Mami Yokokawa / Mbed 2 deprecated Aigamozu_Robot_ver4_for_forward

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Dependencies:   ADXL345 AigamozuControlPackets_for_auto HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed

Fork of Aigamozu_Robot_ver4_for_log by aigamozu

main.cpp@37:dcd5905ea56f, 2016-04-22 (annotated)

Committer:
s1200058
Date:
Fri Apr 22 09:35:42 2016 +0000
Revision:
37:dcd5905ea56f
Parent:
36:dea444b493b7 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 0:daab5accfd83 1 /**********************************************/
kityann 0:daab5accfd83 2 //
kityann 0:daab5accfd83 3 //
kityann 0:daab5accfd83 4 //
kityann 0:daab5accfd83 5 // Program name: Aigamozu ROBOT
kityann 0:daab5accfd83 6 // Author: Mineta Kizuku
kityann 0:daab5accfd83 7 //
s1200058 21:76e7f36df4a9 8 //
kityann 0:daab5accfd83 9 //
kityann 0:daab5accfd83 10 /**********************************************/
kityann 0:daab5accfd83 11
kityann 0:daab5accfd83 12 /**********************************************/
kityann 0:daab5accfd83 13 //更新情報
kityann 0:daab5accfd83 14 //2015/05/11
kityann 0:daab5accfd83 15 //ロボットプログラムの作成
kityann 0:daab5accfd83 16 //
kityann 4:f36986ceb73d 17 //2015/05/13
kityann 4:f36986ceb73d 18 //カルマンフィルタの共分散の値を0.0001以下にならないようにした
kityann 4:f36986ceb73d 19 //共分散の値を10進数に変換するようにした
kityann 0:daab5accfd83 20 //
s1200058 21:76e7f36df4a9 21 //2015/05/13 Yokokawa
s1200058 6:13f212b75e71 22 //何回目のGPSでとられたGPSか確認するようにしました。
s1200058 6:13f212b75e71 23 //
s1200058 17:e563cf8e6bcf 24 //2015/05/15
s1200058 17:e563cf8e6bcf 25 //プログラムcreateReceiveStatusCommand()にて
s1200058 17:e563cf8e6bcf 26 //Aigamozu_collect_dataにinかoutかを送るためにstate関連をいじったので必要に応じて直してください。
s1200058 17:e563cf8e6bcf 27 //
kityann 23:c5071bf93db1 28 //2015/05//17
kityann 23:c5071bf93db1 29 //Send_Status関数内を変更：基地局への送信データのみ現在のモードを入れるパケットの部分に内外判定の結果を入れるようにした
kityann 23:c5071bf93db1 30 //基地局以外には現在のモードを送信するようにしてある
kityann 23:c5071bf93db1 31 //要確認！！！！
s1200058 28:4ccd7cfc6b1b 32 //
s1200058 28:4ccd7cfc6b1b 33 //2015/05/17
s1200058 28:4ccd7cfc6b1b 34 //Get_GPS()の中身longitudeの範囲138〜140に変更
s1200058 28:4ccd7cfc6b1b 35 //
s1200058 33:3025b16bccd2 36 //2015/05/19
s1200058 33:3025b16bccd2 37 //autoモードのとき、三十秒前進・三秒右に転回に変更した。
s1200058 33:3025b16bccd2 38 //
s1200058 32:6ba2e5402f00 39 //2015/05/24
s1200058 32:6ba2e5402f00 40 //Kalmanフィルターを十進数で計算するようにした。
s1200058 32:6ba2e5402f00 41 //Kalmanフィルターの計算式を変更した。
s1200058 32:6ba2e5402f00 42 //set_kalmanを追加した。
s1200058 32:6ba2e5402f00 43 //
kityann 0:daab5accfd83 44 /**********************************************/
kityann 0:daab5accfd83 45
kityann 0:daab5accfd83 46 #include "mbed.h"
kityann 0:daab5accfd83 47 #include "XBee.h"
kityann 0:daab5accfd83 48 #include "MBed_Adafruit_GPS.h"
kityann 0:daab5accfd83 49 #include "AigamozuControlPackets.h"
kityann 0:daab5accfd83 50 #include "agzIDLIST.h"
kityann 0:daab5accfd83 51 #include "aigamozuSetting.h"
kityann 0:daab5accfd83 52 #include "Kalman.h"
s1200058 34:9c3192c00e41 53 #include "math.h"
kityann 0:daab5accfd83 54
kityann 4:f36986ceb73d 55 #define SIGMA_MIN 0.0001
kityann 4:f36986ceb73d 56
kityann 0:daab5accfd83 57 //************ID Number*****************
kityann 0:daab5accfd83 58 //Robot ID: 'A' ~ 'Z'
kityann 0:daab5accfd83 59 //Base ID: 'a' ~ 'a'
kityann 0:daab5accfd83 60 //manager ID: '0'(数字のゼロ)
kityann 0:daab5accfd83 61 //
s1200058 37:dcd5905ea56f 62 const char MyID = 'J';
kityann 0:daab5accfd83 63 //************ID Number*****************
kityann 0:daab5accfd83 64
kityann 0:daab5accfd83 65 /////////////////////////////////////////
kityann 0:daab5accfd83 66 //
kityann 0:daab5accfd83 67 //Pin Setting
kityann 0:daab5accfd83 68 //
kityann 0:daab5accfd83 69 /////////////////////////////////////////
kityann 0:daab5accfd83 70 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:daab5accfd83 71
kityann 0:daab5accfd83 72
kityann 0:daab5accfd83 73 /////////////////////////////////////////
kityann 0:daab5accfd83 74 //
kityann 0:daab5accfd83 75 //Connection Setting
kityann 0:daab5accfd83 76 //
kityann 0:daab5accfd83 77 /////////////////////////////////////////
kityann 0:daab5accfd83 78
kityann 0:daab5accfd83 79 //Serial Connect Setting: PC <--> mbed
kityann 0:daab5accfd83 80 Serial pc(USBTX, USBRX);
kityann 0:daab5accfd83 81
kityann 0:daab5accfd83 82 //Serial Connect Setting: GPS <--> mbed
kityann 0:daab5accfd83 83 Serial * gps_Serial;
kityann 0:daab5accfd83 84
kityann 0:daab5accfd83 85 //Serial Connect Setting: XBEE <--> mbed
kityann 0:daab5accfd83 86 XBee xbee(p13,p14);
kityann 0:daab5accfd83 87 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:daab5accfd83 88
kityann 0:daab5accfd83 89 //set up GPS module
kityann 0:daab5accfd83 90
kityann 0:daab5accfd83 91 //set up AigamozuControlPackets library
kityann 0:daab5accfd83 92 AigamozuControlPackets agz(agz_motorShield);
kityann 0:daab5accfd83 93
kityann 0:daab5accfd83 94
kityann 0:daab5accfd83 95 /////////////////////////////////////////
kityann 0:daab5accfd83 96 //
kityann 0:daab5accfd83 97 //For Kalman data
kityann 0:daab5accfd83 98 //
kityann 0:daab5accfd83 99 /////////////////////////////////////////
s1200058 32:6ba2e5402f00 100 #define FIRST_S2 0.000001
s1200058 32:6ba2e5402f00 101 #define COUNTER_MAX 10000
s1200058 32:6ba2e5402f00 102 double x_cur,x_prev,y_cur,y_prev;//緯度と経度の時刻tと時刻t-1での推定値
s1200058 32:6ba2e5402f00 103 double s2x_cur=FIRST_S2,s2x_prev=FIRST_S2,s2y_cur=FIRST_S2,s2y_prev=FIRST_S2;//緯度経度のの時刻tと時刻t-1での共分散
s1200058 32:6ba2e5402f00 104 double s2_R=FIRST_S2;//GPSセンサの分散
s1200058 32:6ba2e5402f00 105 double Kx=0,Ky=0;//カルマンゲイン
s1200058 32:6ba2e5402f00 106 double zx,zy;//観測値
s1200058 32:6ba2e5402f00 107 void Kalman(double Latitude,double Longitude);
s1200058 34:9c3192c00e41 108 int change = 0;
s1200058 34:9c3192c00e41 109
s1200058 34:9c3192c00e41 110 LocalFileSystem local("local"); // マウントポイントを定義（ディレクトリパスになる）
s1200058 35:c18c96b92121 111 FILE *fp;
s1200058 35:c18c96b92121 112 char filename[16] = "/local/out0.txt";
s1200058 2:886fac7f4399 113 /////////////////////////////////////////
s1200058 2:886fac7f4399 114 //
s1200058 2:886fac7f4399 115 //Plus Speed
s1200058 2:886fac7f4399 116 //
s1200058 2:886fac7f4399 117 //MNUAL_MODEの時にスピードを変える
s1200058 2:886fac7f4399 118 /////////////////////////////////////////
s1200058 2:886fac7f4399 119 void Plus_Speed(uint8_t *packetdata){
s1200058 2:886fac7f4399 120
s1200058 2:886fac7f4399 121 if(agz.nowMode == MANUAL_MODE){
s1200058 2:886fac7f4399 122 agz.changeSpeed(packetdata);
s1200058 2:886fac7f4399 123 }
s1200058 2:886fac7f4399 124
s1200058 2:886fac7f4399 125 }
kityann 0:daab5accfd83 126
kityann 0:daab5accfd83 127 /////////////////////////////////////////
kityann 0:daab5accfd83 128 //
s1200058 2:886fac7f4399 129 //Send Status
kityann 0:daab5accfd83 130 //
kityann 0:daab5accfd83 131 //リクエストがきたとき、自分の位置情報などを返信する
kityann 0:daab5accfd83 132 /////////////////////////////////////////
kityann 0:daab5accfd83 133 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 134 XBeeAddress64 send_Address;
s1200058 22:af860680417b 135 if(SenderIDc == '0'){
kityann 0:daab5accfd83 136 send_Address = manager_Address;
kityann 23:c5071bf93db1 137 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 138 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 139 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 140 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 141 }
s1200058 25:ae5fab0946f2 142 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:daab5accfd83 143 send_Address = robot_Address[SenderIDc - 'A'];
s1200058 25:ae5fab0946f2 144 //Create GPS Infomation Packet
kityann 24:698d4e920d33 145 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 146 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 147 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 148 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 149 }
kityann 0:daab5accfd83 150 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 151 send_Address = base_Address[SenderIDc - 'a'];
kityann 24:698d4e920d33 152
kityann 24:698d4e920d33 153 agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(),
kityann 23:c5071bf93db1 154 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 155 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 24:698d4e920d33 156 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 157 }
kityann 0:daab5accfd83 158 //send normal data
kityann 23:c5071bf93db1 159
s1200058 32:6ba2e5402f00 160 /*
kityann 0:daab5accfd83 161 //debug***************************************************
kityann 0:daab5accfd83 162 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 163 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 164 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 165 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 166 );
kityann 0:daab5accfd83 167 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 168 printf("\n");
kityann 0:daab5accfd83 169 //debug end***************************************************
s1200058 32:6ba2e5402f00 170 */
kityann 0:daab5accfd83 171 //Select Destination
kityann 0:daab5accfd83 172 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 173 //Send -> Base
kityann 0:daab5accfd83 174 xbee.send(tx64request);
s1200058 20:eee8ac8d1788 175
kityann 0:daab5accfd83 176 }
kityann 0:daab5accfd83 177
kityann 0:daab5accfd83 178 /////////////////////////////////////////
kityann 0:daab5accfd83 179 //
kityann 0:daab5accfd83 180 //Get GPS function
kityann 0:daab5accfd83 181 //
kityann 0:daab5accfd83 182 /////////////////////////////////////////
kityann 0:daab5accfd83 183
kityann 0:daab5accfd83 184 void Get_GPS(Adafruit_GPS *myGPS){
s1200058 32:6ba2e5402f00 185 static int flag = 0;
s1200058 35:c18c96b92121 186 static int save_counter = 0;
kityann 0:daab5accfd83 187
kityann 0:daab5accfd83 188 if (myGPS->fix) {
s1200058 32:6ba2e5402f00 189
kityann 0:daab5accfd83 190 agz.nowStatus = GPS_AVAIL;
s1200058 32:6ba2e5402f00 191 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 192
s1200058 32:6ba2e5402f00 193 if(flag < COUNTER_MAX){
s1200058 32:6ba2e5402f00 194 flag++;
s1200058 32:6ba2e5402f00 195 }
s1200058 35:c18c96b92121 196 if(flag == 15){
s1200058 32:6ba2e5402f00 197 x_prev = agz.get_agzPoint_lati();
s1200058 32:6ba2e5402f00 198 y_prev = agz.get_agzPoint_longi();
kityann 0:daab5accfd83 199 }
s1200058 32:6ba2e5402f00 200
s1200058 35:c18c96b92121 201 if(flag >= 16){
s1200058 36:dea444b493b7 202 // if(abs(x_prev - agz.get_agzPoint_lati()) < 0.001 && abs(y_prev - agz.get_agzPoint_longi()) < 0.001){
s1200058 34:9c3192c00e41 203 Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
s1200058 34:9c3192c00e41 204 change = 1;
s1200058 36:dea444b493b7 205 /* }
s1200058 34:9c3192c00e41 206 else{
s1200058 34:9c3192c00e41 207 change = 0;
s1200058 34:9c3192c00e41 208 }
s1200058 36:dea444b493b7 209 */ if(save_counter < 10){
s1200058 35:c18c96b92121 210 fp = fopen(filename, "a");
s1200058 35:c18c96b92121 211 fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 35:c18c96b92121 212 change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 35:c18c96b92121 213 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 35:c18c96b92121 214 agz.get_agzCov_lati(),agz.get_agzCov_longi());
s1200058 35:c18c96b92121 215 fclose(fp);
s1200058 35:c18c96b92121 216
s1200058 35:c18c96b92121 217 if((flag - 16) % 500 == 0){
s1200058 35:c18c96b92121 218 filename[10]++;
s1200058 35:c18c96b92121 219 save_counter++;
s1200058 35:c18c96b92121 220 }
s1200058 35:c18c96b92121 221 }
s1200058 32:6ba2e5402f00 222 }
s1200058 33:3025b16bccd2 223
s1200058 33:3025b16bccd2 224 printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 33:3025b16bccd2 225 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 33:3025b16bccd2 226 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 33:3025b16bccd2 227 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 228 }
kityann 0:daab5accfd83 229 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 230
kityann 0:daab5accfd83 231 }
s1200058 2:886fac7f4399 232
s1200058 2:886fac7f4399 233 /////////////////////////////////////////
s1200058 2:886fac7f4399 234 //
s1200058 2:886fac7f4399 235 //New Mode
s1200058 2:886fac7f4399 236 //
s1200058 2:886fac7f4399 237 /////////////////////////////////////////
s1200058 2:886fac7f4399 238
s1200058 2:886fac7f4399 239 void New_Mode(uint8_t *packetdata){
s1200058 2:886fac7f4399 240
s1200058 19:a806105ba365 241 //bool result;
s1200058 20:eee8ac8d1788 242 agz.changeMode(packetdata);
s1200058 2:886fac7f4399 243
s1200058 2:886fac7f4399 244 }
kityann 1:b2b950b916ce 245
kityann 1:b2b950b916ce 246 /////////////////////////////////////////
kityann 1:b2b950b916ce 247 //
kityann 1:b2b950b916ce 248 //Get Status
kityann 1:b2b950b916ce 249 //
kityann 1:b2b950b916ce 250 /////////////////////////////////////////
kityann 1:b2b950b916ce 251 void Get_Status(char SenderIDc,uint8_t *packetdata){
kityann 1:b2b950b916ce 252
kityann 1:b2b950b916ce 253 //マネージャからデータが来たとき
kityann 1:b2b950b916ce 254 if(SenderIDc == '0'){
kityann 1:b2b950b916ce 255 printf("get manager Status\n");
kityann 1:b2b950b916ce 256 }
kityann 1:b2b950b916ce 257 //他のロボットからデータが来たとき
kityann 1:b2b950b916ce 258 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 1:b2b950b916ce 259 printf("get other robots Status\n");
kityann 1:b2b950b916ce 260 }
kityann 1:b2b950b916ce 261 //基地局からデータが来たとき
kityann 1:b2b950b916ce 262 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 1:b2b950b916ce 263 printf("Get Base data\n");
kityann 1:b2b950b916ce 264 int id = SenderIDc - 'a';
kityann 1:b2b950b916ce 265 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]);
kityann 1:b2b950b916ce 266 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
kityann 1:b2b950b916ce 267
kityann 1:b2b950b916ce 268 //debug
kityann 1:b2b950b916ce 269 for(int i = 0;i < 4;i++){
kityann 1:b2b950b916ce 270 printf("BASE:%d\n",i);
kityann 1:b2b950b916ce 271 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n",
kityann 1:b2b950b916ce 272 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i),
kityann 1:b2b950b916ce 273 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)
kityann 1:b2b950b916ce 274 );
kityann 1:b2b950b916ce 275 }
kityann 1:b2b950b916ce 276 }
kityann 1:b2b950b916ce 277 }
kityann 1:b2b950b916ce 278
s1200058 2:886fac7f4399 279 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){
s1200058 2:886fac7f4399 280
s1200058 2:886fac7f4399 281 //マネージャからデータが来たとき
s1200058 2:886fac7f4399 282 if(SenderIDc == '0'){
s1200058 2:886fac7f4399 283 printf("get manager Status Kalman\n");
s1200058 2:886fac7f4399 284 }
s1200058 2:886fac7f4399 285 //他のロボットからデータが来たとき
s1200058 2:886fac7f4399 286 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
s1200058 2:886fac7f4399 287 printf("get other robots Status Kalman\n");
s1200058 2:886fac7f4399 288 }
s1200058 2:886fac7f4399 289 //基地局からデータが来たとき
s1200058 2:886fac7f4399 290 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
s1200058 2:886fac7f4399 291 printf("Get Base data Kalman\n");
s1200058 2:886fac7f4399 292 int id = SenderIDc - 'a';
s1200058 2:886fac7f4399 293 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
s1200058 2:886fac7f4399 294
s1200058 2:886fac7f4399 295 //debug
s1200058 2:886fac7f4399 296 for(int i = 0;i < 4;i++){
s1200058 2:886fac7f4399 297 printf("BASE:%d\n",i);
s1200058 2:886fac7f4399 298 printf("latitudeK:%f,longitudeK:%f\n",
s1200058 2:886fac7f4399 299 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i));
s1200058 2:886fac7f4399 300 }
s1200058 2:886fac7f4399 301 }
s1200058 2:886fac7f4399 302 }
s1200058 2:886fac7f4399 303
kityann 1:b2b950b916ce 304 /////////////////////////////////////////
kityann 1:b2b950b916ce 305 //
kityann 1:b2b950b916ce 306 //Send_Request_to_base
kityann 1:b2b950b916ce 307 //
kityann 1:b2b950b916ce 308 /////////////////////////////////////////
kityann 1:b2b950b916ce 309 void Send_Request_Base(int basenumber){
kityann 1:b2b950b916ce 310 printf("send\n");
kityann 1:b2b950b916ce 311 agz.createRequestCommand(MyID, basenumber);
kityann 1:b2b950b916ce 312 //Select Destination
kityann 1:b2b950b916ce 313 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength());
kityann 1:b2b950b916ce 314 //Send -> Base
kityann 1:b2b950b916ce 315 xbee.send(tx64request);
kityann 1:b2b950b916ce 316 }
kityann 0:daab5accfd83 317
s1200058 3:1ac506a96fd6 318 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 319 //
s1200058 3:1ac506a96fd6 320 //auto_Move
s1200058 3:1ac506a96fd6 321 //
s1200058 3:1ac506a96fd6 322 //InAreaかOutAreaの判定
s1200058 3:1ac506a96fd6 323 //Kalmanを通した値を出力(Baseと自分)
s1200058 3:1ac506a96fd6 324 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 325
s1200058 3:1ac506a96fd6 326 void auto_Move(){
s1200058 3:1ac506a96fd6 327
s1200058 3:1ac506a96fd6 328 bool result;
s1200058 3:1ac506a96fd6 329 int i;
s1200058 3:1ac506a96fd6 330
s1200058 3:1ac506a96fd6 331 result = agz.gpsAuto();
s1200058 20:eee8ac8d1788 332 //agz.set_agzAutoGPS();
s1200058 20:eee8ac8d1788 333 //agz.set_agzKalmanGPS();
s1200058 3:1ac506a96fd6 334
s1200058 3:1ac506a96fd6 335 if(result == true){
s1200058 3:1ac506a96fd6 336 printf("Out Area\n");
s1200058 3:1ac506a96fd6 337 }
s1200058 3:1ac506a96fd6 338 else if(result == false){
s1200058 3:1ac506a96fd6 339 printf("In Area\n");
s1200058 3:1ac506a96fd6 340 }
s1200058 3:1ac506a96fd6 341 for(i = 0; i < 4; i++){
s1200058 3:1ac506a96fd6 342 printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i));
s1200058 3:1ac506a96fd6 343 }
s1200058 3:1ac506a96fd6 344 printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 3:1ac506a96fd6 345
s1200058 3:1ac506a96fd6 346 }
s1200058 3:1ac506a96fd6 347
s1200058 5:522c47c78401 348 void print_gps(int count){
s1200058 5:522c47c78401 349
s1200058 5:522c47c78401 350 printf("%d times:\n", count);
s1200058 5:522c47c78401 351 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 5:522c47c78401 352
s1200058 5:522c47c78401 353 }
kityann 0:daab5accfd83 354
s1200058 32:6ba2e5402f00 355
kityann 0:daab5accfd83 356 /////////////////////////////////////////
kityann 0:daab5accfd83 357 //
kityann 0:daab5accfd83 358 //Kalman Processing
kityann 0:daab5accfd83 359 //
kityann 0:daab5accfd83 360 /////////////////////////////////////////
s1200058 32:6ba2e5402f00 361 void calc_Kalman(){
s1200058 32:6ba2e5402f00 362 //calc Kalman gain
s1200058 32:6ba2e5402f00 363 Kx = s2x_prev/(s2x_prev+s2_R);
s1200058 32:6ba2e5402f00 364 Ky = s2y_prev/(s2y_prev+s2_R);
s1200058 32:6ba2e5402f00 365 //estimate
s1200058 32:6ba2e5402f00 366 x_cur = x_prev + Kx*(zx-x_prev);
s1200058 32:6ba2e5402f00 367 y_cur = y_prev + Ky*(zy-y_prev);
s1200058 32:6ba2e5402f00 368 //calc sigma
s1200058 32:6ba2e5402f00 369 s2x_cur = s2x_prev-Kx*s2x_prev;
s1200058 32:6ba2e5402f00 370 s2y_cur = s2y_prev-Ky*s2y_prev;
kityann 0:daab5accfd83 371
kityann 0:daab5accfd83 372 }
kityann 0:daab5accfd83 373
s1200058 32:6ba2e5402f00 374 void Kalman(double Latitude,double Longitude){
s1200058 32:6ba2e5402f00 375
s1200058 32:6ba2e5402f00 376 zx = Latitude;
s1200058 32:6ba2e5402f00 377 zy = Longitude;
s1200058 32:6ba2e5402f00 378
s1200058 32:6ba2e5402f00 379 calc_Kalman();
kityann 0:daab5accfd83 380
s1200058 32:6ba2e5402f00 381 //更新
s1200058 32:6ba2e5402f00 382 x_prev = x_cur;
s1200058 32:6ba2e5402f00 383 y_prev = y_cur;
s1200058 32:6ba2e5402f00 384 s2x_prev = s2x_cur;
s1200058 32:6ba2e5402f00 385 s2y_prev = s2y_cur;
s1200058 25:ae5fab0946f2 386
s1200058 32:6ba2e5402f00 387 //agzPontKalmanとagzCovに格納する
s1200058 32:6ba2e5402f00 388 agz.set_agzPointKalman_lati(x_cur);
s1200058 32:6ba2e5402f00 389 agz.set_agzPointKalman_longi(y_cur);
s1200058 32:6ba2e5402f00 390 agz.set_agzCov(s2x_cur,s2y_cur);
kityann 0:daab5accfd83 391
kityann 0:daab5accfd83 392 }
kityann 0:daab5accfd83 393
kityann 0:daab5accfd83 394 /////////////////////////////////////////
kityann 0:daab5accfd83 395 //
kityann 0:daab5accfd83 396 //Main Processing
kityann 0:daab5accfd83 397 //
kityann 0:daab5accfd83 398 /////////////////////////////////////////
kityann 0:daab5accfd83 399 int main() {
kityann 0:daab5accfd83 400 //start up time
kityann 0:daab5accfd83 401 wait(3);
kityann 0:daab5accfd83 402 //set pc frequency to 57600bps
kityann 0:daab5accfd83 403 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 404 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 405 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 406
kityann 0:daab5accfd83 407
kityann 0:daab5accfd83 408 //GPS setting
kityann 0:daab5accfd83 409 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 410 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 411 Timer refresh_Timer;
s1200058 7:a9a1acc7673b 412 const int refresh_Time = 1000; //refresh time in ms
s1200058 3:1ac506a96fd6 413 Timer auto_Timer;
s1200058 3:1ac506a96fd6 414 const int auto_Time = 2000; //refresh time in ms
s1200058 5:522c47c78401 415 int count = 0;
s1200058 29:524684a1198f 416
s1200058 37:dcd5905ea56f 417 const int straight = 2000, turning = 3500, wait = 3000;
s1200058 29:524684a1198f 418
kityann 0:daab5accfd83 419 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 420
s1200058 14:5deb7a4f1cd4 421 Timer collect_Timer;
s1200058 14:5deb7a4f1cd4 422 const int collect_Time = 2000; //when we collect 4 GPS point, we use
s1200058 14:5deb7a4f1cd4 423 int collect_flag = 0;
s1200058 14:5deb7a4f1cd4 424
kityann 0:daab5accfd83 425 char SenderIDc;
kityann 0:daab5accfd83 426 //GPS Send Command
kityann 0:daab5accfd83 427 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 428 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 429 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 430
s1200058 29:524684a1198f 431 wait_ms(2000);
kityann 0:daab5accfd83 432
kityann 0:daab5accfd83 433 //interrupt start
kityann 0:daab5accfd83 434 refresh_Timer.start();
s1200058 3:1ac506a96fd6 435 auto_Timer.start();
s1200058 30:7f6ebe2121d9 436 agz.Move_Timer.start();
s1200058 16:a07350b3eb64 437 collect_Timer.start();
s1200058 29:524684a1198f 438 printf("start\n");
kityann 1:b2b950b916ce 439
kityann 0:daab5accfd83 440
kityann 0:daab5accfd83 441 while (true) {
kityann 0:daab5accfd83 442
kityann 0:daab5accfd83 443 //Check Xbee Buffer Available
kityann 0:daab5accfd83 444 xbee.readPacket();
kityann 0:daab5accfd83 445
kityann 0:daab5accfd83 446 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 447 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 448 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 449
kityann 0:daab5accfd83 450 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 451 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 452 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 453 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 454 SenderIDc = buf1[5];//送信元のIDを取得する
s1200058 21:76e7f36df4a9 455 char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 456
kityann 0:daab5accfd83 457 //Check Command Type
kityann 0:daab5accfd83 458 switch(Command_type){
kityann 0:daab5accfd83 459 //Get Request command
s1200058 2:886fac7f4399 460 case MANUAL:{
s1200058 12:48ef69b4f0e4 461 Plus_Speed(buf);
s1200058 2:886fac7f4399 462 break;
s1200058 2:886fac7f4399 463 }
kityann 0:daab5accfd83 464 case STATUS_REQUEST:{
s1200058 21:76e7f36df4a9 465 Send_Status(SenderIDc);
s1200058 21:76e7f36df4a9 466 printf("%c\n", SenderIDc);
kityann 0:daab5accfd83 467 break;
kityann 0:daab5accfd83 468 }
s1200058 2:886fac7f4399 469 case CHANGE_MODE:{
s1200058 12:48ef69b4f0e4 470 New_Mode(buf);
s1200058 2:886fac7f4399 471 break;
s1200058 2:886fac7f4399 472 }
kityann 1:b2b950b916ce 473 case RECEIVE_STATUS:{
kityann 1:b2b950b916ce 474 Get_Status(SenderIDc,buf1);
kityann 1:b2b950b916ce 475 break;
kityann 1:b2b950b916ce 476 }
kityann 0:daab5accfd83 477 default:{
kityann 0:daab5accfd83 478 break;
kityann 0:daab5accfd83 479 }
kityann 0:daab5accfd83 480 }//endswitch
kityann 0:daab5accfd83 481 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 482 }//endifisAvailable
kityann 0:daab5accfd83 483
kityann 0:daab5accfd83 484 myGPS.read();
kityann 0:daab5accfd83 485 //recive gps module
kityann 0:daab5accfd83 486 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 487 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 488 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 8:994c73f6fad9 489 continue;
s1200058 8:994c73f6fad9 490 }
s1200058 8:994c73f6fad9 491 else{
s1200058 5:522c47c78401 492 count++;
s1200058 8:994c73f6fad9 493 }
kityann 0:daab5accfd83 494 }
kityann 1:b2b950b916ce 495 //一定時間ごとに自分のGPSデータを取得し、AigamozuControlPacketsないのagzPointとagzPointKalmanに格納する
kityann 0:daab5accfd83 496 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 497 refresh_Timer.reset();
s1200058 12:48ef69b4f0e4 498 //print_gps(count);
kityann 0:daab5accfd83 499 Get_GPS(&myGPS);
kityann 0:daab5accfd83 500
kityann 0:daab5accfd83 501 }
s1200058 20:eee8ac8d1788 502
s1200058 20:eee8ac8d1788 503 //get base GPS
s1200058 14:5deb7a4f1cd4 504 if( collect_Timer.read_ms() >= collect_Time){
s1200058 15:f3d01f37f00d 505 collect_Timer.reset();
s1200058 15:f3d01f37f00d 506
s1200058 15:f3d01f37f00d 507 Send_Request_Base(collect_flag);
s1200058 14:5deb7a4f1cd4 508
s1200058 14:5deb7a4f1cd4 509 collect_flag++;
s1200058 14:5deb7a4f1cd4 510
s1200058 14:5deb7a4f1cd4 511 if(collect_flag == 4){
s1200058 14:5deb7a4f1cd4 512 collect_flag = 0;
s1200058 14:5deb7a4f1cd4 513 }
s1200058 14:5deb7a4f1cd4 514 }
s1200058 20:eee8ac8d1788 515
s1200058 14:5deb7a4f1cd4 516 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 29:524684a1198f 517 auto_Timer.reset();
s1200058 29:524684a1198f 518 auto_Move();
s1200058 29:524684a1198f 519 }
s1200058 29:524684a1198f 520
s1200058 29:524684a1198f 521 if(agz.nowMode == AUTO_GPS_MODE){
s1200058 37:dcd5905ea56f 522 agz.test_Auto(0); //straight
s1200058 37:dcd5905ea56f 523 /* if(agz.Move_Timer.read_ms() < straight){
s1200058 29:524684a1198f 524 agz.test_Auto(0); //straight
s1200058 29:524684a1198f 525 }
s1200058 30:7f6ebe2121d9 526 if(agz.Move_Timer.read_ms() > straight && agz.Move_Timer.read_ms() < wait){
s1200058 29:524684a1198f 527 agz.test_Auto(1);
s1200058 29:524684a1198f 528 }
s1200058 30:7f6ebe2121d9 529 if(agz.Move_Timer.read_ms() > wait && agz.Move_Timer.read_ms() < turning){
s1200058 29:524684a1198f 530 agz.test_Auto(2); //Turn Right
s1200058 29:524684a1198f 531 }
s1200058 30:7f6ebe2121d9 532 if(agz.Move_Timer.read_ms() > turning){
s1200058 29:524684a1198f 533 agz.test_Auto(3);
s1200058 37:dcd5905ea56f 534 wait_ms(500);
s1200058 30:7f6ebe2121d9 535 agz.Move_Timer.reset();
s1200058 37:dcd5905ea56f 536 }*/
kityann 0:daab5accfd83 537 }
s1200058 37:dcd5905ea56f 538
s1200058 29:524684a1198f 539 }
s1200058 34:9c3192c00e41 540
kityann 0:daab5accfd83 541 }