2016_05_19ver Auto mode 10sec forward, 2sec stop, 2sec right turn Please change test_mode's right turn ppm
Dependencies: VNH5019 AigamozuControlPackets_2016
Dependents: Aigamozu_Robot_2016_ver1 GPSLOG_program AigamozuControlPackets_2016
Fork of AigamozuControlPackets by
Diff: AigamozuControlPackets.cpp
- Revision:
- 49:c69fcf98e6b7
- Parent:
- 46:246051b4f24d
--- a/AigamozuControlPackets.cpp Mon Jun 06 09:52:28 2016 +0000 +++ b/AigamozuControlPackets.cpp Tue Aug 09 13:04:06 2016 +0000 @@ -54,6 +54,12 @@ double AigamozuControlPackets::get_agzCov_longi(){ return agzCov.y; } +double AigamozuControlPackets::get_agzCov_lati_collect(){ + return agzCov_collect.x; +} +double AigamozuControlPackets::get_agzCov_longi_collect(){ + return agzCov_collect.y; +} double AigamozuControlPackets::get_basePoint_lati(int i){ return basePoint[i].x; @@ -71,9 +77,21 @@ ////////////////////////////// // set関数 ////////////////////////////// +void AigamozuControlPackets::set_agzCov_from_packet(uint8_t *cov_lati,uint8_t *cov_longi){ + UNION_double_char lat_cov,longi_cov; + for(int i = 0;i < 8;i++){ + lat_cov.char_value[i]=cov_lati[i]; + } + for(int i = 0;i < 8;i++){ + longi_cov.char_value[i]=cov_longi[i]; + } + agzCov_collect.x = lat_cov.double_value; + agzCov_collect.y = longi_cov.double_value; +} + void AigamozuControlPackets::set_agzCov(double cov_lati,double cov_longi){ agzCov.x = cov_lati; - agzCov.y = cov_longi; + agzCov.y = cov_longi; } void AigamozuControlPackets::set_agzPointKalman_lati(double kalman_lati){ @@ -235,12 +253,12 @@ if(out_flag == true){ if(Automove_Timer.read_ms() <= 5000){ - _agzSheild.changeSpeed(1,32,1,124);//turn left - }else if(Automove_Timer.read_ms() <= 6000){ + _agzSheild.changeSpeed(2,124,2,124);//back + /* }else if(Automove_Timer.read_ms() <= 6000){ _agzSheild.changeSpeed(0,124,0,124); }else if(Automove_Timer.read_ms() <= 10000){ - _agzSheild.changeSpeed(1,124,1,124);//straight - }else if(Automove_Timer.read_ms() > 10000){ + _agzSheild.changeSpeed(1,124,1,124);//straight*/ + }else if(Automove_Timer.read_ms() > 5000){ Move_Timer.reset(); _agzSheild.changeSpeed(0,64,0,64); out_count_flag=false;