change kalman
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver4 by
Diff: main.cpp
- Revision:
- 15:f3d01f37f00d
- Parent:
- 14:5deb7a4f1cd4
- Child:
- 16:a07350b3eb64
--- 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++;