Haruna Nakazawa
cansat program (version 1)
Dependencies: ADXL345_I2C BME280 Cansat2016 MBed_Adafruit-GPS-Library VNH5019 mbed
Revision 0:c867a0a05fe8, committed 2016-07-23
- Comitter:
- s1210160
- Date:
- Sat Jul 23 11:11:04 2016 +0000
- Commit message:
- pressure
Changed in this revision
diff -r 000000000000 -r c867a0a05fe8 ADXL345_I2C.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL345_I2C.lib Sat Jul 23 11:11:04 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/aigamozu/code/ADXL345_I2C/#475c5366629a
diff -r 000000000000 -r c867a0a05fe8 BME280.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BME280.lib Sat Jul 23 11:11:04 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/CanSat2015aizu/code/BME280/#d8876e3a80b7
diff -r 000000000000 -r c867a0a05fe8 Cansat2016.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Cansat2016.lib Sat Jul 23 11:11:04 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/CanSat2016aizu/code/Cansat2016/#b42b5cb8b646
diff -r 000000000000 -r c867a0a05fe8 MBed_Adafruit-GPS-Library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MBed_Adafruit-GPS-Library.lib Sat Jul 23 11:11:04 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/aigamozu/code/MBed_Adafruit-GPS-Library/#7ef0dd12940c
diff -r 000000000000 -r c867a0a05fe8 VNH5019.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VNH5019.lib Sat Jul 23 11:11:04 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/aigamozu/code/VNH5019/#1bcdb655df71
diff -r 000000000000 -r c867a0a05fe8 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Jul 23 11:11:04 2016 +0000
@@ -0,0 +1,220 @@
+#include "mbed.h"
+#include "Cansat2016.h"
+#include "BME280.h"
+#include "VNH5019.h"
+#include "MBed_Adafruit_GPS.h"
+
+// target GPS
+const double target_x = 139.939017, target_y = 37.522390;
+
+//******************************************
+//
+// pin setting
+//
+//******************************************
+
+// Serial communication
+Serial pc(USBTX, USBRX);
+Serial xbee(p13,p14);
+
+// Compass
+DigitalIn compass[4] = {p12, p11, p8, p7};
+// Pressure
+BME280 pressure(p9, p10);
+// MOtor
+VNH5019 motor(p23,p22,p25,p21,p24,p26);
+
+DigitalIn short_in(p19);
+DigitalOut short_out(p20);
+DigitalInOut nic(p5);
+
+
+//******************************************
+//
+// Member variable
+//
+//******************************************
+
+// Constructor
+Cansat2016 cansat(motor);
+
+// now mode
+int mode = -1;
+
+int short_flag = 0;
+
+// time interval
+Timer GPS_Timer;
+const int GPS_time = 1000;
+Timer fall_Timer;
+const int fall_time = 30000;
+Timer action_Timer;
+const int action_time = 500;
+Timer stack_Timer;
+const int stack_time = 5000;
+
+
+//*******************************************
+//
+// standby mode
+//
+//*******************************************
+void standby()
+{
+ cansat.set_action('s');
+
+ if(!short_in) {
+ short_flag ++;
+ }
+
+ if(short_flag >= 5) {
+ mode = 1;
+ fall_Timer.start();
+ xbee.printf("-----------FALLING MODE-----------\n");
+ }
+}
+
+//*******************************************
+//
+// falling mode
+//
+//*******************************************
+void falling(void)
+{
+ if(fall_Timer.read_ms() >= fall_time) {
+ // nichrome wire is high
+ nic = 1;
+ xbee.printf("remove the parachute\n");
+ wait_ms(3000);
+ nic = 0;
+ mode = 2;
+ action_Timer.start();
+ xbee.printf("forward running\n");
+
+ // running on parachute (10 seconds)
+ while(action_Timer.read_ms() <= 10000) {
+ cansat.set_action('f');
+ cansat.motor_control();
+ }
+ action_Timer.reset();
+ xbee.printf("-----------RUNNING MODE-----------\n");
+ }
+}
+
+//*******************************************
+//
+// running mode
+//
+//*******************************************
+void running(void)
+{
+
+ cansat.motor_control();
+
+ // decide speed and action of robot
+ if(action_Timer.read_ms() >= action_time) {
+ cansat.calc_distance();
+ cansat.robot_compass(compass);
+ cansat.target_compass();
+ cansat.robot_action();
+ xbee.printf("(%f, %f) distance:%f, target:%d, robot:%d, action:%c\n",
+ cansat.get_x(), cansat.get_y(), cansat.get_distance(), cansat.get_compass('t'), cansat.get_compass('r'), cansat.get_action());
+ action_Timer.reset();
+ }
+
+ // around the target
+ if(cansat.get_distance() < 0.5) {
+ mode = 100;
+ xbee.printf("-----------STOP MODE-----------\n");
+ }
+
+}
+
+//*******************************************
+//
+// stop mode
+//
+//*******************************************
+void stop(void)
+{
+
+ cansat.set_action('s');
+
+}
+
+
+//*******************************************
+//
+// main processing
+//
+//*******************************************
+
+int main()
+{
+
+ wait(3);
+
+ pc.baud(57600);
+ xbee.baud(57600);
+
+ //GPS setting
+ Serial* gps_Serial = new Serial(p28,p27);
+ Adafruit_GPS myGPS(gps_Serial);
+ myGPS.begin(9600);
+
+ myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
+ myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
+ myGPS.sendCommand(PGCMD_ANTENNA);
+
+ GPS_Timer.start();
+
+ // target GPS
+ cansat.set_targetGPS(target_x, target_y);
+ // robot GPS
+ double robot_x=0.0, robot_y=0.0;
+
+ short_out = 1;
+ nic = 0;
+
+ xbee.printf("start\n");
+ xbee.printf("-----------STANDBY MODE-----------\n");
+ wait_ms(1000);
+
+ while(true) {
+
+ myGPS.read();
+ if ( myGPS.newNMEAreceived() ) {
+ if ( !myGPS.parse(myGPS.lastNMEA()) ) {
+ continue;
+ }
+ }
+
+ // get robot GPS
+ if (GPS_Timer.read_ms() >= GPS_time) {
+ if(myGPS.fix) {
+ robot_x = (double)myGPS.longitudeH +(double)(myGPS.longitudeL / 10000.0 / 60.0);
+ robot_y = (double)myGPS.latitudeH + (double)(myGPS.latitudeL / 10000.0 / 60.0);
+
+ cansat.set_robotGPS(robot_x, robot_y);
+
+ }
+ GPS_Timer.reset();
+ }
+
+
+ switch(mode) {
+ case -1: // stanby mode
+ standby();
+ break;
+ case 1: // falling mode
+ falling();
+ break;
+ case 2: // running mode
+ running();
+ break;
+ case 100: // stop mode
+ stop();
+ break;
+ }
+ }
+}
diff -r 000000000000 -r c867a0a05fe8 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Jul 23 11:11:04 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/8a40adfe8776 \ No newline at end of file