File content as of revision 7:fae874e898b3:

#define cansatB
#include "mbed.h" 
//mbed
#include "getGPS.h"
#include "math.h"
//GPS
#include "TB6612.h"
 //motorDriver
 #include "JPEGCamera.h"
//カメラ
#include <stdio.h>
#include <base64.h>
//XBee
#include "us015.h"
// 超音波センサ


GPS gps (p28,p27);                 //GPS

DigitalOut FET(p21);                //FET
DigitalOut myled(LED1);
US015 hs(p12,p11);
DigitalIn thermo(p20);
DigitalOut Sb612switch(p15);         //焦電スイッチ
DigitalOut Ultra(p12);
Serial pc(USBTX,USBRX);              // tx, rx
JPEGCamera camera(p9, p10);          // TX, RX
TB6612 left1(p25,p17,p16);            //モーターピン
TB6612 right1(p26,p19,p18);           //モーターピン
Serial xbee(p13,p14);                //xbee


                                    

int main()
{
    
    
    Sb612switch=0; //焦電off
    wait(1);
    Ultra=0;//超音波off
       
    printf("CanSat-B_Start!\r\n");
    
     //FET
    
    FET=1;
    wait(10);
    FET=0;
    wait(10);
    
    
    
      //以下GPS
     double a;
     double b;
     double distance;
    
    pc.printf("GPS Start\r\n");
    
     while(1)
     {
         if(gps.getgps())
         {
           a = gps.latitude;
           b = gps.longitude;
           
          pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
           
           break;
           
         }else{
               pc.printf("NO DATA\r\n");//データ取得失敗
               wait(1);
               }
      }
      while(1)
      {
         if(gps.getgps()) {
           
          pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示   
          
          // 球面三角法により、大円距離(メートル)を求める
          double c;
          double d; 
          c = gps.latitude;
          d = gps.longitude;

          const double pi = 3.14159265359; // 円周率
                           
          double ra = a * pi / 180;
          double rb = b * pi / 180;     // 緯度経度をラジアンに変換
          double rc = c * pi / 180;
          double rd = d * pi / 180;
        
          double e = sin(ra) * sin(rc) +  cos(ra) * cos(rc) * cos(rb - rd);  // 2点の中心角(ラジアン)を求める
          double rr = acos(e);

          const double earth_radius = 6378140;   // 地球赤道半径(m)

          distance = earth_radius * rr; // 2点間の距離(m)
            
           
             

         if (distance<5){
             printf("%lf\r\n",distance);   
             right1=100;
             left1=100;
             }else{
             right1=0;
             left1=0;
             pc.printf("5m clear!");
             break;
                  }
          
             }else{
           pc.printf("NO DATA\r\n");//データ取得失敗
           wait(1);
           }
        }
        //GPS End     

 int i=1;
  float th;
  Timer tm;
  for(i=0;i<3;i++){
  pc.printf("start\r\n");
  
  left1 = 100; //左モーター１００％
  right1 = 100;//右モーター１００％
    printf("Restart\r\n" );
         wait(4);
         left1=50;
         right1=50;
         wait(1);
         left1=0;
         right1=0;
         wait(1);
          printf("停止\n\r");
    Sb612switch=0; //焦電off
    wait(1);
    Ultra=1;//超音波on
    wait(1);
    
    while(1) {
         printf("超音波on\r\n 焦電off\r\n" )  ;
         hs.TrigerOut();
         wait(1);
         int distance;
         distance = hs.GetDistance();
         printf("distance=%dmm\r\n",distance);//距離出力
        
        if(distance<=2000){//超音波反応
         
         Ultra=0;//超音波off
         wait(1);
         Sb612switch=1; //焦電on
         wait(1);
          printf("焦電On!\r\n  ");
           bool detected=false;
             th = thermo;
             if(th==1 && !detected) {//焦電反応ありの場合
               i++; 
               detected=true;
               pc.printf("human\r\n");
               tm.reset();
               tm.start();
          
               LocalFileSystem local("local");
               Timer timer;
               timer.start();
               camera.setPictureSize(JPEGCamera::SIZE320x240);
               
               FILE *fp;
               base64 *bs;
               int c;

            for (int r = 0; r < 1; r++) {
               if (camera.isReady()) {
                 char filename[32];
                 sprintf(filename, "/local/pict%03d.jpg",r);
                 printf("Picture: %s ", filename);
                 if (camera.takePicture(filename)) { 
                  while (camera.isProcessing()) {
                    camera.processPicture();
                    printf("take pictuer!");
                   }
                 }else{
                 printf("take picture failed\r\n");
                 }
               }else{
                 printf("camera is not ready\r\n");
                }
               
               printf("time = %f\n", timer.read());
               
       
               
               xbee.printf("xbee connected!\r\n");
               bs = new base64();
               bs->Encode("/local/pict000.jpg","/local/data000.txt");
               
               if((fp=fopen("/local/data000.txt","r"))!=NULL)
               {
                   pc.printf("ok\r\n");
                   while((c=fgetc(fp))!=EOF){
                       xbee.printf("%c",c);
                    }
                    fclose(fp);
                }
                }
                while(1){
        
                    int received_data = xbee.getc();
   
                    if (received_data == 82 || received_data == 114){  //Rまたはｒ
                        xbee.printf("_________________________________________________________________________________________________________________________________\r\n");
                         if((fp=fopen("/local/data000.txt","r"))!=NULL)
                         {
                            while ((c=fgetc(fp))!=EOF){
                                xbee.printf("%c",c);                    //再送
                             }
                         fclose(fp);
                         }
                     }
                     else{
                         break;
                         }
                    }
     
               Sb612switch=0; //焦電off
               wait(1);
              }else{//焦電反応なしの場合
              printf("not found!\r\n");
               
               
               Sb612switch=0;
               wait(1);
               Ultra=0;
               wait(1);
               detected=false;
               printf("後退\r\n");
               left1 = -100; //左モーター-5０％
               right1 = -100;//右モーター-5０％
               wait(2.0);
               left1=-50;
               right1=-50;
               wait(1);
               left1=0;
               right1=0;
               wait(1);
               
               printf("右折\n\r");
               
               left1 = 60; //左モーター１００％
               right1 = 100;//右モーター１００％
               wait(2.0);
              }           
       }else{//超音波distance>2000
         printf("safety zone\r\n");
          Ultra=0;
          wait(1);
          left1 = 60; //左モーター50％
          right1 = 100;//右モーター50％
          printf("右折\r\n");
         }

    }

 }
}