aigamozu / AigamozuControlPackets

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Dependencies:   VNH5019

Dependents:   agz_base_ver2 agz_base_ver2 get_GPS_data_ver1 aigamozu_program_ver2 ... more

AigamozuControlPackets.h@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 "mbed.h"
m5171135 0:2b8b56ac7a82 2 #include "VNH5019.h"
m5171135 0:2b8b56ac7a82 3
m5171135 0:2b8b56ac7a82 4 #ifndef AIGAMOZU_CONTROL_PACKETS
m5171135 0:2b8b56ac7a82 5 #define AIGAMOZU_CONTROL_PACKETS
m5171135 0:2b8b56ac7a82 6
m5171135 2:3f2d4f53ceed 7 #define MANUAL_COMMAND_LENGTH 17
m5171135 2:3f2d4f53ceed 8 #define REQUEST_COMMNAD_LENGTH 11
m5171135 2:3f2d4f53ceed 9 #define CHANGE_MODE_COMMAND_LENGTH 12
m5171135 2:3f2d4f53ceed 10 #define RECEIVE_STATUS_COMMNAD_LENGTH 32
m5171135 0:2b8b56ac7a82 11
m5171135 0:2b8b56ac7a82 12 enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'};
m5171135 4:04dadf67ecb6 13 enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3};
m5171135 1:80448565c15c 14 enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1};
m5171135 0:2b8b56ac7a82 15
m5171135 0:2b8b56ac7a82 16 union TEST_T{
m5171135 0:2b8b56ac7a82 17 long a;
m5171135 0:2b8b56ac7a82 18 uint8_t b[4];
m5171135 0:2b8b56ac7a82 19 };
m5171135 2:3f2d4f53ceed 20
m5171135 0:2b8b56ac7a82 21
m5171135 0:2b8b56ac7a82 22 class AigamozuControlPackets{
m5171135 0:2b8b56ac7a82 23
m5171135 0:2b8b56ac7a82 24 public:
m5171135 4:04dadf67ecb6 25 AigamozuControlPackets(Ticker autoInt);
m5171135 0:2b8b56ac7a82 26
m5171135 2:3f2d4f53ceed 27 uint8_t* packetData;
m5171135 2:3f2d4f53ceed 28 //Create Packet: Controller/Base -> Robot
m5171135 2:3f2d4f53ceed 29 void createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR);
m5171135 2:3f2d4f53ceed 30 void createRequestCommand(uint8_t fromID,uint8_t toID,uint8_t);
m5171135 2:3f2d4f53ceed 31 void createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode);
m5171135 0:2b8b56ac7a82 32
m5171135 2:3f2d4f53ceed 33 //Create Packet: Robot -> Controller/Base
m5171135 2:3f2d4f53ceed 34 void createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL);
m5171135 2:3f2d4f53ceed 35 //uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
m5171135 0:2b8b56ac7a82 36
m5171135 2:3f2d4f53ceed 37 //using create packet
m5171135 2:3f2d4f53ceed 38 uint8_t* getPacketData();
m5171135 2:3f2d4f53ceed 39 int getPacketLength();
m5171135 2:3f2d4f53ceed 40
m5171135 2:3f2d4f53ceed 41 //Change Mode:
m5171135 2:3f2d4f53ceed 42 bool changeMode(uint8_t *buf);
m5171135 0:2b8b56ac7a82 43
m5171135 0:2b8b56ac7a82 44 //
m5171135 0:2b8b56ac7a82 45 bool checkCommandAvilable(COMMAND_TYPE requestCommand);
m5171135 0:2b8b56ac7a82 46 uint8_t checkCommnadType(uint8_t* buf);
m5171135 0:2b8b56ac7a82 47
m5171135 0:2b8b56ac7a82 48 MODE nowMode;
m5171135 0:2b8b56ac7a82 49 STATUS nowStatus;
m5171135 4:04dadf67ecb6 50 int packetLength;
m5171135 4:04dadf67ecb6 51
m5171135 4:04dadf67ecb6 52
m5171135 0:2b8b56ac7a82 53 private:
m5171135 0:2b8b56ac7a82 54 };
m5171135 0:2b8b56ac7a82 55
m5171135 0:2b8b56ac7a82 56 #endif