CanSat2016aizu / Mbed 2 deprecated GPS_test

GPS test

Dependencies:   MBed_Adafruit-GPS-Library mbed

main.cpp@0:02573593bcdc, 2016-06-29 (annotated)

Committer:
s1210160
Date:
Wed Jun 29 13:04:49 2016 +0000
Revision:
0:02573593bcdc
GPS test;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1210160 0:02573593bcdc 1 #include "mbed.h"
s1210160 0:02573593bcdc 2 #include "MBed_Adafruit_GPS.h"
s1210160 0:02573593bcdc 3
s1210160 0:02573593bcdc 4 int main()
s1210160 0:02573593bcdc 5 {
s1210160 0:02573593bcdc 6
s1210160 0:02573593bcdc 7 int flag = 0;
s1210160 0:02573593bcdc 8
s1210160 0:02573593bcdc 9 Serial* gps_Serial = new Serial(p28,p27);
s1210160 0:02573593bcdc 10 Adafruit_GPS myGPS(gps_Serial);
s1210160 0:02573593bcdc 11 myGPS.begin(9600);
s1210160 0:02573593bcdc 12
s1210160 0:02573593bcdc 13 const double target_x = 37.524988, target_y = 139.938585;
s1210160 0:02573593bcdc 14 double robot_x = 0.0, robot_y = 0.0;
s1210160 0:02573593bcdc 15 double sub_x = 0.0, sub_y = 0.0;
s1210160 0:02573593bcdc 16 double distance = 0.0;
s1210160 0:02573593bcdc 17 Timer GPS_Timer;
s1210160 0:02573593bcdc 18 GPS_Timer.start();
s1210160 0:02573593bcdc 19 const int GPS_Time = 1000;
s1210160 0:02573593bcdc 20
s1210160 0:02573593bcdc 21 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
s1210160 0:02573593bcdc 22 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
s1210160 0:02573593bcdc 23 myGPS.sendCommand(PGCMD_ANTENNA);
s1210160 0:02573593bcdc 24
s1210160 0:02573593bcdc 25 while(true) {
s1210160 0:02573593bcdc 26
s1210160 0:02573593bcdc 27 myGPS.read();
s1210160 0:02573593bcdc 28 if ( myGPS.newNMEAreceived() ) {
s1210160 0:02573593bcdc 29 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
s1210160 0:02573593bcdc 30 continue;
s1210160 0:02573593bcdc 31 }
s1210160 0:02573593bcdc 32 }
s1210160 0:02573593bcdc 33
s1210160 0:02573593bcdc 34 if (GPS_Timer.read_ms() >= GPS_Time) {
s1210160 0:02573593bcdc 35 GPS_Timer.reset();
s1210160 0:02573593bcdc 36 if(myGPS.fix) {
s1210160 0:02573593bcdc 37 robot_x = (double)myGPS.latitudeH + (double)(myGPS.latitudeL / 10000.0 / 60.0);
s1210160 0:02573593bcdc 38 robot_y = (double)myGPS.longitudeH +(double)(myGPS.longitudeL / 10000.0 / 60.0);
s1210160 0:02573593bcdc 39 }
s1210160 0:02573593bcdc 40
s1210160 0:02573593bcdc 41 sub_x = (abs(target_x) - abs(robot_x)) * 111135.0;
s1210160 0:02573593bcdc 42 sub_y = (abs(target_y) - abs(robot_y)) * 91191.0;
s1210160 0:02573593bcdc 43 distance = sqrt(sub_x*sub_x - sub_y*sub_y);
s1210160 0:02573593bcdc 44 printf("latitude:%f, longitude:%f, distance:%f\n", robot_x, robot_y, distance);
s1210160 0:02573593bcdc 45
s1210160 0:02573593bcdc 46 }
s1210160 0:02573593bcdc 47 }
s1210160 0:02573593bcdc 48 return 0;
s1210160 0:02573593bcdc 49 }