Mami Yokokawa / Mbed 2 deprecated Aigamozu_Robot_March

3/22-23の実験用 Send_Status(): 加速度・ジャイロをパケットで相手に送信 Get_Status():受信したパケットを表示

Dependencies:   ADXL345 AigamozuControlPackets_展示会 Aigamozu_Robot_展示会 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed setting

Fork of Aigamozu_Robot_展示会 by aigamozu

Diff: main.cpp

Revision:
41:55539183dbb0
Parent:
40:656858844814
Child:
42:69b4cb31aafc
--- a/main.cpp	Sat Mar 11 15:01:48 2017 +0000
+++ b/main.cpp	Mon Mar 13 17:55:45 2017 +0000
@@ -127,7 +127,7 @@
     }
     //send normal data
     //Create GPS Infomation Packet
-    agz.SendDataCommand(MyID,SenderIDc,(uint8_t)set.agzGyr.x,(uint8_t)set.agzGyr.y, (uint8_t)set.agzGyr.z, (uint8_t)set.agzAcc.x, (uint8_t)set.agzAcc.y, (uint8_t)set.agzAcc.z, (uint8_t)flag);
+    agz.SendDataCommand(MyID,SenderIDc,(int16_t)set.agzGyr.x,(int16_t)set.agzGyr.y, (int16_t)set.agzGyr.z, (int16_t)set.agzAcc.x,(int16_t)set.agzAcc.y,(int16_t)set.agzAcc.z, (uint8_t)flag);
     
  /*   //debug***************************************************
     printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
@@ -140,12 +140,11 @@
     //debug end***************************************************
    */
    //debug
-   //printf("%d %d %d %d %d %d\n",(int16_t)set.agzGyr.x,(int16_t)set.agzGyr.y, (int16_t)set.agzGyr.z, (int16_t)set.agzAcc.x, (int16_t)set.agzAcc.y, (int16_t)set.agzAcc.z); 
-   for(int i = 0; i < 18; i++){
+   printf("%d %d %d %d %d %d\n\r",(int16_t)set.agzGyr.x,(int16_t)set.agzGyr.y, (int16_t)set.agzGyr.z, (int16_t)set.agzAcc.x, (int16_t)set.agzAcc.y, (int16_t)set.agzAcc.z); 
+for(int i = 0; i < 24; i++){
        printf("%d ", agz.packetData[i]);
        }
        printf("\n\r");
-       
    
     //Select Destination
     ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
@@ -247,7 +246,7 @@
     setup_gyr();
     
     Timer auto_Timer;
-    const int auto_Time = 1000; //refresh time in ms
+    const int auto_Time = 500; //refresh time in ms
     
     wait_ms(2000);
        
@@ -264,9 +263,6 @@
 
         update_accel();
         update_gyro();
-        Send_Status();
-        //printf("gx:%d,gy:%d,gz:%d,ax:%d,ay:%d,az:%d\n\r",(int16_t)set.agzGyr.x,(int16_t)set.agzGyr.y, (int16_t)set.agzGyr.z, (int16_t)set.agzAcc.x, (int16_t)set.agzAcc.y, (int16_t)set.agzAcc.z); 
-        wait_ms(1000);
             
         if (xbee.getResponse().isAvailable()) {
             xbee.getResponse().getZBRxResponse(zbRx);
@@ -302,9 +298,9 @@
             }//endifZB_RX_RESPONSE
         }//endifisAvailable
   
-     if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){
+     if(auto_Timer.read_ms() >= auto_Time){
            auto_Timer.reset();
-           agz.gpsAuto();
+           Send_Status();
         }
         
     }