mainまでいけました カメラのとこからコンパイルできません
Dependencies: mbed CameraUS015sb612-3
Diff: main.cpp
- Revision:
- 4:1354e56c7dd3
- Parent:
- 3:5d0c4b13f4e8
- Child:
- 5:5aa7223226df
diff -r 5d0c4b13f4e8 -r 1354e56c7dd3 main.cpp --- a/main.cpp Fri Nov 08 19:48:16 2019 +0000 +++ b/main.cpp Wed Nov 20 08:06:46 2019 +0000 @@ -1,28 +1,23 @@ #define cansatB +#define min(x, y) ((x) < (y)) ? (x) : (y) #include "mbed.h" //mbed #include "getGPS.h" //GPS #include "math.h" //GPS #include "TB6612.h" //motorDriver -#include "XBee.h" //XBee -#include <SoftwareSerial.h> //カメラ -#include <SD.h>//SDカード -#include <JPEGCamera.h>//カメラ +#include "JPEGCamera.h"//カメラ +#include "base64.h"//写真ーXBee #include "us015.h" // 超音波センサ #include <stdio.h> US015 hs(p12,p11); //P12 :超音波センサ トリガ出力 //p11 :超音波センサ エコー入力 -Serial pc(USBTX,USBRX); //GPs GPS gps (p28,p27); //GPS -PwmOut motorSpeedR(p26); //モーター -PwmOut motorSpeedL(p25); //モーター -DigitalIn flight(p22,p23); //フライトピン + DigitalOut FET(p21); //FET -XBee xbee(p13, p14); // XBee +DigitalOut Ultra(p12); DigitalIn thermo(p20); //焦電センサ↓ DigitalOut led(LED1); -Serial pc(USBTX, USBRX); // tx, rx 焦電センサ↑ -Serial pc (p9); //カメラ -TB6612 left(p25,p17,p16); -TB6612 right(p26,p19,p18); +Serial pc(USBTX,USBRX); // tx, rx 焦電センサ↑ +TB6612 left(p25,p17,p16);//motor +TB6612 right(p26,p19,p18);//motor int main() { //FET FET = 0; @@ -52,7 +47,6 @@ } } } - int main() { //以下GPS double a; double b; @@ -104,7 +98,13 @@ if (distance<5){ printf("%lf\r\n",distance); + left = 100; //左モーター100% + right = 100;//右モーター100% + printf("直進\n\r"); }else{ + left = 0; + right = 0; + printf("停止\n\r"); pc.printf("5m clear!"); break; } @@ -117,64 +117,215 @@ return 0; //注意!void()に変えること.このままだとここで終わる } -int main() { + int main(){ + float th; + Timer tm; + pc.printf("start\r\n"); + + bool detected=false; + thermo=0; //焦電off + Ultra=1;//超音波on + while(1) { - left = 100; //左モーター100% - right = 100;//右モーター100% - wait(1.0); - left = 30;//左30% - right = 30;//右30% - wait(1.0); - printf("OK"); + hs.TrigerOut(); + wait(1); + int distance; + distance = hs.GetDistance(); + printf("%d\r\n",distance);//距離出力 + + if(distance<2000){//超音波反応 + Ultra=0;//超音波off + thermo=1;//焦電on + left = 0; //左モーター0% + right = 0;//右モーター0% + printf("停止\n\r"); + if(true) + th = thermo; + if(th=1 && !detected) {//焦電反応ありの場合 + detected=true; + pc.printf("human\r\n"); + tm.reset(); + tm.start(); + thermo=0; + const int RESPONSE_TIMEOUT = 500; +const int DATA_TIMEOUT = 1000; + +JPEGCamera::JPEGCamera(PinName tx, PinName rx) : Serial(tx, rx) { + printf("AA\r\n"); + baud(38400); + state = READY; +} + +bool JPEGCamera::setPictureSize(JPEGCamera::PictureSize size, bool doReset) { + char buf[9] = {0x56, 0x00, 0x31, 0x05, 0x04, 0x01, 0x00, 0x19, (char) size}; + int ret = sendReceive(buf, sizeof buf, 5); + + if (ret == 5 && buf[0] == 0x76) { + if (doReset) + reset(); + return true; + } else + return false; +} + +bool JPEGCamera::isReady() { + return state == READY; +} + +bool JPEGCamera::isProcessing() { + return state == PROCESSING; +} + +bool JPEGCamera::takePicture(char *filename) { + if (state == READY) { + fp = fopen(filename, "wb"); + if (fp != 0) { + if (takePicture()) { + imageSize = getImageSize(); + address = 0; + state = PROCESSING; + } else { + fclose(fp); + printf("takePicture(%s) failed", filename); + state = ERROR; + } + } else { + printf("fopen() failed"); + state = ERROR; + } } + return state != ERROR; +} + +bool JPEGCamera::processPicture() { + if (state == PROCESSING) { + if (address < imageSize) { + char data[1024]; + int size = readData(data, min(sizeof(data), imageSize - address), address); + int ret = fwrite(data, size, 1, fp); + if (ret > 0) + address += size; + if (ret == 0 || address >= imageSize) { + stopPictures(); + fclose(fp); + wait(0.1); // ???? + state = ret > 0 ? READY : ERROR; + } + } + } + + return state == PROCESSING || state == READY; } -if(distance<2000){ - motorStopR(); - motorStopL(); - stopUS015(); - startsb612a(); +bool JPEGCamera::reset() { + char buf[4] = {0x56, 0x00, 0x26, 0x00}; + int ret = sendReceive(buf, sizeof buf, 4); + if (ret == 4 && buf[0] == 0x76) { + wait(4.0); + state = READY; + } else { + state = ERROR; + } + return state == READY; +} + +bool JPEGCamera::takePicture() { + char buf[5] = {0x56, 0x00, 0x36, 0x01, 0x00}; + int ret = sendReceive(buf, sizeof buf, 5); + + return ret == 5 && buf[0] == 0x76; +} + +bool JPEGCamera::stopPictures() { + char buf[5] = {0x56, 0x00, 0x36, 0x01, 0x03}; + int ret = sendReceive(buf, sizeof buf, 5); + + return ret == 4 && buf[0] == 0x76; +} + +int JPEGCamera::getImageSize() { + char buf[9] = {0x56, 0x00, 0x34, 0x01, 0x00}; + int ret = sendReceive(buf, sizeof buf, 9); + + //The size is in the last 2 characters of the response. + return (ret == 9 && buf[0] == 0x76) ? (buf[7] << 8 | buf[8]) : 0; +} + +int JPEGCamera::readData(char *dataBuf, int size, int address) { + char buf[16] = {0x56, 0x00, 0x32, 0x0C, 0x00, 0x0A, 0x00, 0x00, + address >> 8, address & 255, 0x00, 0x00, size >> 8, size & 255, 0x00, 0x0A + }; + int ret = sendReceive(buf, sizeof buf, 5); + + return (ret == 5 && buf[0] == 0x76) ? receive(dataBuf, size, DATA_TIMEOUT) : 0; +} + +int JPEGCamera::sendReceive(char *buf, int sendSize, int receiveSize) { + while (readable()) getc(); + + for (int i = 0; i < sendSize; i++) putc(buf[i]); + + return receive(buf, receiveSize, RESPONSE_TIMEOUT); +} + +int JPEGCamera::receive(char *buf, int size, int timeout) { + timer.start(); + timer.reset(); + + int i = 0; + while (i < size && timer.read_ms() < timeout) { + if (readable()) + buf[i++] = getc(); + } + + return i; +} + LocalFileSystem local("local"); + +Serial pc(USBTX,USBRX); +Serial xbee(p13, p14); +int main(void){ + FILE *fp; + base64 *bs; + int c; + + xbee.printf("charizard!!!\r\n"); + bs = new base64(); + bs->Encode("/local/PICT000.jpg","/local/d.txt"); + + + if((fp=fopen("/local/d.txt","r"))!=NULL) + { + while ((c=fgetc(fp))!=EOF){ + xbee.printf("%c",c); + } + fclose(fp); + } + return 0; +} + + }else{//焦電反応なしの場合 + detected=false; + thermo=0; + Ultra=1; + } + +} + //while(true) + } + return 0; + } + //超音波センサー反応あり //停止 //超音波センサーOFF //焦電センサーON - int main() -{ - float th; - Timer tm; - pc.printf("start\r\n"); - led=0; - bool detected=false; - while(true) - { - th = thermo; - if(th==1 && !detected) { - led = 1; - detected=true; - pc.printf("human\r\n"); - tm.reset(); - tm.start(); - } - if(tm.read_ms()>10000) { - printf("Time out!\r\n"); - led = 0; - detected=false; - } - } -} - if(detected=true){ - stopsb612a(); - startCamera(); - stopCamera(); - sendSD(); - sendPC(); //焦電センサー反応あり //焦電センサーOFF //カメラ起動 //カメラOFF - //データをSDカードに保存 - //保存データをXBeeによりPCへ送信 + //XBeeによりPCへ送信 if(receiveOK()=true){ printf("Unknown Creature has been descovered!\n"); } @@ -185,12 +336,11 @@ //"NO"受信、ミッション再開 else if(detected=false){ - stopsb612a(); - motorForwardL(); - motorStopL(); - motorForwardR(); - motorForwardL(); - startUS015(); + thermo=0; + left=100; + wait(3.0); + right=100; + Ultra=1; } } //焦電センサー反応無し @@ -200,12 +350,11 @@ //直進 } else if(distance>=2000){ - motorStopL(); - motorStopR(); - motorForwardL(); - motorStopL(); - motorForwardR(); - motorForwardL(); + left=0; + right=0; + left=100; + wait(3.0); + right=100; } //超音波センサー反応無し //停止