AA
Dependencies: DHT_ gps_settings_venus_ mbed
Fork of coen490_controller by
main.cpp@1:21ee654912d1, 2017-03-21 (annotated)
- Committer:
- urietony
- Date:
- Tue Mar 21 21:16:57 2017 +0000
- Revision:
- 1:21ee654912d1
- Parent:
- 0:845bbc545b56
- Child:
- 2:65cffee0c0f7
3-21
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kayu | 0:845bbc545b56 | 1 | #include "mbed.h" |
kayu | 0:845bbc545b56 | 2 | #include "DHT/DHT.h" |
urietony | 1:21ee654912d1 | 3 | #include "gps_stg_venus.h" |
kayu | 0:845bbc545b56 | 4 | #include <string> |
kayu | 0:845bbc545b56 | 5 | |
kayu | 0:845bbc545b56 | 6 | using namespace std; |
kayu | 0:845bbc545b56 | 7 | |
urietony | 1:21ee654912d1 | 8 | DHT sensor(PC_0,DHT22); |
kayu | 0:845bbc545b56 | 9 | Serial pc(SERIAL_TX,SERIAL_RX); |
urietony | 1:21ee654912d1 | 10 | Serial gps(PA_0,PA_1); |
urietony | 1:21ee654912d1 | 11 | Serial xbee(PC_10,PC_11); |
urietony | 1:21ee654912d1 | 12 | Serial motor(PA_0,PA_1); |
urietony | 1:21ee654912d1 | 13 | AnalogIn gassensor(PC_1); |
urietony | 1:21ee654912d1 | 14 | char data_gps[256],ns,ew,sampah[256]; |
urietony | 1:21ee654912d1 | 15 | int g=0, cek_gps,lock,satelit; |
urietony | 1:21ee654912d1 | 16 | float waktu,latx,longx, laty, longy,dilution, altitude; |
urietony | 1:21ee654912d1 | 17 | double lat_target,long_target; |
urietony | 1:21ee654912d1 | 18 | double degrees, minutes, seconds; |
urietony | 1:21ee654912d1 | 19 | int lattitude[3], longitude[3]; |
urietony | 1:21ee654912d1 | 20 | float speed; |
urietony | 1:21ee654912d1 | 21 | void initialize_gps() |
urietony | 1:21ee654912d1 | 22 | { |
urietony | 1:21ee654912d1 | 23 | venus.setBaud_9600(); |
urietony | 1:21ee654912d1 | 24 | wait(0.5); |
urietony | 1:21ee654912d1 | 25 | gps.baud(9600); |
urietony | 1:21ee654912d1 | 26 | venus.setUpdateRate(10); |
urietony | 1:21ee654912d1 | 27 | wait(0.5); |
urietony | 1:21ee654912d1 | 28 | venus.setNmeaMessages(true, false, false, false, false, true); |
urietony | 1:21ee654912d1 | 29 | } |
urietony | 1:21ee654912d1 | 30 | |
urietony | 1:21ee654912d1 | 31 | void gps_interrupt() |
urietony | 1:21ee654912d1 | 32 | { |
urietony | 1:21ee654912d1 | 33 | // char temp = gps.getc(); |
urietony | 1:21ee654912d1 | 34 | // if(g==0) |
urietony | 1:21ee654912d1 | 35 | // { led1=0; |
urietony | 1:21ee654912d1 | 36 | // data_gps[g]=temp; |
urietony | 1:21ee654912d1 | 37 | // if(data_gps[g]=='$') |
urietony | 1:21ee654912d1 | 38 | // {g=1;data_gps[0]='$';} |
urietony | 1:21ee654912d1 | 39 | // } |
urietony | 1:21ee654912d1 | 40 | // else if (g==42){g=0;} |
urietony | 1:21ee654912d1 | 41 | // else |
urietony | 1:21ee654912d1 | 42 | // { |
urietony | 1:21ee654912d1 | 43 | // data_gps[g]=temp;g++;led1=1; |
urietony | 1:21ee654912d1 | 44 | // if(data_gps[g-1]=='\r')g=0; |
urietony | 1:21ee654912d1 | 45 | // } |
urietony | 1:21ee654912d1 | 46 | char temp=gps.getc(); |
urietony | 1:21ee654912d1 | 47 | if (temp=='$') {g=0;} |
urietony | 1:21ee654912d1 | 48 | data_gps[g]=temp; |
urietony | 1:21ee654912d1 | 49 | g++; |
urietony | 1:21ee654912d1 | 50 | |
urietony | 1:21ee654912d1 | 51 | |
urietony | 1:21ee654912d1 | 52 | } |
urietony | 1:21ee654912d1 | 53 | |
urietony | 1:21ee654912d1 | 54 | float trunc(float v) // pembulatan nilai |
urietony | 1:21ee654912d1 | 55 | { |
urietony | 1:21ee654912d1 | 56 | if(v < 0.0) { |
urietony | 1:21ee654912d1 | 57 | v*= -1.0; |
urietony | 1:21ee654912d1 | 58 | v = floor(v); |
urietony | 1:21ee654912d1 | 59 | v*=-1.0; |
urietony | 1:21ee654912d1 | 60 | } else { |
urietony | 1:21ee654912d1 | 61 | v = floor(v); |
urietony | 1:21ee654912d1 | 62 | } |
urietony | 1:21ee654912d1 | 63 | return v; |
urietony | 1:21ee654912d1 | 64 | } |
kayu | 0:845bbc545b56 | 65 | |
urietony | 1:21ee654912d1 | 66 | void get_gps() |
urietony | 1:21ee654912d1 | 67 | { |
urietony | 1:21ee654912d1 | 68 | //if(data_gps[0]=='G'&&data_gps[1]=='P'&&data_gps[2]=='G'&&data_gps[3]=='G'&&data_gps[4]=='A'&&data_gps[5]==','){ |
urietony | 1:21ee654912d1 | 69 | //$GPGGA,050749.299,0745.9647,S,11022.3071,E,0,00,,189.5,M,4.3,M,,0000*5E |
urietony | 1:21ee654912d1 | 70 | sscanf(data_gps,"$GPGGA,%f,%f,%c,%f,%c,%d,%2d,%f,%f",&waktu, &latx,&ns, &longx, &ew, &lock, &satelit, &dilution, &altitude); |
urietony | 1:21ee654912d1 | 71 | |
urietony | 1:21ee654912d1 | 72 | degrees = (latx / 100.0f); |
urietony | 1:21ee654912d1 | 73 | lattitude[0]=degrees; |
urietony | 1:21ee654912d1 | 74 | degrees= degrees-lattitude[0]; |
urietony | 1:21ee654912d1 | 75 | minutes=(degrees*1000); |
urietony | 1:21ee654912d1 | 76 | lattitude[1]=minutes; |
urietony | 1:21ee654912d1 | 77 | minutes=minutes-lattitude[1]; |
urietony | 1:21ee654912d1 | 78 | seconds =(minutes*1000); |
urietony | 1:21ee654912d1 | 79 | lattitude[2]= seconds; |
urietony | 1:21ee654912d1 | 80 | |
urietony | 1:21ee654912d1 | 81 | degrees = (longx / 100.0f); |
urietony | 1:21ee654912d1 | 82 | longitude[0]=degrees; |
urietony | 1:21ee654912d1 | 83 | degrees= degrees-longitude[0]; |
urietony | 1:21ee654912d1 | 84 | minutes=(degrees*1000); |
urietony | 1:21ee654912d1 | 85 | longitude[1]=minutes; |
urietony | 1:21ee654912d1 | 86 | minutes=minutes-longitude[1]; |
urietony | 1:21ee654912d1 | 87 | seconds =(minutes*1000); |
urietony | 1:21ee654912d1 | 88 | longitude[2]= seconds; |
urietony | 1:21ee654912d1 | 89 | sscanf(data_gps,"$GPVTG,%*f,%*c,%*f,%*c,%*f,%*c,%f",&speed); |
urietony | 1:21ee654912d1 | 90 | |
urietony | 1:21ee654912d1 | 91 | } |
urietony | 1:21ee654912d1 | 92 | |
urietony | 1:21ee654912d1 | 93 | void gps_ats() |
urietony | 1:21ee654912d1 | 94 | { |
urietony | 1:21ee654912d1 | 95 | //fl waktu; |
urietony | 1:21ee654912d1 | 96 | if(cek_gps==1){ |
urietony | 1:21ee654912d1 | 97 | sscanf(data_gps, "$GPGGA,%f,%f,%c,%f,%c",&waktu, &laty, &ns, &longy, &ew) ; |
urietony | 1:21ee654912d1 | 98 | |
urietony | 1:21ee654912d1 | 99 | if(ns == 'S') { laty *= -1.0; } |
urietony | 1:21ee654912d1 | 100 | if(ew == 'W') { longy *= -1.0; } |
urietony | 1:21ee654912d1 | 101 | degrees = trunc(laty / 100.0f); |
urietony | 1:21ee654912d1 | 102 | minutes = laty - (degrees * 100.0f); |
urietony | 1:21ee654912d1 | 103 | lat_target = degrees + minutes / 60.0f; |
urietony | 1:21ee654912d1 | 104 | degrees = trunc(longy / 100.0f); |
urietony | 1:21ee654912d1 | 105 | minutes = longy- (degrees * 100.0f); |
urietony | 1:21ee654912d1 | 106 | long_target = degrees + minutes / 60.0f; |
urietony | 1:21ee654912d1 | 107 | } |
urietony | 1:21ee654912d1 | 108 | } |
urietony | 1:21ee654912d1 | 109 | |
urietony | 1:21ee654912d1 | 110 | void bin_dec_conv(unsigned int data)// anything to binary |
urietony | 1:21ee654912d1 | 111 | { |
urietony | 1:21ee654912d1 | 112 | pc.printf("%d%d%d",(data/100),(data%100/10),(data%10)); |
urietony | 1:21ee654912d1 | 113 | } |
urietony | 1:21ee654912d1 | 114 | |
urietony | 1:21ee654912d1 | 115 | void telemetry_gps(unsigned int data_1_x,unsigned int data_2_x, unsigned int data_2_y,unsigned int data_3_x, unsigned int data_3_y, unsigned int data_3_z) |
urietony | 1:21ee654912d1 | 116 | { |
urietony | 1:21ee654912d1 | 117 | |
urietony | 1:21ee654912d1 | 118 | pc.putc(0x0D); |
urietony | 1:21ee654912d1 | 119 | bin_dec_conv(106); |
urietony | 1:21ee654912d1 | 120 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 121 | |
urietony | 1:21ee654912d1 | 122 | bin_dec_conv(data_1_x); |
urietony | 1:21ee654912d1 | 123 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 124 | |
urietony | 1:21ee654912d1 | 125 | bin_dec_conv(data_2_x); |
urietony | 1:21ee654912d1 | 126 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 127 | |
urietony | 1:21ee654912d1 | 128 | bin_dec_conv(data_2_y); |
urietony | 1:21ee654912d1 | 129 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 130 | |
urietony | 1:21ee654912d1 | 131 | bin_dec_conv(data_3_x); |
urietony | 1:21ee654912d1 | 132 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 133 | |
urietony | 1:21ee654912d1 | 134 | bin_dec_conv(data_3_y); |
urietony | 1:21ee654912d1 | 135 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 136 | |
urietony | 1:21ee654912d1 | 137 | bin_dec_conv(data_3_z); |
urietony | 1:21ee654912d1 | 138 | |
urietony | 1:21ee654912d1 | 139 | } |
kayu | 0:845bbc545b56 | 140 | void getTemperatueHumidity(){ |
kayu | 0:845bbc545b56 | 141 | int err; |
kayu | 0:845bbc545b56 | 142 | pc.printf("\r\nStarting to gather temperature and humidity......\n"); |
kayu | 0:845bbc545b56 | 143 | pc.printf("\r\n******************\r\n"); |
kayu | 0:845bbc545b56 | 144 | wait(1); // wait 1 second for device stable status |
kayu | 0:845bbc545b56 | 145 | while (1) { |
kayu | 0:845bbc545b56 | 146 | |
kayu | 0:845bbc545b56 | 147 | err = sensor.readData(); |
urietony | 1:21ee654912d1 | 148 | if (err == 0||err==6) { |
kayu | 0:845bbc545b56 | 149 | pc.printf("Temperature is %4.2f C \r\n",sensor.ReadTemperature(CELCIUS)); |
kayu | 0:845bbc545b56 | 150 | pc.printf("Temperature is %4.2f F \r\n",sensor.ReadTemperature(FARENHEIT)); |
kayu | 0:845bbc545b56 | 151 | pc.printf("Temperature is %4.2f K \r\n",sensor.ReadTemperature(KELVIN)); |
kayu | 0:845bbc545b56 | 152 | pc.printf("Humidity is %4.2f \r\n",sensor.ReadHumidity()); |
kayu | 0:845bbc545b56 | 153 | |
kayu | 0:845bbc545b56 | 154 | xbee.printf("Temperature is %4.2f C \r\n",sensor.ReadTemperature(CELCIUS)); |
kayu | 0:845bbc545b56 | 155 | xbee.printf("Temperature is %4.2f F \r\n",sensor.ReadTemperature(FARENHEIT)); |
kayu | 0:845bbc545b56 | 156 | xbee.printf("Temperature is %4.2f K \r\n",sensor.ReadTemperature(KELVIN)); |
kayu | 0:845bbc545b56 | 157 | xbee.printf("Humidity is %4.2f \r\n",sensor.ReadHumidity()); |
urietony | 1:21ee654912d1 | 158 | float gasvalue=gassensor.read(); |
urietony | 1:21ee654912d1 | 159 | wait(1); |
urietony | 1:21ee654912d1 | 160 | xbee.printf("gas sensor reading is %f\n", gasvalue); |
kayu | 0:845bbc545b56 | 161 | |
kayu | 0:845bbc545b56 | 162 | return; |
kayu | 0:845bbc545b56 | 163 | } else { |
kayu | 0:845bbc545b56 | 164 | pc.printf("\r\nErr %i \n",err); |
kayu | 0:845bbc545b56 | 165 | xbee.printf("\r\nErr %i \n",err); |
urietony | 1:21ee654912d1 | 166 | |
kayu | 0:845bbc545b56 | 167 | } |
kayu | 0:845bbc545b56 | 168 | wait(5); |
kayu | 0:845bbc545b56 | 169 | } |
kayu | 0:845bbc545b56 | 170 | } |
kayu | 0:845bbc545b56 | 171 | |
kayu | 0:845bbc545b56 | 172 | void printInit(){ |
urietony | 1:21ee654912d1 | 173 | xbee.printf("\nAwaiting User Command....\n"); |
urietony | 1:21ee654912d1 | 174 | pc.printf("\nAwaiting User Command....\n"); |
kayu | 0:845bbc545b56 | 175 | } |
urietony | 1:21ee654912d1 | 176 | void rovercommand(){ |
urietony | 1:21ee654912d1 | 177 | char input; |
urietony | 1:21ee654912d1 | 178 | input= xbee.getc(); |
urietony | 1:21ee654912d1 | 179 | motor.baud(9600); |
urietony | 1:21ee654912d1 | 180 | xbee.printf("command is %c\n",input); |
urietony | 1:21ee654912d1 | 181 | if ( input == 'F'){ |
urietony | 1:21ee654912d1 | 182 | motor.putc(64); |
urietony | 1:21ee654912d1 | 183 | wait(1); |
urietony | 1:21ee654912d1 | 184 | motor.putc(127); |
urietony | 1:21ee654912d1 | 185 | input=NULL; |
urietony | 1:21ee654912d1 | 186 | return; |
urietony | 1:21ee654912d1 | 187 | } |
urietony | 1:21ee654912d1 | 188 | if ( input == 'B'){ |
urietony | 1:21ee654912d1 | 189 | motor.putc(64); |
urietony | 1:21ee654912d1 | 190 | wait(1); |
urietony | 1:21ee654912d1 | 191 | motor.putc(1); |
urietony | 1:21ee654912d1 | 192 | input=NULL; |
urietony | 1:21ee654912d1 | 193 | return; |
urietony | 1:21ee654912d1 | 194 | } |
urietony | 1:21ee654912d1 | 195 | if ( input == 'S'){ |
urietony | 1:21ee654912d1 | 196 | motor.putc(64); |
urietony | 1:21ee654912d1 | 197 | wait(1); |
urietony | 1:21ee654912d1 | 198 | input=NULL; |
urietony | 1:21ee654912d1 | 199 | return; |
urietony | 1:21ee654912d1 | 200 | } |
urietony | 1:21ee654912d1 | 201 | if ( input == 'X'){ |
urietony | 1:21ee654912d1 | 202 | motor.putc(64); |
urietony | 1:21ee654912d1 | 203 | input=NULL; |
urietony | 1:21ee654912d1 | 204 | return; |
urietony | 1:21ee654912d1 | 205 | } |
urietony | 1:21ee654912d1 | 206 | |
urietony | 1:21ee654912d1 | 207 | } |
urietony | 1:21ee654912d1 | 208 | |
urietony | 1:21ee654912d1 | 209 | void rovercontrol(){ |
urietony | 1:21ee654912d1 | 210 | wait(1); |
urietony | 1:21ee654912d1 | 211 | |
urietony | 1:21ee654912d1 | 212 | while(true){ |
urietony | 1:21ee654912d1 | 213 | char input; |
urietony | 1:21ee654912d1 | 214 | input= xbee.getc(); |
urietony | 1:21ee654912d1 | 215 | motor.baud(9600); |
urietony | 1:21ee654912d1 | 216 | |
urietony | 1:21ee654912d1 | 217 | if ( input == 'F'){ |
urietony | 1:21ee654912d1 | 218 | motor.putc(64); |
urietony | 1:21ee654912d1 | 219 | wait(1); |
urietony | 1:21ee654912d1 | 220 | motor.putc(127); |
urietony | 1:21ee654912d1 | 221 | input=NULL; |
urietony | 1:21ee654912d1 | 222 | |
urietony | 1:21ee654912d1 | 223 | } |
urietony | 1:21ee654912d1 | 224 | if ( input == 'B'){ |
urietony | 1:21ee654912d1 | 225 | motor.putc(64); |
urietony | 1:21ee654912d1 | 226 | wait(1); |
urietony | 1:21ee654912d1 | 227 | motor.putc(1); |
urietony | 1:21ee654912d1 | 228 | input=NULL; |
urietony | 1:21ee654912d1 | 229 | |
urietony | 1:21ee654912d1 | 230 | } |
urietony | 1:21ee654912d1 | 231 | if ( input == 'S'){ |
urietony | 1:21ee654912d1 | 232 | motor.putc(64); |
urietony | 1:21ee654912d1 | 233 | wait(1); |
urietony | 1:21ee654912d1 | 234 | input=NULL; |
urietony | 1:21ee654912d1 | 235 | |
urietony | 1:21ee654912d1 | 236 | } |
urietony | 1:21ee654912d1 | 237 | if ( input == 'X'){ |
urietony | 1:21ee654912d1 | 238 | motor.putc(64); |
urietony | 1:21ee654912d1 | 239 | input=NULL; |
urietony | 1:21ee654912d1 | 240 | return; |
urietony | 1:21ee654912d1 | 241 | } |
urietony | 1:21ee654912d1 | 242 | |
urietony | 1:21ee654912d1 | 243 | } |
urietony | 1:21ee654912d1 | 244 | } |
kayu | 0:845bbc545b56 | 245 | |
kayu | 0:845bbc545b56 | 246 | int main() { |
kayu | 0:845bbc545b56 | 247 | |
kayu | 0:845bbc545b56 | 248 | char a; |
kayu | 0:845bbc545b56 | 249 | printInit(); |
urietony | 1:21ee654912d1 | 250 | gps.baud(9600); |
urietony | 1:21ee654912d1 | 251 | gps.attach(&gps_interrupt); |
urietony | 1:21ee654912d1 | 252 | initialize_gps(); |
kayu | 0:845bbc545b56 | 253 | while(1){ |
kayu | 0:845bbc545b56 | 254 | a = xbee.getc(); |
kayu | 0:845bbc545b56 | 255 | if(a == 'T'){ |
kayu | 0:845bbc545b56 | 256 | getTemperatueHumidity(); |
kayu | 0:845bbc545b56 | 257 | a = NULL; |
kayu | 0:845bbc545b56 | 258 | printInit(); |
kayu | 0:845bbc545b56 | 259 | } |
kayu | 0:845bbc545b56 | 260 | |
kayu | 0:845bbc545b56 | 261 | if( a == 'G'){ |
kayu | 0:845bbc545b56 | 262 | //GPS function |
urietony | 1:21ee654912d1 | 263 | get_gps(); |
urietony | 1:21ee654912d1 | 264 | xbee.printf("Your Current location is %f %c,%f %c."latx,ns, longx,ew); |
kayu | 0:845bbc545b56 | 265 | a = NULL; |
kayu | 0:845bbc545b56 | 266 | printInit(); |
kayu | 0:845bbc545b56 | 267 | } |
urietony | 1:21ee654912d1 | 268 | if( a == 'R'){ |
urietony | 1:21ee654912d1 | 269 | xbee.printf("\nEntering Rover Controlling mode..."); |
urietony | 1:21ee654912d1 | 270 | xbee.printf("\nWork in progress, exiting :)\n"); |
urietony | 1:21ee654912d1 | 271 | rovercontrol(); |
urietony | 1:21ee654912d1 | 272 | |
urietony | 1:21ee654912d1 | 273 | a = NULL; |
urietony | 1:21ee654912d1 | 274 | printInit(); |
urietony | 1:21ee654912d1 | 275 | } |
urietony | 1:21ee654912d1 | 276 | |
kayu | 0:845bbc545b56 | 277 | } |
kayu | 0:845bbc545b56 | 278 | } |