![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
for log
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver4_1 by
Diff: main.cpp
- Revision:
- 29:524684a1198f
- Parent:
- 28:4ccd7cfc6b1b
- Child:
- 30:7f6ebe2121d9
--- a/main.cpp Mon May 18 02:36:59 2015 +0000 +++ b/main.cpp Tue May 19 10:27:43 2015 +0000 @@ -50,7 +50,7 @@ //Base ID: 'a' ~ 'a' //manager ID: '0'(数字のゼロ) // -const char MyID = 'A'; +const char MyID = 'D'; //************ID Number***************** ///////////////////////////////////////// @@ -408,6 +408,10 @@ Timer auto_Timer; const int auto_Time = 2000; //refresh time in ms int count = 0; + + Timer Move_Timer; + const int straight = 30000, turning = 34000, wait = 31000; + myGPS.begin(GPS_BAUD_RATE); Timer collect_Timer; @@ -420,14 +424,15 @@ myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); myGPS.sendCommand(PGCMD_ANTENNA); - wait(2); + wait_ms(2000); //interrupt start refresh_Timer.start(); auto_Timer.start(); + Move_Timer.start(); collect_Timer.start(); + printf("start\n"); - printf("start\n"); while (true) { @@ -509,8 +514,25 @@ } if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){ - auto_Timer.reset(); - auto_Move(); + auto_Timer.reset(); + auto_Move(); + } + + if(agz.nowMode == AUTO_GPS_MODE){ + if(Move_Timer.read_ms() < straight){ + agz.test_Auto(0); //straight + } + if(Move_Timer.read_ms() > straight && Move_Timer.read_ms() < wait){ + agz.test_Auto(1); + } + if(Move_Timer.read_ms() > wait && Move_Timer.read_ms() < turning){ + agz.test_Auto(2); //Turn Right + } + if(Move_Timer.read_ms() > turning){ + agz.test_Auto(3); + wait_ms(200); + Move_Timer.reset(); } } + } } \ No newline at end of file