cansat_B 2019 / Mbed 2 deprecated CanSatB2019_main_1212_2

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Dependencies:   mbed

main.cpp@9:ec770f68440e, 2019-12-08 (annotated)

Committer:
KINU
Date:
Sun Dec 08 13:38:35 2019 +0000
Revision:
9:ec770f68440e
Parent:
8:765a73e21907
Child:
10:b190babac114
CanSatB_main_1208

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YUPPY 0:6212b283430c 1 #define cansatB
YUPPY 7:fae874e898b3 2 #include "mbed.h"
YUPPY 7:fae874e898b3 3 //mbed
YUPPY 7:fae874e898b3 4 #include "getGPS.h"
YUPPY 7:fae874e898b3 5 #include "math.h"
YUPPY 7:fae874e898b3 6 //GPS
YUPPY 7:fae874e898b3 7 #include "TB6612.h"
YUPPY 7:fae874e898b3 8 //motorDriver
YUPPY 7:fae874e898b3 9 #include "JPEGCamera.h"
YUPPY 7:fae874e898b3 10 //カメラ
YUPPY 0:6212b283430c 11 #include <stdio.h>
YUPPY 7:fae874e898b3 12 #include <base64.h>
YUPPY 7:fae874e898b3 13 //XBee
YUPPY 7:fae874e898b3 14 #include "us015.h"
YUPPY 7:fae874e898b3 15 // 超音波センサ
YUPPY 7:fae874e898b3 16
YUPPY 7:fae874e898b3 17
YUPPY 2:e2b803e3bcbc 18 GPS gps (p28,p27); //GPS
YUPPY 4:1354e56c7dd3 19
YUPPY 2:e2b803e3bcbc 20 DigitalOut FET(p21); //FET
YUPPY 7:fae874e898b3 21 DigitalOut myled(LED1);
YUPPY 7:fae874e898b3 22 US015 hs(p12,p11);
YUPPY 7:fae874e898b3 23 DigitalIn thermo(p20);
YUPPY 7:fae874e898b3 24 DigitalOut Sb612switch(p15); //焦電スイッチ
YUPPY 4:1354e56c7dd3 25 DigitalOut Ultra(p12);
YUPPY 7:fae874e898b3 26 Serial pc(USBTX,USBRX); // tx, rx
YUPPY 7:fae874e898b3 27 JPEGCamera camera(p9, p10); // TX, RX
YUPPY 7:fae874e898b3 28 TB6612 left1(p25,p17,p16); //モーターピン
YUPPY 7:fae874e898b3 29 TB6612 right1(p26,p19,p18); //モーターピン
YUPPY 7:fae874e898b3 30 Serial xbee(p13,p14); //xbee
YUPPY 2:e2b803e3bcbc 31
YUPPY 7:fae874e898b3 32
YUPPY 7:fae874e898b3 33
YUPPY 5:5aa7223226df 34
YUPPY 7:fae874e898b3 35 int main()
YUPPY 7:fae874e898b3 36 {
YUPPY 7:fae874e898b3 37
YUPPY 7:fae874e898b3 38
YUPPY 7:fae874e898b3 39 Sb612switch=0; //焦電off
YUPPY 7:fae874e898b3 40 wait(1);
YUPPY 7:fae874e898b3 41 Ultra=0;//超音波off
YUPPY 7:fae874e898b3 42
YUPPY 5:5aa7223226df 43 printf("CanSat-B_Start!\r\n");
YUPPY 5:5aa7223226df 44
YUPPY 7:fae874e898b3 45 //FET
YUPPY 7:fae874e898b3 46
YUPPY 7:fae874e898b3 47 FET=1;
YUPPY 7:fae874e898b3 48 wait(10);
YUPPY 7:fae874e898b3 49 FET=0;
YUPPY 7:fae874e898b3 50 wait(10);
YUPPY 7:fae874e898b3 51
YUPPY 7:fae874e898b3 52
YUPPY 7:fae874e898b3 53
YUPPY 5:5aa7223226df 54 //以下GPS
YUPPY 2:e2b803e3bcbc 55 double a;
YUPPY 2:e2b803e3bcbc 56 double b;
YUPPY 2:e2b803e3bcbc 57 double distance;
KINU 9:ec770f68440e 58 int k = 0;
KINU 9:ec770f68440e 59 int j = 0;
KINU 9:ec770f68440e 60
YUPPY 2:e2b803e3bcbc 61 pc.printf("GPS Start\r\n");
KINU 9:ec770f68440e 62 xbee.printf("s\n");
KINU 9:ec770f68440e 63 if(gps.getgps()){
KINU 9:ec770f68440e 64
KINU 9:ec770f68440e 65 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
KINU 9:ec770f68440e 66 i ++;
KINU 9:ec770f68440e 67 if(k<59){
KINU 9:ec770f68440e 68 }else{
YUPPY 2:e2b803e3bcbc 69 a = gps.latitude;
YUPPY 2:e2b803e3bcbc 70 b = gps.longitude;
KINU 9:ec770f68440e 71 printf("(a =%lf,b =%lf)\r\n",gps.latitude,gps.longitude);//a,bを表示
YUPPY 2:e2b803e3bcbc 72 break;
KINU 9:ec770f68440e 73 }
YUPPY 2:e2b803e3bcbc 74 }else{
KINU 9:ec770f68440e 75 pc.printf("NO DATA\r\n");//データ取得失敗
KINU 9:ec770f68440e 76 wait(1);
KINU 9:ec770f68440e 77 }
KINU 9:ec770f68440e 78 }
KINU 9:ec770f68440e 79 printf("moter on");
KINU 9:ec770f68440e 80 left = 100; //左モーター１００％
KINU 9:ec770f68440e 81 right = 100;//右モーター１００％
KINU 9:ec770f68440e 82
KINU 9:ec770f68440e 83 wait(30);
KINU 9:ec770f68440e 84 printf("moter off");
KINU 9:ec770f68440e 85 left = 0; //左モーター１０％
KINU 9:ec770f68440e 86 right = 0;//右モーター１０％(左折)
KINU 9:ec770f68440e 87 printf("moter off");
KINU 9:ec770f68440e 88 wait(15);
KINU 9:ec770f68440e 89 printf("GPS restart\n");
KINU 9:ec770f68440e 90
KINU 9:ec770f68440e 91 while(1) {
KINU 9:ec770f68440e 92 if(gps.getgps()){
YUPPY 2:e2b803e3bcbc 93
KINU 9:ec770f68440e 94 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
KINU 9:ec770f68440e 95 j ++;
KINU 9:ec770f68440e 96 if(j<29){
KINU 9:ec770f68440e 97 }else{
KINU 9:ec770f68440e 98 // 球面三角法により、大円距離(メートル)を求める
KINU 9:ec770f68440e 99 double c;
KINU 9:ec770f68440e 100 double d;
KINU 9:ec770f68440e 101 c = gps.latitude;
KINU 9:ec770f68440e 102 d = gps.longitude;
YUPPY 2:e2b803e3bcbc 103
KINU 9:ec770f68440e 104 pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//c,dを表示
KINU 9:ec770f68440e 105 const double pi = 3.14159265359; // 円周率
YUPPY 2:e2b803e3bcbc 106
KINU 9:ec770f68440e 107 double ra = a * pi / 180;
KINU 9:ec770f68440e 108 double rb = b * pi / 180; // 緯度経度をラジアンに変換
KINU 9:ec770f68440e 109 double rc = c * pi / 180;
KINU 9:ec770f68440e 110 double rd = d * pi / 180;
YUPPY 2:e2b803e3bcbc 111
KINU 9:ec770f68440e 112 double e = sin(ra) * sin(rc) + cos(ra) * cos(rc) * cos(rb - rd); // 2点の中心角(ラジアン)を求める
KINU 9:ec770f68440e 113 double rr = acos(e);
YUPPY 2:e2b803e3bcbc 114
KINU 9:ec770f68440e 115 const double earth_radius = 6378140; // 地球赤道半径(m)
YUPPY 2:e2b803e3bcbc 116
KINU 9:ec770f68440e 117 distance = earth_radius * rr; // 2点間の距離(m)
YUPPY 2:e2b803e3bcbc 118
KINU 9:ec770f68440e 119 if (distance<5){
YUPPY 2:e2b803e3bcbc 120 }else{
KINU 9:ec770f68440e 121 pc.printf("(c =%lf,d =%lf)\n\r",gps.latitude,gps.longitude);//c,dを表示
YUPPY 2:e2b803e3bcbc 122 pc.printf("5m clear!");
KINU 9:ec770f68440e 123 xbee.printf("5m clear!");
KINU 9:ec770f68440e 124 break;
KINU 9:ec770f68440e 125 }
KINU 9:ec770f68440e 126 }
KINU 9:ec770f68440e 127 }else{
KINU 9:ec770f68440e 128 printf("No data");
KINU 9:ec770f68440e 129 }
KINU 9:ec770f68440e 130 } //GPS End
YUPPY 5:5aa7223226df 131
YUPPY 7:fae874e898b3 132 int i=1;
YUPPY 4:1354e56c7dd3 133 float th;
YUPPY 4:1354e56c7dd3 134 Timer tm;
YUPPY 7:fae874e898b3 135 for(i=0;i<3;i++){
YUPPY 4:1354e56c7dd3 136 pc.printf("start\r\n");
YUPPY 6:db1a62608047 137
YUPPY 7:fae874e898b3 138 left1 = 100; //左モーター１００％
YUPPY 7:fae874e898b3 139 right1 = 100;//右モーター１００％
YUPPY 7:fae874e898b3 140 printf("Restart\r\n" );
YUPPY 7:fae874e898b3 141 wait(4);
YUPPY 7:fae874e898b3 142 left1=50;
YUPPY 7:fae874e898b3 143 right1=50;
YUPPY 7:fae874e898b3 144 wait(1);
YUPPY 7:fae874e898b3 145 left1=0;
YUPPY 7:fae874e898b3 146 right1=0;
YUPPY 7:fae874e898b3 147 wait(1);
YUPPY 7:fae874e898b3 148 printf("停止\n\r");
YUPPY 7:fae874e898b3 149 Sb612switch=0; //焦電off
YUPPY 7:fae874e898b3 150 wait(1);
YUPPY 4:1354e56c7dd3 151 Ultra=1;//超音波on
YUPPY 7:fae874e898b3 152 wait(1);
YUPPY 5:5aa7223226df 153
YUPPY 7:fae874e898b3 154 while(1) {
YUPPY 7:fae874e898b3 155 printf("超音波on\r\n 焦電off\r\n" ) ;
YUPPY 7:fae874e898b3 156 hs.TrigerOut();
YUPPY 5:5aa7223226df 157 wait(1);
YUPPY 5:5aa7223226df 158 int distance;
YUPPY 5:5aa7223226df 159 distance = hs.GetDistance();
YUPPY 7:fae874e898b3 160 printf("distance=%dmm\r\n",distance);//距離出力
YUPPY 7:fae874e898b3 161
YUPPY 7:fae874e898b3 162 if(distance<=2000){//超音波反応
YUPPY 7:fae874e898b3 163
YUPPY 7:fae874e898b3 164 Ultra=0;//超音波off
YUPPY 7:fae874e898b3 165 wait(1);
YUPPY 7:fae874e898b3 166 Sb612switch=1; //焦電on
YUPPY 7:fae874e898b3 167 wait(1);
YUPPY 7:fae874e898b3 168 printf("焦電On!\r\n ");
YUPPY 7:fae874e898b3 169 bool detected=false;
YUPPY 7:fae874e898b3 170 th = thermo;
YUPPY 7:fae874e898b3 171 if(th==1 && !detected) {//焦電反応ありの場合
YUPPY 7:fae874e898b3 172 i++;
YUPPY 7:fae874e898b3 173 detected=true;
YUPPY 7:fae874e898b3 174 pc.printf("human\r\n");
YUPPY 7:fae874e898b3 175 tm.reset();
YUPPY 7:fae874e898b3 176 tm.start();
YUPPY 7:fae874e898b3 177
YUPPY 7:fae874e898b3 178 LocalFileSystem local("local");
YUPPY 7:fae874e898b3 179 Timer timer;
YUPPY 7:fae874e898b3 180 timer.start();
YUPPY 7:fae874e898b3 181 camera.setPictureSize(JPEGCamera::SIZE320x240);
YUPPY 7:fae874e898b3 182
YUPPY 7:fae874e898b3 183 FILE *fp;
YUPPY 7:fae874e898b3 184 base64 *bs;
YUPPY 7:fae874e898b3 185 int c;
YUPPY 7:fae874e898b3 186
YUPPY 7:fae874e898b3 187 for (int r = 0; r < 1; r++) {
YUPPY 7:fae874e898b3 188 if (camera.isReady()) {
YUPPY 7:fae874e898b3 189 char filename[32];
YUPPY 7:fae874e898b3 190 sprintf(filename, "/local/pict%03d.jpg",r);
YUPPY 7:fae874e898b3 191 printf("Picture: %s ", filename);
YUPPY 7:fae874e898b3 192 if (camera.takePicture(filename)) {
YUPPY 7:fae874e898b3 193 while (camera.isProcessing()) {
YUPPY 7:fae874e898b3 194 camera.processPicture();
YUPPY 7:fae874e898b3 195 printf("take pictuer!");
YUPPY 7:fae874e898b3 196 }
YUPPY 7:fae874e898b3 197 }else{
YUPPY 7:fae874e898b3 198 printf("take picture failed\r\n");
YUPPY 7:fae874e898b3 199 }
YUPPY 7:fae874e898b3 200 }else{
YUPPY 7:fae874e898b3 201 printf("camera is not ready\r\n");
YUPPY 7:fae874e898b3 202 }
YUPPY 7:fae874e898b3 203
YUPPY 7:fae874e898b3 204 printf("time = %f\n", timer.read());
YUPPY 7:fae874e898b3 205
YUPPY 7:fae874e898b3 206
YUPPY 7:fae874e898b3 207
YUPPY 7:fae874e898b3 208 xbee.printf("xbee connected!\r\n");
YUPPY 7:fae874e898b3 209 bs = new base64();
YUPPY 7:fae874e898b3 210 bs->Encode("/local/pict000.jpg","/local/data000.txt");
YUPPY 7:fae874e898b3 211
YUPPY 7:fae874e898b3 212 if((fp=fopen("/local/data000.txt","r"))!=NULL)
YUPPY 7:fae874e898b3 213 {
YUPPY 7:fae874e898b3 214 pc.printf("ok\r\n");
YUPPY 7:fae874e898b3 215 while((c=fgetc(fp))!=EOF){
YUPPY 7:fae874e898b3 216 xbee.printf("%c",c);
YUPPY 7:fae874e898b3 217 }
YUPPY 7:fae874e898b3 218 fclose(fp);
YUPPY 7:fae874e898b3 219 }
YUPPY 7:fae874e898b3 220 }
YUPPY 7:fae874e898b3 221 while(1){
YUPPY 7:fae874e898b3 222
YUPPY 7:fae874e898b3 223 int received_data = xbee.getc();
YUPPY 7:fae874e898b3 224
YUPPY 7:fae874e898b3 225 if (received_data == 82 || received_data == 114){ //Rまたはｒ
YUPPY 7:fae874e898b3 226 xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
YUPPY 7:fae874e898b3 227 if((fp=fopen("/local/data000.txt","r"))!=NULL)
YUPPY 7:fae874e898b3 228 {
YUPPY 7:fae874e898b3 229 while ((c=fgetc(fp))!=EOF){
YUPPY 7:fae874e898b3 230 xbee.printf("%c",c); //再送
YUPPY 7:fae874e898b3 231 }
YUPPY 7:fae874e898b3 232 fclose(fp);
YUPPY 7:fae874e898b3 233 }
YUPPY 7:fae874e898b3 234 }
YUPPY 7:fae874e898b3 235 else{
YUPPY 7:fae874e898b3 236 break;
YUPPY 7:fae874e898b3 237 }
YUPPY 7:fae874e898b3 238 }
YUPPY 7:fae874e898b3 239
YUPPY 7:fae874e898b3 240 Sb612switch=0; //焦電off
YUPPY 7:fae874e898b3 241 wait(1);
YUPPY 7:fae874e898b3 242 }else{//焦電反応なしの場合
YUPPY 7:fae874e898b3 243 printf("not found!\r\n");
YUPPY 7:fae874e898b3 244
YUPPY 7:fae874e898b3 245
YUPPY 7:fae874e898b3 246 Sb612switch=0;
YUPPY 7:fae874e898b3 247 wait(1);
YUPPY 7:fae874e898b3 248 Ultra=0;
YUPPY 7:fae874e898b3 249 wait(1);
YUPPY 7:fae874e898b3 250 detected=false;
YUPPY 7:fae874e898b3 251 printf("後退\r\n");
YUPPY 7:fae874e898b3 252 left1 = -100; //左モーター-5０％
YUPPY 7:fae874e898b3 253 right1 = -100;//右モーター-5０％
YUPPY 7:fae874e898b3 254 wait(2.0);
YUPPY 7:fae874e898b3 255 left1=-50;
YUPPY 7:fae874e898b3 256 right1=-50;
YUPPY 7:fae874e898b3 257 wait(1);
YUPPY 7:fae874e898b3 258 left1=0;
YUPPY 7:fae874e898b3 259 right1=0;
YUPPY 7:fae874e898b3 260 wait(1);
YUPPY 7:fae874e898b3 261
YUPPY 7:fae874e898b3 262 printf("右折\n\r");
YUPPY 7:fae874e898b3 263
YUPPY 7:fae874e898b3 264 left1 = 60; //左モーター１００％
YUPPY 7:fae874e898b3 265 right1 = 100;//右モーター１００％
YUPPY 7:fae874e898b3 266 wait(2.0);
YUPPY 7:fae874e898b3 267 }
YUPPY 7:fae874e898b3 268 }else{//超音波distance>2000
YUPPY 7:fae874e898b3 269 printf("safety zone\r\n");
YUPPY 7:fae874e898b3 270 Ultra=0;
YUPPY 7:fae874e898b3 271 wait(1);
YUPPY 7:fae874e898b3 272 left1 = 60; //左モーター50％
YUPPY 7:fae874e898b3 273 right1 = 100;//右モーター50％
YUPPY 7:fae874e898b3 274 printf("右折\r\n");
YUPPY 5:5aa7223226df 275 }
YUPPY 4:1354e56c7dd3 276
YUPPY 5:5aa7223226df 277 }
YUPPY 7:fae874e898b3 278
YUPPY 7:fae874e898b3 279 }
YUPPY 7:fae874e898b3 280 }