![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
2015/05/29
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver4_1 by
Diff: main.cpp
- Revision:
- 25:ae5fab0946f2
- Parent:
- 24:698d4e920d33
- Child:
- 26:835042870f81
diff -r 698d4e920d33 -r ae5fab0946f2 main.cpp --- a/main.cpp Sun May 17 01:11:52 2015 +0000 +++ b/main.cpp Sun May 17 11:38:25 2015 +0000 @@ -120,9 +120,9 @@ agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), agz.get_agzCov_lati(),agz.get_agzCov_longi()); } - if(SenderIDc >= 'A' && SenderIDc < 'Z'){ + if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ send_Address = robot_Address[SenderIDc - 'A']; - //Create GPS Infomation Packet + //Create GPS Infomation Packet agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), @@ -369,10 +369,10 @@ sigma[0][i][j]=sigma[1][i][j]; } } - + if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN; if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN; - + myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering myGPS->latitudeKL=(long)x[1][0];//latitude after filtering @@ -382,6 +382,7 @@ } + ///////////////////////////////////////// // //Main Processing