kyunsat
2/25/2017 LPC1768 ver
Dependencies: MotionSensor SDFileSystem mbed
Fork of
TanecCon
by 
hswell and nike
main.cpp@4:1fdffa2e6312, 2017-08-22 (annotated)
- Committer:
- Nike3221
- Date:
- Tue Aug 22 16:16:34 2017 +0000
- Revision:
- 4:1fdffa2e6312
- Parent:
- 3:8d904225adfd
tane
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nike3221 | 0:029ef267b1bc | 1 | /* |
| Nike3221 | 0:029ef267b1bc | 2 | * MAG3110 Sensor Library for mbed |
| Nike3221 | 0:029ef267b1bc | 3 | * TODO: Add proper header |
| Nike3221 | 0:029ef267b1bc | 4 | */ |
| Nike3221 | 0:029ef267b1bc | 5 | |
| Nike3221 | 0:029ef267b1bc | 6 | |
| Nike3221 | 0:029ef267b1bc | 7 | #include "mbed.h" |
| Nike3221 | 0:029ef267b1bc | 8 | #include "MotionSensor.h" |
| Nike3221 | 0:029ef267b1bc | 9 | #include "MAG3110.h" |
| Nike3221 | 0:029ef267b1bc | 10 | #include "math.h" |
| Nike3221 | 0:029ef267b1bc | 11 | //#include "SDFileSystem.h" |
| Nike3221 | 0:029ef267b1bc | 12 | |
| Nike3221 | 0:029ef267b1bc | 13 | //SDFileSystem sd(p5, p6, p7, p8, "sd"); |
| Nike3221 | 1:2992de38cf3e | 14 | Serial pc(USBTX,USBRX); |
| Nike3221 | 1:2992de38cf3e | 15 | //Serial pc(p9,p10); |
| Nike3221 | 0:029ef267b1bc | 16 | |
| Nike3221 | 1:2992de38cf3e | 17 | int16_t con_x,con_y,con_z; |
| Nike3221 | 0:029ef267b1bc | 18 | LocalFileSystem local("local"); |
| Nike3221 | 1:2992de38cf3e | 19 | //MAG3110 mag(p9,p10); |
| Nike3221 | 0:029ef267b1bc | 20 | MAG3110 mag(p28,p27); |
| Nike3221 | 0:029ef267b1bc | 21 | Serial gps(p13,p14); |
| Nike3221 | 4:1fdffa2e6312 | 22 | //Serial gps(p9,p10); |
| Nike3221 | 0:029ef267b1bc | 23 | |
| Nike3221 | 4:1fdffa2e6312 | 24 | DigitalOut bin(p17); |
| Nike3221 | 4:1fdffa2e6312 | 25 | DigitalIn local_del(p20); |
| Nike3221 | 1:2992de38cf3e | 26 | //DigitalIn cds(p29); |
| Nike3221 | 1:2992de38cf3e | 27 | Timer ActiveTime; //タイマー |
| Nike3221 | 4:1fdffa2e6312 | 28 | DigitalOut trg(p26); |
| Nike3221 | 4:1fdffa2e6312 | 29 | //DigitalOut sig(p25); |
| Nike3221 | 4:1fdffa2e6312 | 30 | InterruptIn distance(p25); |
| Nike3221 | 0:029ef267b1bc | 31 | |
| Nike3221 | 0:029ef267b1bc | 32 | DigitalOut bit1(LED4); |
| Nike3221 | 0:029ef267b1bc | 33 | DigitalOut bit2(LED3); |
| Nike3221 | 0:029ef267b1bc | 34 | DigitalOut bit3(LED2); |
| Nike3221 | 0:029ef267b1bc | 35 | DigitalOut bit4(LED1); |
| Nike3221 | 2:6f9881435f17 | 36 | //DigitalOut bit5(p16); |
| Nike3221 | 4:1fdffa2e6312 | 37 | DigitalOut ain(p16); |
| Nike3221 | 1:2992de38cf3e | 38 | DigitalOut stby(p11); |
| Nike3221 | 1:2992de38cf3e | 39 | DigitalOut motor_io(p12); |
| Nike3221 | 4:1fdffa2e6312 | 40 | PwmOut servo(p21); |
| Nike3221 | 4:1fdffa2e6312 | 41 | PwmOut motor_r(p23); |
| Nike3221 | 1:2992de38cf3e | 42 | PwmOut motor_l(p22); |
| Nike3221 | 1:2992de38cf3e | 43 | DigitalOut muda(p15); |
| Nike3221 | 4:1fdffa2e6312 | 44 | InterruptIn cds(p18); |
| Nike3221 | 4:1fdffa2e6312 | 45 | DigitalOut cds_out(p19); |
| Nike3221 | 1:2992de38cf3e | 46 | //DigitalIn cds(p29); |
| Nike3221 | 0:029ef267b1bc | 47 | |
| Nike3221 | 1:2992de38cf3e | 48 | char gps_s[256]; |
| Nike3221 | 1:2992de38cf3e | 49 | char gps_c[256]; |
| Nike3221 | 1:2992de38cf3e | 50 | float palse=0.02; |
| Nike3221 | 1:2992de38cf3e | 51 | float servo_palse=0.002; |
| Nike3221 | 2:6f9881435f17 | 52 | float motor_palse=0.02; |
| Nike3221 | 1:2992de38cf3e | 53 | float sig_time; |
| Nike3221 | 2:6f9881435f17 | 54 | float offset_x,offset_y; |
| Nike3221 | 1:2992de38cf3e | 55 | float cds_on,x_max,y_max,x_min,y_min; |
| Nike3221 | 1:2992de38cf3e | 56 | float count_offset,count_gps; |
| Nike3221 | 1:2992de38cf3e | 57 | int a,b,gp,gga,rmc,gll,flag,count2,count_move,quadrant; |
| Nike3221 | 1:2992de38cf3e | 58 | float x_target,y_target,d_target,sita,angle_caly,angle_calx,direction_target; |
| Nike3221 | 4:1fdffa2e6312 | 59 | float longitude_target = 30.375776;//36.11707 |
| Nike3221 | 4:1fdffa2e6312 | 60 | float latitude_target = 130.960419;//139.4720 |
| Nike3221 | 1:2992de38cf3e | 61 | float utc_time,latitude1,latitude2,longitude1,longitude2,speed,course,utc_date,gps_magnetic; |
| Nike3221 | 0:029ef267b1bc | 62 | char pos_status; |
| Nike3221 | 1:2992de38cf3e | 63 | float direction,x_dat,y_dat,longitudegosa,latitudegosa; |
| Nike3221 | 0:029ef267b1bc | 64 | char angle_c; |
| Nike3221 | 0:029ef267b1bc | 65 | |
| Nike3221 | 0:029ef267b1bc | 66 | |
| Nike3221 | 1:2992de38cf3e | 67 | void init() |
| Nike3221 | 1:2992de38cf3e | 68 | { |
| Nike3221 | 4:1fdffa2e6312 | 69 | ain = 1; |
| Nike3221 | 4:1fdffa2e6312 | 70 | bin = 1; |
| Nike3221 | 4:1fdffa2e6312 | 71 | cds_out = 1; |
| Nike3221 | 4:1fdffa2e6312 | 72 | muda=1; |
| Nike3221 | 1:2992de38cf3e | 73 | cds_on = 0; |
| Nike3221 | 1:2992de38cf3e | 74 | count_move = 0; |
| Nike3221 | 1:2992de38cf3e | 75 | stby = 1; |
| Nike3221 | 1:2992de38cf3e | 76 | motor_io = 1; |
| Nike3221 | 1:2992de38cf3e | 77 | motor_r.period(0.02); |
| Nike3221 | 1:2992de38cf3e | 78 | motor_l.period(0.02); |
| Nike3221 | 1:2992de38cf3e | 79 | x_max = -1000.0;//x,yの最大値を初期化 |
| Nike3221 | 1:2992de38cf3e | 80 | y_max = -1000.0; |
| Nike3221 | 1:2992de38cf3e | 81 | x_min = 1000.0; |
| Nike3221 | 1:2992de38cf3e | 82 | y_min = 1000.0; |
| Nike3221 | 1:2992de38cf3e | 83 | |
| Nike3221 | 1:2992de38cf3e | 84 | } |
| Nike3221 | 1:2992de38cf3e | 85 | |
| Nike3221 | 4:1fdffa2e6312 | 86 | void cal_ll() |
| Nike3221 | 1:2992de38cf3e | 87 | { |
| Nike3221 | 1:2992de38cf3e | 88 | latitude1 = latitude1/100; |
| Nike3221 | 1:2992de38cf3e | 89 | latitude2 = (fmod(latitude1,1)/60)*100; |
| Nike3221 | 1:2992de38cf3e | 90 | latitude1 = floor(latitude1); |
| Nike3221 | 1:2992de38cf3e | 91 | latitude1 = latitude1+latitude2; |
| Nike3221 | 1:2992de38cf3e | 92 | |
| Nike3221 | 1:2992de38cf3e | 93 | longitude1 = longitude1/100; |
| Nike3221 | 1:2992de38cf3e | 94 | longitude2 = fmod(longitude1,1)/60*100; |
| Nike3221 | 1:2992de38cf3e | 95 | longitude1 = floor(longitude1); |
| Nike3221 | 1:2992de38cf3e | 96 | longitude1 = longitude1+longitude2; |
| Nike3221 | 1:2992de38cf3e | 97 | |
| Nike3221 | 1:2992de38cf3e | 98 | } |
| Nike3221 | 1:2992de38cf3e | 99 | |
| Nike3221 | 1:2992de38cf3e | 100 | void gps_read() |
| Nike3221 | 1:2992de38cf3e | 101 | { |
| Nike3221 | 1:2992de38cf3e | 102 | __disable_irq();//割り込み禁止 |
| Nike3221 | 0:029ef267b1bc | 103 | |
| Nike3221 | 1:2992de38cf3e | 104 | pc.printf("gps_read\n"); |
| Nike3221 | 4:1fdffa2e6312 | 105 | for(count2=0; count2 < 300 ; count2++) { |
| Nike3221 | 1:2992de38cf3e | 106 | gps_s[count2] = gps.getc(); |
| Nike3221 | 1:2992de38cf3e | 107 | pc.printf("%c",gps_s[count2]); |
| Nike3221 | 1:2992de38cf3e | 108 | } |
| Nike3221 | 1:2992de38cf3e | 109 | if(count_move==0 || count_move==3) |
| Nike3221 | 1:2992de38cf3e | 110 | {__enable_irq();}//割り込み許可 |
| Nike3221 | 1:2992de38cf3e | 111 | } |
| Nike3221 | 1:2992de38cf3e | 112 | |
| Nike3221 | 1:2992de38cf3e | 113 | int gps_save() |
| Nike3221 | 1:2992de38cf3e | 114 | { |
| Nike3221 | 1:2992de38cf3e | 115 | a=0; |
| Nike3221 | 3:8d904225adfd | 116 | gp = 2;//1回目の＄は無視（flug=1を無視） |
| Nike3221 | 1:2992de38cf3e | 117 | count_gps = 0; |
| Nike3221 | 1:2992de38cf3e | 118 | |
| Nike3221 | 1:2992de38cf3e | 119 | pc.printf("\ngps_save\n"); |
| Nike3221 | 1:2992de38cf3e | 120 | |
| Nike3221 | 3:8d904225adfd | 121 | while(a <= 250 && count_gps < 4) { |
| Nike3221 | 1:2992de38cf3e | 122 | |
| Nike3221 | 4:1fdffa2e6312 | 123 | for(a=0,b=0,flag=0; flag <= gp && flag < 4 && gp < 4 && a < 300; a++,b++)//"lag<4" "gp<4" "a<200"は無限ループ対策 |
| Nike3221 | 3:8d904225adfd | 124 | { |
| Nike3221 | 1:2992de38cf3e | 125 | gps_c[a] = gps_s[b]; |
| Nike3221 | 1:2992de38cf3e | 126 | pc.printf("%d %c \n",a,gps_c[a]); |
| Nike3221 | 1:2992de38cf3e | 127 | |
| Nike3221 | 3:8d904225adfd | 128 | if(gps_c[a] == '$') |
| Nike3221 | 3:8d904225adfd | 129 | { |
| Nike3221 | 1:2992de38cf3e | 130 | gps_c[0] = '$'; |
| Nike3221 | 1:2992de38cf3e | 131 | a=0; |
| Nike3221 | 3:8d904225adfd | 132 | flag++;//1回目の＄は無視（flug=1を無視） |
| Nike3221 | 1:2992de38cf3e | 133 | pc.printf("%d %c flag:%d gp:%d\n",a,gps_c[a],flag,gp); |
| Nike3221 | 3:8d904225adfd | 134 | } |
| Nike3221 | 1:2992de38cf3e | 135 | |
| Nike3221 | 1:2992de38cf3e | 136 | else if(gps_c[a-1] == '\r' && gps_c[a] == '\n' && flag == gp) |
| Nike3221 | 3:8d904225adfd | 137 | { |
| Nike3221 | 1:2992de38cf3e | 138 | gps_c[a+1]='\0'; |
| Nike3221 | 4:1fdffa2e6312 | 139 | flag = 10;//forから抜ける |
| Nike3221 | 3:8d904225adfd | 140 | } |
| Nike3221 | 1:2992de38cf3e | 141 | } |
| Nike3221 | 1:2992de38cf3e | 142 | |
| Nike3221 | 1:2992de38cf3e | 143 | wait(0.5); |
| Nike3221 | 1:2992de38cf3e | 144 | |
| Nike3221 | 1:2992de38cf3e | 145 | if(memcmp(gps_c,"$GPRMC",6) == 0) { |
| Nike3221 | 1:2992de38cf3e | 146 | sscanf(gps_c,"$GPRMC,%f,%c,%f,N,%f,E,%f,%f,%f,%f,W",&utc_time,&pos_status,&latitude1,&longitude1,&speed,&course,&utc_date,&gps_magnetic); |
| Nike3221 | 1:2992de38cf3e | 147 | //latitude = strncpy(latitude1,latitude1,2); |
| Nike3221 | 4:1fdffa2e6312 | 148 | cal_ll(); |
| Nike3221 | 1:2992de38cf3e | 149 | pc.printf("$GPRMC,time[%f],%c,%f,N,%f,E,%f,%f,%f,%f,W \n",utc_time,pos_status,latitude1,longitude1,speed,course,utc_date,gps_magnetic); |
| Nike3221 | 1:2992de38cf3e | 150 | gp++; |
| Nike3221 | 1:2992de38cf3e | 151 | |
| Nike3221 | 1:2992de38cf3e | 152 | if(latitude1!=0) { |
| Nike3221 | 1:2992de38cf3e | 153 | bit1=1; |
| Nike3221 | 1:2992de38cf3e | 154 | } |
| Nike3221 | 1:2992de38cf3e | 155 | //mkdir("/sd/gps", 0777); |
| Nike3221 | 1:2992de38cf3e | 156 | FILE *fp = fopen("/local/gps.txt", "a"); |
| Nike3221 | 4:1fdffa2e6312 | 157 | if(fp == NULL) {} |
| Nike3221 | 4:1fdffa2e6312 | 158 | //error("Could not open file for write\n"); |
| Nike3221 | 1:2992de38cf3e | 159 | |
| Nike3221 | 1:2992de38cf3e | 160 | fprintf(fp,"$GPRMC,%f,%c,%f,N,%f,E,%f,%f,%f,%f,W \n",utc_time,pos_status,latitude1,longitude1,speed,course,utc_date,gps_magnetic); |
| Nike3221 | 1:2992de38cf3e | 161 | fclose(fp); |
| Nike3221 | 4:1fdffa2e6312 | 162 | |
| Nike3221 | 1:2992de38cf3e | 163 | bit1=0; |
| Nike3221 | 1:2992de38cf3e | 164 | count_gps++; |
| Nike3221 | 1:2992de38cf3e | 165 | pc.printf("count_gps:%.1f\n",count_gps); |
| Nike3221 | 1:2992de38cf3e | 166 | } |
| Nike3221 | 1:2992de38cf3e | 167 | |
| Nike3221 | 1:2992de38cf3e | 168 | else if(memcmp(gps_c,"$GPGGA",6) == 0) { |
| Nike3221 | 1:2992de38cf3e | 169 | sscanf(gps_c,"$GPGGA,%f,%f,N,%f,E",&utc_time,&latitude1,&longitude1); |
| Nike3221 | 4:1fdffa2e6312 | 170 | cal_ll(); |
| Nike3221 | 1:2992de38cf3e | 171 | pc.printf("$GPGGA,time[%f],%f,N,%f,E \n",utc_time,latitude1,longitude1); |
| Nike3221 | 1:2992de38cf3e | 172 | gp++; |
| Nike3221 | 1:2992de38cf3e | 173 | |
| Nike3221 | 1:2992de38cf3e | 174 | if(latitude1!=0) { |
| Nike3221 | 1:2992de38cf3e | 175 | bit1=1; |
| Nike3221 | 1:2992de38cf3e | 176 | } |
| Nike3221 | 1:2992de38cf3e | 177 | // mkdir("/sd/gps", 0777); |
| Nike3221 | 1:2992de38cf3e | 178 | FILE *fp = fopen("/local/gps.txt", "a"); |
| Nike3221 | 1:2992de38cf3e | 179 | if(fp == NULL) { |
| Nike3221 | 4:1fdffa2e6312 | 180 | //error("Could not open file for write\n"); |
| Nike3221 | 1:2992de38cf3e | 181 | } |
| Nike3221 | 1:2992de38cf3e | 182 | |
| Nike3221 | 1:2992de38cf3e | 183 | fprintf(fp,"$GPGGA,%f,%f,N,%f,E \n",utc_time,latitude1,longitude1); |
| Nike3221 | 1:2992de38cf3e | 184 | fclose(fp); |
| Nike3221 | 4:1fdffa2e6312 | 185 | |
| Nike3221 | 1:2992de38cf3e | 186 | bit1=0; |
| Nike3221 | 1:2992de38cf3e | 187 | count_gps++; |
| Nike3221 | 1:2992de38cf3e | 188 | pc.printf("count_gps:%.1f\n",count_gps); |
| Nike3221 | 1:2992de38cf3e | 189 | } |
| Nike3221 | 1:2992de38cf3e | 190 | |
| Nike3221 | 1:2992de38cf3e | 191 | else if(memcmp(gps_c,"$GPGLL",6) == 0) { |
| Nike3221 | 1:2992de38cf3e | 192 | sscanf(gps_c,"$GPGLL,%f,N,%f,E \n",&latitude1,&longitude1); |
| Nike3221 | 4:1fdffa2e6312 | 193 | cal_ll(); |
| Nike3221 | 1:2992de38cf3e | 194 | pc.printf("$GPGLL,%f,N,%f,E \n",latitude1,longitude1); |
| Nike3221 | 1:2992de38cf3e | 195 | gp++; |
| Nike3221 | 1:2992de38cf3e | 196 | |
| Nike3221 | 1:2992de38cf3e | 197 | if(latitude1!=0) { |
| Nike3221 | 1:2992de38cf3e | 198 | bit1=1; |
| Nike3221 | 1:2992de38cf3e | 199 | } |
| Nike3221 | 1:2992de38cf3e | 200 | //mkdir("/sd/gps", 0777); |
| Nike3221 | 1:2992de38cf3e | 201 | |
| Nike3221 | 4:1fdffa2e6312 | 202 | |
| Nike3221 | 1:2992de38cf3e | 203 | FILE *fp = fopen("/local/gps.txt", "a"); |
| Nike3221 | 1:2992de38cf3e | 204 | if(fp == NULL) { |
| Nike3221 | 4:1fdffa2e6312 | 205 | //error("Could not open file for write\n"); |
| Nike3221 | 1:2992de38cf3e | 206 | } |
| Nike3221 | 1:2992de38cf3e | 207 | |
| Nike3221 | 1:2992de38cf3e | 208 | fprintf(fp,"$GPGLL,%f,N,%f,E \n",latitude1,longitude1); |
| Nike3221 | 1:2992de38cf3e | 209 | fclose(fp); |
| Nike3221 | 4:1fdffa2e6312 | 210 | |
| Nike3221 | 1:2992de38cf3e | 211 | bit1=0; |
| Nike3221 | 1:2992de38cf3e | 212 | count_gps++; |
| Nike3221 | 1:2992de38cf3e | 213 | pc.printf("count_gps:%.1f\n",count_gps); |
| Nike3221 | 1:2992de38cf3e | 214 | } |
| Nike3221 | 1:2992de38cf3e | 215 | |
| Nike3221 | 1:2992de38cf3e | 216 | else |
| Nike3221 | 1:2992de38cf3e | 217 | { |
| Nike3221 | 1:2992de38cf3e | 218 | count_gps++; |
| Nike3221 | 1:2992de38cf3e | 219 | gp++; |
| Nike3221 | 1:2992de38cf3e | 220 | pc.printf("gps_c is not match count_gps:%.1f\n",count_gps); |
| Nike3221 | 1:2992de38cf3e | 221 | } |
| Nike3221 | 1:2992de38cf3e | 222 | } |
| Nike3221 | 1:2992de38cf3e | 223 | |
| Nike3221 | 1:2992de38cf3e | 224 | } |
| Nike3221 | 1:2992de38cf3e | 225 | |
| Nike3221 | 1:2992de38cf3e | 226 | int offset(float x_rd,float y_rd) |
| Nike3221 | 1:2992de38cf3e | 227 | { |
| Nike3221 | 1:2992de38cf3e | 228 | |
| Nike3221 | 1:2992de38cf3e | 229 | if(x_max == 0 || y_max == 0 || x_min == 0 || y_min == 0) { |
| Nike3221 | 1:2992de38cf3e | 230 | x_max = -1000.0;//x,yの最大値を初期化 +-32500 |
| Nike3221 | 1:2992de38cf3e | 231 | y_max = -1000.0; |
| Nike3221 | 1:2992de38cf3e | 232 | x_min = 1000.0; |
| Nike3221 | 1:2992de38cf3e | 233 | y_min = 1000.0; |
| Nike3221 | 1:2992de38cf3e | 234 | }//最大値、最小値に0が入った時初期化 |
| Nike3221 | 1:2992de38cf3e | 235 | |
| Nike3221 | 1:2992de38cf3e | 236 | if(x_max<x_rd && x_rd != 0) { |
| Nike3221 | 1:2992de38cf3e | 237 | x_max=x_rd; |
| Nike3221 | 1:2992de38cf3e | 238 | } |
| Nike3221 | 1:2992de38cf3e | 239 | |
| Nike3221 | 1:2992de38cf3e | 240 | if(y_max<y_rd && y_rd != 0) { |
| Nike3221 | 1:2992de38cf3e | 241 | y_max=y_rd; |
| Nike3221 | 1:2992de38cf3e | 242 | } |
| Nike3221 | 1:2992de38cf3e | 243 | |
| Nike3221 | 1:2992de38cf3e | 244 | if(x_min>x_rd && x_rd != 0) { |
| Nike3221 | 1:2992de38cf3e | 245 | x_min=x_rd; |
| Nike3221 | 1:2992de38cf3e | 246 | } |
| Nike3221 | 1:2992de38cf3e | 247 | |
| Nike3221 | 1:2992de38cf3e | 248 | if(y_min>y_rd && y_rd != 0) { |
| Nike3221 | 1:2992de38cf3e | 249 | y_min=y_rd; |
| Nike3221 | 1:2992de38cf3e | 250 | } |
| Nike3221 | 3:8d904225adfd | 251 | |
| Nike3221 | 3:8d904225adfd | 252 | if(count_offset > 300) |
| Nike3221 | 3:8d904225adfd | 253 | { |
| Nike3221 | 2:6f9881435f17 | 254 | offset_x = (x_min+x_max)/2; |
| Nike3221 | 2:6f9881435f17 | 255 | offset_y = (y_min+y_max)/2; |
| Nike3221 | 1:2992de38cf3e | 256 | |
| Nike3221 | 2:6f9881435f17 | 257 | if(0 < offset_x) |
| Nike3221 | 3:8d904225adfd | 258 | { x_dat = con_x + offset_x; } |
| Nike3221 | 3:8d904225adfd | 259 | else if(0 > offset_x) |
| Nike3221 | 3:8d904225adfd | 260 | { x_dat = con_x - offset_x; } |
| Nike3221 | 3:8d904225adfd | 261 | |
| Nike3221 | 3:8d904225adfd | 262 | if(0 < offset_y) |
| Nike3221 | 3:8d904225adfd | 263 | { y_dat = con_y - offset_y; } |
| Nike3221 | 3:8d904225adfd | 264 | else if(0 > offset_y) |
| Nike3221 | 3:8d904225adfd | 265 | { y_dat = con_y + offset_y; } |
| Nike3221 | 3:8d904225adfd | 266 | |
| Nike3221 | 3:8d904225adfd | 267 | /* |
| Nike3221 | 3:8d904225adfd | 268 | if(0 < offset_x) |
| Nike3221 | 2:6f9881435f17 | 269 | { x_dat = con_x + offset_x*1.3; } |
| Nike3221 | 2:6f9881435f17 | 270 | else if(0 > offset_x) |
| Nike3221 | 2:6f9881435f17 | 271 | { x_dat = con_x - offset_x*1.3; } |
| Nike3221 | 2:6f9881435f17 | 272 | |
| Nike3221 | 2:6f9881435f17 | 273 | if(0 < offset_y) |
| Nike3221 | 2:6f9881435f17 | 274 | { y_dat = con_y + offset_y*1.3; } |
| Nike3221 | 2:6f9881435f17 | 275 | else if(0 > offset_y) |
| Nike3221 | 3:8d904225adfd | 276 | { y_dat = con_y - offset_y*1.3; }*/ |
| Nike3221 | 3:8d904225adfd | 277 | } |
| Nike3221 | 1:2992de38cf3e | 278 | |
| Nike3221 | 1:2992de38cf3e | 279 | pc.printf("x: %d , y: %d , x_dat: %f , y_dat: %f , x_max: %.5f , x_min: %.5f , direction: %f \n",con_x, con_y, x_rd, y_rd, x_max, x_min, direction); |
| Nike3221 | 1:2992de38cf3e | 280 | return 0; |
| Nike3221 | 1:2992de38cf3e | 281 | } |
| Nike3221 | 1:2992de38cf3e | 282 | |
| Nike3221 | 1:2992de38cf3e | 283 | void cal_gps() |
| Nike3221 | 1:2992de38cf3e | 284 | { |
| Nike3221 | 3:8d904225adfd | 285 | /*if(latitude_target > latitude1 && longitude_target > longitude1)//第１象限 |
| Nike3221 | 1:2992de38cf3e | 286 | {quadrant = 1;} |
| Nike3221 | 1:2992de38cf3e | 287 | if(latitude_target > latitude1 && longitude_target < longitude1) |
| Nike3221 | 1:2992de38cf3e | 288 | {quadrant = 2;} |
| Nike3221 | 1:2992de38cf3e | 289 | if(latitude_target < latitude1 && longitude_target < longitude1) |
| Nike3221 | 1:2992de38cf3e | 290 | {quadrant = 3;} |
| Nike3221 | 1:2992de38cf3e | 291 | if(latitude_target < latitude1 && longitude_target < longitude1) |
| Nike3221 | 3:8d904225adfd | 292 | {quadrant = 4;}*/ |
| Nike3221 | 1:2992de38cf3e | 293 | |
| Nike3221 | 1:2992de38cf3e | 294 | y_target = (latitude_target-latitude1)*111319.49; |
| Nike3221 | 1:2992de38cf3e | 295 | x_target = (longitude_target-longitude1)*cos(latitude1*(3.1415926535/180))*111319.49; |
| Nike3221 | 1:2992de38cf3e | 296 | d_target = sqrt(pow(con_x,2.0)*pow(con_y,2.0));//目的地までの距離 |
| Nike3221 | 1:2992de38cf3e | 297 | |
| Nike3221 | 1:2992de38cf3e | 298 | angle_caly = cos(latitude_target)*sin(longitude_target-longitude1); |
| Nike3221 | 2:6f9881435f17 | 299 | angle_calx = cos(latitude1)*(sin(latitude_target)-sin(latitude1))*cos(latitude_target)*cos(longitude_target-longitude1); |
| Nike3221 | 1:2992de38cf3e | 300 | sita = atan2(angle_caly,angle_calx); |
| Nike3221 | 1:2992de38cf3e | 301 | if(sita < 0) |
| Nike3221 | 1:2992de38cf3e | 302 | {sita = sita + 2*3.1415926535;} |
| Nike3221 | 2:6f9881435f17 | 303 | direction_target = sita*57.29578; |
| Nike3221 | 1:2992de38cf3e | 304 | } |
| Nike3221 | 1:2992de38cf3e | 305 | |
| Nike3221 | 1:2992de38cf3e | 306 | void cal_con() |
| Nike3221 | 1:2992de38cf3e | 307 | { |
| Nike3221 | 1:2992de38cf3e | 308 | |
| Nike3221 | 2:6f9881435f17 | 309 | direction = atan2(y_dat,x_dat); |
| Nike3221 | 1:2992de38cf3e | 310 | if(direction < 0) |
| Nike3221 | 1:2992de38cf3e | 311 | {direction = direction + 2*3.1415926535;} |
| Nike3221 | 2:6f9881435f17 | 312 | direction = direction*57.29578; //ラジアンに変換 |
| Nike3221 | 2:6f9881435f17 | 313 | //direction = (atan(y_cal/x_cal))*57.29578; |
| Nike3221 | 1:2992de38cf3e | 314 | |
| Nike3221 | 4:1fdffa2e6312 | 315 | if(316 < direction && 44 > direction){ //correction********* |
| Nike3221 | 1:2992de38cf3e | 316 | angle_c = 'N';} |
| Nike3221 | 1:2992de38cf3e | 317 | |
| Nike3221 | 4:1fdffa2e6312 | 318 | else if(225 < direction && 315 > direction){//correction********* |
| Nike3221 | 1:2992de38cf3e | 319 | angle_c = 'E';} |
| Nike3221 | 1:2992de38cf3e | 320 | |
| Nike3221 | 4:1fdffa2e6312 | 321 | else if(136 < direction && 224 > direction){//correction********* |
| Nike3221 | 1:2992de38cf3e | 322 | angle_c = 'S';} |
| Nike3221 | 1:2992de38cf3e | 323 | |
| Nike3221 | 4:1fdffa2e6312 | 324 | else if(45 < direction && 135 > direction){ //correction********* |
| Nike3221 | 1:2992de38cf3e | 325 | angle_c = 'W';} |
| Nike3221 | 1:2992de38cf3e | 326 | |
| Nike3221 | 1:2992de38cf3e | 327 | else{ angle_c = '?';} |
| Nike3221 | 1:2992de38cf3e | 328 | |
| Nike3221 | 1:2992de38cf3e | 329 | } |
| Nike3221 | 1:2992de38cf3e | 330 | |
| Nike3221 | 1:2992de38cf3e | 331 | void trigger() |
| Nike3221 | 1:2992de38cf3e | 332 | { |
| Nike3221 | 4:1fdffa2e6312 | 333 | trg = 1; |
| Nike3221 | 1:2992de38cf3e | 334 | bit2 = 1; |
| Nike3221 | 1:2992de38cf3e | 335 | wait_us(10); |
| Nike3221 | 4:1fdffa2e6312 | 336 | trg = 0; |
| Nike3221 | 1:2992de38cf3e | 337 | bit2 = 0; |
| Nike3221 | 1:2992de38cf3e | 338 | } |
| Nike3221 | 1:2992de38cf3e | 339 | |
| Nike3221 | 1:2992de38cf3e | 340 | void rise_echo()//立ち上がり割り込み |
| Nike3221 | 1:2992de38cf3e | 341 | { |
| Nike3221 | 1:2992de38cf3e | 342 | //sig=1; |
| Nike3221 | 1:2992de38cf3e | 343 | ActiveTime.start(); |
| Nike3221 | 1:2992de38cf3e | 344 | __disable_irq(); |
| Nike3221 | 1:2992de38cf3e | 345 | } |
| Nike3221 | 1:2992de38cf3e | 346 | |
| Nike3221 | 1:2992de38cf3e | 347 | void fall_echo()//落ち込み割り込み |
| Nike3221 | 1:2992de38cf3e | 348 | { |
| Nike3221 | 1:2992de38cf3e | 349 | //sig=0; |
| Nike3221 | 1:2992de38cf3e | 350 | ActiveTime.stop(); |
| Nike3221 | 1:2992de38cf3e | 351 | if(ActiveTime.read_us() > 0.00002){ |
| Nike3221 | 1:2992de38cf3e | 352 | sig_time = ActiveTime.read_us()/6.169;} |
| Nike3221 | 1:2992de38cf3e | 353 | ActiveTime.reset(); |
| Nike3221 | 4:1fdffa2e6312 | 354 | |
| Nike3221 | 1:2992de38cf3e | 355 | bit1=1; |
| Nike3221 | 1:2992de38cf3e | 356 | FILE *fp = fopen("/local/ultra.txt","a"); |
| Nike3221 | 1:2992de38cf3e | 357 | fprintf(fp,"%f\n",sig_time); |
| Nike3221 | 1:2992de38cf3e | 358 | fclose(fp); |
| Nike3221 | 4:1fdffa2e6312 | 359 | bit1=0; |
| Nike3221 | 1:2992de38cf3e | 360 | } |
| Nike3221 | 1:2992de38cf3e | 361 | |
| Nike3221 | 1:2992de38cf3e | 362 | |
| Nike3221 | 1:2992de38cf3e | 363 | void first_sequence() |
| Nike3221 | 1:2992de38cf3e | 364 | { |
| Nike3221 | 1:2992de38cf3e | 365 | if(count_move==0) |
| Nike3221 | 1:2992de38cf3e | 366 | {count_move=1;} |
| Nike3221 | 1:2992de38cf3e | 367 | } |
| Nike3221 | 1:2992de38cf3e | 368 | |
| Nike3221 | 2:6f9881435f17 | 369 | void turn_sequence() |
| Nike3221 | 2:6f9881435f17 | 370 | { |
| Nike3221 | 2:6f9881435f17 | 371 | __disable_irq(); |
| Nike3221 | 2:6f9881435f17 | 372 | pc.printf("************turn_sequence*************\n"); |
| Nike3221 | 2:6f9881435f17 | 373 | pc.printf("direction: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 2:6f9881435f17 | 374 | longitudegosa = longitude_target-longitude1; |
| Nike3221 | 2:6f9881435f17 | 375 | latitudegosa = latitude_target-latitude1; |
| Nike3221 | 2:6f9881435f17 | 376 | |
| Nike3221 | 2:6f9881435f17 | 377 | if(direction > direction_target+2.0) |
| Nike3221 | 2:6f9881435f17 | 378 | { while(direction > direction_target+2.0) |
| Nike3221 | 2:6f9881435f17 | 379 | { |
| Nike3221 | 2:6f9881435f17 | 380 | pc.printf("turn clockwise \ndirection: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 2:6f9881435f17 | 381 | |
| Nike3221 | 2:6f9881435f17 | 382 | FILE *fp = fopen("/local/turn.txt","a"); |
| Nike3221 | 2:6f9881435f17 | 383 | fprintf(fp,"%c,%d,%d,%f,%f,%f,%f\n",angle_c,con_x,con_y,x_dat,y_dat,direction_target,direction); |
| Nike3221 | 2:6f9881435f17 | 384 | fclose(fp); |
| Nike3221 | 2:6f9881435f17 | 385 | |
| Nike3221 | 2:6f9881435f17 | 386 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 2:6f9881435f17 | 387 | mag.getY(&con_y); |
| Nike3221 | 2:6f9881435f17 | 388 | offset(con_x,con_y);//x,y オフセット計算 |
| Nike3221 | 2:6f9881435f17 | 389 | cal_con(); |
| Nike3221 | 3:8d904225adfd | 390 | |
| Nike3221 | 3:8d904225adfd | 391 | motor_l.pulsewidth(motor_palse*0.7); |
| Nike3221 | 3:8d904225adfd | 392 | motor_r.pulsewidth(motor_palse*0.35); |
| Nike3221 | 2:6f9881435f17 | 393 | }} |
| Nike3221 | 2:6f9881435f17 | 394 | |
| Nike3221 | 2:6f9881435f17 | 395 | else if(direction < direction_target-2.0) |
| Nike3221 | 2:6f9881435f17 | 396 | { while(direction < direction_target-2.0) |
| Nike3221 | 2:6f9881435f17 | 397 | { |
| Nike3221 | 2:6f9881435f17 | 398 | pc.printf("turn anti clockwise \ndirection: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 2:6f9881435f17 | 399 | |
| Nike3221 | 2:6f9881435f17 | 400 | FILE *fp = fopen("/local/turn2.txt","a"); |
| Nike3221 | 2:6f9881435f17 | 401 | fprintf(fp,"%c,%d,%d,%f,%f,%f,%f\n",angle_c,con_x,con_y,x_dat,y_dat,direction_target,direction); |
| Nike3221 | 2:6f9881435f17 | 402 | fclose(fp); |
| Nike3221 | 2:6f9881435f17 | 403 | |
| Nike3221 | 2:6f9881435f17 | 404 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 2:6f9881435f17 | 405 | mag.getY(&con_y); |
| Nike3221 | 2:6f9881435f17 | 406 | offset(con_x,con_y);//x,y オフセット計算 |
| Nike3221 | 2:6f9881435f17 | 407 | cal_con(); |
| Nike3221 | 3:8d904225adfd | 408 | |
| Nike3221 | 3:8d904225adfd | 409 | motor_r.pulsewidth(motor_palse*0.7); |
| Nike3221 | 3:8d904225adfd | 410 | motor_l.pulsewidth(motor_palse*0.35); |
| Nike3221 | 3:8d904225adfd | 411 | }} |
| Nike3221 | 3:8d904225adfd | 412 | |
| Nike3221 | 2:6f9881435f17 | 413 | motor_r.pulsewidth(motor_palse*0.8); |
| Nike3221 | 3:8d904225adfd | 414 | motor_l.pulsewidth(motor_palse*0.8); |
| Nike3221 | 2:6f9881435f17 | 415 | |
| Nike3221 | 2:6f9881435f17 | 416 | pc.printf("direction: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 2:6f9881435f17 | 417 | |
| Nike3221 | 2:6f9881435f17 | 418 | pc.printf("************turn_sequence end*************\n"); |
| Nike3221 | 2:6f9881435f17 | 419 | |
| Nike3221 | 2:6f9881435f17 | 420 | } |
| Nike3221 | 2:6f9881435f17 | 421 | |
| Nike3221 | 1:2992de38cf3e | 422 | void move() |
| Nike3221 | 1:2992de38cf3e | 423 | { |
| Nike3221 | 1:2992de38cf3e | 424 | switch(count_move) |
| Nike3221 | 1:2992de38cf3e | 425 | { |
| Nike3221 | 1:2992de38cf3e | 426 | case 1: |
| Nike3221 | 2:6f9881435f17 | 427 | |
| Nike3221 | 1:2992de38cf3e | 428 | pc.printf("*************case1**************\n"); |
| Nike3221 | 4:1fdffa2e6312 | 429 | motor_l.pulsewidth(0.018); //パルス幅 |
| Nike3221 | 4:1fdffa2e6312 | 430 | motor_r.pulsewidth(0.018); |
| Nike3221 | 1:2992de38cf3e | 431 | wait(10);//落下時間 |
| Nike3221 | 1:2992de38cf3e | 432 | |
| Nike3221 | 1:2992de38cf3e | 433 | servo.pulsewidth(servo_palse); |
| Nike3221 | 1:2992de38cf3e | 434 | |
| Nike3221 | 1:2992de38cf3e | 435 | /*if(direction <= direction_target+3 && direction >= direction_target-3) |
| Nike3221 | 1:2992de38cf3e | 436 | {count_move++;}*/ |
| Nike3221 | 1:2992de38cf3e | 437 | count_move++; |
| Nike3221 | 1:2992de38cf3e | 438 | pc.printf("*************case1 end**************\n"); |
| Nike3221 | 1:2992de38cf3e | 439 | break; |
| Nike3221 | 2:6f9881435f17 | 440 | |
| Nike3221 | 1:2992de38cf3e | 441 | case 2: |
| Nike3221 | 2:6f9881435f17 | 442 | __disable_irq(); |
| Nike3221 | 1:2992de38cf3e | 443 | pc.printf("*************case2**************\n"); |
| Nike3221 | 1:2992de38cf3e | 444 | pc.printf("direction: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 1:2992de38cf3e | 445 | longitudegosa = longitude_target-longitude1; |
| Nike3221 | 1:2992de38cf3e | 446 | latitudegosa = latitude_target-latitude1; |
| Nike3221 | 2:6f9881435f17 | 447 | |
| Nike3221 | 2:6f9881435f17 | 448 | if(direction > direction_target+2.0) |
| Nike3221 | 2:6f9881435f17 | 449 | { while(direction > direction_target+2.0) |
| Nike3221 | 1:2992de38cf3e | 450 | { |
| Nike3221 | 2:6f9881435f17 | 451 | pc.printf("turn clockwise \ndirection: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 2:6f9881435f17 | 452 | |
| Nike3221 | 2:6f9881435f17 | 453 | FILE *fp = fopen("/local/turn.txt","a"); |
| Nike3221 | 2:6f9881435f17 | 454 | fprintf(fp,"%c,%d,%d,%f,%f,%f,%f\n",angle_c,con_x,con_y,x_dat,y_dat,direction_target,direction); |
| Nike3221 | 2:6f9881435f17 | 455 | fclose(fp); |
| Nike3221 | 2:6f9881435f17 | 456 | |
| Nike3221 | 1:2992de38cf3e | 457 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 1:2992de38cf3e | 458 | mag.getY(&con_y); |
| Nike3221 | 1:2992de38cf3e | 459 | offset(con_x,con_y);//x,y オフセット計算 |
| Nike3221 | 1:2992de38cf3e | 460 | cal_con(); |
| Nike3221 | 2:6f9881435f17 | 461 | |
| Nike3221 | 2:6f9881435f17 | 462 | /*gps_read(); |
| Nike3221 | 2:6f9881435f17 | 463 | gps_save(); |
| Nike3221 | 2:6f9881435f17 | 464 | cal_gps();回転しすぎる*/ |
| Nike3221 | 2:6f9881435f17 | 465 | motor_l.pulsewidth(motor_palse*0.7); |
| Nike3221 | 2:6f9881435f17 | 466 | motor_r.pulsewidth(motor_palse*0.35);} |
| Nike3221 | 2:6f9881435f17 | 467 | motor_r.pulsewidth(motor_palse); |
| Nike3221 | 2:6f9881435f17 | 468 | motor_l.pulsewidth(motor_palse); |
| Nike3221 | 2:6f9881435f17 | 469 | } |
| Nike3221 | 1:2992de38cf3e | 470 | |
| Nike3221 | 2:6f9881435f17 | 471 | else if(direction < direction_target-2.0) |
| Nike3221 | 2:6f9881435f17 | 472 | { while(direction < direction_target-2.0) |
| Nike3221 | 1:2992de38cf3e | 473 | { |
| Nike3221 | 2:6f9881435f17 | 474 | pc.printf("turn anti clockwise \ndirection: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 2:6f9881435f17 | 475 | |
| Nike3221 | 2:6f9881435f17 | 476 | FILE *fp = fopen("/local/turn2.txt","a"); |
| Nike3221 | 2:6f9881435f17 | 477 | fprintf(fp,"%c,%d,%d,%f,%f,%f,%f\n",angle_c,con_x,con_y,x_dat,y_dat,direction_target,direction); |
| Nike3221 | 2:6f9881435f17 | 478 | fclose(fp); |
| Nike3221 | 2:6f9881435f17 | 479 | |
| Nike3221 | 1:2992de38cf3e | 480 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 1:2992de38cf3e | 481 | mag.getY(&con_y); |
| Nike3221 | 1:2992de38cf3e | 482 | offset(con_x,con_y);//x,y オフセット計算 |
| Nike3221 | 1:2992de38cf3e | 483 | cal_con(); |
| Nike3221 | 1:2992de38cf3e | 484 | |
| Nike3221 | 2:6f9881435f17 | 485 | /*gps_read(); |
| Nike3221 | 2:6f9881435f17 | 486 | gps_save(); |
| Nike3221 | 2:6f9881435f17 | 487 | cal_gps();回転しすぎる*/ |
| Nike3221 | 2:6f9881435f17 | 488 | motor_r.pulsewidth(motor_palse*0.7); |
| Nike3221 | 2:6f9881435f17 | 489 | motor_l.pulsewidth(motor_palse*0.35);} |
| Nike3221 | 2:6f9881435f17 | 490 | motor_r.pulsewidth(motor_palse); |
| Nike3221 | 2:6f9881435f17 | 491 | motor_l.pulsewidth(motor_palse); |
| Nike3221 | 2:6f9881435f17 | 492 | } |
| Nike3221 | 2:6f9881435f17 | 493 | |
| Nike3221 | 3:8d904225adfd | 494 | if(direction <= direction_target+2.0 && direction >= direction_target-2.0) |
| Nike3221 | 2:6f9881435f17 | 495 | { pc.printf("front \n"); |
| Nike3221 | 2:6f9881435f17 | 496 | motor_l.pulsewidth(motor_palse); //パルス幅 |
| Nike3221 | 2:6f9881435f17 | 497 | motor_r.pulsewidth(motor_palse); |
| Nike3221 | 2:6f9881435f17 | 498 | count_move++;} |
| Nike3221 | 1:2992de38cf3e | 499 | |
| Nike3221 | 1:2992de38cf3e | 500 | pc.printf("direction: %f direction_target: %f\n",direction,direction_target); |
| Nike3221 | 1:2992de38cf3e | 501 | |
| Nike3221 | 1:2992de38cf3e | 502 | pc.printf("*************case2 end**************\n"); |
| Nike3221 | 1:2992de38cf3e | 503 | |
| Nike3221 | 1:2992de38cf3e | 504 | break; |
| Nike3221 | 2:6f9881435f17 | 505 | case 3: |
| Nike3221 | 3:8d904225adfd | 506 | motor_l.pulsewidth(0.0); //パルス幅 |
| Nike3221 | 3:8d904225adfd | 507 | motor_r.pulsewidth(0.0); |
| Nike3221 | 1:2992de38cf3e | 508 | |
| Nike3221 | 2:6f9881435f17 | 509 | gps_read(); |
| Nike3221 | 2:6f9881435f17 | 510 | gps_save(); |
| Nike3221 | 4:1fdffa2e6312 | 511 | cal_ll(); |
| Nike3221 | 2:6f9881435f17 | 512 | cal_gps(); |
| Nike3221 | 3:8d904225adfd | 513 | |
| Nike3221 | 3:8d904225adfd | 514 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 3:8d904225adfd | 515 | mag.getY(&con_y); |
| Nike3221 | 3:8d904225adfd | 516 | offset(con_x,con_y);//x,y オフセット計算 |
| Nike3221 | 3:8d904225adfd | 517 | cal_con(); |
| Nike3221 | 3:8d904225adfd | 518 | |
| Nike3221 | 3:8d904225adfd | 519 | turn_sequence(); |
| Nike3221 | 3:8d904225adfd | 520 | |
| Nike3221 | 3:8d904225adfd | 521 | motor_l.pulsewidth(motor_palse*0.8); //パルス幅 |
| Nike3221 | 3:8d904225adfd | 522 | motor_r.pulsewidth(motor_palse*0.8); |
| Nike3221 | 3:8d904225adfd | 523 | |
| Nike3221 | 2:6f9881435f17 | 524 | |
| Nike3221 | 2:6f9881435f17 | 525 | longitudegosa = longitude_target-longitude1; |
| Nike3221 | 2:6f9881435f17 | 526 | latitudegosa = latitude_target-latitude1; |
| Nike3221 | 2:6f9881435f17 | 527 | |
| Nike3221 | 2:6f9881435f17 | 528 | if( abs(longitudegosa)<=0.1 && abs(latitudegosa)<=0.1 ) |
| Nike3221 | 2:6f9881435f17 | 529 | { pc.printf("front \n"); |
| Nike3221 | 2:6f9881435f17 | 530 | count_move++; } |
| Nike3221 | 2:6f9881435f17 | 531 | |
| Nike3221 | 2:6f9881435f17 | 532 | break; |
| Nike3221 | 2:6f9881435f17 | 533 | case 4: |
| Nike3221 | 4:1fdffa2e6312 | 534 | pc.printf("*************case4**************\n"); |
| Nike3221 | 2:6f9881435f17 | 535 | |
| Nike3221 | 2:6f9881435f17 | 536 | __enable_irq(); |
| Nike3221 | 1:2992de38cf3e | 537 | trigger(); |
| Nike3221 | 1:2992de38cf3e | 538 | //distance.rise(rise_echo); |
| Nike3221 | 1:2992de38cf3e | 539 | //distance.fall(fall_echo); |
| Nike3221 | 1:2992de38cf3e | 540 | |
| Nike3221 | 2:6f9881435f17 | 541 | pc.printf("sig_time: %f\n",sig_time); |
| Nike3221 | 1:2992de38cf3e | 542 | |
| Nike3221 | 4:1fdffa2e6312 | 543 | if(sig_time <= 100.0 && sig_time >= 50.0)//100mm以下に近づいたとき停止 |
| Nike3221 | 2:6f9881435f17 | 544 | { pc.printf("sig_time is 100mm or under: %f\n",sig_time); |
| Nike3221 | 2:6f9881435f17 | 545 | count_move++;} |
| Nike3221 | 1:2992de38cf3e | 546 | else |
| Nike3221 | 1:2992de38cf3e | 547 | { |
| Nike3221 | 3:8d904225adfd | 548 | turn_sequence(); |
| Nike3221 | 4:1fdffa2e6312 | 549 | motor_l.pulsewidth(motor_palse*0.8); //パルス幅 |
| Nike3221 | 4:1fdffa2e6312 | 550 | motor_r.pulsewidth(motor_palse*0.8); |
| Nike3221 | 1:2992de38cf3e | 551 | } |
| Nike3221 | 1:2992de38cf3e | 552 | |
| Nike3221 | 1:2992de38cf3e | 553 | break; |
| Nike3221 | 1:2992de38cf3e | 554 | |
| Nike3221 | 1:2992de38cf3e | 555 | default: |
| Nike3221 | 1:2992de38cf3e | 556 | motor_l.pulsewidth(0.0); |
| Nike3221 | 1:2992de38cf3e | 557 | motor_r.pulsewidth(0.0); |
| Nike3221 | 2:6f9881435f17 | 558 | |
| Nike3221 | 1:2992de38cf3e | 559 | break; |
| Nike3221 | 1:2992de38cf3e | 560 | |
| Nike3221 | 1:2992de38cf3e | 561 | } |
| Nike3221 | 0:029ef267b1bc | 562 | |
| Nike3221 | 0:029ef267b1bc | 563 | } |
| Nike3221 | 0:029ef267b1bc | 564 | |
| Nike3221 | 0:029ef267b1bc | 565 | |
| Nike3221 | 1:2992de38cf3e | 566 | void con_save() |
| Nike3221 | 1:2992de38cf3e | 567 | { |
| Nike3221 | 0:029ef267b1bc | 568 | |
| Nike3221 | 0:029ef267b1bc | 569 | bit1=1;//led4を1にしてデータを保存 |
| Nike3221 | 0:029ef267b1bc | 570 | FILE *fp = fopen("/local/commpas_new.txt","a"); |
| Nike3221 | 1:2992de38cf3e | 571 | fprintf(fp,"%c,%f,%f,%f,%f\n",angle_c,d_target,x_dat,y_dat,direction); |
| Nike3221 | 1:2992de38cf3e | 572 | //fprintf(fp,"%d,%d,%d,%d,%d\n",x,y,z,offset_x,offset_y); |
| Nike3221 | 1:2992de38cf3e | 573 | fclose(fp); |
| Nike3221 | 1:2992de38cf3e | 574 | bit1=0; |
| Nike3221 | 0:029ef267b1bc | 575 | } |
| Nike3221 | 0:029ef267b1bc | 576 | |
| Nike3221 | 1:2992de38cf3e | 577 | void dele() |
| Nike3221 | 1:2992de38cf3e | 578 | { |
| Nike3221 | 1:2992de38cf3e | 579 | |
| Nike3221 | 0:029ef267b1bc | 580 | bit2=1;//led3を1 |
| Nike3221 | 1:2992de38cf3e | 581 | |
| Nike3221 | 0:029ef267b1bc | 582 | remove("/local/commpas_new.txt"); |
| Nike3221 | 0:029ef267b1bc | 583 | remove("/local/gps.txt"); |
| Nike3221 | 1:2992de38cf3e | 584 | |
| Nike3221 | 0:029ef267b1bc | 585 | bit2=0; |
| Nike3221 | 0:029ef267b1bc | 586 | } |
| Nike3221 | 0:029ef267b1bc | 587 | |
| Nike3221 | 1:2992de38cf3e | 588 | int main() |
| Nike3221 | 1:2992de38cf3e | 589 | { |
| Nike3221 | 1:2992de38cf3e | 590 | bit1 = 1; |
| Nike3221 | 1:2992de38cf3e | 591 | pc.printf("start\n"); |
| Nike3221 | 4:1fdffa2e6312 | 592 | |
| Nike3221 | 4:1fdffa2e6312 | 593 | servo.period(0.02); |
| Nike3221 | 4:1fdffa2e6312 | 594 | |
| Nike3221 | 4:1fdffa2e6312 | 595 | servo.pulsewidth(servo_palse);//0.002 |
| Nike3221 | 4:1fdffa2e6312 | 596 | wait(5); |
| Nike3221 | 4:1fdffa2e6312 | 597 | servo.pulsewidth(0.001); |
| Nike3221 | 1:2992de38cf3e | 598 | //__disable_irq();//割り込み禁止 |
| Nike3221 | 1:2992de38cf3e | 599 | init(); //初期化 |
| Nike3221 | 1:2992de38cf3e | 600 | //cds.rise(first_sequence);//cds立ち上がり割り込み |
| Nike3221 | 1:2992de38cf3e | 601 | mag.sampleRate(0x40); |
| Nike3221 | 0:029ef267b1bc | 602 | mag.enable();//コンパス有効化 |
| Nike3221 | 1:2992de38cf3e | 603 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 1:2992de38cf3e | 604 | mag.getY(&con_y); |
| Nike3221 | 1:2992de38cf3e | 605 | mag.getZ(&con_z); |
| Nike3221 | 3:8d904225adfd | 606 | |
| Nike3221 | 4:1fdffa2e6312 | 607 | for(count_offset=0; count_offset <10; count_offset++ ) |
| Nike3221 | 4:1fdffa2e6312 | 608 | { |
| Nike3221 | 4:1fdffa2e6312 | 609 | gps_read(); |
| Nike3221 | 4:1fdffa2e6312 | 610 | gps_save(); |
| Nike3221 | 4:1fdffa2e6312 | 611 | cal_ll(); |
| Nike3221 | 4:1fdffa2e6312 | 612 | cal_gps(); |
| Nike3221 | 4:1fdffa2e6312 | 613 | } |
| Nike3221 | 4:1fdffa2e6312 | 614 | |
| Nike3221 | 3:8d904225adfd | 615 | motor_r.pulsewidth(motor_palse*0.7); |
| Nike3221 | 3:8d904225adfd | 616 | motor_l.pulsewidth(motor_palse*0.35); |
| Nike3221 | 3:8d904225adfd | 617 | |
| Nike3221 | 2:6f9881435f17 | 618 | for(count_offset=0; count_offset < 300; count_offset++)//300個分のサンプ取得 |
| Nike3221 | 2:6f9881435f17 | 619 | { |
| Nike3221 | 2:6f9881435f17 | 620 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 2:6f9881435f17 | 621 | mag.getY(&con_y); |
| Nike3221 | 2:6f9881435f17 | 622 | mag.getZ(&con_z); |
| Nike3221 | 2:6f9881435f17 | 623 | offset(con_x,con_y); |
| Nike3221 | 2:6f9881435f17 | 624 | cal_con(); |
| Nike3221 | 4:1fdffa2e6312 | 625 | |
| Nike3221 | 2:6f9881435f17 | 626 | FILE *fp = fopen("/local/first_con.txt","a"); |
| Nike3221 | 2:6f9881435f17 | 627 | fprintf(fp,"%c,%d,%d,%f,%f,%f,%f\n",angle_c,con_x,con_y,x_dat,y_dat,direction_target,direction); |
| Nike3221 | 2:6f9881435f17 | 628 | fclose(fp); |
| Nike3221 | 2:6f9881435f17 | 629 | } |
| Nike3221 | 4:1fdffa2e6312 | 630 | |
| Nike3221 | 3:8d904225adfd | 631 | motor_r.pulsewidth(motor_palse*0.0); |
| Nike3221 | 3:8d904225adfd | 632 | motor_l.pulsewidth(motor_palse*0.0); |
| Nike3221 | 4:1fdffa2e6312 | 633 | |
| Nike3221 | 4:1fdffa2e6312 | 634 | servo.pulsewidth(servo_palse);//0.002 |
| Nike3221 | 4:1fdffa2e6312 | 635 | wait(5); |
| Nike3221 | 4:1fdffa2e6312 | 636 | servo.pulsewidth(0.001); |
| Nike3221 | 4:1fdffa2e6312 | 637 | |
| Nike3221 | 4:1fdffa2e6312 | 638 | bit1 = 1; bit2 = 1; |
| Nike3221 | 4:1fdffa2e6312 | 639 | bit3 = 1; bit4 = 1; |
| Nike3221 | 4:1fdffa2e6312 | 640 | pc.printf("cds wait\n"); |
| Nike3221 | 4:1fdffa2e6312 | 641 | wait(20); |
| Nike3221 | 4:1fdffa2e6312 | 642 | bit1 = 0; bit2 = 0; |
| Nike3221 | 4:1fdffa2e6312 | 643 | bit3 = 0; bit4 = 0; |
| Nike3221 | 4:1fdffa2e6312 | 644 | cds.fall(&first_sequence);//cds落ち込み割り込み |
| Nike3221 | 0:029ef267b1bc | 645 | |
| Nike3221 | 1:2992de38cf3e | 646 | while(1) { |
| Nike3221 | 1:2992de38cf3e | 647 | |
| Nike3221 | 1:2992de38cf3e | 648 | __enable_irq();//割り込み許可 |
| Nike3221 | 1:2992de38cf3e | 649 | mag.getX(&con_x);//コンパス読み込み |
| Nike3221 | 1:2992de38cf3e | 650 | mag.getY(&con_y); |
| Nike3221 | 1:2992de38cf3e | 651 | offset(con_x,con_y);//x,y オフセット計算 |
| Nike3221 | 1:2992de38cf3e | 652 | cal_con(); |
| Nike3221 | 1:2992de38cf3e | 653 | |
| Nike3221 | 1:2992de38cf3e | 654 | gps_read(); |
| Nike3221 | 1:2992de38cf3e | 655 | gps_save(); |
| Nike3221 | 4:1fdffa2e6312 | 656 | cal_ll(); |
| Nike3221 | 1:2992de38cf3e | 657 | cal_gps(); |
| Nike3221 | 1:2992de38cf3e | 658 | |
| Nike3221 | 1:2992de38cf3e | 659 | /*if(cds == 0) |
| Nike3221 | 1:2992de38cf3e | 660 | {first_sequence(); |
| Nike3221 | 1:2992de38cf3e | 661 | bit5=1;}*/ |
| Nike3221 | 1:2992de38cf3e | 662 | |
| Nike3221 | 4:1fdffa2e6312 | 663 | move(); |
| Nike3221 | 1:2992de38cf3e | 664 | |
| Nike3221 | 4:1fdffa2e6312 | 665 | con_save(); //pin20がhighの時、データ保存 |
| Nike3221 | 1:2992de38cf3e | 666 | /*if(local_del == 1) |
| Nike3221 | 1:2992de38cf3e | 667 | { dele(); }*/ //pin19がhighの時、保存したデータを消去 |
| Nike3221 | 1:2992de38cf3e | 668 | |
| Nike3221 | 1:2992de38cf3e | 669 | } |
| Nike3221 | 4:1fdffa2e6312 | 670 | } |
| Nike3221 | 4:1fdffa2e6312 | 671 | // _01 40_ |
| Nike3221 | 4:1fdffa2e6312 | 672 | // _02 39_ |
| Nike3221 | 4:1fdffa2e6312 | 673 | // _03 38_ |
| Nike3221 | 4:1fdffa2e6312 | 674 | // xxxxxxxx_04 37_ |
| Nike3221 | 4:1fdffa2e6312 | 675 | // _05 36_ |
| Nike3221 | 4:1fdffa2e6312 | 676 | // _06 35_ |
| Nike3221 | 4:1fdffa2e6312 | 677 | // _07 34_ |
| Nike3221 | 4:1fdffa2e6312 | 678 | // _08 33_ |
| Nike3221 | 4:1fdffa2e6312 | 679 | // _09 32_ |
| Nike3221 | 4:1fdffa2e6312 | 680 | // _10 31_ |
| Nike3221 | 4:1fdffa2e6312 | 681 | // stby_11 30_xxxxxxxxx |
| Nike3221 | 4:1fdffa2e6312 | 682 | // motorio_12 29_ |
| Nike3221 | 4:1fdffa2e6312 | 683 | // gps_13 28_mag |
| Nike3221 | 4:1fdffa2e6312 | 684 | // gps_14 27_mag |
| Nike3221 | 4:1fdffa2e6312 | 685 | // muda_15 26_trg |
| Nike3221 | 4:1fdffa2e6312 | 686 | // ain_16 25_distance |
| Nike3221 | 4:1fdffa2e6312 | 687 | // bin_17 24_ |
| Nike3221 | 4:1fdffa2e6312 | 688 | // cds_18 23_motor_r |
| Nike3221 | 4:1fdffa2e6312 | 689 | // cds_out_19 22_motor_l |
| Nike3221 | 4:1fdffa2e6312 | 690 | // del_20 21_ |