narumi tatsuya
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motor_sample
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main.cpp@6:51fbb88bdb6a, 2020-12-19 (annotated)
- Committer:
- naruu
- Date:
- Sat Dec 19 11:07:31 2020 +0000
- Revision:
- 6:51fbb88bdb6a
- Parent:
- 5:e922c07f1b61
- Child:
- 7:38df40e80d76
kou;
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 "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 | 6:51fbb88bdb6a | 19 | GPS gps (D13,D12); |
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 | 3:3a62c5ccfddb | 26 | FET2=0; |
naruu | 1:1dab888e1f3c | 27 | SW=1; |
naruu | 1:1dab888e1f3c | 28 | flight==1;//フライトピンがついている |
naruu | 5:e922c07f1b61 | 29 | |
naruu | 5:e922c07f1b61 | 30 | while(1) { |
naruu | 1:1dab888e1f3c | 31 | if(flight==1) { |
naruu | 1:1dab888e1f3c | 32 | wait(1); |
naruu | 1:1dab888e1f3c | 33 | }//フライトピンがついているとき1秒待機 |
naruu | 1:1dab888e1f3c | 34 | |
naruu | 1:1dab888e1f3c | 35 | else{ |
naruu | 1:1dab888e1f3c | 36 | if(flight==1) { |
naruu | 1:1dab888e1f3c | 37 | wait(1); |
naruu | 1:1dab888e1f3c | 38 | } |
naruu | 1:1dab888e1f3c | 39 | else{ |
naruu | 1:1dab888e1f3c | 40 | |
naruu | 1:1dab888e1f3c | 41 | SW = 0; |
naruu | 3:3a62c5ccfddb | 42 | FET2=1; |
naruu | 3:3a62c5ccfddb | 43 | wait(25); |
naruu | 1:1dab888e1f3c | 44 | xbee.printf("やったぞおおおおおおおおお!\n"); |
naruu | 2:20304b3cea67 | 45 | |
naruu | 1:1dab888e1f3c | 46 | break; |
naruu | 1:1dab888e1f3c | 47 | } |
naruu | 1:1dab888e1f3c | 48 | } |
naruu | 1:1dab888e1f3c | 49 | } |
naruu | 5:e922c07f1b61 | 50 | |
naruu | 5:e922c07f1b61 | 51 | int n=0; |
naruu | 3:3a62c5ccfddb | 52 | int t=0; |
naruu | 1:1dab888e1f3c | 53 | xbee.printf("\rstart!\n\r");//気圧センサースタート |
naruu | 1:1dab888e1f3c | 54 | bmp180.Initialize(27,BMP180_OSS_ULTRA_HIGH_RESOLUTION);//27は府大の海抜高度 |
naruu | 1:1dab888e1f3c | 55 | xbee.printf("initialization complete!\n\r");//初期化完了 |
naruu | 1:1dab888e1f3c | 56 | |
naruu | 1:1dab888e1f3c | 57 | while(1){ |
naruu | 1:1dab888e1f3c | 58 | if(bmp180.ReadData(&temperature,&pressure)){ |
naruu | 1:1dab888e1f3c | 59 | float x4,x5,x6,x7,a,b; |
naruu | 3:3a62c5ccfddb | 60 | float sum=0,altitude[11]; |
naruu | 3:3a62c5ccfddb | 61 | for(int p=1;p<11;p++){ |
naruu | 3:3a62c5ccfddb | 62 | a = pressure; |
naruu | 1:1dab888e1f3c | 63 | b = temperature; |
naruu | 1:1dab888e1f3c | 64 | x4 = 1019.11 / a; //海面気圧を気圧でわる |
naruu | 1:1dab888e1f3c | 65 | x5 = powf(x4, 0.1902225); //5.257ぶんの1 |
naruu | 1:1dab888e1f3c | 66 | x6 = 273.15 + b; //絶対温度 |
naruu | 1:1dab888e1f3c | 67 | x7 = (x5 - 1) * x6; |
naruu | 1:1dab888e1f3c | 68 | x8 = x7 / 0.0065; |
naruu | 3:3a62c5ccfddb | 69 | altitude[p] = x8; |
naruu | 3:3a62c5ccfddb | 70 | sum=sum+altitude[p]; |
naruu | 3:3a62c5ccfddb | 71 | } |
naruu | 3:3a62c5ccfddb | 72 | avalt=sum/10; |
naruu | 1:1dab888e1f3c | 73 | |
naruu | 1:1dab888e1f3c | 74 | |
naruu | 3:3a62c5ccfddb | 75 | xbee.printf("Altitude(m)\t:%.3f\n\r",avalt); |
naruu | 1:1dab888e1f3c | 76 | xbee.printf("--------------------------------\n\r"); |
naruu | 2:20304b3cea67 | 77 | wait(3); |
naruu | 1:1dab888e1f3c | 78 | break; |
naruu | 2:20304b3cea67 | 79 | n=0; |
naruu | 1:1dab888e1f3c | 80 | }else{ |
naruu | 1:1dab888e1f3c | 81 | xbee.printf("NO DATA\n\r"); |
naruu | 1:1dab888e1f3c | 82 | xbee.printf("---------------------------\n\r"); |
naruu | 1:1dab888e1f3c | 83 | wait(1); |
naruu | 1:1dab888e1f3c | 84 | } |
naruu | 1:1dab888e1f3c | 85 | } |
naruu | 1:1dab888e1f3c | 86 | while(1){ |
naruu | 1:1dab888e1f3c | 87 | if(bmp180.ReadData(&temperature,&pressure)){ |
naruu | 1:1dab888e1f3c | 88 | float y4,y5,y6,y7,y8,c,d; |
naruu | 1:1dab888e1f3c | 89 | float speed; |
naruu | 3:3a62c5ccfddb | 90 | float s=0; |
naruu | 3:3a62c5ccfddb | 91 | float alti[11]; |
naruu | 3:3a62c5ccfddb | 92 | float average_alti; |
naruu | 3:3a62c5ccfddb | 93 | for(int q=1;q<11;q++){ |
naruu | 1:1dab888e1f3c | 94 | c = pressure; |
naruu | 1:1dab888e1f3c | 95 | d = temperature; |
naruu | 1:1dab888e1f3c | 96 | y4 = 1019.11 / c; //海面気圧を気圧でわる |
naruu | 1:1dab888e1f3c | 97 | y5 = powf(y4,0.1902225); |
naruu | 1:1dab888e1f3c | 98 | y6 = 273.15 + d; |
naruu | 1:1dab888e1f3c | 99 | y7 = (y5 - 1) * y6; |
naruu | 1:1dab888e1f3c | 100 | y8 = y7 / 0.0065; |
naruu | 3:3a62c5ccfddb | 101 | alti[q]= y8; |
naruu | 3:3a62c5ccfddb | 102 | s=s+alti[q]; |
naruu | 3:3a62c5ccfddb | 103 | } |
naruu | 3:3a62c5ccfddb | 104 | average_alti=s/10; |
naruu | 3:3a62c5ccfddb | 105 | 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 | 106 | |
naruu | 3:3a62c5ccfddb | 107 | xbee.printf("Altitude(m)\t:%.3f\n\r",average_alti); |
naruu | 1:1dab888e1f3c | 108 | xbee.printf("Speed(m/s)\t:%.3f\n\r",speed); |
naruu | 3:3a62c5ccfddb | 109 | xbee.printf("-------------------------------\n\r"); |
naruu | 1:1dab888e1f3c | 110 | x8 = y8; |
naruu | 2:20304b3cea67 | 111 | n=0; |
naruu | 2:20304b3cea67 | 112 | wait(3); |
naruu | 3:3a62c5ccfddb | 113 | if(speed<=0.5){ |
naruu | 3:3a62c5ccfddb | 114 | t++; |
naruu | 2:20304b3cea67 | 115 | } |
naruu | 3:3a62c5ccfddb | 116 | }else{xbee.printf("NO DATA\n\r"); |
naruu | 2:20304b3cea67 | 117 | ++n; |
naruu | 1:1dab888e1f3c | 118 | wait(1); |
naruu | 1:1dab888e1f3c | 119 | } |
naruu | 3:3a62c5ccfddb | 120 | if(t=3){ |
naruu | 3:3a62c5ccfddb | 121 | break; |
naruu | 3:3a62c5ccfddb | 122 | } |
naruu | 1:1dab888e1f3c | 123 | } |
naruu | 4:443e82b039ba | 124 | /*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 | 125 | FET1=1; |
naruu | 5:e922c07f1b61 | 126 | wait(10); |
naruu | 5:e922c07f1b61 | 127 | FET1=0; |
naruu | 5:e922c07f1b61 | 128 | motor = 100; |
naruu | 5:e922c07f1b61 | 129 | double a; |
naruu | 1:1dab888e1f3c | 130 | double b; |
naruu | 1:1dab888e1f3c | 131 | double distance; |
naruu | 1:1dab888e1f3c | 132 | |
naruu | 2:20304b3cea67 | 133 | xbee.printf("GPS begin\n"); |
naruu | 1:1dab888e1f3c | 134 | |
naruu | 1:1dab888e1f3c | 135 | while(1){ |
naruu | 1:1dab888e1f3c | 136 | if(gps.getgps()){ |
naruu | 1:1dab888e1f3c | 137 | /*a,bを緯度経度の初期値で初期化*/ |
naruu | 1:1dab888e1f3c | 138 | a=gps.latitude; |
naruu | 1:1dab888e1f3c | 139 | b=gps.longitude; |
naruu | 4:443e82b039ba | 140 | xbee.printf("(%lf,%lf)\r\n",a,b);//緯度と経度を表示 |
naruu | 2:20304b3cea67 | 141 | xbee.printf("--------------------------------\n\r"); |
naruu | 4:443e82b039ba | 142 | break; |
naruu | 1:1dab888e1f3c | 143 | }else{ |
naruu | 2:20304b3cea67 | 144 | xbee.printf("Fault_No_Data\r\n"); |
naruu | 1:1dab888e1f3c | 145 | wait(1); |
naruu | 1:1dab888e1f3c | 146 | } |
naruu | 2:20304b3cea67 | 147 | } |
naruu | 2:20304b3cea67 | 148 | while(1){ |
naruu | 1:1dab888e1f3c | 149 | if(gps.getgps()){ |
naruu | 4:443e82b039ba | 150 | xbee.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示 |
naruu | 2:20304b3cea67 | 151 | xbee.printf("--------------------------------\n\r"); |
naruu | 1:1dab888e1f3c | 152 | |
naruu | 1:1dab888e1f3c | 153 | /*ここから距離の計算*/ |
naruu | 1:1dab888e1f3c | 154 | /*c、dを得た緯度経度の値で初期化*/ |
naruu | 1:1dab888e1f3c | 155 | double c; |
naruu | 1:1dab888e1f3c | 156 | double d; |
naruu | 1:1dab888e1f3c | 157 | c=gps.latitude; |
naruu | 1:1dab888e1f3c | 158 | d=gps.longitude; |
naruu | 1:1dab888e1f3c | 159 | |
naruu | 1:1dab888e1f3c | 160 | const double pi=3.14159265359;//円周率 |
naruu | 1:1dab888e1f3c | 161 | |
naruu | 1:1dab888e1f3c | 162 | /*ラジアンに変換*/ |
naruu | 1:1dab888e1f3c | 163 | double theta_a=a*pi/180; |
naruu | 1:1dab888e1f3c | 164 | double theta_b=b*pi/180; |
naruu | 1:1dab888e1f3c | 165 | double theta_c=c*pi/180; |
naruu | 1:1dab888e1f3c | 166 | double theta_d=d*pi/180; |
naruu | 1:1dab888e1f3c | 167 | |
naruu | 1:1dab888e1f3c | 168 | 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 | 169 | double theta_r=acos(e); |
naruu | 1:1dab888e1f3c | 170 | |
naruu | 1:1dab888e1f3c | 171 | const double earth_radius=6378140;//赤道半径 |
naruu | 1:1dab888e1f3c | 172 | |
naruu | 1:1dab888e1f3c | 173 | distance=earth_radius*theta_r;//距離の計算 |
naruu | 1:1dab888e1f3c | 174 | |
naruu | 4:443e82b039ba | 175 | /*距離が30m以上なら表示、通信*/ |
naruu | 2:20304b3cea67 | 176 | if(distance>=30){ |
naruu | 2:20304b3cea67 | 177 | pc.printf("run over 20m"); |
naruu | 1:1dab888e1f3c | 178 | motor=0; |
naruu | 2:20304b3cea67 | 179 | xbee.printf("run over 20m"); |
naruu | 1:1dab888e1f3c | 180 | break; |
naruu | 1:1dab888e1f3c | 181 | } |
naruu | 1:1dab888e1f3c | 182 | |
naruu | 1:1dab888e1f3c | 183 | }else { |
naruu | 1:1dab888e1f3c | 184 | xbee.printf("False_No_Data\r\n"); |
naruu | 1:1dab888e1f3c | 185 | pc.printf("False_No_Date\r\n"); |
naruu | 1:1dab888e1f3c | 186 | wait(1); |
naruu | 1:1dab888e1f3c | 187 | }//データ取得失敗を表示、通信、1秒待機 |
naruu | 1:1dab888e1f3c | 188 | |
naruu | 1:1dab888e1f3c | 189 | } |
naruu | 2:20304b3cea67 | 190 | xbee.printf("成功\n"); |
naruu | 0:5cddbcb7193f | 191 | return 0; |
naruu | 0:5cddbcb7193f | 192 | } |