cansat_B 2019 / Mbed 2 deprecated tougou-no3

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Dependencies:   mbed

main.cpp@7:a47fdb7f9bc8, 2019-12-02 (annotated)

Committer:
saeichi
Date:
Mon Dec 02 10:24:31 2019 +0000
Revision:
7:a47fdb7f9bc8
Parent:
6:cf43f62b1e75 
tougou;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KINU 0:f728b8e6bdf2 1 #include "mbed.h"
KINU 0:f728b8e6bdf2 2 #include "JPEGCamera.h"
KINU 0:f728b8e6bdf2 3 #include "us015.h"
KINU 3:f70ecf1e21d5 4 #include "TB6612.h"
saeichi 5:9b5899b06e2e 5 #include <stdio.h>
saeichi 5:9b5899b06e2e 6 #include <base64.h>
saeichi 5:9b5899b06e2e 7
KINU 0:f728b8e6bdf2 8 DigitalOut myled(LED1);
KINU 0:f728b8e6bdf2 9 US015 hs(p12,p11);
YUPPY 4:75090ff74dd0 10 DigitalIn thermo(p20);
saeichi 5:9b5899b06e2e 11 DigitalOut Sb612switch(p15); //焦電スイッチ
KINU 0:f728b8e6bdf2 12 DigitalOut Ultra(p12);
saeichi 5:9b5899b06e2e 13 Serial pc(USBTX,USBRX); // tx, rx
saeichi 5:9b5899b06e2e 14 JPEGCamera camera(p9, p10); // TX, RX
saeichi 5:9b5899b06e2e 15 TB6612 left1(p25,p17,p16); //モーターピン
saeichi 5:9b5899b06e2e 16 TB6612 right1(p26,p19,p18); //モーターピン
saeichi 5:9b5899b06e2e 17 Serial xbee(p13,p14); //xbee
saeichi 5:9b5899b06e2e 18
KINU 0:f728b8e6bdf2 19 int main(){
seijakunouenimutou 2:c799e2dde99f 20 int i=1;
KINU 0:f728b8e6bdf2 21 float th;
KINU 0:f728b8e6bdf2 22 Timer tm;
seijakunouenimutou 2:c799e2dde99f 23 for(i=0;i<3;i++){
KINU 0:f728b8e6bdf2 24 pc.printf("start\r\n");
saeichi 5:9b5899b06e2e 25
saeichi 5:9b5899b06e2e 26 left1 = 100; //左モーター１００％
saeichi 5:9b5899b06e2e 27 right1 = 100;//右モーター１００％
YUPPY 4:75090ff74dd0 28
YUPPY 4:75090ff74dd0 29 Sb612switch=0; //焦電off
KINU 0:f728b8e6bdf2 30 Ultra=1;//超音波on
KINU 3:f70ecf1e21d5 31
KINU 0:f728b8e6bdf2 32 while(1) {
YUPPY 4:75090ff74dd0 33 printf("超音波on\r\n 焦電off\r\n" ) ;
KINU 0:f728b8e6bdf2 34 hs.TrigerOut();
KINU 0:f728b8e6bdf2 35 wait(1);
KINU 0:f728b8e6bdf2 36 int distance;
KINU 0:f728b8e6bdf2 37 distance = hs.GetDistance();
YUPPY 4:75090ff74dd0 38 printf("distance=%d\r\n",distance);//距離出力
KINU 0:f728b8e6bdf2 39
YUPPY 4:75090ff74dd0 40 if(distance<=2000){//超音波反応
saeichi 5:9b5899b06e2e 41 left1 = 0; //左モーター０％
saeichi 5:9b5899b06e2e 42 right1 = 0;//右モーター０％
KINU 3:f70ecf1e21d5 43 printf("停止\n\r");
YUPPY 4:75090ff74dd0 44 wait(5.0);
KINU 3:f70ecf1e21d5 45
KINU 0:f728b8e6bdf2 46 Ultra=0;//超音波off
YUPPY 4:75090ff74dd0 47 Sb612switch=1; //焦電on
YUPPY 4:75090ff74dd0 48 printf("超音波off\r\n焦電on\r\n ");
YUPPY 4:75090ff74dd0 49 bool detected=false;
KINU 0:f728b8e6bdf2 50 th = thermo;
YUPPY 4:75090ff74dd0 51 if(th==1 && !detected) {//焦電反応ありの場合
KINU 3:f70ecf1e21d5 52 i++;
KINU 0:f728b8e6bdf2 53 detected=true;
KINU 3:f70ecf1e21d5 54 pc.printf("human\r\n");
KINU 3:f70ecf1e21d5 55 tm.reset();
KINU 3:f70ecf1e21d5 56 tm.start();
KINU 0:f728b8e6bdf2 57
KINU 3:f70ecf1e21d5 58 LocalFileSystem local("local");
KINU 3:f70ecf1e21d5 59 Timer timer;
KINU 3:f70ecf1e21d5 60 timer.start();
KINU 3:f70ecf1e21d5 61 camera.setPictureSize(JPEGCamera::SIZE320x240);
saeichi 5:9b5899b06e2e 62
saeichi 5:9b5899b06e2e 63 FILE *fp;
saeichi 5:9b5899b06e2e 64 base64 *bs;
saeichi 5:9b5899b06e2e 65 int c;
KINU 0:f728b8e6bdf2 66
saeichi 5:9b5899b06e2e 67 for (int r = 0; r < 1; r++) {
KINU 3:f70ecf1e21d5 68 if (camera.isReady()) {
KINU 3:f70ecf1e21d5 69 char filename[32];
saeichi 5:9b5899b06e2e 70 sprintf(filename, "/local/pict%03d.jpg",r);
KINU 3:f70ecf1e21d5 71 printf("Picture: %s ", filename);
KINU 3:f70ecf1e21d5 72 if (camera.takePicture(filename)) {
KINU 3:f70ecf1e21d5 73 while (camera.isProcessing()) {
KINU 0:f728b8e6bdf2 74 camera.processPicture();
KINU 0:f728b8e6bdf2 75 printf("take pictuer!");
KINU 3:f70ecf1e21d5 76 }
KINU 3:f70ecf1e21d5 77 }else{
KINU 0:f728b8e6bdf2 78 printf("take picture failed\r\n");
KINU 3:f70ecf1e21d5 79 }
KINU 3:f70ecf1e21d5 80 }else{
KINU 3:f70ecf1e21d5 81 printf("camera is not ready\r\n");
KINU 0:f728b8e6bdf2 82 }
KINU 3:f70ecf1e21d5 83
KINU 3:f70ecf1e21d5 84 printf("time = %f\n", timer.read());
seijakunouenimutou 2:c799e2dde99f 85
saeichi 5:9b5899b06e2e 86
saeichi 5:9b5899b06e2e 87
saeichi 5:9b5899b06e2e 88 xbee.printf("xbee connected!\r\n");
saeichi 5:9b5899b06e2e 89 bs = new base64();
saeichi 5:9b5899b06e2e 90 bs->Encode("/local/pict000.jpg","/local/data000.txt");
saeichi 5:9b5899b06e2e 91
saeichi 5:9b5899b06e2e 92 if((fp=fopen("/local/data000.txt","r"))!=NULL)
saeichi 5:9b5899b06e2e 93 {
saeichi 5:9b5899b06e2e 94 pc.printf("ok\r\n");
saeichi 5:9b5899b06e2e 95 while((c=fgetc(fp))!=EOF){
saeichi 5:9b5899b06e2e 96 xbee.printf("%c",c);
saeichi 5:9b5899b06e2e 97 }
saeichi 5:9b5899b06e2e 98 fclose(fp);
saeichi 5:9b5899b06e2e 99 }
saeichi 5:9b5899b06e2e 100 }
saeichi 7:a47fdb7f9bc8 101 while(1){
seijakunouenimutou 6:cf43f62b1e75 102
saeichi 7:a47fdb7f9bc8 103 int received_data = xbee.getc();
seijakunouenimutou 6:cf43f62b1e75 104
saeichi 7:a47fdb7f9bc8 105 if (received_data == 82 || received_data == 114){ //Rまたはｒ
saeichi 7:a47fdb7f9bc8 106 xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
saeichi 7:a47fdb7f9bc8 107 if((fp=fopen("/local/data000.txt","r"))!=NULL)
saeichi 7:a47fdb7f9bc8 108 {
saeichi 7:a47fdb7f9bc8 109 while ((c=fgetc(fp))!=EOF){
saeichi 7:a47fdb7f9bc8 110 xbee.printf("%c",c); //再送
saeichi 7:a47fdb7f9bc8 111 }
saeichi 7:a47fdb7f9bc8 112 fclose(fp);
saeichi 7:a47fdb7f9bc8 113 }
saeichi 7:a47fdb7f9bc8 114 }
saeichi 7:a47fdb7f9bc8 115 else{
saeichi 7:a47fdb7f9bc8 116 break;
saeichi 7:a47fdb7f9bc8 117 }
saeichi 7:a47fdb7f9bc8 118 }
saeichi 7:a47fdb7f9bc8 119
saeichi 5:9b5899b06e2e 120
KINU 3:f70ecf1e21d5 121 }else{//焦電反応なしの場合
YUPPY 4:75090ff74dd0 122 printf("not found!\r\n");
YUPPY 4:75090ff74dd0 123
saeichi 5:9b5899b06e2e 124 left1 = 70; //左モーター１０％
saeichi 5:9b5899b06e2e 125 right1 = 100;//右モーター１００％(右折)
YUPPY 4:75090ff74dd0 126 Sb612switch=0;
YUPPY 4:75090ff74dd0 127 Ultra=1;
KINU 3:f70ecf1e21d5 128 detected=false;
KINU 3:f70ecf1e21d5 129 printf("右折\n\r");
KINU 3:f70ecf1e21d5 130 wait(3.0);
saeichi 5:9b5899b06e2e 131 left1 = 100; //左モーター１００％
saeichi 5:9b5899b06e2e 132 right1 = 100;//右モーター１００％
KINU 3:f70ecf1e21d5 133 }
KINU 3:f70ecf1e21d5 134 }else{//超音波distance>2000
YUPPY 4:75090ff74dd0 135 printf("safety zone\r\n");
saeichi 5:9b5899b06e2e 136 left1 = 100; //左モーター100％
saeichi 5:9b5899b06e2e 137 right1 = 70;//右モーター70％(左折)
YUPPY 4:75090ff74dd0 138 printf("左折\r\n");
KINU 3:f70ecf1e21d5 139 }
KINU 3:f70ecf1e21d5 140
KINU 3:f70ecf1e21d5 141 }
KINU 3:f70ecf1e21d5 142
KINU 0:f728b8e6bdf2 143 }
KINU 3:f70ecf1e21d5 144
KINU 3:f70ecf1e21d5 145
KINU 0:f728b8e6bdf2 146
KINU 0:f728b8e6bdf2 147 }
saeichi 5:9b5899b06e2e 148
YUPPY 4:75090ff74dd0 149