aigamozu
2015/05/30
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of
Aigamozu_Robot_ver4_2
by 
aigamozu
Revision 33:3025b16bccd2, committed 2015-05-24
- Comitter:
- s1200058
- Date:
- Sun May 24 08:06:17 2015 +0000
- Parent:
- 32:6ba2e5402f00
- Child:
- 34:9c3192c00e41
- Commit message:
- change kalman
Changed in this revision
| AigamozuControlPackets.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/AigamozuControlPackets.lib Sun May 24 06:38:54 2015 +0000 +++ b/AigamozuControlPackets.lib Sun May 24 08:06:17 2015 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#08491a77e458 +http://mbed.org/teams/aigamozu/code/AigamozuControlPackets/#b33b8b2a92b0
--- a/main.cpp Sun May 24 06:38:54 2015 +0000
+++ b/main.cpp Sun May 24 08:06:17 2015 +0000
@@ -33,6 +33,9 @@
//2015/05/17
//Get_GPS()の中身longitudeの範囲138〜140に変更
//
+//2015/05/19
+//autoモードのとき、三十秒前進・三秒右に転回に変更した。
+//
//2015/05/24
//Kalmanフィルターを十進数で計算するようにした。
//Kalmanフィルターの計算式を変更した。
@@ -184,21 +187,19 @@
if(flag < COUNTER_MAX){
flag++;
}
- if(flag >= 5){
+ if(flag == 5){
x_prev = agz.get_agzPoint_lati();
y_prev = agz.get_agzPoint_longi();
}
if(flag >= 6){
Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
- agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
}
-
- printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
- agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
- agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
- agz.get_agzCov_lati(),agz.get_agzCov_longi()
- );
+
+ printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
+ agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+ agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+ agz.get_agzCov_lati(),agz.get_agzCov_longi());
}
else agz.nowStatus = GPS_UNAVAIL;