aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver1_0

2015/05/12

Dependencies:   ADXL345 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed

main.cpp@1:d10d72b1d29b, 2015-05-12 (annotated)

Committer:
s1200058
Date:
Tue May 12 10:21:05 2015 +0000
Revision:
1:d10d72b1d29b
Parent:
0:eee5e3d906ce 
2015/05/12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 0:eee5e3d906ce 1 /**********************************************/
kityann 0:eee5e3d906ce 2 //
kityann 0:eee5e3d906ce 3 //
kityann 0:eee5e3d906ce 4 //
kityann 0:eee5e3d906ce 5 // Program name: Aigamozu BASE
kityann 0:eee5e3d906ce 6 // Author: Mineta Kizuku
kityann 0:eee5e3d906ce 7 //
kityann 0:eee5e3d906ce 8 //
kityann 0:eee5e3d906ce 9 /**********************************************/
kityann 0:eee5e3d906ce 10
kityann 0:eee5e3d906ce 11 /**********************************************/
kityann 0:eee5e3d906ce 12 //更新情報
kityann 0:eee5e3d906ce 13 //2015/05/11
kityann 0:eee5e3d906ce 14 //ベースプログラムの作成
kityann 0:eee5e3d906ce 15 //
s1200058 1:d10d72b1d29b 16 //void Get_GPS()内でLongitudeL, LatitudeL それぞれに+10する処理。
s1200058 1:d10d72b1d29b 17 //main()内でAutoModeのときでかつ2000ms立った時にGPSを取得する。
kityann 0:eee5e3d906ce 18 //
kityann 0:eee5e3d906ce 19 //
kityann 0:eee5e3d906ce 20 /**********************************************/
kityann 0:eee5e3d906ce 21
kityann 0:eee5e3d906ce 22 #include "mbed.h"
kityann 0:eee5e3d906ce 23 #include "XBee.h"
kityann 0:eee5e3d906ce 24 #include "MBed_Adafruit_GPS.h"
kityann 0:eee5e3d906ce 25 #include "AigamozuControlPackets.h"
kityann 0:eee5e3d906ce 26 #include "agzIDLIST.h"
kityann 0:eee5e3d906ce 27 #include "aigamozuSetting.h"
kityann 0:eee5e3d906ce 28 #include "agz_common.h"
kityann 0:eee5e3d906ce 29 #include "Kalman.h"
kityann 0:eee5e3d906ce 30
kityann 0:eee5e3d906ce 31 //************ID Number*****************
kityann 0:eee5e3d906ce 32 const char MyID = 'D';
kityann 0:eee5e3d906ce 33 //************ID Number*****************
kityann 0:eee5e3d906ce 34
kityann 0:eee5e3d906ce 35 /////////////////////////////////////////
kityann 0:eee5e3d906ce 36 //
kityann 0:eee5e3d906ce 37 //Pin Setting
kityann 0:eee5e3d906ce 38 //
kityann 0:eee5e3d906ce 39 /////////////////////////////////////////
kityann 0:eee5e3d906ce 40 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:eee5e3d906ce 41
kityann 0:eee5e3d906ce 42
kityann 0:eee5e3d906ce 43 /////////////////////////////////////////
kityann 0:eee5e3d906ce 44 //
kityann 0:eee5e3d906ce 45 //Connection Setting
kityann 0:eee5e3d906ce 46 //
kityann 0:eee5e3d906ce 47 /////////////////////////////////////////
kityann 0:eee5e3d906ce 48
kityann 0:eee5e3d906ce 49 //Serial Connect Setting: PC <--> mbed
kityann 0:eee5e3d906ce 50 Serial pc(USBTX, USBRX);
kityann 0:eee5e3d906ce 51
kityann 0:eee5e3d906ce 52 //Serial Connect Setting: GPS <--> mbed
kityann 0:eee5e3d906ce 53 Serial * gps_Serial;
kityann 0:eee5e3d906ce 54
kityann 0:eee5e3d906ce 55 //Serial Connect Setting: XBEE <--> mbed
kityann 0:eee5e3d906ce 56 XBee xbee(p13,p14);
kityann 0:eee5e3d906ce 57 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:eee5e3d906ce 58
kityann 0:eee5e3d906ce 59 //set up GPS module
kityann 0:eee5e3d906ce 60
kityann 0:eee5e3d906ce 61 //set up AigamozuControlPackets library
kityann 0:eee5e3d906ce 62 AigamozuControlPackets agz(agz_motorShield);
kityann 0:eee5e3d906ce 63
kityann 0:eee5e3d906ce 64
kityann 0:eee5e3d906ce 65 /////////////////////////////////////////
kityann 0:eee5e3d906ce 66 //
kityann 0:eee5e3d906ce 67 //For Kalman data
kityann 0:eee5e3d906ce 68 //
kityann 0:eee5e3d906ce 69 /////////////////////////////////////////
kityann 0:eee5e3d906ce 70 double sigmaGPS[2][2] = {{250,0},{0,250}};
kityann 0:eee5e3d906ce 71 double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}};
kityann 0:eee5e3d906ce 72 double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}};
kityann 0:eee5e3d906ce 73 double y[2],x[2][2]={0};
kityann 0:eee5e3d906ce 74 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS);
kityann 0:eee5e3d906ce 75
kityann 0:eee5e3d906ce 76 /////////////////////////////////////////
kityann 0:eee5e3d906ce 77 //
kityann 0:eee5e3d906ce 78 //Address List
kityann 0:eee5e3d906ce 79 //
kityann 0:eee5e3d906ce 80 /////////////////////////////////////////
kityann 0:eee5e3d906ce 81 XBeeAddress64 base_Address[BaseNumber] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L),
kityann 0:eee5e3d906ce 82 XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L),
kityann 0:eee5e3d906ce 83 XBeeAddress64(BASE5_32H,BASE5_32L)};
kityann 0:eee5e3d906ce 84 XBeeAddress64 robot_Address[RobotNumber] = {XBeeAddress64(ROBOT1_32H,ROBOT1_32L), XBeeAddress64(ROBOT1_32H,ROBOT1_32L)};
kityann 0:eee5e3d906ce 85 XBeeAddress64 manager_Address = XBeeAddress64(BASE1_32H,BASE1_32L);
kityann 0:eee5e3d906ce 86
kityann 0:eee5e3d906ce 87
s1200058 1:d10d72b1d29b 88
kityann 0:eee5e3d906ce 89 /////////////////////////////////////////
kityann 0:eee5e3d906ce 90 //
kityann 0:eee5e3d906ce 91 //Send_Status
kityann 0:eee5e3d906ce 92 //
kityann 0:eee5e3d906ce 93 //リクエストがきたとき、自分の位置情報などを返信する
kityann 0:eee5e3d906ce 94 /////////////////////////////////////////
kityann 0:eee5e3d906ce 95 void Send_Status(char SenderIDc){
kityann 0:eee5e3d906ce 96 XBeeAddress64 send_Address;
kityann 0:eee5e3d906ce 97 if(SenderIDc == '0'){
kityann 0:eee5e3d906ce 98 send_Address = manager_Address;
kityann 0:eee5e3d906ce 99 }
kityann 0:eee5e3d906ce 100 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:eee5e3d906ce 101 send_Address = robot_Address[SenderIDc - 'A'];
kityann 0:eee5e3d906ce 102 }
kityann 0:eee5e3d906ce 103 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:eee5e3d906ce 104 send_Address = base_Address[SenderIDc - 'a'];
kityann 0:eee5e3d906ce 105 }
kityann 0:eee5e3d906ce 106 //send normal data
kityann 0:eee5e3d906ce 107 //Create GPS Infomation Packet
s1200058 1:d10d72b1d29b 108 // agz.createReceiveStatusCommand(MyID,SenderIDc,agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
s1200058 1:d10d72b1d29b 109 // agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
s1200058 1:d10d72b1d29b 110 // agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 0:eee5e3d906ce 111 //Select Destination
s1200058 1:d10d72b1d29b 112 // ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:eee5e3d906ce 113 //Send -> Base
s1200058 1:d10d72b1d29b 114 // xbee.send(tx64request);
kityann 0:eee5e3d906ce 115 }
kityann 0:eee5e3d906ce 116
kityann 0:eee5e3d906ce 117 /////////////////////////////////////////
kityann 0:eee5e3d906ce 118 //
kityann 0:eee5e3d906ce 119 //Get GPS function
kityann 0:eee5e3d906ce 120 //
kityann 0:eee5e3d906ce 121 /////////////////////////////////////////
kityann 0:eee5e3d906ce 122
kityann 0:eee5e3d906ce 123 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:eee5e3d906ce 124 static bool flag = true;
kityann 0:eee5e3d906ce 125
kityann 0:eee5e3d906ce 126 if (myGPS->fix) {
kityann 0:eee5e3d906ce 127 agz.nowStatus = GPS_AVAIL;
kityann 0:eee5e3d906ce 128
kityann 0:eee5e3d906ce 129 if(flag){//初期値設定
kityann 0:eee5e3d906ce 130 if(myGPS->longitudeH>=138 && myGPS->longitudeH<=141 && myGPS->latitudeH>=36 && myGPS->latitudeH<=38){
kityann 0:eee5e3d906ce 131 flag = false;
kityann 0:eee5e3d906ce 132 x[0][0]=(double)myGPS->latitudeL;
kityann 0:eee5e3d906ce 133 x[0][1]=(double)myGPS->longitudeL;
kityann 0:eee5e3d906ce 134 }
kityann 0:eee5e3d906ce 135 }
kityann 0:eee5e3d906ce 136
kityann 0:eee5e3d906ce 137 if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){
kityann 0:eee5e3d906ce 138 return;
kityann 0:eee5e3d906ce 139 }
s1200058 1:d10d72b1d29b 140
kityann 0:eee5e3d906ce 141 //Kalman Filter
kityann 0:eee5e3d906ce 142 Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS);
kityann 0:eee5e3d906ce 143
kityann 0:eee5e3d906ce 144 agz.reNewRobotPoint(myGPS->longitudeH,myGPS->longitudeL,myGPS->latitudeH,myGPS->latitudeL);
kityann 0:eee5e3d906ce 145 agz.reNewRobotPointKalman(myGPS->longitudeKH,myGPS->longitudeKL,myGPS->latitudeKH,myGPS->latitudeKL);
kityann 0:eee5e3d906ce 146 }
kityann 0:eee5e3d906ce 147 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:eee5e3d906ce 148
kityann 0:eee5e3d906ce 149 }
kityann 0:eee5e3d906ce 150
kityann 0:eee5e3d906ce 151
kityann 0:eee5e3d906ce 152 /////////////////////////////////////////
kityann 0:eee5e3d906ce 153 //
kityann 0:eee5e3d906ce 154 //Kalman Processing
kityann 0:eee5e3d906ce 155 //
kityann 0:eee5e3d906ce 156 /////////////////////////////////////////
kityann 0:eee5e3d906ce 157
kityann 0:eee5e3d906ce 158 void get_K(){
kityann 0:eee5e3d906ce 159 double temp[2][2]={
kityann 0:eee5e3d906ce 160 {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]},
kityann 0:eee5e3d906ce 161 {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]}
kityann 0:eee5e3d906ce 162 };
kityann 0:eee5e3d906ce 163 double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1];
kityann 0:eee5e3d906ce 164 K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]);
kityann 0:eee5e3d906ce 165 K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]);
kityann 0:eee5e3d906ce 166 }
kityann 0:eee5e3d906ce 167
kityann 0:eee5e3d906ce 168
kityann 0:eee5e3d906ce 169 void get_x(){
kityann 0:eee5e3d906ce 170 x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]);
kityann 0:eee5e3d906ce 171 x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]);
kityann 0:eee5e3d906ce 172 }
kityann 0:eee5e3d906ce 173
kityann 0:eee5e3d906ce 174
kityann 0:eee5e3d906ce 175 void get_sigma(){
kityann 0:eee5e3d906ce 176 double temp[2][2];
kityann 0:eee5e3d906ce 177 for(int i=0;i<2;i++) {
kityann 0:eee5e3d906ce 178 for(int j=0;j<2;j++) {
kityann 0:eee5e3d906ce 179 for(int k=0;k<2;k++) {
kityann 0:eee5e3d906ce 180 temp[i][j]+=K[1][i][k]*sigma[0][k][j];
kityann 0:eee5e3d906ce 181 }
kityann 0:eee5e3d906ce 182 }
kityann 0:eee5e3d906ce 183 }
kityann 0:eee5e3d906ce 184 for(int i = 0;i < 2;i++){
kityann 0:eee5e3d906ce 185 for(int j = 0;j < 2;j++){
kityann 0:eee5e3d906ce 186 sigma[1][i][j] = sigma[0][i][j]-temp[i][j];
kityann 0:eee5e3d906ce 187 }
kityann 0:eee5e3d906ce 188 }
kityann 0:eee5e3d906ce 189 }
kityann 0:eee5e3d906ce 190
kityann 0:eee5e3d906ce 191 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){
kityann 0:eee5e3d906ce 192 y[0] = Latitude;
kityann 0:eee5e3d906ce 193 y[1] = Longitude;
kityann 0:eee5e3d906ce 194 //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS];
kityann 0:eee5e3d906ce 195 get_K();
kityann 0:eee5e3d906ce 196 //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]);
kityann 0:eee5e3d906ce 197 get_x();
kityann 0:eee5e3d906ce 198 //sigma[t+1] = sigma[t]-K[t+1]*sigma[t];
kityann 0:eee5e3d906ce 199 get_sigma();
kityann 0:eee5e3d906ce 200
kityann 0:eee5e3d906ce 201
kityann 0:eee5e3d906ce 202 //kousinn
kityann 0:eee5e3d906ce 203 for(int i = 0;i < 2;i++){
kityann 0:eee5e3d906ce 204 for(int j = 0;j < 2;j++){
kityann 0:eee5e3d906ce 205 K[0][i][j]=K[1][i][j];
kityann 0:eee5e3d906ce 206 x[0][i]=x[1][i];
kityann 0:eee5e3d906ce 207 sigma[0][i][j]=sigma[1][i][j];
kityann 0:eee5e3d906ce 208 }
kityann 0:eee5e3d906ce 209 }
kityann 0:eee5e3d906ce 210
kityann 0:eee5e3d906ce 211 myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
kityann 0:eee5e3d906ce 212 myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering
kityann 0:eee5e3d906ce 213 myGPS->latitudeKL=(long)x[1][0];//latitude after filtering
kityann 0:eee5e3d906ce 214 myGPS->longitudeKL=(long)x[1][1];//longitude after filtering
kityann 0:eee5e3d906ce 215
kityann 0:eee5e3d906ce 216 agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]);
kityann 0:eee5e3d906ce 217 }
kityann 0:eee5e3d906ce 218
s1200058 1:d10d72b1d29b 219 void auto_Move(){
s1200058 1:d10d72b1d29b 220
s1200058 1:d10d72b1d29b 221 bool result;
s1200058 1:d10d72b1d29b 222 int i;
s1200058 1:d10d72b1d29b 223
s1200058 1:d10d72b1d29b 224 result = agz.gpsAuto();
s1200058 1:d10d72b1d29b 225 agz.set_agzAutoGPS();
s1200058 1:d10d72b1d29b 226 agz.set_agzKalmanGPS();
s1200058 1:d10d72b1d29b 227
s1200058 1:d10d72b1d29b 228 if(result == true){
s1200058 1:d10d72b1d29b 229 printf("Out Area\n");
s1200058 1:d10d72b1d29b 230 }
s1200058 1:d10d72b1d29b 231 else if(result == false){
s1200058 1:d10d72b1d29b 232 printf("In Area\n");
s1200058 1:d10d72b1d29b 233 }
s1200058 1:d10d72b1d29b 234 for(i = 0; i < 4; i++){
s1200058 1:d10d72b1d29b 235 printf("%d: %f, %f\n", i, agz.get_basePointKalman_lati(i), agz.get_basePointKalman_longi(i));
s1200058 1:d10d72b1d29b 236 }
s1200058 1:d10d72b1d29b 237 printf("robot: %f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
s1200058 1:d10d72b1d29b 238
s1200058 1:d10d72b1d29b 239 }
kityann 0:eee5e3d906ce 240
kityann 0:eee5e3d906ce 241 /////////////////////////////////////////
kityann 0:eee5e3d906ce 242 //
kityann 0:eee5e3d906ce 243 //Main Processing
kityann 0:eee5e3d906ce 244 //
kityann 0:eee5e3d906ce 245 /////////////////////////////////////////
kityann 0:eee5e3d906ce 246 int main() {
kityann 0:eee5e3d906ce 247 //start up time
kityann 0:eee5e3d906ce 248 wait(3);
kityann 0:eee5e3d906ce 249 //set pc frequency to 57600bps
kityann 0:eee5e3d906ce 250 pc.baud(PC_BAUD_RATE);
kityann 0:eee5e3d906ce 251 //set xbee frequency to 57600bps
kityann 0:eee5e3d906ce 252 xbee.begin(XBEE_BAUD_RATE);
kityann 0:eee5e3d906ce 253
kityann 0:eee5e3d906ce 254
kityann 0:eee5e3d906ce 255 //GPS setting
kityann 0:eee5e3d906ce 256 gps_Serial = new Serial(p28,p27);
kityann 0:eee5e3d906ce 257 Adafruit_GPS myGPS(gps_Serial);
kityann 0:eee5e3d906ce 258 Timer refresh_Timer;
kityann 0:eee5e3d906ce 259 const int refresh_Time = 2000; //refresh time in ms
kityann 0:eee5e3d906ce 260 myGPS.begin(GPS_BAUD_RATE);
kityann 0:eee5e3d906ce 261
kityann 0:eee5e3d906ce 262 char SenderIDc;
s1200058 1:d10d72b1d29b 263
s1200058 1:d10d72b1d29b 264 Timer auto_Timer;
s1200058 1:d10d72b1d29b 265 const int auto_Time = 2000;
s1200058 1:d10d72b1d29b 266
kityann 0:eee5e3d906ce 267 //GPS Send Command
kityann 0:eee5e3d906ce 268 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:eee5e3d906ce 269 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:eee5e3d906ce 270 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:eee5e3d906ce 271
kityann 0:eee5e3d906ce 272 wait(2);
kityann 0:eee5e3d906ce 273
kityann 0:eee5e3d906ce 274 //interrupt start
kityann 0:eee5e3d906ce 275 refresh_Timer.start();
s1200058 1:d10d72b1d29b 276 auto_Timer.start();
kityann 0:eee5e3d906ce 277
kityann 0:eee5e3d906ce 278 printf("start\n");
kityann 0:eee5e3d906ce 279
kityann 0:eee5e3d906ce 280 while (true) {
kityann 0:eee5e3d906ce 281
kityann 0:eee5e3d906ce 282 //Check Xbee Buffer Available
kityann 0:eee5e3d906ce 283 xbee.readPacket();
kityann 0:eee5e3d906ce 284
kityann 0:eee5e3d906ce 285 if (xbee.getResponse().isAvailable()) {
kityann 0:eee5e3d906ce 286 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:eee5e3d906ce 287 uint8_t *buf = zbRx.getFrameData();
kityann 0:eee5e3d906ce 288
kityann 0:eee5e3d906ce 289 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:eee5e3d906ce 290 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:eee5e3d906ce 291 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:eee5e3d906ce 292 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:eee5e3d906ce 293 SenderIDc = buf1[5];//送信元のIDを取得する
kityann 0:eee5e3d906ce 294 char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:eee5e3d906ce 295
kityann 0:eee5e3d906ce 296 //Check Command Type
kityann 0:eee5e3d906ce 297 switch(Command_type){
kityann 0:eee5e3d906ce 298 //Get Request command
kityann 0:eee5e3d906ce 299 case STATUS_REQUEST:{
kityann 0:eee5e3d906ce 300 Send_Status(SenderIDc);
kityann 0:eee5e3d906ce 301 break;
kityann 0:eee5e3d906ce 302 }
kityann 0:eee5e3d906ce 303 default:{
kityann 0:eee5e3d906ce 304 break;
kityann 0:eee5e3d906ce 305 }
kityann 0:eee5e3d906ce 306 }//endswitch
kityann 0:eee5e3d906ce 307 }//endifZB_RX_RESPONSE
kityann 0:eee5e3d906ce 308 }//endifisAvailable
s1200058 1:d10d72b1d29b 309
s1200058 1:d10d72b1d29b 310
kityann 0:eee5e3d906ce 311
kityann 0:eee5e3d906ce 312 myGPS.read();
kityann 0:eee5e3d906ce 313 //recive gps module
kityann 0:eee5e3d906ce 314 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:eee5e3d906ce 315 if ( myGPS.newNMEAreceived() ) {
kityann 0:eee5e3d906ce 316 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
kityann 0:eee5e3d906ce 317 continue;
kityann 0:eee5e3d906ce 318 }
kityann 0:eee5e3d906ce 319 }
kityann 0:eee5e3d906ce 320
kityann 0:eee5e3d906ce 321
kityann 0:eee5e3d906ce 322 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:eee5e3d906ce 323 refresh_Timer.reset();
kityann 0:eee5e3d906ce 324 Get_GPS(&myGPS);
kityann 0:eee5e3d906ce 325
kityann 0:eee5e3d906ce 326 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 0:eee5e3d906ce 327 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:eee5e3d906ce 328 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:eee5e3d906ce 329 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 0:eee5e3d906ce 330 );
kityann 0:eee5e3d906ce 331
kityann 0:eee5e3d906ce 332 }
s1200058 1:d10d72b1d29b 333
s1200058 1:d10d72b1d29b 334 if(agz.nowMode == AUTO_MODE && auto_Timer.read_ms() >= auto_Time){
s1200058 1:d10d72b1d29b 335 auto_Timer.reset();
s1200058 1:d10d72b1d29b 336 auto_Move();
s1200058 1:d10d72b1d29b 337 }
s1200058 1:d10d72b1d29b 338
kityann 0:eee5e3d906ce 339 }
kityann 0:eee5e3d906ce 340 }