2015/05/16
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of Aigamozu_collect_data by
Revision 5:b2e1495da29b, committed 2015-05-18
- Comitter:
- s1200058
- Date:
- Mon May 18 05:29:32 2015 +0000
- Parent:
- 4:a8a0421566d2
- Commit message:
- see for robot gps
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r a8a0421566d2 -r b2e1495da29b main.cpp --- a/main.cpp Sat May 16 17:25:58 2015 +0000 +++ b/main.cpp Mon May 18 05:29:32 2015 +0000 @@ -135,14 +135,14 @@ agz.nowStatus = GPS_AVAIL; if(flag){//初期値設定 - if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){ + if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=140){ flag = false; x[0][0]=(double)myGPS->latitudeL; x[0][1]=(double)myGPS->longitudeL; } } - if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){ + if(myGPS->longitudeH<138 || myGPS->longitudeH>140 || myGPS->latitudeH<36 || myGPS->latitudeH>38){ return; } //Kalman Filter @@ -190,13 +190,13 @@ agz.reNewBasePointKalman(id,&packetdata[29],&packetdata[37]); //debug - for(int i = 0; i < 1; i++){ - printf("ROBOT:%d\n",i); + // for(int i = 0; i < 1; i++){ + printf("ROBOT:%d\n",id); printf("status:%d, latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\n", - agz.get_base_status(i), agz.get_basePoint_lati(i),agz.get_basePoint_longi(i), - agz.get_basePointKalman_lati(i),agz.get_basePointKalman_longi(i) + agz.get_base_status(id), agz.get_basePoint_lati(id),agz.get_basePoint_longi(id), + agz.get_basePointKalman_lati(id),agz.get_basePointKalman_longi(id) ); - } + // } } //基地局からデータが来たとき if(SenderIDc >= 'a' && SenderIDc <= 'z'){