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@31:1ee80995740a, 2018-12-12 (annotated)

Committer:
394
Date:
Wed Dec 12 08:39:06 2018 +0000
Revision:
31:1ee80995740a
Parent:
30:3bcf14e8dd63
Child:
32:c522d463c4fa
12/12; 17:39

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 16:44c763c32b0d 82 printf("GPS start\r\n");
seangshim 27:b4922048ab11 83 FILE *fp = fopen("/local/gps,foto.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 1:10af8aaa5b40 84 fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 85 int n;
seangshim 1:10af8aaa5b40 86 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 87 {
seangshim 9:fb19a93df88f 88 printf("gps for\r\n");
seangshim 0:a01fda36fde8 89 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 90 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 91
seangshim 0:a01fda36fde8 92 else
seangshim 0:a01fda36fde8 93 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 94
seangshim 0:a01fda36fde8 95 wait(1);
seangshim 1:10af8aaa5b40 96
seangshim 1:10af8aaa5b40 97 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 98
seangshim 0:a01fda36fde8 99 }
seangshim 27:b4922048ab11 100 fprintf(fp,"GPS finish\r\n");
seangshim 19:8ad7dcfef11f 101 // fclose(fp); // GPSの測定終了
seangshim 28:5e21ce413558 102
seangshim 28:5e21ce413558 103 motorSpeed.period_ms(2); //モーター調節
seangshim 28:5e21ce413558 104 motorSpeed = 0.9;
seangshim 28:5e21ce413558 105
seangshim 9:fb19a93df88f 106
394 10:280a25bcc8bb 107 compass.init(); //地磁気センサー動作
seangshim 16:44c763c32b0d 108
394 10:280a25bcc8bb 109 int i;
394 10:280a25bcc8bb 110 for(i=0;i<20;i++) //地磁気測定
394 10:280a25bcc8bb 111 {
394 10:280a25bcc8bb 112 pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); //度数法で表記
seangshim 29:05b390de92ed 113 fprintf(fp,"raw=\r\n");
seangshim 29:05b390de92ed 114 fprintf(fp,"%lf\r\n",compass.getHeadingXYDeg());
394 10:280a25bcc8bb 115 wait(0.5);
seangshim 16:44c763c32b0d 116 }
394 10:280a25bcc8bb 117 float mc1,mc2;
394 20:e78bffff80ee 118 mc1=1.0;
394 20:e78bffff80ee 119 mc2=1.0;
394 10:280a25bcc8bb 120 //地磁気センサのキャリブレーション
394 10:280a25bcc8bb 121 motor1.speed(mc1); //車体を時計回りに３秒回転
seangshim 28:5e21ce413558 122 motorReverse();
394 30:3bcf14e8dd63 123 wait(1.6);
394 10:280a25bcc8bb 124
394 10:280a25bcc8bb 125 motor1.stop(0);
394 10:280a25bcc8bb 126 motor2.stop(0);
394 10:280a25bcc8bb 127 wait(1);
394 10:280a25bcc8bb 128
seangshim 28:5e21ce413558 129 motor1.speed(-mc1); //車体を反時計回りに３秒回
seangshim 28:5e21ce413558 130 motorForward();
394 30:3bcf14e8dd63 131 wait(1.6);
394 10:280a25bcc8bb 132
394 10:280a25bcc8bb 133 motor1.stop(0);
394 10:280a25bcc8bb 134 motor2.stop(0);
394 10:280a25bcc8bb 135 wait(1);
394 10:280a25bcc8bb 136 printf("compass carriblation\r\n"); //キャリブレーション終了
394 10:280a25bcc8bb 137
394 20:e78bffff80ee 138 float mcn1,mcn2;
394 10:280a25bcc8bb 139 double heading;
394 20:e78bffff80ee 140 mcn1=1.0;
394 20:e78bffff80ee 141 mcn2=1.0;
394 10:280a25bcc8bb 142 compass.init();
394 20:e78bffff80ee 143 heading=compass.getHeadingXYDeg();
394 30:3bcf14e8dd63 144 if(90<heading<267.5){
394 30:3bcf14e8dd63 145 motor1.speed(mcn1);//右回転
seangshim 28:5e21ce413558 146 motorReverse();
394 30:3bcf14e8dd63 147 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 148 motor1.stop(0);
394 20:e78bffff80ee 149 motor2.stop(0);
394 10:280a25bcc8bb 150 wait(1);
394 30:3bcf14e8dd63 151 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 152 motor1.speed(-mcn1);//左回転
seangshim 28:5e21ce413558 153 motorForward();
394 30:3bcf14e8dd63 154 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 155 motor1.stop(0);
394 30:3bcf14e8dd63 156 motor2.stop(0);
394 30:3bcf14e8dd63 157 wait(1);
394 30:3bcf14e8dd63 158 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 159 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 160 motorForward();
394 30:3bcf14e8dd63 161 wait((heading-270)*0.004448);
394 20:e78bffff80ee 162 motor1.stop(0);
394 20:e78bffff80ee 163 motor2.stop(0);
394 10:280a25bcc8bb 164 wait(1);
394 10:280a25bcc8bb 165 }else{
394 20:e78bffff80ee 166 wait(5);
394 10:280a25bcc8bb 167 }
394 10:280a25bcc8bb 168 printf("searchN\r\n"); //機体が北を向く
seangshim 0:a01fda36fde8 169
seangshim 0:a01fda36fde8 170 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 171 int distance;
seangshim 0:a01fda36fde8 172
seangshim 13:b884f5960fbf 173 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 174 //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 175 //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 176 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 177 float leftrun2;
seangshim 4:8b52fd631b32 178 rightrun=0.0;
seangshim 4:8b52fd631b32 179 leftrun2=0.0;
seangshim 9:fb19a93df88f 180
seangshim 17:9bc130ebb5ed 181 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 182 float lowpassValue = 0;
seangshim 15:75f014c4c8b8 183 float highpassValue = 0;
seangshim 15:75f014c4c8b8 184 float speed = 0;//加速度時から算出した速度
seangshim 15:75f014c4c8b8 185 float oldSpeed = 0;//ひとつ前の速度
seangshim 15:75f014c4c8b8 186 float oldAccel = 0;//ひとつ前の加速度
seangshim 15:75f014c4c8b8 187 float difference=0;//変位
seangshim 17:9bc130ebb5ed 188 float timespan=0.01;//時間差
seangshim 27:b4922048ab11 189 int accel[3];//accelを3つの配列で定義。*/
seangshim 27:b4922048ab11 190
seangshim 27:b4922048ab11 191 int tt=0;
seangshim 27:b4922048ab11 192 float run=0;
seangshim 1:10af8aaa5b40 193
seangshim 3:c1e0db4832b7 194 while(1)
seangshim 3:c1e0db4832b7 195 {
seangshim 3:c1e0db4832b7 196 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 197 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 198
seangshim 8:d41f5d7d2aa5 199 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 200 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 201 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 202 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 203 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 204 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 205 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 206 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 18:2a47ed430cfe 207 if (a>0){
seangshim 18:2a47ed430cfe 208 a = sqrt(a);
seangshim 18:2a47ed430cfe 209 }
seangshim 18:2a47ed430cfe 210 if (a<0) {
seangshim 18:2a47ed430cfe 211 a = abs(a);
seangshim 18:2a47ed430cfe 212 a = -sqrt(a);
seangshim 18:2a47ed430cfe 213 }
seangshim 19:8ad7dcfef11f 214 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 15:75f014c4c8b8 215 // 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 216 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 217 // 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 218 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 219
seangshim 15:75f014c4c8b8 220 // 速度計算(加速度を台形積分する)
seangshim 15:75f014c4c8b8 221 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 15:75f014c4c8b8 222 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 223
seangshim 15:75f014c4c8b8 224 // 変位計算(速度を台形積分する)
seangshim 15:75f014c4c8b8 225 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 15:75f014c4c8b8 226 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 227
seangshim 17:9bc130ebb5ed 228 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 229 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 3:c1e0db4832b7 230
seangshim 8:d41f5d7d2aa5 231 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 232 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 233 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 234 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 235 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 236 }
seangshim 1:10af8aaa5b40 237 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 238 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 239 //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 240 rightrun += 54.95; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 241 printf("test.read else\r\n");
seangshim 2:37d831f82840 242 }
seangshim 2:37d831f82840 243 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 244 flag2 = 1;
seangshim 3:c1e0db4832b7 245 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 246 }
seangshim 2:37d831f82840 247 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 248 flag2 = 0;
seangshim 15:75f014c4c8b8 249 leftrun2 += 54.95;
seangshim 3:c1e0db4832b7 250 printf("test2.read else\r\n");
seangshim 2:37d831f82840 251 }
seangshim 2:37d831f82840 252 printf("%f", rightrun);
seangshim 2:37d831f82840 253 printf("\t%f\r\n", leftrun2);
seangshim 27:b4922048ab11 254 run=culculate_distance_3(rightrun,leftrun2);
394 30:3bcf14e8dd63 255 if (2000<run<2100){ //半分くらい進んだら方位を計測し直す
394 31:1ee80995740a 256 motor1.stop(0);
394 31:1ee80995740a 257 motor2.stop(0);
394 31:1ee80995740a 258 wait(1);
394 30:3bcf14e8dd63 259 if(90<heading<267.5){
394 30:3bcf14e8dd63 260 motor1.speed(mcn1);//右回転
394 30:3bcf14e8dd63 261 motorReverse();
394 30:3bcf14e8dd63 262 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 263 motor1.stop(0);
394 30:3bcf14e8dd63 264 motor2.stop(0);
394 30:3bcf14e8dd63 265 wait(1);
394 30:3bcf14e8dd63 266 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 267 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 268 motorForward();
394 30:3bcf14e8dd63 269 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 270 motor1.stop(0);
394 30:3bcf14e8dd63 271 motor2.stop(0);
394 30:3bcf14e8dd63 272 wait(1);
394 30:3bcf14e8dd63 273 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 274 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 275 motorForward();
394 30:3bcf14e8dd63 276 wait((heading-270)*0.004448);
394 30:3bcf14e8dd63 277 motor1.stop(0);
394 30:3bcf14e8dd63 278 motor2.stop(0);
394 30:3bcf14e8dd63 279 wait(1);
394 30:3bcf14e8dd63 280 }else{
394 30:3bcf14e8dd63 281 wait(5);
394 30:3bcf14e8dd63 282 }
394 30:3bcf14e8dd63 283 printf("searchN\r\n"); //機体が北を向く
394 30:3bcf14e8dd63 284 }
394 30:3bcf14e8dd63 285 else if (run >= 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 286 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 287 }
seangshim 0:a01fda36fde8 288
seangshim 27:b4922048ab11 289 /* if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 290 {
seangshim 19:8ad7dcfef11f 291 break;
seangshim 27:b4922048ab11 292 } */
seangshim 19:8ad7dcfef11f 293
seangshim 1:10af8aaa5b40 294 motor1.speed(0.5); //通常走行
seangshim 27:b4922048ab11 295 motorForward();
seangshim 1:10af8aaa5b40 296 //Do something else here
seangshim 1:10af8aaa5b40 297 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 298 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 299
seangshim 9:fb19a93df88f 300 wait(0.01);
seangshim 0:a01fda36fde8 301
seangshim 27:b4922048ab11 302 tt++;
seangshim 29:05b390de92ed 303 if(tt == 10)
seangshim 27:b4922048ab11 304 {
seangshim 27:b4922048ab11 305 fprintf(fp, "accel.rightrun.leftrun2\r\n");
seangshim 27:b4922048ab11 306
seangshim 27:b4922048ab11 307 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 308 tt=0;
seangshim 27:b4922048ab11 309 }
seangshim 27:b4922048ab11 310
seangshim 3:c1e0db4832b7 311 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 312 {
seangshim 0:a01fda36fde8 313
seangshim 0:a01fda36fde8 314 printf("if success!\r\n");
seangshim 0:a01fda36fde8 315
seangshim 0:a01fda36fde8 316 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 317 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 318 ms2=1.0;
seangshim 0:a01fda36fde8 319
seangshim 12:2f0c841e6078 320 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 321 msj2=1.0;
seangshim 0:a01fda36fde8 322
seangshim 0:a01fda36fde8 323 motor1.stop(0);
seangshim 0:a01fda36fde8 324 motor2.stop(0);
seangshim 1:10af8aaa5b40 325 wait(2);
seangshim 0:a01fda36fde8 326 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 327
seangshim 0:a01fda36fde8 328 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 329 motorReverse();
394 30:3bcf14e8dd63 330 wait(0.4);
seangshim 0:a01fda36fde8 331 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 332
seangshim 3:c1e0db4832b7 333 motor1.stop(0);
seangshim 3:c1e0db4832b7 334 motor2.stop(0);
seangshim 3:c1e0db4832b7 335 wait(2);
seangshim 3:c1e0db4832b7 336 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 337
seangshim 0:a01fda36fde8 338 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 339 motorForward();
seangshim 1:10af8aaa5b40 340 wait(2);
seangshim 0:a01fda36fde8 341 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 342
seangshim 3:c1e0db4832b7 343 motor1.stop(0);
seangshim 3:c1e0db4832b7 344 motor2.stop(0);
seangshim 3:c1e0db4832b7 345 wait(2);
seangshim 3:c1e0db4832b7 346 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 347
seangshim 0:a01fda36fde8 348 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 349 motorForward();
394 30:3bcf14e8dd63 350 wait(0.4);
seangshim 0:a01fda36fde8 351 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 352
seangshim 3:c1e0db4832b7 353 motor1.stop(0);
seangshim 3:c1e0db4832b7 354 motor2.stop(0);
seangshim 3:c1e0db4832b7 355 wait(2);
seangshim 3:c1e0db4832b7 356 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 357
seangshim 0:a01fda36fde8 358 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 359 motorForward();
seangshim 16:44c763c32b0d 360
seangshim 16:44c763c32b0d 361
seangshim 12:2f0c841e6078 362 int t=0;
seangshim 27:b4922048ab11 363 for(t=0;t<50;t++)
seangshim 12:2f0c841e6078 364 {
seangshim 12:2f0c841e6078 365 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 366 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 367 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 368 {
seangshim 1:10af8aaa5b40 369 flag = 1;
seangshim 1:10af8aaa5b40 370 }
seangshim 1:10af8aaa5b40 371 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 372 {
seangshim 1:10af8aaa5b40 373 flag=0;
seangshim 2:37d831f82840 374 rightrun += 52.5;
seangshim 1:10af8aaa5b40 375 }
seangshim 2:37d831f82840 376 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 377 flag2 = 1;
seangshim 2:37d831f82840 378 }
seangshim 2:37d831f82840 379 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 380 flag2 = 0;
seangshim 2:37d831f82840 381 leftrun2 += 52.5;
seangshim 2:37d831f82840 382 }
seangshim 2:37d831f82840 383 printf("%f", rightrun);
seangshim 12:2f0c841e6078 384 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 385
seangshim 16:44c763c32b0d 386
seangshim 16:44c763c32b0d 387
seangshim 16:44c763c32b0d 388 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 389 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 390 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 391 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 392 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 393 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 394 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 395 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 19:8ad7dcfef11f 396 if (a>0){
seangshim 19:8ad7dcfef11f 397 a = sqrt(a);
seangshim 19:8ad7dcfef11f 398 }
seangshim 19:8ad7dcfef11f 399 if (a<0) {
seangshim 19:8ad7dcfef11f 400 a = abs(a);
seangshim 19:8ad7dcfef11f 401 a = -sqrt(a);
seangshim 19:8ad7dcfef11f 402 }
seangshim 19:8ad7dcfef11f 403 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 16:44c763c32b0d 404 // 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 405 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 406 // 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 407 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 408
seangshim 16:44c763c32b0d 409 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 410 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 411 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 412
seangshim 16:44c763c32b0d 413 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 414 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 415 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 416
seangshim 17:9bc130ebb5ed 417 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 418 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 27:b4922048ab11 419
seangshim 27:b4922048ab11 420 if (run >= 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 27:b4922048ab11 421 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 422 }
seangshim 16:44c763c32b0d 423
seangshim 17:9bc130ebb5ed 424 wait(0.01);
seangshim 27:b4922048ab11 425
seangshim 16:44c763c32b0d 426 }
seangshim 16:44c763c32b0d 427
seangshim 16:44c763c32b0d 428
seangshim 16:44c763c32b0d 429
seangshim 3:c1e0db4832b7 430 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 431
seangshim 3:c1e0db4832b7 432 motor1.stop(0);
seangshim 3:c1e0db4832b7 433 motor2.stop(0);
seangshim 3:c1e0db4832b7 434 wait(2);
seangshim 3:c1e0db4832b7 435 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 436
seangshim 0:a01fda36fde8 437 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 438 motorForward();
seangshim 29:05b390de92ed 439 wait(0.57);
seangshim 0:a01fda36fde8 440 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 441
seangshim 3:c1e0db4832b7 442 motor1.stop(0);
seangshim 3:c1e0db4832b7 443 motor2.stop(0);
seangshim 3:c1e0db4832b7 444 wait(2);
seangshim 3:c1e0db4832b7 445 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 446
seangshim 0:a01fda36fde8 447 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 448 motorForward();
seangshim 1:10af8aaa5b40 449 wait(2);
seangshim 0:a01fda36fde8 450 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 451
seangshim 3:c1e0db4832b7 452 motor1.stop(0);
seangshim 3:c1e0db4832b7 453 motor2.stop(0);
seangshim 3:c1e0db4832b7 454 wait(2);
seangshim 3:c1e0db4832b7 455 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 456
seangshim 0:a01fda36fde8 457 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 458 motorReverse();
seangshim 29:05b390de92ed 459 wait(0.57);
seangshim 0:a01fda36fde8 460 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 461
seangshim 3:c1e0db4832b7 462 motor1.stop(0);
seangshim 3:c1e0db4832b7 463 motor2.stop(0);
seangshim 3:c1e0db4832b7 464 wait(2);
seangshim 3:c1e0db4832b7 465 printf("mortor stop\r\n");
394 10:280a25bcc8bb 466
394 30:3bcf14e8dd63 467 if(90<heading<267.5){
394 30:3bcf14e8dd63 468 motor1.speed(mcn1);//右回転
394 30:3bcf14e8dd63 469 motorReverse();
394 30:3bcf14e8dd63 470 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 471 motor1.stop(0);
394 30:3bcf14e8dd63 472 motor2.stop(0);
394 30:3bcf14e8dd63 473 wait(1);
394 30:3bcf14e8dd63 474 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 475 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 476 motorForward();
394 30:3bcf14e8dd63 477 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 478 motor1.stop(0);
394 30:3bcf14e8dd63 479 motor2.stop(0);
394 30:3bcf14e8dd63 480 wait(1);
394 30:3bcf14e8dd63 481 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 482 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 483 motorForward();
394 30:3bcf14e8dd63 484 wait((heading-270)*0.004448);
394 30:3bcf14e8dd63 485 motor1.stop(0);
394 30:3bcf14e8dd63 486 motor2.stop(0);
394 30:3bcf14e8dd63 487 wait(1);
394 30:3bcf14e8dd63 488 }else{
394 30:3bcf14e8dd63 489 wait(5);
394 30:3bcf14e8dd63 490 }
394 30:3bcf14e8dd63 491 printf("searchN\r\n"); //機体が北を向く
394 10:280a25bcc8bb 492
seangshim 0:a01fda36fde8 493 }
seangshim 0:a01fda36fde8 494 }
seangshim 4:8b52fd631b32 495 motor1.stop(0);
seangshim 4:8b52fd631b32 496 motor2.stop(0);
seangshim 19:8ad7dcfef11f 497
seangshim 19:8ad7dcfef11f 498
seangshim 19:8ad7dcfef11f 499 fprintf(fp, "last accel.photo\r\n");
seangshim 27:b4922048ab11 500 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 501 fprintf(fp, "last right.left\r\n");
seangshim 27:b4922048ab11 502 fprintf(fp,"(%lf, %lf)\r\n", rightrun, leftrun2);
seangshim 19:8ad7dcfef11f 503 fclose(fp);
seangshim 19:8ad7dcfef11f 504
seangshim 0:a01fda36fde8 505 }
seangshim 1:10af8aaa5b40 506
seangshim 1:10af8aaa5b40 507
seangshim 1:10af8aaa5b40 508
seangshim 1:10af8aaa5b40 509 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 510 {
seangshim 1:10af8aaa5b40 511 float c;
seangshim 1:10af8aaa5b40 512 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 513 return c;
seangshim 1:10af8aaa5b40 514 }
seangshim 27:b4922048ab11 515 void motorForward() {
seangshim 27:b4922048ab11 516 motorStop();
seangshim 27:b4922048ab11 517 motorDir1 = 1;
seangshim 27:b4922048ab11 518 motorDir2 = 0;
seangshim 27:b4922048ab11 519 }
seangshim 27:b4922048ab11 520
seangshim 27:b4922048ab11 521 void motorReverse() {
seangshim 27:b4922048ab11 522 motorStop();
seangshim 27:b4922048ab11 523 motorDir1 = 0;
seangshim 27:b4922048ab11 524 motorDir2 = 1;
seangshim 27:b4922048ab11 525 }
seangshim 27:b4922048ab11 526
seangshim 27:b4922048ab11 527 void motorStop() {
seangshim 27:b4922048ab11 528 motorDir1 = 0;
seangshim 27:b4922048ab11 529 motorDir2 = 0;
seangshim 27:b4922048ab11 530 }
seangshim 1:10af8aaa5b40 531
seangshim 1:10af8aaa5b40 532
seangshim 1:10af8aaa5b40 533
seangshim 1:10af8aaa5b40 534