Diff: Function.h

Revision:

6:326208aabe68

Parent:

5:cc7917e8c442

Child:

10:e25e06011fd2

--- a/Function.h	Wed Nov 10 12:17:25 2021 +0000
+++ b/Function.h	Mon Dec 06 08:30:50 2021 +0000
@@ -12,7 +12,6 @@
 ATP3011 talk(D4,D5); // I2C sda scl
 TB6612 motor_a(D10,D6,D7);  //モータA制御用(pwma,ain1,ain2)
 TB6612 motor_b(D11,D8,D9);  //モータB制御用(pwmb,bin1,bin2)
-Serial pc(USBTX, USBRX);
 Serial xbee(A7, A2);
 
 double GPS_x, GPS_y;  // 現在地の座標
@@ -28,9 +27,8 @@
         hs.TrigerOut();
         wait(1);
         int distance;
-        distance = hs.GetDistance();
-        pc.printf("distance=%d\r\n", distance);  //距離出力
-        xbee.printf("distance=%d\r\n", distance);  
+        distance = hs.GetDistance(); 
+        xbee.printf("distance=%d\r\n", distance);  //距離出力
         Ultra=0;//超音波off
         
         if(distance < 200) {
@@ -44,20 +42,17 @@
 
 void catchGPS()
 {
-    pc.printf("GPS Start\r\n");
     xbee.printf("GPS Start\r\n");
     /* 1秒ごとに現在地を取得してターミナル出力 */
     while(1) {
         if(gps.getgps()) {  //現在地取得
-            pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
-            xbee.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//
+            xbee.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
             GPS_x = gps.latitude;
             GPS_y = gps.longitude;
             break;
         }
         else {
-            pc.printf("No data\r\n");//データ取得に失敗した場合
-            xbee.printf("No data\r\n");
+            xbee.printf("No data\r\n");//データ取得に失敗した場合
             wait(1);
         }
     }
@@ -111,7 +106,6 @@
     double theta;
     double delta;
 
-    pc.printf("gps.latitude=%f, gps.longitude=%f\r\n", gps.latitude, gps.longitude);
     xbee.printf("gps.latitude=%f, gps.longitude=%f\r\n", gps.latitude, gps.longitude);
     theta = atan2(next_CP_y - gps.longitude , next_CP_x - gps.latitude) * 180 / 3.14159265359;
     printf("theta=%f\r\n", theta);
@@ -129,29 +123,24 @@
 
 void Calibration()
 {
-    pc.printf("calibration start\r\n");
     xbee.printf("calibration start\r\n");
     compass.setCalibrationMode(0x43);
     Move('4', 0.1);
-    pc.printf("mortor mode:4 speed:1\n\r");
     xbee.printf("mortor mode:4 speed:1\n\r");
     wait(60);
     Move('1', 0);
-    pc.printf("mortor mode:1 speed:0\n\r");
     xbee.printf("mortor mode:1 speed:0\n\r");
     compass.setCalibrationMode(0x45);
-    pc.printf("calibration end\r\n");
     xbee.printf("calibration end\r\n");
     while(1) {
         if(gps.getgps()) {  //現在地取得
-        pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
+        xbee.printf("lati=%lf\nlong=%lf\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
         GPS_x = gps.latitude;
         GPS_y = gps.longitude;
         break;
         }
         else {
-            pc.printf("No data\r\n");//データ取得に失敗した場合
-            xbee.printf("No data\r\n");
+            xbee.printf("No data\r\n");//データ取得に失敗した場合
             wait(1);
         }
     }
@@ -166,11 +155,9 @@
     int timeout_ms=500;
     char mess[100];            
         if(talk.IsActive(timeout_ms)==true){
-            pc.printf("Active\n\rflag=xbee ni Input");
             xbee.printf("Active\n\rflag=");
             wait(3);
             if(xbee.readable()){
-                pc.printf("\n\rmessage=xbee ni Input");
                 xbee.printf("\n\rmessage=");
                 int i=0;
                     do{
@@ -180,13 +167,11 @@
                 talk.Synthe(mess);
             }
             else{
-                pc.printf("preset_message speak\r\n");
                 xbee.printf("preset_message speak\r\n");
                 talk.Synthe("purissetommese-ji,,konnichiwa.");
             }
         }
         else{
-            pc.printf("\r\nNot Active\n");
             xbee.printf("\r\nNot Active\n");
         }
 }
\ No newline at end of file