cansat-e_2021
/
GPSDRV8833CanSat
connected GPS and motor driver
main.cpp@1:c9f35ca3f74f, 2021-10-19 (annotated)
- Committer:
- kaipon
- Date:
- Tue Oct 19 07:51:56 2021 +0000
- Revision:
- 1:c9f35ca3f74f
- Parent:
- 0:a56e760b5d55
- Child:
- 2:591877e2c7d1
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
keepyourselfalive | 0:a56e760b5d55 | 1 | #include <mbed.h> |
keepyourselfalive | 0:a56e760b5d55 | 2 | #include <getGPS.h> |
keepyourselfalive | 0:a56e760b5d55 | 3 | |
keepyourselfalive | 0:a56e760b5d55 | 4 | PwmOut pinAFin(A1); |
keepyourselfalive | 0:a56e760b5d55 | 5 | PwmOut pinARin(D10); |
keepyourselfalive | 0:a56e760b5d55 | 6 | PwmOut pinBFin(D11); |
keepyourselfalive | 0:a56e760b5d55 | 7 | PwmOut pinBRin(D12); |
keepyourselfalive | 0:a56e760b5d55 | 8 | Serial pc(SERIAL_TX, SERIAL_RX); |
keepyourselfalive | 0:a56e760b5d55 | 9 | GPS gps(D1, D0);// tx,rx |
keepyourselfalive | 0:a56e760b5d55 | 10 | |
keepyourselfalive | 0:a56e760b5d55 | 11 | void driveMotor(int speedA,int speedB) { |
keepyourselfalive | 0:a56e760b5d55 | 12 | float outputA = abs(speedA); |
keepyourselfalive | 0:a56e760b5d55 | 13 | float outputB = abs(speedB); |
keepyourselfalive | 0:a56e760b5d55 | 14 | if (speedA > 0) { |
keepyourselfalive | 0:a56e760b5d55 | 15 | pinAFin=outputA; |
keepyourselfalive | 0:a56e760b5d55 | 16 | pinARin=0; |
keepyourselfalive | 0:a56e760b5d55 | 17 | } else if (speedA < 0) { |
keepyourselfalive | 0:a56e760b5d55 | 18 | pinAFin=0; |
keepyourselfalive | 0:a56e760b5d55 | 19 | pinARin=outputA; |
keepyourselfalive | 0:a56e760b5d55 | 20 | } else { |
keepyourselfalive | 0:a56e760b5d55 | 21 | pinAFin=0; |
keepyourselfalive | 0:a56e760b5d55 | 22 | pinARin=0; |
keepyourselfalive | 0:a56e760b5d55 | 23 | } |
keepyourselfalive | 0:a56e760b5d55 | 24 | if (speedB > 0) { |
keepyourselfalive | 0:a56e760b5d55 | 25 | pinBFin=outputB; |
keepyourselfalive | 0:a56e760b5d55 | 26 | pinBRin=0; |
keepyourselfalive | 0:a56e760b5d55 | 27 | } else if (speedB < 0) { |
keepyourselfalive | 0:a56e760b5d55 | 28 | pinBFin=0; |
keepyourselfalive | 0:a56e760b5d55 | 29 | pinBRin=outputB; |
keepyourselfalive | 0:a56e760b5d55 | 30 | } else { |
keepyourselfalive | 0:a56e760b5d55 | 31 | pinBFin=0; |
keepyourselfalive | 0:a56e760b5d55 | 32 | pinBRin=0; |
keepyourselfalive | 0:a56e760b5d55 | 33 | } |
keepyourselfalive | 0:a56e760b5d55 | 34 | } |
keepyourselfalive | 0:a56e760b5d55 | 35 | |
keepyourselfalive | 0:a56e760b5d55 | 36 | int main(){ |
keepyourselfalive | 0:a56e760b5d55 | 37 | double x, y; |
keepyourselfalive | 0:a56e760b5d55 | 38 | double m, n; |
keepyourselfalive | 0:a56e760b5d55 | 39 | double i,w; |
keepyourselfalive | 0:a56e760b5d55 | 40 | gps.getgps(); |
keepyourselfalive | 0:a56e760b5d55 | 41 | x = gps.latitude; //経度の初期値 |
keepyourselfalive | 0:a56e760b5d55 | 42 | y = gps.longitude; //緯度の初期値 |
keepyourselfalive | 0:a56e760b5d55 | 43 | while(1){ |
keepyourselfalive | 0:a56e760b5d55 | 44 | driveMotor(1,1); |
keepyourselfalive | 0:a56e760b5d55 | 45 | wait(30); |
keepyourselfalive | 0:a56e760b5d55 | 46 | driveMotor(0,0); |
keepyourselfalive | 0:a56e760b5d55 | 47 | m=gps.latitude; //現在の経度 |
keepyourselfalive | 0:a56e760b5d55 | 48 | n=gps.longitude; //現在の緯度 |
keepyourselfalive | 0:a56e760b5d55 | 49 | x=m-x; |
keepyourselfalive | 0:a56e760b5d55 | 50 | y=n-y; |
keepyourselfalive | 0:a56e760b5d55 | 51 | double a[2]={x,y}; |
keepyourselfalive | 0:a56e760b5d55 | 52 | double b[2]={0-m,0-n}; //目的地の座標を(0,0)とした |
keepyourselfalive | 0:a56e760b5d55 | 53 | double p=a[0]*a[0]+a[1]*a[1]; |
keepyourselfalive | 0:a56e760b5d55 | 54 | double q=b[0]*b[0]+b[1]*b[1]; |
keepyourselfalive | 0:a56e760b5d55 | 55 | double pp=pow(p,0.5); |
keepyourselfalive | 0:a56e760b5d55 | 56 | double qq=pow(q,0.5); |
keepyourselfalive | 0:a56e760b5d55 | 57 | i=(a[0]*b[0]+a[1]*b[1])/pp*qq; |
keepyourselfalive | 0:a56e760b5d55 | 58 | w=acos(i); |
kaipon | 1:c9f35ca3f74f | 59 | double d = m*m+n*n; |
kaipon | 1:c9f35ca3f74f | 60 | double dd = pow(d,0.5); //目的地までの距離 |
kaipon | 1:c9f35ca3f74f | 61 | double t[2] = {5*w/3.14159,2*dd/3*1}; //方向転換は5秒以内、1はモーターの1m/sを緯度、経度に変換した値。再度図るのは、全体の2/3だけ進んだときにしました。 |
kaipon | 1:c9f35ca3f74f | 62 | driveMotor(1,0); //方向転換、単位は1秒あたり72度。左回転にしたい。 |
kaipon | 1:c9f35ca3f74f | 63 | wait(t[0]); |
kaipon | 1:c9f35ca3f74f | 64 | driveMotor(0,0); |
kaipon | 1:c9f35ca3f74f | 65 | wait(0.5); |
kaipon | 1:c9f35ca3f74f | 66 | driveMotor(1,1); |
kaipon | 1:c9f35ca3f74f | 67 | wait(t[1]); |
keepyourselfalive | 0:a56e760b5d55 | 68 | } |
keepyourselfalive | 0:a56e760b5d55 | 69 | } |
keepyourselfalive | 0:a56e760b5d55 | 70 | |
keepyourselfalive | 0:a56e760b5d55 | 71 |