Diff: main.cpp

Revision:

26:c89f20803919

Parent:

25:3a9580e58a5e

diff -r 3a9580e58a5e -r c89f20803919 main.cpp
--- a/main.cpp	Sun Dec 15 03:12:13 2019 +0000
+++ b/main.cpp	Sun Dec 15 04:32:30 2019 +0000
@@ -53,20 +53,20 @@
             xbee.printf("timeout\n");
             break;
         }
-     if(flight==1) {
+     else {if(flight==1) {
         myled=1;
         wait(10);
-        printf("mada\r\n");
+        
         }
      else{
         if(flight==1) {
             myled=1;
         wait(10);
-        xbee.printf("madamada\r\n");
+       
         }
         else{
           myled=0;
-          xbee.printf("yattar\r\n");
+          
           wait(20);
           FET=1;
           wait(10);
@@ -74,11 +74,11 @@
           wait(10);
           xbee.printf("FET End!\r\n");
           SW=0;
-        
+        }
     break;
             }
     }   
-    }
+    } 
     
     
       //以下GPS
@@ -89,7 +89,7 @@
      int k = 0;
      int j = 0;
      
-     pc.printf("GPS Start\n");
+    
      xbee.printf("start\n");
      time_gps.start();
      while(a==0)
@@ -99,29 +99,29 @@
                 b=gps.longitude;
                 }
            
-            pc.printf("%lf,%lf\n",a,b);/*着地地点の緯度と軽度を測る*/
-            if(time_gps.read()>500){/*500経ったら次に進む*/
+           
+            if(time_gps.read()>5){/*500経ったら次に進む*/
                 xbee.printf("timeout!!\n");/*xbeeで時間切れの場合はtimeoutと出力する*/
                 timeout_flag=1;
                 break;
             }
         }
-       printf("moter on%lf",a);
+      
         left1 = 100; //左モーター１００％
         right1 = 100;//右モーター１００％
         
         wait(10);
-        printf("moter off");
+       
         left1 = 0; //左モーター０％
         right1 = 0;//右モーター０％
-        printf("moter off");
+       
         wait(15);
         
         while(!timeout_flag) {
-         printf("GPS restart\n");
+         xbee.printf("GPS restart\n");
          if(gps.getgps()){
            
-          pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示   
+          
           j ++;
           if(j<10){
            }else{
@@ -131,7 +131,7 @@
            lat2 = gps.latitude;
            lon2 = gps.longitude;
 
-            pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//動いた後の緯度と経度を表示   
+            
             const double pi = 3.14159265359; // 円周率
                            
             double ra = a * pi / 180;
@@ -145,18 +145,17 @@
             const double earth_radius = 6378140;   // 地球赤道半径(m)
 
             distance = earth_radius * rr; // 2点間の距離(m)
-            printf("distance=%f\ne=%lf\nrr=%lf\n",distance,e,rr);
+            
             if (distance<5){
              }else{
-                 pc.printf("(a =%lf,b =%lf)\n\r",a,b);
-             pc.printf("(c =%lf,d =%lf)\n\r",gps.latitude,gps.longitude);//c,dを表示   
-             pc.printf("5m clear!");
+                
              xbee.printf("5m clear!");
+             
               break;
            }  
             }
        }else{
-         printf("No data");
+        
           }
         } //GPS End */    
 
@@ -164,12 +163,12 @@
  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;
@@ -179,7 +178,7 @@
    right1=0;
    wait(1);
 
-   printf("停止\n\r");
+   
 
    Sb612switch=0; //焦電off
    wait(1);
@@ -190,14 +189,14 @@
       left1 = 0;
       right1 = 0;
 
-      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
@@ -205,7 +204,7 @@
        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
@@ -228,19 +227,19 @@
             if (camera.isReady()) {
              char filename[25];
              snprintf(filename,25,"%s%03d%s","/local/pict",r,".jpg");
-             printf("Picture: %s ", filename);
+             
               if (camera.takePicture(filename)) { 
                 while (camera.isProcessing()) {
                  camera.processPicture();
 
-                 printf("take picture!");
+                 xbee.printf("take a picture!");
 
-                 /*xbee.printf("xbee connected!!\r\n");
+                
 
                  bs = new base64();
-                 bs->Encode(filename,"/local/data.txt");*/
+                 bs->Encode(filename,"/local/data.txt");
                
-                 printf("time = %f\n", timer.read());
+                 
                  
                  xbee.printf("xbee connected!!\r\n");
 
@@ -249,7 +248,7 @@
 
                
                   if((fp=fopen("/local/data.txt","r"))!=NULL){
-                   pc.printf("ok\r\n");
+                   
                    while((c=fgetc(fp))!=EOF){
                      xbee.printf("%c",c);
                     }
@@ -257,10 +256,10 @@
                   }
                 }
               }else{
-                printf("take picture failed\r\n");
+                ;
                   }
             }else{
-              printf("camera is not ready\r\n");
+              ;
                  }
             while(1){