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Dependencies: ADXL345 AigamozuControlPackets_for_auto HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_ver4_for_log by
Diff: main.cpp
- Revision:
- 14:5deb7a4f1cd4
- Parent:
- 12:48ef69b4f0e4
- Child:
- 15:f3d01f37f00d
--- a/main.cpp Thu May 14 12:09:22 2015 +0000 +++ b/main.cpp Thu May 14 12:26:14 2015 +0000 @@ -385,6 +385,11 @@ int count = 0; myGPS.begin(GPS_BAUD_RATE); + Timer collect_Timer; + const int collect_Time = 2000; //when we collect 4 GPS point, we use + int collect_flag = 0; + char collect_state = 'a'; + char SenderIDc; //GPS Send Command myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); @@ -463,8 +468,29 @@ Get_GPS(&myGPS); } + + //get base GPS + if( collect_Timer.read_ms() >= collect_Time){ + collect_Timer.reset(); + + //printf("Send Request:%d,%d\n",collect_flag,collect_state); + + agz.createRequestCommand(MyID, collect_state); + //Select Destination + ZBTxRequest tx64request(base_Address[collect_flag],agz.packetData,agz.getPacketLength()); + //Send -> Base + xbee.send(tx64request); + + collect_flag++; + collect_state++; + + if(collect_flag == 4){ + collect_state = 'a'; + collect_flag = 0; + } + } - if(agz.nowMode == AUTO_MODE && auto_Timer.read_ms() >= auto_Time){ + if(agz.nowMode == AUTO_GPS_MODE && auto_Timer.read_ms() >= auto_Time){ auto_Timer.reset(); auto_Move(); }