ver2
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of aigamozu_auto_ver1 by
main.cpp@5:45e5e9e3dff3, 2015-04-20 (annotated)
- Committer:
- kityann
- Date:
- Mon Apr 20 10:38:55 2015 +0000
- Revision:
- 5:45e5e9e3dff3
- Parent:
- 4:dc2babaa1f61
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kityann | 0:d8f3aa3b6876 | 1 | /**********************************************/ |
kityann | 0:d8f3aa3b6876 | 2 | // |
kityann | 0:d8f3aa3b6876 | 3 | // |
kityann | 0:d8f3aa3b6876 | 4 | // |
kityann | 0:d8f3aa3b6876 | 5 | // Program name: Aigamozu Robot Control |
kityann | 0:d8f3aa3b6876 | 6 | // Author: Atsunori Maruyama |
kityann | 0:d8f3aa3b6876 | 7 | // Ver -> 1.3 |
kityann | 0:d8f3aa3b6876 | 8 | // Day -> 2014/06/09 |
kityann | 0:d8f3aa3b6876 | 9 | // |
kityann | 0:d8f3aa3b6876 | 10 | // |
kityann | 0:d8f3aa3b6876 | 11 | /**********************************************/ |
kityann | 0:d8f3aa3b6876 | 12 | |
kityann | 0:d8f3aa3b6876 | 13 | #include "mbed.h" |
kityann | 0:d8f3aa3b6876 | 14 | #include "XBee.h" |
kityann | 0:d8f3aa3b6876 | 15 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:d8f3aa3b6876 | 16 | #include "AigamozuControlPackets.h" |
kityann | 0:d8f3aa3b6876 | 17 | #include "agzIDLIST.h" |
kityann | 0:d8f3aa3b6876 | 18 | #include "aigamozuSetting.h" |
kityann | 1:a5f98c7e1feb | 19 | #include "agz_common.h" |
kityann | 4:dc2babaa1f61 | 20 | #include "Kalman.h" |
kityann | 0:d8f3aa3b6876 | 21 | |
kityann | 0:d8f3aa3b6876 | 22 | ///////////////////////////////////////// |
kityann | 0:d8f3aa3b6876 | 23 | // |
kityann | 0:d8f3aa3b6876 | 24 | //Connection Setting |
kityann | 0:d8f3aa3b6876 | 25 | // |
kityann | 0:d8f3aa3b6876 | 26 | ///////////////////////////////////////// |
kityann | 0:d8f3aa3b6876 | 27 | |
kityann | 0:d8f3aa3b6876 | 28 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:d8f3aa3b6876 | 29 | Serial pc(USBTX, USBRX); |
kityann | 0:d8f3aa3b6876 | 30 | |
kityann | 0:d8f3aa3b6876 | 31 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:d8f3aa3b6876 | 32 | Serial * gps_Serial; |
kityann | 0:d8f3aa3b6876 | 33 | |
kityann | 0:d8f3aa3b6876 | 34 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:d8f3aa3b6876 | 35 | XBee xbee(p13,p14); |
kityann | 0:d8f3aa3b6876 | 36 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 1:a5f98c7e1feb | 37 | XBeeAddress64 remoteAddress = XBeeAddress64(BASE1_32H,BASE1_32L); |
kityann | 0:d8f3aa3b6876 | 38 | |
kityann | 1:a5f98c7e1feb | 39 | AGZ_ROBOT robot[4]; |
kityann | 0:d8f3aa3b6876 | 40 | |
kityann | 0:d8f3aa3b6876 | 41 | ///////////////////////////////////////// |
kityann | 0:d8f3aa3b6876 | 42 | // |
kityann | 0:d8f3aa3b6876 | 43 | //Pin Setting |
kityann | 0:d8f3aa3b6876 | 44 | // |
kityann | 0:d8f3aa3b6876 | 45 | ///////////////////////////////////////// |
kityann | 0:d8f3aa3b6876 | 46 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:d8f3aa3b6876 | 47 | |
kityann | 4:dc2babaa1f61 | 48 | |
kityann | 4:dc2babaa1f61 | 49 | |
kityann | 4:dc2babaa1f61 | 50 | ///////////////////////////////////////// |
kityann | 4:dc2babaa1f61 | 51 | // |
kityann | 4:dc2babaa1f61 | 52 | //Kalman Processing |
kityann | 4:dc2babaa1f61 | 53 | // |
kityann | 4:dc2babaa1f61 | 54 | ///////////////////////////////////////// |
kityann | 4:dc2babaa1f61 | 55 | |
kityann | 4:dc2babaa1f61 | 56 | |
kityann | 4:dc2babaa1f61 | 57 | double sigmaGPS[2][2] = {{250,0},{0,250}}; |
kityann | 4:dc2babaa1f61 | 58 | double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}}; |
kityann | 4:dc2babaa1f61 | 59 | double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}}; |
kityann | 4:dc2babaa1f61 | 60 | double y[2],x[2][2]; |
kityann | 4:dc2babaa1f61 | 61 | |
kityann | 4:dc2babaa1f61 | 62 | void get_K(){ |
kityann | 5:45e5e9e3dff3 | 63 | double temp[2][2]={ |
kityann | 5:45e5e9e3dff3 | 64 | {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][1][0]+sigmaGPS[1][0]}, |
kityann | 5:45e5e9e3dff3 | 65 | {sigma[0][0][1]+sigmaGPS[0][1],sigma[0][1][1]+sigmaGPS[1][1]} |
kityann | 5:45e5e9e3dff3 | 66 | }; |
kityann | 5:45e5e9e3dff3 | 67 | double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1]; |
kityann | 5:45e5e9e3dff3 | 68 | K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[0][0])+sigma[0][1][0]*(1/ad_bc)*(temp[0][1]); |
kityann | 5:45e5e9e3dff3 | 69 | K[1][1][1] = sigma[0][0][1]*(1/ad_bc)*(temp[1][0])+sigma[0][1][1]*(1/ad_bc)*(temp[1][1]); |
kityann | 4:dc2babaa1f61 | 70 | } |
kityann | 4:dc2babaa1f61 | 71 | |
kityann | 5:45e5e9e3dff3 | 72 | |
kityann | 4:dc2babaa1f61 | 73 | void get_x(){ |
kityann | 5:45e5e9e3dff3 | 74 | x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0])+K[1][1][0]*(y[0]-x[0][0]); |
kityann | 5:45e5e9e3dff3 | 75 | x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1])+K[1][0][1]*(y[1]-x[1][1]); |
kityann | 4:dc2babaa1f61 | 76 | } |
kityann | 4:dc2babaa1f61 | 77 | |
kityann | 5:45e5e9e3dff3 | 78 | |
kityann | 4:dc2babaa1f61 | 79 | void get_sigma(){ |
kityann | 4:dc2babaa1f61 | 80 | double temp[2][2]; |
kityann | 4:dc2babaa1f61 | 81 | for(int i=0;i<2;i++) { |
kityann | 4:dc2babaa1f61 | 82 | for(int j=0;j<2;j++) { |
kityann | 4:dc2babaa1f61 | 83 | for(int k=0;k<2;k++) { |
kityann | 4:dc2babaa1f61 | 84 | temp[i][j]+=K[1][i][k]*sigma[0][k][j]; |
kityann | 4:dc2babaa1f61 | 85 | } |
kityann | 4:dc2babaa1f61 | 86 | } |
kityann | 4:dc2babaa1f61 | 87 | } |
kityann | 4:dc2babaa1f61 | 88 | for(int i = 0;i < 2;i++){ |
kityann | 4:dc2babaa1f61 | 89 | for(int j = 0;j < 2;j++){ |
kityann | 4:dc2babaa1f61 | 90 | sigma[1][i][j] = sigma[0][i][j]-temp[i][j]; |
kityann | 4:dc2babaa1f61 | 91 | } |
kityann | 4:dc2babaa1f61 | 92 | } |
kityann | 4:dc2babaa1f61 | 93 | } |
kityann | 4:dc2babaa1f61 | 94 | |
kityann | 4:dc2babaa1f61 | 95 | void Kalman(double Latitude,double Longitude){ |
kityann | 4:dc2babaa1f61 | 96 | y[0] = Latitude; |
kityann | 4:dc2babaa1f61 | 97 | y[1] = Longitude; |
kityann | 4:dc2babaa1f61 | 98 | //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS]; |
kityann | 4:dc2babaa1f61 | 99 | get_K(); |
kityann | 4:dc2babaa1f61 | 100 | //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]); |
kityann | 4:dc2babaa1f61 | 101 | get_x(); |
kityann | 4:dc2babaa1f61 | 102 | //sigma[t+1] = sigma[t]-K[t+1]*sigma[t]; |
kityann | 4:dc2babaa1f61 | 103 | get_sigma(); |
kityann | 4:dc2babaa1f61 | 104 | } |
kityann | 4:dc2babaa1f61 | 105 | |
kityann | 4:dc2babaa1f61 | 106 | |
kityann | 0:d8f3aa3b6876 | 107 | ///////////////////////////////////////// |
kityann | 0:d8f3aa3b6876 | 108 | // |
kityann | 0:d8f3aa3b6876 | 109 | //Main Processing |
kityann | 0:d8f3aa3b6876 | 110 | // |
kityann | 0:d8f3aa3b6876 | 111 | ///////////////////////////////////////// |
kityann | 0:d8f3aa3b6876 | 112 | int main() { |
kityann | 0:d8f3aa3b6876 | 113 | //start up time |
kityann | 0:d8f3aa3b6876 | 114 | wait(3); |
kityann | 0:d8f3aa3b6876 | 115 | //set pc frequency to 57600bps |
kityann | 0:d8f3aa3b6876 | 116 | pc.baud(PC_BAUD_RATE); |
kityann | 0:d8f3aa3b6876 | 117 | //set xbee frequency to 57600bps |
kityann | 0:d8f3aa3b6876 | 118 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:d8f3aa3b6876 | 119 | |
kityann | 0:d8f3aa3b6876 | 120 | //GPS setting |
kityann | 0:d8f3aa3b6876 | 121 | gps_Serial = new Serial(p28,p27); |
kityann | 0:d8f3aa3b6876 | 122 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:d8f3aa3b6876 | 123 | Timer refresh_Timer; |
kityann | 0:d8f3aa3b6876 | 124 | const int refresh_Time = 2000; //refresh time in ms |
kityann | 0:d8f3aa3b6876 | 125 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:d8f3aa3b6876 | 126 | |
kityann | 1:a5f98c7e1feb | 127 | Timer collect_Timer; |
kityann | 1:a5f98c7e1feb | 128 | const int collect_Time = 200; //when we collect 4 GPS point, we use |
kityann | 1:a5f98c7e1feb | 129 | int collect_flag = 0; |
kityann | 1:a5f98c7e1feb | 130 | char collect_state = 'a'; |
kityann | 1:a5f98c7e1feb | 131 | XBeeAddress64 collect_Address[4] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L), |
kityann | 1:a5f98c7e1feb | 132 | XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L)}; |
kityann | 1:a5f98c7e1feb | 133 | XBeeAddress64 robot_Address = XBeeAddress64(ROBOT1_32H, ROBOT1_32L); |
kityann | 1:a5f98c7e1feb | 134 | int id; |
kityann | 4:dc2babaa1f61 | 135 | bool flag = true; |
kityann | 1:a5f98c7e1feb | 136 | |
kityann | 0:d8f3aa3b6876 | 137 | //GPS Send Command |
kityann | 0:d8f3aa3b6876 | 138 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:d8f3aa3b6876 | 139 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:d8f3aa3b6876 | 140 | myGPS.sendCommand(PGCMD_ANTENNA); |
kityann | 0:d8f3aa3b6876 | 141 | |
kityann | 0:d8f3aa3b6876 | 142 | wait(2); |
kityann | 0:d8f3aa3b6876 | 143 | |
kityann | 0:d8f3aa3b6876 | 144 | //interrupt start |
kityann | 0:d8f3aa3b6876 | 145 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:d8f3aa3b6876 | 146 | refresh_Timer.start(); |
kityann | 0:d8f3aa3b6876 | 147 | |
kityann | 1:a5f98c7e1feb | 148 | printf("test\n"); |
kityann | 1:a5f98c7e1feb | 149 | |
kityann | 0:d8f3aa3b6876 | 150 | |
kityann | 0:d8f3aa3b6876 | 151 | while (true) { |
kityann | 1:a5f98c7e1feb | 152 | |
kityann | 0:d8f3aa3b6876 | 153 | //Check Xbee Buffer Available |
kityann | 0:d8f3aa3b6876 | 154 | xbee.readPacket(); |
kityann | 0:d8f3aa3b6876 | 155 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:d8f3aa3b6876 | 156 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:d8f3aa3b6876 | 157 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 1:a5f98c7e1feb | 158 | uint8_t *buf = zbRx.getFrameData(); |
kityann | 1:a5f98c7e1feb | 159 | uint8_t *buf1 = &buf[11]; |
kityann | 1:a5f98c7e1feb | 160 | |
kityann | 0:d8f3aa3b6876 | 161 | |
kityann | 0:d8f3aa3b6876 | 162 | //Check Command Type |
kityann | 0:d8f3aa3b6876 | 163 | switch(agz.checkCommnadType(buf)){ |
kityann | 0:d8f3aa3b6876 | 164 | |
kityann | 0:d8f3aa3b6876 | 165 | //CommandType -> ChanegeMode |
kityann | 0:d8f3aa3b6876 | 166 | case CHANGE_MODE :{ |
kityann | 0:d8f3aa3b6876 | 167 | agz.changeMode(buf); |
kityann | 0:d8f3aa3b6876 | 168 | break; |
kityann | 0:d8f3aa3b6876 | 169 | } |
kityann | 0:d8f3aa3b6876 | 170 | |
kityann | 0:d8f3aa3b6876 | 171 | //CommandType -> Manual |
kityann | 0:d8f3aa3b6876 | 172 | case MANUAL:{ |
kityann | 0:d8f3aa3b6876 | 173 | //Check now Mode |
kityann | 0:d8f3aa3b6876 | 174 | if(agz.nowMode == MANUAL_MODE){ |
kityann | 0:d8f3aa3b6876 | 175 | agz.changeSpeed(buf); |
kityann | 0:d8f3aa3b6876 | 176 | } |
kityann | 0:d8f3aa3b6876 | 177 | break; |
kityann | 0:d8f3aa3b6876 | 178 | } |
kityann | 0:d8f3aa3b6876 | 179 | |
kityann | 0:d8f3aa3b6876 | 180 | //CommandType -> Send Status |
kityann | 0:d8f3aa3b6876 | 181 | case STATUS_REQUEST:{ |
kityann | 5:45e5e9e3dff3 | 182 | //send normal data |
kityann | 0:d8f3aa3b6876 | 183 | //Create GPS Infomation Packet |
kityann | 5:45e5e9e3dff3 | 184 | agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); |
kityann | 0:d8f3aa3b6876 | 185 | //Select Destination |
kityann | 5:45e5e9e3dff3 | 186 | ZBTxRequest tx64request(robot_Address,agz.packetData,agz.getPacketLength()); |
kityann | 5:45e5e9e3dff3 | 187 | //Send -> Base |
kityann | 5:45e5e9e3dff3 | 188 | xbee.send(tx64request); |
kityann | 5:45e5e9e3dff3 | 189 | |
kityann | 5:45e5e9e3dff3 | 190 | //send Kalman data |
kityann | 5:45e5e9e3dff3 | 191 | agz.createReceiveStatusCommandwithKalman('B','a',myGPS.longitudeKH,myGPS.longitudeKL,myGPS.latitudeKH,myGPS.latitudeKL); |
kityann | 5:45e5e9e3dff3 | 192 | //Select Destination |
kityann | 5:45e5e9e3dff3 | 193 | ZBTxRequest tx64request1(robot_Address,agz.packetData,agz.getPacketLength()); |
kityann | 0:d8f3aa3b6876 | 194 | //Send -> Base |
kityann | 0:d8f3aa3b6876 | 195 | xbee.send(tx64request); |
kityann | 0:d8f3aa3b6876 | 196 | break; |
kityann | 0:d8f3aa3b6876 | 197 | |
kityann | 0:d8f3aa3b6876 | 198 | } |
kityann | 1:a5f98c7e1feb | 199 | |
kityann | 1:a5f98c7e1feb | 200 | case RECEIVE_STATUS:{ |
kityann | 1:a5f98c7e1feb | 201 | |
s1200058 | 3:7affc8af6db6 | 202 | //printf("Receive Status\n"); |
kityann | 1:a5f98c7e1feb | 203 | |
kityann | 2:e9a8664b52ff | 204 | id = buf1[5] - 'A'; |
kityann | 1:a5f98c7e1feb | 205 | robot[id].set_state(buf1[9]); |
kityann | 1:a5f98c7e1feb | 206 | robot[id].set_LatitudeH(&buf1[13]); |
kityann | 1:a5f98c7e1feb | 207 | robot[id].set_LatitudeL(&buf1[17]); |
kityann | 1:a5f98c7e1feb | 208 | robot[id].set_LongitudeH(&buf1[21]); |
kityann | 4:dc2babaa1f61 | 209 | robot[id].set_LongitudeL(&buf1[25]); |
kityann | 2:e9a8664b52ff | 210 | |
kityann | 2:e9a8664b52ff | 211 | agz.reNewBasePoint(id,robot[id].get_LatitudeH(),robot[id].get_LatitudeL(),robot[id].get_LongitudeH(),robot[id].get_LongitudeL()); |
s1200058 | 3:7affc8af6db6 | 212 | /* |
s1200058 | 3:7affc8af6db6 | 213 | printf("%d,", buf1[5]); |
s1200058 | 3:7affc8af6db6 | 214 | printf(" %ld, %ld, %ld, %ld\n", robot[id].get_LatitudeH(), robot[id].get_LatitudeL(), robot[id].get_LongitudeH(), robot[id].get_LongitudeL()); |
s1200058 | 3:7affc8af6db6 | 215 | */ |
kityann | 1:a5f98c7e1feb | 216 | break; |
kityann | 1:a5f98c7e1feb | 217 | } |
kityann | 5:45e5e9e3dff3 | 218 | case RECEIVE_KALMAN:{ |
kityann | 5:45e5e9e3dff3 | 219 | id = buf1[5] - 'A'; |
kityann | 5:45e5e9e3dff3 | 220 | robot[id].set_state(buf1[9]); |
kityann | 5:45e5e9e3dff3 | 221 | robot[id].set_LatitudeKH(&buf1[13]); |
kityann | 5:45e5e9e3dff3 | 222 | robot[id].set_LatitudeKL(&buf1[17]); |
kityann | 5:45e5e9e3dff3 | 223 | robot[id].set_LongitudeKH(&buf1[21]); |
kityann | 5:45e5e9e3dff3 | 224 | robot[id].set_LongitudeKL(&buf1[25]); |
kityann | 5:45e5e9e3dff3 | 225 | |
kityann | 5:45e5e9e3dff3 | 226 | agz.reNewBasePointKalman(id,robot[id].get_LatitudeKH(),robot[id].get_LatitudeKL(),robot[id].get_LongitudeKH(),robot[id].get_LongitudeKL()); |
kityann | 5:45e5e9e3dff3 | 227 | |
kityann | 5:45e5e9e3dff3 | 228 | break; |
kityann | 5:45e5e9e3dff3 | 229 | } |
kityann | 1:a5f98c7e1feb | 230 | default:{ |
kityann | 0:d8f3aa3b6876 | 231 | break; |
kityann | 0:d8f3aa3b6876 | 232 | } |
kityann | 0:d8f3aa3b6876 | 233 | } |
kityann | 1:a5f98c7e1feb | 234 | |
kityann | 1:a5f98c7e1feb | 235 | |
kityann | 1:a5f98c7e1feb | 236 | } |
kityann | 0:d8f3aa3b6876 | 237 | } |
kityann | 1:a5f98c7e1feb | 238 | |
kityann | 0:d8f3aa3b6876 | 239 | |
kityann | 0:d8f3aa3b6876 | 240 | myGPS.read(); |
kityann | 0:d8f3aa3b6876 | 241 | //recive gps module |
kityann | 0:d8f3aa3b6876 | 242 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:d8f3aa3b6876 | 243 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:d8f3aa3b6876 | 244 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
kityann | 0:d8f3aa3b6876 | 245 | continue; |
kityann | 0:d8f3aa3b6876 | 246 | } |
kityann | 0:d8f3aa3b6876 | 247 | } |
kityann | 0:d8f3aa3b6876 | 248 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:d8f3aa3b6876 | 249 | refresh_Timer.reset(); |
kityann | 0:d8f3aa3b6876 | 250 | if (myGPS.fix) { |
kityann | 0:d8f3aa3b6876 | 251 | agz.nowStatus = GPS_AVAIL; |
kityann | 4:dc2babaa1f61 | 252 | |
kityann | 4:dc2babaa1f61 | 253 | if(flag){ |
kityann | 4:dc2babaa1f61 | 254 | if(myGPS.longitudeH!=0 || myGPS.latitudeH!=0){ |
kityann | 4:dc2babaa1f61 | 255 | flag = false; |
kityann | 4:dc2babaa1f61 | 256 | x[0][0]=(double)myGPS.longitudeL; |
kityann | 4:dc2babaa1f61 | 257 | x[0][1]=(double)myGPS.latitudeL; |
kityann | 4:dc2babaa1f61 | 258 | } |
kityann | 4:dc2babaa1f61 | 259 | } |
kityann | 4:dc2babaa1f61 | 260 | //Kalman Filter |
kityann | 4:dc2babaa1f61 | 261 | Kalman(myGPS.longitudeL,myGPS.latitudeL); |
kityann | 4:dc2babaa1f61 | 262 | //kousinn |
kityann | 4:dc2babaa1f61 | 263 | for(int i = 0;i < 2;i++){ |
kityann | 4:dc2babaa1f61 | 264 | for(int j = 0;j < 2;j++){ |
kityann | 4:dc2babaa1f61 | 265 | K[0][i][j]=K[1][i][j]; |
kityann | 4:dc2babaa1f61 | 266 | x[0][i]=x[1][i]; |
kityann | 4:dc2babaa1f61 | 267 | sigma[0][i][j]=sigma[1][i][j]; |
kityann | 4:dc2babaa1f61 | 268 | } |
kityann | 4:dc2babaa1f61 | 269 | } |
kityann | 5:45e5e9e3dff3 | 270 | myGPS.longitudeKH=myGPS.longitudeH;//longitude after filtering |
kityann | 5:45e5e9e3dff3 | 271 | myGPS.latitudeKH=myGPS.latitudeH;//latitude after filtering |
kityann | 5:45e5e9e3dff3 | 272 | myGPS.longitudeKL=(long)x[1][0];//longitude after filtering |
kityann | 5:45e5e9e3dff3 | 273 | myGPS.latitudeKL=(long)x[1][1];//latitude after filtering |
kityann | 4:dc2babaa1f61 | 274 | |
kityann | 2:e9a8664b52ff | 275 | agz.reNewRobotPoint(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); |
kityann | 5:45e5e9e3dff3 | 276 | agz.reNewRobotPointKalman(myGPS.longitudeKH,myGPS.longitudeKL,myGPS.latitudeKH,myGPS.latitudeKL); |
s1200058 | 3:7affc8af6db6 | 277 | //printf("state = %d\n",agz.nowMode); |
s1200058 | 3:7affc8af6db6 | 278 | //printf("my %ld, %ld, %ld, %ld\n", myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); |
kityann | 0:d8f3aa3b6876 | 279 | } |
kityann | 0:d8f3aa3b6876 | 280 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 1:a5f98c7e1feb | 281 | |
kityann | 0:d8f3aa3b6876 | 282 | } |
kityann | 0:d8f3aa3b6876 | 283 | |
kityann | 4:dc2babaa1f61 | 284 | |
kityann | 1:a5f98c7e1feb | 285 | //get base GPS |
kityann | 1:a5f98c7e1feb | 286 | if( collect_Timer.read_ms() >= collect_Time){ |
kityann | 1:a5f98c7e1feb | 287 | collect_Timer.reset(); |
kityann | 0:d8f3aa3b6876 | 288 | |
s1200058 | 3:7affc8af6db6 | 289 | //printf("Send Request:%d,%d\n",collect_flag,collect_state); |
kityann | 1:a5f98c7e1feb | 290 | |
kityann | 1:a5f98c7e1feb | 291 | agz.createRequestCommand('A', collect_state); |
kityann | 1:a5f98c7e1feb | 292 | //Select Destination |
kityann | 1:a5f98c7e1feb | 293 | ZBTxRequest tx64request(collect_Address[collect_flag],agz.packetData,agz.getPacketLength()); |
kityann | 1:a5f98c7e1feb | 294 | //Send -> Base |
kityann | 1:a5f98c7e1feb | 295 | xbee.send(tx64request); |
kityann | 1:a5f98c7e1feb | 296 | |
kityann | 1:a5f98c7e1feb | 297 | collect_flag++; |
kityann | 1:a5f98c7e1feb | 298 | collect_state++; |
kityann | 1:a5f98c7e1feb | 299 | |
kityann | 1:a5f98c7e1feb | 300 | if(collect_flag == 4){ |
kityann | 1:a5f98c7e1feb | 301 | collect_state = 'a'; |
kityann | 1:a5f98c7e1feb | 302 | collect_flag = 0; |
kityann | 1:a5f98c7e1feb | 303 | } |
kityann | 1:a5f98c7e1feb | 304 | } |
kityann | 1:a5f98c7e1feb | 305 | } |
kityann | 0:d8f3aa3b6876 | 306 | } |