cansat-d_2018 / Mbed 2 deprecated cansat_main_new_3

otamesi

Dependencies:   mbed

main.cpp@28:5e21ce413558, 2018-12-12 (annotated)

Committer:
seangshim
Date:
Wed Dec 12 03:36:21 2018 +0000
Revision:
28:5e21ce413558
Parent:
27:b4922048ab11
Child:
29:05b390de92ed
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 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
394 10:280a25bcc8bb 113 wait(0.5);
seangshim 16:44c763c32b0d 114 }
394 10:280a25bcc8bb 115 float mc1,mc2;
394 20:e78bffff80ee 116 mc1=1.0;
394 20:e78bffff80ee 117 mc2=1.0;
394 10:280a25bcc8bb 118 //地磁気センサのキャリブレーション
394 10:280a25bcc8bb 119 motor1.speed(mc1); //車体を時計回りに３秒回転
seangshim 28:5e21ce413558 120 motorReverse();
394 20:e78bffff80ee 121 wait(3);
394 10:280a25bcc8bb 122
394 10:280a25bcc8bb 123 motor1.stop(0);
394 10:280a25bcc8bb 124 motor2.stop(0);
394 10:280a25bcc8bb 125 wait(1);
394 10:280a25bcc8bb 126
seangshim 28:5e21ce413558 127 motor1.speed(-mc1); //車体を反時計回りに３秒回
seangshim 28:5e21ce413558 128 motorForward();
394 20:e78bffff80ee 129 wait(3);
394 10:280a25bcc8bb 130
394 10:280a25bcc8bb 131 motor1.stop(0);
394 10:280a25bcc8bb 132 motor2.stop(0);
394 10:280a25bcc8bb 133 wait(1);
394 10:280a25bcc8bb 134 printf("compass carriblation\r\n"); //キャリブレーション終了
394 10:280a25bcc8bb 135
394 20:e78bffff80ee 136 float mcn1,mcn2;
394 10:280a25bcc8bb 137 double heading;
394 20:e78bffff80ee 138 mcn1=1.0;
394 20:e78bffff80ee 139 mcn2=1.0;
394 10:280a25bcc8bb 140 compass.init();
394 20:e78bffff80ee 141 heading=compass.getHeadingXYDeg();
394 10:280a25bcc8bb 142 if(2.5<heading<=M_PI){
394 20:e78bffff80ee 143 motor1.speed(mcn1);
seangshim 28:5e21ce413558 144 motorReverse();
394 20:e78bffff80ee 145 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 146 motor1.stop(0);
394 20:e78bffff80ee 147 motor2.stop(0);
394 10:280a25bcc8bb 148 wait(1);
394 10:280a25bcc8bb 149 }else if(M_PI<heading<357.5){
394 20:e78bffff80ee 150 motor1.speed(-mcn1);
seangshim 28:5e21ce413558 151 motorForward();
394 20:e78bffff80ee 152 wait((PI2-heading)*0.01);
394 20:e78bffff80ee 153 motor1.stop(0);
394 20:e78bffff80ee 154 motor2.stop(0);
394 10:280a25bcc8bb 155 wait(1);
394 10:280a25bcc8bb 156 }else{
394 20:e78bffff80ee 157 wait(5);
394 10:280a25bcc8bb 158 }
394 10:280a25bcc8bb 159 printf("searchN\r\n"); //機体が北を向く
seangshim 0:a01fda36fde8 160
seangshim 0:a01fda36fde8 161 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 162 int distance;
seangshim 0:a01fda36fde8 163
seangshim 13:b884f5960fbf 164 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 165 //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 166 //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 167 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 168 float leftrun2;
seangshim 4:8b52fd631b32 169 rightrun=0.0;
seangshim 4:8b52fd631b32 170 leftrun2=0.0;
seangshim 9:fb19a93df88f 171
seangshim 17:9bc130ebb5ed 172 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 173 float lowpassValue = 0;
seangshim 15:75f014c4c8b8 174 float highpassValue = 0;
seangshim 15:75f014c4c8b8 175 float speed = 0;//加速度時から算出した速度
seangshim 15:75f014c4c8b8 176 float oldSpeed = 0;//ひとつ前の速度
seangshim 15:75f014c4c8b8 177 float oldAccel = 0;//ひとつ前の加速度
seangshim 15:75f014c4c8b8 178 float difference=0;//変位
seangshim 17:9bc130ebb5ed 179 float timespan=0.01;//時間差
seangshim 27:b4922048ab11 180 int accel[3];//accelを3つの配列で定義。*/
seangshim 27:b4922048ab11 181
seangshim 27:b4922048ab11 182 int tt=0;
seangshim 27:b4922048ab11 183 float run=0;
seangshim 1:10af8aaa5b40 184
seangshim 3:c1e0db4832b7 185 while(1)
seangshim 3:c1e0db4832b7 186 {
seangshim 3:c1e0db4832b7 187 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 188 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 189
seangshim 8:d41f5d7d2aa5 190 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 191 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 192 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 193 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 194 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 195 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 196 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 197 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 18:2a47ed430cfe 198 if (a>0){
seangshim 18:2a47ed430cfe 199 a = sqrt(a);
seangshim 18:2a47ed430cfe 200 }
seangshim 18:2a47ed430cfe 201 if (a<0) {
seangshim 18:2a47ed430cfe 202 a = abs(a);
seangshim 18:2a47ed430cfe 203 a = -sqrt(a);
seangshim 18:2a47ed430cfe 204 }
seangshim 19:8ad7dcfef11f 205 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 15:75f014c4c8b8 206 // 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 207 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 208 // 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 209 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 210
seangshim 15:75f014c4c8b8 211 // 速度計算(加速度を台形積分する)
seangshim 15:75f014c4c8b8 212 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 15:75f014c4c8b8 213 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 214
seangshim 15:75f014c4c8b8 215 // 変位計算(速度を台形積分する)
seangshim 15:75f014c4c8b8 216 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 15:75f014c4c8b8 217 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 218
seangshim 17:9bc130ebb5ed 219 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 220 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 3:c1e0db4832b7 221
seangshim 8:d41f5d7d2aa5 222 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 223 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 224 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 225 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 226 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 227 }
seangshim 1:10af8aaa5b40 228 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 229 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 230 //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 231 rightrun += 54.95; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 232 printf("test.read else\r\n");
seangshim 2:37d831f82840 233 }
seangshim 2:37d831f82840 234 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 235 flag2 = 1;
seangshim 3:c1e0db4832b7 236 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 237 }
seangshim 2:37d831f82840 238 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 239 flag2 = 0;
seangshim 15:75f014c4c8b8 240 leftrun2 += 54.95;
seangshim 3:c1e0db4832b7 241 printf("test2.read else\r\n");
seangshim 2:37d831f82840 242 }
seangshim 2:37d831f82840 243 printf("%f", rightrun);
seangshim 2:37d831f82840 244 printf("\t%f\r\n", leftrun2);
seangshim 27:b4922048ab11 245 run=culculate_distance_3(rightrun,leftrun2);
seangshim 27:b4922048ab11 246 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 247 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 248 }
seangshim 0:a01fda36fde8 249
seangshim 27:b4922048ab11 250 /* if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 251 {
seangshim 19:8ad7dcfef11f 252 break;
seangshim 27:b4922048ab11 253 } */
seangshim 19:8ad7dcfef11f 254
seangshim 1:10af8aaa5b40 255 motor1.speed(0.5); //通常走行
seangshim 27:b4922048ab11 256 motorForward();
seangshim 1:10af8aaa5b40 257 //Do something else here
seangshim 1:10af8aaa5b40 258 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 259 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 260
seangshim 9:fb19a93df88f 261 wait(0.01);
seangshim 0:a01fda36fde8 262
seangshim 27:b4922048ab11 263 tt++;
seangshim 27:b4922048ab11 264 if(tt==10)
seangshim 27:b4922048ab11 265 {
seangshim 27:b4922048ab11 266 fprintf(fp, "accel.rightrun.leftrun2\r\n");
seangshim 27:b4922048ab11 267
seangshim 27:b4922048ab11 268 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 269 tt=0;
seangshim 27:b4922048ab11 270 }
seangshim 27:b4922048ab11 271
seangshim 3:c1e0db4832b7 272 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 273 {
seangshim 0:a01fda36fde8 274
seangshim 0:a01fda36fde8 275 printf("if success!\r\n");
seangshim 0:a01fda36fde8 276
seangshim 0:a01fda36fde8 277 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 278 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 279 ms2=1.0;
seangshim 0:a01fda36fde8 280
seangshim 12:2f0c841e6078 281 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 282 msj2=1.0;
seangshim 0:a01fda36fde8 283
seangshim 0:a01fda36fde8 284 motor1.stop(0);
seangshim 0:a01fda36fde8 285 motor2.stop(0);
seangshim 1:10af8aaa5b40 286 wait(2);
seangshim 0:a01fda36fde8 287 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 288
seangshim 0:a01fda36fde8 289 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 290 motorReverse();
seangshim 12:2f0c841e6078 291 wait(0.77);
seangshim 0:a01fda36fde8 292 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 293
seangshim 3:c1e0db4832b7 294 motor1.stop(0);
seangshim 3:c1e0db4832b7 295 motor2.stop(0);
seangshim 3:c1e0db4832b7 296 wait(2);
seangshim 3:c1e0db4832b7 297 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 298
seangshim 0:a01fda36fde8 299 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 300 motorForward();
seangshim 1:10af8aaa5b40 301 wait(2);
seangshim 0:a01fda36fde8 302 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 303
seangshim 3:c1e0db4832b7 304 motor1.stop(0);
seangshim 3:c1e0db4832b7 305 motor2.stop(0);
seangshim 3:c1e0db4832b7 306 wait(2);
seangshim 3:c1e0db4832b7 307 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 308
seangshim 0:a01fda36fde8 309 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 310 motorForward();
seangshim 12:2f0c841e6078 311 wait(0.77);
seangshim 0:a01fda36fde8 312 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 313
seangshim 3:c1e0db4832b7 314 motor1.stop(0);
seangshim 3:c1e0db4832b7 315 motor2.stop(0);
seangshim 3:c1e0db4832b7 316 wait(2);
seangshim 3:c1e0db4832b7 317 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 318
seangshim 0:a01fda36fde8 319 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 320 motorForward();
seangshim 16:44c763c32b0d 321
seangshim 16:44c763c32b0d 322
seangshim 12:2f0c841e6078 323 int t=0;
seangshim 27:b4922048ab11 324 for(t=0;t<50;t++)
seangshim 12:2f0c841e6078 325 {
seangshim 12:2f0c841e6078 326 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 327 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 328 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 329 {
seangshim 1:10af8aaa5b40 330 flag = 1;
seangshim 1:10af8aaa5b40 331 }
seangshim 1:10af8aaa5b40 332 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 333 {
seangshim 1:10af8aaa5b40 334 flag=0;
seangshim 2:37d831f82840 335 rightrun += 52.5;
seangshim 1:10af8aaa5b40 336 }
seangshim 2:37d831f82840 337 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 338 flag2 = 1;
seangshim 2:37d831f82840 339 }
seangshim 2:37d831f82840 340 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 341 flag2 = 0;
seangshim 2:37d831f82840 342 leftrun2 += 52.5;
seangshim 2:37d831f82840 343 }
seangshim 2:37d831f82840 344 printf("%f", rightrun);
seangshim 12:2f0c841e6078 345 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 346
seangshim 16:44c763c32b0d 347
seangshim 16:44c763c32b0d 348
seangshim 16:44c763c32b0d 349 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 350 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 351 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 352 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 353 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 354 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 355 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 356 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 19:8ad7dcfef11f 357 if (a>0){
seangshim 19:8ad7dcfef11f 358 a = sqrt(a);
seangshim 19:8ad7dcfef11f 359 }
seangshim 19:8ad7dcfef11f 360 if (a<0) {
seangshim 19:8ad7dcfef11f 361 a = abs(a);
seangshim 19:8ad7dcfef11f 362 a = -sqrt(a);
seangshim 19:8ad7dcfef11f 363 }
seangshim 19:8ad7dcfef11f 364 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 16:44c763c32b0d 365 // 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 366 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 367 // 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 368 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 369
seangshim 16:44c763c32b0d 370 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 371 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 372 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 373
seangshim 16:44c763c32b0d 374 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 375 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 376 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 377
seangshim 17:9bc130ebb5ed 378 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 27:b4922048ab11 379 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示*/
seangshim 27:b4922048ab11 380
seangshim 27:b4922048ab11 381 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 382 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 383 }
seangshim 16:44c763c32b0d 384
seangshim 17:9bc130ebb5ed 385 wait(0.01);
seangshim 27:b4922048ab11 386
seangshim 16:44c763c32b0d 387 }
seangshim 16:44c763c32b0d 388
seangshim 16:44c763c32b0d 389
seangshim 16:44c763c32b0d 390
seangshim 3:c1e0db4832b7 391 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 392
seangshim 3:c1e0db4832b7 393 motor1.stop(0);
seangshim 3:c1e0db4832b7 394 motor2.stop(0);
seangshim 3:c1e0db4832b7 395 wait(2);
seangshim 3:c1e0db4832b7 396 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 397
seangshim 0:a01fda36fde8 398 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 27:b4922048ab11 399 motorForward();
seangshim 15:75f014c4c8b8 400 wait(1);
seangshim 0:a01fda36fde8 401 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 402
seangshim 3:c1e0db4832b7 403 motor1.stop(0);
seangshim 3:c1e0db4832b7 404 motor2.stop(0);
seangshim 3:c1e0db4832b7 405 wait(2);
seangshim 3:c1e0db4832b7 406 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 407
seangshim 0:a01fda36fde8 408 motor1.speed(ms1); //直進
seangshim 27:b4922048ab11 409 motorForward();
seangshim 1:10af8aaa5b40 410 wait(2);
seangshim 0:a01fda36fde8 411 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 412
seangshim 3:c1e0db4832b7 413 motor1.stop(0);
seangshim 3:c1e0db4832b7 414 motor2.stop(0);
seangshim 3:c1e0db4832b7 415 wait(2);
seangshim 3:c1e0db4832b7 416 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 417
seangshim 0:a01fda36fde8 418 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 28:5e21ce413558 419 motorReverse();
seangshim 15:75f014c4c8b8 420 wait(1);
seangshim 0:a01fda36fde8 421 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 422
seangshim 3:c1e0db4832b7 423 motor1.stop(0);
seangshim 3:c1e0db4832b7 424 motor2.stop(0);
seangshim 3:c1e0db4832b7 425 wait(2);
seangshim 3:c1e0db4832b7 426 printf("mortor stop\r\n");
394 10:280a25bcc8bb 427
394 10:280a25bcc8bb 428
seangshim 0:a01fda36fde8 429 }
seangshim 0:a01fda36fde8 430 }
seangshim 4:8b52fd631b32 431 motor1.stop(0);
seangshim 4:8b52fd631b32 432 motor2.stop(0);
seangshim 19:8ad7dcfef11f 433
seangshim 19:8ad7dcfef11f 434
seangshim 19:8ad7dcfef11f 435 fprintf(fp, "last accel.photo\r\n");
seangshim 27:b4922048ab11 436 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 437 fprintf(fp, "last right.left\r\n");
seangshim 27:b4922048ab11 438 fprintf(fp,"(%lf, %lf)\r\n", rightrun, leftrun2);
seangshim 19:8ad7dcfef11f 439 fclose(fp);
seangshim 19:8ad7dcfef11f 440
seangshim 0:a01fda36fde8 441 }
seangshim 1:10af8aaa5b40 442
seangshim 1:10af8aaa5b40 443
seangshim 1:10af8aaa5b40 444
seangshim 1:10af8aaa5b40 445 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 446 {
seangshim 1:10af8aaa5b40 447 float c;
seangshim 1:10af8aaa5b40 448 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 449 return c;
seangshim 1:10af8aaa5b40 450 }
seangshim 27:b4922048ab11 451 void motorForward() {
seangshim 27:b4922048ab11 452 motorStop();
seangshim 27:b4922048ab11 453 motorDir1 = 1;
seangshim 27:b4922048ab11 454 motorDir2 = 0;
seangshim 27:b4922048ab11 455 }
seangshim 27:b4922048ab11 456
seangshim 27:b4922048ab11 457 void motorReverse() {
seangshim 27:b4922048ab11 458 motorStop();
seangshim 27:b4922048ab11 459 motorDir1 = 0;
seangshim 27:b4922048ab11 460 motorDir2 = 1;
seangshim 27:b4922048ab11 461 }
seangshim 27:b4922048ab11 462
seangshim 27:b4922048ab11 463 void motorStop() {
seangshim 27:b4922048ab11 464 motorDir1 = 0;
seangshim 27:b4922048ab11 465 motorDir2 = 0;
seangshim 27:b4922048ab11 466 }
seangshim 1:10af8aaa5b40 467
seangshim 1:10af8aaa5b40 468
seangshim 1:10af8aaa5b40 469
seangshim 1:10af8aaa5b40 470