aigamozu / Mbed 2 deprecated Aigamozu_Robot_ver4_for_auto

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

Fork of Aigamozu_Robot_ver4_for_forward by Mami Yokokawa

Diff: main.cpp

Revision:
23:c5071bf93db1
Parent:
22:af860680417b
Child:
24:698d4e920d33
--- a/main.cpp	Sat May 16 18:09:08 2015 +0000
+++ b/main.cpp	Sun May 17 01:07:40 2015 +0000
@@ -25,6 +25,10 @@
 //プログラムcreateReceiveStatusCommand()にて
 //Aigamozu_collect_dataにinかoutかを送るためにstate関連をいじったので必要に応じて直してください。
 //
+//2015/05//17
+//Send_Status関数内を変更：基地局への送信データのみ現在のモードを入れるパケットの部分に内外判定の結果を入れるようにした
+//基地局以外には現在のモードを送信するようにしてある
+//要確認！！！！
 /**********************************************/
 
 #include "mbed.h"
@@ -111,19 +115,28 @@
     XBeeAddress64 send_Address;
     if(SenderIDc == '0'){
         send_Address = manager_Address;
+        agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
+                                        agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+                                        agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+                                        agz.get_agzCov_lati(),agz.get_agzCov_longi());             
     }
     if(SenderIDc >= 'A' && SenderIDc < 'Z'){
         send_Address = robot_Address[SenderIDc - 'A'];
+            //Create GPS Infomation Packet
+        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());
     }
     if(SenderIDc >= 'a' && SenderIDc <= 'z'){
         send_Address = base_Address[SenderIDc - 'a'];
+        agz.createReceiveStatusCommand(MyID,SenderIDc, agz.nowMode,
+                                        agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+                                        agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+                                        agz.get_agzCov_lati(),agz.get_agzCov_longi());       
     }
     //send normal data
-    //Create GPS Infomation Packet
-    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());
+
     
     //debug***************************************************
     printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",