cansat_B 2019 / Mbed 2 deprecated CanSatB2019_main_1214_essence_8_2

送信のところを変えました。

Dependencies:   mbed

main.cpp@12:eb4befc8d2c4, 2019-12-14 (annotated)

Committer:
seijakunouenimutou
Date:
Sat Dec 14 10:01:17 2019 +0000
Revision:
12:eb4befc8d2c4
Parent:
11:6f553aa95d08
Child:
13:63746a793db9
CabsatB2019_main_1214

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
seijakunouenimutou 12:eb4befc8d2c4 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 }
seijakunouenimutou 12:eb4befc8d2c4 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");
seijakunouenimutou 12:eb4befc8d2c4 80 xbee.printf("s\n");//printf("1");
saeichi 10:6e02396abaf5 81 while(1){
seijakunouenimutou 12:eb4befc8d2c4 82 /*printf("2");*/int received_data = xbee.getc();
seijakunouenimutou 12:eb4befc8d2c4 83 if(gps.getgps()||received_data == 97){
saeichi 10:6e02396abaf5 84
saeichi 10:6e02396abaf5 85 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
seijakunouenimutou 12:eb4befc8d2c4 86 k++;
YUPPY 2:e2b803e3bcbc 87 a = gps.latitude;
YUPPY 2:e2b803e3bcbc 88 b = gps.longitude;
seijakunouenimutou 12:eb4befc8d2c4 89 if(k<10){
seijakunouenimutou 12:eb4befc8d2c4 90 printf("%d",k); if(a!=0)
seijakunouenimutou 12:eb4befc8d2c4 91 xbee.printf("dont worry! GPSは動いてるよ！\n");
seijakunouenimutou 12:eb4befc8d2c4 92 }else{
seijakunouenimutou 12:eb4befc8d2c4 93 /* a = gps.latitude;
seijakunouenimutou 12:eb4befc8d2c4 94 b = gps.longitude;*/
seijakunouenimutou 12:eb4befc8d2c4 95 /* if(a!=0)
seijakunouenimutou 12:eb4befc8d2c4 96 xbee.printf("dont worry! GPSは動いてるよ！\n");*/
seijakunouenimutou 12:eb4befc8d2c4 97 printf("(a =%lf,b =%lf)\r\n",gps.latitude,gps.longitude);//a,bを表示
seijakunouenimutou 12:eb4befc8d2c4 98 break;
saeichi 10:6e02396abaf5 99 }
YUPPY 2:e2b803e3bcbc 100 }else{
saeichi 10:6e02396abaf5 101 pc.printf("NO DATA\r\n");//データ取得失敗
saeichi 10:6e02396abaf5 102 wait(1);
saeichi 10:6e02396abaf5 103 }
saeichi 10:6e02396abaf5 104 }
saeichi 10:6e02396abaf5 105 printf("moter on");
saeichi 10:6e02396abaf5 106 left1 = 100; //左モーター１００％
saeichi 10:6e02396abaf5 107 right1 = 100;//右モーター１００％
saeichi 10:6e02396abaf5 108
seijakunouenimutou 12:eb4befc8d2c4 109 wait(10);
saeichi 10:6e02396abaf5 110 printf("moter off");
saeichi 10:6e02396abaf5 111 left1 = 0; //左モーター０％
saeichi 10:6e02396abaf5 112 right1 = 0;//右モーター０％
saeichi 10:6e02396abaf5 113 printf("moter off");
saeichi 10:6e02396abaf5 114 wait(15);
saeichi 10:6e02396abaf5 115 printf("GPS restart\n");
saeichi 10:6e02396abaf5 116
saeichi 10:6e02396abaf5 117 while(1) {
saeichi 10:6e02396abaf5 118 if(gps.getgps()){
YUPPY 2:e2b803e3bcbc 119
saeichi 10:6e02396abaf5 120 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
saeichi 10:6e02396abaf5 121 j ++;
saeichi 10:6e02396abaf5 122 if(j<29){
saeichi 10:6e02396abaf5 123 }else{
saeichi 10:6e02396abaf5 124 // 球面三角法により、大円距離(メートル)を求める
saeichi 10:6e02396abaf5 125 double c;
saeichi 10:6e02396abaf5 126 double d;
saeichi 10:6e02396abaf5 127 c = gps.latitude;
saeichi 10:6e02396abaf5 128 d = gps.longitude;
YUPPY 2:e2b803e3bcbc 129
saeichi 10:6e02396abaf5 130 pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//c,dを表示
saeichi 10:6e02396abaf5 131 const double pi = 3.14159265359; // 円周率
YUPPY 2:e2b803e3bcbc 132
saeichi 10:6e02396abaf5 133 double ra = a * pi / 180;
saeichi 10:6e02396abaf5 134 double rb = b * pi / 180; // 緯度経度をラジアンに変換
saeichi 10:6e02396abaf5 135 double rc = c * pi / 180;
saeichi 10:6e02396abaf5 136 double rd = d * pi / 180;
YUPPY 2:e2b803e3bcbc 137
saeichi 10:6e02396abaf5 138 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 139 double rr = acos(e);
YUPPY 2:e2b803e3bcbc 140
saeichi 10:6e02396abaf5 141 const double earth_radius = 6378140; // 地球赤道半径(m)
YUPPY 2:e2b803e3bcbc 142
saeichi 10:6e02396abaf5 143 distance = earth_radius * rr; // 2点間の距離(m)
YUPPY 2:e2b803e3bcbc 144
saeichi 10:6e02396abaf5 145 if (distance<5){
YUPPY 2:e2b803e3bcbc 146 }else{
saeichi 10:6e02396abaf5 147 pc.printf("(c =%lf,d =%lf)\n\r",gps.latitude,gps.longitude);//c,dを表示
YUPPY 2:e2b803e3bcbc 148 pc.printf("5m clear!");
saeichi 10:6e02396abaf5 149 xbee.printf("5m clear!");
saeichi 10:6e02396abaf5 150 break;
saeichi 10:6e02396abaf5 151 }
saeichi 10:6e02396abaf5 152 }
saeichi 10:6e02396abaf5 153 }else{
saeichi 10:6e02396abaf5 154 printf("No data");
saeichi 10:6e02396abaf5 155 }
saeichi 10:6e02396abaf5 156 } //GPS End */
YUPPY 5:5aa7223226df 157
YUPPY 7:fae874e898b3 158 int i=1;
saeichi 10:6e02396abaf5 159 float th;
saeichi 10:6e02396abaf5 160 Timer tm;
saeichi 10:6e02396abaf5 161 for(i=0;i<3;i++){
saeichi 10:6e02396abaf5 162 pc.printf("start\r\n");
YUPPY 6:db1a62608047 163
saeichi 10:6e02396abaf5 164 left1 = 100; //左モーター１００％
saeichi 10:6e02396abaf5 165 right1 = 100;//右モーター１００％
saeichi 10:6e02396abaf5 166
saeichi 10:6e02396abaf5 167 printf("Restart\r\n" );
saeichi 10:6e02396abaf5 168
saeichi 10:6e02396abaf5 169 wait(4);
saeichi 10:6e02396abaf5 170 left1=50;
saeichi 10:6e02396abaf5 171 right1=50;
saeichi 10:6e02396abaf5 172 wait(1);
saeichi 10:6e02396abaf5 173 left1=0;
saeichi 10:6e02396abaf5 174 right1=0;
saeichi 10:6e02396abaf5 175 wait(1);
saeichi 10:6e02396abaf5 176
saeichi 10:6e02396abaf5 177 printf("停止\n\r");
saeichi 10:6e02396abaf5 178
saeichi 10:6e02396abaf5 179 Sb612switch=0; //焦電off
saeichi 10:6e02396abaf5 180 wait(1);
saeichi 10:6e02396abaf5 181 Ultra=1;//超音波on
saeichi 10:6e02396abaf5 182 wait(1);
saeichi 10:6e02396abaf5 183
saeichi 10:6e02396abaf5 184 while(1) {
saeichi 10:6e02396abaf5 185 left1 = 0;
saeichi 10:6e02396abaf5 186 right1 = 0;
saeichi 10:6e02396abaf5 187
saeichi 10:6e02396abaf5 188 printf("超音波on\r\n 焦電off\r\n" ) ;
saeichi 10:6e02396abaf5 189
saeichi 10:6e02396abaf5 190 hs.TrigerOut();
saeichi 10:6e02396abaf5 191 wait(1);
saeichi 10:6e02396abaf5 192 int distance;
saeichi 10:6e02396abaf5 193 distance = hs.GetDistance();
saeichi 10:6e02396abaf5 194
saeichi 10:6e02396abaf5 195 printf("distance=%dmm\r\n",distance);//距離出力
saeichi 10:6e02396abaf5 196
saeichi 10:6e02396abaf5 197 if(distance<=2000){//超音波反応
saeichi 10:6e02396abaf5 198 Ultra=0;//超音波off
saeichi 10:6e02396abaf5 199 wait(1);
saeichi 10:6e02396abaf5 200 Sb612switch=1; //焦電on
saeichi 10:6e02396abaf5 201 wait(1);
saeichi 10:6e02396abaf5 202
saeichi 10:6e02396abaf5 203 printf("焦電On!\r\n ");
saeichi 10:6e02396abaf5 204
saeichi 10:6e02396abaf5 205 bool detected=false;
saeichi 10:6e02396abaf5 206 th = thermo;
saeichi 10:6e02396abaf5 207
saeichi 10:6e02396abaf5 208 if(th==1 && !detected) {//焦電反応ありの場合
saeichi 10:6e02396abaf5 209 i++;
saeichi 10:6e02396abaf5 210 detected=true;
saeichi 10:6e02396abaf5 211 pc.printf("human\r\n");
saeichi 10:6e02396abaf5 212 tm.reset();
saeichi 10:6e02396abaf5 213 tm.start();
saeichi 10:6e02396abaf5 214
saeichi 10:6e02396abaf5 215 LocalFileSystem local("local");
saeichi 10:6e02396abaf5 216 Timer timer;
saeichi 10:6e02396abaf5 217 timer.start();
saeichi 10:6e02396abaf5 218 camera.setPictureSize(JPEGCamera::SIZE320x240);
saeichi 10:6e02396abaf5 219
saeichi 10:6e02396abaf5 220 FILE *fp;
saeichi 10:6e02396abaf5 221 base64 *bs;
saeichi 10:6e02396abaf5 222 int c;
saeichi 10:6e02396abaf5 223
saeichi 10:6e02396abaf5 224 for (int r = 0; r < 1; r++) {
saeichi 10:6e02396abaf5 225 if (camera.isReady()) {
saeichi 10:6e02396abaf5 226 char filename[25];
saeichi 10:6e02396abaf5 227 snprintf(filename,25,"%s%03d%s","/local/pict",r,".jpg");
saeichi 10:6e02396abaf5 228 printf("Picture: %s ", filename);
saeichi 10:6e02396abaf5 229 if (camera.takePicture(filename)) {
saeichi 10:6e02396abaf5 230 while (camera.isProcessing()) {
saeichi 10:6e02396abaf5 231 camera.processPicture();
saeichi 10:6e02396abaf5 232
saeichi 10:6e02396abaf5 233 printf("take pictuer!");
saeichi 10:6e02396abaf5 234
saeichi 10:6e02396abaf5 235 xbee.printf("xbee connected!!\r\n");
saeichi 10:6e02396abaf5 236
saeichi 10:6e02396abaf5 237 bs = new base64();
saeichi 10:6e02396abaf5 238 bs->Encode(filename,"/local/data.txt");
saeichi 10:6e02396abaf5 239
saeichi 10:6e02396abaf5 240 printf("time = %f\n", timer.read());
saeichi 10:6e02396abaf5 241
saeichi 10:6e02396abaf5 242
saeichi 10:6e02396abaf5 243 if((fp=fopen("/local/d.txt","r"))!=NULL){
saeichi 10:6e02396abaf5 244 pc.printf("ok\r\n");
saeichi 10:6e02396abaf5 245 while((c=fgetc(fp))!=EOF){
saeichi 10:6e02396abaf5 246 xbee.printf("%c",c);
saeichi 10:6e02396abaf5 247 }
saeichi 10:6e02396abaf5 248 fclose(fp);
saeichi 10:6e02396abaf5 249 }
saeichi 10:6e02396abaf5 250 }
saeichi 10:6e02396abaf5 251 }else{
saeichi 10:6e02396abaf5 252 printf("take picture failed\r\n");
saeichi 10:6e02396abaf5 253 }
saeichi 10:6e02396abaf5 254 }else{
saeichi 10:6e02396abaf5 255 printf("camera is not ready\r\n");
saeichi 10:6e02396abaf5 256 }
saeichi 10:6e02396abaf5 257 while(1){
saeichi 10:6e02396abaf5 258
saeichi 10:6e02396abaf5 259 int received_data = xbee.getc();
saeichi 10:6e02396abaf5 260
saeichi 10:6e02396abaf5 261 if (received_data == 82 || received_data == 114){ //Rまたはｒ
saeichi 10:6e02396abaf5 262
saeichi 10:6e02396abaf5 263 xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
saeichi 10:6e02396abaf5 264 if((fp=fopen("/local/d.txt","r"))!=NULL) {
saeichi 10:6e02396abaf5 265 while ((c=fgetc(fp))!=EOF){
saeichi 10:6e02396abaf5 266
saeichi 10:6e02396abaf5 267 xbee.printf("%c",c); //再送
saeichi 10:6e02396abaf5 268 }
saeichi 10:6e02396abaf5 269 fclose(fp);
saeichi 10:6e02396abaf5 270 }
saeichi 10:6e02396abaf5 271 }else{
saeichi 10:6e02396abaf5 272 break;
saeichi 10:6e02396abaf5 273 }
saeichi 10:6e02396abaf5 274 }
saeichi 10:6e02396abaf5 275
saeichi 10:6e02396abaf5 276 Sb612switch=0; //焦電off
saeichi 10:6e02396abaf5 277 wait(1);
saeichi 10:6e02396abaf5 278 }
saeichi 10:6e02396abaf5 279 }else{//焦電反応なしの場合
saeichi 10:6e02396abaf5 280 printf("not found!\r\n");
saeichi 10:6e02396abaf5 281 Sb612switch=0;
saeichi 10:6e02396abaf5 282 wait(1);
saeichi 10:6e02396abaf5 283 Ultra=0;
saeichi 10:6e02396abaf5 284 wait(1);
saeichi 10:6e02396abaf5 285 detected=false;
saeichi 10:6e02396abaf5 286 printf("後退\r\n");
saeichi 10:6e02396abaf5 287 left1 = -100; //左モーター-50％
saeichi 10:6e02396abaf5 288 right1 = -100;//右モーター-50％
saeichi 10:6e02396abaf5 289 wait(2.0);
saeichi 10:6e02396abaf5 290 left1=-50;
saeichi 10:6e02396abaf5 291 right1=-50;
YUPPY 7:fae874e898b3 292 wait(1);
YUPPY 7:fae874e898b3 293 left1=0;
YUPPY 7:fae874e898b3 294 right1=0;
YUPPY 7:fae874e898b3 295 wait(1);
YUPPY 7:fae874e898b3 296
saeichi 10:6e02396abaf5 297 printf("右折\n\r");
saeichi 10:6e02396abaf5 298 left1 = 60; //左モーター100％
saeichi 10:6e02396abaf5 299 right1 = 100;//右モーター100％
saeichi 10:6e02396abaf5 300 wait(2.0);
saeichi 10:6e02396abaf5 301 }
saeichi 10:6e02396abaf5 302 }else{//超音波distance>2000
saeichi 10:6e02396abaf5 303 printf("safety zone\r\n");
saeichi 10:6e02396abaf5 304 Ultra=0;
saeichi 10:6e02396abaf5 305 wait(1);
saeichi 10:6e02396abaf5 306 left1 = 60; //左モーター50％
saeichi 10:6e02396abaf5 307 right1 = 100;//右モーター50％
saeichi 10:6e02396abaf5 308 printf("右折\r\n");
saeichi 10:6e02396abaf5 309 wait(3);
saeichi 10:6e02396abaf5 310 left1 = 100;
saeichi 10:6e02396abaf5 311 right1 = 100;
saeichi 10:6e02396abaf5 312 wait(5);
saeichi 10:6e02396abaf5 313 left1 = 0;
saeichi 10:6e02396abaf5 314 right1 = 0;
saeichi 10:6e02396abaf5 315 wait(5);
saeichi 10:6e02396abaf5 316 }
YUPPY 4:1354e56c7dd3 317
YUPPY 5:5aa7223226df 318 }
YUPPY 7:fae874e898b3 319
saeichi 10:6e02396abaf5 320 }
YUPPY 7:fae874e898b3 321 }