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@12:88432f588cfd, 2016-12-08 (annotated)

Committer:
nkela6
Date:
Thu Dec 08 22:22:45 2016 +0000
Revision:
12:88432f588cfd
Parent:
8:3266cc9eda81 
added eta, distance, late functionality

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 6:ceb6a5426add 27 float longToDecimal(float longitudeInDDMM), latToDecimal(float latitudeInDDMM);
kkizirian 4:93a4b415fe6c 28 int xEnd, yEnd = 0.0;
kkizirian 5:430f44669f94 29 int currHour, currMinute, currSecond = 0;
kkizirian 5:430f44669f94 30 int hoursToNextClass, minutesToNextClass, secondsToNextClass = 0;
kkizirian 5:430f44669f94 31 int nextClass = 0;
kkizirian 5:430f44669f94 32 int currClass = -1;
kkizirian 5:430f44669f94 33 const int refresh_Time = 1000; //refresh time in ms
kkizirian 3:0ca91f8afec5 34 bool screen_refreshed = false;
kkizirian 2:c708e2027970 35 int volatile current_screen = 0;
kkizirian 2:c708e2027970 36 bool volatile screen_change = false;
kkizirian 5:430f44669f94 37 void timeToNextClass();
nkela6 12:88432f588cfd 38 float displacement(float diffLat, float diffLong);// calculates the distance to destination
nkela6 12:88432f588cfd 39 float calc_eta(float dis, float speed);//(miles,mph) returns in hours
nkela6 12:88432f588cfd 40 bool late(float eta);// returns 1 if late
nkela6 12:88432f588cfd 41
kkizirian 0:ce60014510e5 42
kkizirian 2:c708e2027970 43 void left_callback(void)
kkizirian 2:c708e2027970 44 {
kkizirian 3:0ca91f8afec5 45 if (courseVec.size() != 0) {
kkizirian 3:0ca91f8afec5 46 current_screen = (3 + current_screen - 1)%3;
kkizirian 3:0ca91f8afec5 47 screen_change = true;
kkizirian 3:0ca91f8afec5 48 } else
kkizirian 3:0ca91f8afec5 49 current_screen = 0;
kkizirian 5:430f44669f94 50 currClass = -1;
kkizirian 5:430f44669f94 51 uLCD.cls();
kkizirian 2:c708e2027970 52 }
kkizirian 2:c708e2027970 53
kkizirian 2:c708e2027970 54 void right_callback(void)
kkizirian 2:c708e2027970 55 {
kkizirian 3:0ca91f8afec5 56 if (courseVec.size() != 0) {
kkizirian 3:0ca91f8afec5 57 current_screen = (3 + current_screen + 1)%3;
kkizirian 3:0ca91f8afec5 58 screen_change = true;
kkizirian 3:0ca91f8afec5 59 } else
kkizirian 3:0ca91f8afec5 60 current_screen = 0;
kkizirian 5:430f44669f94 61 currClass = -1;
kkizirian 5:430f44669f94 62 uLCD.cls();
kkizirian 2:c708e2027970 63 }
kkizirian 2:c708e2027970 64
kkizirian 0:ce60014510e5 65 int main()
kkizirian 0:ce60014510e5 66 {
kkizirian 3:0ca91f8afec5 67 LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
kkizirian 3:0ca91f8afec5 68 float h = 0.0;
kkizirian 3:0ca91f8afec5 69 float angleToDest = 0.0;
kkizirian 3:0ca91f8afec5 70 IMU.begin();
kkizirian 3:0ca91f8afec5 71 if (!IMU.begin()) {
kkizirian 3:0ca91f8afec5 72 pc.printf("Failed to communicate with LSM9DS1.\n");
kkizirian 3:0ca91f8afec5 73 }
kkizirian 3:0ca91f8afec5 74 uLCD.cls();
kkizirian 3:0ca91f8afec5 75 uLCD.printf("Place IMU flat");
kkizirian 3:0ca91f8afec5 76 IMU.calibrate(1);
kkizirian 3:0ca91f8afec5 77 uLCD.cls();
kkizirian 3:0ca91f8afec5 78 uLCD.printf("Rotate IMU 360\ndegrees in \nhorizontal plane");
kkizirian 3:0ca91f8afec5 79 IMU.calibrateMag(0);
kkizirian 3:0ca91f8afec5 80
kkizirian 2:c708e2027970 81 left.mode(PullUp);
kkizirian 2:c708e2027970 82 right.mode(PullUp);
kkizirian 2:c708e2027970 83 left.attach_deasserted(&left_callback);
kkizirian 2:c708e2027970 84 right.attach_deasserted(&right_callback);
kkizirian 2:c708e2027970 85 left.setSampleFrequency();
kkizirian 2:c708e2027970 86 right.setSampleFrequency();
kkizirian 2:c708e2027970 87
kkizirian 0:ce60014510e5 88 readClassFile(courseVec);
kkizirian 5:430f44669f94 89
kkizirian 5:430f44669f94 90 gps_Serial = new Serial(p28,p27); //serial object for use w/ GPS
kkizirian 5:430f44669f94 91 Adafruit_GPS myGPS(gps_Serial); //object of Adafruit's GPS class
kkizirian 5:430f44669f94 92 char c; //when read via Adafruit_GPS::read(), the class returns single character stored here
kkizirian 5:430f44669f94 93 Timer refresh_Timer; //sets up a timer for use in loop; how often do we print GPS info?
kkizirian 5:430f44669f94 94 const int refresh_Time = 2000; //refresh time in ms
kkizirian 5:430f44669f94 95
kkizirian 5:430f44669f94 96 myGPS.begin(9600); //sets baud rate for GPS communication; note this may be changed via Adafruit_GPS::sendCommand(char *)
kkizirian 5:430f44669f94 97 //a list of GPS commands is available at http://www.adafruit.com/datasheets/PMTK_A08.pdf
kkizirian 5:430f44669f94 98
kkizirian 5:430f44669f94 99 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 100 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kkizirian 5:430f44669f94 101 myGPS.sendCommand(PGCMD_ANTENNA);
kkizirian 5:430f44669f94 102
kkizirian 4:93a4b415fe6c 103 float myLat = 33.775991;
kkizirian 4:93a4b415fe6c 104 float myLong = -84.397128;
kkizirian 2:c708e2027970 105
kkizirian 5:430f44669f94 106 float destinationLat = courseVec[1].getLat();
kkizirian 5:430f44669f94 107 float destinationLong = courseVec[1].getLong();
kkizirian 5:430f44669f94 108
kkizirian 4:93a4b415fe6c 109 screen_change = true;
kkizirian 0:ce60014510e5 110 pc.baud(9600);
kkizirian 5:430f44669f94 111 c = myGPS.read(); //queries the GPS
kkizirian 5:430f44669f94 112 currHour = myGPS.hour - 5; //for eastern time zone
kkizirian 5:430f44669f94 113 if (currHour < 0)
kkizirian 5:430f44669f94 114 currHour += 24;
kkizirian 5:430f44669f94 115 currMinute = myGPS.minute;
kkizirian 5:430f44669f94 116 currSecond = myGPS.seconds;
kkizirian 5:430f44669f94 117 nextClass = getNextClass(courseVec);
kkizirian 2:c708e2027970 118
kkizirian 5:430f44669f94 119 refresh_Timer.start(); //starts the clock on the timer
kkizirian 0:ce60014510e5 120 while(1) {
kkizirian 5:430f44669f94 121 c = myGPS.read(); //queries the GPS
kkizirian 5:430f44669f94 122
kkizirian 5:430f44669f94 123 //if (c) { pc.printf("%c", c); } //this line will echo the GPS data if not paused
kkizirian 5:430f44669f94 124
kkizirian 5:430f44669f94 125 //check if we recieved a new message from GPS, if so, attempt to parse it,
kkizirian 5:430f44669f94 126 if ( myGPS.newNMEAreceived() ) {
kkizirian 5:430f44669f94 127 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
kkizirian 5:430f44669f94 128 continue;
kkizirian 5:430f44669f94 129 }
kkizirian 5:430f44669f94 130 }
kkizirian 5:430f44669f94 131
kkizirian 5:430f44669f94 132 if (refresh_Timer.read_ms() >= refresh_Time) {
kkizirian 5:430f44669f94 133 refresh_Timer.reset();
kkizirian 6:ceb6a5426add 134 if (myGPS.fix) {
kkizirian 6:ceb6a5426add 135 myLat = latToDecimal(myGPS.latitude);
kkizirian 6:ceb6a5426add 136 myLong = longToDecimal(myGPS.longitude);
kkizirian 6:ceb6a5426add 137 }
kkizirian 6:ceb6a5426add 138
kkizirian 5:430f44669f94 139 currHour = myGPS.hour - 5; //for eastern time zone
kkizirian 5:430f44669f94 140 if (currHour < 0)
kkizirian 5:430f44669f94 141 currHour += 24;
kkizirian 5:430f44669f94 142 currMinute = myGPS.minute;
kkizirian 5:430f44669f94 143 currSecond = myGPS.seconds;
kkizirian 5:430f44669f94 144 nextClass = getNextClass(courseVec);
kkizirian 5:430f44669f94 145 timeToNextClass();
nkela6 12:88432f588cfd 146
nkela6 12:88432f588cfd 147 destinationLat = courseVec[nextClass].getLat();
nkela6 12:88432f588cfd 148 destinationLong = courseVec[nextClass].getLong();
nkela6 12:88432f588cfd 149 float diffLat = destinationLat - myLat;
nkela6 12:88432f588cfd 150 float diffLong = destinationLong - myLong;
nkela6 12:88432f588cfd 151 float distToDest = displacement(diffLat,diffLong);//(miles)
nkela6 12:88432f588cfd 152 float speed = 3.1;// (mph)Source: taken from google
nkela6 12:88432f588cfd 153 float eta = calc_eta(distToDest, speed*60);
nkela6 12:88432f588cfd 154 if(late(eta)==1)
nkela6 12:88432f588cfd 155 {
nkela6 12:88432f588cfd 156 uLCD.background_color(RED);
nkela6 12:88432f588cfd 157 }
nkela6 12:88432f588cfd 158 else{
nkela6 12:88432f588cfd 159 uLCD.background_color(BLACK);
nkela6 12:88432f588cfd 160 }
kkizirian 5:430f44669f94 161 switch(current_screen) {
kkizirian 5:430f44669f94 162 case 0:
kkizirian 5:430f44669f94 163 wait(.2);
kkizirian 5:430f44669f94 164 if (screen_change) {
kkizirian 5:430f44669f94 165 displayCourseVec();
kkizirian 5:430f44669f94 166 screen_change = false;
kkizirian 5:430f44669f94 167 }
kkizirian 5:430f44669f94 168 break;
kkizirian 5:430f44669f94 169 case 1:
kkizirian 5:430f44669f94 170 wait(.1);
kkizirian 5:430f44669f94 171 if (screen_change) {
kkizirian 5:430f44669f94 172 uLCD.printf("Compass screen");
kkizirian 5:430f44669f94 173 screen_change = false;
kkizirian 5:430f44669f94 174 }
kkizirian 3:0ca91f8afec5 175
kkizirian 5:430f44669f94 176 IMU.readMag();
kkizirian 5:430f44669f94 177 h = calculateHeading(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my));
kkizirian 5:430f44669f94 178 pc.printf("Heading: %f\n", h);
kkizirian 5:430f44669f94 179 angleToDest = computeAngleToDestination(diffLat, diffLong);
kkizirian 5:430f44669f94 180 h = angleToDest - h;
kkizirian 3:0ca91f8afec5 181 h = h - 90;
kkizirian 5:430f44669f94 182 if (h < 0)
kkizirian 5:430f44669f94 183 h = h + 360;
kkizirian 5:430f44669f94 184 if (h > 360)
kkizirian 5:430f44669f94 185 h = h - 360;
kkizirian 5:430f44669f94 186 xEnd = 0;
kkizirian 5:430f44669f94 187 yEnd = 0;
kkizirian 5:430f44669f94 188 float rads = 0.0;
kkizirian 5:430f44669f94 189 //uLCD.cls();
kkizirian 5:430f44669f94 190 if (h < 90) {
kkizirian 5:430f44669f94 191 rads = h * PI / 180;
kkizirian 5:430f44669f94 192 xEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 193 yEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 194 xEnd = 63 + xEnd;
kkizirian 5:430f44669f94 195 yEnd = 63 + yEnd;
kkizirian 5:430f44669f94 196 } else if (90 < h < 180) {
kkizirian 5:430f44669f94 197 h = h - 90;
kkizirian 5:430f44669f94 198 rads = h * PI / 180;
kkizirian 5:430f44669f94 199 xEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 200 yEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 201 xEnd = 63 + xEnd;
kkizirian 5:430f44669f94 202 yEnd = 63 - yEnd;
kkizirian 5:430f44669f94 203 } else if (180 < h < 270) {
kkizirian 5:430f44669f94 204 h = h - 180;
kkizirian 5:430f44669f94 205 rads = h * PI / 180;
kkizirian 5:430f44669f94 206 xEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 207 yEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 208 xEnd = 63 - xEnd;
kkizirian 5:430f44669f94 209 yEnd = 63 - yEnd;
kkizirian 5:430f44669f94 210 } else if (270 < h) {
kkizirian 5:430f44669f94 211 h = h - 270;
kkizirian 5:430f44669f94 212 rads = h * PI / 180;
kkizirian 5:430f44669f94 213 xEnd = floor(63 * cos(rads) + .5);
kkizirian 5:430f44669f94 214 yEnd = floor(63 * sin(rads) + .5);
kkizirian 5:430f44669f94 215 xEnd = 63 - xEnd;
kkizirian 5:430f44669f94 216 yEnd = 63 + yEnd;
kkizirian 5:430f44669f94 217 }
kkizirian 2:c708e2027970 218 uLCD.cls();
kkizirian 5:430f44669f94 219 uLCD.line(63, 63, xEnd, yEnd, WHITE);
kkizirian 5:430f44669f94 220 wait(.1);
kkizirian 5:430f44669f94 221 break;
kkizirian 5:430f44669f94 222 case 2:
kkizirian 5:430f44669f94 223 //uLCD.cls();
kkizirian 7:e4d667beaf33 224 uLCD.locate(0,2);
kkizirian 8:3266cc9eda81 225 uLCD.printf(" ");
kkizirian 6:ceb6a5426add 226 uLCD.locate(0,3);
kkizirian 5:430f44669f94 227 uLCD.printf("Time to next class");
kkizirian 6:ceb6a5426add 228 uLCD.locate(0, 4);
kkizirian 5:430f44669f94 229 uLCD.printf("%02dhrs %02dminutes", hoursToNextClass, minutesToNextClass);
kkizirian 6:ceb6a5426add 230 uLCD.locate(0, 5);
kkizirian 5:430f44669f94 231 uLCD.printf("%02dseconds", secondsToNextClass);
kkizirian 6:ceb6a5426add 232 uLCD.locate(0, 0);
kkizirian 7:e4d667beaf33 233 uLCD.printf("Next class ");
kkizirian 5:430f44669f94 234 if (nextClass != currClass) {
kkizirian 6:ceb6a5426add 235 uLCD.locate(0, 1);
kkizirian 5:430f44669f94 236 uLCD.printf(" ");
kkizirian 6:ceb6a5426add 237 uLCD.locate(0, 1);
kkizirian 5:430f44669f94 238 uLCD.printf("%s", courseVec[nextClass].getDisplayString());
kkizirian 5:430f44669f94 239 }
kkizirian 5:430f44669f94 240 currClass = nextClass;
kkizirian 5:430f44669f94 241 break;
kkizirian 5:430f44669f94 242 }
kkizirian 0:ce60014510e5 243 }
kkizirian 0:ce60014510e5 244 }
kkizirian 0:ce60014510e5 245 }
kkizirian 0:ce60014510e5 246
kkizirian 2:c708e2027970 247 void readClassFile(vector<Course>& cVec)
kkizirian 2:c708e2027970 248 {
kkizirian 0:ce60014510e5 249 cVec.clear();
kkizirian 0:ce60014510e5 250
kkizirian 0:ce60014510e5 251 FILE *readFp = fopen("/sd/classdir/classes.txt", "r");
kkizirian 0:ce60014510e5 252 char line[15];
kkizirian 0:ce60014510e5 253 char buildingBuf[4];
kkizirian 0:ce60014510e5 254 char hourBuf[3];
kkizirian 0:ce60014510e5 255 int hour;
kkizirian 0:ce60014510e5 256 char minuteBuf[3];
kkizirian 0:ce60014510e5 257 int minute;
kkizirian 0:ce60014510e5 258 char ampmBuf[3];
kkizirian 0:ce60014510e5 259 uLCD.cls();
kkizirian 0:ce60014510e5 260 uLCD.locate(0, 1);
kkizirian 0:ce60014510e5 261 uLCD.printf("Reading class file...");
kkizirian 2:c708e2027970 262
kkizirian 0:ce60014510e5 263 memset(buildingBuf, 0, sizeof(buildingBuf));
kkizirian 0:ce60014510e5 264 memset(hourBuf, 0, sizeof(hourBuf));
kkizirian 0:ce60014510e5 265 memset(minuteBuf, 0, sizeof(minuteBuf));
kkizirian 0:ce60014510e5 266 memset(ampmBuf, 0, sizeof(ampmBuf));
kkizirian 0:ce60014510e5 267 memset(line, 0, sizeof(line));
kkizirian 0:ce60014510e5 268
kkizirian 0:ce60014510e5 269 if (readFp == NULL)
kkizirian 0:ce60014510e5 270 return;
kkizirian 0:ce60014510e5 271 else {
kkizirian 0:ce60014510e5 272 while (!feof(readFp)) {
kkizirian 0:ce60014510e5 273 fgets(line, 15, readFp);
kkizirian 0:ce60014510e5 274 if(line[8] == NULL)
kkizirian 0:ce60014510e5 275 continue;
kkizirian 0:ce60014510e5 276 memcpy(buildingBuf, line, 3);
kkizirian 0:ce60014510e5 277 memcpy(hourBuf, &line[4], 2);
kkizirian 0:ce60014510e5 278 memcpy(minuteBuf, &line[7], 2);
kkizirian 0:ce60014510e5 279 memcpy(ampmBuf, &line[10], 2);
kkizirian 0:ce60014510e5 280
kkizirian 0:ce60014510e5 281 string building = buildingBuf;
kkizirian 0:ce60014510e5 282 hour = atoi(hourBuf);
kkizirian 0:ce60014510e5 283 minute = atoi(minuteBuf);
kkizirian 0:ce60014510e5 284 string ampm = ampmBuf;
kkizirian 0:ce60014510e5 285
kkizirian 0:ce60014510e5 286 Course temp(building, hour, minute, ampm);
kkizirian 0:ce60014510e5 287 cVec.push_back(temp);
kkizirian 0:ce60014510e5 288 }
kkizirian 0:ce60014510e5 289 }
kkizirian 0:ce60014510e5 290 fclose(readFp);
kkizirian 0:ce60014510e5 291 return;
kkizirian 2:c708e2027970 292 }
kkizirian 2:c708e2027970 293
kkizirian 2:c708e2027970 294 void displayCourseVec()
kkizirian 2:c708e2027970 295 {
kkizirian 2:c708e2027970 296 if (courseVec.size() == 0) {
kkizirian 2:c708e2027970 297 uLCD.cls();
kkizirian 2:c708e2027970 298 uLCD.locate(0,0);
kkizirian 2:c708e2027970 299 uLCD.printf("No classes input!");
kkizirian 2:c708e2027970 300 uLCD.locate(0,1);
kkizirian 2:c708e2027970 301 } else {
kkizirian 2:c708e2027970 302 uLCD.cls();
kkizirian 2:c708e2027970 303 uLCD.locate(0,1);
kkizirian 2:c708e2027970 304 for (int i = 0; i < courseVec.size(); i++) {
kkizirian 2:c708e2027970 305 uLCD.locate(0, i);
kkizirian 2:c708e2027970 306 uLCD.printf("%s", courseVec[i].getDisplayString());
kkizirian 2:c708e2027970 307 }
kkizirian 2:c708e2027970 308 }
kkizirian 3:0ca91f8afec5 309 }
kkizirian 3:0ca91f8afec5 310
kkizirian 3:0ca91f8afec5 311 float calculateHeading(float mx, float my)
kkizirian 3:0ca91f8afec5 312 {
kkizirian 3:0ca91f8afec5 313 float heading = 0.0;
kkizirian 3:0ca91f8afec5 314 if (my == 0.0)
kkizirian 3:0ca91f8afec5 315 heading = (mx < 0.0) ? 180.0 : 0.0;
kkizirian 3:0ca91f8afec5 316 else
kkizirian 3:0ca91f8afec5 317 heading = atan2(mx, my)*360.0/(2.0*PI);
kkizirian 3:0ca91f8afec5 318 //pc.printf("heading atan=%f \n\r",heading);
kkizirian 3:0ca91f8afec5 319 heading -= DECLINATION; //correct for geo location
kkizirian 3:0ca91f8afec5 320 if(heading>180.0) heading = heading - 360.0;
kkizirian 3:0ca91f8afec5 321 else if(heading<-180.0) heading = 360.0 + heading;
kkizirian 3:0ca91f8afec5 322 else if(heading<0.0) heading = 360.0 + heading;
kkizirian 3:0ca91f8afec5 323
kkizirian 3:0ca91f8afec5 324 // Convert everything from radians to degrees:
kkizirian 3:0ca91f8afec5 325 //heading *= 180.0 / PI;
kkizirian 3:0ca91f8afec5 326
kkizirian 3:0ca91f8afec5 327 //pc.printf("Magnetic Heading: %f degress\n\r",heading);
kkizirian 3:0ca91f8afec5 328 return heading;
kkizirian 3:0ca91f8afec5 329 }
kkizirian 3:0ca91f8afec5 330
kkizirian 3:0ca91f8afec5 331 float computeAngleToDestination(float diffLat, float diffLong)
kkizirian 3:0ca91f8afec5 332 {
kkizirian 3:0ca91f8afec5 333 float angle = 0.0;
kkizirian 3:0ca91f8afec5 334
kkizirian 3:0ca91f8afec5 335 if (diffLat > 0) {
kkizirian 3:0ca91f8afec5 336 if (diffLong > 0) {
kkizirian 3:0ca91f8afec5 337 // in quadrant 1
kkizirian 3:0ca91f8afec5 338 angle = 180*atan2(diffLat,diffLong)/PI;
kkizirian 3:0ca91f8afec5 339 } else {
kkizirian 3:0ca91f8afec5 340 // in quadrant 2
kkizirian 3:0ca91f8afec5 341 angle = 180*atan2(diffLat,-1 * diffLong)/PI;
kkizirian 3:0ca91f8afec5 342 angle = 180 - angle;
kkizirian 3:0ca91f8afec5 343 }
kkizirian 3:0ca91f8afec5 344 } else {
kkizirian 3:0ca91f8afec5 345 if (diffLong > 0) {
kkizirian 3:0ca91f8afec5 346 // in quadrant 4
kkizirian 3:0ca91f8afec5 347 angle = 180*atan2(-1*diffLat, diffLong)/PI;
kkizirian 3:0ca91f8afec5 348 angle = 360 - angle;
kkizirian 3:0ca91f8afec5 349 } else {
kkizirian 3:0ca91f8afec5 350 // in quadrant 3
kkizirian 3:0ca91f8afec5 351 angle = 180*atan2(-1*diffLat, -1*diffLong)/PI;
kkizirian 3:0ca91f8afec5 352 angle = 180 + angle;
kkizirian 3:0ca91f8afec5 353 }
kkizirian 3:0ca91f8afec5 354 }
kkizirian 3:0ca91f8afec5 355
kkizirian 3:0ca91f8afec5 356 //pc.printf("Angle to Destination: %f degress\n\r",angle);
kkizirian 3:0ca91f8afec5 357 return angle;
kkizirian 5:430f44669f94 358 }
kkizirian 5:430f44669f94 359
nkela6 12:88432f588cfd 360 float displacement(float diffLat, float diffLong)// calculates the distance to destination
nkela6 12:88432f588cfd 361 {
nkela6 12:88432f588cfd 362 float d = sqrt(diffLat*diffLat+diffLong*diffLong);
nkela6 12:88432f588cfd 363 return d;
nkela6 12:88432f588cfd 364 }
nkela6 12:88432f588cfd 365
nkela6 12:88432f588cfd 366
nkela6 12:88432f588cfd 367 float calc_eta(float dis, float speed)
nkela6 12:88432f588cfd 368 {
nkela6 12:88432f588cfd 369 float eta = dis/speed; // for displacement. take average speed // convert to minutes later
nkela6 12:88432f588cfd 370 eta += 0.25*eta; //adding delay for distance vs displacement and traffic lights
nkela6 12:88432f588cfd 371 return eta;//hours
nkela6 12:88432f588cfd 372 }
kkizirian 5:430f44669f94 373 int getNextClass(vector<Course>& cVec)
kkizirian 5:430f44669f94 374 {
kkizirian 5:430f44669f94 375 int numIterations = 0;
kkizirian 5:430f44669f94 376 for (int i = 0; i < cVec.size(); i++) {
kkizirian 5:430f44669f94 377 numIterations++;
kkizirian 5:430f44669f94 378 pc.printf("Iteration : %i\ncurrHour: %i\ncourseHour: %i\n", numIterations, currHour, cVec[i].getHour_inMilitaryTime());
kkizirian 5:430f44669f94 379 if (courseVec[i].getHour_inMilitaryTime() < currHour)
kkizirian 5:430f44669f94 380 continue;
kkizirian 5:430f44669f94 381 else if (courseVec[i].getHour_inMilitaryTime() > currHour)
kkizirian 5:430f44669f94 382 return i;
kkizirian 5:430f44669f94 383 else if (courseVec[i].getHour_inMilitaryTime() == currHour) {
kkizirian 5:430f44669f94 384 if (courseVec[i].getMinute() <= currMinute)
kkizirian 5:430f44669f94 385 continue;
kkizirian 5:430f44669f94 386 else if (courseVec[i].getMinute() > currMinute) {
kkizirian 5:430f44669f94 387 return i;
kkizirian 5:430f44669f94 388 }
kkizirian 5:430f44669f94 389 }
kkizirian 5:430f44669f94 390 if (numIterations == cVec.size())
kkizirian 5:430f44669f94 391 return 0;
kkizirian 5:430f44669f94 392 }
kkizirian 5:430f44669f94 393 return 0;
kkizirian 5:430f44669f94 394 }
kkizirian 5:430f44669f94 395
kkizirian 5:430f44669f94 396 void timeToNextClass()
kkizirian 6:ceb6a5426add 397 {
kkizirian 5:430f44669f94 398 hoursToNextClass = courseVec[nextClass].getHour_inMilitaryTime() - currHour;
kkizirian 5:430f44669f94 399 if (hoursToNextClass < 0)
kkizirian 5:430f44669f94 400 hoursToNextClass += 24;
kkizirian 5:430f44669f94 401
kkizirian 5:430f44669f94 402 minutesToNextClass = courseVec[nextClass].getMinute() - currMinute;
kkizirian 5:430f44669f94 403 if (minutesToNextClass < 0) {
kkizirian 5:430f44669f94 404 hoursToNextClass--;
kkizirian 5:430f44669f94 405 minutesToNextClass += 60;
kkizirian 5:430f44669f94 406 }
kkizirian 6:ceb6a5426add 407
kkizirian 5:430f44669f94 408 secondsToNextClass = 60 - currSecond;
kkizirian 5:430f44669f94 409 minutesToNextClass--;
kkizirian 6:ceb6a5426add 410
kkizirian 5:430f44669f94 411 if (minutesToNextClass < 0) {
kkizirian 5:430f44669f94 412 hoursToNextClass--;
kkizirian 5:430f44669f94 413 minutesToNextClass += 60;
kkizirian 5:430f44669f94 414 }
kkizirian 6:ceb6a5426add 415
kkizirian 5:430f44669f94 416 if (hoursToNextClass < 0)
kkizirian 5:430f44669f94 417 hoursToNextClass += 24;
kkizirian 6:ceb6a5426add 418 }
kkizirian 6:ceb6a5426add 419
kkizirian 6:ceb6a5426add 420 // convert from DDMM.mmmm to decimal
kkizirian 6:ceb6a5426add 421 float latToDecimal(float latitudeInDDMM)
kkizirian 6:ceb6a5426add 422 {
kkizirian 6:ceb6a5426add 423 float latInDec = 0.0;
kkizirian 6:ceb6a5426add 424 float temp = 0.0;
kkizirian 6:ceb6a5426add 425 latInDec = latitudeInDDMM / 100;
kkizirian 6:ceb6a5426add 426 temp = latInDec - floor(latInDec);
kkizirian 6:ceb6a5426add 427 temp = temp / .6;
kkizirian 6:ceb6a5426add 428 latInDec = floor(latInDec) + temp;
kkizirian 6:ceb6a5426add 429 return latInDec;
kkizirian 6:ceb6a5426add 430 }
kkizirian 6:ceb6a5426add 431
kkizirian 6:ceb6a5426add 432 float longToDecimal(float longitudeInDDMM)
kkizirian 6:ceb6a5426add 433 {
kkizirian 6:ceb6a5426add 434 float longInDec = 0.0;
kkizirian 6:ceb6a5426add 435 float temp = 0.0;
kkizirian 6:ceb6a5426add 436 longInDec = longitudeInDDMM / 100;
kkizirian 6:ceb6a5426add 437 temp = longInDec - floor(longInDec);
kkizirian 6:ceb6a5426add 438 temp = temp / .6;
kkizirian 6:ceb6a5426add 439 longInDec = floor(longInDec) + temp;
kkizirian 6:ceb6a5426add 440 return -1 * longInDec;
nkela6 12:88432f588cfd 441 }
nkela6 12:88432f588cfd 442
nkela6 12:88432f588cfd 443 bool late(float eta)// returns 1 if late
nkela6 12:88432f588cfd 444 {
nkela6 12:88432f588cfd 445 float totalTime = hoursToNextClass*60+ minutesToNextClass+ secondsToNextClass/60;
nkela6 12:88432f588cfd 446 if(eta<totalTime)
nkela6 12:88432f588cfd 447 {
nkela6 12:88432f588cfd 448 return 1;
nkela6 12:88432f588cfd 449 }else
nkela6 12:88432f588cfd 450 {
nkela6 12:88432f588cfd 451 return 0;
nkela6 12:88432f588cfd 452 }
kkizirian 0:ce60014510e5 453 }