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@14:d2f0aef62909, 2018-11-08 (annotated)

Committer:
ShuntaAoji
Date:
Thu Nov 08 10:10:19 2018 +0000
Revision:
14:d2f0aef62909
Parent:
12:2f0c841e6078 
a

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 12:2f0c841e6078 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 12:2f0c841e6078 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 9:fb19a93df88f 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);
394 10:280a25bcc8bb 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 2:37d831f82840 132 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、
ShuntaAoji 14:d2f0aef62909 133 flag=0;
ShuntaAoji 14:d2f0aef62909 134 flag2=0;
ShuntaAoji 14:d2f0aef62909 135 //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
ShuntaAoji 14:d2f0aef62909 136 //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 137 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 138 float leftrun2;
seangshim 4:8b52fd631b32 139 rightrun=0.0;
seangshim 4:8b52fd631b32 140 leftrun2=0.0;
seangshim 9:fb19a93df88f 141
seangshim 9:fb19a93df88f 142 float accel[3];//accelを3つの配列で定義。 加速度センサー
seangshim 1:10af8aaa5b40 143
seangshim 3:c1e0db4832b7 144 while(1)
seangshim 3:c1e0db4832b7 145 {
seangshim 3:c1e0db4832b7 146 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 147 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 148
seangshim 8:d41f5d7d2aa5 149 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 8:d41f5d7d2aa5 150 float x = accel[0]/16384;//x軸方向の加速度
seangshim 8:d41f5d7d2aa5 151 float y = accel[1]/16384;//y軸方向の加速度
seangshim 8:d41f5d7d2aa5 152 float z = accel[2]/16384;//z軸方向の加速度
seangshim 8:d41f5d7d2aa5 153 printf("accel x:%f y:%f z:%f\r\n",x,y,z);//一応表示しとくやで～～
seangshim 3:c1e0db4832b7 154
seangshim 3:c1e0db4832b7 155
seangshim 8:d41f5d7d2aa5 156 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 157 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 158 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 159 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 160 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 161 }
seangshim 1:10af8aaa5b40 162 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 163 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 164 //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 165 rightrun += 52.5; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 166 printf("test.read else\r\n");
seangshim 2:37d831f82840 167 }
seangshim 2:37d831f82840 168 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 169 flag2 = 1;
seangshim 3:c1e0db4832b7 170 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 171 }
seangshim 2:37d831f82840 172 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 173 flag2 = 0;
seangshim 2:37d831f82840 174 leftrun2 += 52.5;
seangshim 3:c1e0db4832b7 175 printf("test2.read else\r\n");
seangshim 2:37d831f82840 176 }
ShuntaAoji 14:d2f0aef62909 177 printf("%f", leftrun2);
ShuntaAoji 14:d2f0aef62909 178 printf("\t%f\r\n", rightrun);
seangshim 3:c1e0db4832b7 179 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 180 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 181 }
seangshim 0:a01fda36fde8 182
seangshim 1:10af8aaa5b40 183 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 184 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 185 //Do something else here
seangshim 1:10af8aaa5b40 186 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 187 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 188
seangshim 9:fb19a93df88f 189 wait(0.01);
seangshim 0:a01fda36fde8 190
seangshim 3:c1e0db4832b7 191 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 192 {
seangshim 0:a01fda36fde8 193
seangshim 0:a01fda36fde8 194 printf("if success!\r\n");
seangshim 0:a01fda36fde8 195
seangshim 0:a01fda36fde8 196 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 197 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 198 ms2=1.0;
seangshim 0:a01fda36fde8 199
seangshim 12:2f0c841e6078 200 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 201 msj2=1.0;
seangshim 0:a01fda36fde8 202
seangshim 0:a01fda36fde8 203 motor1.stop(0);
seangshim 0:a01fda36fde8 204 motor2.stop(0);
seangshim 1:10af8aaa5b40 205 wait(2);
seangshim 0:a01fda36fde8 206 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 207
seangshim 0:a01fda36fde8 208 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 209 motor2.speed(-msj2);
seangshim 12:2f0c841e6078 210 wait(0.77);
seangshim 0:a01fda36fde8 211 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 212
seangshim 3:c1e0db4832b7 213 motor1.stop(0);
seangshim 3:c1e0db4832b7 214 motor2.stop(0);
seangshim 3:c1e0db4832b7 215 wait(2);
seangshim 3:c1e0db4832b7 216 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 217
seangshim 0:a01fda36fde8 218 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 219 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 220 wait(2);
seangshim 0:a01fda36fde8 221 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 222
seangshim 3:c1e0db4832b7 223 motor1.stop(0);
seangshim 3:c1e0db4832b7 224 motor2.stop(0);
seangshim 3:c1e0db4832b7 225 wait(2);
seangshim 3:c1e0db4832b7 226 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 227
seangshim 0:a01fda36fde8 228 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 229 motor2.speed(msj2);
seangshim 12:2f0c841e6078 230 wait(0.77);
seangshim 0:a01fda36fde8 231 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 232
seangshim 3:c1e0db4832b7 233 motor1.stop(0);
seangshim 3:c1e0db4832b7 234 motor2.stop(0);
seangshim 3:c1e0db4832b7 235 wait(2);
seangshim 3:c1e0db4832b7 236 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 237
seangshim 0:a01fda36fde8 238 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 239 motor2.speed(ms2);
seangshim 12:2f0c841e6078 240 int t=0;
seangshim 12:2f0c841e6078 241 for(t=0;t<10;t++)
seangshim 12:2f0c841e6078 242 {
seangshim 12:2f0c841e6078 243 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 244 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 245 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 246 {
seangshim 1:10af8aaa5b40 247 flag = 1;
seangshim 1:10af8aaa5b40 248 }
seangshim 1:10af8aaa5b40 249 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 250 {
seangshim 1:10af8aaa5b40 251 flag=0;
seangshim 2:37d831f82840 252 rightrun += 52.5;
seangshim 1:10af8aaa5b40 253 }
seangshim 2:37d831f82840 254 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 255 flag2 = 1;
seangshim 2:37d831f82840 256 }
seangshim 2:37d831f82840 257 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 258 flag2 = 0;
seangshim 2:37d831f82840 259 leftrun2 += 52.5;
seangshim 2:37d831f82840 260 }
seangshim 2:37d831f82840 261 printf("%f", rightrun);
seangshim 12:2f0c841e6078 262 printf("\t%f\r\n", leftrun2);
seangshim 12:2f0c841e6078 263 }
seangshim 3:c1e0db4832b7 264 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 265
seangshim 3:c1e0db4832b7 266 motor1.stop(0);
seangshim 3:c1e0db4832b7 267 motor2.stop(0);
seangshim 3:c1e0db4832b7 268 wait(2);
seangshim 3:c1e0db4832b7 269 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 270
seangshim 0:a01fda36fde8 271 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 272 motor2.speed(msj2);
seangshim 12:2f0c841e6078 273 wait(0.77);
seangshim 0:a01fda36fde8 274 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 275
seangshim 3:c1e0db4832b7 276 motor1.stop(0);
seangshim 3:c1e0db4832b7 277 motor2.stop(0);
seangshim 3:c1e0db4832b7 278 wait(2);
seangshim 3:c1e0db4832b7 279 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 280
seangshim 0:a01fda36fde8 281 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 282 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 283 wait(2);
seangshim 0:a01fda36fde8 284 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 285
seangshim 3:c1e0db4832b7 286 motor1.stop(0);
seangshim 3:c1e0db4832b7 287 motor2.stop(0);
seangshim 3:c1e0db4832b7 288 wait(2);
seangshim 3:c1e0db4832b7 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 0:a01fda36fde8 292 motor2.speed(-msj2);
seangshim 12:2f0c841e6078 293 wait(0.77);
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");
394 10:280a25bcc8bb 300
394 10:280a25bcc8bb 301
seangshim 0:a01fda36fde8 302 }
seangshim 0:a01fda36fde8 303 }
seangshim 4:8b52fd631b32 304 motor1.stop(0);
seangshim 4:8b52fd631b32 305 motor2.stop(0);
seangshim 4:8b52fd631b32 306
seangshim 0:a01fda36fde8 307 }
seangshim 1:10af8aaa5b40 308
seangshim 1:10af8aaa5b40 309
seangshim 1:10af8aaa5b40 310
seangshim 1:10af8aaa5b40 311 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 312 {
seangshim 1:10af8aaa5b40 313 float c;
seangshim 1:10af8aaa5b40 314 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 315 return c;
seangshim 1:10af8aaa5b40 316 }
seangshim 1:10af8aaa5b40 317
seangshim 1:10af8aaa5b40 318
seangshim 1:10af8aaa5b40 319
seangshim 1:10af8aaa5b40 320
seangshim 1:10af8aaa5b40 321