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yokokawa
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of aigamozu_program_ver2 by
Revision 12:3e7ad5c07976, committed 2015-04-10
- Comitter:
- s1200058
- Date:
- Fri Apr 10 13:19:19 2015 +0000
- Parent:
- 11:187ff22b343f
- Commit message:
- yokokawa
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Apr 10 12:59:22 2015 +0000 +++ b/main.cpp Fri Apr 10 13:19:19 2015 +0000 @@ -102,8 +102,6 @@ //Check Command Type switch(agz.checkCommnadType(buf)){ - printf("%c\n", buf[14]); - //CommandType -> ChanegeMode case CHANGE_MODE :{ agz.changeMode(buf); @@ -124,34 +122,33 @@ //Create GPS Infomation Packet agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); //Select Destination - ZBTxRequest tx64request(robot_Address,agz.packetData,agz.getPacketLength()); + ZBTxRequest tx64request(robot_Address,agz.packetData,agz.getPacketLength()); //Send -> Base xbee.send(tx64request); break; } - case RECEIVE_STATUS:{ - - printf("ok\n"); - - id = buf1[6] - 'A'; - robot[id].set_state(buf1[9]); - robot[id].set_LatitudeH(&buf1[13]); - robot[id].set_LatitudeL(&buf1[17]); - robot[id].set_LongitudeH(&buf1[21]); - robot[id].set_LongitudeL(&buf1[25]); + case RECEIVE_STATUS:{ - printf("%d\n", id); - printf("%ld, %ld, %ld, %ld\n", robot[id].get_LatitudeH(), robot[id].get_LatitudeL(), robot[id].get_LongitudeH(), robot[id].get_LongitudeL()); - break; - } + printf("Receive Status\n"); + + id = buf1[6] - 'A'; + robot[id].set_state(buf1[9]); + robot[id].set_LatitudeH(&buf1[13]); + robot[id].set_LatitudeL(&buf1[17]); + robot[id].set_LongitudeH(&buf1[21]); + robot[id].set_LongitudeL(&buf1[25]); + + printf("%d\n", id); + printf("%ld, %ld, %ld, %ld\n", robot[id].get_LatitudeH(), robot[id].get_LatitudeL(), robot[id].get_LongitudeH(), robot[id].get_LongitudeL()); + break; + } - default: - { + default:{ break; - } } + } } @@ -191,7 +188,6 @@ collect_state++; if(collect_flag == 4){ - printf("%d %c\n", collect_flag, collect_state); collect_state = 'a'; collect_flag = 0; }