CanSat2015aizu / Mbed 2 deprecated Cansat_program

test

Dependencies:   ADXL345 CanSat HMC5883L ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed

Files at this revision

API Documentation at this revision

Revision 3:0bd9ad37f319, committed 2015-07-23

Comitter:
kityann
Date:
Thu Jul 23 08:55:47 2015 +0000
Parent:
2:de5ce1b56c0d
Commit message:
2015/07/23

Changed in this revision

CanSat.lib Show annotated file Show diff for this revision Revisions of this file
VNH5019.lib Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/CanSat.lib	Sat Jul 11 06:50:23 2015 +0000
+++ b/CanSat.lib	Thu Jul 23 08:55:47 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/CanSat2015aizu/code/CanSat/#3f50511c1c1f
+https://developer.mbed.org/teams/CanSat2015aizu/code/CanSat/#0f76226be922

--- a/VNH5019.lib	Sat Jul 11 06:50:23 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/teams/aigamozu/code/VNH5019/#1bcdb655df71

--- a/main.cpp	Sat Jul 11 06:50:23 2015 +0000
+++ b/main.cpp	Thu Jul 23 08:55:47 2015 +0000
@@ -11,6 +11,7 @@
 #include "aigamozuSetting.h"
 #include "HMC5883L.h"
 #include "VNH5019.h"
+#include "cansat.h"
 #include "math.h"
 
 #define SIGMA_MIN 0.0001
@@ -43,6 +44,7 @@
 
 //set up AigamozuControlPackets library
 //AigamozuControlPackets agz(agz_motorShield);
+CanSat cansat(agz_motorShield);
 
 
 /////////////////////////////////////////
@@ -97,11 +99,9 @@
     s2x_prev = s2x_cur;
     s2y_prev = s2y_cur;
     
-    //agzPontKalmanとagzCovに格納する
-    //agz.set_agzPointKalman_lati(x_cur);
-    //agz.set_agzPointKalman_longi(y_cur);
-    //agz.set_agzCov(s2x_cur,s2y_cur);
-    
+    //robotK\x,robotK_yに格納する
+    cansat.set_robotKalman_x(x_cur);
+    cansat.set_robotKalman_y(y_cur);
 }
 
 /////////////////////////////////////////
@@ -115,20 +115,22 @@
     
     if (myGPS->fix) {
         
-        //agz.nowStatus = GPS_AVAIL;
-        //agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
+        cansat.nowStatus = GPS_AVAIL;
+        cansat.set_robot_x((double)myGPS->latitudeH + (double)(myGPS->latitudeL / 10000.0));
+        cansat.set_robot_y((double)myGPS->longitudeH +(double)(myGPS->longitudeL / 10000.0));
+    
         
         if(flag < COUNTER_MAX){
             flag++; 
         }
         if(flag == 5){
-            //x_prev = agz.get_agzPoint_lati();
-            //y_prev = agz.get_agzPoint_longi();
+            x_prev = cansat.get_robot_x();
+            y_prev = cansat.get_robot_y();
         }
             
         if(flag >= 6){
-            if(1){//abs(x_prev - agz.get_agzPoint_lati()) < ERROR_RANGE && abs(y_prev - agz.get_agzPoint_longi()) < ERROR_RANGE){
-                //Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
+            if(abs(x_prev - cansat.get_robot_x()) < ERROR_RANGE && abs(y_prev - cansat.get_robot_y()) < ERROR_RANGE){
+                Kalman(cansat.get_robot_x(), cansat.get_robot_y());
                 change = 1;
             }
             else{
@@ -140,7 +142,7 @@
                 //agz.get_agzCov_lati(),agz.get_agzCov_longi());
         }
     }
-    else ;//agz.nowStatus = GPS_UNAVAIL;
+    else cansat.nowStatus = GPS_UNAVAIL;
     
 }