Diff: main.cpp

Revision:

19:fb9b9795ad9e

Parent:

18:057b39ca7bd1

--- a/main.cpp	Thu Oct 28 09:57:35 2021 +0000
+++ b/main.cpp	Thu Oct 28 10:30:13 2021 +0000
@@ -86,8 +86,8 @@
                 pc.printf("\n\rlongititude=");
                 pc.scanf("%lf",&gps.longitude);
                 pc.printf("%lf %lf\r\n", gps.latitude, gps.longitude);
-                if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x) + (next_CP_y = GPS_y)*(next_CP_y = GPS_y) < 0.01) { // 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);
+                if ((next_CP_x - gps.latitude)*(next_CP_x - gps.latitude) + (next_CP_y - gps.longitude)*(next_CP_y -gps.longitude) < 0.01) { // CP到着判定 //試験で調整
+                    pc.printf("now leach cp[%d]=x_%f,y_%f\r\n",i,next_CP_x ,next_CP_y);
                     break;
                 }
                 
@@ -95,6 +95,7 @@
         }
     // 行動フロー終了
     pc.printf("End\r\n");
+    Move('1', 0);      //停止
     return 0;
     }
 }