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@23:2ca79873ef44, 2018-12-07 (annotated)

Committer:
seangshim
Date:
Fri Dec 07 06:32:14 2018 +0000
Revision:
23:2ca79873ef44
Parent:
20:e78bffff80ee
Child:
27:b4922048ab11
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 23:2ca79873ef44 15 DigitalIn flight(p21); //フライトピン
seangshim 23:2ca79873ef44 16 DigitalOut FET(p22); //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
394 20:e78bffff80ee 44 FET = 0;
seangshim 17:9bc130ebb5ed 45 while(1) {
seangshim 17:9bc130ebb5ed 46 if(flight==1) {
seangshim 17:9bc130ebb5ed 47 wait(10);
seangshim 17:9bc130ebb5ed 48 }
seangshim 17:9bc130ebb5ed 49
seangshim 17:9bc130ebb5ed 50 else{
394 20:e78bffff80ee 51 FET = 0; //FET、ニクロム線切断
seangshim 17:9bc130ebb5ed 52 wait(20);
seangshim 1:10af8aaa5b40 53 FET = 1;
seangshim 17:9bc130ebb5ed 54 wait(12);
seangshim 17:9bc130ebb5ed 55 FET = 0;
seangshim 17:9bc130ebb5ed 56 wait(10);
seangshim 17:9bc130ebb5ed 57 FET = 1;
seangshim 17:9bc130ebb5ed 58 wait(12);
seangshim 17:9bc130ebb5ed 59 FET = 0;
seangshim 17:9bc130ebb5ed 60 break;
seangshim 17:9bc130ebb5ed 61 }
394 20:e78bffff80ee 62 }
seangshim 1:10af8aaa5b40 63
seangshim 0:a01fda36fde8 64 motor1.stop(0);
seangshim 0:a01fda36fde8 65 motor2.stop(0);
seangshim 0:a01fda36fde8 66
seangshim 19:8ad7dcfef11f 67 wait(30); //確認用
seangshim 19:8ad7dcfef11f 68
seangshim 16:44c763c32b0d 69 printf("GPS start\r\n");
seangshim 3:c1e0db4832b7 70 FILE *fp = fopen("/local/gps.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 1:10af8aaa5b40 71 fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 72 int n;
seangshim 1:10af8aaa5b40 73 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 74 {
seangshim 9:fb19a93df88f 75 printf("gps for\r\n");
seangshim 0:a01fda36fde8 76 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 77 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 78
seangshim 0:a01fda36fde8 79 else
seangshim 0:a01fda36fde8 80 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 81
seangshim 0:a01fda36fde8 82 wait(1);
seangshim 1:10af8aaa5b40 83
seangshim 1:10af8aaa5b40 84 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 85
seangshim 0:a01fda36fde8 86 }
seangshim 0:a01fda36fde8 87 fprintf(fp,"GPS finish\r\n");
seangshim 19:8ad7dcfef11f 88 // fclose(fp); // GPSの測定終了
seangshim 9:fb19a93df88f 89
seangshim 9:fb19a93df88f 90
seangshim 6:574d9a6253c7 91
seangshim 9:fb19a93df88f 92
394 10:280a25bcc8bb 93 compass.init(); //地磁気センサー動作
seangshim 16:44c763c32b0d 94
394 10:280a25bcc8bb 95 int i;
394 10:280a25bcc8bb 96 for(i=0;i<20;i++) //地磁気測定
394 10:280a25bcc8bb 97 {
394 10:280a25bcc8bb 98 pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); //度数法で表記
394 10:280a25bcc8bb 99 wait(0.5);
seangshim 16:44c763c32b0d 100 }
394 10:280a25bcc8bb 101 float mc1,mc2;
394 20:e78bffff80ee 102 mc1=1.0;
394 20:e78bffff80ee 103 mc2=1.0;
394 10:280a25bcc8bb 104 //地磁気センサのキャリブレーション
394 10:280a25bcc8bb 105 motor1.speed(mc1); //車体を時計回りに３秒回転
394 10:280a25bcc8bb 106 motor2.speed(-mc2);
394 20:e78bffff80ee 107 wait(3);
394 10:280a25bcc8bb 108
394 10:280a25bcc8bb 109 motor1.stop(0);
394 10:280a25bcc8bb 110 motor2.stop(0);
394 10:280a25bcc8bb 111 wait(1);
394 10:280a25bcc8bb 112
394 10:280a25bcc8bb 113 motor1.speed(-mc1); //車体を反時計回りに３秒回転
394 10:280a25bcc8bb 114 motor2.speed(mc2);
394 20:e78bffff80ee 115 wait(3);
394 10:280a25bcc8bb 116
394 10:280a25bcc8bb 117 motor1.stop(0);
394 10:280a25bcc8bb 118 motor2.stop(0);
394 10:280a25bcc8bb 119 wait(1);
394 10:280a25bcc8bb 120 printf("compass carriblation\r\n"); //キャリブレーション終了
394 10:280a25bcc8bb 121
394 20:e78bffff80ee 122 float mcn1,mcn2;
394 10:280a25bcc8bb 123 double heading;
394 20:e78bffff80ee 124 mcn1=1.0;
394 20:e78bffff80ee 125 mcn2=1.0;
394 10:280a25bcc8bb 126 compass.init();
394 20:e78bffff80ee 127 heading=compass.getHeadingXYDeg();
394 10:280a25bcc8bb 128 if(2.5<heading<=M_PI){
394 20:e78bffff80ee 129 motor1.speed(mcn1);
394 20:e78bffff80ee 130 motor2.speed(-mcn2);
394 20:e78bffff80ee 131 wait(heading*0.01); //角度のずれ*1度回転するのにかかる時間
394 20:e78bffff80ee 132 motor1.stop(0);
394 20:e78bffff80ee 133 motor2.stop(0);
394 10:280a25bcc8bb 134 wait(1);
394 10:280a25bcc8bb 135 }else if(M_PI<heading<357.5){
394 20:e78bffff80ee 136 motor1.speed(-mcn1);
394 20:e78bffff80ee 137 motor2.speed(mcn2);
394 20:e78bffff80ee 138 wait((PI2-heading)*0.01);
394 20:e78bffff80ee 139 motor1.stop(0);
394 20:e78bffff80ee 140 motor2.stop(0);
394 10:280a25bcc8bb 141 wait(1);
394 10:280a25bcc8bb 142 }else{
394 20:e78bffff80ee 143 wait(5);
394 10:280a25bcc8bb 144 }
394 10:280a25bcc8bb 145 printf("searchN\r\n"); //機体が北を向く
seangshim 0:a01fda36fde8 146
seangshim 0:a01fda36fde8 147 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 148 int distance;
seangshim 0:a01fda36fde8 149
seangshim 13:b884f5960fbf 150 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 151 //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 152 //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 153 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 154 float leftrun2;
seangshim 4:8b52fd631b32 155 rightrun=0.0;
seangshim 4:8b52fd631b32 156 leftrun2=0.0;
seangshim 9:fb19a93df88f 157
seangshim 17:9bc130ebb5ed 158 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 159 float lowpassValue = 0;
seangshim 15:75f014c4c8b8 160 float highpassValue = 0;
seangshim 15:75f014c4c8b8 161 float speed = 0;//加速度時から算出した速度
seangshim 15:75f014c4c8b8 162 float oldSpeed = 0;//ひとつ前の速度
seangshim 15:75f014c4c8b8 163 float oldAccel = 0;//ひとつ前の加速度
seangshim 15:75f014c4c8b8 164 float difference=0;//変位
seangshim 17:9bc130ebb5ed 165 float timespan=0.01;//時間差
seangshim 18:2a47ed430cfe 166 int accel[3];//accelを3つの配列で定義。
seangshim 1:10af8aaa5b40 167
seangshim 3:c1e0db4832b7 168 while(1)
seangshim 3:c1e0db4832b7 169 {
seangshim 3:c1e0db4832b7 170 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 171 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 172
seangshim 8:d41f5d7d2aa5 173 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 174 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 175 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 176 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 177 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 178 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 179 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 180 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 18:2a47ed430cfe 181 if (a>0){
seangshim 18:2a47ed430cfe 182 a = sqrt(a);
seangshim 18:2a47ed430cfe 183 }
seangshim 18:2a47ed430cfe 184 if (a<0) {
seangshim 18:2a47ed430cfe 185 a = abs(a);
seangshim 18:2a47ed430cfe 186 a = -sqrt(a);
seangshim 18:2a47ed430cfe 187 }
seangshim 19:8ad7dcfef11f 188 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 15:75f014c4c8b8 189 // 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 190 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 191 // 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 192 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 193
seangshim 15:75f014c4c8b8 194 // 速度計算(加速度を台形積分する)
seangshim 15:75f014c4c8b8 195 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 15:75f014c4c8b8 196 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 197
seangshim 15:75f014c4c8b8 198 // 変位計算(速度を台形積分する)
seangshim 15:75f014c4c8b8 199 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 15:75f014c4c8b8 200 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 201
seangshim 17:9bc130ebb5ed 202 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 19:8ad7dcfef11f 203 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示
seangshim 3:c1e0db4832b7 204
seangshim 8:d41f5d7d2aa5 205 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 206 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 207 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 208 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 209 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 210 }
seangshim 1:10af8aaa5b40 211 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 212 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 213 //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 214 rightrun += 54.95; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 215 printf("test.read else\r\n");
seangshim 2:37d831f82840 216 }
seangshim 2:37d831f82840 217 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 218 flag2 = 1;
seangshim 3:c1e0db4832b7 219 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 220 }
seangshim 2:37d831f82840 221 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 222 flag2 = 0;
seangshim 15:75f014c4c8b8 223 leftrun2 += 54.95;
seangshim 3:c1e0db4832b7 224 printf("test2.read else\r\n");
seangshim 2:37d831f82840 225 }
seangshim 2:37d831f82840 226 printf("%f", rightrun);
seangshim 2:37d831f82840 227 printf("\t%f\r\n", leftrun2);
seangshim 15:75f014c4c8b8 228 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 229 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 230 }
seangshim 0:a01fda36fde8 231
seangshim 19:8ad7dcfef11f 232 if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 233 {
seangshim 19:8ad7dcfef11f 234 break;
seangshim 19:8ad7dcfef11f 235 }
seangshim 19:8ad7dcfef11f 236
seangshim 1:10af8aaa5b40 237 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 238 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 239 //Do something else here
seangshim 1:10af8aaa5b40 240 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 241 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 242
seangshim 9:fb19a93df88f 243 wait(0.01);
seangshim 0:a01fda36fde8 244
seangshim 3:c1e0db4832b7 245 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 246 {
seangshim 0:a01fda36fde8 247
seangshim 0:a01fda36fde8 248 printf("if success!\r\n");
seangshim 0:a01fda36fde8 249
seangshim 0:a01fda36fde8 250 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 251 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 252 ms2=1.0;
seangshim 0:a01fda36fde8 253
seangshim 12:2f0c841e6078 254 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 255 msj2=1.0;
seangshim 0:a01fda36fde8 256
seangshim 0:a01fda36fde8 257 motor1.stop(0);
seangshim 0:a01fda36fde8 258 motor2.stop(0);
seangshim 1:10af8aaa5b40 259 wait(2);
seangshim 0:a01fda36fde8 260 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 261
seangshim 0:a01fda36fde8 262 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 263 motor2.speed(-msj2);
seangshim 12:2f0c841e6078 264 wait(0.77);
seangshim 0:a01fda36fde8 265 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 266
seangshim 3:c1e0db4832b7 267 motor1.stop(0);
seangshim 3:c1e0db4832b7 268 motor2.stop(0);
seangshim 3:c1e0db4832b7 269 wait(2);
seangshim 3:c1e0db4832b7 270 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 271
seangshim 0:a01fda36fde8 272 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 273 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 274 wait(2);
seangshim 0:a01fda36fde8 275 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 276
seangshim 3:c1e0db4832b7 277 motor1.stop(0);
seangshim 3:c1e0db4832b7 278 motor2.stop(0);
seangshim 3:c1e0db4832b7 279 wait(2);
seangshim 3:c1e0db4832b7 280 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 281
seangshim 0:a01fda36fde8 282 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 283 motor2.speed(msj2);
seangshim 12:2f0c841e6078 284 wait(0.77);
seangshim 0:a01fda36fde8 285 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 286
seangshim 3:c1e0db4832b7 287 motor1.stop(0);
seangshim 3:c1e0db4832b7 288 motor2.stop(0);
seangshim 3:c1e0db4832b7 289 wait(2);
seangshim 3:c1e0db4832b7 290 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 291
seangshim 0:a01fda36fde8 292 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 293 motor2.speed(ms2);
seangshim 16:44c763c32b0d 294
seangshim 16:44c763c32b0d 295
seangshim 12:2f0c841e6078 296 int t=0;
seangshim 13:b884f5960fbf 297 for(t=0;t<100;t++)
seangshim 12:2f0c841e6078 298 {
seangshim 12:2f0c841e6078 299 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 300 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 301 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 302 {
seangshim 1:10af8aaa5b40 303 flag = 1;
seangshim 1:10af8aaa5b40 304 }
seangshim 1:10af8aaa5b40 305 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 306 {
seangshim 1:10af8aaa5b40 307 flag=0;
seangshim 2:37d831f82840 308 rightrun += 52.5;
seangshim 1:10af8aaa5b40 309 }
seangshim 2:37d831f82840 310 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 311 flag2 = 1;
seangshim 2:37d831f82840 312 }
seangshim 2:37d831f82840 313 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 314 flag2 = 0;
seangshim 2:37d831f82840 315 leftrun2 += 52.5;
seangshim 2:37d831f82840 316 }
seangshim 2:37d831f82840 317 printf("%f", rightrun);
seangshim 12:2f0c841e6078 318 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 319
seangshim 16:44c763c32b0d 320
seangshim 16:44c763c32b0d 321
seangshim 16:44c763c32b0d 322 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 323 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 324 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 325 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 326 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 327 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 328 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 329 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 19:8ad7dcfef11f 330 if (a>0){
seangshim 19:8ad7dcfef11f 331 a = sqrt(a);
seangshim 19:8ad7dcfef11f 332 }
seangshim 19:8ad7dcfef11f 333 if (a<0) {
seangshim 19:8ad7dcfef11f 334 a = abs(a);
seangshim 19:8ad7dcfef11f 335 a = -sqrt(a);
seangshim 19:8ad7dcfef11f 336 }
seangshim 19:8ad7dcfef11f 337 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 16:44c763c32b0d 338 // 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 339 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 340 // 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 341 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 342
seangshim 16:44c763c32b0d 343 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 344 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 345 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 346
seangshim 16:44c763c32b0d 347 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 348 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 349 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 350
seangshim 17:9bc130ebb5ed 351 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 19:8ad7dcfef11f 352 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示
seangshim 16:44c763c32b0d 353
seangshim 17:9bc130ebb5ed 354 wait(0.01);
seangshim 16:44c763c32b0d 355 }
seangshim 16:44c763c32b0d 356
seangshim 16:44c763c32b0d 357
seangshim 16:44c763c32b0d 358
seangshim 3:c1e0db4832b7 359 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 360
seangshim 3:c1e0db4832b7 361 motor1.stop(0);
seangshim 3:c1e0db4832b7 362 motor2.stop(0);
seangshim 3:c1e0db4832b7 363 wait(2);
seangshim 3:c1e0db4832b7 364 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 365
seangshim 0:a01fda36fde8 366 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 367 motor2.speed(msj2);
seangshim 15:75f014c4c8b8 368 wait(1);
seangshim 0:a01fda36fde8 369 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 370
seangshim 3:c1e0db4832b7 371 motor1.stop(0);
seangshim 3:c1e0db4832b7 372 motor2.stop(0);
seangshim 3:c1e0db4832b7 373 wait(2);
seangshim 3:c1e0db4832b7 374 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 375
seangshim 0:a01fda36fde8 376 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 377 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 378 wait(2);
seangshim 0:a01fda36fde8 379 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 380
seangshim 3:c1e0db4832b7 381 motor1.stop(0);
seangshim 3:c1e0db4832b7 382 motor2.stop(0);
seangshim 3:c1e0db4832b7 383 wait(2);
seangshim 3:c1e0db4832b7 384 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 385
seangshim 0:a01fda36fde8 386 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 387 motor2.speed(-msj2);
seangshim 15:75f014c4c8b8 388 wait(1);
seangshim 0:a01fda36fde8 389 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 390
seangshim 3:c1e0db4832b7 391 motor1.stop(0);
seangshim 3:c1e0db4832b7 392 motor2.stop(0);
seangshim 3:c1e0db4832b7 393 wait(2);
seangshim 3:c1e0db4832b7 394 printf("mortor stop\r\n");
394 10:280a25bcc8bb 395
394 10:280a25bcc8bb 396
seangshim 0:a01fda36fde8 397 }
seangshim 0:a01fda36fde8 398 }
seangshim 4:8b52fd631b32 399 motor1.stop(0);
seangshim 4:8b52fd631b32 400 motor2.stop(0);
seangshim 19:8ad7dcfef11f 401
seangshim 19:8ad7dcfef11f 402
seangshim 19:8ad7dcfef11f 403 fprintf(fp, "last accel.photo\r\n");
seangshim 19:8ad7dcfef11f 404 fprintf(fp,"(%lf, %lf)\r\n", difference, rightrun);//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 19:8ad7dcfef11f 405 fclose(fp);
seangshim 19:8ad7dcfef11f 406
seangshim 0:a01fda36fde8 407 }
seangshim 1:10af8aaa5b40 408
seangshim 1:10af8aaa5b40 409
seangshim 1:10af8aaa5b40 410
seangshim 1:10af8aaa5b40 411 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 412 {
seangshim 1:10af8aaa5b40 413 float c;
seangshim 1:10af8aaa5b40 414 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 415 return c;
seangshim 1:10af8aaa5b40 416 }
seangshim 1:10af8aaa5b40 417
seangshim 1:10af8aaa5b40 418
seangshim 1:10af8aaa5b40 419
seangshim 1:10af8aaa5b40 420
seangshim 1:10af8aaa5b40 421