Diff: AigamozuControlPackets.cpp

Revision:

16:0e815cca2cc7

Parent:

15:ac839aff80bc

--- a/AigamozuControlPackets.cpp	Mon Apr 27 12:07:42 2015 +0000
+++ b/AigamozuControlPackets.cpp	Mon May 11 13:09:32 2015 +0000
@@ -218,28 +218,28 @@
     
 //Update Robot Point    
 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
-    agzPoint.x = (double)latitudeH + (double)(latitudeL / 1000000.0);
-    agzPoint.y = (double)longitudeH +(double)(longitudeL / 1000000.0);
+    agzPoint.x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0);
+    agzPoint.y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0);
     
     }
     
 //Updata Base Point   
 void AigamozuControlPackets::reNewBasePoint(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL){
-    basePoint[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0);
-    basePoint[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0);
+    basePoint[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0);
+    basePoint[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0);
 }   
 
 //Update Robot Point    
 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
-    agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 1000000.0);
-    agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 1000000.0);
+    agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0);
+    agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0);
     
     }
     
 //Updata Base Point   
 void AigamozuControlPackets::reNewBasePointKalman(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL){
-    basePointKalman[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0);
-    basePointKalman[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0);
+    basePointKalman[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0);
+    basePointKalman[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0);
 }