CansatB_2021 / Mbed 2 deprecated B_test_gpsXbee

GPSとXbee統合試験用(作:皆川 )

Dependencies:   mbed getGPS

main.cpp@0:44f6af5eecc5, 2021-10-11 (annotated)

Committer:
odaa
Date:
Mon Oct 11 18:37:43 2021 +0000
Revision:
0:44f6af5eecc5
Child:
1:8d166b7409af
xbee and gps

Who changed what in which revision?

UserRevisionLine numberNew contents of line
odaa 0:44f6af5eecc5 1 #include "mbed.h"
odaa 0:44f6af5eecc5 2 #include"getGPS.h"
odaa 0:44f6af5eecc5 3
odaa 0:44f6af5eecc5 4
odaa 0:44f6af5eecc5 5
odaa 0:44f6af5eecc5 6 Serial xbee(D1, D0);
odaa 0:44f6af5eecc5 7 GPS gps(A2,A7);
odaa 0:44f6af5eecc5 8 int end_flag=0;
odaa 0:44f6af5eecc5 9 double bias_la=0,bias_lo=0;
odaa 0:44f6af5eecc5 10
odaa 0:44f6af5eecc5 11 int main()
odaa 0:44f6af5eecc5 12 {
odaa 0:44f6af5eecc5 13
odaa 0:44f6af5eecc5 14 xbee.printf("XBee Connected\r\n");
odaa 0:44f6af5eecc5 15
odaa 0:44f6af5eecc5 16 while(1) {
odaa 0:44f6af5eecc5 17
odaa 0:44f6af5eecc5 18 xbee.printf("start command\t(S or s)\r\nend command\t(E or e)");
odaa 0:44f6af5eecc5 19
odaa 0:44f6af5eecc5 20 int received_data = xbee.getc();
odaa 0:44f6af5eecc5 21
odaa 0:44f6af5eecc5 22 xbee.printf("\r\n---------------\r\nReceived Data: %c\r\n", received_data);
odaa 0:44f6af5eecc5 23
odaa 0:44f6af5eecc5 24 if(received_data == 83 || received_data == 115)
odaa 0:44f6af5eecc5 25 { //S or s
odaa 0:44f6af5eecc5 26 double goal_latitude,goal_longtitude;
odaa 0:44f6af5eecc5 27 xbee.printf("Mission Start\r\n");
odaa 0:44f6af5eecc5 28 xbee.printf("please enter goal latitude:");
odaa 0:44f6af5eecc5 29 xbee.scanf("%lf",&goal_latitude);
odaa 0:44f6af5eecc5 30 xbee.printf("\r\nplease enter goal longtitude:");
odaa 0:44f6af5eecc5 31 xbee.scanf("%lf",&goal_longtitude);
odaa 0:44f6af5eecc5 32 xbee.printf("\r\n--------------\r\nstart GPS\r\n------------------\r\n");
odaa 0:44f6af5eecc5 33 end_flag=0;
odaa 0:44f6af5eecc5 34
odaa 0:44f6af5eecc5 35
odaa 0:44f6af5eecc5 36 while(end_flag==0)
odaa 0:44f6af5eecc5 37 {
odaa 0:44f6af5eecc5 38 if(gps.getgps())
odaa 0:44f6af5eecc5 39 { //現在地取得
odaa 0:44f6af5eecc5 40 xbee.printf("(latitude:%lf, longtitude:%lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
odaa 0:44f6af5eecc5 41 }
odaa 0:44f6af5eecc5 42
odaa 0:44f6af5eecc5 43 else
odaa 0:44f6af5eecc5 44 {
odaa 0:44f6af5eecc5 45 xbee.printf("No data\r\n");//データ取得に失敗した場合
odaa 0:44f6af5eecc5 46 }
odaa 0:44f6af5eecc5 47
odaa 0:44f6af5eecc5 48 if(abs(gps.latitude-double(goal_latitude))<=bias_la&&abs(gps.latitude-double(goal_latitude))<=bias_lo)
odaa 0:44f6af5eecc5 49 {
odaa 0:44f6af5eecc5 50 xbee.printf("potion match\r\n");
odaa 0:44f6af5eecc5 51 end_flag=1;
odaa 0:44f6af5eecc5 52 }
odaa 0:44f6af5eecc5 53 if(abs(gps.latitude-double(goal_latitude))>bias_la||abs(gps.latitude-double(goal_latitude))>bias_lo)
odaa 0:44f6af5eecc5 54 {
odaa 0:44f6af5eecc5 55 xbee.printf("\r\n-----\r\n(latitude bias:%lf,longtitude bias:%lf)\r\n",gps.latitude-double(goal_latitude),gps.latitude-double(goal_latitude));
odaa 0:44f6af5eecc5 56 }
odaa 0:44f6af5eecc5 57 wait(0.5);
odaa 0:44f6af5eecc5 58
odaa 0:44f6af5eecc5 59 }
odaa 0:44f6af5eecc5 60
odaa 0:44f6af5eecc5 61
odaa 0:44f6af5eecc5 62
odaa 0:44f6af5eecc5 63 }
odaa 0:44f6af5eecc5 64 else if(received_data == 67 || received_data == 99)
odaa 0:44f6af5eecc5 65 { //C or c
odaa 0:44f6af5eecc5 66 xbee.printf("%c\r\n", received_data);
odaa 0:44f6af5eecc5 67 xbee.printf("Mission Complete\r\n");
odaa 0:44f6af5eecc5 68 break;
odaa 0:44f6af5eecc5 69 }
odaa 0:44f6af5eecc5 70 break;
odaa 0:44f6af5eecc5 71 }
odaa 0:44f6af5eecc5 72 return 0;
odaa 0:44f6af5eecc5 73 }
odaa 0:44f6af5eecc5 74
odaa 0:44f6af5eecc5 75