aigamozu / Mbed 2 deprecated Aigamozu_Robot_2016_ver1

2016_05_19 Auto mode: 10sec forward, 2sec stop, 2sec turn right Please change test Auto pwm

Dependencies:   ADXL345 AigamozuControlPackets_2016 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST_2016 mbed

Fork of Aigamozu_Robot_ver4 by CanSat2015aizu

Diff: main.cpp

Revision:
15:f3d01f37f00d
Parent:
14:5deb7a4f1cd4
Child:
16:a07350b3eb64
diff -r 5deb7a4f1cd4 -r f3d01f37f00d main.cpp
--- a/main.cpp	Thu May 14 12:26:14 2015 +0000
+++ b/main.cpp	Fri May 15 07:00:45 2015 +0000
@@ -115,7 +115,7 @@
     }
     //send normal data
     //Create GPS Infomation Packet
-    agz.createReceiveStatusCommand(MyID,SenderIDc,
+    agz.createReceiveStatusCommand(MyID,SenderIDc, (int)agz.gpsAuto(),
                                     agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
                                     agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
                                     agz.get_agzCov_lati(),agz.get_agzCov_longi());
@@ -471,15 +471,9 @@
         
                 //get base GPS
         if( collect_Timer.read_ms() >= collect_Time){
-            collect_Timer.reset();
-            
-            //printf("Send Request:%d,%d\n",collect_flag,collect_state);
-                      
-            agz.createRequestCommand(MyID, collect_state);
-            //Select Destination
-            ZBTxRequest tx64request(base_Address[collect_flag],agz.packetData,agz.getPacketLength());
-            //Send -> Base
-            xbee.send(tx64request);
+            collect_Timer.reset();   
+                     
+            Send_Request_Base(collect_flag);
             
             collect_flag++;
             collect_state++;