Diff: main.cpp

Revision:

3:814cb36d0f90

Parent:

2:fed59450f2ed

Child:

4:00ac3d093b24

--- a/main.cpp	Thu Sep 22 14:10:56 2016 +0000
+++ b/main.cpp	Thu Sep 22 16:18:08 2016 +0000
@@ -22,7 +22,7 @@
 
 int main()
 {
-    float avg1,avg2,timeavg1,timeavg2;
+    float avg1,avg2,timeavg1,timeavg2,deltat,a,b,v,argv;
     pc.baud(115200);
     while (1) {
         long duration1, duration2,USSDistance1, USSDistance2, cm1, cm2, time1,time2;
@@ -96,7 +96,7 @@
         cm2 = microsecondsToCentimeters(USSDistance2);
         if(15<cm2&&cm2<40) {
             time2=tmr.read_ms();
-            printf("                                                   2: %d %d[ms]",cm2,time2);
+            printf("                                                 2: %d %d[ms]",cm2,time2);
 
             count2++;
             timecount2++;
@@ -108,6 +108,18 @@
             timesum2=timesum2+time2;    //time2を合計する
             timeavg2=timesum2/timecount2;   //time2の平均
             printf("   timeavg2:%4.2f[ms]\n",timeavg2);
+            
+            deltat=timeavg2-timeavg1;   //Δtを求める
+            printf("\ndeltat: %4.2f\n",deltat);
+            
+            a=pow((avg2-avg1)/deltat,2);
+            b=pow(10/deltat,2);
+            v=sqrt(a+b);    //|v|を求める
+            
+            argv=atan(10/(avg2-avg1));  //θを求める
+            
+            printf("\n|v|: %lf theta: %lf\n",v,argv);
+              
 
         }
         wait_ms(10);