change kalman
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver4 by
Diff: main.cpp
- Revision:
- 20:eee8ac8d1788
- Parent:
- 19:a806105ba365
- Child:
- 21:76e7f36df4a9
--- a/main.cpp Sat May 16 06:52:59 2015 +0000 +++ b/main.cpp Sat May 16 14:08:27 2015 +0000 @@ -41,7 +41,7 @@ //Base ID: 'a' ~ 'a' //manager ID: '0'(数字のゼロ) // -const char MyID = 'C'; +const char MyID = 'B'; //************ID Number***************** ///////////////////////////////////////// @@ -138,6 +138,7 @@ ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); //Send -> Base xbee.send(tx64request); + } ///////////////////////////////////////// @@ -182,7 +183,7 @@ void New_Mode(uint8_t *packetdata){ //bool result; - agz.changeMode(&packetdata); + agz.changeMode(packetdata); } @@ -272,8 +273,8 @@ int i; result = agz.gpsAuto(); - agz.set_agzAutoGPS(); - agz.set_agzKalmanGPS(); + //agz.set_agzAutoGPS(); + //agz.set_agzKalmanGPS(); if(result == true){ printf("Out Area\n"); @@ -474,8 +475,8 @@ Get_GPS(&myGPS); } - - //get base GPS + + //get base GPS if( collect_Timer.read_ms() >= collect_Time){ collect_Timer.reset(); @@ -489,7 +490,7 @@ collect_flag = 0; } } - + if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){ auto_Timer.reset(); auto_Move();