Yuya Aihara / Mbed 2 deprecated maimai

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Dependencies:   mbed

main.cpp@1:fb92cf1c694b, 2020-12-19 (annotated)

Committer:
aihara
Date:
Sat Dec 19 08:19:25 2020 +0000
Revision:
1:fb92cf1c694b
Parent:
0:b54d41dacf49
Child:
2:19c8f66ab10f
I want to go home.

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");
sugihara0312 0:b54d41dacf49 21
sugihara0312 0:b54d41dacf49 22 while(1){
aihara 1:fb92cf1c694b 23 GPS gps (D1,D0);
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 1:fb92cf1c694b 28 Serial xbee(D1,D0);
sugihara0312 0:b54d41dacf49 29 pc.printf("get1");
sugihara0312 0:b54d41dacf49 30 break;
sugihara0312 0:b54d41dacf49 31 }else{
aihara 1:fb92cf1c694b 32 Serial xbee(D1,D0);
sugihara0312 0:b54d41dacf49 33 pc.printf("Fault_No_Data1\r\n");
sugihara0312 0:b54d41dacf49 34 wait(1);
sugihara0312 0:b54d41dacf49 35 }
sugihara0312 0:b54d41dacf49 36 }
sugihara0312 0:b54d41dacf49 37 while(1){
aihara 1:fb92cf1c694b 38 GPS gps (D1,D0);
sugihara0312 0:b54d41dacf49 39 if(gps.getgps()){
aihara 1:fb92cf1c694b 40 Serial xbee(D1,D0);//Xbeeのピン
sugihara0312 0:b54d41dacf49 41 printf("get2");
sugihara0312 0:b54d41dacf49 42
sugihara0312 0:b54d41dacf49 43 /*ここから距離の計算*/
sugihara0312 0:b54d41dacf49 44 /*c、dを得た緯度経度の値で初期化*/
sugihara0312 0:b54d41dacf49 45 double c;
sugihara0312 0:b54d41dacf49 46 double d;
sugihara0312 0:b54d41dacf49 47 c = gps.latitude;
sugihara0312 0:b54d41dacf49 48 d = gps.longitude;
sugihara0312 0:b54d41dacf49 49
sugihara0312 0:b54d41dacf49 50 const double pi = 3.14159265359;//円周率
sugihara0312 0:b54d41dacf49 51
sugihara0312 0:b54d41dacf49 52 /*ラジアンに変換*/
sugihara0312 0:b54d41dacf49 53 double theta_a = a * pi /180;
sugihara0312 0:b54d41dacf49 54 double theta_b = b * pi / 180;
sugihara0312 0:b54d41dacf49 55 double theta_c = c * pi / 180;
sugihara0312 0:b54d41dacf49 56 double theta_d = d * pi / 180;
sugihara0312 0:b54d41dacf49 57
sugihara0312 0:b54d41dacf49 58 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 59 double theta_r = acos(e);
sugihara0312 0:b54d41dacf49 60
sugihara0312 0:b54d41dacf49 61 const double earth_radius = 6378140;//赤道半径
sugihara0312 0:b54d41dacf49 62
sugihara0312 0:b54d41dacf49 63 distance = earth_radius*theta_r;//距離の計算
sugihara0312 0:b54d41dacf49 64
aihara 1:fb92cf1c694b 65 /*距離が25m以上なら表示、通信*/
sugihara0312 0:b54d41dacf49 66 if(distance>=30){
sugihara0312 0:b54d41dacf49 67 pc.printf("run over 20m");
sugihara0312 0:b54d41dacf49 68 break;
sugihara0312 0:b54d41dacf49 69 }
sugihara0312 0:b54d41dacf49 70
sugihara0312 0:b54d41dacf49 71 }else {
sugihara0312 0:b54d41dacf49 72 pc.printf("False_No_Data2\r\n");
sugihara0312 0:b54d41dacf49 73 wait(1);
sugihara0312 0:b54d41dacf49 74 }//データ取得失敗を表示、通信、1秒待機
sugihara0312 0:b54d41dacf49 75
sugihara0312 0:b54d41dacf49 76 }
sugihara0312 0:b54d41dacf49 77 pc.printf("成功\n");
sugihara0312 0:b54d41dacf49 78 return 0;
sugihara0312 0:b54d41dacf49 79 }