aigamozu
2015/05/16
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
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Aigamozu_Robot_ver3
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aigamozu
Revision 0:daab5accfd83, committed 2015-05-12
- Comitter:
- kityann
- Date:
- Tue May 12 11:49:24 2015 +0000
- Child:
- 1:b2b950b916ce
- Commit message:
- 2015/05/12
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL345.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Digixx/code/ADXL345/#45faba962a46
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AigamozuControlPackets.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#01882120e6cf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5843.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/elrafapadron/code/HMC5843/#fdab96fc6fff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Digixx/code/ITG3200/#8967cbe04d96
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MBed_Adafruit-GPS-Library.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/aigamozu/code/MBed_Adafruit-GPS-Library/#7ef0dd12940c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/XBee.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/okini3939/code/XBee/#b36422ef864f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/agzIDLIST.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/aigamozu/code/agzIDLIST/#425a574537fd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/agz_common.lib Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/aigamozu/code/agz_common/#14e469b0c33e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/aigamozuSetting.h Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,6 @@ +//Set Baud Rate +#define GPS_BAUD_RATE 9600 +#define XBEE_BAUD_RATE 57600 +#define PC_BAUD_RATE 57600 +#define IMU_BAUD_RATE 400000 +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue May 12 11:49:24 2015 +0000
@@ -0,0 +1,312 @@
+/**********************************************/
+//
+//
+//
+// Program name: Aigamozu ROBOT
+// Author: Mineta Kizuku
+//
+//
+/**********************************************/
+
+/**********************************************/
+//更新情報
+//2015/05/11
+//ロボットプログラムの作成
+//
+//
+//
+/**********************************************/
+
+#include "mbed.h"
+#include "XBee.h"
+#include "MBed_Adafruit_GPS.h"
+#include "AigamozuControlPackets.h"
+#include "agzIDLIST.h"
+#include "aigamozuSetting.h"
+#include "agz_common.h"
+#include "Kalman.h"
+
+//************ID Number*****************
+//Robot ID: 'A' ~ 'Z'
+//Base ID: 'a' ~ 'a'
+//manager ID: '0'(数字のゼロ)
+//
+const char MyID = 'D';
+//************ID Number*****************
+
+/////////////////////////////////////////
+//
+//Pin Setting
+//
+/////////////////////////////////////////
+VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
+
+
+/////////////////////////////////////////
+//
+//Connection Setting
+//
+/////////////////////////////////////////
+
+//Serial Connect Setting: PC <--> mbed
+Serial pc(USBTX, USBRX);
+
+//Serial Connect Setting: GPS <--> mbed
+Serial * gps_Serial;
+
+//Serial Connect Setting: XBEE <--> mbed
+XBee xbee(p13,p14);
+ZBRxResponse zbRx = ZBRxResponse();
+
+//set up GPS module
+
+//set up AigamozuControlPackets library
+AigamozuControlPackets agz(agz_motorShield);
+
+
+/////////////////////////////////////////
+//
+//For Kalman data
+//
+/////////////////////////////////////////
+double sigmaGPS[2][2] = {{250,0},{0,250}};
+double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}};
+double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}};
+double y[2],x[2][2]={0};
+void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS);
+
+/////////////////////////////////////////
+//
+//Address List
+//
+/////////////////////////////////////////
+XBeeAddress64 base_Address[BaseNumber] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L),
+ XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L),
+ XBeeAddress64(BASE5_32H,BASE5_32L)};
+XBeeAddress64 robot_Address[RobotNumber] = {XBeeAddress64(ROBOT1_32H,ROBOT1_32L), XBeeAddress64(ROBOT1_32H,ROBOT1_32L)};
+XBeeAddress64 manager_Address = XBeeAddress64(BASE1_32H,BASE1_32L);
+
+
+/////////////////////////////////////////
+//
+//Send_Status
+//
+//リクエストがきたとき、自分の位置情報などを返信する
+/////////////////////////////////////////
+void Send_Status(char SenderIDc){
+ XBeeAddress64 send_Address;
+ if(SenderIDc == '0'){
+ send_Address = manager_Address;
+ }
+ if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
+ send_Address = robot_Address[SenderIDc - 'A'];
+ }
+ if(SenderIDc >= 'a' && SenderIDc <= 'z'){
+ send_Address = base_Address[SenderIDc - 'a'];
+ }
+ //send normal data
+ //Create GPS Infomation Packet
+ agz.createReceiveStatusCommand(MyID,SenderIDc,
+ agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+ agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+ agz.get_agzCov_lati(),agz.get_agzCov_longi());
+
+ //debug***************************************************
+ printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
+ agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+ agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+ agz.get_agzCov_lati(),agz.get_agzCov_longi()
+ );
+ for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
+ printf("\n");
+ //debug end***************************************************
+
+ //Select Destination
+ ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
+ //Send -> Base
+ xbee.send(tx64request);
+}
+
+/////////////////////////////////////////
+//
+//Get GPS function
+//
+/////////////////////////////////////////
+
+void Get_GPS(Adafruit_GPS *myGPS){
+ static bool flag = true;
+
+ if (myGPS->fix) {
+ agz.nowStatus = GPS_AVAIL;
+
+ if(flag){//初期値設定
+ if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){
+ flag = false;
+ x[0][0]=(double)myGPS->latitudeL;
+ x[0][1]=(double)myGPS->longitudeL;
+ }
+ }
+
+ if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){
+ return;
+ }
+ //Kalman Filter
+ Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS);
+
+ agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
+ agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
+ }
+ else agz.nowStatus = GPS_UNAVAIL;
+
+}
+
+
+/////////////////////////////////////////
+//
+//Kalman Processing
+//
+/////////////////////////////////////////
+
+void get_K(){
+ double temp[2][2]={
+ {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]},
+ {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]}
+ };
+ double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1];
+ K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]);
+ K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]);
+}
+
+
+void get_x(){
+ x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]);
+ x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]);
+}
+
+
+void get_sigma(){
+ double temp[2][2];
+ for(int i=0;i<2;i++) {
+ for(int j=0;j<2;j++) {
+ for(int k=0;k<2;k++) {
+ temp[i][j]+=K[1][i][k]*sigma[0][k][j];
+ }
+ }
+ }
+ for(int i = 0;i < 2;i++){
+ for(int j = 0;j < 2;j++){
+ sigma[1][i][j] = sigma[0][i][j]-temp[i][j];
+ }
+ }
+}
+
+void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){
+ y[0] = Latitude;
+ y[1] = Longitude;
+ //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS];
+ get_K();
+ //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]);
+ get_x();
+ //sigma[t+1] = sigma[t]-K[t+1]*sigma[t];
+ get_sigma();
+
+
+ //kousinn
+ for(int i = 0;i < 2;i++){
+ for(int j = 0;j < 2;j++){
+ K[0][i][j]=K[1][i][j];
+ x[0][i]=x[1][i];
+ sigma[0][i][j]=sigma[1][i][j];
+ }
+ }
+
+ myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
+ myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering
+ myGPS->latitudeKL=(long)x[1][0];//latitude after filtering
+ myGPS->longitudeKL=(long)x[1][1];//longitude after filtering
+
+ agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]);
+}
+
+
+/////////////////////////////////////////
+//
+//Main Processing
+//
+/////////////////////////////////////////
+int main() {
+ //start up time
+ wait(3);
+ //set pc frequency to 57600bps
+ pc.baud(PC_BAUD_RATE);
+ //set xbee frequency to 57600bps
+ xbee.begin(XBEE_BAUD_RATE);
+
+
+ //GPS setting
+ gps_Serial = new Serial(p28,p27);
+ Adafruit_GPS myGPS(gps_Serial);
+ Timer refresh_Timer;
+ const int refresh_Time = 2000; //refresh time in ms
+ myGPS.begin(GPS_BAUD_RATE);
+
+ char SenderIDc;
+ //GPS Send Command
+ myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
+ myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
+ myGPS.sendCommand(PGCMD_ANTENNA);
+
+ wait(2);
+
+ //interrupt start
+ refresh_Timer.start();
+
+ printf("start\n");
+
+ while (true) {
+
+ //Check Xbee Buffer Available
+ xbee.readPacket();
+
+ if (xbee.getResponse().isAvailable()) {
+ xbee.getResponse().getZBRxResponse(zbRx);
+ uint8_t *buf = zbRx.getFrameData();
+
+ if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
+ xbee.getResponse().getZBRxResponse(zbRx);
+ uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
+ uint8_t *buf1 = &buf[11];//データの部分のみを格納する
+ SenderIDc = buf1[5];//送信元のIDを取得する
+ char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する
+
+ //Check Command Type
+ switch(Command_type){
+ //Get Request command
+ case STATUS_REQUEST:{
+ Send_Status(SenderIDc);
+ break;
+ }
+ default:{
+ break;
+ }
+ }//endswitch
+ }//endifZB_RX_RESPONSE
+ }//endifisAvailable
+
+ myGPS.read();
+ //recive gps module
+ //check if we recieved a new message from GPS, if so, attempt to parse it,
+ if ( myGPS.newNMEAreceived() ) {
+ if ( !myGPS.parse(myGPS.lastNMEA()) ) {
+ continue;
+ }
+ }
+
+
+ if (refresh_Timer.read_ms() >= refresh_Time) {
+ refresh_Timer.reset();
+ Get_GPS(&myGPS);
+
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue May 12 11:49:24 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/8a40adfe8776 \ No newline at end of file