AA
Dependencies: DHT_ gps_settings_venus_ mbed
Fork of coen490_controller by
main.cpp@2:65cffee0c0f7, 2017-03-21 (annotated)
- Committer:
- urietony
- Date:
- Tue Mar 21 21:51:32 2017 +0000
- Revision:
- 2:65cffee0c0f7
- Parent:
- 1:21ee654912d1
ASDF
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 | 2:65cffee0c0f7 | 13 | GPSVenus venus(gps); |
urietony | 1:21ee654912d1 | 14 | AnalogIn gassensor(PC_1); |
urietony | 1:21ee654912d1 | 15 | char data_gps[256],ns,ew,sampah[256]; |
urietony | 1:21ee654912d1 | 16 | int g=0, cek_gps,lock,satelit; |
urietony | 1:21ee654912d1 | 17 | float waktu,latx,longx, laty, longy,dilution, altitude; |
urietony | 1:21ee654912d1 | 18 | double lat_target,long_target; |
urietony | 1:21ee654912d1 | 19 | double degrees, minutes, seconds; |
urietony | 1:21ee654912d1 | 20 | int lattitude[3], longitude[3]; |
urietony | 1:21ee654912d1 | 21 | float speed; |
urietony | 1:21ee654912d1 | 22 | void initialize_gps() |
urietony | 1:21ee654912d1 | 23 | { |
urietony | 1:21ee654912d1 | 24 | venus.setBaud_9600(); |
urietony | 1:21ee654912d1 | 25 | wait(0.5); |
urietony | 1:21ee654912d1 | 26 | gps.baud(9600); |
urietony | 1:21ee654912d1 | 27 | venus.setUpdateRate(10); |
urietony | 1:21ee654912d1 | 28 | wait(0.5); |
urietony | 1:21ee654912d1 | 29 | venus.setNmeaMessages(true, false, false, false, false, true); |
urietony | 1:21ee654912d1 | 30 | } |
urietony | 1:21ee654912d1 | 31 | |
urietony | 1:21ee654912d1 | 32 | void gps_interrupt() |
urietony | 1:21ee654912d1 | 33 | { |
urietony | 1:21ee654912d1 | 34 | // char temp = gps.getc(); |
urietony | 1:21ee654912d1 | 35 | // if(g==0) |
urietony | 1:21ee654912d1 | 36 | // { led1=0; |
urietony | 1:21ee654912d1 | 37 | // data_gps[g]=temp; |
urietony | 1:21ee654912d1 | 38 | // if(data_gps[g]=='$') |
urietony | 1:21ee654912d1 | 39 | // {g=1;data_gps[0]='$';} |
urietony | 1:21ee654912d1 | 40 | // } |
urietony | 1:21ee654912d1 | 41 | // else if (g==42){g=0;} |
urietony | 1:21ee654912d1 | 42 | // else |
urietony | 1:21ee654912d1 | 43 | // { |
urietony | 1:21ee654912d1 | 44 | // data_gps[g]=temp;g++;led1=1; |
urietony | 1:21ee654912d1 | 45 | // if(data_gps[g-1]=='\r')g=0; |
urietony | 1:21ee654912d1 | 46 | // } |
urietony | 1:21ee654912d1 | 47 | char temp=gps.getc(); |
urietony | 1:21ee654912d1 | 48 | if (temp=='$') {g=0;} |
urietony | 1:21ee654912d1 | 49 | data_gps[g]=temp; |
urietony | 1:21ee654912d1 | 50 | g++; |
urietony | 1:21ee654912d1 | 51 | |
urietony | 1:21ee654912d1 | 52 | |
urietony | 1:21ee654912d1 | 53 | } |
urietony | 1:21ee654912d1 | 54 | |
urietony | 1:21ee654912d1 | 55 | float trunc(float v) // pembulatan nilai |
urietony | 1:21ee654912d1 | 56 | { |
urietony | 1:21ee654912d1 | 57 | if(v < 0.0) { |
urietony | 1:21ee654912d1 | 58 | v*= -1.0; |
urietony | 1:21ee654912d1 | 59 | v = floor(v); |
urietony | 1:21ee654912d1 | 60 | v*=-1.0; |
urietony | 1:21ee654912d1 | 61 | } else { |
urietony | 1:21ee654912d1 | 62 | v = floor(v); |
urietony | 1:21ee654912d1 | 63 | } |
urietony | 1:21ee654912d1 | 64 | return v; |
urietony | 1:21ee654912d1 | 65 | } |
kayu | 0:845bbc545b56 | 66 | |
urietony | 1:21ee654912d1 | 67 | void get_gps() |
urietony | 1:21ee654912d1 | 68 | { |
urietony | 1:21ee654912d1 | 69 | //if(data_gps[0]=='G'&&data_gps[1]=='P'&&data_gps[2]=='G'&&data_gps[3]=='G'&&data_gps[4]=='A'&&data_gps[5]==','){ |
urietony | 1:21ee654912d1 | 70 | //$GPGGA,050749.299,0745.9647,S,11022.3071,E,0,00,,189.5,M,4.3,M,,0000*5E |
urietony | 1:21ee654912d1 | 71 | sscanf(data_gps,"$GPGGA,%f,%f,%c,%f,%c,%d,%2d,%f,%f",&waktu, &latx,&ns, &longx, &ew, &lock, &satelit, &dilution, &altitude); |
urietony | 1:21ee654912d1 | 72 | |
urietony | 1:21ee654912d1 | 73 | degrees = (latx / 100.0f); |
urietony | 1:21ee654912d1 | 74 | lattitude[0]=degrees; |
urietony | 1:21ee654912d1 | 75 | degrees= degrees-lattitude[0]; |
urietony | 1:21ee654912d1 | 76 | minutes=(degrees*1000); |
urietony | 1:21ee654912d1 | 77 | lattitude[1]=minutes; |
urietony | 1:21ee654912d1 | 78 | minutes=minutes-lattitude[1]; |
urietony | 1:21ee654912d1 | 79 | seconds =(minutes*1000); |
urietony | 1:21ee654912d1 | 80 | lattitude[2]= seconds; |
urietony | 1:21ee654912d1 | 81 | |
urietony | 1:21ee654912d1 | 82 | degrees = (longx / 100.0f); |
urietony | 1:21ee654912d1 | 83 | longitude[0]=degrees; |
urietony | 1:21ee654912d1 | 84 | degrees= degrees-longitude[0]; |
urietony | 1:21ee654912d1 | 85 | minutes=(degrees*1000); |
urietony | 1:21ee654912d1 | 86 | longitude[1]=minutes; |
urietony | 1:21ee654912d1 | 87 | minutes=minutes-longitude[1]; |
urietony | 1:21ee654912d1 | 88 | seconds =(minutes*1000); |
urietony | 1:21ee654912d1 | 89 | longitude[2]= seconds; |
urietony | 1:21ee654912d1 | 90 | sscanf(data_gps,"$GPVTG,%*f,%*c,%*f,%*c,%*f,%*c,%f",&speed); |
urietony | 1:21ee654912d1 | 91 | |
urietony | 1:21ee654912d1 | 92 | } |
urietony | 1:21ee654912d1 | 93 | |
urietony | 1:21ee654912d1 | 94 | void gps_ats() |
urietony | 1:21ee654912d1 | 95 | { |
urietony | 1:21ee654912d1 | 96 | //fl waktu; |
urietony | 1:21ee654912d1 | 97 | if(cek_gps==1){ |
urietony | 1:21ee654912d1 | 98 | sscanf(data_gps, "$GPGGA,%f,%f,%c,%f,%c",&waktu, &laty, &ns, &longy, &ew) ; |
urietony | 1:21ee654912d1 | 99 | |
urietony | 1:21ee654912d1 | 100 | if(ns == 'S') { laty *= -1.0; } |
urietony | 1:21ee654912d1 | 101 | if(ew == 'W') { longy *= -1.0; } |
urietony | 1:21ee654912d1 | 102 | degrees = trunc(laty / 100.0f); |
urietony | 1:21ee654912d1 | 103 | minutes = laty - (degrees * 100.0f); |
urietony | 1:21ee654912d1 | 104 | lat_target = degrees + minutes / 60.0f; |
urietony | 1:21ee654912d1 | 105 | degrees = trunc(longy / 100.0f); |
urietony | 1:21ee654912d1 | 106 | minutes = longy- (degrees * 100.0f); |
urietony | 1:21ee654912d1 | 107 | long_target = degrees + minutes / 60.0f; |
urietony | 1:21ee654912d1 | 108 | } |
urietony | 1:21ee654912d1 | 109 | } |
urietony | 1:21ee654912d1 | 110 | |
urietony | 1:21ee654912d1 | 111 | void bin_dec_conv(unsigned int data)// anything to binary |
urietony | 1:21ee654912d1 | 112 | { |
urietony | 1:21ee654912d1 | 113 | pc.printf("%d%d%d",(data/100),(data%100/10),(data%10)); |
urietony | 1:21ee654912d1 | 114 | } |
urietony | 1:21ee654912d1 | 115 | |
urietony | 1:21ee654912d1 | 116 | 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 | 117 | { |
urietony | 1:21ee654912d1 | 118 | |
urietony | 1:21ee654912d1 | 119 | pc.putc(0x0D); |
urietony | 1:21ee654912d1 | 120 | bin_dec_conv(106); |
urietony | 1:21ee654912d1 | 121 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 122 | |
urietony | 1:21ee654912d1 | 123 | bin_dec_conv(data_1_x); |
urietony | 1:21ee654912d1 | 124 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 125 | |
urietony | 1:21ee654912d1 | 126 | bin_dec_conv(data_2_x); |
urietony | 1:21ee654912d1 | 127 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 128 | |
urietony | 1:21ee654912d1 | 129 | bin_dec_conv(data_2_y); |
urietony | 1:21ee654912d1 | 130 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 131 | |
urietony | 1:21ee654912d1 | 132 | bin_dec_conv(data_3_x); |
urietony | 1:21ee654912d1 | 133 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 134 | |
urietony | 1:21ee654912d1 | 135 | bin_dec_conv(data_3_y); |
urietony | 1:21ee654912d1 | 136 | pc.putc(0x20); |
urietony | 1:21ee654912d1 | 137 | |
urietony | 1:21ee654912d1 | 138 | bin_dec_conv(data_3_z); |
urietony | 1:21ee654912d1 | 139 | |
urietony | 1:21ee654912d1 | 140 | } |
kayu | 0:845bbc545b56 | 141 | void getTemperatueHumidity(){ |
kayu | 0:845bbc545b56 | 142 | int err; |
kayu | 0:845bbc545b56 | 143 | pc.printf("\r\nStarting to gather temperature and humidity......\n"); |
kayu | 0:845bbc545b56 | 144 | pc.printf("\r\n******************\r\n"); |
kayu | 0:845bbc545b56 | 145 | wait(1); // wait 1 second for device stable status |
kayu | 0:845bbc545b56 | 146 | while (1) { |
kayu | 0:845bbc545b56 | 147 | |
kayu | 0:845bbc545b56 | 148 | err = sensor.readData(); |
urietony | 1:21ee654912d1 | 149 | if (err == 0||err==6) { |
kayu | 0:845bbc545b56 | 150 | pc.printf("Temperature is %4.2f C \r\n",sensor.ReadTemperature(CELCIUS)); |
kayu | 0:845bbc545b56 | 151 | pc.printf("Temperature is %4.2f F \r\n",sensor.ReadTemperature(FARENHEIT)); |
kayu | 0:845bbc545b56 | 152 | pc.printf("Temperature is %4.2f K \r\n",sensor.ReadTemperature(KELVIN)); |
kayu | 0:845bbc545b56 | 153 | pc.printf("Humidity is %4.2f \r\n",sensor.ReadHumidity()); |
kayu | 0:845bbc545b56 | 154 | |
kayu | 0:845bbc545b56 | 155 | xbee.printf("Temperature is %4.2f C \r\n",sensor.ReadTemperature(CELCIUS)); |
kayu | 0:845bbc545b56 | 156 | xbee.printf("Temperature is %4.2f F \r\n",sensor.ReadTemperature(FARENHEIT)); |
kayu | 0:845bbc545b56 | 157 | xbee.printf("Temperature is %4.2f K \r\n",sensor.ReadTemperature(KELVIN)); |
kayu | 0:845bbc545b56 | 158 | xbee.printf("Humidity is %4.2f \r\n",sensor.ReadHumidity()); |
urietony | 1:21ee654912d1 | 159 | float gasvalue=gassensor.read(); |
urietony | 1:21ee654912d1 | 160 | wait(1); |
urietony | 1:21ee654912d1 | 161 | xbee.printf("gas sensor reading is %f\n", gasvalue); |
kayu | 0:845bbc545b56 | 162 | |
kayu | 0:845bbc545b56 | 163 | return; |
kayu | 0:845bbc545b56 | 164 | } else { |
kayu | 0:845bbc545b56 | 165 | pc.printf("\r\nErr %i \n",err); |
kayu | 0:845bbc545b56 | 166 | xbee.printf("\r\nErr %i \n",err); |
urietony | 1:21ee654912d1 | 167 | |
kayu | 0:845bbc545b56 | 168 | } |
kayu | 0:845bbc545b56 | 169 | wait(5); |
kayu | 0:845bbc545b56 | 170 | } |
kayu | 0:845bbc545b56 | 171 | } |
kayu | 0:845bbc545b56 | 172 | |
kayu | 0:845bbc545b56 | 173 | void printInit(){ |
urietony | 1:21ee654912d1 | 174 | xbee.printf("\nAwaiting User Command....\n"); |
urietony | 1:21ee654912d1 | 175 | pc.printf("\nAwaiting User Command....\n"); |
kayu | 0:845bbc545b56 | 176 | } |
urietony | 1:21ee654912d1 | 177 | void rovercommand(){ |
urietony | 1:21ee654912d1 | 178 | char input; |
urietony | 1:21ee654912d1 | 179 | input= xbee.getc(); |
urietony | 1:21ee654912d1 | 180 | motor.baud(9600); |
urietony | 1:21ee654912d1 | 181 | xbee.printf("command is %c\n",input); |
urietony | 1:21ee654912d1 | 182 | if ( input == 'F'){ |
urietony | 1:21ee654912d1 | 183 | motor.putc(64); |
urietony | 1:21ee654912d1 | 184 | wait(1); |
urietony | 1:21ee654912d1 | 185 | motor.putc(127); |
urietony | 1:21ee654912d1 | 186 | input=NULL; |
urietony | 1:21ee654912d1 | 187 | return; |
urietony | 1:21ee654912d1 | 188 | } |
urietony | 1:21ee654912d1 | 189 | if ( input == 'B'){ |
urietony | 1:21ee654912d1 | 190 | motor.putc(64); |
urietony | 1:21ee654912d1 | 191 | wait(1); |
urietony | 1:21ee654912d1 | 192 | motor.putc(1); |
urietony | 1:21ee654912d1 | 193 | input=NULL; |
urietony | 1:21ee654912d1 | 194 | return; |
urietony | 1:21ee654912d1 | 195 | } |
urietony | 1:21ee654912d1 | 196 | if ( input == 'S'){ |
urietony | 1:21ee654912d1 | 197 | motor.putc(64); |
urietony | 1:21ee654912d1 | 198 | wait(1); |
urietony | 1:21ee654912d1 | 199 | input=NULL; |
urietony | 1:21ee654912d1 | 200 | return; |
urietony | 1:21ee654912d1 | 201 | } |
urietony | 1:21ee654912d1 | 202 | if ( input == 'X'){ |
urietony | 1:21ee654912d1 | 203 | motor.putc(64); |
urietony | 1:21ee654912d1 | 204 | input=NULL; |
urietony | 1:21ee654912d1 | 205 | return; |
urietony | 1:21ee654912d1 | 206 | } |
urietony | 1:21ee654912d1 | 207 | |
urietony | 1:21ee654912d1 | 208 | } |
urietony | 1:21ee654912d1 | 209 | |
urietony | 1:21ee654912d1 | 210 | void rovercontrol(){ |
urietony | 1:21ee654912d1 | 211 | wait(1); |
urietony | 1:21ee654912d1 | 212 | |
urietony | 1:21ee654912d1 | 213 | while(true){ |
urietony | 1:21ee654912d1 | 214 | char input; |
urietony | 1:21ee654912d1 | 215 | input= xbee.getc(); |
urietony | 1:21ee654912d1 | 216 | motor.baud(9600); |
urietony | 1:21ee654912d1 | 217 | |
urietony | 1:21ee654912d1 | 218 | if ( input == 'F'){ |
urietony | 1:21ee654912d1 | 219 | motor.putc(64); |
urietony | 1:21ee654912d1 | 220 | wait(1); |
urietony | 1:21ee654912d1 | 221 | motor.putc(127); |
urietony | 1:21ee654912d1 | 222 | input=NULL; |
urietony | 1:21ee654912d1 | 223 | |
urietony | 1:21ee654912d1 | 224 | } |
urietony | 1:21ee654912d1 | 225 | if ( input == 'B'){ |
urietony | 1:21ee654912d1 | 226 | motor.putc(64); |
urietony | 1:21ee654912d1 | 227 | wait(1); |
urietony | 1:21ee654912d1 | 228 | motor.putc(1); |
urietony | 1:21ee654912d1 | 229 | input=NULL; |
urietony | 1:21ee654912d1 | 230 | |
urietony | 1:21ee654912d1 | 231 | } |
urietony | 1:21ee654912d1 | 232 | if ( input == 'S'){ |
urietony | 1:21ee654912d1 | 233 | motor.putc(64); |
urietony | 1:21ee654912d1 | 234 | wait(1); |
urietony | 1:21ee654912d1 | 235 | input=NULL; |
urietony | 1:21ee654912d1 | 236 | |
urietony | 1:21ee654912d1 | 237 | } |
urietony | 1:21ee654912d1 | 238 | if ( input == 'X'){ |
urietony | 1:21ee654912d1 | 239 | motor.putc(64); |
urietony | 1:21ee654912d1 | 240 | input=NULL; |
urietony | 1:21ee654912d1 | 241 | return; |
urietony | 1:21ee654912d1 | 242 | } |
urietony | 1:21ee654912d1 | 243 | |
urietony | 1:21ee654912d1 | 244 | } |
urietony | 1:21ee654912d1 | 245 | } |
kayu | 0:845bbc545b56 | 246 | |
kayu | 0:845bbc545b56 | 247 | int main() { |
kayu | 0:845bbc545b56 | 248 | |
kayu | 0:845bbc545b56 | 249 | char a; |
kayu | 0:845bbc545b56 | 250 | printInit(); |
urietony | 1:21ee654912d1 | 251 | gps.baud(9600); |
urietony | 1:21ee654912d1 | 252 | gps.attach(&gps_interrupt); |
urietony | 1:21ee654912d1 | 253 | initialize_gps(); |
kayu | 0:845bbc545b56 | 254 | while(1){ |
kayu | 0:845bbc545b56 | 255 | a = xbee.getc(); |
kayu | 0:845bbc545b56 | 256 | if(a == 'T'){ |
kayu | 0:845bbc545b56 | 257 | getTemperatueHumidity(); |
kayu | 0:845bbc545b56 | 258 | a = NULL; |
kayu | 0:845bbc545b56 | 259 | printInit(); |
kayu | 0:845bbc545b56 | 260 | } |
kayu | 0:845bbc545b56 | 261 | |
kayu | 0:845bbc545b56 | 262 | if( a == 'G'){ |
kayu | 0:845bbc545b56 | 263 | //GPS function |
urietony | 1:21ee654912d1 | 264 | get_gps(); |
urietony | 2:65cffee0c0f7 | 265 | xbee.printf("Your Current location is %f %c,%f %c.",latx,ns, longx,ew); |
kayu | 0:845bbc545b56 | 266 | a = NULL; |
kayu | 0:845bbc545b56 | 267 | printInit(); |
kayu | 0:845bbc545b56 | 268 | } |
urietony | 1:21ee654912d1 | 269 | if( a == 'R'){ |
urietony | 1:21ee654912d1 | 270 | xbee.printf("\nEntering Rover Controlling mode..."); |
urietony | 1:21ee654912d1 | 271 | xbee.printf("\nWork in progress, exiting :)\n"); |
urietony | 1:21ee654912d1 | 272 | rovercontrol(); |
urietony | 1:21ee654912d1 | 273 | |
urietony | 1:21ee654912d1 | 274 | a = NULL; |
urietony | 1:21ee654912d1 | 275 | printInit(); |
urietony | 1:21ee654912d1 | 276 | } |
urietony | 1:21ee654912d1 | 277 | |
kayu | 0:845bbc545b56 | 278 | } |
kayu | 0:845bbc545b56 | 279 | } |