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Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of
Aigamozu_Robot_ver4_1
by 
aigamozu
Revision 15:f3d01f37f00d, committed 2015-05-15
- Comitter:
- s1200058
- Date:
- Fri May 15 07:00:45 2015 +0000
- Parent:
- 14:5deb7a4f1cd4
- Child:
- 16:a07350b3eb64
- Commit message:
- 2015/05/15
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 Thu May 14 12:26:14 2015 +0000 +++ b/AigamozuControlPackets.lib Fri May 15 07:00:45 2015 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#e5dcf0d15879 +http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#ed71894a6952
--- 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++;