narumi tatsuya / Mbed 2 deprecated GPS_program

gps

Dependencies:   mbed

gps.cpp@0:77bff687ff05, 2020-10-02 (annotated)

Committer:
naruu
Date:
Fri Oct 02 13:48:57 2020 +0000
Revision:
0:77bff687ff05
Child:
1:6165e8067d7a
GPS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
naruu 0:77bff687ff05 1 #include "mbed.h"
naruu 0:77bff687ff05 2 #include "getGPS.h"
naruu 0:77bff687ff05 3 #include"math.h"
naruu 0:77bff687ff05 4
naruu 0:77bff687ff05 5 Serial pc(USBTX,USBRX);
naruu 0:77bff687ff05 6 GPS gps(D13,D14);
naruu 0:77bff687ff05 7 Serial xbee(D0,D1);
naruu 0:77bff687ff05 8
naruu 0:77bff687ff05 9 int main(){
naruu 0:77bff687ff05 10 double a;
naruu 0:77bff687ff05 11 double b;
naruu 0:77bff687ff05 12 double distance;
naruu 0:77bff687ff05 13
naruu 0:77bff687ff05 14 pc.printf("GPS begin\n");
naruu 0:77bff687ff05 15
naruu 0:77bff687ff05 16 while(1){
naruu 0:77bff687ff05 17 if(gps.getgps()){
naruu 0:77bff687ff05 18 /*a,bを緯度経度の初期値で初期化*/
naruu 0:77bff687ff05 19 a=gps.latitude;
naruu 0:77bff687ff05 20 b=gps.longitude;
naruu 0:77bff687ff05 21 pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示
naruu 0:77bff687ff05 22 break;
naruu 0:77bff687ff05 23 }else{
naruu 0:77bff687ff05 24 pc.printf("Fault_No_Data\r\n);
naruu 0:77bff687ff05 25 wait(1);
naruu 0:77bff687ff05 26 }
naruu 0:77bff687ff05 27 } while(1){
naruu 0:77bff687ff05 28 if(gps.getgps()){
naruu 0:77bff687ff05 29 pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示
naruu 0:77bff687ff05 30
naruu 0:77bff687ff05 31 /*ここから距離の計算*/
naruu 0:77bff687ff05 32 /*c、dを得た緯度経度の値で初期化*/
naruu 0:77bff687ff05 33 　　　　　　double c;
naruu 0:77bff687ff05 34 double d;
naruu 0:77bff687ff05 35 c=gps.latitude;
naruu 0:77bff687ff05 36 d=gps.longitude;
naruu 0:77bff687ff05 37
naruu 0:77bff687ff05 38 const double pi=3.14159265359;//円周率
naruu 0:77bff687ff05 39
naruu 0:77bff687ff05 40 /*ラジアンに変換*/
naruu 0:77bff687ff05 41 double theta_a=a*pi/180;
naruu 0:77bff687ff05 42 double theta_b=b*pi/180;
naruu 0:77bff687ff05 43 double theta_c=c*pi/180;
naruu 0:77bff687ff05 44 double theta_d=d*pi/180;
naruu 0:77bff687ff05 45
naruu 0:77bff687ff05 46 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
naruu 0:77bff687ff05 47 double theta_r=acos(e);
naruu 0:77bff687ff05 48
naruu 0:77bff687ff05 49 const double earth_radius=6378140;//赤道半径
naruu 0:77bff687ff05 50
naruu 0:77bff687ff05 51 distance=earth_radius*theta_r;//距離の計算
naruu 0:77bff687ff05 52
naruu 0:77bff687ff05 53 /*距離が20m以上なら表示、通信*/
naruu 0:77bff687ff05 54 if(distance>=20){
naruu 0:77bff687ff05 55 pc.printf("run 20m");
naruu 0:77bff687ff05 56 xbee.printf("run 20m");
naruu 0:77bff687ff05 57 break;
naruu 0:77bff687ff05 58 }
naruu 0:77bff687ff05 59
naruu 0:77bff687ff05 60 }else {
naruu 0:77bff687ff05 61 xbee.print("False_No_Data\r\n");
naruu 0:77bff687ff05 62 pc.printf("False_No_Date\r\n");
naruu 0:77bff687ff05 63 wait(1);
naruu 0:77bff687ff05 64 }//データ取得失敗を表示、通信、1秒待機
naruu 0:77bff687ff05 65 }
naruu 0:77bff687ff05 66 return 0;
naruu 0:77bff687ff05 67 }