cansat-d_2018 / Mbed 2 deprecated cansat_main_new_3

otamesi

Dependencies:   mbed

main.cpp@19:8ad7dcfef11f, 2018-11-25 (annotated)

Committer:
seangshim
Date:
Sun Nov 25 04:12:06 2018 +0000
Revision:
19:8ad7dcfef11f
Parent:
18:2a47ed430cfe
Child:
20:e78bffff80ee
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 17:9bc130ebb5ed 15 DigitalIn flight(p22); //フライトピン
seangshim 1:10af8aaa5b40 16 DigitalOut FET(p21); //FET
seangshim 1:10af8aaa5b40 17
seangshim 1:10af8aaa5b40 18 InterruptIn button1(p15); //フォトインタラプタ
seangshim 2:37d831f82840 19 InterruptIn button2(p18);
seangshim 1:10af8aaa5b40 20 DigitalIn test(p15); //ここでピン15からの電圧の値、つまりフォトインタラプタが何か遮るものを検知すればハイの1を返して、
seangshim 1:10af8aaa5b40 21 //何もないつまりスリットの部分ではローの0を返す。それを変数testに代入している
seangshim 2:37d831f82840 22 DigitalIn test2(p18);
seangshim 1:10af8aaa5b40 23
seangshim 0:a01fda36fde8 24
seangshim 1:10af8aaa5b40 25 Motor motor1(p22, p16, p17, 1); // pwm, fwd, rev, can brake モーター
seangshim 0:a01fda36fde8 26 Motor motor2(p22, p19, p20, 1); // pwm, fwd, rev, can brake
seangshim 0:a01fda36fde8 27
seangshim 0:a01fda36fde8 28 void dist(int distance)
seangshim 0:a01fda36fde8 29 {
seangshim 0:a01fda36fde8 30 //put code here to happen when the distance is changed
seangshim 0:a01fda36fde8 31 printf("Distance changed to %dmm\r\n", distance);
seangshim 0:a01fda36fde8 32 }
seangshim 0:a01fda36fde8 33
seangshim 1:10af8aaa5b40 34 ultrasonic mu(p11, p12, .1, 1, &dist); //Set the trigger pin to D8 and the echo pin to D9 超音波センサー
seangshim 0:a01fda36fde8 35 //have updates every .1 seconds and a timeout after 1
seangshim 0:a01fda36fde8 36 //second, and call dist when the distance changes
seangshim 0:a01fda36fde8 37
seangshim 0:a01fda36fde8 38
seangshim 0:a01fda36fde8 39
seangshim 1:10af8aaa5b40 40 LocalFileSystem local("local"); // Create the local filesystem under the name "local"　　 データ保存
seangshim 0:a01fda36fde8 41
seangshim 0:a01fda36fde8 42 int main() {
seangshim 0:a01fda36fde8 43
seangshim 18:2a47ed430cfe 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{
seangshim 17:9bc130ebb5ed 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 }
seangshim 18:2a47ed430cfe 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 10:280a25bcc8bb 102 mc1=3.0;
394 10:280a25bcc8bb 103 mc2=3.0;
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 10:280a25bcc8bb 107 wait(2);
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 10:280a25bcc8bb 115 wait(2);
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 10:280a25bcc8bb 122 float mcr1,mcr2,mcl1,mcl2;
394 10:280a25bcc8bb 123 double heading;
394 10:280a25bcc8bb 124 mcr1=heading*10*0.00026;
394 10:280a25bcc8bb 125 mcr2=heading*10*0.00026;
394 10:280a25bcc8bb 126 mcl1=(PI2-heading)*10*0.00026;
394 10:280a25bcc8bb 127 mcl2=(PI2-heading)*10*0.00026;
394 10:280a25bcc8bb 128 compass.init();
394 10:280a25bcc8bb 129 if(2.5<heading<=M_PI){
394 10:280a25bcc8bb 130 motor1.speed(mcr1);
394 10:280a25bcc8bb 131 motor2.speed(-mcr2);
394 10:280a25bcc8bb 132 wait(1);
394 10:280a25bcc8bb 133 }else if(M_PI<heading<357.5){
394 10:280a25bcc8bb 134 motor1.speed(-mcl1);
394 10:280a25bcc8bb 135 motor2.speed(mcl2);
394 10:280a25bcc8bb 136 wait(1);
394 10:280a25bcc8bb 137 }else{
394 10:280a25bcc8bb 138 wait(2);
394 10:280a25bcc8bb 139 }
394 10:280a25bcc8bb 140 printf("searchN\r\n"); //機体が北を向く
394 10:280a25bcc8bb 141
394 10:280a25bcc8bb 142
seangshim 0:a01fda36fde8 143
seangshim 0:a01fda36fde8 144 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 145 int distance;
seangshim 0:a01fda36fde8 146
seangshim 13:b884f5960fbf 147 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 148 //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 149 //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 150 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 151 float leftrun2;
seangshim 4:8b52fd631b32 152 rightrun=0.0;
seangshim 4:8b52fd631b32 153 leftrun2=0.0;
seangshim 9:fb19a93df88f 154
seangshim 17:9bc130ebb5ed 155 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 156 float lowpassValue = 0;
seangshim 15:75f014c4c8b8 157 float highpassValue = 0;
seangshim 15:75f014c4c8b8 158 float speed = 0;//加速度時から算出した速度
seangshim 15:75f014c4c8b8 159 float oldSpeed = 0;//ひとつ前の速度
seangshim 15:75f014c4c8b8 160 float oldAccel = 0;//ひとつ前の加速度
seangshim 15:75f014c4c8b8 161 float difference=0;//変位
seangshim 17:9bc130ebb5ed 162 float timespan=0.01;//時間差
seangshim 18:2a47ed430cfe 163 int accel[3];//accelを3つの配列で定義。
seangshim 1:10af8aaa5b40 164
seangshim 3:c1e0db4832b7 165 while(1)
seangshim 3:c1e0db4832b7 166 {
seangshim 3:c1e0db4832b7 167 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 168 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 169
seangshim 8:d41f5d7d2aa5 170 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 171 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 172 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 173 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 174 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 175 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 176 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 177 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 18:2a47ed430cfe 178 if (a>0){
seangshim 18:2a47ed430cfe 179 a = sqrt(a);
seangshim 18:2a47ed430cfe 180 }
seangshim 18:2a47ed430cfe 181 if (a<0) {
seangshim 18:2a47ed430cfe 182 a = abs(a);
seangshim 18:2a47ed430cfe 183 a = -sqrt(a);
seangshim 18:2a47ed430cfe 184 }
seangshim 19:8ad7dcfef11f 185 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 15:75f014c4c8b8 186 // 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 187 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 188 // 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 189 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 190
seangshim 15:75f014c4c8b8 191 // 速度計算(加速度を台形積分する)
seangshim 15:75f014c4c8b8 192 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 15:75f014c4c8b8 193 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 194
seangshim 15:75f014c4c8b8 195 // 変位計算(速度を台形積分する)
seangshim 15:75f014c4c8b8 196 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 15:75f014c4c8b8 197 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 198
seangshim 17:9bc130ebb5ed 199 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 19:8ad7dcfef11f 200 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示
seangshim 3:c1e0db4832b7 201
seangshim 8:d41f5d7d2aa5 202 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 203 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 204 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 205 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 206 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 207 }
seangshim 1:10af8aaa5b40 208 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 209 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 210 //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 211 rightrun += 54.95; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 212 printf("test.read else\r\n");
seangshim 2:37d831f82840 213 }
seangshim 2:37d831f82840 214 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 215 flag2 = 1;
seangshim 3:c1e0db4832b7 216 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 217 }
seangshim 2:37d831f82840 218 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 219 flag2 = 0;
seangshim 15:75f014c4c8b8 220 leftrun2 += 54.95;
seangshim 3:c1e0db4832b7 221 printf("test2.read else\r\n");
seangshim 2:37d831f82840 222 }
seangshim 2:37d831f82840 223 printf("%f", rightrun);
seangshim 2:37d831f82840 224 printf("\t%f\r\n", leftrun2);
seangshim 15:75f014c4c8b8 225 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 226 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 227 }
seangshim 0:a01fda36fde8 228
seangshim 19:8ad7dcfef11f 229 if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 230 {
seangshim 19:8ad7dcfef11f 231 break;
seangshim 19:8ad7dcfef11f 232 }
seangshim 19:8ad7dcfef11f 233
seangshim 1:10af8aaa5b40 234 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 235 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 236 //Do something else here
seangshim 1:10af8aaa5b40 237 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 238 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 239
seangshim 9:fb19a93df88f 240 wait(0.01);
seangshim 0:a01fda36fde8 241
seangshim 3:c1e0db4832b7 242 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 243 {
seangshim 0:a01fda36fde8 244
seangshim 0:a01fda36fde8 245 printf("if success!\r\n");
seangshim 0:a01fda36fde8 246
seangshim 0:a01fda36fde8 247 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 248 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 249 ms2=1.0;
seangshim 0:a01fda36fde8 250
seangshim 12:2f0c841e6078 251 msj1=1.0; //回転の時
seangshim 12:2f0c841e6078 252 msj2=1.0;
seangshim 0:a01fda36fde8 253
seangshim 0:a01fda36fde8 254 motor1.stop(0);
seangshim 0:a01fda36fde8 255 motor2.stop(0);
seangshim 1:10af8aaa5b40 256 wait(2);
seangshim 0:a01fda36fde8 257 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 258
seangshim 0:a01fda36fde8 259 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 260 motor2.speed(-msj2);
seangshim 12:2f0c841e6078 261 wait(0.77);
seangshim 0:a01fda36fde8 262 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 263
seangshim 3:c1e0db4832b7 264 motor1.stop(0);
seangshim 3:c1e0db4832b7 265 motor2.stop(0);
seangshim 3:c1e0db4832b7 266 wait(2);
seangshim 3:c1e0db4832b7 267 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 268
seangshim 0:a01fda36fde8 269 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 270 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 271 wait(2);
seangshim 0:a01fda36fde8 272 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 273
seangshim 3:c1e0db4832b7 274 motor1.stop(0);
seangshim 3:c1e0db4832b7 275 motor2.stop(0);
seangshim 3:c1e0db4832b7 276 wait(2);
seangshim 3:c1e0db4832b7 277 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 278
seangshim 0:a01fda36fde8 279 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 280 motor2.speed(msj2);
seangshim 12:2f0c841e6078 281 wait(0.77);
seangshim 0:a01fda36fde8 282 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 283
seangshim 3:c1e0db4832b7 284 motor1.stop(0);
seangshim 3:c1e0db4832b7 285 motor2.stop(0);
seangshim 3:c1e0db4832b7 286 wait(2);
seangshim 3:c1e0db4832b7 287 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 288
seangshim 0:a01fda36fde8 289 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 290 motor2.speed(ms2);
seangshim 16:44c763c32b0d 291
seangshim 16:44c763c32b0d 292
seangshim 12:2f0c841e6078 293 int t=0;
seangshim 13:b884f5960fbf 294 for(t=0;t<100;t++)
seangshim 12:2f0c841e6078 295 {
seangshim 12:2f0c841e6078 296 printf("%d\r\n", test.read());
seangshim 12:2f0c841e6078 297 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 298 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 299 {
seangshim 1:10af8aaa5b40 300 flag = 1;
seangshim 1:10af8aaa5b40 301 }
seangshim 1:10af8aaa5b40 302 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 303 {
seangshim 1:10af8aaa5b40 304 flag=0;
seangshim 2:37d831f82840 305 rightrun += 52.5;
seangshim 1:10af8aaa5b40 306 }
seangshim 2:37d831f82840 307 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 308 flag2 = 1;
seangshim 2:37d831f82840 309 }
seangshim 2:37d831f82840 310 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 311 flag2 = 0;
seangshim 2:37d831f82840 312 leftrun2 += 52.5;
seangshim 2:37d831f82840 313 }
seangshim 2:37d831f82840 314 printf("%f", rightrun);
seangshim 12:2f0c841e6078 315 printf("\t%f\r\n", leftrun2);
seangshim 16:44c763c32b0d 316
seangshim 16:44c763c32b0d 317
seangshim 16:44c763c32b0d 318
seangshim 16:44c763c32b0d 319 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 320 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 321 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 322 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 19:8ad7dcfef11f 323 float X = x*0.000597964111328125;
seangshim 19:8ad7dcfef11f 324 float Y = y*0.000597964111328125;
seangshim 19:8ad7dcfef11f 325 float Z = z*0.000597964111328125;
seangshim 19:8ad7dcfef11f 326 double a = X*X+Y*Y+Z*Z-95.982071137936;
seangshim 19:8ad7dcfef11f 327 if (a>0){
seangshim 19:8ad7dcfef11f 328 a = sqrt(a);
seangshim 19:8ad7dcfef11f 329 }
seangshim 19:8ad7dcfef11f 330 if (a<0) {
seangshim 19:8ad7dcfef11f 331 a = abs(a);
seangshim 19:8ad7dcfef11f 332 a = -sqrt(a);
seangshim 19:8ad7dcfef11f 333 }
seangshim 19:8ad7dcfef11f 334 //printf("%lf %f %f %f\r\n",a,X,Y,Z);
seangshim 16:44c763c32b0d 335 // 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 336 lowpassValue = lowpassValue * filterCoefficient + a * (1 - filterCoefficient);
seangshim 17:9bc130ebb5ed 337 // 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 338 highpassValue = a - lowpassValue;
seangshim 17:9bc130ebb5ed 339
seangshim 16:44c763c32b0d 340 // 速度計算(加速度を台形積分する)
seangshim 16:44c763c32b0d 341 speed = ((highpassValue + oldAccel) * timespan) / 2 + speed;
seangshim 16:44c763c32b0d 342 oldAccel = highpassValue;
seangshim 17:9bc130ebb5ed 343
seangshim 16:44c763c32b0d 344 // 変位計算(速度を台形積分する)
seangshim 16:44c763c32b0d 345 difference = ((speed + oldSpeed) * timespan) / 2 + difference;
seangshim 16:44c763c32b0d 346 oldSpeed = speed;
seangshim 17:9bc130ebb5ed 347
seangshim 17:9bc130ebb5ed 348 //printf(" speed %f difference %f\r\n",speed,difference);//速度と加速度を表示
seangshim 19:8ad7dcfef11f 349 printf("speed %f diference %f\r\n",speed,difference);//速度（m）と変位を表示
seangshim 16:44c763c32b0d 350
seangshim 17:9bc130ebb5ed 351 wait(0.01);
seangshim 16:44c763c32b0d 352 }
seangshim 16:44c763c32b0d 353
seangshim 16:44c763c32b0d 354
seangshim 16:44c763c32b0d 355
seangshim 3:c1e0db4832b7 356 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 357
seangshim 3:c1e0db4832b7 358 motor1.stop(0);
seangshim 3:c1e0db4832b7 359 motor2.stop(0);
seangshim 3:c1e0db4832b7 360 wait(2);
seangshim 3:c1e0db4832b7 361 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 362
seangshim 0:a01fda36fde8 363 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 364 motor2.speed(msj2);
seangshim 15:75f014c4c8b8 365 wait(1);
seangshim 0:a01fda36fde8 366 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 367
seangshim 3:c1e0db4832b7 368 motor1.stop(0);
seangshim 3:c1e0db4832b7 369 motor2.stop(0);
seangshim 3:c1e0db4832b7 370 wait(2);
seangshim 3:c1e0db4832b7 371 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 372
seangshim 0:a01fda36fde8 373 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 374 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 375 wait(2);
seangshim 0:a01fda36fde8 376 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 377
seangshim 3:c1e0db4832b7 378 motor1.stop(0);
seangshim 3:c1e0db4832b7 379 motor2.stop(0);
seangshim 3:c1e0db4832b7 380 wait(2);
seangshim 3:c1e0db4832b7 381 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 382
seangshim 0:a01fda36fde8 383 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 384 motor2.speed(-msj2);
seangshim 15:75f014c4c8b8 385 wait(1);
seangshim 0:a01fda36fde8 386 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 387
seangshim 3:c1e0db4832b7 388 motor1.stop(0);
seangshim 3:c1e0db4832b7 389 motor2.stop(0);
seangshim 3:c1e0db4832b7 390 wait(2);
seangshim 3:c1e0db4832b7 391 printf("mortor stop\r\n");
394 10:280a25bcc8bb 392
394 10:280a25bcc8bb 393
seangshim 0:a01fda36fde8 394 }
seangshim 0:a01fda36fde8 395 }
seangshim 4:8b52fd631b32 396 motor1.stop(0);
seangshim 4:8b52fd631b32 397 motor2.stop(0);
seangshim 19:8ad7dcfef11f 398
seangshim 19:8ad7dcfef11f 399
seangshim 19:8ad7dcfef11f 400 fprintf(fp, "last accel.photo\r\n");
seangshim 19:8ad7dcfef11f 401 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 402 fclose(fp);
seangshim 19:8ad7dcfef11f 403
seangshim 0:a01fda36fde8 404 }
seangshim 1:10af8aaa5b40 405
seangshim 1:10af8aaa5b40 406
seangshim 1:10af8aaa5b40 407
seangshim 1:10af8aaa5b40 408 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 409 {
seangshim 1:10af8aaa5b40 410 float c;
seangshim 1:10af8aaa5b40 411 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 412 return c;
seangshim 1:10af8aaa5b40 413 }
seangshim 1:10af8aaa5b40 414
seangshim 1:10af8aaa5b40 415
seangshim 1:10af8aaa5b40 416
seangshim 1:10af8aaa5b40 417
seangshim 1:10af8aaa5b40 418