Diff: main.cpp

Revision:

3:efaa785283a6

Parent:

2:be9046fb5859

Child:

4:cfaf33b2c97a

--- a/main.cpp	Mon Feb 29 18:07:55 2016 +0000
+++ b/main.cpp	Mon Feb 29 18:36:45 2016 +0000
@@ -20,6 +20,7 @@
 int i=0;
 char *gps_target = "$GPRMC,174813.000,A,3606.9349,N,13927.4196,E,0.42,221.65,280216,,,A*6D";
 float longitude_target,latitude_target,gpstime_target,knot_target,angle_target;
+int count=0;
 
 void gps_rx()//GPSデータ受信割り込み
 {
@@ -71,22 +72,42 @@
     switch (count)
     {
         case 0:
-            if( (target_angle+3)>=angle || (target_angle-3)<=angle )
-            {
-                //
-                
-            }
+            //パラシュートを焼き切るまで待つ
+            //焼き切ったらcount+1
             break;
         case 1:
-            文2;
+            //落ちてパラシュートを焼き切った後
+            if( (angle_target+3)>=angle || (angle_target-3)<=angle )//3は適当な数字。誤差範囲
+            {
+                //角度が合ったらcount+1
+            }
+            else
+            {
+                //角度が合うまで回転
+                if(angle_target>=angle)
+                {
+                    //differ_angle=angle_target-angle;
+                    //moterlを動かす
+                }
+                else if(angle>=angle_target)
+                {
+                    //differ_angle=angle-angle_target;
+                    //moterrを動かす
+                }
+            }
             break;
         case 2:
-            文n;
+            //目標地点の近くまで走行
+            //目標地点に近づいたらcount+1
+            break;
+        case 3:
+            //動作を停止。割り込みも停止させ、回収待ち
+            //moterl=moterr=0;
+            //ngps.detach();
             break;
         default:
-            文;
             break;
-    }
+        }
 }
  
 int main()