cansat-d_2018 / Mbed 2 deprecated cansat_main_new_3

otamesi

Dependencies:   mbed

main.cpp@30:3bcf14e8dd63, 2018-12-12 (annotated)

Committer:
394
Date:
Wed Dec 12 08:29:05 2018 +0000
Revision:
30:3bcf14e8dd63
Parent:
29:05b390de92ed
Child:
31:1ee80995740a
12/12; 17:29

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 30:3bcf14e8dd63 256 if(90<heading<267.5){
394 30:3bcf14e8dd63 257 motor1.speed(mcn1);//右回転
394 30:3bcf14e8dd63 258 motorReverse();
394 30:3bcf14e8dd63 259 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 260 motor1.stop(0);
394 30:3bcf14e8dd63 261 motor2.stop(0);
394 30:3bcf14e8dd63 262 wait(1);
394 30:3bcf14e8dd63 263 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 264 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 265 motorForward();
394 30:3bcf14e8dd63 266 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 267 motor1.stop(0);
394 30:3bcf14e8dd63 268 motor2.stop(0);
394 30:3bcf14e8dd63 269 wait(1);
394 30:3bcf14e8dd63 270 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 271 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 272 motorForward();
394 30:3bcf14e8dd63 273 wait((heading-270)*0.004448);
394 30:3bcf14e8dd63 274 motor1.stop(0);
394 30:3bcf14e8dd63 275 motor2.stop(0);
394 30:3bcf14e8dd63 276 wait(1);
394 30:3bcf14e8dd63 277 }else{
394 30:3bcf14e8dd63 278 wait(5);
394 30:3bcf14e8dd63 279 }
394 30:3bcf14e8dd63 280 printf("searchN\r\n"); //機体が北を向く
394 30:3bcf14e8dd63 281 }
394 30:3bcf14e8dd63 282 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 283 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 284 }
seangshim 0:a01fda36fde8 285
seangshim 27:b4922048ab11 286 /* if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 287 {
seangshim 19:8ad7dcfef11f 288 break;
seangshim 27:b4922048ab11 289 } */
seangshim 19:8ad7dcfef11f 290
seangshim 1:10af8aaa5b40 291 motor1.speed(0.5); //通常走行
seangshim 27:b4922048ab11 292 motorForward();
seangshim 1:10af8aaa5b40 293 //Do something else here
seangshim 1:10af8aaa5b40 294 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 295 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 296
seangshim 9:fb19a93df88f 297 wait(0.01);
seangshim 0:a01fda36fde8 298
seangshim 27:b4922048ab11 299 tt++;
seangshim 29:05b390de92ed 300 if(tt == 10)
seangshim 27:b4922048ab11 301 {
seangshim 27:b4922048ab11 302 fprintf(fp, "accel.rightrun.leftrun2\r\n");
seangshim 27:b4922048ab11 303
seangshim 27:b4922048ab11 304 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 305 tt=0;
seangshim 27:b4922048ab11 306 }
seangshim 27:b4922048ab11 307
seangshim 3:c1e0db4832b7 308 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 309 {
seangshim 0:a01fda36fde8 310
seangshim 0:a01fda36fde8 311 printf("if success!\r\n");
seangshim 0:a01fda36fde8 312
seangshim 0:a01fda36fde8 313 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 314 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 315 ms2=1.0;
seangshim 0:a01fda36fde8 316
seangshim 12:2f0c841e6078 317 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 318 msj2=1.0;
seangshim 0:a01fda36fde8 319
seangshim 0:a01fda36fde8 320 motor1.stop(0);
seangshim 0:a01fda36fde8 321 motor2.stop(0);
seangshim 1:10af8aaa5b40 322 wait(2);
seangshim 0:a01fda36fde8 323 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 324
seangshim 0:a01fda36fde8 325 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 326 motorReverse();
394 30:3bcf14e8dd63 327 wait(0.4);
seangshim 0:a01fda36fde8 328 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 329
seangshim 3:c1e0db4832b7 330 motor1.stop(0);
seangshim 3:c1e0db4832b7 331 motor2.stop(0);
seangshim 3:c1e0db4832b7 332 wait(2);
seangshim 3:c1e0db4832b7 333 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 334
seangshim 0:a01fda36fde8 335 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 336 motorForward();
seangshim 1:10af8aaa5b40 337 wait(2);
seangshim 0:a01fda36fde8 338 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 339
seangshim 3:c1e0db4832b7 340 motor1.stop(0);
seangshim 3:c1e0db4832b7 341 motor2.stop(0);
seangshim 3:c1e0db4832b7 342 wait(2);
seangshim 3:c1e0db4832b7 343 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 344
seangshim 0:a01fda36fde8 345 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 346 motorForward();
394 30:3bcf14e8dd63 347 wait(0.4);
seangshim 0:a01fda36fde8 348 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 349
seangshim 3:c1e0db4832b7 350 motor1.stop(0);
seangshim 3:c1e0db4832b7 351 motor2.stop(0);
seangshim 3:c1e0db4832b7 352 wait(2);
seangshim 3:c1e0db4832b7 353 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 354
seangshim 0:a01fda36fde8 355 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 356 motorForward();
seangshim 16:44c763c32b0d 357
seangshim 16:44c763c32b0d 358
seangshim 12:2f0c841e6078 359 int t=0;
seangshim 27:b4922048ab11 360 for(t=0;t<50;t++)
seangshim 12:2f0c841e6078 361 {
seangshim 12:2f0c841e6078 362 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 363 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 364 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 365 {
seangshim 1:10af8aaa5b40 366 flag = 1;
seangshim 1:10af8aaa5b40 367 }
seangshim 1:10af8aaa5b40 368 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 369 {
seangshim 1:10af8aaa5b40 370 flag=0;
seangshim 2:37d831f82840 371 rightrun += 52.5;
seangshim 1:10af8aaa5b40 372 }
seangshim 2:37d831f82840 373 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 374 flag2 = 1;
seangshim 2:37d831f82840 375 }
seangshim 2:37d831f82840 376 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 377 flag2 = 0;
seangshim 2:37d831f82840 378 leftrun2 += 52.5;
seangshim 2:37d831f82840 379 }
seangshim 2:37d831f82840 380 printf("%f", rightrun);
seangshim 12:2f0c841e6078 381 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 382
seangshim 16:44c763c32b0d 383
seangshim 16:44c763c32b0d 384
seangshim 16:44c763c32b0d 385 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 386 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 387 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 388 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 389 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 390 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 391 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 392 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 19:8ad7dcfef11f 393 if (a>0){
seangshim 19:8ad7dcfef11f 394 a = sqrt(a);
seangshim 19:8ad7dcfef11f 395 }
seangshim 19:8ad7dcfef11f 396 if (a<0) {
seangshim 19:8ad7dcfef11f 397 a = abs(a);
seangshim 19:8ad7dcfef11f 398 a = -sqrt(a);
seangshim 19:8ad7dcfef11f 399 }
seangshim 19:8ad7dcfef11f 400 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 16:44c763c32b0d 401 // 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 402 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 403 // 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 404 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 405
seangshim 16:44c763c32b0d 406 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 407 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 408 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 409
seangshim 16:44c763c32b0d 410 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 411 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 412 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 413
seangshim 17:9bc130ebb5ed 414 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 415 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 27:b4922048ab11 416
seangshim 27:b4922048ab11 417 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 418 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 419 }
seangshim 16:44c763c32b0d 420
seangshim 17:9bc130ebb5ed 421 wait(0.01);
seangshim 27:b4922048ab11 422
seangshim 16:44c763c32b0d 423 }
seangshim 16:44c763c32b0d 424
seangshim 16:44c763c32b0d 425
seangshim 16:44c763c32b0d 426
seangshim 3:c1e0db4832b7 427 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 428
seangshim 3:c1e0db4832b7 429 motor1.stop(0);
seangshim 3:c1e0db4832b7 430 motor2.stop(0);
seangshim 3:c1e0db4832b7 431 wait(2);
seangshim 3:c1e0db4832b7 432 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 433
seangshim 0:a01fda36fde8 434 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 435 motorForward();
seangshim 29:05b390de92ed 436 wait(0.57);
seangshim 0:a01fda36fde8 437 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 438
seangshim 3:c1e0db4832b7 439 motor1.stop(0);
seangshim 3:c1e0db4832b7 440 motor2.stop(0);
seangshim 3:c1e0db4832b7 441 wait(2);
seangshim 3:c1e0db4832b7 442 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 443
seangshim 0:a01fda36fde8 444 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 445 motorForward();
seangshim 1:10af8aaa5b40 446 wait(2);
seangshim 0:a01fda36fde8 447 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 448
seangshim 3:c1e0db4832b7 449 motor1.stop(0);
seangshim 3:c1e0db4832b7 450 motor2.stop(0);
seangshim 3:c1e0db4832b7 451 wait(2);
seangshim 3:c1e0db4832b7 452 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 453
seangshim 0:a01fda36fde8 454 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 455 motorReverse();
seangshim 29:05b390de92ed 456 wait(0.57);
seangshim 0:a01fda36fde8 457 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 458
seangshim 3:c1e0db4832b7 459 motor1.stop(0);
seangshim 3:c1e0db4832b7 460 motor2.stop(0);
seangshim 3:c1e0db4832b7 461 wait(2);
seangshim 3:c1e0db4832b7 462 printf("mortor stop\r\n");
394 10:280a25bcc8bb 463
394 30:3bcf14e8dd63 464 if(90<heading<267.5){
394 30:3bcf14e8dd63 465 motor1.speed(mcn1);//右回転
394 30:3bcf14e8dd63 466 motorReverse();
394 30:3bcf14e8dd63 467 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 468 motor1.stop(0);
394 30:3bcf14e8dd63 469 motor2.stop(0);
394 30:3bcf14e8dd63 470 wait(1);
394 30:3bcf14e8dd63 471 }else if(0<=heading<=90.0){
394 30:3bcf14e8dd63 472 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 473 motorForward();
394 30:3bcf14e8dd63 474 wait((heading+90.0)*0.004448);
394 30:3bcf14e8dd63 475 motor1.stop(0);
394 30:3bcf14e8dd63 476 motor2.stop(0);
394 30:3bcf14e8dd63 477 wait(1);
394 30:3bcf14e8dd63 478 }else if(272.5<heading<360){
394 30:3bcf14e8dd63 479 motor1.speed(-mcn1);//左回転
394 30:3bcf14e8dd63 480 motorForward();
394 30:3bcf14e8dd63 481 wait((heading-270)*0.004448);
394 30:3bcf14e8dd63 482 motor1.stop(0);
394 30:3bcf14e8dd63 483 motor2.stop(0);
394 30:3bcf14e8dd63 484 wait(1);
394 30:3bcf14e8dd63 485 }else{
394 30:3bcf14e8dd63 486 wait(5);
394 30:3bcf14e8dd63 487 }
394 30:3bcf14e8dd63 488 printf("searchN\r\n"); //機体が北を向く
394 10:280a25bcc8bb 489
seangshim 0:a01fda36fde8 490 }
seangshim 0:a01fda36fde8 491 }
seangshim 4:8b52fd631b32 492 motor1.stop(0);
seangshim 4:8b52fd631b32 493 motor2.stop(0);
seangshim 19:8ad7dcfef11f 494
seangshim 19:8ad7dcfef11f 495
seangshim 19:8ad7dcfef11f 496 fprintf(fp, "last accel.photo\r\n");
seangshim 27:b4922048ab11 497 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 498 fprintf(fp, "last right.left\r\n");
seangshim 27:b4922048ab11 499 fprintf(fp,"(%lf, %lf)\r\n", rightrun, leftrun2);
seangshim 19:8ad7dcfef11f 500 fclose(fp);
seangshim 19:8ad7dcfef11f 501
seangshim 0:a01fda36fde8 502 }
seangshim 1:10af8aaa5b40 503
seangshim 1:10af8aaa5b40 504
seangshim 1:10af8aaa5b40 505
seangshim 1:10af8aaa5b40 506 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 507 {
seangshim 1:10af8aaa5b40 508 float c;
seangshim 1:10af8aaa5b40 509 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 510 return c;
seangshim 1:10af8aaa5b40 511 }
seangshim 27:b4922048ab11 512 void motorForward() {
seangshim 27:b4922048ab11 513 motorStop();
seangshim 27:b4922048ab11 514 motorDir1 = 1;
seangshim 27:b4922048ab11 515 motorDir2 = 0;
seangshim 27:b4922048ab11 516 }
seangshim 27:b4922048ab11 517
seangshim 27:b4922048ab11 518 void motorReverse() {
seangshim 27:b4922048ab11 519 motorStop();
seangshim 27:b4922048ab11 520 motorDir1 = 0;
seangshim 27:b4922048ab11 521 motorDir2 = 1;
seangshim 27:b4922048ab11 522 }
seangshim 27:b4922048ab11 523
seangshim 27:b4922048ab11 524 void motorStop() {
seangshim 27:b4922048ab11 525 motorDir1 = 0;
seangshim 27:b4922048ab11 526 motorDir2 = 0;
seangshim 27:b4922048ab11 527 }
seangshim 1:10af8aaa5b40 528
seangshim 1:10af8aaa5b40 529
seangshim 1:10af8aaa5b40 530
seangshim 1:10af8aaa5b40 531