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:
- 4:975b0d9bd51b
- Parent:
- 3:ec2b7587be78
- Child:
- 5:cc7917e8c442
--- a/main.cpp Wed Nov 10 08:36:55 2021 +0000 +++ b/main.cpp Wed Nov 10 09:16:37 2021 +0000 @@ -99,7 +99,9 @@ double lati = 111132.8715; //1度あたりの緯度の距離(m) double longi = 91535.79099; //1度あたりの経度の距離(m) - if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x)*lati*lati + (next_CP_y = GPS_y)*(next_CP_y = GPS_y)*longi*longi < 25) { // CP到着判定 //試験で調整 + GPS_x = gps.latitude; + GPS_y = gps.longitude; + if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x)*lati*lati + (next_CP_y - GPS_y)*(next_CP_y - GPS_y)*longi*longi < 25) { // CP到着判定 //試験で調整 pc.printf("now leach cp[%d]=x_%f,y_%f",i,next_CP_x ,next_CP_y); xbee.printf("now leach cp[%d]=x_%f,y_%f",i,next_CP_x ,next_CP_y); break;