File content as of revision 0:a01fda36fde8:

#include "mbed.h"
#include "gps.h"
#include "ultrasonic.h"
#include "motordriver.h"

Serial pc(USBTX, USBRX);
GPS gps(p28, p27); 

Motor motor1(p22, p16, p17, 1); // pwm, fwd, rev, can brake
Motor motor2(p22, p19, p20, 1); // pwm, fwd, rev, can brake

void dist(int distance)
{
    //put code here to happen when the distance is changed
    printf("Distance changed to %dmm\r\n", distance);
}

ultrasonic mu(p11, p12, .1, 1, &dist);    //Set the trigger pin to D8 and the echo pin to D9
                                          //have updates every .1 seconds and a timeout after 1
                                          //second, and call dist when the distance changes
 

 
LocalFileSystem local("local");               // Create the local filesystem under the name "local"
 
int main() {
    
    /*FILE *fp = fopen("/local/gps.txt", "w");  // Open "out.txt" on the local file system for writing
    fprintf(fp, "GPS Start\r\n");
    int n;
    for(n=0;n<45;n++)  //GPSの取得を45回行う
    {
        if(gps.getgps()) //現在地取得
            fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
        
        else
            fprintf(fp,"No data\r\n");//データ取得に失敗した場合
        
        wait(1);
    }    
    fprintf(fp,"GPS finish\r\n");
    fclose(fp);*/


    motor1.stop(0);
    motor2.stop(0);
    
   
    FILE *fp = fopen("/local/gps.txt", "w");  // Open "gps.txt" on the local file system for writing
    fprintf(fp, "\r\n\GPS Start\r\n");
    int n;
    for(n=0;n<45;n++)  //GPSの取得を45回行う
    {
        printf("%d\n",n);
        
        if(gps.getgps()) //現在地取得
            fprintf(fp,"(%lf, %lf)\r\n", gps.latitude, gps.longitude);//緯度と経度を出力
        
        else
            fprintf(fp,"No data\r\n");//データ取得に失敗した場合
        
        wait(1);
    }    
    fprintf(fp,"GPS finish\r\n");
    fclose(fp);                        //GPSの測定終了  
  
        mu.startUpdates();//start mesuring the distance(超音波センサー)
        int distance;
        
        while(1)
    {
        
        motor1.speed(0.5);    //通常走行
        motor2.speed(0.5);
        //Do something else here
        // mu.checkDistance();     //call checkDistance() as much as possible, as this is where
        //the class checks if dist needs to be called.

        distance=mu.getCurrentDistance();
        

        printf("%d\r\n",distance);
        
        if(100<distance && distance < 500)
         {
            
            printf("if success!\r\n");
            
            float ms1,ms2,msj1,msj2;
            ms1=0.5;            //直進の時モーターをどれだけ回せばいいかわからないのでとりあえず0.5にしておく
            ms2=0.5;
    
            msj1=0.5;           //回転の時
            msj2=0.5;

            motor1.stop(0);
            motor2.stop(0);
            wait(1);
            printf("mortor stop\r\n");

            motor1.speed(msj1);       //機体を時計回りに９０度回転
            motor2.speed(-msj2);
            wait(1);
            printf("mortor rotation\r\n");

            motor1.speed(ms1);       //直進
            motor2.speed(ms2);
            wait(1);
            printf("mortor straight\r\n");

            motor1.speed(-msj1);      //機体を反時計回りに９０度回転
            motor2.speed(msj2);
            wait(1);
            printf("mortor rotation\r\n");

            motor1.speed(ms1);       //直進
            motor2.speed(ms2);
            wait(1);
            printf("mortor straight\r\n");            

            motor1.speed(-msj1);      //機体を反時計回りに９０度回転
            motor2.speed(msj2);
            wait(1);
            printf("mortor rotation\r\n");

            motor1.speed(ms1);       //直進
            motor2.speed(ms2);
            wait(1);
            printf("mortor straight\r\n");

            motor1.speed(msj1);       //機体を時計回りに９０度回転
            motor2.speed(-msj2);
            wait(1);   
            printf("mortor rotation\r\n");
        }
   }
}