Diff: main.cpp

Revision:

6:4eb0f2c63da0

Parent:

5:d78746981e4f

--- a/main.cpp	Thu Dec 02 05:50:51 2021 +0000
+++ b/main.cpp	Thu Dec 09 06:46:37 2021 +0000
@@ -33,12 +33,49 @@
   }
 }
 
+void goalkime(){  
+    double u,v;
+    double uu = 10;
+    double vv = 100;
+    char g[50];
+    int hh = 1;
+    while(hh < 3){
+    int h = 1;
+    while(h <= 50){
+        g[h] = 0;
+        h++;
+        }
+    h = 0;
+    while(xbee.getc() != 47){
+        g[h] = xbee.getc();
+        h++;
+        }
+    h = 0;
+    if(hh == 1){
+        while(g[h] != 47){
+            u = u + uu*(g[h]-47);
+            uu = uu/10;
+            h++;
+            }
+        }
+    else{
+        while(g[h] != 47){
+            v = v + (g[h]-47)*vv;
+            vv = vv/10;
+            h++;
+            }
+        }
+    hh++;
+    }
+    }
+
 int main(){
     double x,y,u,v,m,n,i,w,j,p,q,e,f,c;
     int r,s,k;
-    u = 34.546366;
-    v = 135.502015;
+    u = 0;
+    v = 0;
     s = 0;
+    goalkime();
     
     xbee.printf("XBee Connected\r\n");
     while(gps.getgps() != true){
@@ -63,7 +100,7 @@
     while(gps.getgps() != true){
         xbee.printf("false\r\n");
     }
-    gps.getgps();
+
     m=gps.latitude;
     n=gps.longitude;
     xbee.printf("m:%f,n:%f\r\n", m, n);
@@ -88,7 +125,7 @@
         c = (e-f)/(1+e*f);
         xbee.printf("c:%f\r\n",c);
 //t[0]は回る時間、t[1]はかかる時間、rに何回進むプログラムを動かすかを決める        
-        double t[2] = {w/3.14159/0.9,2*j/3/1.0}; //再度図るのは、全体の2/3だけ進んだとき
+        double t[2] = {w/3.14159/0.9,2*j/3/1.2}; //再度図るのは、全体の2/3だけ進んだとき
         r = t[1]/2.2;
         wait(1);
         xbee.printf("c*i:%f\r\n", c*i);
@@ -161,7 +198,6 @@
         while(gps.getgps() != true){
 //            xbee.printf("false\r\n");
         }
-        gps.getgps();
         x = gps.latitude;
         y = gps.longitude;
 //5秒前進する
@@ -173,7 +209,7 @@
         wait(2);
         driveMotor(0,0);
 //m,nに現在の経度、緯度を記録する
-        gps.getgps();
+
         m=gps.latitude;
         n=gps.longitude;
         a[0]=m-x;
@@ -210,4 +246,4 @@
      driveMotor(0,0);
      }
     
-    
\ No newline at end of file
+      
\ No newline at end of file