cansat_B 2019 / Mbed 2 deprecated CanSatB2019_main_1214_essence_8_2

Dependencies:   mbed

main.cpp@7:fae874e898b3, 2019-12-04 (annotated)

Committer:
YUPPY
Date:
Wed Dec 04 11:49:44 2019 +0000
Revision:
7:fae874e898b3
Parent:
6:db1a62608047
Child:
8:765a73e21907
ok

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;
YUPPY 2:e2b803e3bcbc 58
YUPPY 2:e2b803e3bcbc 59 pc.printf("GPS Start\r\n");
YUPPY 2:e2b803e3bcbc 60
YUPPY 7:fae874e898b3 61 while(1)
YUPPY 7:fae874e898b3 62 {
YUPPY 7:fae874e898b3 63 if(gps.getgps())
YUPPY 7:fae874e898b3 64 {
YUPPY 2:e2b803e3bcbc 65 a = gps.latitude;
YUPPY 2:e2b803e3bcbc 66 b = gps.longitude;
YUPPY 2:e2b803e3bcbc 67
YUPPY 2:e2b803e3bcbc 68 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
YUPPY 2:e2b803e3bcbc 69
YUPPY 2:e2b803e3bcbc 70 break;
YUPPY 2:e2b803e3bcbc 71
YUPPY 2:e2b803e3bcbc 72 }else{
YUPPY 7:fae874e898b3 73 pc.printf("NO DATA\r\n");//データ取得失敗
YUPPY 7:fae874e898b3 74 wait(1);
YUPPY 7:fae874e898b3 75 }
YUPPY 7:fae874e898b3 76 }
YUPPY 7:fae874e898b3 77 while(1)
YUPPY 7:fae874e898b3 78 {
YUPPY 2:e2b803e3bcbc 79 if(gps.getgps()) {
YUPPY 2:e2b803e3bcbc 80
YUPPY 2:e2b803e3bcbc 81 pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示
YUPPY 2:e2b803e3bcbc 82
YUPPY 7:fae874e898b3 83 // 球面三角法により、大円距離(メートル)を求める
YUPPY 7:fae874e898b3 84 double c;
YUPPY 7:fae874e898b3 85 double d;
YUPPY 7:fae874e898b3 86 c = gps.latitude;
YUPPY 7:fae874e898b3 87 d = gps.longitude;
YUPPY 2:e2b803e3bcbc 88
YUPPY 7:fae874e898b3 89 const double pi = 3.14159265359; // 円周率
YUPPY 2:e2b803e3bcbc 90
YUPPY 7:fae874e898b3 91 double ra = a * pi / 180;
YUPPY 7:fae874e898b3 92 double rb = b * pi / 180; // 緯度経度をラジアンに変換
YUPPY 7:fae874e898b3 93 double rc = c * pi / 180;
YUPPY 7:fae874e898b3 94 double rd = d * pi / 180;
YUPPY 2:e2b803e3bcbc 95
YUPPY 7:fae874e898b3 96 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
YUPPY 7:fae874e898b3 97 double rr = acos(e);
YUPPY 2:e2b803e3bcbc 98
YUPPY 7:fae874e898b3 99 const double earth_radius = 6378140; // 地球赤道半径(m)
YUPPY 2:e2b803e3bcbc 100
YUPPY 7:fae874e898b3 101 distance = earth_radius * rr; // 2点間の距離(m)
YUPPY 2:e2b803e3bcbc 102
YUPPY 2:e2b803e3bcbc 103
YUPPY 2:e2b803e3bcbc 104
YUPPY 2:e2b803e3bcbc 105
YUPPY 2:e2b803e3bcbc 106 if (distance<5){
YUPPY 2:e2b803e3bcbc 107 printf("%lf\r\n",distance);
YUPPY 7:fae874e898b3 108 right1=100;
YUPPY 7:fae874e898b3 109 left1=100;
YUPPY 2:e2b803e3bcbc 110 }else{
YUPPY 7:fae874e898b3 111 right1=0;
YUPPY 7:fae874e898b3 112 left1=0;
YUPPY 2:e2b803e3bcbc 113 pc.printf("5m clear!");
YUPPY 2:e2b803e3bcbc 114 break;
YUPPY 7:fae874e898b3 115 }
YUPPY 2:e2b803e3bcbc 116
YUPPY 7:fae874e898b3 117 }else{
YUPPY 2:e2b803e3bcbc 118 pc.printf("NO DATA\r\n");//データ取得失敗
YUPPY 2:e2b803e3bcbc 119 wait(1);
YUPPY 2:e2b803e3bcbc 120 }
YUPPY 2:e2b803e3bcbc 121 }
YUPPY 5:5aa7223226df 122 //GPS End
YUPPY 5:5aa7223226df 123
YUPPY 7:fae874e898b3 124 int i=1;
YUPPY 4:1354e56c7dd3 125 float th;
YUPPY 4:1354e56c7dd3 126 Timer tm;
YUPPY 7:fae874e898b3 127 for(i=0;i<3;i++){
YUPPY 4:1354e56c7dd3 128 pc.printf("start\r\n");
YUPPY 6:db1a62608047 129
YUPPY 7:fae874e898b3 130 left1 = 100; //左モーター１００％
YUPPY 7:fae874e898b3 131 right1 = 100;//右モーター１００％
YUPPY 7:fae874e898b3 132 printf("Restart\r\n" );
YUPPY 7:fae874e898b3 133 wait(4);
YUPPY 7:fae874e898b3 134 left1=50;
YUPPY 7:fae874e898b3 135 right1=50;
YUPPY 7:fae874e898b3 136 wait(1);
YUPPY 7:fae874e898b3 137 left1=0;
YUPPY 7:fae874e898b3 138 right1=0;
YUPPY 7:fae874e898b3 139 wait(1);
YUPPY 7:fae874e898b3 140 printf("停止\n\r");
YUPPY 7:fae874e898b3 141 Sb612switch=0; //焦電off
YUPPY 7:fae874e898b3 142 wait(1);
YUPPY 4:1354e56c7dd3 143 Ultra=1;//超音波on
YUPPY 7:fae874e898b3 144 wait(1);
YUPPY 5:5aa7223226df 145
YUPPY 7:fae874e898b3 146 while(1) {
YUPPY 7:fae874e898b3 147 printf("超音波on\r\n 焦電off\r\n" ) ;
YUPPY 7:fae874e898b3 148 hs.TrigerOut();
YUPPY 5:5aa7223226df 149 wait(1);
YUPPY 5:5aa7223226df 150 int distance;
YUPPY 5:5aa7223226df 151 distance = hs.GetDistance();
YUPPY 7:fae874e898b3 152 printf("distance=%dmm\r\n",distance);//距離出力
YUPPY 7:fae874e898b3 153
YUPPY 7:fae874e898b3 154 if(distance<=2000){//超音波反応
YUPPY 7:fae874e898b3 155
YUPPY 7:fae874e898b3 156 Ultra=0;//超音波off
YUPPY 7:fae874e898b3 157 wait(1);
YUPPY 7:fae874e898b3 158 Sb612switch=1; //焦電on
YUPPY 7:fae874e898b3 159 wait(1);
YUPPY 7:fae874e898b3 160 printf("焦電On!\r\n ");
YUPPY 7:fae874e898b3 161 bool detected=false;
YUPPY 7:fae874e898b3 162 th = thermo;
YUPPY 7:fae874e898b3 163 if(th==1 && !detected) {//焦電反応ありの場合
YUPPY 7:fae874e898b3 164 i++;
YUPPY 7:fae874e898b3 165 detected=true;
YUPPY 7:fae874e898b3 166 pc.printf("human\r\n");
YUPPY 7:fae874e898b3 167 tm.reset();
YUPPY 7:fae874e898b3 168 tm.start();
YUPPY 7:fae874e898b3 169
YUPPY 7:fae874e898b3 170 LocalFileSystem local("local");
YUPPY 7:fae874e898b3 171 Timer timer;
YUPPY 7:fae874e898b3 172 timer.start();
YUPPY 7:fae874e898b3 173 camera.setPictureSize(JPEGCamera::SIZE320x240);
YUPPY 7:fae874e898b3 174
YUPPY 7:fae874e898b3 175 FILE *fp;
YUPPY 7:fae874e898b3 176 base64 *bs;
YUPPY 7:fae874e898b3 177 int c;
YUPPY 7:fae874e898b3 178
YUPPY 7:fae874e898b3 179 for (int r = 0; r < 1; r++) {
YUPPY 7:fae874e898b3 180 if (camera.isReady()) {
YUPPY 7:fae874e898b3 181 char filename[32];
YUPPY 7:fae874e898b3 182 sprintf(filename, "/local/pict%03d.jpg",r);
YUPPY 7:fae874e898b3 183 printf("Picture: %s ", filename);
YUPPY 7:fae874e898b3 184 if (camera.takePicture(filename)) {
YUPPY 7:fae874e898b3 185 while (camera.isProcessing()) {
YUPPY 7:fae874e898b3 186 camera.processPicture();
YUPPY 7:fae874e898b3 187 printf("take pictuer!");
YUPPY 7:fae874e898b3 188 }
YUPPY 7:fae874e898b3 189 }else{
YUPPY 7:fae874e898b3 190 printf("take picture failed\r\n");
YUPPY 7:fae874e898b3 191 }
YUPPY 7:fae874e898b3 192 }else{
YUPPY 7:fae874e898b3 193 printf("camera is not ready\r\n");
YUPPY 7:fae874e898b3 194 }
YUPPY 7:fae874e898b3 195
YUPPY 7:fae874e898b3 196 printf("time = %f\n", timer.read());
YUPPY 7:fae874e898b3 197
YUPPY 7:fae874e898b3 198
YUPPY 7:fae874e898b3 199
YUPPY 7:fae874e898b3 200 xbee.printf("xbee connected!\r\n");
YUPPY 7:fae874e898b3 201 bs = new base64();
YUPPY 7:fae874e898b3 202 bs->Encode("/local/pict000.jpg","/local/data000.txt");
YUPPY 7:fae874e898b3 203
YUPPY 7:fae874e898b3 204 if((fp=fopen("/local/data000.txt","r"))!=NULL)
YUPPY 7:fae874e898b3 205 {
YUPPY 7:fae874e898b3 206 pc.printf("ok\r\n");
YUPPY 7:fae874e898b3 207 while((c=fgetc(fp))!=EOF){
YUPPY 7:fae874e898b3 208 xbee.printf("%c",c);
YUPPY 7:fae874e898b3 209 }
YUPPY 7:fae874e898b3 210 fclose(fp);
YUPPY 7:fae874e898b3 211 }
YUPPY 7:fae874e898b3 212 }
YUPPY 7:fae874e898b3 213 while(1){
YUPPY 7:fae874e898b3 214
YUPPY 7:fae874e898b3 215 int received_data = xbee.getc();
YUPPY 7:fae874e898b3 216
YUPPY 7:fae874e898b3 217 if (received_data == 82 || received_data == 114){ //Rまたはｒ
YUPPY 7:fae874e898b3 218 xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
YUPPY 7:fae874e898b3 219 if((fp=fopen("/local/data000.txt","r"))!=NULL)
YUPPY 7:fae874e898b3 220 {
YUPPY 7:fae874e898b3 221 while ((c=fgetc(fp))!=EOF){
YUPPY 7:fae874e898b3 222 xbee.printf("%c",c); //再送
YUPPY 7:fae874e898b3 223 }
YUPPY 7:fae874e898b3 224 fclose(fp);
YUPPY 7:fae874e898b3 225 }
YUPPY 7:fae874e898b3 226 }
YUPPY 7:fae874e898b3 227 else{
YUPPY 7:fae874e898b3 228 break;
YUPPY 7:fae874e898b3 229 }
YUPPY 7:fae874e898b3 230 }
YUPPY 7:fae874e898b3 231
YUPPY 7:fae874e898b3 232 Sb612switch=0; //焦電off
YUPPY 7:fae874e898b3 233 wait(1);
YUPPY 7:fae874e898b3 234 }else{//焦電反応なしの場合
YUPPY 7:fae874e898b3 235 printf("not found!\r\n");
YUPPY 7:fae874e898b3 236
YUPPY 7:fae874e898b3 237
YUPPY 7:fae874e898b3 238 Sb612switch=0;
YUPPY 7:fae874e898b3 239 wait(1);
YUPPY 7:fae874e898b3 240 Ultra=0;
YUPPY 7:fae874e898b3 241 wait(1);
YUPPY 7:fae874e898b3 242 detected=false;
YUPPY 7:fae874e898b3 243 printf("後退\r\n");
YUPPY 7:fae874e898b3 244 left1 = -100; //左モーター-5０％
YUPPY 7:fae874e898b3 245 right1 = -100;//右モーター-5０％
YUPPY 7:fae874e898b3 246 wait(2.0);
YUPPY 7:fae874e898b3 247 left1=-50;
YUPPY 7:fae874e898b3 248 right1=-50;
YUPPY 7:fae874e898b3 249 wait(1);
YUPPY 7:fae874e898b3 250 left1=0;
YUPPY 7:fae874e898b3 251 right1=0;
YUPPY 7:fae874e898b3 252 wait(1);
YUPPY 7:fae874e898b3 253
YUPPY 7:fae874e898b3 254 printf("右折\n\r");
YUPPY 7:fae874e898b3 255
YUPPY 7:fae874e898b3 256 left1 = 60; //左モーター１００％
YUPPY 7:fae874e898b3 257 right1 = 100;//右モーター１００％
YUPPY 7:fae874e898b3 258 wait(2.0);
YUPPY 7:fae874e898b3 259 }
YUPPY 7:fae874e898b3 260 }else{//超音波distance>2000
YUPPY 7:fae874e898b3 261 printf("safety zone\r\n");
YUPPY 7:fae874e898b3 262 Ultra=0;
YUPPY 7:fae874e898b3 263 wait(1);
YUPPY 7:fae874e898b3 264 left1 = 60; //左モーター50％
YUPPY 7:fae874e898b3 265 right1 = 100;//右モーター50％
YUPPY 7:fae874e898b3 266 printf("右折\r\n");
YUPPY 5:5aa7223226df 267 }
YUPPY 4:1354e56c7dd3 268
YUPPY 5:5aa7223226df 269 }
YUPPY 7:fae874e898b3 270
YUPPY 7:fae874e898b3 271 }
YUPPY 7:fae874e898b3 272 }