narumi tatsuya
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go-went-Carlos_Gone
ニドキング
main.cpp@1:1dab888e1f3c, 2020-12-16 (annotated)
- Committer:
- naruu
- Date:
- Wed Dec 16 07:18:54 2020 +0000
- Revision:
- 1:1dab888e1f3c
- Parent:
- 0:5cddbcb7193f
- Child:
- 2:20304b3cea67
runpappa;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
naruu | 0:5cddbcb7193f | 1 | #include "mbed.h" |
naruu | 0:5cddbcb7193f | 2 | #include "TB6612.h" |
naruu | 1:1dab888e1f3c | 3 | #include "getGPS.h" |
naruu | 1:1dab888e1f3c | 4 | #include"math.h" |
naruu | 1:1dab888e1f3c | 5 | #include "BMP180.h" |
naruu | 1:1dab888e1f3c | 6 | #include <stdio.h> |
naruu | 1:1dab888e1f3c | 7 | |
naruu | 1:1dab888e1f3c | 8 | #define PIN_SDA D4 |
naruu | 1:1dab888e1f3c | 9 | #define PIN_SCL D5 |
naruu | 1:1dab888e1f3c | 10 | Serial pc(SERIAL_TX,SERIAL_RX,921600);//通信 |
naruu | 1:1dab888e1f3c | 11 | Serial xbee(D1,D0);//Xbeeのピン |
naruu | 1:1dab888e1f3c | 12 | DigitalOut FET(D9);//FETのピン |
naruu | 1:1dab888e1f3c | 13 | DigitalIn flight(D6); //フライトピンのピン |
naruu | 1:1dab888e1f3c | 14 | DigitalOut SW(D7);//フライトピンの電圧降下ピン |
naruu | 1:1dab888e1f3c | 15 | TB6612 motor(D7,D9,D11);//モータードライバーのピン |
naruu | 1:1dab888e1f3c | 16 | |
naruu | 1:1dab888e1f3c | 17 | |
naruu | 1:1dab888e1f3c | 18 | int main(){ |
naruu | 1:1dab888e1f3c | 19 | float x8; |
naruu | 1:1dab888e1f3c | 20 | FET=0; |
naruu | 1:1dab888e1f3c | 21 | SW=1; |
naruu | 1:1dab888e1f3c | 22 | flight==1;//フライトピンがついている |
naruu | 1:1dab888e1f3c | 23 | |
naruu | 1:1dab888e1f3c | 24 | |
naruu | 1:1dab888e1f3c | 25 | while(1) { |
naruu | 1:1dab888e1f3c | 26 | if(flight==1) { |
naruu | 1:1dab888e1f3c | 27 | wait(1); |
naruu | 1:1dab888e1f3c | 28 | }//フライトピンがついているとき1秒待機 |
naruu | 1:1dab888e1f3c | 29 | |
naruu | 1:1dab888e1f3c | 30 | else{ |
naruu | 1:1dab888e1f3c | 31 | if(flight==1) { |
naruu | 1:1dab888e1f3c | 32 | wait(1); |
naruu | 1:1dab888e1f3c | 33 | } |
naruu | 1:1dab888e1f3c | 34 | else{ |
naruu | 1:1dab888e1f3c | 35 | |
naruu | 1:1dab888e1f3c | 36 | SW = 0; |
naruu | 1:1dab888e1f3c | 37 | xbee.printf("やったぞおおおおおおおおお!\n"); |
naruu | 1:1dab888e1f3c | 38 | pc.printf("やったぞおおおおおおおおお!\n");//フライトピンが外れたときに表示 |
naruu | 1:1dab888e1f3c | 39 | break; |
naruu | 1:1dab888e1f3c | 40 | } |
naruu | 1:1dab888e1f3c | 41 | } |
naruu | 1:1dab888e1f3c | 42 | } |
naruu | 1:1dab888e1f3c | 43 | BMP180 bmp180(PIN_SDA,PIN_SCL); |
naruu | 1:1dab888e1f3c | 44 | float pressure,temperature,altitude;//気圧,気温,高度 |
naruu | 1:1dab888e1f3c | 45 | xbee.printf("\rstart!\n\r");//気圧センサースタート |
naruu | 1:1dab888e1f3c | 46 | bmp180.Initialize(27,BMP180_OSS_ULTRA_HIGH_RESOLUTION);//27は府大の海抜高度 |
naruu | 1:1dab888e1f3c | 47 | xbee.printf("initialization complete!\n\r");//初期化完了 |
naruu | 1:1dab888e1f3c | 48 | |
naruu | 1:1dab888e1f3c | 49 | while(1){ |
naruu | 1:1dab888e1f3c | 50 | if(bmp180.ReadData(&temperature,&pressure)){ |
naruu | 1:1dab888e1f3c | 51 | float x4,x5,x6,x7,a,b; |
naruu | 1:1dab888e1f3c | 52 | a = pressure; |
naruu | 1:1dab888e1f3c | 53 | b = temperature; |
naruu | 1:1dab888e1f3c | 54 | x4 = 1019.11 / a; //海面気圧を気圧でわる |
naruu | 1:1dab888e1f3c | 55 | x5 = powf(x4, 0.1902225); //5.257ぶんの1 |
naruu | 1:1dab888e1f3c | 56 | x6 = 273.15 + b; //絶対温度 |
naruu | 1:1dab888e1f3c | 57 | x7 = (x5 - 1) * x6; |
naruu | 1:1dab888e1f3c | 58 | x8 = x7 / 0.0065; |
naruu | 1:1dab888e1f3c | 59 | altitude = x8; |
naruu | 1:1dab888e1f3c | 60 | |
naruu | 1:1dab888e1f3c | 61 | |
naruu | 1:1dab888e1f3c | 62 | xbee.printf("Altitude(m)\t:%.3f\n\r",altitude); |
naruu | 1:1dab888e1f3c | 63 | xbee.printf("--------------------------------\n\r"); |
naruu | 1:1dab888e1f3c | 64 | wait(1); |
naruu | 1:1dab888e1f3c | 65 | break; |
naruu | 1:1dab888e1f3c | 66 | }else{ |
naruu | 1:1dab888e1f3c | 67 | xbee.printf("NO DATA\n\r"); |
naruu | 1:1dab888e1f3c | 68 | xbee.printf("---------------------------\n\r"); |
naruu | 1:1dab888e1f3c | 69 | wait(1); |
naruu | 1:1dab888e1f3c | 70 | } |
naruu | 1:1dab888e1f3c | 71 | } |
naruu | 1:1dab888e1f3c | 72 | while(1){ |
naruu | 1:1dab888e1f3c | 73 | if(bmp180.ReadData(&temperature,&pressure)){ |
naruu | 1:1dab888e1f3c | 74 | float y4,y5,y6,y7,y8,c,d; |
naruu | 1:1dab888e1f3c | 75 | float speed; |
naruu | 1:1dab888e1f3c | 76 | |
naruu | 1:1dab888e1f3c | 77 | c = pressure; |
naruu | 1:1dab888e1f3c | 78 | d = temperature; |
naruu | 1:1dab888e1f3c | 79 | y4 = 1019.11 / c; //海面気圧を気圧でわる |
naruu | 1:1dab888e1f3c | 80 | y5 = powf(y4,0.1902225); |
naruu | 1:1dab888e1f3c | 81 | y6 = 273.15 + d; |
naruu | 1:1dab888e1f3c | 82 | y7 = (y5 - 1) * y6; |
naruu | 1:1dab888e1f3c | 83 | y8 = y7 / 0.0065; |
naruu | 1:1dab888e1f3c | 84 | altitude = y8; |
naruu | 1:1dab888e1f3c | 85 | speed = (x8 - y8)/1; |
naruu | 1:1dab888e1f3c | 86 | |
naruu | 1:1dab888e1f3c | 87 | xbee.printf("Altitude(m)\t:%.3f\n\r",altitude); |
naruu | 1:1dab888e1f3c | 88 | xbee.printf("Speed(m/s)\t:%.3f\n\r",speed); |
naruu | 1:1dab888e1f3c | 89 | xbee.printf("--------------------------------\n\r"); |
naruu | 1:1dab888e1f3c | 90 | x8 = y8; |
naruu | 1:1dab888e1f3c | 91 | wait(1); |
naruu | 1:1dab888e1f3c | 92 | if(speed<=0){ |
naruu | 1:1dab888e1f3c | 93 | break; |
naruu | 1:1dab888e1f3c | 94 | }} |
naruu | 1:1dab888e1f3c | 95 | else{ |
naruu | 1:1dab888e1f3c | 96 | xbee.printf("NO DATA\n\r"); |
naruu | 1:1dab888e1f3c | 97 | wait(1); |
naruu | 1:1dab888e1f3c | 98 | } |
naruu | 1:1dab888e1f3c | 99 | } |
naruu | 1:1dab888e1f3c | 100 | /*speedが0以下になったらFETに20秒電流を流してその後電流を止まる*/ |
naruu | 1:1dab888e1f3c | 101 | FET=1; |
naruu | 1:1dab888e1f3c | 102 | wait(20); |
naruu | 1:1dab888e1f3c | 103 | FET=0; |
naruu | 1:1dab888e1f3c | 104 | |
naruu | 1:1dab888e1f3c | 105 | } |
naruu | 1:1dab888e1f3c | 106 | //motor=100; |
naruu | 1:1dab888e1f3c | 107 | |
naruu | 1:1dab888e1f3c | 108 | double a; |
naruu | 1:1dab888e1f3c | 109 | double b; |
naruu | 1:1dab888e1f3c | 110 | double distance; |
naruu | 1:1dab888e1f3c | 111 | |
naruu | 1:1dab888e1f3c | 112 | xbee.printf("GPS begin\n");; |
naruu | 1:1dab888e1f3c | 113 | pc.printf("GPS begin\n"); |
naruu | 1:1dab888e1f3c | 114 | |
naruu | 1:1dab888e1f3c | 115 | while(1){ |
naruu | 1:1dab888e1f3c | 116 | if(gps.getgps()){ |
naruu | 1:1dab888e1f3c | 117 | /*a,bを緯度経度の初期値で初期化*/ |
naruu | 1:1dab888e1f3c | 118 | a=gps.latitude; |
naruu | 1:1dab888e1f3c | 119 | b=gps.longitude; |
naruu | 1:1dab888e1f3c | 120 | pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示 |
naruu | 1:1dab888e1f3c | 121 | break; |
naruu | 1:1dab888e1f3c | 122 | }else{ |
naruu | 1:1dab888e1f3c | 123 | pc.printf("Fault_No_Data\r\n"); |
naruu | 1:1dab888e1f3c | 124 | wait(1); |
naruu | 1:1dab888e1f3c | 125 | } |
naruu | 1:1dab888e1f3c | 126 | } while(1){ |
naruu | 1:1dab888e1f3c | 127 | if(gps.getgps()){ |
naruu | 1:1dab888e1f3c | 128 | pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示 |
naruu | 1:1dab888e1f3c | 129 | |
naruu | 1:1dab888e1f3c | 130 | /*ここから距離の計算*/ |
naruu | 1:1dab888e1f3c | 131 | /*c、dを得た緯度経度の値で初期化*/ |
naruu | 1:1dab888e1f3c | 132 | double c; |
naruu | 1:1dab888e1f3c | 133 | double d; |
naruu | 1:1dab888e1f3c | 134 | c=gps.latitude; |
naruu | 1:1dab888e1f3c | 135 | d=gps.longitude; |
naruu | 1:1dab888e1f3c | 136 | |
naruu | 1:1dab888e1f3c | 137 | const double pi=3.14159265359;//円周率 |
naruu | 1:1dab888e1f3c | 138 | |
naruu | 1:1dab888e1f3c | 139 | /*ラジアンに変換*/ |
naruu | 1:1dab888e1f3c | 140 | double theta_a=a*pi/180; |
naruu | 1:1dab888e1f3c | 141 | double theta_b=b*pi/180; |
naruu | 1:1dab888e1f3c | 142 | double theta_c=c*pi/180; |
naruu | 1:1dab888e1f3c | 143 | double theta_d=d*pi/180; |
naruu | 1:1dab888e1f3c | 144 | |
naruu | 1:1dab888e1f3c | 145 | double e=sin(theta_a)*sin(theta_c)+cos(theta_a)*cos(theta_c)*cos(theta_b-theta_d);//2点間のなす角を求める |
naruu | 1:1dab888e1f3c | 146 | double theta_r=acos(e); |
naruu | 1:1dab888e1f3c | 147 | |
naruu | 1:1dab888e1f3c | 148 | const double earth_radius=6378140;//赤道半径 |
naruu | 1:1dab888e1f3c | 149 | |
naruu | 1:1dab888e1f3c | 150 | distance=earth_radius*theta_r;//距離の計算 |
naruu | 1:1dab888e1f3c | 151 | |
naruu | 1:1dab888e1f3c | 152 | /*距離が20m以上なら表示、通信*/ |
naruu | 1:1dab888e1f3c | 153 | if(distance>=25){ |
naruu | 1:1dab888e1f3c | 154 | pc.printf("run over20m"); |
naruu | 1:1dab888e1f3c | 155 | motor=0; |
naruu | 1:1dab888e1f3c | 156 | xbee.printf("run over20m"); |
naruu | 1:1dab888e1f3c | 157 | break; |
naruu | 1:1dab888e1f3c | 158 | } |
naruu | 1:1dab888e1f3c | 159 | |
naruu | 1:1dab888e1f3c | 160 | }else { |
naruu | 1:1dab888e1f3c | 161 | xbee.printf("False_No_Data\r\n"); |
naruu | 1:1dab888e1f3c | 162 | pc.printf("False_No_Date\r\n"); |
naruu | 1:1dab888e1f3c | 163 | wait(1); |
naruu | 1:1dab888e1f3c | 164 | }//データ取得失敗を表示、通信、1秒待機 |
naruu | 1:1dab888e1f3c | 165 | |
naruu | 1:1dab888e1f3c | 166 | } |
naruu | 1:1dab888e1f3c | 167 | |
naruu | 0:5cddbcb7193f | 168 | return 0; |
naruu | 0:5cddbcb7193f | 169 | } |