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:
- 18:01882120e6cf
- Parent:
- 17:a6fa8cc96d94
- Child:
- 19:13b24b50800e
diff -r a6fa8cc96d94 -r 01882120e6cf AigamozuControlPackets.cpp --- a/AigamozuControlPackets.cpp Tue May 12 01:02:47 2015 +0000 +++ b/AigamozuControlPackets.cpp Tue May 12 11:36:12 2015 +0000 @@ -98,11 +98,11 @@ latitude_data.double_value=latitude; longitude_data.double_value=longitude; - longitude_data.double_value=latitudeKalman; + latitudeKalman_data.double_value=latitudeKalman; longitudeKalman_data.double_value=longitudeKalman; covarLati_data.double_value=covarLati; covarLongi_data.double_value=covarLongi; - + uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S',nowMode,71,80,83, latitude_data.char_value[0],latitude_data.char_value[1],latitude_data.char_value[2],latitude_data.char_value[3],latitude_data.char_value[4],latitude_data.char_value[5],latitude_data.char_value[6],latitude_data.char_value[7], longitude_data.char_value[0],longitude_data.char_value[1],longitude_data.char_value[2],longitude_data.char_value[3],longitude_data.char_value[4],longitude_data.char_value[5],longitude_data.char_value[6],longitude_data.char_value[7], @@ -244,8 +244,8 @@ //Update Robot Point void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){ - agzPoint.x = (double)latitudeH + (double)(latitudeL / 1000000.0/60.0); - agzPoint.y = (double)longitudeH +(double)(longitudeL / 1000000.0/60.0); + agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0); + agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0); } @@ -257,8 +257,8 @@ //Update Robot Point void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){ - agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 1000000.0/60.0); - agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 1000000.0/60.0); + agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0); + agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0); }