aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver4_2

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

Fork of Aigamozu_Robot_ver4_1 by aigamozu

Diff: main.cpp

Revision:
5:522c47c78401
Parent:
4:f36986ceb73d
Child:
6:13f212b75e71
--- a/main.cpp	Wed May 13 08:43:55 2015 +0000
+++ b/main.cpp	Wed May 13 08:56:04 2015 +0000
@@ -290,6 +290,12 @@
  
 }
 
+void print_gps(int count){
+    
+    printf("%d times:\n", count);
+    printf("%f, %f\n", agz.get_agzPointKalman_lati(), agz.get_agzPointKalman_longi());
+    
+}
 
 /////////////////////////////////////////
 //
@@ -383,6 +389,7 @@
     const int refresh_Time = 2000; //refresh time in ms
     Timer auto_Timer;
     const int auto_Time = 2000; //refresh time in ms
+    int count = 0;
     myGPS.begin(GPS_BAUD_RATE); 
     
     char SenderIDc;
@@ -450,12 +457,14 @@
         //check if we recieved a new message from GPS, if so, attempt to parse it,
         if ( myGPS.newNMEAreceived() ) {
             if ( !myGPS.parse(myGPS.lastNMEA()) ) {
+                count++;
                 continue;   
             }       
         }
         //一定時間ごとに自分のGPSデータを取得し、AigamozuControlPacketsないのagzPointとagzPointKalmanに格納する
         if (refresh_Timer.read_ms() >= refresh_Time) {
             refresh_Timer.reset();
+            print_gps(count);
             Get_GPS(&myGPS);
 
         }