aigamozu / AigamozuControlPackets_展示会

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Dependencies:   VNH5019

Dependents:   Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete

Fork of AigamozuControlPackets by aigamozu

Diff: AigamozuControlPackets.cpp

Revision:
39:172423aa2921
Parent:
38:c1948f13578d
Child:
40:c0cf45cf5eeb
diff -r c1948f13578d -r 172423aa2921 AigamozuControlPackets.cpp
--- a/AigamozuControlPackets.cpp	Fri Jun 05 03:46:56 2015 +0000
+++ b/AigamozuControlPackets.cpp	Mon Jun 08 15:47:56 2015 +0000
@@ -209,7 +209,7 @@
         }
 }
 
-bool AigamozuControlPackets::gpsAuto(){
+bool AigamozuControlPackets::gpsAuto(const int autobase[]){
     
    /*
     _agzSheild.changeSpeed(2,128,2,128):for moving robot
@@ -220,10 +220,10 @@
     bool out_flag = true;
     static bool out_count_flag = false;
     
-    if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)){
+    if(AigamozuControlPackets::checkGpsHit(basePointKalman[autobase[0]],basePointKalman[autobase[1]],basePointKalman[autobase[2]],agzPointKalman)){
         out_flag = false;
         out_count_flag = false;
-    }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
+    }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[autobase[2]],basePointKalman[autobase[3]],basePointKalman[autobase[0]],agzPointKalman)){
         out_flag = false;
         out_count_flag = false;
     }else{//if robot is out