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@31:8753fbab3f1f, 2015-05-17 (annotated)

Committer:
s1200058
Date:
Sun May 17 11:38:02 2015 +0000
Revision:
31:8753fbab3f1f
Parent:
29:3a2d87c10e43
Child:
32:cd68a37d1ee1
2015/05/17

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 6:f164a716be46 4 //////////////////////////////
m5171135 6:f164a716be46 5 // Init //
m5171135 6:f164a716be46 6 //////////////////////////////
m5171135 5:3f51eeb5aedc 7 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
m5171135 2:3f2d4f53ceed 8 packetData = new uint8_t[50];
m5171135 2:3f2d4f53ceed 9 packetLength = 0;
m5171135 7:200ce5c1f486 10 //--init base point--//
kityann 11:4d71c9cc3b4a 11 //basePoint[0].x = 13956.2655;
kityann 11:4d71c9cc3b4a 12 //basePoint[0].y = 3731.5060;
kityann 11:4d71c9cc3b4a 13 basePoint[0].x = 100.2655;
kityann 11:4d71c9cc3b4a 14 basePoint[0].y = 30.5060;
m5171135 7:200ce5c1f486 15
kityann 11:4d71c9cc3b4a 16 //basePoint[1].x = 13956.2898;
kityann 11:4d71c9cc3b4a 17 //basePoint[1].y = 3731.5055;
kityann 11:4d71c9cc3b4a 18 basePoint[1].x = 200.2898;
kityann 11:4d71c9cc3b4a 19 basePoint[1].y = 30.5055;
m5171135 7:200ce5c1f486 20
kityann 11:4d71c9cc3b4a 21 //basePoint[2].x = 13956.2915;
kityann 11:4d71c9cc3b4a 22 //basePoint[2].y = 3731.5245;
kityann 11:4d71c9cc3b4a 23 basePoint[2].x = 200.2915;
kityann 11:4d71c9cc3b4a 24 basePoint[2].y = 40.5245;
m5171135 7:200ce5c1f486 25
kityann 11:4d71c9cc3b4a 26 //basePoint[3].x = 13956.2680;
kityann 11:4d71c9cc3b4a 27 //basePoint[3].y = 3731.5248;
kityann 11:4d71c9cc3b4a 28 basePoint[3].x = 100.2680;
kityann 11:4d71c9cc3b4a 29 basePoint[3].y = 40.5248;
kityann 17:a6fa8cc96d94 30
kityann 17:a6fa8cc96d94 31 agzPoint.x=0;agzPoint.y=0;
kityann 17:a6fa8cc96d94 32 agzPointKalman.x=0;agzPointKalman.y=0;
kityann 17:a6fa8cc96d94 33 agzCov.x=0;agzCov.y=0;
m5171135 2:3f2d4f53ceed 34 }
m5171135 2:3f2d4f53ceed 35
kityann 17:a6fa8cc96d94 36 //////////////////////////////
kityann 17:a6fa8cc96d94 37 // get関数
kityann 17:a6fa8cc96d94 38 //////////////////////////////
kityann 17:a6fa8cc96d94 39 double AigamozuControlPackets::get_agzPoint_lati(){
kityann 17:a6fa8cc96d94 40 return agzPoint.x;
kityann 17:a6fa8cc96d94 41 }
kityann 17:a6fa8cc96d94 42 double AigamozuControlPackets::get_agzPoint_longi(){
kityann 17:a6fa8cc96d94 43 return agzPoint.y;
kityann 17:a6fa8cc96d94 44 }
kityann 17:a6fa8cc96d94 45 double AigamozuControlPackets::get_agzPointKalman_lati(){
kityann 17:a6fa8cc96d94 46 return agzPointKalman.x;
kityann 17:a6fa8cc96d94 47 }
kityann 17:a6fa8cc96d94 48 double AigamozuControlPackets::get_agzPointKalman_longi(){
kityann 17:a6fa8cc96d94 49 return agzPointKalman.y;
kityann 17:a6fa8cc96d94 50 }
kityann 17:a6fa8cc96d94 51 double AigamozuControlPackets::get_agzCov_lati(){
kityann 17:a6fa8cc96d94 52 return agzCov.x;
kityann 17:a6fa8cc96d94 53 }
kityann 17:a6fa8cc96d94 54 double AigamozuControlPackets::get_agzCov_longi(){
kityann 17:a6fa8cc96d94 55 return agzCov.y;
kityann 17:a6fa8cc96d94 56 }
s1200058 20:fec2d6dec897 57
s1200058 20:fec2d6dec897 58 double AigamozuControlPackets::get_basePoint_lati(int i){
s1200058 20:fec2d6dec897 59 return basePoint[i].x;
s1200058 20:fec2d6dec897 60 }
s1200058 20:fec2d6dec897 61 double AigamozuControlPackets::get_basePoint_longi(int i){
s1200058 20:fec2d6dec897 62 return basePoint[i].y;
s1200058 20:fec2d6dec897 63 }
kityann 19:13b24b50800e 64 double AigamozuControlPackets::get_basePointKalman_lati(int i){
kityann 19:13b24b50800e 65 return basePointKalman[i].x;
kityann 19:13b24b50800e 66 }
kityann 19:13b24b50800e 67 double AigamozuControlPackets::get_basePointKalman_longi(int i){
kityann 19:13b24b50800e 68 return basePointKalman[i].y;
kityann 19:13b24b50800e 69 }
kityann 19:13b24b50800e 70
m5171135 2:3f2d4f53ceed 71 //////////////////////////////
kityann 17:a6fa8cc96d94 72 // set関数
kityann 17:a6fa8cc96d94 73 //////////////////////////////
kityann 17:a6fa8cc96d94 74 void AigamozuControlPackets::set_agzCov(double cov_lati,double cov_longi){
kityann 23:e5dcf0d15879 75 agzCov.x = cov_lati / 10000.0/60.0;
kityann 23:e5dcf0d15879 76 agzCov.y = cov_longi / 10000.0/60.0;
kityann 17:a6fa8cc96d94 77 }
s1200058 20:fec2d6dec897 78
s1200058 31:8753fbab3f1f 79 /*
s1200058 20:fec2d6dec897 80 void AigamozuControlPackets::set_agzAutoGPS(){
s1200058 20:fec2d6dec897 81 agzPoint.x += 0.00001;
s1200058 20:fec2d6dec897 82 //agzPoint.y += 0.001;
s1200058 20:fec2d6dec897 83 }
s1200058 20:fec2d6dec897 84
s1200058 20:fec2d6dec897 85 void AigamozuControlPackets::set_agzKalmanGPS(){
s1200058 20:fec2d6dec897 86 agzPointKalman.x += 0.00001;
s1200058 20:fec2d6dec897 87 //agzPointKalman.y += 0.001;
s1200058 20:fec2d6dec897 88
s1200058 20:fec2d6dec897 89 }
s1200058 31:8753fbab3f1f 90 */
kityann 17:a6fa8cc96d94 91 //////////////////////////////
m5171135 2:3f2d4f53ceed 92 // Controller/Base -> Robot //
m5171135 2:3f2d4f53ceed 93 //////////////////////////////
m5171135 4:04dadf67ecb6 94
m5171135 2:3f2d4f53ceed 95 void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
m5171135 2:3f2d4f53ceed 96 {
m5171135 2:3f2d4f53ceed 97 uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
m5171135 2:3f2d4f53ceed 98 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 99 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 100 }
m5171135 2:3f2d4f53ceed 101
s1200058 9:4f675487f06b 102 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID)
m5171135 0:2b8b56ac7a82 103 {
m5171135 2:3f2d4f53ceed 104 uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
m5171135 2:3f2d4f53ceed 105 for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 106 packetLength = REQUEST_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 107 }
m5171135 0:2b8b56ac7a82 108
m5171135 2:3f2d4f53ceed 109 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){
m5171135 2:3f2d4f53ceed 110 uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
m5171135 2:3f2d4f53ceed 111 for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 112 packetLength = CHANGE_MODE_COMMAND_LENGTH;
m5171135 2:3f2d4f53ceed 113 }
m5171135 2:3f2d4f53ceed 114
m5171135 2:3f2d4f53ceed 115
m5171135 2:3f2d4f53ceed 116 //////////////////////////////
m5171135 2:3f2d4f53ceed 117 // Robot -> Controller/Base //
m5171135 2:3f2d4f53ceed 118 //////////////////////////////
m5171135 2:3f2d4f53ceed 119
s1200058 24:ed71894a6952 120 void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,int state, double latitude,double longitude,double latitudeKalman,double longitudeKalman,double covarLati,double covarLongi)
m5171135 2:3f2d4f53ceed 121 {
kityann 17:a6fa8cc96d94 122 UNION_double_char latitude_data,longitude_data, latitudeKalman_data, longitudeKalman_data;
kityann 17:a6fa8cc96d94 123 UNION_double_char covarLati_data,covarLongi_data;
m5171135 0:2b8b56ac7a82 124
kityann 17:a6fa8cc96d94 125 latitude_data.double_value=latitude;
kityann 17:a6fa8cc96d94 126 longitude_data.double_value=longitude;
kityann 18:01882120e6cf 127 latitudeKalman_data.double_value=latitudeKalman;
kityann 17:a6fa8cc96d94 128 longitudeKalman_data.double_value=longitudeKalman;
kityann 17:a6fa8cc96d94 129 covarLati_data.double_value=covarLati;
kityann 17:a6fa8cc96d94 130 covarLongi_data.double_value=covarLongi;
kityann 18:01882120e6cf 131
s1200058 24:ed71894a6952 132
s1200058 24:ed71894a6952 133 uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S', state,71,80,83,
kityann 17:a6fa8cc96d94 134 latitude_data.char_value[0],latitude_data.char_value[1],latitude_data.char_value[2],latitude_data.char_value[3],latitude_data.char_value[4],latitude_data.char_value[5],latitude_data.char_value[6],latitude_data.char_value[7],
kityann 17:a6fa8cc96d94 135 longitude_data.char_value[0],longitude_data.char_value[1],longitude_data.char_value[2],longitude_data.char_value[3],longitude_data.char_value[4],longitude_data.char_value[5],longitude_data.char_value[6],longitude_data.char_value[7],
kityann 17:a6fa8cc96d94 136 latitudeKalman_data.char_value[0],latitudeKalman_data.char_value[1],latitudeKalman_data.char_value[2],latitudeKalman_data.char_value[3],latitudeKalman_data.char_value[4],latitudeKalman_data.char_value[5],latitudeKalman_data.char_value[6],latitudeKalman_data.char_value[7],
kityann 17:a6fa8cc96d94 137 longitudeKalman_data.char_value[0],longitudeKalman_data.char_value[1],longitudeKalman_data.char_value[2],longitudeKalman_data.char_value[3],longitudeKalman_data.char_value[4],longitudeKalman_data.char_value[5],longitudeKalman_data.char_value[6],longitudeKalman_data.char_value[7],
kityann 17:a6fa8cc96d94 138 covarLati_data.char_value[0],covarLati_data.char_value[1],covarLati_data.char_value[2],covarLati_data.char_value[3],covarLati_data.char_value[4],covarLati_data.char_value[5],covarLati_data.char_value[6],covarLati_data.char_value[7],
kityann 17:a6fa8cc96d94 139 covarLongi_data.char_value[0],covarLongi_data.char_value[1],covarLongi_data.char_value[2],covarLongi_data.char_value[3],covarLongi_data.char_value[4],covarLongi_data.char_value[5],covarLongi_data.char_value[6],covarLongi_data.char_value[7],
kityann 17:a6fa8cc96d94 140 65,71,69};
m5171135 2:3f2d4f53ceed 141 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 142 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 0:2b8b56ac7a82 143 }
m5171135 0:2b8b56ac7a82 144
kityann 13:a5bc425540a7 145
m5171135 2:3f2d4f53ceed 146
m5171135 2:3f2d4f53ceed 147 //////////////////////////////
m5171135 2:3f2d4f53ceed 148 // Using createPacket //
m5171135 2:3f2d4f53ceed 149 //////////////////////////////
m5171135 4:04dadf67ecb6 150 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
m5171135 4:04dadf67ecb6 151 return buf[14];
m5171135 4:04dadf67ecb6 152 }
m5171135 2:3f2d4f53ceed 153
m5171135 2:3f2d4f53ceed 154 uint8_t* AigamozuControlPackets::getPacketData(){
m5171135 2:3f2d4f53ceed 155 return packetData;
m5171135 2:3f2d4f53ceed 156 }
m5171135 2:3f2d4f53ceed 157
m5171135 2:3f2d4f53ceed 158 int AigamozuControlPackets::getPacketLength(){
m5171135 2:3f2d4f53ceed 159 return packetLength;
m5171135 0:2b8b56ac7a82 160 }
m5171135 0:2b8b56ac7a82 161
m5171135 5:3f51eeb5aedc 162 void AigamozuControlPackets::changeSpeed(uint8_t* buf){
m5171135 5:3f51eeb5aedc 163 if(nowMode == MANUAL_MODE){
m5171135 5:3f51eeb5aedc 164 manualCount =0;
m5171135 5:3f51eeb5aedc 165 _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
m5171135 5:3f51eeb5aedc 166 }
m5171135 5:3f51eeb5aedc 167 }
m5171135 4:04dadf67ecb6 168
m5171135 6:f164a716be46 169 //////////////////////////////
m5171135 6:f164a716be46 170 // each mode interrupt //
m5171135 6:f164a716be46 171 //////////////////////////////
m5171135 6:f164a716be46 172
m5171135 6:f164a716be46 173 void AigamozuControlPackets::manualMode(){
m5171135 6:f164a716be46 174 manualCount++;
m5171135 6:f164a716be46 175 if(manualCount > 10){
m5171135 6:f164a716be46 176 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 177 manualCount = 0;
m5171135 6:f164a716be46 178 }
m5171135 6:f164a716be46 179 }
m5171135 6:f164a716be46 180
m5171135 6:f164a716be46 181
m5171135 5:3f51eeb5aedc 182 void AigamozuControlPackets::randomAuto(){
m5171135 2:3f2d4f53ceed 183
m5171135 5:3f51eeb5aedc 184 randomCount++;
m5171135 5:3f51eeb5aedc 185
m5171135 5:3f51eeb5aedc 186 if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128);
m5171135 5:3f51eeb5aedc 187 else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128);
m5171135 5:3f51eeb5aedc 188 else randomCount = 0;
m5171135 5:3f51eeb5aedc 189
m5171135 5:3f51eeb5aedc 190 }
s1200058 20:fec2d6dec897 191 bool AigamozuControlPackets::gpsAuto(){
m5171135 5:3f51eeb5aedc 192
kityann 10:e77c664ee5e2 193 /*
kityann 10:e77c664ee5e2 194 _agzSheild.changeSpeed(2,128,2,128):for moving robot
kityann 10:e77c664ee5e2 195 */
kityann 10:e77c664ee5e2 196
kityann 10:e77c664ee5e2 197 Timer Automove_Timer;
kityann 10:e77c664ee5e2 198
kityann 10:e77c664ee5e2 199 bool out_flag = true;
kityann 10:e77c664ee5e2 200 static bool out_count_flag = false;
kityann 13:a5bc425540a7 201
s1200058 20:fec2d6dec897 202 if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)){
kityann 10:e77c664ee5e2 203 out_flag = false;
kityann 10:e77c664ee5e2 204 out_count_flag = false;
s1200058 20:fec2d6dec897 205 }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
kityann 10:e77c664ee5e2 206 out_flag = false;
kityann 10:e77c664ee5e2 207 out_count_flag = false;
kityann 10:e77c664ee5e2 208 }else{//if robot is out
kityann 10:e77c664ee5e2 209 out_flag = true;
m5171135 7:200ce5c1f486 210 }
m5171135 7:200ce5c1f486 211
kityann 10:e77c664ee5e2 212 //if robot is out:
kityann 10:e77c664ee5e2 213 if(out_flag == true || out_count_flag == false){
kityann 10:e77c664ee5e2 214 Automove_Timer.reset();
kityann 10:e77c664ee5e2 215 out_count_flag = true;
kityann 10:e77c664ee5e2 216 }
s1200058 27:acadce784e2b 217 if(nowMode == AUTO_GPS_MODE){
kityann 10:e77c664ee5e2 218 if(out_flag){
kityann 17:a6fa8cc96d94 219 if(Automove_Timer.read_ms() < 5000){
kityann 17:a6fa8cc96d94 220 _agzSheild.changeSpeed(2,64,2,64);//back
kityann 17:a6fa8cc96d94 221 }else if(Automove_Timer.read_ms() < 6000){
kityann 17:a6fa8cc96d94 222 _agzSheild.changeSpeed(1,64,2,64);//straight
kityann 17:a6fa8cc96d94 223 }else if(Automove_Timer.read_ms() >= 6000){
kityann 10:e77c664ee5e2 224 out_count_flag=false;
kityann 13:a5bc425540a7 225 out_flag=false;
kityann 10:e77c664ee5e2 226 }
kityann 10:e77c664ee5e2 227 }else{
kityann 10:e77c664ee5e2 228 //if robot is inner
kityann 10:e77c664ee5e2 229 _agzSheild.changeSpeed(1,64,1,64);//straight
kityann 10:e77c664ee5e2 230 }
s1200058 27:acadce784e2b 231 }
s1200058 20:fec2d6dec897 232
s1200058 20:fec2d6dec897 233 return out_flag;
kityann 10:e77c664ee5e2 234
kityann 10:e77c664ee5e2 235 }
m5171135 7:200ce5c1f486 236
m5171135 7:200ce5c1f486 237
m5171135 7:200ce5c1f486 238 //Update Robot Point
kityann 11:4d71c9cc3b4a 239 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 240 agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 241 agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
m5171135 7:200ce5c1f486 242
m5171135 7:200ce5c1f486 243 }
kityann 11:4d71c9cc3b4a 244
kityann 11:4d71c9cc3b4a 245 //Updata Base Point
kityann 19:13b24b50800e 246 void AigamozuControlPackets::reNewBasePoint(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 247 UNION_double_char lat,longi;
kityann 19:13b24b50800e 248 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 249 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 250 }
kityann 19:13b24b50800e 251 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 252 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 253 }
kityann 19:13b24b50800e 254 basePoint[id].x = lat.double_value;
kityann 19:13b24b50800e 255 basePoint[id].y = longi.double_value;
kityann 11:4d71c9cc3b4a 256 }
m5171135 7:200ce5c1f486 257
kityann 13:a5bc425540a7 258 //Update Robot Point
kityann 13:a5bc425540a7 259 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 260 agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 261 agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
kityann 13:a5bc425540a7 262
kityann 13:a5bc425540a7 263 }
kityann 13:a5bc425540a7 264
kityann 13:a5bc425540a7 265 //Updata Base Point
kityann 19:13b24b50800e 266 void AigamozuControlPackets::reNewBasePointKalman(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 267 UNION_double_char lat,longi;
kityann 19:13b24b50800e 268 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 269 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 270 }
kityann 19:13b24b50800e 271 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 272 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 273 }
kityann 19:13b24b50800e 274
kityann 19:13b24b50800e 275 basePointKalman[id].x = lat.double_value;
kityann 19:13b24b50800e 276 basePointKalman[id].y = longi.double_value;
s1200058 31:8753fbab3f1f 277 }
kityann 13:a5bc425540a7 278
m5171135 7:200ce5c1f486 279
m5171135 7:200ce5c1f486 280 //Check Hit Point Area
m5171135 7:200ce5c1f486 281 bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){
m5171135 7:200ce5c1f486 282 vector2D AB = AigamozuControlPackets::sub_vector(B, A);
m5171135 7:200ce5c1f486 283 vector2D BP = AigamozuControlPackets::sub_vector(P, B);
m5171135 7:200ce5c1f486 284
m5171135 7:200ce5c1f486 285 vector2D BC = AigamozuControlPackets::sub_vector(C, B);
m5171135 7:200ce5c1f486 286 vector2D CP = AigamozuControlPackets::sub_vector(P, C);
m5171135 7:200ce5c1f486 287
m5171135 7:200ce5c1f486 288 vector2D CA = AigamozuControlPackets::sub_vector(A, C);
m5171135 7:200ce5c1f486 289 vector2D AP = AigamozuControlPackets::sub_vector(P, A);
m5171135 7:200ce5c1f486 290
m5171135 7:200ce5c1f486 291 double c1 = AB.x * BP.y - AB.y * BP.x;
m5171135 7:200ce5c1f486 292 double c2 = BC.x * CP.y - BC.y * CP.x;
m5171135 7:200ce5c1f486 293 double c3 = CA.x * AP.y - CA.y * AP.x;
m5171135 7:200ce5c1f486 294
m5171135 7:200ce5c1f486 295 if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) {
m5171135 7:200ce5c1f486 296 return true;
m5171135 5:3f51eeb5aedc 297 }
m5171135 6:f164a716be46 298
m5171135 7:200ce5c1f486 299 return false;
m5171135 7:200ce5c1f486 300
m5171135 7:200ce5c1f486 301 }
m5171135 7:200ce5c1f486 302
m5171135 7:200ce5c1f486 303 vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b )
m5171135 7:200ce5c1f486 304 {
m5171135 7:200ce5c1f486 305 vector2D ret;
m5171135 7:200ce5c1f486 306 ret.x = a.x - b.x;
m5171135 7:200ce5c1f486 307 ret.y = a.y - b.y;
m5171135 7:200ce5c1f486 308 return ret;
m5171135 7:200ce5c1f486 309 }
m5171135 7:200ce5c1f486 310
m5171135 7:200ce5c1f486 311
m5171135 7:200ce5c1f486 312
m5171135 5:3f51eeb5aedc 313
m5171135 6:f164a716be46 314 //////////////////////////////
m5171135 6:f164a716be46 315 // Mode change //
m5171135 6:f164a716be46 316 //////////////////////////////
m5171135 2:3f2d4f53ceed 317 bool AigamozuControlPackets::changeMode(uint8_t *buf){
m5171135 2:3f2d4f53ceed 318
m5171135 6:f164a716be46 319 //reset
m5171135 5:3f51eeb5aedc 320 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 321 eachModeInt.detach();
m5171135 5:3f51eeb5aedc 322
m5171135 6:f164a716be46 323 //Select Mode
s1200058 29:3a2d87c10e43 324 switch(buf[19]){
m5171135 2:3f2d4f53ceed 325 case 0:
m5171135 2:3f2d4f53ceed 326 nowMode = STANDBY_MODE;
m5171135 2:3f2d4f53ceed 327 break;
m5171135 2:3f2d4f53ceed 328
m5171135 2:3f2d4f53ceed 329 case 1:
m5171135 6:f164a716be46 330 eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
m5171135 2:3f2d4f53ceed 331 nowMode = MANUAL_MODE;
m5171135 2:3f2d4f53ceed 332 break;
m5171135 2:3f2d4f53ceed 333
m5171135 2:3f2d4f53ceed 334 case 2:
kityann 11:4d71c9cc3b4a 335 //nowMode = AUTO_MODE;
kityann 11:4d71c9cc3b4a 336 //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
s1200058 20:fec2d6dec897 337 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
kityann 11:4d71c9cc3b4a 338 nowMode = AUTO_GPS_MODE;
m5171135 2:3f2d4f53ceed 339 break;
m5171135 4:04dadf67ecb6 340
m5171135 4:04dadf67ecb6 341 case 3:
s1200058 20:fec2d6dec897 342 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
m5171135 4:04dadf67ecb6 343 nowMode = AUTO_GPS_MODE;
m5171135 4:04dadf67ecb6 344 break;
m5171135 4:04dadf67ecb6 345
m5171135 6:f164a716be46 346 default:
m5171135 6:f164a716be46 347 nowMode = STANDBY_MODE;
m5171135 6:f164a716be46 348 break;
m5171135 5:3f51eeb5aedc 349
m5171135 2:3f2d4f53ceed 350 }
m5171135 2:3f2d4f53ceed 351 return false;
m5171135 2:3f2d4f53ceed 352 }
m5171135 5:3f51eeb5aedc 353
m5171135 5:3f51eeb5aedc 354
m5171135 2:3f2d4f53ceed 355