Diff: main.cpp

Revision:

0:0de3867984e5

Child:

1:ad5378dcef79

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Dec 11 22:58:51 2016 +0000
@@ -0,0 +1,94 @@
+#include "mbed.h"
+#include "LSM9DS1.h"
+#include "GPS.h"
+#include "GPSstuff.h"
+#include <time.h>
+#include <stdio.h> 
+
+Serial pc(USBTX, USBRX);
+GPS gps(p13, p14);
+GPSstuff object;
+LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
+
+float a, ax, ay, az; //acceleration
+int steps=0, i=0, step_num;
+bool flag=0;
+    
+double buffer[4], speed, dist_travel=0, distance, totalDistance=0, threshold=1.1, time_elapsed=0;
+
+int getsteps(){
+    while(!IMU.accelAvailable());
+        IMU.readAccel();
+        ax=IMU.calcAccel(IMU.ax);
+        ay=IMU.calcAccel(IMU.ay);
+        az=IMU.calcAccel(IMU.az);
+        a=sqrt(pow(ax, 2) + pow(ay, 2) + pow(az, 2));
+        pc.printf("a: %d", a);
+        if (a>=threshold && flag==0){ // if it crosses threshold increment step by one and raise the flag
+            steps++; flag=1; 
+            pc.printf("steps: %i", steps);
+        } 
+
+        else if (a < threshold && flag==1){ // if flag is raised and threshold is not crossed , put that flag down.
+            flag=0;
+        }
+        return steps;
+}
+    
+double getdistance(){
+    if (i==0){
+        //initial reading made by the GPS
+        gps.sample();
+        buffer[i]= gps.longitude;
+        buffer[i+1] = gps.latitude;
+        i=i+2;
+//        pc.printf("First reading taken \n");
+        if (buffer[2]==0 && buffer[3]==0){
+            //second reading made by GPS
+            gps.sample();
+            buffer[2]= gps.longitude;
+            buffer[3] = gps.latitude;
+            i=2;
+            }
+    }
+        else if (i==2){
+            float lat1d = buffer[0];
+            float lon1d = buffer[1];
+            float lat2d = buffer[2];
+            float lon2d = buffer[3];
+            distance = object.distanceEarth(lat1d, lon1d, lat2d, lon2d);
+
+//            pc.putc(totalDistance);
+//            pc.putc(time_passed);
+            //pc.printf("Distance travelled: %f km", totalDistance);
+            //pc.printf("\n Distance travelled: %f miles", totalDistance * 0.621371);
+
+            lat1d = buffer[2];
+            lon1d = buffer[3];
+            i=0;
+        }
+        return distance;
+}
+
+
+int main()
+{
+    IMU.begin();
+    if (!IMU.begin()) {
+        pc.printf("Failed to communicate with LSM9DS1.\n");
+    }
+    IMU.calibrate(1);
+    clock_t start = clock();
+    dist_travel=getdistance();
+    totalDistance+=dist_travel;   
+
+    while(1) {
+       step_num=getsteps();
+       dist_travel=getdistance();
+       clock_t end = clock();
+       time_elapsed=end-start;
+       totalDistance+=dist_travel;
+       pc.printf("Distance travelled: %f km\n\rTime elapsed: %f s", totalDistance, time_elapsed/1000); 
+       clock_t start = clock(); 
+    }   
+}
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