cansat-d_2018 / Mbed 2 deprecated cansat_main_new_3

otamesi

Dependencies:   mbed

main.cpp@8:d41f5d7d2aa5, 2018-10-24 (annotated)

Committer:
seangshim
Date:
Wed Oct 24 09:08:53 2018 +0000
Revision:
8:d41f5d7d2aa5
Parent:
6:574d9a6253c7
Child:
9:fb19a93df88f
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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 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 8:d41f5d7d2aa5 9
seangshim 8:d41f5d7d2aa5 10 Serial pc(USBTX, USBRX); //地磁気センサー,GPS
seangshim 6:574d9a6253c7 11 HMC5883L compass(p28, p27);
seangshim 0:a01fda36fde8 12
seangshim 1:10af8aaa5b40 13 DigitalOut FET(p21); //FET
seangshim 1:10af8aaa5b40 14
seangshim 1:10af8aaa5b40 15 InterruptIn button1(p15); //フォトインタラプタ
seangshim 2:37d831f82840 16 InterruptIn button2(p18);
seangshim 1:10af8aaa5b40 17 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 18 //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 19 DigitalIn test2(p18);
seangshim 1:10af8aaa5b40 20
seangshim 8:d41f5d7d2aa5 21 GPS gps(p28, p27); //GPS
seangshim 0:a01fda36fde8 22
seangshim 1:10af8aaa5b40 23 Motor motor1(p22, p16, p17, 1); // pwm, fwd, rev, can brake モーター
seangshim 0:a01fda36fde8 24 Motor motor2(p22, p19, p20, 1); // pwm, fwd, rev, can brake
seangshim 0:a01fda36fde8 25
seangshim 0:a01fda36fde8 26 void dist(int distance)
seangshim 0:a01fda36fde8 27 {
seangshim 0:a01fda36fde8 28 //put code here to happen when the distance is changed
seangshim 0:a01fda36fde8 29 printf("Distance changed to %dmm\r\n", distance);
seangshim 0:a01fda36fde8 30 }
seangshim 0:a01fda36fde8 31
seangshim 1:10af8aaa5b40 32 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 33 //have updates every .1 seconds and a timeout after 1
seangshim 0:a01fda36fde8 34 //second, and call dist when the distance changes
seangshim 0:a01fda36fde8 35
seangshim 0:a01fda36fde8 36
seangshim 0:a01fda36fde8 37
seangshim 1:10af8aaa5b40 38 LocalFileSystem local("local"); // Create the local filesystem under the name "local"　　 データ保存
seangshim 0:a01fda36fde8 39
seangshim 0:a01fda36fde8 40 int main() {
seangshim 0:a01fda36fde8 41
seangshim 1:10af8aaa5b40 42
seangshim 3:c1e0db4832b7 43 /* FET = 0; //FET、ニクロム線切断
seangshim 1:10af8aaa5b40 44 wait(60);
seangshim 1:10af8aaa5b40 45 FET = 1;
seangshim 1:10af8aaa5b40 46 wait(30);
seangshim 3:c1e0db4832b7 47 FET = 0; */
seangshim 1:10af8aaa5b40 48
seangshim 0:a01fda36fde8 49 motor1.stop(0);
seangshim 0:a01fda36fde8 50 motor2.stop(0);
seangshim 0:a01fda36fde8 51
seangshim 0:a01fda36fde8 52
seangshim 3:c1e0db4832b7 53 FILE *fp = fopen("/local/gps.txt", "w"); // Open "gps.txt" on the local file system for writing
seangshim 1:10af8aaa5b40 54 fprintf(fp, "GPS Start\r\n");
seangshim 0:a01fda36fde8 55 int n;
seangshim 1:10af8aaa5b40 56 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 57 {
seangshim 0:a01fda36fde8 58
seangshim 0:a01fda36fde8 59 if(gps.getgps()) //現在地取得
seangshim 0:a01fda36fde8 60 fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
seangshim 0:a01fda36fde8 61
seangshim 0:a01fda36fde8 62 else
seangshim 0:a01fda36fde8 63 fprintf(fp,"No data\r\n");//データ取得に失敗した場合
seangshim 0:a01fda36fde8 64
seangshim 0:a01fda36fde8 65 wait(1);
seangshim 1:10af8aaa5b40 66
seangshim 1:10af8aaa5b40 67 printf("%d\r\n",n); //今何回目かを出力（本番ではいらない）
seangshim 1:10af8aaa5b40 68
seangshim 0:a01fda36fde8 69 }
seangshim 0:a01fda36fde8 70 fprintf(fp,"GPS finish\r\n");
seangshim 8:d41f5d7d2aa5 71 fclose(fp); //GPSの測定終了
seangshim 8:d41f5d7d2aa5 72
seangshim 6:574d9a6253c7 73
seangshim 6:574d9a6253c7 74 compass.init(); //地磁気センサー動作
seangshim 8:d41f5d7d2aa5 75 pc.printf("raw=%f\r\n",compass.getHeadingXYDeg()); /*度数法で表記*/
seangshim 8:d41f5d7d2aa5 76
seangshim 0:a01fda36fde8 77
seangshim 0:a01fda36fde8 78 mu.startUpdates();//start mesuring the distance(超音波センサー)
seangshim 3:c1e0db4832b7 79 int distance;
seangshim 0:a01fda36fde8 80
seangshim 2:37d831f82840 81 int flag,flag2; //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 82 //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 83 //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 84 float rightrun; //変数runをフロートで型づけする
seangshim 2:37d831f82840 85 float leftrun2;
seangshim 4:8b52fd631b32 86 rightrun=0.0;
seangshim 4:8b52fd631b32 87 leftrun2=0.0;
seangshim 1:10af8aaa5b40 88
seangshim 3:c1e0db4832b7 89 while(1)
seangshim 3:c1e0db4832b7 90 {
seangshim 3:c1e0db4832b7 91 distance=mu.getCurrentDistance();
seangshim 3:c1e0db4832b7 92 printf("%d\r\n",distance);
seangshim 8:d41f5d7d2aa5 93
seangshim 8:d41f5d7d2aa5 94 float accel[3];//accelを3つの配列で定義。 加速度センサー
seangshim 8:d41f5d7d2aa5 95 mpu.readAccelData(accel);//加速度の値をaccel[3]に代入
seangshim 8:d41f5d7d2aa5 96 float x = accel[0]/16384;//x軸方向の加速度
seangshim 8:d41f5d7d2aa5 97 float y = accel[1]/16384;//y軸方向の加速度
seangshim 8:d41f5d7d2aa5 98 float z = accel[2]/16384;//z軸方向の加速度
seangshim 8:d41f5d7d2aa5 99 printf("accel x:%f y:%f z:%f\r\n",x,y,z);//一応表示しとくやで～～
seangshim 3:c1e0db4832b7 100
seangshim 3:c1e0db4832b7 101
seangshim 8:d41f5d7d2aa5 102 printf("%d\r\n", test.read()); //フォトインタラプタ
seangshim 3:c1e0db4832b7 103 printf("%d\r\n", test2.read());
seangshim 1:10af8aaa5b40 104 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 105 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 106 printf("test.read if\r\n");
seangshim 1:10af8aaa5b40 107 }
seangshim 1:10af8aaa5b40 108 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 109 flag = 0; //まずこれでスイッチを0にして入れる。
seangshim 1:10af8aaa5b40 110 //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 2:37d831f82840 111 rightrun += 52.5; //総距離runに52.5を加算する
seangshim 3:c1e0db4832b7 112 printf("test.read else\r\n");
seangshim 2:37d831f82840 113 }
seangshim 2:37d831f82840 114 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 115 flag2 = 1;
seangshim 3:c1e0db4832b7 116 printf("test2.read if\r\n");
seangshim 1:10af8aaa5b40 117 }
seangshim 2:37d831f82840 118 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 119 flag2 = 0;
seangshim 2:37d831f82840 120 leftrun2 += 52.5;
seangshim 3:c1e0db4832b7 121 printf("test2.read else\r\n");
seangshim 2:37d831f82840 122 }
seangshim 2:37d831f82840 123 printf("%f", rightrun);
seangshim 2:37d831f82840 124 printf("\t%f\r\n", leftrun2);
seangshim 3:c1e0db4832b7 125 if (rightrun > 250){ //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 126 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 127 }
seangshim 0:a01fda36fde8 128
seangshim 1:10af8aaa5b40 129 motor1.speed(0.5); //通常走行
seangshim 0:a01fda36fde8 130 motor2.speed(0.5);
seangshim 1:10af8aaa5b40 131 //Do something else here
seangshim 1:10af8aaa5b40 132 // mu.checkDistance(); //call checkDistance() as much as possible, as this is where
seangshim 1:10af8aaa5b40 133 //the class checks if dist needs to be called.
seangshim 0:a01fda36fde8 134
seangshim 3:c1e0db4832b7 135 wait(0.2);
seangshim 0:a01fda36fde8 136
seangshim 3:c1e0db4832b7 137 if(100 < distance && distance < 500) //障害物発見❕
seangshim 0:a01fda36fde8 138 {
seangshim 0:a01fda36fde8 139
seangshim 0:a01fda36fde8 140 printf("if success!\r\n");
seangshim 0:a01fda36fde8 141
seangshim 0:a01fda36fde8 142 float ms1,ms2,msj1,msj2;
seangshim 1:10af8aaa5b40 143 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 144 ms2=1.0;
seangshim 0:a01fda36fde8 145
seangshim 1:10af8aaa5b40 146 msj1=1.0; //回転の時
seangshim 1:10af8aaa5b40 147 msj2=1.0;
seangshim 0:a01fda36fde8 148
seangshim 0:a01fda36fde8 149 motor1.stop(0);
seangshim 0:a01fda36fde8 150 motor2.stop(0);
seangshim 1:10af8aaa5b40 151 wait(2);
seangshim 0:a01fda36fde8 152 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 153
seangshim 0:a01fda36fde8 154 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 155 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 156 wait(2);
seangshim 0:a01fda36fde8 157 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 158
seangshim 3:c1e0db4832b7 159 motor1.stop(0);
seangshim 3:c1e0db4832b7 160 motor2.stop(0);
seangshim 3:c1e0db4832b7 161 wait(2);
seangshim 3:c1e0db4832b7 162 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 163
seangshim 0:a01fda36fde8 164 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 165 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 166 wait(2);
seangshim 0:a01fda36fde8 167 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 168
seangshim 3:c1e0db4832b7 169 motor1.stop(0);
seangshim 3:c1e0db4832b7 170 motor2.stop(0);
seangshim 3:c1e0db4832b7 171 wait(2);
seangshim 3:c1e0db4832b7 172 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 173
seangshim 0:a01fda36fde8 174 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 175 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 176 wait(2);
seangshim 0:a01fda36fde8 177 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 178
seangshim 3:c1e0db4832b7 179 motor1.stop(0);
seangshim 3:c1e0db4832b7 180 motor2.stop(0);
seangshim 3:c1e0db4832b7 181 wait(2);
seangshim 3:c1e0db4832b7 182 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 183
seangshim 0:a01fda36fde8 184 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 185 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 186
seangshim 2:37d831f82840 187 /* printf("%d\r\n", test.read()); ここの部分は単純に５mを足すことにした方がいいかな？
seangshim 1:10af8aaa5b40 188 if (test.read() == 1 and flag == 0)
seangshim 1:10af8aaa5b40 189 {
seangshim 1:10af8aaa5b40 190 flag = 1;
seangshim 1:10af8aaa5b40 191 }
seangshim 1:10af8aaa5b40 192 else if (test.read() == 0 and flag == 1)
seangshim 1:10af8aaa5b40 193 {
seangshim 1:10af8aaa5b40 194 flag=0;
seangshim 2:37d831f82840 195 rightrun += 52.5;
seangshim 1:10af8aaa5b40 196 }
seangshim 2:37d831f82840 197 if (test2.read() == 1 and flag2 == 0){
seangshim 2:37d831f82840 198 flag2 = 1;
seangshim 2:37d831f82840 199 }
seangshim 2:37d831f82840 200 else if (test2.read() == 0 and flag2 == 1){
seangshim 2:37d831f82840 201 flag2 = 0;
seangshim 2:37d831f82840 202 leftrun2 += 52.5;
seangshim 2:37d831f82840 203 }
seangshim 2:37d831f82840 204 printf("%f", rightrun);
seangshim 2:37d831f82840 205 printf("\t%f\r\n", leftrun2);*/
seangshim 1:10af8aaa5b40 206 wait(2);
seangshim 3:c1e0db4832b7 207 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 208
seangshim 3:c1e0db4832b7 209 motor1.stop(0);
seangshim 3:c1e0db4832b7 210 motor2.stop(0);
seangshim 3:c1e0db4832b7 211 wait(2);
seangshim 3:c1e0db4832b7 212 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 213
seangshim 0:a01fda36fde8 214 motor1.speed(-msj1); //機体を反時計回りに９０度回転
seangshim 0:a01fda36fde8 215 motor2.speed(msj2);
seangshim 1:10af8aaa5b40 216 wait(2);
seangshim 0:a01fda36fde8 217 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 218
seangshim 3:c1e0db4832b7 219 motor1.stop(0);
seangshim 3:c1e0db4832b7 220 motor2.stop(0);
seangshim 3:c1e0db4832b7 221 wait(2);
seangshim 3:c1e0db4832b7 222 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 223
seangshim 0:a01fda36fde8 224 motor1.speed(ms1); //直進
seangshim 0:a01fda36fde8 225 motor2.speed(ms2);
seangshim 1:10af8aaa5b40 226 wait(2);
seangshim 0:a01fda36fde8 227 printf("mortor straight\r\n");
seangshim 3:c1e0db4832b7 228
seangshim 3:c1e0db4832b7 229 motor1.stop(0);
seangshim 3:c1e0db4832b7 230 motor2.stop(0);
seangshim 3:c1e0db4832b7 231 wait(2);
seangshim 3:c1e0db4832b7 232 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 233
seangshim 0:a01fda36fde8 234 motor1.speed(msj1); //機体を時計回りに９０度回転
seangshim 0:a01fda36fde8 235 motor2.speed(-msj2);
seangshim 1:10af8aaa5b40 236 wait(2);
seangshim 0:a01fda36fde8 237 printf("mortor rotation\r\n");
seangshim 3:c1e0db4832b7 238
seangshim 3:c1e0db4832b7 239 motor1.stop(0);
seangshim 3:c1e0db4832b7 240 motor2.stop(0);
seangshim 3:c1e0db4832b7 241 wait(2);
seangshim 3:c1e0db4832b7 242 printf("mortor stop\r\n");
seangshim 0:a01fda36fde8 243 }
seangshim 0:a01fda36fde8 244 }
seangshim 4:8b52fd631b32 245
seangshim 4:8b52fd631b32 246 motor1.stop(0);
seangshim 4:8b52fd631b32 247 motor2.stop(0);
seangshim 4:8b52fd631b32 248
seangshim 0:a01fda36fde8 249 }
seangshim 1:10af8aaa5b40 250
seangshim 1:10af8aaa5b40 251
seangshim 1:10af8aaa5b40 252
seangshim 1:10af8aaa5b40 253 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 254 {
seangshim 1:10af8aaa5b40 255 float c;
seangshim 1:10af8aaa5b40 256 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 257 return c;
seangshim 1:10af8aaa5b40 258 }
seangshim 1:10af8aaa5b40 259
seangshim 1:10af8aaa5b40 260
seangshim 1:10af8aaa5b40 261
seangshim 1:10af8aaa5b40 262
seangshim 1:10af8aaa5b40 263