Diff: AigamozuControlPackets.cpp

Revision:

32:cd68a37d1ee1

Parent:

31:8753fbab3f1f

Child:

33:c11a9cb35840

--- a/AigamozuControlPackets.cpp	Sun May 17 11:38:02 2015 +0000
+++ b/AigamozuControlPackets.cpp	Tue May 19 10:27:28 2015 +0000
@@ -188,6 +188,23 @@
     else randomCount = 0;
     
     }
+    
+void AigamozuControlPackets::test_Auto(int flag){
+
+        if(flag == 0){
+            _agzSheild.changeSpeed(1, 64, 1, 64); //straight
+        }
+        if(flag == 1){
+            _agzSheild.changeSpeed(0, 64, 0, 64); 
+        }
+        if(flag == 2){
+             _agzSheild.changeSpeed(1, 64, 2, 64); //Turn Right
+        }   
+        if(flag == 3){
+            _agzSheild.changeSpeed(0, 64, 0, 64); 
+        }
+}
+
 bool AigamozuControlPackets::gpsAuto(){
     
    /*
@@ -214,12 +231,13 @@
         Automove_Timer.reset();
         out_count_flag = true;
     }
-    if(nowMode == AUTO_GPS_MODE){
-    if(out_flag){
+/*    if(nowMode == AUTO_GPS_MODE){
+         
+   if(out_flag){
         if(Automove_Timer.read_ms() < 5000){
             _agzSheild.changeSpeed(2,64,2,64);//back
         }else if(Automove_Timer.read_ms() < 6000){
-            _agzSheild.changeSpeed(1,64,2,64);//straight
+            _agzSheild.changeSpeed(1,64,1,64);//straight
         }else if(Automove_Timer.read_ms() >= 6000){
             out_count_flag=false;
             out_flag=false;
@@ -228,8 +246,8 @@
     //if robot is inner
         _agzSheild.changeSpeed(1,64,1,64);//straight
     }
-    }
-    
+    }   
+*/ 
     return out_flag;
  
 }
@@ -336,11 +354,13 @@
             //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
             //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
             nowMode = AUTO_GPS_MODE;
+            //test_Auto();
         break;
         
         case 3:
             //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
             nowMode = AUTO_GPS_MODE;
+            //test_Auto();
         break;
         
         default: