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itgt_ver3.py
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itgt_ver3.py
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# -*- coding: utf-8 -*-
import serial
import threading
import math
import time
import pigpio
import os
import mpu9250_1
import numpy as np
pin_sb = 22
gpio_pin0 = 12
in1 = 27
in2 = 17
led1 = 25
led2 = 24
led3 = 23
led4 = 18
end = 21
PTC1 = 6
x_angle = 0.0
speed = 0.0
pi = 3.1415926535
goal_latitude = 40.8800316667 #ゴールの緯度（10進法，南緯は負の数）
goal_longitude = -119.121565 #ゴールの経度（10進法，西経は負の数）
radius = 6378.137 #地球の半径km
dist_cnt = 0
mpu = mpu9250_1.SL_MPU9250(0x68,1)
mpu.resetRegister()
mpu.powerWakeUp()
mpu.setAccelRange(8,True)
mpu.setGyroRange(1000,True)
mpu.setMagRegister('1000Hz','16bit')
pi = pigpio.pi()
pi.set_mode(gpio_pin0, pigpio.OUTPUT)
pi.set_mode(pin_sb, pigpio.OUTPUT)
pi.set_mode(in1, pigpio.OUTPUT)
pi.set_mode(in2, pigpio.OUTPUT)
pi.set_mode(led1, pigpio.OUTPUT)
pi.set_mode(led2, pigpio.OUTPUT)
pi.set_mode(led3, pigpio.OUTPUT)
pi.set_mode(led4, pigpio.OUTPUT)
pi.set_mode(PTC1, pigpio.OUTPUT)
pi.set_mode(end, pigpio.INPUT)
pi.set_pull_up_down(end, pigpio.PUD_UP)
pi.set_PWM_frequency(pin_sb, 800)
pi.set_PWM_range(pin_sb, 255)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.set_PWM_frequency(gpio_pin0, 50)
pi.set_PWM_range(gpio_pin0, 255)
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
#pi.hardware_PWM(gpio_pin0, 50,( 0.15/20.0) * 1000000)
pi.write(in1, 0)
pi.write(in2, 0)
pi.write(led1, 1)
pi.write(led2, 0)
pi.write(led3, 0)
pi.write(led4, 0)
pi.write(PTC1 ,0)
s = serial.Serial('/dev/serial0', 38400, timeout=10)
s.write("serial ok!\r\n")
x_angle = 0
gps_tf = False
f = open('test2.txt','a')
f.write("ok\r\n")
f.close()
class MCP3002:
def __init__(self):
pi = pigpio.pi()
self.h = pi.spi_open(0, 75000, 0)
def get_ADC(self):
c, d =pi.spi_xfer(self.h,[0x68,0x00])
return (d[0]<<8)+d[1]
adc = MCP3002()
def cal_gps(radius, goal_latitude, goal_longitude, now_lat, now_lon):
#度をラジアンに変換
delta_lon = math.radians(goal_longitude - now_lon)
now_lat = math.radians(now_lat)
now_lon = math.radians(now_lon)
goal_latitude = math.radians(goal_latitude)
goal_longitude = math.radians(goal_longitude)
#距離方位角計算 https://keisan.casio.jp/exec/system/1257670779
dist = radius * math.acos(math.sin(goal_latitude)*math.sin(now_lat) + math.cos(goal_latitude)*math.cos(now_lat)*math.cos(delta_lon))
azi = (180.0/3.1415926535)*math.atan2(math.sin(delta_lon), math.cos(now_lat)*math.tan(goal_latitude) - math.sin(now_lat)*math.cos(delta_lon))
if azi < 0:
azi = azi + 360.0
return dist, azi
def get_gps():
global gps_time, lat, lon, speed, dir, dist, azi,sentence,gps_tf
s.readline()
try:
while True:
sentence = s.readline()
if sentence[0] != '$' or sentence[1] != 'G' or sentence[2] != 'P' or sentence[3] != 'R' or sentence[4] != 'M' or sentence[5] != 'C':
gps_tf = False
continue
#時間
h = int(sentence[7]+sentence[8]) + 9
if h > 23:
h - 24
gps_time = str(h)+sentence[9]+sentence[10]+sentence[11]+sentence[12]+sentence[13]+sentence[14]+sentence[15]+sentence[16]
#緯度経度
lat = float(sentence[20]+sentence[21]) + float(sentence[22]+sentence[23]+sentence[24]+sentence[25]+sentence[26]+sentence[27]+sentence[28])/60.0
lon = float(sentence[32]+sentence[33]+sentence[34]) + float(sentence[35]+sentence[36]+sentence[37]+sentence[38]+sentence[39]+sentence[40]+sentence[41])/60.0
if sentence[43] == 'W':
lon = 0.0 - lon
#速度
speed = float(sentence[45]+sentence[46]+sentence[47]+sentence[48]) * 1.852
#方位
if sentence[54] == ',':
dir = sentence[50]+sentence[51]+sentence[52]+sentence[53]
elif sentence[55] == ',':
dir = sentence[50]+sentence[51]+sentence[52]+sentence[53]+sentence[54]
else :
dir = sentence[50]+sentence[51]+sentence[52]+sentence[53]+sentence[54]+sentence[55]
#計算
dist, azi = cal_gps(radius, goal_latitude, goal_longitude, lat, lon)
gps_tf = True
#エラー
#except KeyboardInterrupt:
except ValueError:
print("ValueError")
gps_tf = False
get_gps()
gpsthread = threading.Thread(target=get_gps, args=()) # 上の関数を実行するスレッドを生成
gpsthread.daemon = True
gpsthread.start() # スレッドを起動
def get_axis():
global x_angle
while True:
i = 0
data_accx = [0]
data_accy = [0]
data_accz = [0]
while True:
now=time.time()
acc=mpu.getAccel()
data_accx.append(acc[0])
data_accy.append(acc[1])
data_accz.append(acc[2])
if i == 10:
medianx = np.median(data_accx)
mediany = np.median(data_accy)
medianz = np.median(data_accz)
break
i = i + 1
sleepTime = 0.05 - (time.time() - now)
if sleepTime < 0.0:
continue
time.sleep(sleepTime)
#gyr = mpu.getGyro()
#mag = mpu.getMag()
#x_angle = math.degrees( math.atan2( acc[0], math.sqrt(acc[1] ** 2 + acc[2] ** 2 )))
#y_angle = math.degrees( math.atan2( acc[1], math.sqrt(acc[0] ** 2 + acc[2] ** 2 )))
x_angle = math.degrees( math.atan2( medianx, math.sqrt(mediany ** 2 + medianz ** 2 )))
if medianz>0:
x_angle = (90-x_angle) + 90
y_angle = math.degrees( math.atan2( mediany, math.sqrt(medianx ** 2 + medianz ** 2 )))
# print('x:'+ str(x_angle))
# print('y:'+ str(y_angle))
# print('s:'+ str(sita))
# print ('%+8.7f,%+8.7f,%+8.7f' % (mag[0],mag[1],mag[2]))
# time.sleep(1.0)
mputhread = threading.Thread(target=get_axis, args=()) # 上の関数を実行するスレッドを生成
mputhread.daemon = True
mputhread.start() # スレッドを起動
def cb_interrupt(gpio, level, tick):
print('THE END')
s.write("THE END\r\n")
print((gpio, level, tick))
f.close()
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(led1, 0)
pi.write(led2, 0)
pi.write(led3, 0)
pi.write(led3, 0)
os._exit(1)
def abareru(mode,servo):
if servo == 1:
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
elif servo == 2:
pi.set_PWM_dutycycle(gpio_pin0, (1.7/20)*255)
elif servo == 3:
pi.set_PWM_dutycycle(gpio_pin0, (1.9/20)*255)
if mode == 0:
print "2sec"
pi.write(in1, 0)
pi.write(in2, 1)
pi.set_PWM_dutycycle(pin_sb, 250)
time.sleep(2.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 1)
pi.write(in2, 1)
#time.sleep(1.0)
pi.write(in1, 1)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 250)
time.sleep(2.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 0)
pi.write(in2, 0)
#time.sleep(1.0)
if mode == 1:
print "140"
pi.write(in1, 0)
pi.write(in2, 1)
pi.set_PWM_dutycycle(pin_sb, 170)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 1)
pi.write(in2, 1)
#time.sleep(1.0)
pi.write(in1, 1)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 170)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 0)
pi.write(in2, 0)
#time.sleep(1.0)
elif mode == 2:
print "170"
pi.write(in1, 0)
pi.write(in2, 1)
pi.set_PWM_dutycycle(pin_sb, 200)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 1)
pi.write(in2, 1)
#time.sleep(1.0)
pi.write(in1, 0)
pi.write(in2, 1)
pi.set_PWM_dutycycle(pin_sb, 200)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 0)
pi.write(in2, 0)
#time.sleep(1.0)
elif mode == 3:
print "200"
pi.write(in1, 1)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 230)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 1)
pi.write(in2, 1)
#time.sleep(1.0)
pi.write(in1, 1)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 230)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 0)
pi.write(in2, 0)
#time.sleep(1.0)
elif mode == 4:
print "250"
pi.write(in1, 1)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 255)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 1)
pi.write(in2, 1)
#time.sleep(1.0)
pi.write(in1, 1)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 255)
time.sleep(10.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 0)
pi.write(in2, 0)
#time.sleep(1.0)
while True:
d = adc.get_ADC()
print(str(d))
#s.write(str(d)+"\r\n")
if d < 1000:
break
time.sleep(1.0)
pi.write(PTC1,1)
time.sleep(1.0)
while True:
d = adc.get_ADC()
#s.write(str(d)+"\r\n")
if d > 500:
break
time.sleep(1.0)
pi.write(PTC1,0)
i=1800
while i > 0:
d = adc.get_ADC()
s.write(str(i)+"sec,"+str(lat)+","+str(lon)+"\r\n")
print(str(i)+"sec,"+str(d))
i = i - 1
time.sleep(1)
f = open('test2.txt','a')
s.write("release\r\n")
pi.write(in1, 0)
pi.write(in2, 1)
i = 6
while i > 0:
pi.write(in1, 0)
pi.write(in2, 1)
pi.set_PWM_dutycycle(pin_sb, 255)
time.sleep(2.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 1)
pi.write(in2, 1)
time.sleep(1.0)
pi.write(in1, 1)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 255)
time.sleep(2.0)
pi.set_PWM_dutycycle(pin_sb, 0)
pi.write(in1, 1)
pi.write(in2, 1)
time.sleep(1.0)
i = i - 1
s.write('RELEASE_MODE'+str(i)+'\r\n')
i = 100
pi.write(in1, 0)
pi.write(in2, 1)
servo = 0
gps_err_cont = 0
aba_tf = True
try:
while True:
'''if sentence[18] == 'V':
gps_err_cont = gps_err_cont + 1
if gps_err_cont == 5:
while sentence[18] == 'V':
pi.set_PWM_dutycycle(pin_sb, 0)
time.sleep(1.0)
print("GPSERROR")
i = 50
gps_err_cont = 0
'''
now = time.time()
cb = pi.callback(end, pigpio.FALLING_EDGE, cb_interrupt)
#while gps_tf == False:
# pi.write(in2, 1)
# print("GPS_ERROR")
# time.sleep(1.0)
# pi.write(in2, 1)
#i = 150
if x_angle < 90:
i= i+15
if i > 250:
i = 255
pi.set_PWM_dutycycle(pin_sb, i)
elif x_angle > 90 and x_angle < 180:
i = i + 15
if i < 0:
i = 150
if i > 250:
i = 255
pi.set_PWM_dutycycle(pin_sb, i)
else:
pi.write(in1, 0)
pi.write(in2, 0)
time.sleep(1)
pi.write(in1, 0)
pi.write(in2, 1)
i = 135
if speed > 1.5:
dist_cnt = 0
if speed > 1.0:
pi.write(led3, 1)
if float(dir) < 180:
a = float(dir) + 180
if float(dir) < 45:
if (float(dir) + 45) < azi and a > azi:
#pi.hardware_PWM(gpio_pin0, 50,( 1.75/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.9/20)*255)
print("RRR"+str(float(dir) - azi))
servo = 1.9
elif (360 - 45 + float(dir)) > azi and a < azi:
pi.set_PWM_dutycycle(gpio_pin0, (1.7/20)*255)
print("LLL"+str(float(dir) - azi))
servo = 1.7
else:
#pi.hardware_PWM(gpio_pin0, 50,( 1.5/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
print('SSS'+str(float(dir) - azi))
servo = 1.8
else:
if (float(dir) + 45) < azi and a > azi:
#pi.hardware_PWM(gpio_pin0, 50,( 1.75/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.9/20)*255)
print("RRR"+str(float(dir) - azi))
servo = 1.9
elif (float(dir) - 45) < azi and (float(dir) + 45) > azi:
#pi.hardware_PWM(gpio_pin0, 50,( 1.5/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
print('SSS'+str(float(dir) - azi))
servo = 1.8
else:
pi.set_PWM_dutycycle(gpio_pin0, (1.7/20)*255)
print("LLL"+str(float(dir) - azi))
servo = 1.7
else:
a = float(dir) - 180
if float(dir) > 315:
if a < azi and (float(dir) - 45 ) > azi:
pi.set_PWM_dutycycle(gpio_pin0, (1.7/20)*255)
print("LLL"+str(float(dir) - azi))
servo = 1.7
elif a > azi and (45 - (360 - float(dir))) < azi:
#pi.hardware_PWM(gpio_pin0, 50,( 1.75/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.9/20)*255)
print("RRR"+str(float(dir) - azi))
servo = 1.9
else:
#pi.hardware_PWM(gpio_pin0, 50,( 1.5/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
print('SSS'+str(float(dir) - azi))
servo = 1.8
else:
if (float(dir) - 45) < azi and (float(dir) + 45) > azi:
#pi.hardware_PWM(gpio_pin0, 50,( 1.5/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
print('SSS'+str(float(dir) - azi))
servo = 1.8
elif (float(dir) - 45) > azi and a < azi:
#pi.hardware_PWM(gpio_pin0, 50,( 1.75/20.0) * 1000000)
pi.set_PWM_dutycycle(gpio_pin0, (1.7/20)*255)
print("LLL"+str(float(dir) - azi))
servo = 1.7
else:
pi.set_PWM_dutycycle(gpio_pin0, (1.9/20)*255)
print("RRR"+str(float(dir) - azi))
servo = 1.9
else:
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
print(sentence)
dist_cnt = dist_cnt + 1
f.write(gps_time+','+str(lat)+','+str(lon)+','+str(dist)+','+str(speed)+','+str(dir)+','+str(x_angle)+','+str(i)+','+str(servo)+'\r\n')
if dist < 0.005:
pi.write(in1, 0)
pi.write(in2, 0)
pi.set_PWM_dutycycle(pin_sb, 0)
s.write("GOAL!!!\r\n")
print("goal!!")
f.write('goal!!!!\r\n')
f.close()
pi.write(led1, 0)
pi.write(led2, 0)
pi.write(led3, 0)
pi.write(led3, 0)
raise KeyboardInterrupt
if dist_cnt == 45:
print("wadachi")
if aba_tf == True:
f.close()
abareru(0,3)
abareru(1,1)
abareru(2,1)
abareru(3,1)
abareru(4,1)
pi.write(in1,0)
pi.write(in2,1)
f = open('test2.txt','a')
#aba_tf = False
else :
abareru(1,3)
abareru(2,3)
abareru(3,1)
abareru(1,2)
abareru(2,2)
abareru(3,2)
pi.write(in1,0)
pi.write(in2,1)
aba_tf = True
i = 100
dist_cnt = 0
print("To goal:"+str(dist)+"[m]")
print("To goal:"+str(azi)+"[deg]")
print("now:"+str(speed)+"[km/s]")
print("now:"+dir+"[deg]")
print("x_angle:"+str(x_angle))
print("duty:"+ str(i))
print(str(dist_cnt))
#print((str(num[4])+','+str(num[5]))
s.write(str(lat)+','+str(lon)+'\r\n')
#time.sleep(0.2)
#s.write(str(dir).encode()+b','+str(x_angle).encode()+b','+str(i).encode()+b','+str(servo).encode()+b'\r\n')
sleepTime = 0.5 - (time.time() - now)
if sleepTime < 0.0:
continue
time.sleep(sleepTime)
except KeyboardInterrupt:
pi.set_PWM_dutycycle(pin_sb, 0)
pi.set_PWM_dutycycle(gpio_pin0, (1.8/20)*255)
pi.write(led1, 0)
pi.write(led2, 0)
pi.write(led3, 0)
pi.write(led3, 0)
pi.write(in1, 0)
pi.write(in2, 0)
pi.write(PTC1,1)
f.close()
s.close()
s.write("KeyboardInterrupt,close(serial)\r\n")
pass