aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver4_1

change kalman

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

Fork of Aigamozu_Robot_ver4 by aigamozu

main.cpp@35:3094c84a024b, 2015-05-27 (annotated)

Committer:
s1200058
Date:
Wed May 27 12:10:20 2015 +0000
Revision:
35:3094c84a024b
Parent:
34:9c3192c00e41 
define the range of error

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 29:524684a1198f 62 const char MyID = 'D';
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 35:3094c84a024b 102 #define ERROR_RANGE 0.001
s1200058 35:3094c84a024b 103
s1200058 32:6ba2e5402f00 104 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 105 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 106 double s2_R=FIRST_S2;//GPSセンサの分散
s1200058 32:6ba2e5402f00 107 double Kx=0,Ky=0;//カルマンゲイン
s1200058 32:6ba2e5402f00 108 double zx,zy;//観測値
s1200058 32:6ba2e5402f00 109 void Kalman(double Latitude,double Longitude);
s1200058 34:9c3192c00e41 110 int change = 0;
s1200058 34:9c3192c00e41 111
s1200058 34:9c3192c00e41 112
s1200058 34:9c3192c00e41 113 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）
kityann 0:daab5accfd83 114
s1200058 2:886fac7f4399 115 /////////////////////////////////////////
s1200058 2:886fac7f4399 116 //
s1200058 2:886fac7f4399 117 //Plus Speed
s1200058 2:886fac7f4399 118 //
s1200058 2:886fac7f4399 119 //MNUAL_MODEの時にスピードを変える
s1200058 2:886fac7f4399 120 /////////////////////////////////////////
s1200058 2:886fac7f4399 121 void Plus_Speed(uint8_t *packetdata){
s1200058 2:886fac7f4399 122
s1200058 2:886fac7f4399 123 if(agz.nowMode == MANUAL_MODE){
s1200058 2:886fac7f4399 124 agz.changeSpeed(packetdata);
s1200058 2:886fac7f4399 125 }
s1200058 2:886fac7f4399 126
s1200058 2:886fac7f4399 127 }
kityann 0:daab5accfd83 128
kityann 0:daab5accfd83 129 /////////////////////////////////////////
kityann 0:daab5accfd83 130 //
s1200058 2:886fac7f4399 131 //Send Status
kityann 0:daab5accfd83 132 //
kityann 0:daab5accfd83 133 //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 134 /////////////////////////////////////////
kityann 0:daab5accfd83 135 void Send_Status(char SenderIDc){
kityann 0:daab5accfd83 136 XBeeAddress64 send_Address;
s1200058 22:af860680417b 137 if(SenderIDc == '0'){
kityann 0:daab5accfd83 138 send_Address = manager_Address;
kityann 23:c5071bf93db1 139 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 140 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 141 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 142 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 143 }
s1200058 25:ae5fab0946f2 144 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:daab5accfd83 145 send_Address = robot_Address[SenderIDc - 'A'];
s1200058 25:ae5fab0946f2 146 //Create GPS Infomation Packet
kityann 24:698d4e920d33 147 agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
kityann 23:c5071bf93db1 148 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 149 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 23:c5071bf93db1 150 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 151 }
kityann 0:daab5accfd83 152 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:daab5accfd83 153 send_Address = base_Address[SenderIDc - 'a'];
kityann 24:698d4e920d33 154
kityann 24:698d4e920d33 155 agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(),
kityann 23:c5071bf93db1 156 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 23:c5071bf93db1 157 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 24:698d4e920d33 158 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 159 }
kityann 0:daab5accfd83 160 //send normal data
kityann 23:c5071bf93db1 161
s1200058 32:6ba2e5402f00 162 /*
kityann 0:daab5accfd83 163 //debug***************************************************
kityann 0:daab5accfd83 164 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:daab5accfd83 165 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:daab5accfd83 166 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:daab5accfd83 167 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:daab5accfd83 168 );
kityann 0:daab5accfd83 169 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 0:daab5accfd83 170 printf("\n");
kityann 0:daab5accfd83 171 //debug end***************************************************
s1200058 32:6ba2e5402f00 172 */
kityann 0:daab5accfd83 173 //Select Destination
kityann 0:daab5accfd83 174 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:daab5accfd83 175 //Send -> Base
kityann 0:daab5accfd83 176 xbee.send(tx64request);
s1200058 20:eee8ac8d1788 177
kityann 0:daab5accfd83 178 }
kityann 0:daab5accfd83 179
kityann 0:daab5accfd83 180 /////////////////////////////////////////
kityann 0:daab5accfd83 181 //
kityann 0:daab5accfd83 182 //Get GPS function
kityann 0:daab5accfd83 183 //
kityann 0:daab5accfd83 184 /////////////////////////////////////////
kityann 0:daab5accfd83 185
kityann 0:daab5accfd83 186 void Get_GPS(Adafruit_GPS *myGPS){
s1200058 32:6ba2e5402f00 187 static int flag = 0;
kityann 0:daab5accfd83 188
kityann 0:daab5accfd83 189 if (myGPS->fix) {
s1200058 32:6ba2e5402f00 190
kityann 0:daab5accfd83 191 agz.nowStatus = GPS_AVAIL;
s1200058 32:6ba2e5402f00 192 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 0:daab5accfd83 193
s1200058 32:6ba2e5402f00 194 if(flag < COUNTER_MAX){
s1200058 32:6ba2e5402f00 195 flag++;
s1200058 32:6ba2e5402f00 196 }
s1200058 33:3025b16bccd2 197 if(flag == 5){
s1200058 32:6ba2e5402f00 198 x_prev = agz.get_agzPoint_lati();
s1200058 32:6ba2e5402f00 199 y_prev = agz.get_agzPoint_longi();
kityann 0:daab5accfd83 200 }
s1200058 32:6ba2e5402f00 201
s1200058 32:6ba2e5402f00 202 if(flag >= 6){
s1200058 35:3094c84a024b 203 if(abs(x_prev - agz.get_agzPoint_lati()) < ERROR_RANGE && abs(y_prev - agz.get_agzPoint_longi()) < ERROR_RANGE){
s1200058 34:9c3192c00e41 204 Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
s1200058 34:9c3192c00e41 205 change = 1;
s1200058 34:9c3192c00e41 206 }
s1200058 34:9c3192c00e41 207 else{
s1200058 34:9c3192c00e41 208 change = 0;
s1200058 34:9c3192c00e41 209 }
s1200058 34:9c3192c00e41 210 /* fp = fopen(filename, "w");
s1200058 34:9c3192c00e41 211 fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 34:9c3192c00e41 212 change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 34:9c3192c00e41 213 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 34:9c3192c00e41 214 agz.get_agzCov_lati(),agz.get_agzCov_longi());
s1200058 34:9c3192c00e41 215 */
s1200058 34:9c3192c00e41 216
s1200058 32:6ba2e5402f00 217 }
s1200058 33:3025b16bccd2 218
s1200058 33:3025b16bccd2 219 printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
s1200058 33:3025b16bccd2 220 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 33:3025b16bccd2 221 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 33:3025b16bccd2 222 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:daab5accfd83 223 }
kityann 0:daab5accfd83 224 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:daab5accfd83 225
kityann 0:daab5accfd83 226 }
s1200058 2:886fac7f4399 227
s1200058 2:886fac7f4399 228 /////////////////////////////////////////
s1200058 2:886fac7f4399 229 //
s1200058 2:886fac7f4399 230 //New Mode
s1200058 2:886fac7f4399 231 //
s1200058 2:886fac7f4399 232 /////////////////////////////////////////
s1200058 2:886fac7f4399 233
s1200058 2:886fac7f4399 234 void New_Mode(uint8_t *packetdata){
s1200058 2:886fac7f4399 235
s1200058 19:a806105ba365 236 //bool result;
s1200058 20:eee8ac8d1788 237 agz.changeMode(packetdata);
s1200058 2:886fac7f4399 238
s1200058 2:886fac7f4399 239 }
kityann 1:b2b950b916ce 240
kityann 1:b2b950b916ce 241 /////////////////////////////////////////
kityann 1:b2b950b916ce 242 //
kityann 1:b2b950b916ce 243 //Get Status
kityann 1:b2b950b916ce 244 //
kityann 1:b2b950b916ce 245 /////////////////////////////////////////
kityann 1:b2b950b916ce 246 void Get_Status(char SenderIDc,uint8_t *packetdata){
kityann 1:b2b950b916ce 247
kityann 1:b2b950b916ce 248 //マネージャからデータが来たとき
kityann 1:b2b950b916ce 249 if(SenderIDc == '0'){
kityann 1:b2b950b916ce 250 printf("get manager Status\n");
kityann 1:b2b950b916ce 251 }
kityann 1:b2b950b916ce 252 //他のロボットからデータが来たとき
kityann 1:b2b950b916ce 253 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 1:b2b950b916ce 254 printf("get other robots Status\n");
kityann 1:b2b950b916ce 255 }
kityann 1:b2b950b916ce 256 //基地局からデータが来たとき
kityann 1:b2b950b916ce 257 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 1:b2b950b916ce 258 printf("Get Base data\n");
kityann 1:b2b950b916ce 259 int id = SenderIDc - 'a';
kityann 1:b2b950b916ce 260 agz.reNewBasePoint(id,&packetdata[13],&packetdata[21]);
kityann 1:b2b950b916ce 261 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
kityann 1:b2b950b916ce 262
kityann 1:b2b950b916ce 263 //debug
kityann 1:b2b950b916ce 264 for(int i = 0;i < 4;i++){
kityann 1:b2b950b916ce 265 printf("BASE:%d\n",i);
kityann 1:b2b950b916ce 266 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n",
kityann 1:b2b950b916ce 267 agz.get_basePoint_lati(i),agz.get_basePoint_longi(i),
kityann 1:b2b950b916ce 268 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i)
kityann 1:b2b950b916ce 269 );
kityann 1:b2b950b916ce 270 }
kityann 1:b2b950b916ce 271 }
kityann 1:b2b950b916ce 272 }
kityann 1:b2b950b916ce 273
s1200058 2:886fac7f4399 274 void Get_Status_Kalman(char SenderIDc,uint8_t *packetdata){
s1200058 2:886fac7f4399 275
s1200058 2:886fac7f4399 276 //マネージャからデータが来たとき
s1200058 2:886fac7f4399 277 if(SenderIDc == '0'){
s1200058 2:886fac7f4399 278 printf("get manager Status Kalman\n");
s1200058 2:886fac7f4399 279 }
s1200058 2:886fac7f4399 280 //他のロボットからデータが来たとき
s1200058 2:886fac7f4399 281 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
s1200058 2:886fac7f4399 282 printf("get other robots Status Kalman\n");
s1200058 2:886fac7f4399 283 }
s1200058 2:886fac7f4399 284 //基地局からデータが来たとき
s1200058 2:886fac7f4399 285 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
s1200058 2:886fac7f4399 286 printf("Get Base data Kalman\n");
s1200058 2:886fac7f4399 287 int id = SenderIDc - 'a';
s1200058 2:886fac7f4399 288 agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]);
s1200058 2:886fac7f4399 289
s1200058 2:886fac7f4399 290 //debug
s1200058 2:886fac7f4399 291 for(int i = 0;i < 4;i++){
s1200058 2:886fac7f4399 292 printf("BASE:%d\n",i);
s1200058 2:886fac7f4399 293 printf("latitudeK:%f,longitudeK:%f\n",
s1200058 2:886fac7f4399 294 agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i));
s1200058 2:886fac7f4399 295 }
s1200058 2:886fac7f4399 296 }
s1200058 2:886fac7f4399 297 }
s1200058 2:886fac7f4399 298
kityann 1:b2b950b916ce 299 /////////////////////////////////////////
kityann 1:b2b950b916ce 300 //
kityann 1:b2b950b916ce 301 //Send_Request_to_base
kityann 1:b2b950b916ce 302 //
kityann 1:b2b950b916ce 303 /////////////////////////////////////////
kityann 1:b2b950b916ce 304 void Send_Request_Base(int basenumber){
kityann 1:b2b950b916ce 305 printf("send\n");
kityann 1:b2b950b916ce 306 agz.createRequestCommand(MyID, basenumber);
kityann 1:b2b950b916ce 307 //Select Destination
kityann 1:b2b950b916ce 308 ZBTxRequest tx64request(base_Address[basenumber],agz.packetData,agz.getPacketLength());
kityann 1:b2b950b916ce 309 //Send -> Base
kityann 1:b2b950b916ce 310 xbee.send(tx64request);
kityann 1:b2b950b916ce 311 }
kityann 0:daab5accfd83 312
s1200058 3:1ac506a96fd6 313 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 314 //
s1200058 3:1ac506a96fd6 315 //auto_Move
s1200058 3:1ac506a96fd6 316 //
s1200058 3:1ac506a96fd6 317 //InAreaかOutAreaの判定
s1200058 3:1ac506a96fd6 318 //Kalmanを通した値を出力(Baseと自分)
s1200058 3:1ac506a96fd6 319 /////////////////////////////////////////
s1200058 3:1ac506a96fd6 320
s1200058 3:1ac506a96fd6 321 void auto_Move(){
s1200058 3:1ac506a96fd6 322
s1200058 3:1ac506a96fd6 323 bool result;
s1200058 3:1ac506a96fd6 324 int i;
s1200058 3:1ac506a96fd6 325
s1200058 3:1ac506a96fd6 326 result = agz.gpsAuto();
s1200058 20:eee8ac8d1788 327 //agz.set_agzAutoGPS();
s1200058 20:eee8ac8d1788 328 //agz.set_agzKalmanGPS();
s1200058 3:1ac506a96fd6 329
s1200058 3:1ac506a96fd6 330 if(result == true){
s1200058 3:1ac506a96fd6 331 printf("Out Area\n");
s1200058 3:1ac506a96fd6 332 }
s1200058 3:1ac506a96fd6 333 else if(result == false){
s1200058 3:1ac506a96fd6 334 printf("In Area\n");
s1200058 3:1ac506a96fd6 335 }
s1200058 3:1ac506a96fd6 336 for(i = 0; i < 4; i++){
s1200058 3:1ac506a96fd6 337 printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i));
s1200058 3:1ac506a96fd6 338 }
s1200058 3:1ac506a96fd6 339 printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 3:1ac506a96fd6 340
s1200058 3:1ac506a96fd6 341 }
s1200058 3:1ac506a96fd6 342
s1200058 5:522c47c78401 343 void print_gps(int count){
s1200058 5:522c47c78401 344
s1200058 5:522c47c78401 345 printf("%d times:\n", count);
s1200058 5:522c47c78401 346 printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 5:522c47c78401 347
s1200058 5:522c47c78401 348 }
kityann 0:daab5accfd83 349
s1200058 32:6ba2e5402f00 350
kityann 0:daab5accfd83 351 /////////////////////////////////////////
kityann 0:daab5accfd83 352 //
kityann 0:daab5accfd83 353 //Kalman Processing
kityann 0:daab5accfd83 354 //
kityann 0:daab5accfd83 355 /////////////////////////////////////////
s1200058 32:6ba2e5402f00 356 void calc_Kalman(){
s1200058 32:6ba2e5402f00 357 //calc Kalman gain
s1200058 32:6ba2e5402f00 358 Kx = s2x_prev/(s2x_prev+s2_R);
s1200058 32:6ba2e5402f00 359 Ky = s2y_prev/(s2y_prev+s2_R);
s1200058 32:6ba2e5402f00 360 //estimate
s1200058 32:6ba2e5402f00 361 x_cur = x_prev + Kx*(zx-x_prev);
s1200058 32:6ba2e5402f00 362 y_cur = y_prev + Ky*(zy-y_prev);
s1200058 32:6ba2e5402f00 363 //calc sigma
s1200058 32:6ba2e5402f00 364 s2x_cur = s2x_prev-Kx*s2x_prev;
s1200058 32:6ba2e5402f00 365 s2y_cur = s2y_prev-Ky*s2y_prev;
kityann 0:daab5accfd83 366
kityann 0:daab5accfd83 367 }
kityann 0:daab5accfd83 368
s1200058 32:6ba2e5402f00 369 void Kalman(double Latitude,double Longitude){
s1200058 32:6ba2e5402f00 370
s1200058 32:6ba2e5402f00 371 zx = Latitude;
s1200058 32:6ba2e5402f00 372 zy = Longitude;
s1200058 32:6ba2e5402f00 373
s1200058 32:6ba2e5402f00 374 calc_Kalman();
kityann 0:daab5accfd83 375
s1200058 32:6ba2e5402f00 376 //更新
s1200058 32:6ba2e5402f00 377 x_prev = x_cur;
s1200058 32:6ba2e5402f00 378 y_prev = y_cur;
s1200058 32:6ba2e5402f00 379 s2x_prev = s2x_cur;
s1200058 32:6ba2e5402f00 380 s2y_prev = s2y_cur;
s1200058 25:ae5fab0946f2 381
s1200058 32:6ba2e5402f00 382 //agzPontKalmanとagzCovに格納する
s1200058 32:6ba2e5402f00 383 agz.set_agzPointKalman_lati(x_cur);
s1200058 32:6ba2e5402f00 384 agz.set_agzPointKalman_longi(y_cur);
s1200058 32:6ba2e5402f00 385 agz.set_agzCov(s2x_cur,s2y_cur);
kityann 0:daab5accfd83 386
kityann 0:daab5accfd83 387 }
kityann 0:daab5accfd83 388
kityann 0:daab5accfd83 389 /////////////////////////////////////////
kityann 0:daab5accfd83 390 //
kityann 0:daab5accfd83 391 //Main Processing
kityann 0:daab5accfd83 392 //
kityann 0:daab5accfd83 393 /////////////////////////////////////////
kityann 0:daab5accfd83 394 int main() {
kityann 0:daab5accfd83 395 //start up time
kityann 0:daab5accfd83 396 wait(3);
kityann 0:daab5accfd83 397 //set pc frequency to 57600bps
kityann 0:daab5accfd83 398 pc.baud(PC_BAUD_RATE);
kityann 0:daab5accfd83 399 //set xbee frequency to 57600bps
kityann 0:daab5accfd83 400 xbee.begin(XBEE_BAUD_RATE);
kityann 0:daab5accfd83 401
kityann 0:daab5accfd83 402
kityann 0:daab5accfd83 403 //GPS setting
kityann 0:daab5accfd83 404 gps_Serial = new Serial(p28,p27);
kityann 0:daab5accfd83 405 Adafruit_GPS myGPS(gps_Serial);
kityann 0:daab5accfd83 406 Timer refresh_Timer;
s1200058 7:a9a1acc7673b 407 const int refresh_Time = 1000; //refresh time in ms
s1200058 3:1ac506a96fd6 408 Timer auto_Timer;
s1200058 3:1ac506a96fd6 409 const int auto_Time = 2000; //refresh time in ms
s1200058 5:522c47c78401 410 int count = 0;
s1200058 29:524684a1198f 411
s1200058 29:524684a1198f 412 const int straight = 30000, turning = 34000, wait = 31000;
s1200058 29:524684a1198f 413
kityann 0:daab5accfd83 414 myGPS.begin(GPS_BAUD_RATE);
kityann 0:daab5accfd83 415
s1200058 14:5deb7a4f1cd4 416 Timer collect_Timer;
s1200058 14:5deb7a4f1cd4 417 const int collect_Time = 2000; //when we collect 4 GPS point, we use
s1200058 14:5deb7a4f1cd4 418 int collect_flag = 0;
s1200058 14:5deb7a4f1cd4 419
kityann 0:daab5accfd83 420 char SenderIDc;
kityann 0:daab5accfd83 421 //GPS Send Command
kityann 0:daab5accfd83 422 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:daab5accfd83 423 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:daab5accfd83 424 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:daab5accfd83 425
s1200058 29:524684a1198f 426 wait_ms(2000);
kityann 0:daab5accfd83 427
kityann 0:daab5accfd83 428 //interrupt start
kityann 0:daab5accfd83 429 refresh_Timer.start();
s1200058 3:1ac506a96fd6 430 auto_Timer.start();
s1200058 30:7f6ebe2121d9 431 agz.Move_Timer.start();
s1200058 16:a07350b3eb64 432 collect_Timer.start();
s1200058 29:524684a1198f 433 printf("start\n");
kityann 1:b2b950b916ce 434
kityann 0:daab5accfd83 435
kityann 0:daab5accfd83 436 while (true) {
kityann 0:daab5accfd83 437
kityann 0:daab5accfd83 438 //Check Xbee Buffer Available
kityann 0:daab5accfd83 439 xbee.readPacket();
kityann 0:daab5accfd83 440
kityann 0:daab5accfd83 441 if (xbee.getResponse().isAvailable()) {
kityann 0:daab5accfd83 442 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 443 uint8_t *buf = zbRx.getFrameData();
kityann 0:daab5accfd83 444
kityann 0:daab5accfd83 445 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:daab5accfd83 446 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:daab5accfd83 447 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:daab5accfd83 448 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:daab5accfd83 449 SenderIDc = buf1[5];//送信元のIDを取得する
s1200058 21:76e7f36df4a9 450 char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:daab5accfd83 451
kityann 0:daab5accfd83 452 //Check Command Type
kityann 0:daab5accfd83 453 switch(Command_type){
kityann 0:daab5accfd83 454 //Get Request command
s1200058 2:886fac7f4399 455 case MANUAL:{
s1200058 12:48ef69b4f0e4 456 Plus_Speed(buf);
s1200058 2:886fac7f4399 457 break;
s1200058 2:886fac7f4399 458 }
kityann 0:daab5accfd83 459 case STATUS_REQUEST:{
s1200058 21:76e7f36df4a9 460 Send_Status(SenderIDc);
s1200058 21:76e7f36df4a9 461 printf("%c\n", SenderIDc);
kityann 0:daab5accfd83 462 break;
kityann 0:daab5accfd83 463 }
s1200058 2:886fac7f4399 464 case CHANGE_MODE:{
s1200058 12:48ef69b4f0e4 465 New_Mode(buf);
s1200058 2:886fac7f4399 466 break;
s1200058 2:886fac7f4399 467 }
kityann 1:b2b950b916ce 468 case RECEIVE_STATUS:{
kityann 1:b2b950b916ce 469 Get_Status(SenderIDc,buf1);
kityann 1:b2b950b916ce 470 break;
kityann 1:b2b950b916ce 471 }
kityann 0:daab5accfd83 472 default:{
kityann 0:daab5accfd83 473 break;
kityann 0:daab5accfd83 474 }
kityann 0:daab5accfd83 475 }//endswitch
kityann 0:daab5accfd83 476 }//endifZB_RX_RESPONSE
kityann 0:daab5accfd83 477 }//endifisAvailable
kityann 0:daab5accfd83 478
kityann 0:daab5accfd83 479 myGPS.read();
kityann 0:daab5accfd83 480 //recive gps module
kityann 0:daab5accfd83 481 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:daab5accfd83 482 if ( myGPS.newNMEAreceived() ) {
kityann 0:daab5accfd83 483 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1200058 8:994c73f6fad9 484 continue;
s1200058 8:994c73f6fad9 485 }
s1200058 8:994c73f6fad9 486 else{
s1200058 5:522c47c78401 487 count++;
s1200058 8:994c73f6fad9 488 }
kityann 0:daab5accfd83 489 }
kityann 1:b2b950b916ce 490 //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 491 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:daab5accfd83 492 refresh_Timer.reset();
s1200058 12:48ef69b4f0e4 493 //print_gps(count);
kityann 0:daab5accfd83 494 Get_GPS(&myGPS);
kityann 0:daab5accfd83 495
kityann 0:daab5accfd83 496 }
s1200058 20:eee8ac8d1788 497
s1200058 20:eee8ac8d1788 498 //get base GPS
s1200058 14:5deb7a4f1cd4 499 if( collect_Timer.read_ms() >= collect_Time){
s1200058 15:f3d01f37f00d 500 collect_Timer.reset();
s1200058 15:f3d01f37f00d 501
s1200058 15:f3d01f37f00d 502 Send_Request_Base(collect_flag);
s1200058 14:5deb7a4f1cd4 503
s1200058 14:5deb7a4f1cd4 504 collect_flag++;
s1200058 14:5deb7a4f1cd4 505
s1200058 14:5deb7a4f1cd4 506 if(collect_flag == 4){
s1200058 14:5deb7a4f1cd4 507 collect_flag = 0;
s1200058 14:5deb7a4f1cd4 508 }
s1200058 14:5deb7a4f1cd4 509 }
s1200058 20:eee8ac8d1788 510
s1200058 14:5deb7a4f1cd4 511 if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 29:524684a1198f 512 auto_Timer.reset();
s1200058 29:524684a1198f 513 auto_Move();
s1200058 29:524684a1198f 514 }
s1200058 29:524684a1198f 515
s1200058 29:524684a1198f 516 if(agz.nowMode == AUTO_GPS_MODE){
s1200058 30:7f6ebe2121d9 517 if(agz.Move_Timer.read_ms() < straight){
s1200058 29:524684a1198f 518 agz.test_Auto(0); //straight
s1200058 29:524684a1198f 519 }
s1200058 30:7f6ebe2121d9 520 if(agz.Move_Timer.read_ms() > straight && agz.Move_Timer.read_ms() < wait){
s1200058 29:524684a1198f 521 agz.test_Auto(1);
s1200058 29:524684a1198f 522 }
s1200058 30:7f6ebe2121d9 523 if(agz.Move_Timer.read_ms() > wait && agz.Move_Timer.read_ms() < turning){
s1200058 29:524684a1198f 524 agz.test_Auto(2); //Turn Right
s1200058 29:524684a1198f 525 }
s1200058 30:7f6ebe2121d9 526 if(agz.Move_Timer.read_ms() > turning){
s1200058 29:524684a1198f 527 agz.test_Auto(3);
s1200058 29:524684a1198f 528 wait_ms(200);
s1200058 30:7f6ebe2121d9 529 agz.Move_Timer.reset();
kityann 1:b2b950b916ce 530 }
kityann 0:daab5accfd83 531 }
s1200058 29:524684a1198f 532 }
s1200058 34:9c3192c00e41 533
kityann 0:daab5accfd83 534 }