aigamozu / AigamozuControlPackets

to Mineta

Dependencies:   VNH5019

Dependents:   agz_base_ver2 agz_base_ver2 get_GPS_data_ver1 aigamozu_program_ver2 ... more

Diff: AigamozuControlPackets.cpp

Revision:
27:acadce784e2b
Parent:
24:ed71894a6952
Child:
28:e0f016828bb1
--- a/AigamozuControlPackets.cpp	Fri May 15 07:00:14 2015 +0000
+++ b/AigamozuControlPackets.cpp	Sat May 16 06:49:43 2015 +0000
@@ -212,6 +212,7 @@
         Automove_Timer.reset();
         out_count_flag = true;
     }
+    if(nowMode == AUTO_GPS_MODE){
     if(out_flag){
         if(Automove_Timer.read_ms() < 5000){
             _agzSheild.changeSpeed(2,64,2,64);//back
@@ -225,6 +226,7 @@
     //if robot is inner
         _agzSheild.changeSpeed(1,64,1,64);//straight
     }
+    }
     
     return out_flag;
  
@@ -317,7 +319,7 @@
     eachModeInt.detach();
 
     //Select Mode
-    switch(buf[19]){
+    switch(buf[0]){
         case 0:
             nowMode = STANDBY_MODE;
         break;