sae ichinose
/
GPSXbee-completed
GPSとXbeeの統合
gps.cpp
- Committer:
- saeichi
- Date:
- 2019-11-13
- Revision:
- 5:f3b266c917a6
- Parent:
- 4:88f7837f947f
File content as of revision 5:f3b266c917a6:
#include "mbed.h" #include "getGPS.h" #include "math.h" Serial pc(USBTX,USBRX); GPS gps (p28,p27); Serial xbee(p13,p14); int main() { double a; double b; double distance; pc.printf("GPS Start\n"); xbee.printf("s\n"); while(1) { if(gps.getgps()){ a = gps.latitude; b = gps.longitude; pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示 break; }else{ pc.printf("NO DATA\r\n");//データ取得失敗 wait(1); } } while(1){ if(gps.getgps()) { pc.printf("(%lf,%lf)\n\r",gps.latitude,gps.longitude);//緯度と経度を表示 // 球面三角法により、大円距離(メートル)を求める double c; double d; c = gps.latitude; d = gps.longitude; const double pi = 3.14159265359; // 円周率 double ra = a * pi / 180; double rb = b * pi / 180; // 緯度経度をラジアンに変換 double rc = c * pi / 180; double rd = d * pi / 180; double e = sin(ra) * sin(rc) + cos(ra) * cos(rc) * cos(rb - rd); // 2点の中心角(ラジアン)を求める double rr = acos(e); const double earth_radius = 6378140; // 地球赤道半径(m) distance = earth_radius * rr; // 2点間の距離(m) if (distance<5){ }else{ pc.printf("5m clear!"); xbee.printf("5m clear!"); break; } }else{ xbee.printf("NO DATA\r\n");//データ取得失 pc.printf("NO DATA\r\n"); wait(1); } } return 0; }