Yuya Aihara / Mbed 2 deprecated maimai

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Dependencies:   mbed

main.cpp@2:19c8f66ab10f, 2020-12-19 (annotated)

Committer:
aihara
Date:
Sat Dec 19 09:57:10 2020 +0000
Revision:
2:19c8f66ab10f
Parent:
1:fb92cf1c694b 
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sugihara0312 0:b54d41dacf49 1 #include "mbed.h"
sugihara0312 0:b54d41dacf49 2 #include "getGPS.h"
sugihara0312 0:b54d41dacf49 3 #include <stdio.h>
sugihara0312 0:b54d41dacf49 4 #include <math.h>
sugihara0312 0:b54d41dacf49 5
sugihara0312 0:b54d41dacf49 6 #define PIN_SDA D4
sugihara0312 0:b54d41dacf49 7 #define PIN_SCL D5
sugihara0312 0:b54d41dacf49 8
sugihara0312 0:b54d41dacf49 9 Serial pc(SERIAL_TX,SERIAL_RX,921600);//通信
sugihara0312 0:b54d41dacf49 10 Serial xbee(D1,D0);//Xbeeのピン
aihara 1:fb92cf1c694b 11 //GPS gps (D1,D0);
sugihara0312 0:b54d41dacf49 12
sugihara0312 0:b54d41dacf49 13
sugihara0312 0:b54d41dacf49 14 int main()
sugihara0312 0:b54d41dacf49 15 {
sugihara0312 0:b54d41dacf49 16 double a;
sugihara0312 0:b54d41dacf49 17 double b;
sugihara0312 0:b54d41dacf49 18 double distance;
sugihara0312 0:b54d41dacf49 19
sugihara0312 0:b54d41dacf49 20 pc.printf("GPS begin\n");
aihara 2:19c8f66ab10f 21 wait(2);
aihara 2:19c8f66ab10f 22 GPS gps (D1,D0);
aihara 2:19c8f66ab10f 23 while(1){
sugihara0312 0:b54d41dacf49 24 if(gps.getgps()){
sugihara0312 0:b54d41dacf49 25 /*a,bを緯度経度の初期値で初期化*/
sugihara0312 0:b54d41dacf49 26 a = gps.latitude;
sugihara0312 0:b54d41dacf49 27 b = gps.longitude;
aihara 2:19c8f66ab10f 28 wait(2);
aihara 2:19c8f66ab10f 29 Serial xbee(D1,D0);//Xbeeのピン
sugihara0312 0:b54d41dacf49 30 pc.printf("get1");
sugihara0312 0:b54d41dacf49 31 break;
sugihara0312 0:b54d41dacf49 32 }else{
aihara 2:19c8f66ab10f 33 wait(2);
aihara 2:19c8f66ab10f 34 Serial xbee(D1,D0);//Xbeeのピン
sugihara0312 0:b54d41dacf49 35 pc.printf("Fault_No_Data1\r\n");
sugihara0312 0:b54d41dacf49 36 wait(1);
sugihara0312 0:b54d41dacf49 37 }
aihara 2:19c8f66ab10f 38 }
aihara 2:19c8f66ab10f 39 //wait(2);
aihara 2:19c8f66ab10f 40 //GPS gps (D1,D0);
aihara 2:19c8f66ab10f 41 while(1){
sugihara0312 0:b54d41dacf49 42 if(gps.getgps()){
aihara 2:19c8f66ab10f 43 wait(2);
aihara 1:fb92cf1c694b 44 Serial xbee(D1,D0);//Xbeeのピン
sugihara0312 0:b54d41dacf49 45 printf("get2");
sugihara0312 0:b54d41dacf49 46
sugihara0312 0:b54d41dacf49 47 /*ここから距離の計算*/
sugihara0312 0:b54d41dacf49 48 /*c、dを得た緯度経度の値で初期化*/
sugihara0312 0:b54d41dacf49 49 double c;
sugihara0312 0:b54d41dacf49 50 double d;
sugihara0312 0:b54d41dacf49 51 c = gps.latitude;
sugihara0312 0:b54d41dacf49 52 d = gps.longitude;
sugihara0312 0:b54d41dacf49 53
sugihara0312 0:b54d41dacf49 54 const double pi = 3.14159265359;//円周率
sugihara0312 0:b54d41dacf49 55
sugihara0312 0:b54d41dacf49 56 /*ラジアンに変換*/
sugihara0312 0:b54d41dacf49 57 double theta_a = a * pi /180;
sugihara0312 0:b54d41dacf49 58 double theta_b = b * pi / 180;
sugihara0312 0:b54d41dacf49 59 double theta_c = c * pi / 180;
sugihara0312 0:b54d41dacf49 60 double theta_d = d * pi / 180;
sugihara0312 0:b54d41dacf49 61
sugihara0312 0:b54d41dacf49 62 double e = sin(theta_a) * sin(theta_c) + cos(theta_a) * cos(theta_c) * cos(theta_b-theta_d);//２点間のなす角を求める
sugihara0312 0:b54d41dacf49 63 double theta_r = acos(e);
sugihara0312 0:b54d41dacf49 64
sugihara0312 0:b54d41dacf49 65 const double earth_radius = 6378140;//赤道半径
sugihara0312 0:b54d41dacf49 66
sugihara0312 0:b54d41dacf49 67 distance = earth_radius*theta_r;//距離の計算
sugihara0312 0:b54d41dacf49 68
aihara 1:fb92cf1c694b 69 /*距離が25m以上なら表示、通信*/
sugihara0312 0:b54d41dacf49 70 if(distance>=30){
sugihara0312 0:b54d41dacf49 71 pc.printf("run over 20m");
sugihara0312 0:b54d41dacf49 72 break;
sugihara0312 0:b54d41dacf49 73 }
sugihara0312 0:b54d41dacf49 74
sugihara0312 0:b54d41dacf49 75 }else {
sugihara0312 0:b54d41dacf49 76 pc.printf("False_No_Data2\r\n");
sugihara0312 0:b54d41dacf49 77 wait(1);
sugihara0312 0:b54d41dacf49 78 }//データ取得失敗を表示、通信、1秒待機
sugihara0312 0:b54d41dacf49 79
sugihara0312 0:b54d41dacf49 80 }
aihara 2:19c8f66ab10f 81
sugihara0312 0:b54d41dacf49 82 pc.printf("成功\n");
sugihara0312 0:b54d41dacf49 83 return 0;
sugihara0312 0:b54d41dacf49 84 }