robot
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed agz_common
Diff: main.cpp
- Revision:
- 8:760cb743e4fc
- Parent:
- 7:bfc65eac624e
- Child:
- 9:357fa70be9c7
diff -r bfc65eac624e -r 760cb743e4fc main.cpp --- a/main.cpp Mon Jun 09 00:16:45 2014 +0000 +++ b/main.cpp Wed Jun 18 13:50:11 2014 +0000 @@ -3,9 +3,9 @@ // // // Program name: Aigamozu Robot Control -// author: Atsunori Maruyama -// ver -> 1.3 -// day -> 2014/06/09 +// Author: Atsunori Maruyama +// Ver -> 1.3 +// Day -> 2014/06/09 // // /**********************************************/ @@ -104,7 +104,7 @@ //CommandType -> Send Status case STATUS_REQUEST:{ //Create GPS Infomation Packet - agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); + agz.createReceiveStatusCommand('C','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); //Select Destination ZBTxRequest tx64request(remoteAddress,agz.packetData,agz.getPacketLength()); //Send -> Base @@ -132,8 +132,14 @@ if (refresh_Timer.read_ms() >= refresh_Time) { refresh_Timer.reset(); - if (myGPS.fix) agz.nowStatus = GPS_AVAIL; + if (myGPS.fix) { + agz.nowStatus = GPS_AVAIL; + agz.reNewPoint(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); + } else agz.nowStatus = GPS_UNAVAIL; + + + } } } \ No newline at end of file