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Dependencies: ADXL345 AigamozuControlPackets_展示会 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of
Aigamozu_Robot_March
by 
Mami Yokokawa
Revision 30:7f6ebe2121d9, committed 2015-05-19
- Comitter:
- s1200058
- Date:
- Tue May 19 10:52:39 2015 +0000
- Parent:
- 29:524684a1198f
- Child:
- 31:3f91f4bfca8a
- Commit message:
- change aigamozuControlPackets
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 Tue May 19 10:27:43 2015 +0000 +++ b/AigamozuControlPackets.lib Tue May 19 10:52:39 2015 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#cd68a37d1ee1 +http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#c11a9cb35840
--- a/main.cpp Tue May 19 10:27:43 2015 +0000
+++ b/main.cpp Tue May 19 10:52:39 2015 +0000
@@ -429,7 +429,7 @@
//interrupt start
refresh_Timer.start();
auto_Timer.start();
- Move_Timer.start();
+ agz.Move_Timer.start();
collect_Timer.start();
printf("start\n");
@@ -464,6 +464,7 @@
}
case CHANGE_MODE:{
New_Mode(buf);
+ Move_Timer.reset();
break;
}
case RECEIVE_STATUS:{
@@ -519,19 +520,19 @@
}
if(agz.nowMode == AUTO_GPS_MODE){
- if(Move_Timer.read_ms() < straight){
+ if(agz.Move_Timer.read_ms() < straight){
agz.test_Auto(0); //straight
}
- if(Move_Timer.read_ms() > straight && Move_Timer.read_ms() < wait){
+ if(agz.Move_Timer.read_ms() > straight && agz.Move_Timer.read_ms() < wait){
agz.test_Auto(1);
}
- if(Move_Timer.read_ms() > wait && Move_Timer.read_ms() < turning){
+ if(agz.Move_Timer.read_ms() > wait && agz.Move_Timer.read_ms() < turning){
agz.test_Auto(2); //Turn Right
}
- if(Move_Timer.read_ms() > turning){
+ if(agz.Move_Timer.read_ms() > turning){
agz.test_Auto(3);
wait_ms(200);
- Move_Timer.reset();
+ agz.Move_Timer.reset();
}
}
}