aigamozu / AigamozuControlPackets

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Dependencies:   VNH5019

Dependents:   agz_base_ver2 agz_base_ver2 get_GPS_data_ver1 aigamozu_program_ver2 ... more

AigamozuControlPackets.cpp@4:04dadf67ecb6, 2014-06-08 (annotated)

Committer:
m5171135
Date:
Sun Jun 08 11:54:53 2014 +0000
Revision:
4:04dadf67ecb6
Parent:
2:3f2d4f53ceed
Child:
5:3f51eeb5aedc
before

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m5171135 0:2b8b56ac7a82 1 #include "AigamozuControlPackets.h"
m5171135 0:2b8b56ac7a82 2 #include "VNH5019.h"
m5171135 0:2b8b56ac7a82 3
m5171135 0:2b8b56ac7a82 4
m5171135 4:04dadf67ecb6 5 AigamozuControlPackets::AigamozuControlPackets(Ticker autoInt){
m5171135 2:3f2d4f53ceed 6 packetData = new uint8_t[50];
m5171135 2:3f2d4f53ceed 7 packetLength = 0;
m5171135 2:3f2d4f53ceed 8
m5171135 2:3f2d4f53ceed 9 }
m5171135 2:3f2d4f53ceed 10
m5171135 2:3f2d4f53ceed 11 //////////////////////////////
m5171135 2:3f2d4f53ceed 12 // Controller/Base -> Robot //
m5171135 2:3f2d4f53ceed 13 //////////////////////////////
m5171135 4:04dadf67ecb6 14
m5171135 2:3f2d4f53ceed 15 void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
m5171135 2:3f2d4f53ceed 16 {
m5171135 2:3f2d4f53ceed 17 uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
m5171135 2:3f2d4f53ceed 18 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 19 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 20 }
m5171135 2:3f2d4f53ceed 21
m5171135 2:3f2d4f53ceed 22 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID,uint8_t)
m5171135 0:2b8b56ac7a82 23 {
m5171135 2:3f2d4f53ceed 24 uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
m5171135 2:3f2d4f53ceed 25 for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 26 packetLength = REQUEST_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 27 }
m5171135 0:2b8b56ac7a82 28
m5171135 2:3f2d4f53ceed 29 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){
m5171135 2:3f2d4f53ceed 30 uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
m5171135 2:3f2d4f53ceed 31 for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 32 packetLength = CHANGE_MODE_COMMAND_LENGTH;
m5171135 2:3f2d4f53ceed 33 }
m5171135 2:3f2d4f53ceed 34
m5171135 2:3f2d4f53ceed 35
m5171135 2:3f2d4f53ceed 36 //////////////////////////////
m5171135 2:3f2d4f53ceed 37 // Robot -> Controller/Base //
m5171135 2:3f2d4f53ceed 38 //////////////////////////////
m5171135 2:3f2d4f53ceed 39
m5171135 2:3f2d4f53ceed 40 void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL)
m5171135 2:3f2d4f53ceed 41 {
m5171135 0:2b8b56ac7a82 42 //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4]
m5171135 0:2b8b56ac7a82 43 TEST_T latH,latL,lonH,lonL;
m5171135 0:2b8b56ac7a82 44
m5171135 0:2b8b56ac7a82 45 latH.a = latitudeH;
m5171135 0:2b8b56ac7a82 46 latL.a = latitudeL;
m5171135 0:2b8b56ac7a82 47 lonH.a = longitudeH;
m5171135 0:2b8b56ac7a82 48 lonL.a = longitudeL;
m5171135 0:2b8b56ac7a82 49
m5171135 1:80448565c15c 50 uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S',nowStatus,71,80,83,latH.b[0],latH.b[1],latH.b[2],latH.b[3],latL.b[0],latL.b[1],latL.b[2],latL.b[3],lonH.b[0],lonH.b[1],lonH.b[2],lonH.b[3],lonL.b[0],lonL.b[1],lonL.b[2],lonL.b[3],65,71,69};
m5171135 2:3f2d4f53ceed 51 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 52 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 0:2b8b56ac7a82 53 }
m5171135 0:2b8b56ac7a82 54
m5171135 2:3f2d4f53ceed 55
m5171135 2:3f2d4f53ceed 56 //////////////////////////////
m5171135 2:3f2d4f53ceed 57 // Using createPacket //
m5171135 2:3f2d4f53ceed 58 //////////////////////////////
m5171135 4:04dadf67ecb6 59 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
m5171135 4:04dadf67ecb6 60 return buf[14];
m5171135 4:04dadf67ecb6 61 }
m5171135 2:3f2d4f53ceed 62
m5171135 2:3f2d4f53ceed 63 uint8_t* AigamozuControlPackets::getPacketData(){
m5171135 2:3f2d4f53ceed 64 return packetData;
m5171135 2:3f2d4f53ceed 65 }
m5171135 2:3f2d4f53ceed 66
m5171135 2:3f2d4f53ceed 67 int AigamozuControlPackets::getPacketLength(){
m5171135 2:3f2d4f53ceed 68 return packetLength;
m5171135 0:2b8b56ac7a82 69 }
m5171135 0:2b8b56ac7a82 70
m5171135 4:04dadf67ecb6 71
m5171135 2:3f2d4f53ceed 72
m5171135 2:3f2d4f53ceed 73 bool AigamozuControlPackets::changeMode(uint8_t *buf){
m5171135 2:3f2d4f53ceed 74
m5171135 2:3f2d4f53ceed 75 switch(buf[19]){
m5171135 2:3f2d4f53ceed 76
m5171135 2:3f2d4f53ceed 77 case 0:
m5171135 2:3f2d4f53ceed 78 nowMode = STANDBY_MODE;
m5171135 2:3f2d4f53ceed 79 break;
m5171135 2:3f2d4f53ceed 80
m5171135 2:3f2d4f53ceed 81 case 1:
m5171135 2:3f2d4f53ceed 82 nowMode = MANUAL_MODE;
m5171135 2:3f2d4f53ceed 83 break;
m5171135 2:3f2d4f53ceed 84
m5171135 2:3f2d4f53ceed 85 case 2:
m5171135 2:3f2d4f53ceed 86 nowMode = AUTO_MODE;
m5171135 2:3f2d4f53ceed 87 break;
m5171135 4:04dadf67ecb6 88
m5171135 4:04dadf67ecb6 89 case 3:
m5171135 4:04dadf67ecb6 90 nowMode = AUTO_GPS_MODE;
m5171135 4:04dadf67ecb6 91 break;
m5171135 4:04dadf67ecb6 92
m5171135 2:3f2d4f53ceed 93 }
m5171135 2:3f2d4f53ceed 94 return false;
m5171135 2:3f2d4f53ceed 95 }
m5171135 2:3f2d4f53ceed 96