Diff: main.cpp

Revision:

8:760cb743e4fc

Parent:

7:bfc65eac624e

Child:

9:357fa70be9c7

--- 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