
394 10:280a25bcc8bb 113 {
394 10:280a25bcc8bb 114 pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); //度数法で表記
seangshim 29:05b390de92ed 115 fprintf(fp,"raw=\r\n");
seangshim 29:05b390de92ed 116 fprintf(fp,"%lf\r\n",compass.getHeadingXYDeg());
394 10:280a25bcc8bb 117 wait(0.5);
seangshim 16:44c763c32b0d 118 }
394 10:280a25bcc8bb 119 float mc1,mc2;
394 20:e78bffff80ee 120 mc1=1.0;
394 20:e78bffff80ee 121 mc2=1.0;
394 10:280a25bcc8bb 122 //地磁気センサのキャリブレーション
394 10:280a25bcc8bb 123 motor1.speed(mc1); //車体を時計回りに３秒回転
seangshim 28:5e21ce413558 124 motorReverse();
394 30:3bcf14e8dd63 125 wait(1.6);
394 10:280a25bcc8bb 126
394 10:280a25bcc8bb 127 motor1.stop(0);
394 10:280a25bcc8bb 128 motor2.stop(0);
394 10:280a25bcc8bb 129 wait(1);
394 10:280a25bcc8bb 130
seangshim 28:5e21ce413558 131 motor1.speed(-mc1); //車体を反時計回りに３秒回
seangshim 28:5e21ce413558 132 motorForward();
394 30:3bcf14e8dd63 133 wait(1.6);
394 10:280a25bcc8bb 134
394 10:280a25bcc8bb 135 motor1.stop(0);
394 10:280a25bcc8bb 136 motor2.stop(0);
394 10:280a25bcc8bb 137 wait(1);
394 10:280a25bcc8bb 138 printf("compass carriblation\r\n"); //キャリブレーション終了
394 10:280a25bcc8bb 139
394 20:e78bffff80ee 140 float mcn1,mcn2;
394 10:280a25bcc8bb 141 double heading;
394 20:e78bffff80ee 142 mcn1=1.0;
394 20:e78bffff80ee 143 mcn2=1.0;
394 10:280a25bcc8bb 144 compass.init();
394 20:e78bffff80ee 145 heading=compass.getHeadingXYDeg();
394 30:3bcf14e8dd63 146 if(90<heading<267.5){
394 30:3bcf14e8dd63 147 motor1.speed(mcn1);//右回転
seangshim 28:5e21ce413558 148 motorReverse();
394 30:3bcf14e8dd63 149 wait((270-heading)*0.004448); //角度のずれ*1度回転するのにかかる時間
394 20:e78bffff80ee 150 motor1.stop(0);
394 20:e78bffff80ee 151 motor2.stop(0);
394 10:280a25bcc8bb 152 wait(1);
394 30:3bcf14e8dd63 153 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 154 motor1.speed(-mcn1);//左回転
seangshim 28:5e21ce413558 155 motorForward();
394 30:3bcf14e8dd63 156 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 157 motor1.stop(0);
394 30:3bcf14e8dd63 158 motor2.stop(0);
394 30:3bcf14e8dd63 159 wait(1);
394 30:3bcf14e8dd63 160 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 161 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 162 motorForward();
394 30:3bcf14e8dd63 163 wait((heading-270)*0.004448);
394 20:e78bffff80ee 164 motor1.stop(0);
394 20:e78bffff80ee 165 motor2.stop(0);
394 10:280a25bcc8bb 166 wait(1);
394 10:280a25bcc8bb 167 }else{
394 20:e78bffff80ee 168 wait(5);
394 10:280a25bcc8bb 169 }
394 10:280a25bcc8bb 170 printf("searchN\r\n"); //機体が北を向く
seangshim 0:a01fda36fde8 171
seangshim 0:a01fda36fde8 172 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 173 int distance;
seangshim 0:a01fda36fde8 174
seangshim 13:b884f5960fbf 175 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 176 //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 177 //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 178 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 179 float leftrun2;
seangshim 4:8b52fd631b32 180 rightrun=0.0;
seangshim 4:8b52fd631b32 181 leftrun2=0.0;
seangshim 9:fb19a93df88f 182
seangshim 17:9bc130ebb5ed 183 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 184 float lowpassValue = 0;
seangshim 15:75f014c4c8b8 185 float highpassValue = 0;
seangshim 15:75f014c4c8b8 186 float speed = 0;//加速度時から算出した速度
seangshim 15:75f014c4c8b8 187 float oldSpeed = 0;//ひとつ前の速度
seangshim 15:75f014c4c8b8 188 float oldAccel = 0;//ひとつ前の加速度
seangshim 15:75f014c4c8b8 189 float difference=0;//変位
seangshim 17:9bc130ebb5ed 190 float timespan=0.01;//時間差
seangshim 27:b4922048ab11 191 int accel[3];//accelを3つの配列で定義。*/
seangshim 27:b4922048ab11 192
seangshim 27:b4922048ab11 193 int tt=0;
seangshim 27:b4922048ab11 194 float run=0;
seangshim 1:10af8aaa5b40 195
seangshim 3:c1e0db4832b7 196 while(1)
seangshim 3:c1e0db4832b7 197 {
seangshim 3:c1e0db4832b7 198 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 199 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 200
seangshim 8:d41f5d7d2aa5 201 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 202 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 203 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 204 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 205 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 206 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 207 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 208 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 18:2a47ed430cfe 209 if (a>0){
seangshim 18:2a47ed430cfe 210 a = sqrt(a);
seangshim 18:2a47ed430cfe 211 }
seangshim 18:2a47ed430cfe 212 if (a<0) {
seangshim 18:2a47ed430cfe 213 a = abs(a);
seangshim 18:2a47ed430cfe 214 a = -sqrt(a);
seangshim 18:2a47ed430cfe 215 }
seangshim 19:8ad7dcfef11f 216 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 15:75f014c4c8b8 217 // 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 218 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 219 // 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 220 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 221
seangshim 15:75f014c4c8b8 222 // 速度計算(加速度を台形積分する)
seangshim 15:75f014c4c8b8 223 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 15:75f014c4c8b8 224 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 225
seangshim 15:75f014c4c8b8 226 // 変位計算(速度を台形積分する)
seangshim 15:75f014c4c8b8 227 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 15:75f014c4c8b8 228 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 229
seangshim 17:9bc130ebb5ed 230 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 231 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 3:c1e0db4832b7 232
seangshim 8:d41f5d7d2aa5 233 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 234 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 235 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 236 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 237 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 238 }
seangshim 1:10af8aaa5b40 239 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 240 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 241 //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 32:c522d463c4fa 242 rightrun += 56.25; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 243 printf("test.read else\r\n");
seangshim 2:37d831f82840 244 }
seangshim 2:37d831f82840 245 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 246 flag2 = 1;
seangshim 3:c1e0db4832b7 247 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 248 }
seangshim 2:37d831f82840 249 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 250 flag2 = 0;
seangshim 32:c522d463c4fa 251 leftrun2 += 56.25;
seangshim 3:c1e0db4832b7 252 printf("test2.read else\r\n");
seangshim 2:37d831f82840 253 }
seangshim 2:37d831f82840 254 printf("%f", rightrun);
seangshim 2:37d831f82840 255 printf("\t%f\r\n", leftrun2);
seangshim 27:b4922048ab11 256 run=culculate_distance_3(rightrun,leftrun2);
seangshim 32:c522d463c4fa 257 if (15000<run && run<15050){ //半分くらい進んだら方位を計測し直す
394 31:1ee80995740a 258 motor1.stop(0);
394 31:1ee80995740a 259 motor2.stop(0);
394 31:1ee80995740a 260 wait(1);
394 30:3bcf14e8dd63 261 if(90<heading<267.5){
394 30:3bcf14e8dd63 262 motor1.speed(mcn1);//右回転
394 30:3bcf14e8dd63 263 motorReverse();
394 30:3bcf14e8dd63 264 wait((270-heading)*0.004448); //角度のずれ*1度回転するのにかかる時間
394 30:3bcf14e8dd63 265 motor1.stop(0);
394 30:3bcf14e8dd63 266 motor2.stop(0);
394 30:3bcf14e8dd63 267 wait(1);
394 30:3bcf14e8dd63 268 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 269 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 270 motorForward();
394 30:3bcf14e8dd63 271 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 272 motor1.stop(0);
394 30:3bcf14e8dd63 273 motor2.stop(0);
394 30:3bcf14e8dd63 274 wait(1);
394 30:3bcf14e8dd63 275 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 276 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 277 motorForward();
394 30:3bcf14e8dd63 278 wait((heading-270)*0.004448);
394 30:3bcf14e8dd63 279 motor1.stop(0);
394 30:3bcf14e8dd63 280 motor2.stop(0);
394 30:3bcf14e8dd63 281 wait(1);
394 30:3bcf14e8dd63 282 }else{
394 30:3bcf14e8dd63 283 wait(5);
394 30:3bcf14e8dd63 284 }
394 30:3bcf14e8dd63 285 printf("searchN\r\n"); //機体が北を向く
394 30:3bcf14e8dd63 286 }
seangshim 32:c522d463c4fa 287 else if (run >= 30000){ //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 288 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 289 }
seangshim 0:a01fda36fde8 290
seangshim 27:b4922048ab11 291 /* if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 292 {
seangshim 19:8ad7dcfef11f 293 break;
seangshim 27:b4922048ab11 294 } */
seangshim 19:8ad7dcfef11f 295
seangshim 1:10af8aaa5b40 296 motor1.speed(0.5); //通常走行
seangshim 27:b4922048ab11 297 motorForward();
seangshim 1:10af8aaa5b40 298 //Do something else here
seangshim 1:10af8aaa5b40 299 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 300 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 301
seangshim 9:fb19a93df88f 302 wait(0.01);
seangshim 0:a01fda36fde8 303
seangshim 27:b4922048ab11 304 tt++;
seangshim 29:05b390de92ed 305 if(tt == 10)
seangshim 27:b4922048ab11 306 {
seangshim 27:b4922048ab11 307 fprintf(fp, "accel.rightrun.leftrun2\r\n");
seangshim 27:b4922048ab11 308
seangshim 27:b4922048ab11 309 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 310 tt=0;
seangshim 27:b4922048ab11 311 }
seangshim 27:b4922048ab11 312
seangshim 3:c1e0db4832b7 313 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 314 {
seangshim 0:a01fda36fde8 315
seangshim 0:a01fda36fde8 316 printf("if success!\r\n");
seangshim 0:a01fda36fde8 317
seangshim 0:a01fda36fde8 318 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 319 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 320 ms2=1.0;
seangshim 0:a01fda36fde8 321
seangshim 12:2f0c841e6078 322 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 323 msj2=1.0;
seangshim 0:a01fda36fde8 324
seangshim 0:a01fda36fde8 325 motor1.stop(0);
seangshim 0:a01fda36fde8 326 motor2.stop(0);
seangshim 1:10af8aaa5b40 327 wait(2);
seangshim 0:a01fda36fde8 328 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 329
seangshim 0:a01fda36fde8 330 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 331 motorReverse();
seangshim 32:c522d463c4fa 332 wait(0.5);
seangshim 0:a01fda36fde8 333 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 334
seangshim 3:c1e0db4832b7 335 motor1.stop(0);
seangshim 3:c1e0db4832b7 336 motor2.stop(0);
seangshim 3:c1e0db4832b7 337 wait(2);
seangshim 3:c1e0db4832b7 338 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 339
seangshim 0:a01fda36fde8 340 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 341 motorForward();
seangshim 1:10af8aaa5b40 342 wait(2);
seangshim 0:a01fda36fde8 343 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 344
seangshim 3:c1e0db4832b7 345 motor1.stop(0);
seangshim 3:c1e0db4832b7 346 motor2.stop(0);
seangshim 3:c1e0db4832b7 347 wait(2);
seangshim 3:c1e0db4832b7 348 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 349
seangshim 0:a01fda36fde8 350 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 351 motorForward();
seangshim 32:c522d463c4fa 352 wait(0.5);
seangshim 0:a01fda36fde8 353 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 354
seangshim 3:c1e0db4832b7 355 motor1.stop(0);
seangshim 3:c1e0db4832b7 356 motor2.stop(0);
seangshim 3:c1e0db4832b7 357 wait(2);
seangshim 3:c1e0db4832b7 358 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 359
seangshim 0:a01fda36fde8 360 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 361 motorForward();
seangshim 16:44c763c32b0d 362
seangshim 16:44c763c32b0d 363
seangshim 12:2f0c841e6078 364 int t=0;
seangshim 27:b4922048ab11 365 for(t=0;t<50;t++)
seangshim 12:2f0c841e6078 366 {
seangshim 12:2f0c841e6078 367 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 368 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 369 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 370 {
seangshim 1:10af8aaa5b40 371 flag = 1;
seangshim 1:10af8aaa5b40 372 }
seangshim 1:10af8aaa5b40 373 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 374 {
seangshim 1:10af8aaa5b40 375 flag=0;
seangshim 32:c522d463c4fa 376 rightrun += 56.25;
seangshim 1:10af8aaa5b40 377 }
seangshim 2:37d831f82840 378 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 379 flag2 = 1;
seangshim 2:37d831f82840 380 }
seangshim 2:37d831f82840 381 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 382 flag2 = 0;
seangshim 32:c522d463c4fa 383 leftrun2 += 56.25;
seangshim 2:37d831f82840 384 }
seangshim 2:37d831f82840 385 printf("%f", rightrun);
seangshim 12:2f0c841e6078 386 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 387
seangshim 16:44c763c32b0d 388
seangshim 16:44c763c32b0d 389
seangshim 16:44c763c32b0d 390 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 391 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 392 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 393 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 394 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 395 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 396 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 397 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 19:8ad7dcfef11f 398 if (a>0){
seangshim 19:8ad7dcfef11f 399 a = sqrt(a);
seangshim 19:8ad7dcfef11f 400 }
seangshim 19:8ad7dcfef11f 401 if (a<0) {
seangshim 19:8ad7dcfef11f 402 a = abs(a);
seangshim 19:8ad7dcfef11f 403 a = -sqrt(a);
seangshim 19:8ad7dcfef11f 404 }
seangshim 19:8ad7dcfef11f 405 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 16:44c763c32b0d 406 // 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 407 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 408 // 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 409 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 410
seangshim 16:44c763c32b0d 411 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 412 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 413 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 414
seangshim 16:44c763c32b0d 415 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 416 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 417 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 418
seangshim 17:9bc130ebb5ed 419 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 420 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 27:b4922048ab11 421
seangshim 32:c522d463c4fa 422 if (run >= 300000){ //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 423 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 424 }
seangshim 16:44c763c32b0d 425
seangshim 17:9bc130ebb5ed 426 wait(0.01);
seangshim 27:b4922048ab11 427
seangshim 16:44c763c32b0d 428 }
seangshim 16:44c763c32b0d 429
seangshim 16:44c763c32b0d 430
seangshim 16:44c763c32b0d 431
seangshim 3:c1e0db4832b7 432 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 433
seangshim 3:c1e0db4832b7 434 motor1.stop(0);
seangshim 3:c1e0db4832b7 435 motor2.stop(0);
seangshim 3:c1e0db4832b7 436 wait(2);
seangshim 3:c1e0db4832b7 437 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 438
seangshim 0:a01fda36fde8 439 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 440 motorForward();
seangshim 32:c522d463c4fa 441 wait(0.5);
seangshim 0:a01fda36fde8 442 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 443
seangshim 3:c1e0db4832b7 444 motor1.stop(0);
seangshim 3:c1e0db4832b7 445 motor2.stop(0);
seangshim 3:c1e0db4832b7 446 wait(2);
seangshim 3:c1e0db4832b7 447 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 448
seangshim 0:a01fda36fde8 449 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 450 motorForward();
seangshim 1:10af8aaa5b40 451 wait(2);
seangshim 0:a01fda36fde8 452 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 453
seangshim 3:c1e0db4832b7 454 motor1.stop(0);
seangshim 3:c1e0db4832b7 455 motor2.stop(0);
seangshim 3:c1e0db4832b7 456 wait(2);
seangshim 3:c1e0db4832b7 457 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 458
seangshim 0:a01fda36fde8 459 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 460 motorReverse();
seangshim 32:c522d463c4fa 461 wait(0.5);
seangshim 0:a01fda36fde8 462 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 463
seangshim 3:c1e0db4832b7 464 motor1.stop(0);
seangshim 3:c1e0db4832b7 465 motor2.stop(0);
seangshim 3:c1e0db4832b7 466 wait(2);
seangshim 3:c1e0db4832b7 467 printf("mortor stop\r\n");
394 10:280a25bcc8bb 468
394 30:3bcf14e8dd63 469 if(90<heading<267.5){
394 30:3bcf14e8dd63 470 motor1.speed(mcn1);//右回転
394 30:3bcf14e8dd63 471 motorReverse();
394 30:3bcf14e8dd63 472 wait((270-heading)*0.004448); //角度のずれ*1度回転するのにかかる時間
394 30:3bcf14e8dd63 473 motor1.stop(0);
394 30:3bcf14e8dd63 474 motor2.stop(0);
394 30:3bcf14e8dd63 475 wait(1);
394 30:3bcf14e8dd63 476 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 477 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 478 motorForward();
394 30:3bcf14e8dd63 479 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 480 motor1.stop(0);
394 30:3bcf14e8dd63 481 motor2.stop(0);
394 30:3bcf14e8dd63 482 wait(1);
394 30:3bcf14e8dd63 483 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 484 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 485 motorForward();
394 30:3bcf14e8dd63 486 wait((heading-270)*0.004448);
394 30:3bcf14e8dd63 487 motor1.stop(0);
394 30:3bcf14e8dd63 488 motor2.stop(0);
394 30:3bcf14e8dd63 489 wait(1);
394 30:3bcf14e8dd63 490 }else{
394 30:3bcf14e8dd63 491 wait(5);
394 30:3bcf14e8dd63 492 }
394 30:3bcf14e8dd63 493 printf("searchN\r\n"); //機体が北を向く
394 10:280a25bcc8bb 494
seangshim 0:a01fda36fde8 495 }
seangshim 0:a01fda36fde8 496 }
seangshim 4:8b52fd631b32 497 motor1.stop(0);
seangshim 4:8b52fd631b32 498 motor2.stop(0);
seangshim 19:8ad7dcfef11f 499
seangshim 19:8ad7dcfef11f 500
seangshim 19:8ad7dcfef11f 501 fprintf(fp, "last accel.photo\r\n");
seangshim 27:b4922048ab11 502 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 503 fprintf(fp, "last right.left\r\n");
seangshim 27:b4922048ab11 504 fprintf(fp,"(%lf, %lf)\r\n", rightrun, leftrun2);
seangshim 19:8ad7dcfef11f 505 fclose(fp);
seangshim 19:8ad7dcfef11f 506
seangshim 0:a01fda36fde8 507 }
seangshim 1:10af8aaa5b40 508
seangshim 1:10af8aaa5b40 509
seangshim 1:10af8aaa5b40 510
seangshim 1:10af8aaa5b40 511 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 512 {
seangshim 1:10af8aaa5b40 513 float c;
seangshim 1:10af8aaa5b40 514 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 515 return c;
seangshim 1:10af8aaa5b40 516 }
seangshim 27:b4922048ab11 517 void motorForward() {
seangshim 27:b4922048ab11 518 motorStop();
seangshim 27:b4922048ab11 519 motorDir1 = 1;
seangshim 27:b4922048ab11 520 motorDir2 = 0;
seangshim 27:b4922048ab11 521 }
seangshim 27:b4922048ab11 522
seangshim 27:b4922048ab11 523 void motorReverse() {
seangshim 27:b4922048ab11 524 motorStop();
seangshim 27:b4922048ab11 525 motorDir1 = 0;
seangshim 27:b4922048ab11 526 motorDir2 = 1;
seangshim 27:b4922048ab11 527 }
seangshim 27:b4922048ab11 528
seangshim 27:b4922048ab11 529 void motorStop() {
seangshim 27:b4922048ab11 530 motorDir1 = 0;
seangshim 27:b4922048ab11 531 motorDir2 = 0;
seangshim 27:b4922048ab11 532 }
seangshim 1:10af8aaa5b40 533
seangshim 1:10af8aaa5b40 534
seangshim 1:10af8aaa5b40 535
seangshim 1:10af8aaa5b40 536