aigamozu / Mbed 2 deprecated Aigamozu_Robot_展示会

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Dependencies:   ADXL345 AigamozuControlPackets_展示会 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed

Fork of Aigamozu_Robot_ver4 by CanSat2015aizu

Files at this revision

API Documentation at this revision

Revision 29:524684a1198f, committed 2015-05-19

Comitter:
s1200058
Date:
Tue May 19 10:27:43 2015 +0000
Parent:
28:4ccd7cfc6b1b
Child:
30:7f6ebe2121d9
Commit message:
change for test

Changed in this revision

AigamozuControlPackets.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/AigamozuControlPackets.lib	Mon May 18 02:36:59 2015 +0000
+++ b/AigamozuControlPackets.lib	Tue May 19 10:27:43 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#8753fbab3f1f
+http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#cd68a37d1ee1

--- a/main.cpp	Mon May 18 02:36:59 2015 +0000
+++ b/main.cpp	Tue May 19 10:27:43 2015 +0000
@@ -50,7 +50,7 @@
 //Base    ID: 'a' ~ 'a'
 //manager ID: '0'(数字のゼロ)
 //
-const char MyID = 'A';
+const char MyID = 'D';
 //************ID Number*****************
 
 /////////////////////////////////////////
@@ -408,6 +408,10 @@
     Timer auto_Timer;
     const int auto_Time = 2000; //refresh time in ms
     int count = 0;
+    
+    Timer Move_Timer;
+    const int straight = 30000, turning = 34000, wait = 31000;
+    
     myGPS.begin(GPS_BAUD_RATE); 
     
     Timer collect_Timer;
@@ -420,14 +424,15 @@
     myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
     myGPS.sendCommand(PGCMD_ANTENNA);
     
-    wait(2);
+    wait_ms(2000);
        
     //interrupt start
     refresh_Timer.start();
     auto_Timer.start();
+    Move_Timer.start();
     collect_Timer.start();
+    printf("start\n");
     
-    printf("start\n");
     
     while (true) {
         
@@ -509,8 +514,25 @@
          } 
             
         if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
-            auto_Timer.reset();
-            auto_Move(); 
+           auto_Timer.reset();
+           auto_Move(); 
+        }
+        
+     if(agz.nowMode == AUTO_GPS_MODE){
+        if(Move_Timer.read_ms() < straight){
+           agz.test_Auto(0); //straight
+        }
+        if(Move_Timer.read_ms() > straight && Move_Timer.read_ms() < wait){
+            agz.test_Auto(1);
+        }
+        if(Move_Timer.read_ms() > wait && Move_Timer.read_ms() < turning){
+            agz.test_Auto(2); //Turn Right
+        }   
+        if(Move_Timer.read_ms() > turning){
+            agz.test_Auto(3);
+            wait_ms(200);
+            Move_Timer.reset();
         }
     }
+    }
 }
\ No newline at end of file