cansat_B 2019 / Mbed 2 deprecated CanSatB2019_main_1214_essence_8

GPSは500秒過ぎたらスキップされます. xbeeで送信するコメントを増やしました。

Dependencies:   mbed

main.cpp@11:6f553aa95d08, 2019-12-14 (annotated)

Committer:
sasaokayuzen
Date:
Sat Dec 14 02:44:17 2019 +0000
Revision:
11:6f553aa95d08
Parent:
10:6e02396abaf5
Child:
12:eb4befc8d2c4
Fuck you men!!

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
saeichi 10:6e02396abaf5 31 DigitalIn flight(p23); //フライトピン(in)
saeichi 10:6e02396abaf5 32 DigitalOut SW(p24); //フライトピン（out）
YUPPY 5:5aa7223226df 33
YUPPY 7:fae874e898b3 34 int main()
YUPPY 7:fae874e898b3 35 {
YUPPY 7:fae874e898b3 36
YUPPY 7:fae874e898b3 37
sasaokayuzen 11:6f553aa95d08 38 Sb612switch=0; //焦電off
YUPPY 7:fae874e898b3 39 wait(1);
YUPPY 7:fae874e898b3 40 Ultra=0;//超音波off
saeichi 10:6e02396abaf5 41 SW=1;
saeichi 10:6e02396abaf5 42 flight==1;//flight pin ついてる
saeichi 10:6e02396abaf5 43 FET=1;//FET off
YUPPY 5:5aa7223226df 44 printf("CanSat-B_Start!\r\n");
saeichi 10:6e02396abaf5 45
YUPPY 7:fae874e898b3 46 //FET
saeichi 10:6e02396abaf5 47 while(1){
saeichi 10:6e02396abaf5 48 if(flight==1) {
saeichi 10:6e02396abaf5 49 wait(10);
saeichi 10:6e02396abaf5 50 printf("mada\r\n");
saeichi 10:6e02396abaf5 51 }
saeichi 10:6e02396abaf5 52 else{
saeichi 10:6e02396abaf5 53 if(flight==1) {
saeichi 10:6e02396abaf5 54 wait(10);
saeichi 10:6e02396abaf5 55 printf("madamada\r\n");
saeichi 10:6e02396abaf5 56 }
saeichi 10:6e02396abaf5 57 else{
saeichi 10:6e02396abaf5 58 printf("yattar\r\n");
saeichi 10:6e02396abaf5 59 FET=0;
saeichi 10:6e02396abaf5 60 wait(10);
saeichi 10:6e02396abaf5 61 FET=1;
saeichi 10:6e02396abaf5 62 wait(10);
saeichi 10:6e02396abaf5 63 printf("FET End!\r\n");
saeichi 10:6e02396abaf5 64 SW=0;
saeichi 10:6e02396abaf5 65
saeichi 10:6e02396abaf5 66 break;
saeichi 10:6e02396abaf5 67 }
saeichi 10:6e02396abaf5 68 }
saeichi 10:6e02396abaf5 69 }
YUPPY 7:fae874e898b3 70
YUPPY 7:fae874e898b3 71
YUPPY 5:5aa7223226df 72 //以下GPS
YUPPY 2:e2b803e3bcbc 73 double a;
YUPPY 2:e2b803e3bcbc 74 double b;
YUPPY 2:e2b803e3bcbc 75 double distance;
saeichi 10:6e02396abaf5 76 int k = 0;
saeichi 10:6e02396abaf5 77 int j = 0;
saeichi 10:6e02396abaf5 78
saeichi 10:6e02396abaf5 79 pc.printf("GPS Start\n");
saeichi 10:6e02396abaf5 80 xbee.printf("s\n");
saeichi 10:6e02396abaf5 81 while(1){
saeichi 10:6e02396abaf5 82 if(gps.getgps()){
saeichi 10:6e02396abaf5 83
saeichi 10:6e02396abaf5 84 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
saeichi 10:6e02396abaf5 85 k ++;
saeichi 10:6e02396abaf5 86 if(k<59){
saeichi 10:6e02396abaf5 87 }else{
YUPPY 2:e2b803e3bcbc 88 a = gps.latitude;
YUPPY 2:e2b803e3bcbc 89 b = gps.longitude;
saeichi 10:6e02396abaf5 90 printf("(a =%lf,b =%lf)\r\n",gps.latitude,gps.longitude);//a,bを表示
YUPPY 2:e2b803e3bcbc 91 break;
saeichi 10:6e02396abaf5 92 }
YUPPY 2:e2b803e3bcbc 93 }else{
saeichi 10:6e02396abaf5 94 pc.printf("NO DATA\r\n");//データ取得失敗
saeichi 10:6e02396abaf5 95 wait(1);
saeichi 10:6e02396abaf5 96 }
saeichi 10:6e02396abaf5 97 }
saeichi 10:6e02396abaf5 98 printf("moter on");
saeichi 10:6e02396abaf5 99 left1 = 100; //左モーター１００％
saeichi 10:6e02396abaf5 100 right1 = 100;//右モーター１００％
saeichi 10:6e02396abaf5 101
saeichi 10:6e02396abaf5 102 wait(30);
saeichi 10:6e02396abaf5 103 printf("moter off");
saeichi 10:6e02396abaf5 104 left1 = 0; //左モーター０％
saeichi 10:6e02396abaf5 105 right1 = 0;//右モーター０％
saeichi 10:6e02396abaf5 106 printf("moter off");
saeichi 10:6e02396abaf5 107 wait(15);
saeichi 10:6e02396abaf5 108 printf("GPS restart\n");
saeichi 10:6e02396abaf5 109
saeichi 10:6e02396abaf5 110 while(1) {
saeichi 10:6e02396abaf5 111 if(gps.getgps()){
YUPPY 2:e2b803e3bcbc 112
saeichi 10:6e02396abaf5 113 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
saeichi 10:6e02396abaf5 114 j ++;
saeichi 10:6e02396abaf5 115 if(j<29){
saeichi 10:6e02396abaf5 116 }else{
saeichi 10:6e02396abaf5 117 // 球面三角法により、大円距離(メートル)を求める
saeichi 10:6e02396abaf5 118 double c;
saeichi 10:6e02396abaf5 119 double d;
saeichi 10:6e02396abaf5 120 c = gps.latitude;
saeichi 10:6e02396abaf5 121 d = gps.longitude;
YUPPY 2:e2b803e3bcbc 122
saeichi 10:6e02396abaf5 123 pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//c,dを表示
saeichi 10:6e02396abaf5 124 const double pi = 3.14159265359; // 円周率
YUPPY 2:e2b803e3bcbc 125
saeichi 10:6e02396abaf5 126 double ra = a * pi / 180;
saeichi 10:6e02396abaf5 127 double rb = b * pi / 180; // 緯度経度をラジアンに変換
saeichi 10:6e02396abaf5 128 double rc = c * pi / 180;
saeichi 10:6e02396abaf5 129 double rd = d * pi / 180;
YUPPY 2:e2b803e3bcbc 130
saeichi 10:6e02396abaf5 131 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
saeichi 10:6e02396abaf5 132 double rr = acos(e);
YUPPY 2:e2b803e3bcbc 133
saeichi 10:6e02396abaf5 134 const double earth_radius = 6378140; // 地球赤道半径(m)
YUPPY 2:e2b803e3bcbc 135
saeichi 10:6e02396abaf5 136 distance = earth_radius * rr; // 2点間の距離(m)
YUPPY 2:e2b803e3bcbc 137
saeichi 10:6e02396abaf5 138 if (distance<5){
YUPPY 2:e2b803e3bcbc 139 }else{
saeichi 10:6e02396abaf5 140 pc.printf("(c =%lf,d =%lf)\n\r",gps.latitude,gps.longitude);//c,dを表示
YUPPY 2:e2b803e3bcbc 141 pc.printf("5m clear!");
saeichi 10:6e02396abaf5 142 xbee.printf("5m clear!");
saeichi 10:6e02396abaf5 143 break;
saeichi 10:6e02396abaf5 144 }
saeichi 10:6e02396abaf5 145 }
saeichi 10:6e02396abaf5 146 }else{
saeichi 10:6e02396abaf5 147 printf("No data");
saeichi 10:6e02396abaf5 148 }
saeichi 10:6e02396abaf5 149 } //GPS End */
YUPPY 5:5aa7223226df 150
YUPPY 7:fae874e898b3 151 int i=1;
saeichi 10:6e02396abaf5 152 float th;
saeichi 10:6e02396abaf5 153 Timer tm;
saeichi 10:6e02396abaf5 154 for(i=0;i<3;i++){
saeichi 10:6e02396abaf5 155 pc.printf("start\r\n");
YUPPY 6:db1a62608047 156
saeichi 10:6e02396abaf5 157 left1 = 100; //左モーター１００％
saeichi 10:6e02396abaf5 158 right1 = 100;//右モーター１００％
saeichi 10:6e02396abaf5 159
saeichi 10:6e02396abaf5 160 printf("Restart\r\n" );
saeichi 10:6e02396abaf5 161
saeichi 10:6e02396abaf5 162 wait(4);
saeichi 10:6e02396abaf5 163 left1=50;
saeichi 10:6e02396abaf5 164 right1=50;
saeichi 10:6e02396abaf5 165 wait(1);
saeichi 10:6e02396abaf5 166 left1=0;
saeichi 10:6e02396abaf5 167 right1=0;
saeichi 10:6e02396abaf5 168 wait(1);
saeichi 10:6e02396abaf5 169
saeichi 10:6e02396abaf5 170 printf("停止\n\r");
saeichi 10:6e02396abaf5 171
saeichi 10:6e02396abaf5 172 Sb612switch=0; //焦電off
saeichi 10:6e02396abaf5 173 wait(1);
saeichi 10:6e02396abaf5 174 Ultra=1;//超音波on
saeichi 10:6e02396abaf5 175 wait(1);
saeichi 10:6e02396abaf5 176
saeichi 10:6e02396abaf5 177 while(1) {
saeichi 10:6e02396abaf5 178 left1 = 0;
saeichi 10:6e02396abaf5 179 right1 = 0;
saeichi 10:6e02396abaf5 180
saeichi 10:6e02396abaf5 181 printf("超音波on\r\n 焦電off\r\n" ) ;
saeichi 10:6e02396abaf5 182
saeichi 10:6e02396abaf5 183 hs.TrigerOut();
saeichi 10:6e02396abaf5 184 wait(1);
saeichi 10:6e02396abaf5 185 int distance;
saeichi 10:6e02396abaf5 186 distance = hs.GetDistance();
saeichi 10:6e02396abaf5 187
saeichi 10:6e02396abaf5 188 printf("distance=%dmm\r\n",distance);//距離出力
saeichi 10:6e02396abaf5 189
saeichi 10:6e02396abaf5 190 if(distance<=2000){//超音波反応
saeichi 10:6e02396abaf5 191 Ultra=0;//超音波off
saeichi 10:6e02396abaf5 192 wait(1);
saeichi 10:6e02396abaf5 193 Sb612switch=1; //焦電on
saeichi 10:6e02396abaf5 194 wait(1);
saeichi 10:6e02396abaf5 195
saeichi 10:6e02396abaf5 196 printf("焦電On!\r\n ");
saeichi 10:6e02396abaf5 197
saeichi 10:6e02396abaf5 198 bool detected=false;
saeichi 10:6e02396abaf5 199 th = thermo;
saeichi 10:6e02396abaf5 200
saeichi 10:6e02396abaf5 201 if(th==1 && !detected) {//焦電反応ありの場合
saeichi 10:6e02396abaf5 202 i++;
saeichi 10:6e02396abaf5 203 detected=true;
saeichi 10:6e02396abaf5 204 pc.printf("human\r\n");
saeichi 10:6e02396abaf5 205 tm.reset();
saeichi 10:6e02396abaf5 206 tm.start();
saeichi 10:6e02396abaf5 207
saeichi 10:6e02396abaf5 208 LocalFileSystem local("local");
saeichi 10:6e02396abaf5 209 Timer timer;
saeichi 10:6e02396abaf5 210 timer.start();
saeichi 10:6e02396abaf5 211 camera.setPictureSize(JPEGCamera::SIZE320x240);
saeichi 10:6e02396abaf5 212
saeichi 10:6e02396abaf5 213 FILE *fp;
saeichi 10:6e02396abaf5 214 base64 *bs;
saeichi 10:6e02396abaf5 215 int c;
saeichi 10:6e02396abaf5 216
saeichi 10:6e02396abaf5 217 for (int r = 0; r < 1; r++) {
saeichi 10:6e02396abaf5 218 if (camera.isReady()) {
saeichi 10:6e02396abaf5 219 char filename[25];
saeichi 10:6e02396abaf5 220 snprintf(filename,25,"%s%03d%s","/local/pict",r,".jpg");
saeichi 10:6e02396abaf5 221 printf("Picture: %s ", filename);
saeichi 10:6e02396abaf5 222 if (camera.takePicture(filename)) {
saeichi 10:6e02396abaf5 223 while (camera.isProcessing()) {
saeichi 10:6e02396abaf5 224 camera.processPicture();
saeichi 10:6e02396abaf5 225
saeichi 10:6e02396abaf5 226 printf("take pictuer!");
saeichi 10:6e02396abaf5 227
saeichi 10:6e02396abaf5 228 xbee.printf("xbee connected!!\r\n");
saeichi 10:6e02396abaf5 229
saeichi 10:6e02396abaf5 230 bs = new base64();
saeichi 10:6e02396abaf5 231 bs->Encode(filename,"/local/data.txt");
saeichi 10:6e02396abaf5 232
saeichi 10:6e02396abaf5 233 printf("time = %f\n", timer.read());
saeichi 10:6e02396abaf5 234
saeichi 10:6e02396abaf5 235
saeichi 10:6e02396abaf5 236 if((fp=fopen("/local/d.txt","r"))!=NULL){
saeichi 10:6e02396abaf5 237 pc.printf("ok\r\n");
saeichi 10:6e02396abaf5 238 while((c=fgetc(fp))!=EOF){
saeichi 10:6e02396abaf5 239 xbee.printf("%c",c);
saeichi 10:6e02396abaf5 240 }
saeichi 10:6e02396abaf5 241 fclose(fp);
saeichi 10:6e02396abaf5 242 }
saeichi 10:6e02396abaf5 243 }
saeichi 10:6e02396abaf5 244 }else{
saeichi 10:6e02396abaf5 245 printf("take picture failed\r\n");
saeichi 10:6e02396abaf5 246 }
saeichi 10:6e02396abaf5 247 }else{
saeichi 10:6e02396abaf5 248 printf("camera is not ready\r\n");
saeichi 10:6e02396abaf5 249 }
saeichi 10:6e02396abaf5 250 while(1){
saeichi 10:6e02396abaf5 251
saeichi 10:6e02396abaf5 252 int received_data = xbee.getc();
saeichi 10:6e02396abaf5 253
saeichi 10:6e02396abaf5 254 if (received_data == 82 || received_data == 114){ //Rまたはｒ
saeichi 10:6e02396abaf5 255
saeichi 10:6e02396abaf5 256 xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
saeichi 10:6e02396abaf5 257 if((fp=fopen("/local/d.txt","r"))!=NULL) {
saeichi 10:6e02396abaf5 258 while ((c=fgetc(fp))!=EOF){
saeichi 10:6e02396abaf5 259
saeichi 10:6e02396abaf5 260 xbee.printf("%c",c); //再送
saeichi 10:6e02396abaf5 261 }
saeichi 10:6e02396abaf5 262 fclose(fp);
saeichi 10:6e02396abaf5 263 }
saeichi 10:6e02396abaf5 264 }else{
saeichi 10:6e02396abaf5 265 break;
saeichi 10:6e02396abaf5 266 }
saeichi 10:6e02396abaf5 267 }
saeichi 10:6e02396abaf5 268
saeichi 10:6e02396abaf5 269 Sb612switch=0; //焦電off
saeichi 10:6e02396abaf5 270 wait(1);
saeichi 10:6e02396abaf5 271 }
saeichi 10:6e02396abaf5 272 }else{//焦電反応なしの場合
saeichi 10:6e02396abaf5 273 printf("not found!\r\n");
saeichi 10:6e02396abaf5 274 Sb612switch=0;
saeichi 10:6e02396abaf5 275 wait(1);
saeichi 10:6e02396abaf5 276 Ultra=0;
saeichi 10:6e02396abaf5 277 wait(1);
saeichi 10:6e02396abaf5 278 detected=false;
saeichi 10:6e02396abaf5 279 printf("後退\r\n");
saeichi 10:6e02396abaf5 280 left1 = -100; //左モーター-50％
saeichi 10:6e02396abaf5 281 right1 = -100;//右モーター-50％
saeichi 10:6e02396abaf5 282 wait(2.0);
saeichi 10:6e02396abaf5 283 left1=-50;
saeichi 10:6e02396abaf5 284 right1=-50;
YUPPY 7:fae874e898b3 285 wait(1);
YUPPY 7:fae874e898b3 286 left1=0;
YUPPY 7:fae874e898b3 287 right1=0;
YUPPY 7:fae874e898b3 288 wait(1);
YUPPY 7:fae874e898b3 289
saeichi 10:6e02396abaf5 290 printf("右折\n\r");
saeichi 10:6e02396abaf5 291 left1 = 60; //左モーター100％
saeichi 10:6e02396abaf5 292 right1 = 100;//右モーター100％
saeichi 10:6e02396abaf5 293 wait(2.0);
saeichi 10:6e02396abaf5 294 }
saeichi 10:6e02396abaf5 295 }else{//超音波distance>2000
saeichi 10:6e02396abaf5 296 printf("safety zone\r\n");
saeichi 10:6e02396abaf5 297 Ultra=0;
saeichi 10:6e02396abaf5 298 wait(1);
saeichi 10:6e02396abaf5 299 left1 = 60; //左モーター50％
saeichi 10:6e02396abaf5 300 right1 = 100;//右モーター50％
saeichi 10:6e02396abaf5 301 printf("右折\r\n");
saeichi 10:6e02396abaf5 302 wait(3);
saeichi 10:6e02396abaf5 303 left1 = 100;
saeichi 10:6e02396abaf5 304 right1 = 100;
saeichi 10:6e02396abaf5 305 wait(5);
saeichi 10:6e02396abaf5 306 left1 = 0;
saeichi 10:6e02396abaf5 307 right1 = 0;
saeichi 10:6e02396abaf5 308 wait(5);
saeichi 10:6e02396abaf5 309 }
YUPPY 4:1354e56c7dd3 310
YUPPY 5:5aa7223226df 311 }
YUPPY 7:fae874e898b3 312
saeichi 10:6e02396abaf5 313 }
YUPPY 7:fae874e898b3 314 }