CanSat-C 2021 / Mbed 2 deprecated cansatC_test2_xbee

Xbeeを実装、speakをfunctionに、rotate消した、calibrationで回るように、ゴール判定を消した

Dependencies:   ATP3012 mbed a HMC US015_2 getGPS

Diff: main.cpp

Revision:
19:6c56feca386d
Parent:
18:da59a86eb246
Child:
21:8469bb5e099f
--- a/main.cpp	Wed Dec 15 10:31:04 2021 +0000
+++ b/main.cpp	Thu Dec 16 08:54:11 2021 +0000
@@ -68,7 +68,8 @@
                 //ちょっと走るのおわり
                 //走りながらanglegetできたら、止まらない
                 
-                direction = AngleGet();
+                catchGPS();
+                direction = AngleGet(next_CP_x,next_CP_y);
                 xbee.printf("direction=%f\n\rrotation_start", direction);
                 //角度調節
                 while(1) {
@@ -82,7 +83,7 @@
                     else {
                         Move('4', 0.19);//時計回りに回転
                         xbee.printf("now_angle=%lf\r\n", direction);
-                        direction = AngleGet();
+                        direction = AngleGet(next_CP_x,next_CP_y);
                         }
                 }