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 35:c18c96b92121, committed 2015-05-25

Comitter:
s1200058
Date:
Mon May 25 11:36:48 2015 +0000
Parent:
34:9c3192c00e41
Child:
36:f2013fc33b28
Commit message:
they can print log at file

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon May 25 11:06:34 2015 +0000
+++ b/main.cpp	Mon May 25 11:36:48 2015 +0000
@@ -107,9 +107,9 @@
 void Kalman(double Latitude,double Longitude);
 int change = 0;
 
-
 LocalFileSystem local("local");  // マウントポイントを定義（ディレクトリパスになる）
-
+FILE *fp;
+char filename[16] = "/local/out0.txt";
 /////////////////////////////////////////
 //
 //Plus Speed
@@ -183,6 +183,7 @@
 
 void Get_GPS(Adafruit_GPS *myGPS){
     static int flag = 0;
+    static int save_counter = 0;
     
     if (myGPS->fix) {
         
@@ -192,12 +193,12 @@
         if(flag < COUNTER_MAX){
             flag++; 
         }
-        if(flag == 5){
+        if(flag == 15){
             x_prev = agz.get_agzPoint_lati();
             y_prev = agz.get_agzPoint_longi();
         }
             
-        if(flag >= 6){
+        if(flag >= 16){
             if(abs(x_prev - agz.get_agzPoint_lati()) < 0.001 && abs(y_prev - agz.get_agzPoint_longi()) < 0.001){
                 Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
                 change = 1;
@@ -205,13 +206,19 @@
             else{
                 change = 0;
             }
-        /*    fp = fopen(filename, "w");
-            fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
-                change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
-                agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
-                agz.get_agzCov_lati(),agz.get_agzCov_longi());
-                */
-            
+            if(save_counter < 10){
+                fp = fopen(filename, "a");
+                fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
+                    change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+                    agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+                    agz.get_agzCov_lati(),agz.get_agzCov_longi());
+                fclose(fp);   
+                
+                if((flag - 16) % 500 == 0){
+                    filename[10]++;
+                    save_counter++;
+                }
+            }
         } 
             
                 printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",