aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver4

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

Fork of Aigamozu_Robot_ver3_4 by aigamozu

Files at this revision

API Documentation at this revision

Revision 33:3025b16bccd2, committed 2015-05-24

Comitter:
s1200058
Date:
Sun May 24 08:06:17 2015 +0000
Parent:
32:6ba2e5402f00
Commit message:
change kalman

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	Sun May 24 06:38:54 2015 +0000
+++ b/AigamozuControlPackets.lib	Sun May 24 08:06:17 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#08491a77e458
+http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#b33b8b2a92b0

--- a/main.cpp	Sun May 24 06:38:54 2015 +0000
+++ b/main.cpp	Sun May 24 08:06:17 2015 +0000
@@ -33,6 +33,9 @@
 //2015/05/17
 //Get_GPS()の中身longitudeの範囲138〜140に変更
 //
+//2015/05/19
+//autoモードのとき、三十秒前進・三秒右に転回に変更した。
+//
 //2015/05/24
 //Kalmanフィルターを十進数で計算するようにした。
 //Kalmanフィルターの計算式を変更した。
@@ -184,21 +187,19 @@
         if(flag < COUNTER_MAX){
             flag++; 
         }
-        if(flag >= 5){
+        if(flag == 5){
             x_prev = agz.get_agzPoint_lati();
             y_prev = agz.get_agzPoint_longi();
         }
             
         if(flag >= 6){
             Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
-            agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
         } 
-        
-            printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
-            agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
-            agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
-            agz.get_agzCov_lati(),agz.get_agzCov_longi()
-            );
+            
+                printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
+                agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+                agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+                agz.get_agzCov_lati(),agz.get_agzCov_longi());
     }
     else agz.nowStatus = GPS_UNAVAIL;