R@mbln Reks / Mbed 2 deprecated class_finder

Guides the user to their classes

Dependencies:   4DGL-uLCD-SE Course SDFileSystem mbed PinDetect LSM9DS1_Library_cal MBed_Adafruit-GPS-Library

main.cpp@5:430f44669f94, 2016-12-08 (annotated)

Committer:
kkizirian
Date:
Thu Dec 08 19:34:36 2016 +0000
Revision:
5:430f44669f94
Parent:
4:93a4b415fe6c
Child:
6:ceb6a5426add
Added time to next class code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkizirian 0:ce60014510e5 1 // Class Scheduler
kkizirian 0:ce60014510e5 2 #include "mbed.h"
kkizirian 0:ce60014510e5 3 #include "uLCD_4DGL.h"
kkizirian 0:ce60014510e5 4 #include <string>
kkizirian 0:ce60014510e5 5 #include <vector>
kkizirian 0:ce60014510e5 6 #include "Course.h"
kkizirian 0:ce60014510e5 7 #include "SDFileSystem.h"
kkizirian 5:430f44669f94 8 #include "MBed_Adafruit_GPS.h"
kkizirian 3:0ca91f8afec5 9 #include "LSM9DS1.h"
kkizirian 2:c708e2027970 10 #include "PinDetect.h"
kkizirian 3:0ca91f8afec5 11 #define PI 3.14159
kkizirian 3:0ca91f8afec5 12 #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
kkizirian 0:ce60014510e5 13
kkizirian 0:ce60014510e5 14 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
kkizirian 0:ce60014510e5 15 Serial pc(USBTX, USBRX);
kkizirian 3:0ca91f8afec5 16 uLCD_4DGL uLCD(p13,p14,p15); // serial tx, serial rx, reset pin;
kkizirian 3:0ca91f8afec5 17 PinDetect left(p20);
kkizirian 3:0ca91f8afec5 18 PinDetect right(p18);
kkizirian 5:430f44669f94 19 Serial * gps_Serial;
kkizirian 0:ce60014510e5 20
kkizirian 0:ce60014510e5 21 int update;
kkizirian 0:ce60014510e5 22 vector<Course> courseVec;
kkizirian 4:93a4b415fe6c 23 void readClassFile(vector<Course>& cVec);
kkizirian 5:430f44669f94 24 int getNextClass(vector<Course>& cVec);
kkizirian 2:c708e2027970 25 void displayCourseVec();
kkizirian 3:0ca91f8afec5 26 float calculateHeading(float mx, float my), computeAngleToDestination(float diffLat, float diffLong);
kkizirian 4:93a4b415fe6c 27 int xEnd, yEnd = 0.0;
kkizirian 5:430f44669f94 28 int currHour, currMinute, currSecond = 0;
kkizirian 5:430f44669f94 29 int hoursToNextClass, minutesToNextClass, secondsToNextClass = 0;
kkizirian 5:430f44669f94 30 int nextClass = 0;
kkizirian 5:430f44669f94 31 int currClass = -1;
kkizirian 5:430f44669f94 32 const int refresh_Time = 1000; //refresh time in ms
kkizirian 3:0ca91f8afec5 33 bool screen_refreshed = false;
kkizirian 2:c708e2027970 34 int volatile current_screen = 0;
kkizirian 2:c708e2027970 35 bool volatile screen_change = false;
kkizirian 5:430f44669f94 36 void timeToNextClass();
kkizirian 0:ce60014510e5 37
kkizirian 2:c708e2027970 38 void left_callback(void)
kkizirian 2:c708e2027970 39 {
kkizirian 3:0ca91f8afec5 40 if (courseVec.size() != 0) {
kkizirian 3:0ca91f8afec5 41 current_screen = (3 + current_screen - 1)%3;
kkizirian 3:0ca91f8afec5 42 screen_change = true;
kkizirian 3:0ca91f8afec5 43 } else
kkizirian 3:0ca91f8afec5 44 current_screen = 0;
kkizirian 5:430f44669f94 45 currClass = -1;
kkizirian 5:430f44669f94 46 uLCD.cls();
kkizirian 2:c708e2027970 47 }
kkizirian 2:c708e2027970 48
kkizirian 2:c708e2027970 49 void right_callback(void)
kkizirian 2:c708e2027970 50 {
kkizirian 3:0ca91f8afec5 51 if (courseVec.size() != 0) {
kkizirian 3:0ca91f8afec5 52 current_screen = (3 + current_screen + 1)%3;
kkizirian 3:0ca91f8afec5 53 screen_change = true;
kkizirian 3:0ca91f8afec5 54 } else
kkizirian 3:0ca91f8afec5 55 current_screen = 0;
kkizirian 5:430f44669f94 56 currClass = -1;
kkizirian 5:430f44669f94 57 uLCD.cls();
kkizirian 2:c708e2027970 58 }
kkizirian 2:c708e2027970 59
kkizirian 0:ce60014510e5 60 int main()
kkizirian 0:ce60014510e5 61 {
kkizirian 3:0ca91f8afec5 62 LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
kkizirian 3:0ca91f8afec5 63 float h = 0.0;
kkizirian 3:0ca91f8afec5 64 float angleToDest = 0.0;
kkizirian 3:0ca91f8afec5 65 IMU.begin();
kkizirian 3:0ca91f8afec5 66 if (!IMU.begin()) {
kkizirian 3:0ca91f8afec5 67 pc.printf("Failed to communicate with LSM9DS1.\n");
kkizirian 3:0ca91f8afec5 68 }
kkizirian 3:0ca91f8afec5 69 uLCD.cls();
kkizirian 3:0ca91f8afec5 70 uLCD.printf("Place IMU flat");
kkizirian 3:0ca91f8afec5 71 IMU.calibrate(1);
kkizirian 3:0ca91f8afec5 72 uLCD.cls();
kkizirian 3:0ca91f8afec5 73 uLCD.printf("Rotate IMU 360\ndegrees in \nhorizontal plane");
kkizirian 3:0ca91f8afec5 74 IMU.calibrateMag(0);
kkizirian 3:0ca91f8afec5 75
kkizirian 2:c708e2027970 76 left.mode(PullUp);
kkizirian 2:c708e2027970 77 right.mode(PullUp);
kkizirian 2:c708e2027970 78 left.attach_deasserted(&left_callback);
kkizirian 2:c708e2027970 79 right.attach_deasserted(&right_callback);
kkizirian 2:c708e2027970 80 left.setSampleFrequency();
kkizirian 2:c708e2027970 81 right.setSampleFrequency();
kkizirian 2:c708e2027970 82
kkizirian 0:ce60014510e5 83 readClassFile(courseVec);
kkizirian 5:430f44669f94 84
kkizirian 5:430f44669f94 85 Course tempCourse("COC", 2, 35, "PM");
kkizirian 5:430f44669f94 86 courseVec.push_back(tempCourse);
kkizirian 5:430f44669f94 87
kkizirian 5:430f44669f94 88 gps_Serial = new Serial(p28,p27); //serial object for use w/ GPS
kkizirian 5:430f44669f94 89 Adafruit_GPS myGPS(gps_Serial); //object of Adafruit's GPS class
kkizirian 5:430f44669f94 90 char c; //when read via Adafruit_GPS::read(), the class returns single character stored here
kkizirian 5:430f44669f94 91 Timer refresh_Timer; //sets up a timer for use in loop; how often do we print GPS info?
kkizirian 5:430f44669f94 92 const int refresh_Time = 2000; //refresh time in ms
kkizirian 5:430f44669f94 93
kkizirian 5:430f44669f94 94 myGPS.begin(9600); //sets baud rate for GPS communication; note this may be changed via Adafruit_GPS::sendCommand(char *)
kkizirian 5:430f44669f94 95 //a list of GPS commands is available at http://www.adafruit.com/datasheets/PMTK_A08.pdf
kkizirian 5:430f44669f94 96
kkizirian 5:430f44669f94 97 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); //these commands are defined in MBed_Adafruit_GPS.h; a link is provided there for command creation
kkizirian 5:430f44669f94 98 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kkizirian 5:430f44669f94 99 myGPS.sendCommand(PGCMD_ANTENNA);
kkizirian 5:430f44669f94 100
kkizirian 4:93a4b415fe6c 101 float myLat = 33.775991;
kkizirian 4:93a4b415fe6c 102 float myLong = -84.397128;
kkizirian 2:c708e2027970 103
kkizirian 5:430f44669f94 104 float destinationLat = courseVec[1].getLat();
kkizirian 5:430f44669f94 105 float destinationLong = courseVec[1].getLong();
kkizirian 5:430f44669f94 106
kkizirian 4:93a4b415fe6c 107 screen_change = true;
kkizirian 0:ce60014510e5 108 pc.baud(9600);
kkizirian 5:430f44669f94 109 c = myGPS.read(); //queries the GPS
kkizirian 5:430f44669f94 110 currHour = myGPS.hour - 5; //for eastern time zone
kkizirian 5:430f44669f94 111 if (currHour < 0)
kkizirian 5:430f44669f94 112 currHour += 24;
kkizirian 5:430f44669f94 113 currMinute = myGPS.minute;
kkizirian 5:430f44669f94 114 currSecond = myGPS.seconds;
kkizirian 5:430f44669f94 115 nextClass = getNextClass(courseVec);
kkizirian 2:c708e2027970 116
kkizirian 5:430f44669f94 117 refresh_Timer.start(); //starts the clock on the timer
kkizirian 0:ce60014510e5 118 while(1) {
kkizirian 5:430f44669f94 119 c = myGPS.read(); //queries the GPS
kkizirian 5:430f44669f94 120
kkizirian 5:430f44669f94 121 //if (c) { pc.printf("%c", c); } //this line will echo the GPS data if not paused
kkizirian 5:430f44669f94 122
kkizirian 5:430f44669f94 123 //check if we recieved a new message from GPS, if so, attempt to parse it,
kkizirian 5:430f44669f94 124 if ( myGPS.newNMEAreceived() ) {
kkizirian 5:430f44669f94 125 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
kkizirian 5:430f44669f94 126 continue;
kkizirian 5:430f44669f94 127 }
kkizirian 5:430f44669f94 128 }
kkizirian 5:430f44669f94 129
kkizirian 5:430f44669f94 130 if (refresh_Timer.read_ms() >= refresh_Time) {
kkizirian 5:430f44669f94 131 refresh_Timer.reset();
kkizirian 5:430f44669f94 132 currHour = myGPS.hour - 5; //for eastern time zone
kkizirian 5:430f44669f94 133 if (currHour < 0)
kkizirian 5:430f44669f94 134 currHour += 24;
kkizirian 5:430f44669f94 135 currMinute = myGPS.minute;
kkizirian 5:430f44669f94 136 currSecond = myGPS.seconds;
kkizirian 5:430f44669f94 137 nextClass = getNextClass(courseVec);
kkizirian 5:430f44669f94 138 timeToNextClass();
kkizirian 5:430f44669f94 139
kkizirian 5:430f44669f94 140 switch(current_screen) {
kkizirian 5:430f44669f94 141 case 0:
kkizirian 5:430f44669f94 142 wait(.2);
kkizirian 5:430f44669f94 143 if (screen_change) {
kkizirian 5:430f44669f94 144 displayCourseVec();
kkizirian 5:430f44669f94 145 screen_change = false;
kkizirian 5:430f44669f94 146 }
kkizirian 5:430f44669f94 147 break;
kkizirian 5:430f44669f94 148 case 1:
kkizirian 5:430f44669f94 149 wait(.1);
kkizirian 5:430f44669f94 150 if (screen_change) {
kkizirian 5:430f44669f94 151 uLCD.printf("Compass screen");
kkizirian 5:430f44669f94 152 screen_change = false;
kkizirian 5:430f44669f94 153 }
kkizirian 3:0ca91f8afec5 154
kkizirian 5:430f44669f94 155 IMU.readMag();
kkizirian 5:430f44669f94 156 h = calculateHeading(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my));
kkizirian 5:430f44669f94 157 pc.printf("Heading: %f\n", h);
kkizirian 5:430f44669f94 158 destinationLat = courseVec[nextClass].getLat();
kkizirian 5:430f44669f94 159 destinationLong = courseVec[nextClass].getLong();
kkizirian 5:430f44669f94 160 float diffLat = destinationLat - myLat;
kkizirian 5:430f44669f94 161 float diffLong = destinationLong - myLong;
kkizirian 5:430f44669f94 162 angleToDest = computeAngleToDestination(diffLat, diffLong);
kkizirian 5:430f44669f94 163 h = angleToDest - h;
kkizirian 3:0ca91f8afec5 164 h = h - 90;
kkizirian 5:430f44669f94 165 if (h < 0)
kkizirian 5:430f44669f94 166 h = h + 360;
kkizirian 5:430f44669f94 167 if (h > 360)
kkizirian 5:430f44669f94 168 h = h - 360;
kkizirian 5:430f44669f94 169 xEnd = 0;
kkizirian 5:430f44669f94 170 yEnd = 0;
kkizirian 5:430f44669f94 171 float rads = 0.0;
kkizirian 5:430f44669f94 172 //uLCD.cls();
kkizirian 5:430f44669f94 173 if (h < 90) {
kkizirian 5:430f44669f94 174 rads = h * PI / 180;
kkizirian 5:430f44669f94 175 xEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 176 yEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 177 xEnd = 63 + xEnd;
kkizirian 5:430f44669f94 178 yEnd = 63 + yEnd;
kkizirian 5:430f44669f94 179 } else if (90 < h < 180) {
kkizirian 5:430f44669f94 180 h = h - 90;
kkizirian 5:430f44669f94 181 rads = h * PI / 180;
kkizirian 5:430f44669f94 182 xEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 183 yEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 184 xEnd = 63 + xEnd;
kkizirian 5:430f44669f94 185 yEnd = 63 - yEnd;
kkizirian 5:430f44669f94 186 } else if (180 < h < 270) {
kkizirian 5:430f44669f94 187 h = h - 180;
kkizirian 5:430f44669f94 188 rads = h * PI / 180;
kkizirian 5:430f44669f94 189 xEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 190 yEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 191 xEnd = 63 - xEnd;
kkizirian 5:430f44669f94 192 yEnd = 63 - yEnd;
kkizirian 5:430f44669f94 193 } else if (270 < h) {
kkizirian 5:430f44669f94 194 h = h - 270;
kkizirian 5:430f44669f94 195 rads = h * PI / 180;
kkizirian 5:430f44669f94 196 xEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 197 yEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 198 xEnd = 63 - xEnd;
kkizirian 5:430f44669f94 199 yEnd = 63 + yEnd;
kkizirian 5:430f44669f94 200 }
kkizirian 2:c708e2027970 201 uLCD.cls();
kkizirian 5:430f44669f94 202 uLCD.line(63, 63, xEnd, yEnd, WHITE);
kkizirian 5:430f44669f94 203 wait(.1);
kkizirian 5:430f44669f94 204 break;
kkizirian 5:430f44669f94 205 case 2:
kkizirian 5:430f44669f94 206 //uLCD.cls();
kkizirian 5:430f44669f94 207 uLCD.locate(0,0);
kkizirian 5:430f44669f94 208 uLCD.printf("Time to next class");
kkizirian 5:430f44669f94 209 uLCD.locate(0, 1);
kkizirian 5:430f44669f94 210 uLCD.printf("%02dhrs %02dminutes", hoursToNextClass, minutesToNextClass);
kkizirian 5:430f44669f94 211 uLCD.locate(0, 2);
kkizirian 5:430f44669f94 212 uLCD.printf("%02dseconds", secondsToNextClass);
kkizirian 5:430f44669f94 213 uLCD.locate(0, 4);
kkizirian 5:430f44669f94 214 uLCD.printf("Next class");
kkizirian 5:430f44669f94 215 if (nextClass != currClass) {
kkizirian 5:430f44669f94 216 uLCD.locate(0, 5);
kkizirian 5:430f44669f94 217 uLCD.printf(" ");
kkizirian 5:430f44669f94 218 uLCD.locate(0, 5);
kkizirian 5:430f44669f94 219 uLCD.printf("%s", courseVec[nextClass].getDisplayString());
kkizirian 5:430f44669f94 220 }
kkizirian 5:430f44669f94 221 currClass = nextClass;
kkizirian 5:430f44669f94 222 break;
kkizirian 5:430f44669f94 223 }
kkizirian 0:ce60014510e5 224 }
kkizirian 0:ce60014510e5 225 }
kkizirian 0:ce60014510e5 226 }
kkizirian 0:ce60014510e5 227
kkizirian 2:c708e2027970 228 void readClassFile(vector<Course>& cVec)
kkizirian 2:c708e2027970 229 {
kkizirian 0:ce60014510e5 230 cVec.clear();
kkizirian 0:ce60014510e5 231
kkizirian 0:ce60014510e5 232 FILE *readFp = fopen("/sd/classdir/classes.txt", "r");
kkizirian 0:ce60014510e5 233 char line[15];
kkizirian 0:ce60014510e5 234 char buildingBuf[4];
kkizirian 0:ce60014510e5 235 char hourBuf[3];
kkizirian 0:ce60014510e5 236 int hour;
kkizirian 0:ce60014510e5 237 char minuteBuf[3];
kkizirian 0:ce60014510e5 238 int minute;
kkizirian 0:ce60014510e5 239 char ampmBuf[3];
kkizirian 0:ce60014510e5 240 uLCD.cls();
kkizirian 0:ce60014510e5 241 uLCD.locate(0, 1);
kkizirian 0:ce60014510e5 242 uLCD.printf("Reading class file...");
kkizirian 2:c708e2027970 243
kkizirian 0:ce60014510e5 244 memset(buildingBuf, 0, sizeof(buildingBuf));
kkizirian 0:ce60014510e5 245 memset(hourBuf, 0, sizeof(hourBuf));
kkizirian 0:ce60014510e5 246 memset(minuteBuf, 0, sizeof(minuteBuf));
kkizirian 0:ce60014510e5 247 memset(ampmBuf, 0, sizeof(ampmBuf));
kkizirian 0:ce60014510e5 248 memset(line, 0, sizeof(line));
kkizirian 0:ce60014510e5 249
kkizirian 0:ce60014510e5 250 if (readFp == NULL)
kkizirian 0:ce60014510e5 251 return;
kkizirian 0:ce60014510e5 252 else {
kkizirian 0:ce60014510e5 253 while (!feof(readFp)) {
kkizirian 0:ce60014510e5 254 fgets(line, 15, readFp);
kkizirian 0:ce60014510e5 255 if(line[8] == NULL)
kkizirian 0:ce60014510e5 256 continue;
kkizirian 0:ce60014510e5 257 memcpy(buildingBuf, line, 3);
kkizirian 0:ce60014510e5 258 memcpy(hourBuf, &line[4], 2);
kkizirian 0:ce60014510e5 259 memcpy(minuteBuf, &line[7], 2);
kkizirian 0:ce60014510e5 260 memcpy(ampmBuf, &line[10], 2);
kkizirian 0:ce60014510e5 261
kkizirian 0:ce60014510e5 262 string building = buildingBuf;
kkizirian 0:ce60014510e5 263 hour = atoi(hourBuf);
kkizirian 0:ce60014510e5 264 minute = atoi(minuteBuf);
kkizirian 0:ce60014510e5 265 string ampm = ampmBuf;
kkizirian 0:ce60014510e5 266
kkizirian 0:ce60014510e5 267 Course temp(building, hour, minute, ampm);
kkizirian 0:ce60014510e5 268 cVec.push_back(temp);
kkizirian 0:ce60014510e5 269 }
kkizirian 0:ce60014510e5 270 }
kkizirian 0:ce60014510e5 271 fclose(readFp);
kkizirian 0:ce60014510e5 272 return;
kkizirian 2:c708e2027970 273 }
kkizirian 2:c708e2027970 274
kkizirian 2:c708e2027970 275 void displayCourseVec()
kkizirian 2:c708e2027970 276 {
kkizirian 2:c708e2027970 277 if (courseVec.size() == 0) {
kkizirian 2:c708e2027970 278 uLCD.cls();
kkizirian 2:c708e2027970 279 uLCD.locate(0,0);
kkizirian 2:c708e2027970 280 uLCD.printf("No classes input!");
kkizirian 2:c708e2027970 281 uLCD.locate(0,1);
kkizirian 2:c708e2027970 282 } else {
kkizirian 2:c708e2027970 283 uLCD.cls();
kkizirian 2:c708e2027970 284 uLCD.locate(0,1);
kkizirian 2:c708e2027970 285 for (int i = 0; i < courseVec.size(); i++) {
kkizirian 2:c708e2027970 286 uLCD.locate(0, i);
kkizirian 2:c708e2027970 287 uLCD.printf("%s", courseVec[i].getDisplayString());
kkizirian 2:c708e2027970 288 }
kkizirian 2:c708e2027970 289 }
kkizirian 3:0ca91f8afec5 290 }
kkizirian 3:0ca91f8afec5 291
kkizirian 3:0ca91f8afec5 292 float calculateHeading(float mx, float my)
kkizirian 3:0ca91f8afec5 293 {
kkizirian 3:0ca91f8afec5 294 float heading = 0.0;
kkizirian 3:0ca91f8afec5 295 if (my == 0.0)
kkizirian 3:0ca91f8afec5 296 heading = (mx < 0.0) ? 180.0 : 0.0;
kkizirian 3:0ca91f8afec5 297 else
kkizirian 3:0ca91f8afec5 298 heading = atan2(mx, my)*360.0/(2.0*PI);
kkizirian 3:0ca91f8afec5 299 //pc.printf("heading atan=%f \n\r",heading);
kkizirian 3:0ca91f8afec5 300 heading -= DECLINATION; //correct for geo location
kkizirian 3:0ca91f8afec5 301 if(heading>180.0) heading = heading - 360.0;
kkizirian 3:0ca91f8afec5 302 else if(heading<-180.0) heading = 360.0 + heading;
kkizirian 3:0ca91f8afec5 303 else if(heading<0.0) heading = 360.0 + heading;
kkizirian 3:0ca91f8afec5 304
kkizirian 3:0ca91f8afec5 305 // Convert everything from radians to degrees:
kkizirian 3:0ca91f8afec5 306 //heading *= 180.0 / PI;
kkizirian 3:0ca91f8afec5 307
kkizirian 3:0ca91f8afec5 308 //pc.printf("Magnetic Heading: %f degress\n\r",heading);
kkizirian 3:0ca91f8afec5 309 return heading;
kkizirian 3:0ca91f8afec5 310 }
kkizirian 3:0ca91f8afec5 311
kkizirian 3:0ca91f8afec5 312 float computeAngleToDestination(float diffLat, float diffLong)
kkizirian 3:0ca91f8afec5 313 {
kkizirian 3:0ca91f8afec5 314 float angle = 0.0;
kkizirian 3:0ca91f8afec5 315
kkizirian 3:0ca91f8afec5 316 if (diffLat > 0) {
kkizirian 3:0ca91f8afec5 317 if (diffLong > 0) {
kkizirian 3:0ca91f8afec5 318 // in quadrant 1
kkizirian 3:0ca91f8afec5 319 angle = 180*atan2(diffLat,diffLong)/PI;
kkizirian 3:0ca91f8afec5 320 } else {
kkizirian 3:0ca91f8afec5 321 // in quadrant 2
kkizirian 3:0ca91f8afec5 322 angle = 180*atan2(diffLat,-1 * diffLong)/PI;
kkizirian 3:0ca91f8afec5 323 angle = 180 - angle;
kkizirian 3:0ca91f8afec5 324 }
kkizirian 3:0ca91f8afec5 325 } else {
kkizirian 3:0ca91f8afec5 326 if (diffLong > 0) {
kkizirian 3:0ca91f8afec5 327 // in quadrant 4
kkizirian 3:0ca91f8afec5 328 angle = 180*atan2(-1*diffLat, diffLong)/PI;
kkizirian 3:0ca91f8afec5 329 angle = 360 - angle;
kkizirian 3:0ca91f8afec5 330 } else {
kkizirian 3:0ca91f8afec5 331 // in quadrant 3
kkizirian 3:0ca91f8afec5 332 angle = 180*atan2(-1*diffLat, -1*diffLong)/PI;
kkizirian 3:0ca91f8afec5 333 angle = 180 + angle;
kkizirian 3:0ca91f8afec5 334 }
kkizirian 3:0ca91f8afec5 335 }
kkizirian 3:0ca91f8afec5 336
kkizirian 3:0ca91f8afec5 337 //pc.printf("Angle to Destination: %f degress\n\r",angle);
kkizirian 3:0ca91f8afec5 338 return angle;
kkizirian 5:430f44669f94 339 }
kkizirian 5:430f44669f94 340
kkizirian 5:430f44669f94 341 int getNextClass(vector<Course>& cVec)
kkizirian 5:430f44669f94 342 {
kkizirian 5:430f44669f94 343 int numIterations = 0;
kkizirian 5:430f44669f94 344 for (int i = 0; i < cVec.size(); i++) {
kkizirian 5:430f44669f94 345 numIterations++;
kkizirian 5:430f44669f94 346 pc.printf("Iteration : %i\ncurrHour: %i\ncourseHour: %i\n", numIterations, currHour, cVec[i].getHour_inMilitaryTime());
kkizirian 5:430f44669f94 347 if (courseVec[i].getHour_inMilitaryTime() < currHour)
kkizirian 5:430f44669f94 348 continue;
kkizirian 5:430f44669f94 349 else if (courseVec[i].getHour_inMilitaryTime() > currHour)
kkizirian 5:430f44669f94 350 return i;
kkizirian 5:430f44669f94 351 else if (courseVec[i].getHour_inMilitaryTime() == currHour) {
kkizirian 5:430f44669f94 352 if (courseVec[i].getMinute() <= currMinute)
kkizirian 5:430f44669f94 353 continue;
kkizirian 5:430f44669f94 354 else if (courseVec[i].getMinute() > currMinute) {
kkizirian 5:430f44669f94 355 return i;
kkizirian 5:430f44669f94 356 }
kkizirian 5:430f44669f94 357 }
kkizirian 5:430f44669f94 358 if (numIterations == cVec.size())
kkizirian 5:430f44669f94 359 return 0;
kkizirian 5:430f44669f94 360 }
kkizirian 5:430f44669f94 361 return 0;
kkizirian 5:430f44669f94 362 }
kkizirian 5:430f44669f94 363
kkizirian 5:430f44669f94 364 void timeToNextClass()
kkizirian 5:430f44669f94 365 {
kkizirian 5:430f44669f94 366 hoursToNextClass = courseVec[nextClass].getHour_inMilitaryTime() - currHour;
kkizirian 5:430f44669f94 367 if (hoursToNextClass < 0)
kkizirian 5:430f44669f94 368 hoursToNextClass += 24;
kkizirian 5:430f44669f94 369
kkizirian 5:430f44669f94 370 minutesToNextClass = courseVec[nextClass].getMinute() - currMinute;
kkizirian 5:430f44669f94 371 if (minutesToNextClass < 0) {
kkizirian 5:430f44669f94 372 hoursToNextClass--;
kkizirian 5:430f44669f94 373 minutesToNextClass += 60;
kkizirian 5:430f44669f94 374 }
kkizirian 5:430f44669f94 375
kkizirian 5:430f44669f94 376 secondsToNextClass = 60 - currSecond;
kkizirian 5:430f44669f94 377 minutesToNextClass--;
kkizirian 5:430f44669f94 378
kkizirian 5:430f44669f94 379 if (minutesToNextClass < 0) {
kkizirian 5:430f44669f94 380 hoursToNextClass--;
kkizirian 5:430f44669f94 381 minutesToNextClass += 60;
kkizirian 5:430f44669f94 382 }
kkizirian 5:430f44669f94 383
kkizirian 5:430f44669f94 384 if (hoursToNextClass < 0)
kkizirian 5:430f44669f94 385 hoursToNextClass += 24;
kkizirian 5:430f44669f94 386
kkizirian 5:430f44669f94 387
kkizirian 5:430f44669f94 388
kkizirian 0:ce60014510e5 389 }