narumi tatsuya / Mbed 2 deprecated motor_sample

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Dependencies:   mbed BMP180

main.cpp@9:02580f39e37e, 2020-12-19 (annotated)

Committer:
naruu
Date:
Sat Dec 19 15:44:22 2020 +0000
Revision:
9:02580f39e37e
Parent:
8:1fbdc76809e8
Child:
10:c96e83e35ed2
koa;

Who changed what in which revision?

UserRevisionLine numberNew 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 "BMP180.h"
naruu 1:1dab888e1f3c 5 #include <stdio.h>
naruu 2:20304b3cea67 6 #include <math.h>
naruu 1:1dab888e1f3c 7
naruu 1:1dab888e1f3c 8 #define PIN_SDA D4
naruu 1:1dab888e1f3c 9 #define PIN_SCL D5
naruu 2:20304b3cea67 10
naruu 1:1dab888e1f3c 11 Serial pc(SERIAL_TX,SERIAL_RX,921600);//通信
naruu 5:e922c07f1b61 12 BMP180 bmp180(PIN_SDA,PIN_SCL);//気圧センサーのピン
naruu 1:1dab888e1f3c 13 Serial xbee(D1,D0);//Xbeeのピン
naruu 3:3a62c5ccfddb 14 DigitalOut FET1(D9);//FETのピン
naruu 3:3a62c5ccfddb 15 DigitalOut FET2(D8);
naruu 1:1dab888e1f3c 16 DigitalIn flight(D6); //フライトピンのピン
naruu 1:1dab888e1f3c 17 DigitalOut SW(D7);//フライトピンの電圧降下ピン
naruu 1:1dab888e1f3c 18 TB6612 motor(D7,D9,D11);//モータードライバーのピン
naruu 8:1fbdc76809e8 19 GPS gps (D13,A7);
naruu 1:1dab888e1f3c 20
naruu 1:1dab888e1f3c 21
naruu 1:1dab888e1f3c 22 int main(){
naruu 3:3a62c5ccfddb 23 float avalt,x8;
naruu 5:e922c07f1b61 24 float pressure,temperature,altitude;//気圧，気温，高度
naruu 3:3a62c5ccfddb 25 FET1=0;
naruu 9:02580f39e37e 26 FET2=1;
naruu 9:02580f39e37e 27 wait(10);
naruu 3:3a62c5ccfddb 28 FET2=0;
naruu 9:02580f39e37e 29 FET1=1;
naruu 9:02580f39e37e 30 wait(10);
naruu 9:02580f39e37e 31 FET1=0;
naruu 9:02580f39e37e 32 FET2=1;
naruu 9:02580f39e37e 33 wait(10);
naruu 9:02580f39e37e 34
naruu 1:1dab888e1f3c 35 SW=1;
naruu 1:1dab888e1f3c 36 flight==1;//フライトピンがついている
naruu 5:e922c07f1b61 37
naruu 5:e922c07f1b61 38 while(1) {
naruu 1:1dab888e1f3c 39 if(flight==1) {
naruu 1:1dab888e1f3c 40 wait(1);
naruu 1:1dab888e1f3c 41 }//フライトピンがついているとき1秒待機
naruu 1:1dab888e1f3c 42
naruu 1:1dab888e1f3c 43 else{
naruu 1:1dab888e1f3c 44 if(flight==1) {
naruu 1:1dab888e1f3c 45 wait(1);
naruu 1:1dab888e1f3c 46 }
naruu 1:1dab888e1f3c 47 else{
naruu 1:1dab888e1f3c 48
naruu 1:1dab888e1f3c 49 SW = 0;
naruu 3:3a62c5ccfddb 50 FET2=1;
naruu 3:3a62c5ccfddb 51 wait(25);
naruu 1:1dab888e1f3c 52 xbee.printf("やったぞおおおおおおおおお!\n");
naruu 2:20304b3cea67 53
naruu 1:1dab888e1f3c 54 break;
naruu 1:1dab888e1f3c 55 }
naruu 1:1dab888e1f3c 56 }
naruu 1:1dab888e1f3c 57 }
naruu 5:e922c07f1b61 58
naruu 5:e922c07f1b61 59 int n=0;
naruu 3:3a62c5ccfddb 60 int t=0;
naruu 1:1dab888e1f3c 61 xbee.printf("\rstart!\n\r");//気圧センサースタート
naruu 1:1dab888e1f3c 62 bmp180.Initialize(27,BMP180_OSS_ULTRA_HIGH_RESOLUTION);//27は府大の海抜高度
naruu 1:1dab888e1f3c 63 xbee.printf("initialization complete!\n\r");//初期化完了
naruu 1:1dab888e1f3c 64
naruu 1:1dab888e1f3c 65 while(1){
naruu 1:1dab888e1f3c 66 if(bmp180.ReadData(&temperature,&pressure)){
naruu 1:1dab888e1f3c 67 float x4,x5,x6,x7,a,b;
naruu 3:3a62c5ccfddb 68 float sum=0,altitude[11];
naruu 3:3a62c5ccfddb 69 for(int p=1;p<11;p++){
naruu 3:3a62c5ccfddb 70 a = pressure;
naruu 1:1dab888e1f3c 71 b = temperature;
naruu 1:1dab888e1f3c 72 x4 = 1019.11 / a; //海面気圧を気圧でわる
naruu 1:1dab888e1f3c 73 x5 = powf(x4, 0.1902225); //5.257ぶんの1
naruu 1:1dab888e1f3c 74 x6 = 273.15 + b; //絶対温度
naruu 1:1dab888e1f3c 75 x7 = (x5 - 1) * x6;
naruu 1:1dab888e1f3c 76 x8 = x7 / 0.0065;
naruu 3:3a62c5ccfddb 77 altitude[p] = x8;
naruu 3:3a62c5ccfddb 78 sum=sum+altitude[p];
naruu 3:3a62c5ccfddb 79 }
naruu 3:3a62c5ccfddb 80 avalt=sum/10;
naruu 1:1dab888e1f3c 81
naruu 1:1dab888e1f3c 82
naruu 3:3a62c5ccfddb 83 xbee.printf("Altitude(m)\t:%.3f\n\r",avalt);
naruu 1:1dab888e1f3c 84 xbee.printf("--------------------------------\n\r");
naruu 2:20304b3cea67 85 wait(3);
naruu 1:1dab888e1f3c 86 break;
naruu 2:20304b3cea67 87 n=0;
naruu 1:1dab888e1f3c 88 }else{
naruu 1:1dab888e1f3c 89 xbee.printf("NO DATA\n\r");
naruu 1:1dab888e1f3c 90 xbee.printf("---------------------------\n\r");
naruu 1:1dab888e1f3c 91 wait(1);
naruu 1:1dab888e1f3c 92 }
naruu 1:1dab888e1f3c 93 }
naruu 1:1dab888e1f3c 94 while(1){
naruu 1:1dab888e1f3c 95 if(bmp180.ReadData(&temperature,&pressure)){
naruu 1:1dab888e1f3c 96 float y4,y5,y6,y7,y8,c,d;
naruu 1:1dab888e1f3c 97 float speed;
naruu 3:3a62c5ccfddb 98 float s=0;
naruu 3:3a62c5ccfddb 99 float alti[11];
naruu 3:3a62c5ccfddb 100 float average_alti;
naruu 3:3a62c5ccfddb 101 for(int q=1;q<11;q++){
naruu 1:1dab888e1f3c 102 c = pressure;
naruu 1:1dab888e1f3c 103 d = temperature;
naruu 1:1dab888e1f3c 104 y4 = 1019.11 / c; //海面気圧を気圧でわる
naruu 1:1dab888e1f3c 105 y5 = powf(y4,0.1902225);
naruu 1:1dab888e1f3c 106 y6 = 273.15 + d;
naruu 1:1dab888e1f3c 107 y7 = (y5 - 1) * y6;
naruu 1:1dab888e1f3c 108 y8 = y7 / 0.0065;
naruu 3:3a62c5ccfddb 109 alti[q]= y8;
naruu 3:3a62c5ccfddb 110 s=s+alti[q];
naruu 3:3a62c5ccfddb 111 }
naruu 3:3a62c5ccfddb 112 average_alti=s/10;
naruu 3:3a62c5ccfddb 113 speed = (avalt - average_alti)/(float)(3+n);//値が取得でた場合は，3秒間の速さをだし，値が取得できなかった場合は3＋n秒(nは値が取得できなかった回数)の速さをだす
naruu 1:1dab888e1f3c 114
naruu 3:3a62c5ccfddb 115 xbee.printf("Altitude(m)\t:%.3f\n\r",average_alti);
naruu 1:1dab888e1f3c 116 xbee.printf("Speed(m/s)\t:%.3f\n\r",speed);
naruu 3:3a62c5ccfddb 117 xbee.printf("-------------------------------\n\r");
naruu 1:1dab888e1f3c 118 x8 = y8;
naruu 2:20304b3cea67 119 n=0;
naruu 2:20304b3cea67 120 wait(3);
naruu 3:3a62c5ccfddb 121 if(speed<=0.5){
naruu 3:3a62c5ccfddb 122 t++;
naruu 2:20304b3cea67 123 }
naruu 3:3a62c5ccfddb 124 }else{xbee.printf("NO DATA\n\r");
naruu 2:20304b3cea67 125 ++n;
naruu 1:1dab888e1f3c 126 wait(1);
naruu 1:1dab888e1f3c 127 }
naruu 3:3a62c5ccfddb 128 if(t=3){
naruu 3:3a62c5ccfddb 129 break;
naruu 3:3a62c5ccfddb 130 }
naruu 1:1dab888e1f3c 131 }
naruu 4:443e82b039ba 132 /*speedが3回0.5m/s以下になったらFETに20秒電流を流してその後電流を止める*/
naruu 5:e922c07f1b61 133 FET1=1;
naruu 5:e922c07f1b61 134 wait(10);
naruu 5:e922c07f1b61 135 FET1=0;
naruu 5:e922c07f1b61 136 motor = 100;
naruu 5:e922c07f1b61 137 double a;
naruu 1:1dab888e1f3c 138 double b;
naruu 1:1dab888e1f3c 139 double distance;
naruu 1:1dab888e1f3c 140
naruu 2:20304b3cea67 141 xbee.printf("GPS begin\n");
naruu 1:1dab888e1f3c 142
naruu 1:1dab888e1f3c 143 while(1){
naruu 1:1dab888e1f3c 144 if(gps.getgps()){
naruu 1:1dab888e1f3c 145 /*a,bを緯度経度の初期値で初期化*/
naruu 1:1dab888e1f3c 146 a=gps.latitude;
naruu 1:1dab888e1f3c 147 b=gps.longitude;
naruu 4:443e82b039ba 148 xbee.printf("(%lf,%lf)\r\n",a,b);//緯度と経度を表示
naruu 2:20304b3cea67 149 xbee.printf("--------------------------------\n\r");
naruu 4:443e82b039ba 150 break;
naruu 1:1dab888e1f3c 151 }else{
naruu 2:20304b3cea67 152 xbee.printf("Fault_No_Data\r\n");
naruu 1:1dab888e1f3c 153 wait(1);
naruu 1:1dab888e1f3c 154 }
naruu 2:20304b3cea67 155 }
naruu 2:20304b3cea67 156 while(1){
naruu 1:1dab888e1f3c 157 if(gps.getgps()){
naruu 4:443e82b039ba 158 xbee.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示
naruu 2:20304b3cea67 159 xbee.printf("--------------------------------\n\r");
naruu 1:1dab888e1f3c 160
naruu 1:1dab888e1f3c 161 /*ここから距離の計算*/
naruu 1:1dab888e1f3c 162 /*c、dを得た緯度経度の値で初期化*/
naruu 1:1dab888e1f3c 163 double c;
naruu 1:1dab888e1f3c 164 double d;
naruu 1:1dab888e1f3c 165 c=gps.latitude;
naruu 1:1dab888e1f3c 166 d=gps.longitude;
naruu 1:1dab888e1f3c 167
naruu 1:1dab888e1f3c 168 const double pi=3.14159265359;//円周率
naruu 1:1dab888e1f3c 169
naruu 1:1dab888e1f3c 170 /*ラジアンに変換*/
naruu 1:1dab888e1f3c 171 double theta_a=a*pi/180;
naruu 1:1dab888e1f3c 172 double theta_b=b*pi/180;
naruu 1:1dab888e1f3c 173 double theta_c=c*pi/180;
naruu 1:1dab888e1f3c 174 double theta_d=d*pi/180;
naruu 1:1dab888e1f3c 175
naruu 1:1dab888e1f3c 176 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 177 double theta_r=acos(e);
naruu 1:1dab888e1f3c 178
naruu 1:1dab888e1f3c 179 const double earth_radius=6378140;//赤道半径
naruu 1:1dab888e1f3c 180
naruu 1:1dab888e1f3c 181 distance=earth_radius*theta_r;//距離の計算
naruu 1:1dab888e1f3c 182
naruu 4:443e82b039ba 183 /*距離が30m以上なら表示、通信*/
naruu 2:20304b3cea67 184 if(distance>=30){
naruu 2:20304b3cea67 185 pc.printf("run over 20m");
naruu 1:1dab888e1f3c 186 motor=0;
naruu 2:20304b3cea67 187 xbee.printf("run over 20m");
naruu 1:1dab888e1f3c 188 break;
naruu 1:1dab888e1f3c 189 }
naruu 1:1dab888e1f3c 190
naruu 1:1dab888e1f3c 191 }else {
naruu 1:1dab888e1f3c 192 xbee.printf("False_No_Data\r\n");
naruu 1:1dab888e1f3c 193 pc.printf("False_No_Date\r\n");
naruu 1:1dab888e1f3c 194 wait(1);
naruu 1:1dab888e1f3c 195 }//データ取得失敗を表示、通信、1秒待機
naruu 1:1dab888e1f3c 196
naruu 1:1dab888e1f3c 197 }
naruu 2:20304b3cea67 198 xbee.printf("成功\n");
naruu 0:5cddbcb7193f 199 return 0;
naruu 0:5cddbcb7193f 200 }