Diff: main.cpp

Revision:

15:dd7c2ab65a09

Parent:

14:4dfeeca65308

Child:

16:a3a0e5654835

--- a/main.cpp	Wed Aug 12 07:27:45 2015 +0000
+++ b/main.cpp	Wed Aug 12 12:11:25 2015 +0000
@@ -108,7 +108,7 @@
 int change = 0;
 
 int mode = 2; //ロボットのモード
-double target_x = 37.52260177176629,target_y = 139.93881346945034;
+double target_x = 40.085592,target_y = 139.592383;
 double  goal_Pressure, goal_Temperature,goal_Humidity; //地表地点の気圧、気温、湿度
 
 Timer sep_Timer;
@@ -166,8 +166,8 @@
     if (myGPS->fix) {
         
         cansat.nowStatus = GPS_AVAIL;
-        cansat.set_robot_x((double)myGPS->latitudeH + (double)(myGPS->latitudeL / 10000.0));
-        cansat.set_robot_y((double)myGPS->longitudeH +(double)(myGPS->longitudeL / 10000.0));
+        cansat.set_robot_x((double)myGPS->latitudeH + (double)(myGPS->latitudeL / 1000000.0));
+        cansat.set_robot_y((double)myGPS->longitudeH +(double)(myGPS->longitudeL / 1000000.0));
     
         
         if(flag < COUNTER_MAX){
@@ -329,6 +329,15 @@
 /******************************
 落下モード
 ******************************/
+void falling_print(){
+    
+    xbee.printf("%d times, x:%f, y:%f, speed:%d\n", log_number, cansat.get_robot_x(), cansat.get_robot_y(), cansat.get_speed());
+    xbee.printf("Pressure:%04.2f hPa\n", cansat.get_pressure());
+
+    log_number++;
+    
+}
+
 void falling(){
     
     cansat.set_temperature(sensor.getTemperature()); 
@@ -348,6 +357,9 @@
         }
 
     }    
+
+    falling_print();
+
 }
 
 /******************************
@@ -358,7 +370,7 @@
     
     xbee.printf("%d times, x:%f, y:%f, speed:%d\n", log_number, cansat.get_robot_x(), cansat.get_robot_y(), cansat.get_speed());
     xbee.printf("moter command: %c\n", cansat.motor_command);
-    xbee.printf("robot_angle:%d, target_angle:%d, robot_compass:%f, %04.2f hPa\n",cansat.get_robot_angle(), cansat.get_target_angle(),  cansat.get_compass_angle(), cansat.get_pressure());
+    xbee.printf("robot_angle:%d, target_angle:%d, robot_compass:%f, prressure:%04.2f hPa\n",cansat.get_robot_angle(), cansat.get_target_angle(),  cansat.get_compass_angle(), cansat.get_pressure());
 
     log_number++;