cansat-d_2018 / Mbed 2 deprecated cansat_main_new_3

otamesi

Dependencies:   mbed

main.cpp@38:d3b7fda44f72, 2018-12-15 (annotated)

Committer:
seangshim
Date:
Sat Dec 15 15:54:39 2018 +0000
Revision:
38:d3b7fda44f72
Parent:
37:24866a13b959
Child:
39:a0c63ae63c99
2018/12/16/0:54

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 38:d3b7fda44f72 9 PwmOut motorSpeedR(p26);
seangshim 38:d3b7fda44f72 10 PwmOut motorSpeedL(p25);
seangshim 35:40df2f91cea9 11 DigitalOut motor1Dir1(p19);
seangshim 35:40df2f91cea9 12 DigitalOut motor1Dir2(p20);
seangshim 35:40df2f91cea9 13 DigitalOut motor2Dir1(p16);
seangshim 35:40df2f91cea9 14 DigitalOut motor2Dir2(p17);
seangshim 27:b4922048ab11 15
seangshim 8:d41f5d7d2aa5 16
seangshim 8:d41f5d7d2aa5 17 Serial pc(USBTX, USBRX); //地磁気センサー,GPS
seangshim 9:fb19a93df88f 18 GPS gps(p28, p27); //GPS
seangshim 9:fb19a93df88f 19 HMC5883L compass(p9, p10); //地磁気センサー
seangshim 9:fb19a93df88f 20
seangshim 38:d3b7fda44f72 21 MPU6050 mpu(p9, p10); //(SDA,SCL) 加速度センサー*/
seangshim 9:fb19a93df88f 22
seangshim 33:8d3757a0cd93 23 DigitalIn flight(p23); //フライトピン
seangshim 33:8d3757a0cd93 24 DigitalOut SW(p22); //トリガー用
seangshim 33:8d3757a0cd93 25 DigitalOut FET(p21); //FET
seangshim 1:10af8aaa5b40 26
seangshim 1:10af8aaa5b40 27 InterruptIn button1(p15); //フォトインタラプタ
seangshim 2:37d831f82840 28 InterruptIn button2(p18);
seangshim 1:10af8aaa5b40 29 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 30 //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 31 DigitalIn test2(p18);
seangshim 1:10af8aaa5b40 32
seangshim 0:a01fda36fde8 33
seangshim 38:d3b7fda44f72 34 //Motor motor1(p22, p16, p17, 1); // pwm, fwd, rev, can brake モーター
seangshim 38:d3b7fda44f72 35 //Motor motor2(p22, p19, p20, 1); // pwm, fwd, rev, can brake
seangshim 0:a01fda36fde8 36
seangshim 0:a01fda36fde8 37 void dist(int distance)
seangshim 0:a01fda36fde8 38 {
seangshim 0:a01fda36fde8 39 //put code here to happen when the distance is changed
seangshim 0:a01fda36fde8 40 printf("Distance changed to %dmm\r\n", distance);
seangshim 0:a01fda36fde8 41 }
seangshim 0:a01fda36fde8 42
seangshim 1:10af8aaa5b40 43 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 44 //have updates every .1 seconds and a timeout after 1
seangshim 0:a01fda36fde8 45 //second, and call dist when the distance changes
seangshim 27:b4922048ab11 46
seangshim 38:d3b7fda44f72 47 void motorForwardR(void);
seangshim 38:d3b7fda44f72 48 void motorStopR(void);
seangshim 38:d3b7fda44f72 49 void motorReverseR(void);
seangshim 0:a01fda36fde8 50
seangshim 38:d3b7fda44f72 51 void motorForwardL(void);
seangshim 38:d3b7fda44f72 52 void motorStopL(void);
seangshim 38:d3b7fda44f72 53 void motorReverseL(void);
seangshim 0:a01fda36fde8 54
seangshim 35:40df2f91cea9 55 LocalFileSystem local("local"); // Create the local filesystem under the name "local"　　 データ保存
seangshim 0:a01fda36fde8 56
seangshim 27:b4922048ab11 57 float culculate_distance_3(float a,float b);
seangshim 27:b4922048ab11 58
seangshim 0:a01fda36fde8 59 int main() {
seangshim 0:a01fda36fde8 60
seangshim 27:b4922048ab11 61 printf("cansat start\r\n");
seangshim 38:d3b7fda44f72 62 /* flight==1;
seangshim 33:8d3757a0cd93 63 FET = 0;
seangshim 33:8d3757a0cd93 64 SW = 1; //p23をhigh(3.3V)にする。
seangshim 38:d3b7fda44f72 65 while(1) {
seangshim 17:9bc130ebb5ed 66 if(flight==1) {
seangshim 17:9bc130ebb5ed 67 wait(10);
seangshim 38:d3b7fda44f72 68 printf("mada\r\n");
seangshim 17:9bc130ebb5ed 69 }
seangshim 17:9bc130ebb5ed 70
seangshim 17:9bc130ebb5ed 71 else{
seangshim 33:8d3757a0cd93 72 if(flight==1) {
seangshim 33:8d3757a0cd93 73 wait(10);
seangshim 38:d3b7fda44f72 74 printf("madamada\r\n");
seangshim 33:8d3757a0cd93 75 }
seangshim 33:8d3757a0cd93 76 else{
seangshim 38:d3b7fda44f72 77 printf("yattar\r\n");
seangshim 35:40df2f91cea9 78 FET = 0; //FET、ニクロム線切断
seangshim 17:9bc130ebb5ed 79 wait(20);
seangshim 1:10af8aaa5b40 80 FET = 1;
seangshim 17:9bc130ebb5ed 81 wait(12);
seangshim 17:9bc130ebb5ed 82 FET = 0;
seangshim 17:9bc130ebb5ed 83 wait(10);
seangshim 17:9bc130ebb5ed 84 FET = 1;
seangshim 17:9bc130ebb5ed 85 wait(12);
seangshim 35:40df2f91cea9 86 FET = 0;
seangshim 38:d3b7fda44f72 87 SW = 0; //p23をlow(0V)にする。
seangshim 17:9bc130ebb5ed 88 break;
seangshim 17:9bc130ebb5ed 89 }
seangshim 33:8d3757a0cd93 90 }
seangshim 38:d3b7fda44f72 91 }*/
seangshim 0:a01fda36fde8 92
seangshim 38:d3b7fda44f72 93 motorStopR();
seangshim 38:d3b7fda44f72 94 motorStopL();
seangshim 38:d3b7fda44f72 95
seangshim 38:d3b7fda44f72 96 wait(1); //確認用//デフォ20秒
seangshim 19:8ad7dcfef11f 97
seangshim 35:40df2f91cea9 98 // FILE *fp = fopen("/local/gps.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 32:c522d463c4fa 99
seangshim 35:40df2f91cea9 100 printf("GPS start\r\n");
seangshim 27:b4922048ab11 101 FILE *fp = fopen("/local/gps,foto.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 38:d3b7fda44f72 102 /* fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 103 int n;
seangshim 1:10af8aaa5b40 104 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 105 {
seangshim 9:fb19a93df88f 106 printf("gps for\r\n");
seangshim 0:a01fda36fde8 107 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 108 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 109
seangshim 0:a01fda36fde8 110 else
seangshim 0:a01fda36fde8 111 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 112
seangshim 0:a01fda36fde8 113 wait(1);
seangshim 1:10af8aaa5b40 114
seangshim 1:10af8aaa5b40 115 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 116
seangshim 0:a01fda36fde8 117 }
seangshim 27:b4922048ab11 118 fprintf(fp,"GPS finish\r\n");
seangshim 35:40df2f91cea9 119 // fclose(fp); // GPSの測定終了 */
seangshim 28:5e21ce413558 120
seangshim 38:d3b7fda44f72 121 motorSpeedR.period_ms(4); //モーター調節
seangshim 38:d3b7fda44f72 122 motorSpeedR = 0.955;
seangshim 38:d3b7fda44f72 123 motorSpeedL.period_ms(4); //モーター調節
seangshim 38:d3b7fda44f72 124 motorSpeedL = 0.755;
seangshim 9:fb19a93df88f 125
394 10:280a25bcc8bb 126 compass.init(); //地磁気センサー動作
seangshim 16:44c763c32b0d 127
394 10:280a25bcc8bb 128 int i;
seangshim 38:d3b7fda44f72 129 for(i=0;i<20;i++) //地磁気測定//デフォ20
394 10:280a25bcc8bb 130 {
394 10:280a25bcc8bb 131 pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); //度数法で表記
seangshim 29:05b390de92ed 132 fprintf(fp,"raw=\r\n");
seangshim 29:05b390de92ed 133 fprintf(fp,"%lf\r\n",compass.getHeadingXYDeg());
394 10:280a25bcc8bb 134 wait(0.5);
seangshim 16:44c763c32b0d 135 }
394 10:280a25bcc8bb 136 float mc1,mc2;
394 20:e78bffff80ee 137 mc1=1.0;
394 20:e78bffff80ee 138 mc2=1.0;
394 10:280a25bcc8bb 139 //地磁気センサのキャリブレーション
seangshim 38:d3b7fda44f72 140 motorForwardL(); //車体を時計回りに３秒回転
seangshim 38:d3b7fda44f72 141 motorReverseR();
394 30:3bcf14e8dd63 142 wait(1.6);
394 10:280a25bcc8bb 143
seangshim 38:d3b7fda44f72 144 motorStopR();
seangshim 38:d3b7fda44f72 145 motorStopL();
394 10:280a25bcc8bb 146 wait(1);
394 10:280a25bcc8bb 147
seangshim 38:d3b7fda44f72 148 motorReverseL(); //車体を反時計回りに３秒回
seangshim 38:d3b7fda44f72 149 motorForwardR();
394 30:3bcf14e8dd63 150 wait(1.6);
394 10:280a25bcc8bb 151
seangshim 38:d3b7fda44f72 152 motorStopR();
seangshim 38:d3b7fda44f72 153 motorStopL();
394 10:280a25bcc8bb 154 wait(1);
394 10:280a25bcc8bb 155 printf("compass carriblation\r\n"); //キャリブレーション終了
394 10:280a25bcc8bb 156
seangshim 38:d3b7fda44f72 157 //float mcn1,mcn2;
seangshim 38:d3b7fda44f72 158 double heading,w;
seangshim 38:d3b7fda44f72 159 // mcn1=1.0;
seangshim 38:d3b7fda44f72 160 // mcn2=1.0;
seangshim 38:d3b7fda44f72 161
seangshim 38:d3b7fda44f72 162 heading=compass.getHeadingXYDeg();//headingに地磁気の値を格納する
394 30:3bcf14e8dd63 163 if(90<heading<267.5){
seangshim 38:d3b7fda44f72 164 printf("right\r\n");
seangshim 38:d3b7fda44f72 165 motorForwardL();//右回転
seangshim 38:d3b7fda44f72 166 motorReverseR();
seangshim 38:d3b7fda44f72 167 w=(270-heading)*0.004448;
seangshim 38:d3b7fda44f72 168 wait(w); //角度のずれ*1度回転するのにかかる時間
seangshim 38:d3b7fda44f72 169 motorStopR();
seangshim 38:d3b7fda44f72 170 motorStopL();
394 10:280a25bcc8bb 171 wait(1);
seangshim 38:d3b7fda44f72 172 }
seangshim 38:d3b7fda44f72 173 else if(0<=heading<=90.0){
seangshim 38:d3b7fda44f72 174 printf("left\r\n");
seangshim 38:d3b7fda44f72 175 motorReverseL();//左回転
seangshim 38:d3b7fda44f72 176 motorForwardR();
seangshim 38:d3b7fda44f72 177 w=(heading+90.0)*0.004448;
seangshim 38:d3b7fda44f72 178 wait(w);
seangshim 38:d3b7fda44f72 179 motorStopR();
seangshim 38:d3b7fda44f72 180 motorStopL();
394 30:3bcf14e8dd63 181 wait(1);
seangshim 38:d3b7fda44f72 182 }
seangshim 38:d3b7fda44f72 183 else if(272.5<heading<360){
seangshim 38:d3b7fda44f72 184 printf("left\r\n");
seangshim 38:d3b7fda44f72 185 motorReverseL();//左回転
seangshim 38:d3b7fda44f72 186 motorForwardR();
seangshim 38:d3b7fda44f72 187 w=(heading-270)*0.004448;
seangshim 38:d3b7fda44f72 188 wait(w);
seangshim 38:d3b7fda44f72 189 motorStopR();
seangshim 38:d3b7fda44f72 190 motorStopL();
394 10:280a25bcc8bb 191 wait(1);
seangshim 38:d3b7fda44f72 192 }
seangshim 38:d3b7fda44f72 193 else{
394 20:e78bffff80ee 194 wait(5);
394 10:280a25bcc8bb 195 }
394 10:280a25bcc8bb 196 printf("searchN\r\n"); //機体が北を向く
seangshim 38:d3b7fda44f72 197 wait(2);
seangshim 0:a01fda36fde8 198
seangshim 0:a01fda36fde8 199 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 200 int distance;
seangshim 0:a01fda36fde8 201
seangshim 13:b884f5960fbf 202 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 203 //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 204 //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 205 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 206 float leftrun2;
seangshim 4:8b52fd631b32 207 rightrun=0.0;
seangshim 4:8b52fd631b32 208 leftrun2=0.0;
seangshim 35:40df2f91cea9 209
seangshim 27:b4922048ab11 210 int accel[3];//accelを3つの配列で定義。*/
seangshim 27:b4922048ab11 211
seangshim 27:b4922048ab11 212 int tt=0;
seangshim 27:b4922048ab11 213 float run=0;
seangshim 35:40df2f91cea9 214 fprintf(fp, "x,y,z,lefttrun2,rightrun\r\n");
seangshim 35:40df2f91cea9 215
seangshim 38:d3b7fda44f72 216 int k=0;//中間地点角度判定プログラムを１回しか通さないためのフラグ
seangshim 3:c1e0db4832b7 217 while(1)
seangshim 3:c1e0db4832b7 218 {
seangshim 3:c1e0db4832b7 219 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 220 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 221
seangshim 8:d41f5d7d2aa5 222 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 19:8ad7dcfef11f 223 int x = accel[0]-123;//x軸方向の加速度
seangshim 19:8ad7dcfef11f 224 int y = accel[1]+60;//y軸方向の加速度
seangshim 19:8ad7dcfef11f 225 int z = accel[2]+1110 ;//z軸方向の加速度
seangshim 17:9bc130ebb5ed 226
seangshim 38:d3b7fda44f72 227 printf("x=%d,y=%d,z=%d\r\n",x,y,z); //加速度の表示
seangshim 3:c1e0db4832b7 228
seangshim 8:d41f5d7d2aa5 229 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 230 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 231 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 232 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 233 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 234 }
seangshim 1:10af8aaa5b40 235 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 236 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 237 //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 33:8d3757a0cd93 238 rightrun += 56.5625; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 239 printf("test.read else\r\n");
seangshim 2:37d831f82840 240 }
seangshim 2:37d831f82840 241 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 242 flag2 = 1;
seangshim 3:c1e0db4832b7 243 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 244 }
seangshim 2:37d831f82840 245 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 246 flag2 = 0;
seangshim 33:8d3757a0cd93 247 leftrun2 += 56.5625;
seangshim 3:c1e0db4832b7 248 printf("test2.read else\r\n");
seangshim 2:37d831f82840 249 }
seangshim 35:40df2f91cea9 250 printf("%f", leftrun2);
seangshim 35:40df2f91cea9 251 printf("\t%f\r\n", rightrun);
seangshim 27:b4922048ab11 252 run=culculate_distance_3(rightrun,leftrun2);
seangshim 38:d3b7fda44f72 253 if(5000< run && run<5050 && k!=1){//中間地点で北を向きなおす
seangshim 38:d3b7fda44f72 254 motorStopR();
seangshim 38:d3b7fda44f72 255 motorStopL();
394 31:1ee80995740a 256 wait(1);
seangshim 38:d3b7fda44f72 257 heading=compass.getHeadingXYDeg();//コンパスの値をもう一度headingに格納
seangshim 38:d3b7fda44f72 258 wait(2);
seangshim 38:d3b7fda44f72 259 k=1;
seangshim 38:d3b7fda44f72 260
seangshim 38:d3b7fda44f72 261 if(90<heading<267.5){
seangshim 38:d3b7fda44f72 262 motorForwardL();//右回転
seangshim 38:d3b7fda44f72 263 motorReverseR();
seangshim 38:d3b7fda44f72 264 w=(270-heading)*0.004448;
seangshim 38:d3b7fda44f72 265 wait(w); //角度のずれ*1度回転するのにかかる時間
seangshim 38:d3b7fda44f72 266 motorStopR();
seangshim 38:d3b7fda44f72 267 motorStopL();
394 30:3bcf14e8dd63 268 wait(1);
394 30:3bcf14e8dd63 269 }else if(0<=heading<=90.0){
seangshim 38:d3b7fda44f72 270 motorReverseL();//左回転
seangshim 38:d3b7fda44f72 271 motorForwardR();
seangshim 38:d3b7fda44f72 272 w=(heading+90.0)*0.004448;
seangshim 38:d3b7fda44f72 273 wait(w);
seangshim 38:d3b7fda44f72 274 motorStopR();
seangshim 38:d3b7fda44f72 275 motorStopL();
394 30:3bcf14e8dd63 276 wait(1);
394 30:3bcf14e8dd63 277 }else if(272.5<heading<360){
seangshim 38:d3b7fda44f72 278 motorReverseL();//左回転
seangshim 38:d3b7fda44f72 279 motorForwardR();
seangshim 38:d3b7fda44f72 280 w=(heading-270)*0.004448;
seangshim 38:d3b7fda44f72 281 wait(w);
seangshim 38:d3b7fda44f72 282 motorStopR();
seangshim 38:d3b7fda44f72 283 motorStopL();
394 30:3bcf14e8dd63 284 wait(1);
394 30:3bcf14e8dd63 285 }else{
394 30:3bcf14e8dd63 286 wait(5);
seangshim 38:d3b7fda44f72 287
394 30:3bcf14e8dd63 288 }
394 30:3bcf14e8dd63 289 printf("searchN\r\n"); //機体が北を向く
394 30:3bcf14e8dd63 290 }
seangshim 38:d3b7fda44f72 291 else if(run >= 10000){//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 292 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 293 }
seangshim 0:a01fda36fde8 294
seangshim 27:b4922048ab11 295 /* if(difference >= 0.3)
seangshim 19:8ad7dcfef11f 296 {
seangshim 19:8ad7dcfef11f 297 break;
seangshim 27:b4922048ab11 298 } */
seangshim 19:8ad7dcfef11f 299
seangshim 38:d3b7fda44f72 300 motorForwardL(); //通常走行
seangshim 38:d3b7fda44f72 301 motorForwardR();
seangshim 1:10af8aaa5b40 302 //Do something else here
seangshim 1:10af8aaa5b40 303 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 304 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 305
seangshim 9:fb19a93df88f 306 wait(0.01);
seangshim 0:a01fda36fde8 307
seangshim 27:b4922048ab11 308
seangshim 35:40df2f91cea9 309 fprintf(fp,"%5d, %5d, %5d, %8lf, %8lf\r\n", x, y, z, leftrun2, rightrun);//加速度とフォトインタラプタによる距離を出力
seangshim 27:b4922048ab11 310
seangshim 38:d3b7fda44f72 311 if(450 < distance && distance < 550) //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 38:d3b7fda44f72 323 motorStopR();
seangshim 38:d3b7fda44f72 324 motorStopL();
seangshim 1:10af8aaa5b40 325 wait(2);
seangshim 0:a01fda36fde8 326 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 327
seangshim 38:d3b7fda44f72 328 motorForwardL(); //機体を時計回りに９０度回転
seangshim 38:d3b7fda44f72 329 motorReverseR();
seangshim 32:c522d463c4fa 330 wait(0.5);
seangshim 0:a01fda36fde8 331 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 332
seangshim 38:d3b7fda44f72 333 motorStopR();
seangshim 38:d3b7fda44f72 334 motorStopL();
seangshim 3:c1e0db4832b7 335 wait(2);
seangshim 3:c1e0db4832b7 336 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 337
seangshim 38:d3b7fda44f72 338 motorForwardL(); //直進
seangshim 38:d3b7fda44f72 339 motorForwardR();
seangshim 1:10af8aaa5b40 340 wait(2);
seangshim 0:a01fda36fde8 341 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 342
seangshim 38:d3b7fda44f72 343 motorStopR();
seangshim 38:d3b7fda44f72 344 motorStopL();
seangshim 3:c1e0db4832b7 345 wait(2);
seangshim 3:c1e0db4832b7 346 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 347
seangshim 38:d3b7fda44f72 348 motorReverseL(); //機体を反時計回りに９０度回転
seangshim 38:d3b7fda44f72 349 motorForwardR();
seangshim 32:c522d463c4fa 350 wait(0.5);
seangshim 0:a01fda36fde8 351 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 352
seangshim 38:d3b7fda44f72 353 motorStopR();
seangshim 38:d3b7fda44f72 354 motorStopL();
seangshim 3:c1e0db4832b7 355 wait(2);
seangshim 3:c1e0db4832b7 356 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 357
seangshim 38:d3b7fda44f72 358 motorForwardL(); //直進
seangshim 38:d3b7fda44f72 359 motorForwardR();
seangshim 16:44c763c32b0d 360
seangshim 16:44c763c32b0d 361
seangshim 12:2f0c841e6078 362 int t=0;
seangshim 36:c2b4071970de 363 for(t=0;t<100;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 33:8d3757a0cd93 374 rightrun += 56.5625;
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 33:8d3757a0cd93 381 leftrun2 += 56.5625;
seangshim 2:37d831f82840 382 }
seangshim 35:40df2f91cea9 383 printf("%f", leftrun2);
seangshim 35:40df2f91cea9 384 printf("\t%f\r\n", rightrun);
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 38:d3b7fda44f72 392 fprintf(fp,"%5d, %5d, %5d, %8lf, %8lf\r\n", x, y, z, leftrun2, rightrun);//加速度とフォトインタラプタによる距離を出力
seangshim 17:9bc130ebb5ed 393
seangshim 38:d3b7fda44f72 394 if (run >= 10000){ //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 395 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 396 }
seangshim 16:44c763c32b0d 397
seangshim 17:9bc130ebb5ed 398 wait(0.01);
seangshim 27:b4922048ab11 399
seangshim 16:44c763c32b0d 400 }
seangshim 16:44c763c32b0d 401
seangshim 16:44c763c32b0d 402
seangshim 16:44c763c32b0d 403
seangshim 3:c1e0db4832b7 404 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 405
seangshim 38:d3b7fda44f72 406 motorStopR();
seangshim 38:d3b7fda44f72 407 motorStopL();
seangshim 3:c1e0db4832b7 408 wait(2);
seangshim 3:c1e0db4832b7 409 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 410
seangshim 38:d3b7fda44f72 411 motorReverseL(); //機体を反時計回りに９０度回転
seangshim 38:d3b7fda44f72 412 motorForwardR();
seangshim 32:c522d463c4fa 413 wait(0.5);
seangshim 0:a01fda36fde8 414 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 415
seangshim 38:d3b7fda44f72 416 motorStopR();
seangshim 38:d3b7fda44f72 417 motorStopL();
seangshim 3:c1e0db4832b7 418 wait(2);
seangshim 3:c1e0db4832b7 419 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 420
seangshim 38:d3b7fda44f72 421 motorForwardL(); //直進
seangshim 38:d3b7fda44f72 422 motorForwardR();
seangshim 1:10af8aaa5b40 423 wait(2);
seangshim 0:a01fda36fde8 424 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 425
seangshim 38:d3b7fda44f72 426 motorStopR();
seangshim 38:d3b7fda44f72 427 motorStopL();
seangshim 3:c1e0db4832b7 428 wait(2);
seangshim 3:c1e0db4832b7 429 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 430
seangshim 38:d3b7fda44f72 431 motorForwardL(); //機体を時計回りに９０度回転
seangshim 38:d3b7fda44f72 432 motorReverseR();
seangshim 32:c522d463c4fa 433 wait(0.5);
seangshim 0:a01fda36fde8 434 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 435
seangshim 38:d3b7fda44f72 436 motorStopR();
seangshim 38:d3b7fda44f72 437 motorStopL();
seangshim 3:c1e0db4832b7 438 wait(2);
seangshim 3:c1e0db4832b7 439 printf("mortor stop\r\n");
394 10:280a25bcc8bb 440
394 30:3bcf14e8dd63 441 if(90<heading<267.5){
seangshim 38:d3b7fda44f72 442 motorForwardL();//右回転
seangshim 38:d3b7fda44f72 443 motorReverseR();
394 30:3bcf14e8dd63 444 wait((270-heading)*0.004448); //角度のずれ*1度回転するのにかかる時間
seangshim 38:d3b7fda44f72 445 motorStopR();
seangshim 38:d3b7fda44f72 446 motorStopL();
394 30:3bcf14e8dd63 447 wait(1);
394 30:3bcf14e8dd63 448 }else if(0<=heading<=90.0){
seangshim 38:d3b7fda44f72 449 motorReverseL();//左回転
seangshim 38:d3b7fda44f72 450 motorForwardR();
394 30:3bcf14e8dd63 451 wait((heading+90.0)*0.004448);
seangshim 38:d3b7fda44f72 452 motorStopR();
seangshim 38:d3b7fda44f72 453 motorStopL();
394 30:3bcf14e8dd63 454 wait(1);
394 30:3bcf14e8dd63 455 }else if(272.5<heading<360){
seangshim 38:d3b7fda44f72 456 motorReverseL();//左回転
seangshim 38:d3b7fda44f72 457 motorForwardR();
394 30:3bcf14e8dd63 458 wait((heading-270)*0.004448);
seangshim 38:d3b7fda44f72 459 motorStopR();
seangshim 38:d3b7fda44f72 460 motorStopL();
394 30:3bcf14e8dd63 461 wait(1);
394 30:3bcf14e8dd63 462 }else{
394 30:3bcf14e8dd63 463 wait(5);
394 30:3bcf14e8dd63 464 }
394 30:3bcf14e8dd63 465 printf("searchN\r\n"); //機体が北を向く
394 10:280a25bcc8bb 466
seangshim 0:a01fda36fde8 467 }
seangshim 0:a01fda36fde8 468 }
seangshim 38:d3b7fda44f72 469 motorStopR();
seangshim 38:d3b7fda44f72 470 motorStopL();
seangshim 19:8ad7dcfef11f 471
seangshim 19:8ad7dcfef11f 472
seangshim 35:40df2f91cea9 473 fprintf(fp, "last photo\r\n");
seangshim 33:8d3757a0cd93 474 fprintf(fp,"(%lf)\r\n", 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 35:40df2f91cea9 475 fprintf(fp, "last left.right\r\n");
seangshim 35:40df2f91cea9 476 fprintf(fp,"(%lf, %lf)\r\n", leftrun2, rightrun);
seangshim 19:8ad7dcfef11f 477 fclose(fp);
seangshim 35:40df2f91cea9 478
seangshim 19:8ad7dcfef11f 479
seangshim 0:a01fda36fde8 480 }
seangshim 1:10af8aaa5b40 481
seangshim 1:10af8aaa5b40 482
seangshim 1:10af8aaa5b40 483
seangshim 38:d3b7fda44f72 484 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 485 {
seangshim 1:10af8aaa5b40 486 float c;
seangshim 1:10af8aaa5b40 487 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 488 return c;
seangshim 1:10af8aaa5b40 489 }
seangshim 38:d3b7fda44f72 490 void motorForwardR() {
seangshim 38:d3b7fda44f72 491 motorStopR();
seangshim 35:40df2f91cea9 492 motor1Dir1 = 1;
seangshim 35:40df2f91cea9 493 motor1Dir2 = 0;
seangshim 27:b4922048ab11 494 }
seangshim 27:b4922048ab11 495
seangshim 38:d3b7fda44f72 496 void motorReverseR() {
seangshim 38:d3b7fda44f72 497 motorStopR();
seangshim 35:40df2f91cea9 498 motor1Dir1 = 0;
seangshim 35:40df2f91cea9 499 motor1Dir2 = 1;
seangshim 27:b4922048ab11 500 }
seangshim 27:b4922048ab11 501
seangshim 38:d3b7fda44f72 502 void motorStopR() {
seangshim 35:40df2f91cea9 503 motor1Dir1 = 0;
seangshim 35:40df2f91cea9 504 motor1Dir2 = 0;
seangshim 35:40df2f91cea9 505 }
seangshim 35:40df2f91cea9 506
seangshim 38:d3b7fda44f72 507 void motorForwardL() {
seangshim 38:d3b7fda44f72 508 motorStopR();
seangshim 35:40df2f91cea9 509 motor2Dir1 = 1;
seangshim 35:40df2f91cea9 510 motor2Dir2 = 0;
seangshim 35:40df2f91cea9 511 }
seangshim 35:40df2f91cea9 512
seangshim 38:d3b7fda44f72 513 void motorReverseL() {
seangshim 38:d3b7fda44f72 514 motorStopR();
seangshim 35:40df2f91cea9 515 motor2Dir1 = 0;
seangshim 35:40df2f91cea9 516 motor2Dir2 = 1;
seangshim 35:40df2f91cea9 517 }
seangshim 35:40df2f91cea9 518
seangshim 38:d3b7fda44f72 519 void motorStopL() {
seangshim 35:40df2f91cea9 520 motor2Dir1 = 0;
seangshim 35:40df2f91cea9 521 motor2Dir2 = 0;
seangshim 27:b4922048ab11 522 }
seangshim 1:10af8aaa5b40 523
seangshim 1:10af8aaa5b40 524
seangshim 1:10af8aaa5b40 525
seangshim 1:10af8aaa5b40 526